+ python -m lidar_slam --no-model /working/656bf4ad-117b-411f-8e6d-11390ced8143 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/656bf4ad-117b-411f-8e6d-11390ced8143 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 0.000281693 Adjusted end_distance from 9.223372036854776e+18 to 472.290281693 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000281693 meters 0.8480136990234686 Centerline is valid? [0, False] SLAMing on 0.030281693 meters 0.8220339907745638 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99999993e-01 -1.14590113e-04 -3.65991590e-05 1.22263884e-05] [ 1.14582807e-04 9.99999974e-01 -1.99550499e-04 1.12576285e-03] [ 3.66220246e-05 1.99546303e-04 9.99999979e-01 2.31694553e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060281693 meters 0.8398333202424864 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999991e-01 8.22365943e-06 -1.37575973e-04 4.90266459e-04] [-8.20789521e-06 9.99999993e-01 1.14585684e-04 -5.29453825e-04] [ 1.37576914e-04 -1.14584554e-04 9.99999984e-01 2.40644628e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.090281693 meters 0.8549518551681919 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999972e-01 2.19097604e-04 -9.47089926e-05 5.44133643e-04] [-2.18994972e-04 9.99999390e-01 1.08231831e-03 -6.74188830e-03] [ 9.49460682e-05 -1.08229754e-03 9.99999410e-01 -5.86433238e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120281693 meters 0.8647884125360107 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999857e-01 5.26269916e-04 -9.40088472e-05 6.86808632e-04] [-5.26116667e-04 9.99998545e-01 1.62280383e-03 -9.73072948e-03] [ 9.48627433e-05 -1.62275414e-03 9.99998679e-01 -2.28243460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.150281693 meters 0.8490604132073198 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.00 [[ 9.99999597e-01 8.95421546e-04 7.05551627e-05 -2.41472246e-04] [-8.95600020e-04 9.99996293e-01 2.57149565e-03 -1.54419458e-02] [-6.82523285e-05 -2.57155780e-03 9.99996691e-01 5.93880071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180281693 meters 0.8271062518565218 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999638e-01 -5.95926737e-04 -6.07752920e-04 6.03920468e-03] [ 5.96983203e-04 9.99998309e-01 1.73961805e-03 -1.66878102e-02] [ 6.06715207e-04 -1.73998024e-03 9.99998302e-01 -4.22427874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.210281693 meters 0.8541588435860916 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999858e-01 -6.35830669e-05 -5.29370493e-04 5.68957666e-03] [ 6.49787189e-05 9.99996521e-01 2.63683751e-03 -2.18868199e-02] [ 5.29200994e-04 -2.63687153e-03 9.99996383e-01 -4.14399533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.240281693 meters 0.8532130335139356 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99999847e-01 4.83500608e-04 -2.68448733e-04 4.11278991e-03] [-4.82524690e-04 9.99993318e-01 3.62363633e-03 -2.79155698e-02] [ 2.70198970e-04 -3.62350624e-03 9.99993399e-01 -3.34628286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27028169300000005 meters 0.9008981344561885 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99999811e-01 5.90657376e-04 -1.70657537e-04 3.43989804e-03] [-5.90003353e-04 9.99992578e-01 3.80733615e-03 -2.90368464e-02] [ 1.72905102e-04 -3.80723474e-03 9.99992738e-01 -2.92551457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.300281693 meters 0.8878545790384451 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99999723e-01 7.32202416e-04 -1.33989522e-04 3.10994318e-03] [-7.31653859e-04 9.99991534e-01 4.04928298e-03 -3.05121578e-02] [ 1.36953282e-04 -4.04918382e-03 9.99991793e-01 -2.63767369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.330281693 meters 0.9031976959505728 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99999452e-01 1.03424692e-03 -1.61403002e-04 3.35436847e-03] [-1.03350445e-03 9.99989186e-01 4.53435018e-03 -3.33495018e-02] [ 1.66090894e-04 -4.53418088e-03 9.99989707e-01 -2.79145732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.360281693 meters 0.8570616888397088 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.00 [[ 9.99995060e-01 -3.11487049e-03 -4.21608704e-04 5.04353253e-03] [ 3.11498006e-03 9.99995115e-01 2.59477357e-04 -3.33655839e-02] [ 4.20798406e-04 -2.60789378e-04 9.99999877e-01 -3.94567592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39028169300000004 meters 0.8759789960965071 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.00 [[ 9.99995555e-01 -2.94105347e-03 -4.90201442e-04 5.70521886e-03] [ 2.94131834e-03 9.99995528e-01 5.40500175e-04 -3.49570377e-02] [ 4.88609610e-04 -5.41939611e-04 9.99999734e-01 -4.55299340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.420281693 meters 0.8031884334570377 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99996742e-01 -2.46183603e-03 -6.74737725e-04 7.22132955e-03] [ 2.46271569e-03 9.99996115e-01 1.30599672e-03 -3.94226798e-02] [ 6.71519954e-04 -1.30765415e-03 9.99998920e-01 -5.64506787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.450281693 meters 0.8789483060549482 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99997559e-01 -2.07693508e-03 -7.53352566e-04 8.07656121e-03] [ 2.07838146e-03 9.99995989e-01 1.92424310e-03 -4.30360297e-02] [ 7.49353016e-04 -1.92580416e-03 9.99997865e-01 -6.46313074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.480281693 meters 0.8325752527695851 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99998180e-01 -1.73341403e-03 -7.97262783e-04 8.65157068e-03] [ 1.73538716e-03 9.99995417e-01 2.48088565e-03 -4.63471205e-02] [ 7.92958727e-04 -2.48226469e-03 9.99996605e-01 -7.07340921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510281693 meters 0.8735815316039394 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99998890e-01 -1.22923333e-03 -8.41880264e-04 9.38589756e-03] [ 1.23199929e-03 9.99993820e-01 3.29285595e-03 -5.11231159e-02] [ 8.37827373e-04 -3.29388949e-03 9.99994224e-01 -7.89275136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5402816930000001 meters 0.7936369139661749 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99999108e-01 -1.00182700e-03 -8.83005337e-04 9.93261088e-03] [ 1.00505038e-03 9.99992806e-01 3.65761787e-03 -5.32705875e-02] [ 8.79334684e-04 -3.65850208e-03 9.99992921e-01 -8.47285231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.570281693 meters 0.8092245334434683 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99999242e-01 -7.67767724e-04 -9.62393054e-04 1.06160383e-02] [ 7.71649849e-04 9.99991542e-01 4.03996492e-03 -5.55453749e-02] [ 9.59283159e-04 -4.04070449e-03 9.99991376e-01 -8.99311938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600281693 meters 0.9028647225534382 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99999305e-01 -5.22503835e-04 -1.05684191e-03 1.13909257e-02] [ 5.27187099e-04 9.99990022e-01 4.43596322e-03 -5.78874741e-02] [ 1.05451356e-03 -4.43651729e-03 9.99989603e-01 -9.54936100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.630281693 meters 0.8754491071768302 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99999204e-01 -2.84328795e-04 -1.22903105e-03 1.29606029e-02] [ 2.90226026e-04 9.99988434e-01 4.80076480e-03 -6.01978657e-02] [ 1.22765184e-03 -4.80111768e-03 9.99987721e-01 -1.08732191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.660281693 meters 0.9053771292240235 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99999031e-01 -3.64462885e-04 -1.34368551e-03 1.38498892e-02] [ 3.70717206e-04 9.99989086e-01 4.65729490e-03 -5.93041516e-02] [ 1.34197344e-03 -4.65778851e-03 9.99988252e-01 -1.15035766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.690281693 meters 0.9053771292240235 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99999031e-01 -3.64462885e-04 -1.34368551e-03 1.38498892e-02] [ 3.70717206e-04 9.99989086e-01 4.65729490e-03 -5.93041516e-02] [ 1.34197344e-03 -4.65778851e-03 9.99988252e-01 -1.15035766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720281693 meters 0.8618649148096564 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 9.99998704e-01 -4.59086969e-04 -1.54334044e-03 1.52027148e-02] [ 4.65529460e-04 9.99991170e-01 4.17661679e-03 -5.61262469e-02] [ 1.54140938e-03 -4.17732985e-03 9.99990087e-01 -1.25024834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750281693 meters 0.8324236619745887 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99998431e-01 -5.84415679e-04 -1.67251154e-03 1.61765266e-02] [ 5.91008163e-04 9.99992048e-01 3.94389091e-03 -5.46800559e-02] [ 1.67019337e-03 -3.94487319e-03 9.99990824e-01 -1.31848643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.780281693 meters 0.914049978981872 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99998187e-01 -6.71359298e-04 -1.78212391e-03 1.70030374e-02] [ 6.78116724e-04 9.99992573e-01 3.79389042e-03 -5.37449377e-02] [ 1.77956361e-03 -3.79509202e-03 9.99991215e-01 -1.37421613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.810281693 meters 0.8196568147669552 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99997739e-01 -9.22349850e-04 -1.91600527e-03 1.82199867e-02] [ 9.28639013e-04 9.99994176e-01 3.28414300e-03 -5.05891956e-02] [ 1.91296499e-03 -3.28591485e-03 9.99992772e-01 -1.48888318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.840281693 meters 0.9506249529588061 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.02 [[ 0.99999743 -0.00121205 -0.00191752 0.01830857] [ 0.00121742 0.99999533 0.00280186 -0.04765208] [ 0.00191412 -0.00280418 0.99999424 -0.01505527] [ 0. 0. 0. 1. ]] SLAMing on 0.870281693 meters 0.8622058531596872 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.01 [[ 0.99999706 -0.00152327 -0.0018877 0.01798444] [ 0.00152758 0.99999622 0.00228459 -0.04453802] [ 0.00188421 -0.00228747 0.99999561 -0.01474146] [ 0. 0. 0. 1. ]] SLAMing on 0.9002816929999999 meters 0.9284070420363837 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.01 [[ 0.99999643 -0.0019911 -0.00178004 0.01712382] [ 0.00199361 0.99999701 0.00141358 -0.03913503] [ 0.00177722 -0.00141712 0.99999742 -0.01401713] [ 0. 0. 0. 1. ]] SLAMing on 0.930281693 meters 0.8465913529899259 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.04, Z:-0.01 [[ 9.99995856e-01 -2.27945187e-03 -1.75850209e-03 1.68378679e-02] [ 2.28110144e-03 9.99996960e-01 9.36621412e-04 -3.62361002e-02] [ 1.75636176e-03 -9.40628852e-04 9.99998015e-01 -1.36844174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.960281693 meters 0.9634111828896137 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 9.99995022e-01 -2.62303768e-03 -1.75361335e-03 1.68026643e-02] [ 2.62367520e-03 9.99996493e-01 3.61344752e-04 -3.27200673e-02] [ 1.75265938e-03 -3.65943865e-04 9.99998397e-01 -1.36293853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.990281693 meters 0.9180500305832624 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99999329 -0.00325496 -0.00167877 0.01630373] [ 0.00325325 0.99999419 -0.00101997 -0.02386909] [ 0.00168208 0.0010145 0.99999807 -0.01328253] [ 0. 0. 0. 1. ]] SLAMing on 1.020281693 meters 0.9238399082276807 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99999182 -0.00364978 -0.00174539 0.01671858] [ 0.00364677 0.99999185 -0.00172961 -0.01946623] [ 0.00175168 0.00172323 0.99999698 -0.01344336] [ 0. 0. 0. 1. ]] SLAMing on 1.050281693 meters 0.8985880964244073 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99998310e-01 5.36813423e-04 -1.75862909e-03 1.70761424e-02] [-5.32667307e-04 9.99997080e-01 2.35720484e-03 -1.79923393e-02] [ 1.75988933e-03 -2.35626409e-03 9.99995675e-01 -1.39639161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.080281693 meters 0.8969855104981128 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99998375e-01 2.20369915e-04 -1.78927826e-03 1.72373175e-02] [-2.17083103e-04 9.99998289e-01 1.83693508e-03 -1.47703866e-02] [ 1.78968001e-03 -1.83654368e-03 9.99996712e-01 -1.40057214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.110281693 meters 0.8868015534192925 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99998358e-01 8.07985606e-05 -1.81055428e-03 1.73894445e-02] [-7.78950678e-05 9.99998711e-01 1.60366176e-03 -1.33071064e-02] [ 1.81068152e-03 -1.60351810e-03 9.99997075e-01 -1.40809778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.140281693 meters 0.8825756568625913 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99998277e-01 -4.97117879e-05 -1.85542079e-03 1.78857163e-02] [ 5.22894776e-05 9.99999034e-01 1.38925233e-03 -1.19543793e-02] [ 1.85534993e-03 -1.38934696e-03 9.99997314e-01 -1.45123363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.170281693 meters 0.7966321020445986 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99998120e-01 -8.83194723e-05 -1.93718291e-03 1.84499881e-02] [ 9.08801691e-05 9.99999122e-01 1.32181808e-03 -1.15118313e-02] [ 1.93706447e-03 -1.32199164e-03 9.99997250e-01 -1.48249420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.200281693 meters 0.8004389051374841 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99997981e-01 -7.63769558e-05 -2.00815972e-03 1.91787458e-02] [ 7.90588915e-05 9.99999105e-01 1.33547367e-03 -1.15476208e-02] [ 2.00805593e-03 -1.33562973e-03 9.99997092e-01 -1.54604723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.230281693 meters 0.8871795853739864 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99997769e-01 -3.50103982e-06 -2.11216356e-03 1.99784258e-02] [ 6.56585126e-06 9.99998947e-01 1.45102422e-03 -1.22256383e-02] [ 2.11215626e-03 -1.45103485e-03 9.99996717e-01 -1.59264844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260281693 meters 0.8791062318619003 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99997567e-01 2.24516153e-05 -2.20583817e-03 2.06600677e-02] [-1.91493403e-05 9.99998879e-01 1.49707106e-03 -1.25007818e-02] [ 2.20586931e-03 -1.49702518e-03 9.99996447e-01 -1.62897083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.290281693 meters 0.9352398971806419 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99997397e-01 -5.46041188e-06 -2.28146861e-03 2.13969560e-02] [ 8.74722888e-06 9.99998962e-01 1.44065094e-03 -1.20821088e-02] [ 2.28145838e-03 -1.44066715e-03 9.99996360e-01 -1.68912588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3202816929999999 meters 0.7817277030083735 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99997201e-01 -1.11503514e-04 -2.36351673e-03 2.19946847e-02] [ 1.14483812e-04 9.99999199e-01 1.26086130e-03 -1.09231686e-02] [ 2.36337425e-03 -1.26112835e-03 9.99996412e-01 -1.72558733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.350281693 meters 0.7820516887011608 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99996884e-01 -2.12462719e-04 -2.48746499e-03 2.30003265e-02] [ 2.15145029e-04 9.99999396e-01 1.07811280e-03 -9.68476804e-03] [ 2.48723443e-03 -1.07864461e-03 9.99996325e-01 -1.79264049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380281693 meters 0.8843850827748208 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99996421e-01 -2.25333098e-04 -2.66584805e-03 2.46617913e-02] [ 2.28026405e-04 9.99999464e-01 1.01003935e-03 -9.19236881e-03] [ 2.66561903e-03 -1.01064362e-03 9.99995937e-01 -1.92383837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.410281693 meters 0.7714146451323033 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99996313e-01 -1.14357158e-04 -2.71301360e-03 2.50158312e-02] [ 1.17590074e-04 9.99999283e-01 1.19150315e-03 -1.03201414e-02] [ 2.71287540e-03 -1.19181778e-03 9.99995610e-01 -1.94212683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440281693 meters 0.865316467505809 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99996252e-01 1.98717186e-04 -2.73056613e-03 2.52190549e-02] [-1.94006089e-04 9.99998493e-01 1.72547534e-03 -1.37757310e-02] [ 2.73090489e-03 -1.72493913e-03 9.99994783e-01 -1.96246619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.470281693 meters 0.8800321843534981 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99996046e-01 3.60538750e-04 -2.78876745e-03 2.57061322e-02] [-3.54967949e-04 9.99997941e-01 1.99782258e-03 -1.54727618e-02] [ 2.78948200e-03 -1.99682476e-03 9.99994116e-01 -1.98911156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500281693 meters 0.7729459966131201 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99995837e-01 5.35887361e-04 -2.83516278e-03 2.60669296e-02] [-5.29406522e-04 9.99997247e-01 2.28613595e-03 -1.72719018e-02] [ 2.83638008e-03 -2.28462548e-03 9.99993368e-01 -2.00441008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.530281693 meters 0.7868054035213604 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99995592e-01 6.94026525e-04 -2.88693158e-03 2.62973790e-02] [-6.86662867e-04 9.99996511e-01 2.55089649e-03 -1.89413582e-02] [ 2.88869190e-03 -2.54890290e-03 9.99992579e-01 -1.99395752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.560281693 meters 0.7924521576331403 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999533 0.00105845 -0.00286679 0.02609123] [-0.00104931 0.99999437 0.00318609 -0.02316797] [ 0.00287015 -0.00318307 0.99999082 -0.0196435 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5902816929999999 meters 0.8720792129666444 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999506 0.00116257 -0.00291864 0.0263318 ] [-0.00115277 0.9999937 0.00335725 -0.02425343] [ 0.00292252 -0.00335387 0.99999011 -0.01949699] [ 0. 0. 0. 1. ]] SLAMing on 1.620281693 meters 0.8599582350375712 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999499 0.00119788 -0.00292889 0.02630691] [-0.00118785 0.99999344 0.00342081 -0.0246734 ] [ 0.00293297 -0.00341731 0.99998986 -0.01932155] [ 0. 0. 0. 1. ]] SLAMing on 1.650281693 meters 0.8734835273908235 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999482 0.00119853 -0.00298629 0.02672186] [-0.00118832 0.99999345 0.00341862 -0.0246755 ] [ 0.00299036 -0.00341505 0.9999897 -0.01942906] [ 0. 0. 0. 1. ]] SLAMing on 1.680281693 meters 0.8744403006582951 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999458 0.00117121 -0.00307593 0.02733789] [-0.00116084 0.99999364 0.00337239 -0.02434188] [ 0.00307986 -0.0033688 0.99998958 -0.01965272] [ 0. 0. 0. 1. ]] SLAMing on 1.710281693 meters 0.8661608448045518 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999441 0.00113809 -0.00314299 0.02790955] [-0.00112766 0.99999386 0.00331663 -0.02395346] [ 0.00314675 -0.00331307 0.99998956 -0.01993605] [ 0. 0. 0. 1. ]] SLAMing on 1.740281693 meters 0.8639665568909906 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99994516e-01 1.00654542e-03 -3.15522144e-03 2.77569622e-02] [-9.96710494e-04 9.99994645e-01 3.11705553e-03 -2.26757601e-02] [ 3.15834200e-03 -3.11389359e-03 9.99990164e-01 -1.95477822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.770281693 meters 0.8587713601972312 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99994317e-01 9.96043526e-04 -3.22095131e-03 2.82298621e-02] [-9.86068257e-04 9.99994718e-01 3.09710089e-03 -2.25098834e-02] [ 3.22401914e-03 -3.09390721e-03 9.99990017e-01 -1.96716370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8002816929999998 meters 0.8524847635452083 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99993998e-01 9.95911631e-04 -3.31860229e-03 2.88237287e-02] [-9.85641731e-04 9.99994725e-01 3.09484609e-03 -2.24598956e-02] [ 3.32166698e-03 -3.09155656e-03 9.99989704e-01 -1.97588777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8302816929999999 meters 0.8723912989283784 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99993730e-01 8.79654967e-04 -3.43029546e-03 2.98410766e-02] [-8.69657237e-04 9.99995373e-01 2.91494212e-03 -2.12369651e-02] [ 3.43284373e-03 -2.91194066e-03 9.99989868e-01 -2.03828069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860281693 meters 0.8605972519426455 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99993512e-01 7.66525022e-04 -3.51972450e-03 3.04173511e-02] [-7.56902976e-04 9.99995975e-01 2.73426839e-03 -2.00528504e-02] [ 3.52180622e-03 -2.73158656e-03 9.99990068e-01 -2.05073460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.890281693 meters 0.8426191070759861 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99993188e-01 6.58927281e-04 -3.63173332e-03 3.12652856e-02] [-6.49665684e-04 9.99996536e-01 2.55077630e-03 -1.87939139e-02] [ 3.63340152e-03 -2.54839951e-03 9.99990152e-01 -2.08328962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920281693 meters 0.8580637548801339 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99992648e-01 3.74512042e-04 -3.81611973e-03 3.29322908e-02] [-3.66579735e-04 9.99997771e-01 2.07911893e-03 -1.55911210e-02] [ 3.81688988e-03 -2.07770473e-03 9.99990557e-01 -2.19187235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.950281693 meters 0.84828669448517 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99992317e-01 1.39358042e-04 -3.91754624e-03 3.35864796e-02] [-1.32728949e-04 9.99998559e-01 1.69236335e-03 -1.30392379e-02] [ 3.91777644e-03 -1.69183038e-03 9.99990894e-01 -2.20774517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980281693 meters 0.9602333298612657 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99991900e-01 -2.69552459e-04 -4.01599110e-03 3.42784240e-02] [ 2.73661586e-04 9.99999440e-01 1.02267700e-03 -8.53540061e-03] [ 4.01571319e-03 -1.02376774e-03 9.99991413e-01 -2.22533014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0102816929999996 meters 0.8435338022250987 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99991584e-01 -3.08817820e-04 -4.09097825e-03 3.48476648e-02] [ 3.12720628e-04 9.99999497e-01 9.53398337e-04 -8.02839309e-03] [ 4.09068177e-03 -9.54669647e-04 9.99991177e-01 -2.23820739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.040281693 meters 0.5686704250215774 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99991162e-01 -2.78149191e-04 -4.19508434e-03 3.54330829e-02] [ 2.82364518e-04 9.99999456e-01 1.00426661e-03 -8.30729728e-03] [ 4.19480272e-03 -1.00544227e-03 9.99990696e-01 -2.23645162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0702816929999996 meters SLAMing on 2.100281693 meters 1.0351362122998484 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99990366e-01 -3.20077611e-04 -4.37785326e-03 3.68165396e-02] [ 3.24439462e-04 9.99999452e-01 9.95670755e-04 -8.21787720e-03] [ 4.37753217e-03 -9.97081511e-04 9.99989921e-01 -2.30547911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1302816929999997 meters 0.5023695230866041 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99990108e-01 -2.82743995e-04 -4.43893895e-03 3.72023936e-02] [ 2.87416555e-04 9.99999405e-01 1.05202719e-03 -8.52470300e-03] [ 4.43863886e-03 -1.05329261e-03 9.99989594e-01 -2.30033026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.160281693 meters 0.49588589170677294 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99989809e-01 -2.25570258e-04 -4.50905455e-03 3.74420537e-02] [ 2.30743493e-04 9.99999316e-01 1.14681203e-03 -9.12696649e-03] [ 4.50879278e-03 -1.14784078e-03 9.99989177e-01 -2.27121835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1902816929999998 meters 0.5205260572513885 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99989566e-01 -2.50504421e-04 -4.56131324e-03 3.77414688e-02] [ 2.55517087e-04 9.99999364e-01 1.09840290e-03 -8.77630448e-03] [ 4.56103519e-03 -1.09955693e-03 9.99988994e-01 -2.26287945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2202816929999996 meters 0.5188848132584254 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99989242e-01 -2.97965722e-04 -4.62898406e-03 3.81493783e-02] [ 3.02693431e-04 9.99999433e-01 1.02066038e-03 -8.22727737e-03] [ 4.62867731e-03 -1.02205056e-03 9.99988765e-01 -2.26009992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.250281693 meters 0.512319234076393 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99988967e-01 -1.54918337e-04 -4.69482869e-03 3.85988812e-02] [ 1.60811349e-04 9.99999200e-01 1.25486205e-03 -9.79474447e-03] [ 4.69463053e-03 -1.25560319e-03 9.99988192e-01 -2.27149319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2802816929999996 meters 0.5259641167844704 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99988584e-01 -9.36164888e-05 -4.77732288e-03 3.93646829e-02] [ 1.00074416e-04 9.99999082e-01 1.35156673e-03 -1.03519259e-02] [ 4.77719196e-03 -1.35202939e-03 9.99987675e-01 -2.30486165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.310281693 meters 0.5170082598641009 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99988008e-01 -7.46235474e-05 -4.89680841e-03 4.00221025e-02] [ 8.13906215e-05 9.99999042e-01 1.38175091e-03 -1.05014629e-02] [ 4.89670061e-03 -1.38213290e-03 9.99987056e-01 -2.30037418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3402816929999997 meters 0.5276162105106498 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99987540e-01 -1.06121931e-04 -4.99086486e-03 4.07952383e-02] [ 1.12723661e-04 9.99999119e-01 1.32250002e-03 -1.00515338e-02] [ 4.99072011e-03 -1.32304613e-03 9.99986671e-01 -2.33633873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.370281693 meters 0.7172693667535645 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99987114e-01 -6.64033747e-05 -5.07613110e-03 4.12562949e-02] [ 7.34425493e-05 9.99999036e-01 1.38654658e-03 -1.04187326e-02] [ 5.07603413e-03 -1.38690152e-03 9.99986155e-01 -2.32778993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4002816929999997 meters 0.5372739051489887 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99986697e-01 1.82923765e-05 -5.15809731e-03 4.19918893e-02] [-1.04378833e-05 9.99998841e-01 1.52277290e-03 -1.12162326e-02] [ 5.15811918e-03 -1.52269880e-03 9.99985537e-01 -2.35804945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4302816929999995 meters 0.9997656055405637 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99986061e-01 1.16921706e-04 -5.27870785e-03 4.29024638e-02] [-1.07888291e-04 9.99998529e-01 1.71154526e-03 -1.24556853e-02] [ 5.27890021e-03 -1.71095189e-03 9.99984603e-01 -2.39401261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4602816929999998 meters 0.8883966309000627 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99985491e-01 2.16858419e-04 -5.38250059e-03 4.34355291e-02] [-2.06717541e-04 9.99998203e-01 1.88453063e-03 -1.35401436e-02] [ 5.38289959e-03 -1.88339063e-03 9.99983738e-01 -2.38277653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4902816929999996 meters 0.9989946237752592 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 9.99984915e-01 3.85888787e-04 -5.47920313e-03 4.41206166e-02] [-3.74015887e-04 9.99997580e-01 2.16776215e-03 -1.52954174e-02] [ 5.48002639e-03 -2.16568014e-03 9.99982639e-01 -2.39353474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520281693 meters 1.0883353667609257 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 9.99984219e-01 6.01401607e-04 -5.58567115e-03 4.49423053e-02] [-5.87246352e-04 9.99996613e-01 2.53550293e-03 -1.76978682e-02] [ 5.58717709e-03 -2.53218275e-03 9.99981186e-01 -2.42486513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5502816929999996 meters 0.8984966893933692 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.02 [[ 9.99983832e-01 5.45565596e-04 -5.66016718e-03 4.54416297e-02] [-5.31743137e-04 9.99996874e-01 2.44327604e-03 -1.70640523e-02] [ 5.66148245e-03 -2.44022678e-03 9.99980996e-01 -2.43145675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580281693 meters 0.9605130634267817 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.02 [[ 9.99983238e-01 4.16599890e-04 -5.77495538e-03 4.60335670e-02] [-4.03734149e-04 9.99997435e-01 2.22883782e-03 -1.56461266e-02] [ 5.77586910e-03 -2.22646891e-03 9.99980841e-01 -2.42585941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6102816929999997 meters 0.9605130634267817 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.02 [[ 9.99983238e-01 4.16599890e-04 -5.77495538e-03 4.60335670e-02] [-4.03734149e-04 9.99997435e-01 2.22883782e-03 -1.56461266e-02] [ 5.77586910e-03 -2.22646891e-03 9.99980841e-01 -2.42585941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6402816929999995 meters 0.9730909923999804 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99982416e-01 2.80648668e-04 -5.92350794e-03 4.72125594e-02] [-2.69004940e-04 9.99998030e-01 1.96638642e-03 -1.38181380e-02] [ 5.92404813e-03 -1.96475839e-03 9.99980522e-01 -2.48325631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6702816929999997 meters 0.9522711547734387 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99982185e-01 1.77831678e-04 -5.96646459e-03 4.73550780e-02] [-1.67104486e-04 9.99998369e-01 1.79836465e-03 -1.26963735e-02] [ 5.96677466e-03 -1.79733559e-03 9.99980583e-01 -2.46132708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7002816929999995 meters 0.9670937031374154 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99981785e-01 6.41744479e-05 -6.03536371e-03 4.77061949e-02] [-5.45682314e-05 9.99998732e-01 1.59180615e-03 -1.12588740e-02] [ 6.03545821e-03 -1.59144781e-03 9.99980520e-01 -2.44334940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.730281693 meters 0.9766442537684997 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99980755e-01 -1.65914873e-04 -6.20183045e-03 4.88115882e-02] [ 1.72782853e-04 9.99999372e-01 1.10689228e-03 -7.92076666e-03] [ 6.20164291e-03 -1.10794255e-03 9.99980156e-01 -2.47763384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7602816929999996 meters 0.9395573556355671 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99979989e-01 -3.22875075e-04 -6.31807513e-03 4.95580324e-02] [ 3.28101048e-04 9.99999605e-01 8.26127333e-04 -6.04426311e-03] [ 6.31780590e-03 -8.28183768e-04 9.99979700e-01 -2.49525701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.790281693 meters 1.0336707466989739 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.03 [[ 9.99979266e-01 -5.55300833e-04 -6.41548487e-03 5.01527372e-02] [ 5.57989530e-04 9.99999757e-01 4.17312687e-04 -3.33056062e-03] [ 6.41525158e-03 -4.20883808e-04 9.99979333e-01 -2.50419076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8202816929999996 meters 0.9383672205432135 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99978010e-01 -9.18448495e-04 -6.56778875e-03 5.08455453e-02] [ 9.14254391e-04 9.99999376e-01 -6.41560764e-04 4.18142194e-03] [ 6.56837389e-03 6.35542026e-04 9.99978226e-01 -2.48707046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.850281693 meters 0.9514000840011175 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 0.99997732 -0.00126428 -0.00661461 0.05076681] [ 0.00125578 0.99999838 -0.00128939 0.00842263] [ 0.00661623 0.00128105 0.99997729 -0.02416863] [ 0. 0. 0. 1. ]] SLAMing on 2.8802816929999997 meters 0.9105241928597498 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 0.99997625 -0.00165524 -0.00668993 0.05098279] [ 0.00164167 0.99999659 -0.00203307 0.0132885 ] [ 0.00669327 0.00202204 0.99997556 -0.02372868] [ 0. 0. 0. 1. ]] SLAMing on 2.9102816929999995 meters 0.9641029773656172 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.99997462 -0.00204743 -0.00682382 0.05179495] [ 0.00202806 0.9999939 -0.00284423 0.01869822] [ 0.0068296 0.00283032 0.99997267 -0.0237913 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9402816929999998 meters 0.5745038559858316 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.03 [[ 9.99998197e-01 1.76683254e-03 6.96327955e-04 1.05019837e-02] [-1.76715971e-03 9.99998328e-01 4.69525038e-04 2.31346644e-02] [-6.95497219e-04 -4.70754714e-04 9.99999647e-01 -3.19328107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9702816929999996 meters 0.7898739112312472 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.03 [[ 9.99998805e-01 1.43083526e-03 5.84710993e-04 1.12320065e-02] [-1.43074925e-03 9.99998966e-01 -1.47504067e-04 2.72858484e-02] [-5.84921443e-04 1.46667316e-04 9.99999818e-01 -3.20477006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000281693 meters 0.6182589030698589 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.03 [[ 9.99999470e-01 8.82493833e-04 5.30484536e-04 1.11472641e-02] [-8.81895609e-04 9.99998976e-01 -1.12687116e-03 3.37908000e-02] [-5.31478450e-04 1.12640273e-03 9.99999224e-01 -3.13555268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0302816929999996 meters 0.612004275831705 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.03 [[ 9.99999708e-01 6.17477981e-04 4.50704115e-04 1.13512437e-02] [-6.16753656e-04 9.99998521e-01 -1.60547196e-03 3.69326897e-02] [-4.51694792e-04 1.60519351e-03 9.99998610e-01 -3.09326157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.060281693 meters 0.6071544989007875 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.03 [[ 9.99999857e-01 3.80598795e-04 3.76374823e-04 1.16010020e-02] [-3.79832721e-04 9.99997861e-01 -2.03338268e-03 3.97235652e-02] [-3.77147921e-04 2.03323943e-03 9.99997862e-01 -3.06527479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0902816929999997 meters 0.5972552437551488 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.03 [[ 9.99999965e-01 9.25409859e-05 2.48713122e-04 1.21342840e-02] [-9.19056167e-05 9.99996736e-01 -2.55342515e-03 4.30582141e-02] [-2.48948607e-04 2.55340220e-03 9.99996709e-01 -3.02697271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120281693 meters 0.6159845640419422 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.03 [[ 9.99999990e-01 6.62700140e-05 1.21562250e-04 1.29944860e-02] [-6.59533398e-05 9.99996610e-01 -2.60319346e-03 4.34547859e-02] [-1.21734352e-04 2.60318541e-03 9.99996604e-01 -3.05343412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1502816929999997 meters 0.620725296844751 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.03 [[ 9.99999996e-01 -2.12100966e-05 -9.02611454e-05 1.44730686e-02] [ 2.09761725e-05 9.99996644e-01 -2.59084815e-03 4.33360805e-02] [ 9.03157946e-05 2.59084625e-03 9.99996640e-01 -3.13181081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1802816929999995 meters 0.6181327193337249 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.03 [[ 9.99999974e-01 1.03082640e-04 -2.05460357e-04 1.52157243e-02] [-1.03563895e-04 9.99997248e-01 -2.34369278e-03 4.18361797e-02] [ 2.05218197e-04 2.34371400e-03 9.99997232e-01 -3.15802891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2102816929999998 meters 0.6229686689395468 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.03 [[ 9.99999891e-01 3.13183223e-04 -3.47041634e-04 1.61597683e-02] [-3.13843524e-04 9.99998138e-01 -1.90423709e-03 3.91165740e-02] [ 3.46444613e-04 1.90434579e-03 9.99998127e-01 -3.19222676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2402816929999996 meters 0.626300854641968 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.03 [[ 9.99999717e-01 -6.80029096e-04 3.22032698e-04 1.08497826e-02] [ 6.80571602e-04 9.99998345e-01 -1.68752625e-03 3.37734194e-02] [-3.20884598e-04 1.68774494e-03 9.99998524e-01 -2.81148553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.270281693 meters 0.6467534054009861 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.03 [[ 9.99998995e-01 -1.35387357e-03 -4.20801948e-04 1.94481226e-02] [ 1.35316350e-03 9.99997668e-01 -1.68314999e-03 3.09150513e-02] [ 4.23079739e-04 1.68257888e-03 9.99998495e-01 -3.47012990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3002816929999996 meters 0.6209498899910746 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.03 [[ 9.99985006e-01 -5.45724254e-03 -4.53435300e-04 1.94797558e-02] [ 5.45463611e-03 9.99969648e-01 -5.56326295e-03 2.80103102e-02] [ 4.83781612e-04 5.56070621e-03 9.99984422e-01 -3.42589859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.330281693 meters 0.6632366879136147 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 9.99986765e-01 -5.11619413e-03 -5.42015032e-04 1.99580215e-02] [ 5.11349486e-03 9.99975069e-01 -4.86959543e-03 2.36428173e-02] [ 5.66915315e-04 4.86675940e-03 9.99987997e-01 -3.42436226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3602816929999997 meters 0.658683148525826 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 9.99998350e-01 -1.81587741e-03 4.36023104e-05 1.51495461e-02] [ 1.81587884e-03 9.99998351e-01 -3.27461783e-05 1.57474267e-02] [-4.35427755e-05 3.28253008e-05 9.99999999e-01 -3.06176929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3902816929999995 meters 0.6543479859749811 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99998997e-01 -1.41625363e-03 -1.35577023e-05 1.53503355e-02] [ 1.41626408e-03 9.99998673e-01 8.04780539e-04 1.04728482e-02] [ 1.24179109e-05 -8.04798933e-04 9.99999676e-01 -3.04360055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4202816929999997 meters 0.633184150299743 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 9.99999473e-01 -1.02512146e-03 -6.00055593e-05 1.55818260e-02] [ 1.02521693e-03 9.99998173e-01 1.61321425e-03 5.39684484e-03] [ 5.83517092e-05 -1.61327492e-03 9.99998697e-01 -3.04417298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4502816929999995 meters 0.6757268814453675 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 9.99990499e-01 -1.55918076e-04 -4.35632262e-03 4.43539205e-02] [ 1.42270023e-04 9.99995082e-01 -3.13306412e-03 -3.04926973e-03] [ 4.35678969e-03 3.13241457e-03 9.99985603e-01 -3.18587352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.480281693 meters 0.6588404058315848 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 9.99990142e-01 2.50253186e-04 -4.43325303e-03 4.48203933e-02] [-2.60568153e-04 9.99997260e-01 -2.32630175e-03 -8.06862414e-03] [ 4.43265872e-03 2.32743398e-03 9.99987467e-01 -3.20201893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5102816929999996 meters 0.6792275026155549 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.03 [[ 9.99989274e-01 1.00969298e-03 -4.52025562e-03 4.55303153e-02] [-1.01349247e-03 9.99999135e-01 -8.38334649e-04 -1.73946474e-02] [ 4.51940525e-03 8.42906902e-04 9.99989432e-01 -3.25641745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.540281693 meters 0.6585941056282442 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.03 [[ 9.99994667e-01 -3.22861581e-03 -4.91916130e-04 1.95348838e-02] [ 3.22932368e-03 9.99993742e-01 1.44508956e-03 -1.86182674e-02] [ 4.87247413e-04 -1.44667041e-03 9.99998835e-01 -3.25443896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5702816929999996 meters 0.6982794365304894 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.03 [[ 9.99991514e-01 2.07544184e-03 -3.55872304e-03 4.58239014e-02] [-2.07637448e-03 9.99997811e-01 -2.58396159e-04 -2.34675419e-02] [ 3.55817897e-03 2.65783208e-04 9.99993634e-01 -3.21312443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6002816929999994 meters 0.7018909500864576 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99990579e-01 2.37252249e-03 -3.63491579e-03 4.60233018e-02] [-2.37110720e-03 9.99997111e-01 3.93621587e-04 -2.74627514e-02] [ 3.63583917e-03 -3.84999104e-04 9.99993316e-01 -3.17469444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6302816929999997 meters 0.7200208280813797 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99989899e-01 2.55230765e-03 -3.69958823e-03 4.63630310e-02] [-2.54952386e-03 9.99996463e-01 7.56980813e-04 -2.96788693e-02] [ 3.70150719e-03 -7.47540979e-04 9.99992870e-01 -3.17957374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6602816929999995 meters 0.7136348118522542 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 0.99998878 0.00289681 -0.00374733 0.04659629] [-0.00289134 0.99999475 0.00146392 -0.0339968 ] [ 0.00375155 -0.00145307 0.99999191 -0.0317866 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6902816929999998 meters 0.7357212176747112 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998819 0.00303123 -0.00379767 0.04679797] [-0.00302463 0.99999391 0.00174247 -0.03568719] [ 0.00380293 -0.00173097 0.99999127 -0.03170675] [ 0. 0. 0. 1. ]] SLAMing on 3.7202816929999996 meters 0.7368903546914257 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.9999876 0.00314098 -0.00386543 0.04707688] [-0.00313336 0.99999314 0.0019768 -0.03710014] [ 0.00387161 -0.00196466 0.99999058 -0.03165696] [ 0. 0. 0. 1. ]] SLAMing on 3.750281693 meters 1.0064196365666949 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998704 0.00322013 -0.00394324 0.04743843] [-0.00321169 0.99999254 0.00214379 -0.03809942] [ 0.00395012 -0.0021311 0.99998993 -0.03166462] [ 0. 0. 0. 1. ]] SLAMing on 3.7802816929999996 meters 1.041998903616082 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.9999865 0.00328396 -0.00402629 0.04780982] [-0.00327501 0.99999216 0.0022264 -0.03851909] [ 0.00403357 -0.00221318 0.99998942 -0.03168113] [ 0. 0. 0. 1. ]] SLAMing on 3.810281693 meters 0.7394536705799468 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998654 0.00316567 -0.0041102 0.04808485] [-0.00315766 0.9999931 0.00195458 -0.03692553] [ 0.00411636 -0.00194157 0.99998964 -0.031505 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8402816929999997 meters 1.0565684124062873 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 0.99998685 0.00296465 -0.00418498 0.04837086] [-0.00295848 0.99999453 0.00147866 -0.03415774] [ 0.00418934 -0.00146626 0.99999015 -0.03137541] [ 0. 0. 0. 1. ]] SLAMing on 3.8702816929999995 meters 1.0625393773367173 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 0.99998713 0.00277798 -0.00424552 0.04855157] [-0.00277363 0.99999562 0.00103012 -0.03154888] [ 0.00424836 -0.00101834 0.99999046 -0.03120172] [ 0. 0. 0. 1. ]] SLAMing on 3.9002816929999997 meters 0.6911108829730724 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99987308e-01 2.69272950e-03 -4.25832090e-03 4.85070442e-02] [-2.69069692e-03 9.99996263e-01 4.82976855e-04 -2.81368728e-02] [ 4.25960552e-03 -4.71512874e-04 9.99990817e-01 -3.09298350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9302816929999995 meters 1.0629877203690443 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99987390e-01 2.61619566e-03 -4.28662215e-03 4.85449598e-02] [-2.61490924e-03 9.99996534e-01 3.05678838e-04 -2.71206934e-02] [ 4.28740701e-03 -2.94465856e-04 9.99990766e-01 -3.07616639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9602816929999998 meters 1.0887032748503802 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99987411e-01 2.57867297e-03 -4.30438696e-03 4.86315360e-02] [-2.57775308e-03 9.99996654e-01 2.19244056e-04 -2.66137958e-02] [ 4.30493792e-03 -2.08145649e-04 9.99990712e-01 -3.07709032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9902816929999996 meters 1.061655886907148 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99987140e-01 2.70883438e-03 -4.28736876e-03 4.85589002e-02] [-2.70663210e-03 9.99996202e-01 5.19385612e-04 -2.83540185e-02] [ 4.28875941e-03 -5.07774603e-04 9.99990674e-01 -3.07902327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020281692999999 meters 1.094511076191765 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.04 [[ 9.99986766e-01 1.43712489e-03 -4.93985867e-03 5.43927178e-02] [-1.43926468e-03 9.99998872e-01 -4.29641017e-04 -2.88535352e-02] [ 4.93923565e-03 4.36745095e-04 9.99987707e-01 -3.51907802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.050281693 meters 1.0888043361347088 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99991707e-01 -7.84020635e-05 -4.07189164e-03 4.80495079e-02] [ 7.35969390e-05 9.99999301e-01 -1.18020822e-03 -3.09980787e-02] [ 4.07198132e-03 1.17989875e-03 9.99991013e-01 -3.06075791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080281693 meters 1.0937934584171898 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99991518e-01 -3.81771739e-05 -4.11846060e-03 4.82727618e-02] [ 3.37054663e-05 9.99999410e-01 -1.08583557e-03 -3.15293016e-02] [ 4.11849962e-03 1.08568755e-03 9.99990930e-01 -3.06597018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.110281692999999 meters 1.0735096573936962 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99991327e-01 -1.13117328e-05 -4.16475375e-03 4.84643623e-02] [ 7.05629795e-06 9.99999478e-01 -1.02178674e-03 -3.18866611e-02] [ 4.16476313e-03 1.02174849e-03 9.99990805e-01 -3.06638764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1402816929999995 meters 1.1001430307199112 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99991170e-01 1.88707292e-04 -4.19819386e-03 4.86469094e-02] [-1.91087123e-04 9.99999821e-01 -5.66476310e-04 -3.44059737e-02] [ 4.19808621e-03 5.67273529e-04 9.99991027e-01 -3.07601239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.170281693 meters 1.081705066385373 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99991030e-01 2.55445526e-04 -4.22782344e-03 4.86979646e-02] [-2.57157319e-04 9.99999885e-01 -4.04348857e-04 -3.53097352e-02] [ 4.22771966e-03 4.05432446e-04 9.99990981e-01 -3.06073809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.200281693 meters 1.087475011680116 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990986e-01 3.03929341e-04 -4.23492618e-03 4.86093722e-02] [-3.05136351e-04 9.99999913e-01 -2.84370077e-04 -3.59834986e-02] [ 4.23483938e-03 2.85659743e-04 9.99990992e-01 -3.03542149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.230281692999999 meters 1.092412167263162 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990773e-01 4.30158666e-04 -4.27426957e-03 4.85337447e-02] [-4.30097331e-04 9.99999907e-01 1.52689640e-05 -3.76684195e-02] [ 4.27427575e-03 -1.34304712e-05 9.99990865e-01 -2.98889313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260281693 meters 1.0964259995099854 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990575e-01 5.72982597e-04 -4.30372802e-03 4.86691647e-02] [-5.71431657e-04 9.99999771e-01 3.61592403e-04 -3.95600425e-02] [ 4.30393423e-03 -3.59129708e-04 9.99990674e-01 -2.99388259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.290281693 meters 1.104714317643429 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990472e-01 6.93352011e-04 -4.30978239e-03 4.87561428e-02] [-6.90536005e-04 9.99999547e-01 6.54852444e-04 -4.11618915e-02] [ 4.31023448e-03 -6.51870145e-04 9.99990498e-01 -3.00760057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320281693 meters 1.0938933530884785 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990426e-01 7.27035602e-04 -4.31494643e-03 4.87607773e-02] [-7.23859697e-04 9.99999466e-01 7.37540288e-04 -4.16128622e-02] [ 4.31548034e-03 -7.34409811e-04 9.99990419e-01 -3.00456903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3502816929999994 meters 0.8441339724396578 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990390e-01 6.73504130e-04 -4.33191605e-03 4.86398875e-02] [-6.70880818e-04 9.99999591e-01 6.07002336e-04 -4.09391258e-02] [ 4.33232309e-03 -6.04090304e-04 9.99990433e-01 -2.96648521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.380281693 meters 0.8038417923032372 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99990239e-01 6.40185456e-04 -4.37170536e-03 4.88715987e-02] [-6.37915292e-04 9.99999661e-01 5.20660298e-04 -4.04753056e-02] [ 4.37203720e-03 -5.17866438e-04 9.99990309e-01 -2.98559615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.410281693 meters 1.1285501592187617 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998473 0.00214851 -0.00509175 0.054706 ] [-0.00213831 0.99999569 0.00200948 -0.04150162] [ 0.00509604 -0.00199856 0.99998502 -0.03448296] [ 0. 0. 0. 1. ]] SLAMing on 4.440281692999999 meters 1.1258983026211988 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998524 0.00193109 -0.00507897 0.05463534] [-0.00192402 0.99999717 0.00139725 -0.03833618] [ 0.00508165 -0.00138745 0.99998613 -0.03448251] [ 0. 0. 0. 1. ]] SLAMing on 4.470281693 meters 0.8520876149202171 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998528 0.00185721 -0.00509717 0.05464141] [-0.00185107 0.99999755 0.00121 -0.03734737] [ 0.00509941 -0.00120055 0.99998628 -0.03433594] [ 0. 0. 0. 1. ]] SLAMing on 4.500281693 meters 0.8520876149202171 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 0.99998528 0.00185721 -0.00509717 0.05464141] [-0.00185107 0.99999755 0.00121 -0.03734737] [ 0.00509941 -0.00120055 0.99998628 -0.03433594] [ 0. 0. 0. 1. ]] SLAMing on 4.530281693 meters 0.8088332251230842 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.03 [[ 9.99985464e-01 1.76090324e-03 -5.09615586e-03 5.44756114e-02] [-1.75597146e-03 9.99997986e-01 9.72059003e-04 -3.61227982e-02] [ 5.09785729e-03 -9.63096169e-04 9.99986542e-01 -3.40057934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560281692999999 meters 0.7946270806795368 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.03 [[ 9.99985697e-01 1.61491194e-03 -5.09875865e-03 5.45014455e-02] [-1.61185958e-03 9.99998519e-01 6.02699893e-04 -3.42057944e-02] [ 5.09972440e-03 -5.94472790e-04 9.99986820e-01 -3.40432852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.590281693 meters 0.8082315806247125 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99998148 0.00272765 -0.00543976 0.05903412] [-0.00271892 0.99999501 0.00161156 -0.03330136] [ 0.00544413 -0.00159674 0.99998391 -0.03827239] [ 0. 0. 0. 1. ]] SLAMing on 4.620281693 meters 0.8177864789470453 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 0.99998185 0.00255543 -0.00545578 0.05915494] [-0.00254904 0.99999606 0.00117847 -0.03106104] [ 0.00545877 -0.00116454 0.99998442 -0.03843009] [ 0. 0. 0. 1. ]] SLAMing on 4.650281692999999 meters 0.792577333840897 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.04 [[ 0.99997209 -0.00317322 -0.00676323 0.03815642] [ 0.00320884 0.999981 0.00526272 -0.02841818] [ 0.0067464 -0.00528428 0.99996328 -0.0390288 ] [ 0. 0. 0. 1. ]] SLAMing on 4.6802816929999995 meters 0.7790328075728237 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.04 [[ 0.99995261 -0.00219834 -0.00948402 0.01919325] [ 0.00215217 0.99998579 -0.00487666 -0.02335185] [ 0.00949461 0.00485602 0.99994313 -0.03912904] [ 0. 0. 0. 1. ]] SLAMing on 4.710281693 meters 0.7722057005742596 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.04 [[ 0.99995226 -0.00238802 -0.00947517 0.0190684 ] [ 0.00233679 0.99998262 -0.0054133 -0.02077809] [ 0.00948793 0.0053909 0.99994046 -0.03885561] [ 0. 0. 0. 1. ]] SLAMing on 4.740281693 meters 0.796461304688751 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.04 [[ 9.99945241e-01 -7.31568888e-03 -7.48298817e-03 3.93203731e-02] [ 7.31752544e-03 9.99973203e-01 2.18081711e-04 -2.11712207e-02] [ 7.48119223e-03 -2.72826725e-04 9.99971978e-01 -3.88483134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.770281692999999 meters 0.7846931628018728 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.04 [[ 9.99945128e-01 -7.28313271e-03 -7.52969596e-03 3.95403281e-02] [ 7.28565555e-03 9.99973412e-01 3.07677276e-04 -2.16164418e-02] [ 7.52725490e-03 -3.62519165e-04 9.99971604e-01 -3.90006146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.800281693 meters 0.7813240234704535 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.04 [[ 9.99945121e-01 -7.24955968e-03 -7.56295939e-03 3.97444176e-02] [ 7.25277231e-03 9.99973619e-01 3.97444185e-04 -2.20568679e-02] [ 7.55987858e-03 -4.52274796e-04 9.99971321e-01 -3.92236028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.830281693 meters 0.7790266824585654 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.04 [[ 9.99944306e-01 -7.26477736e-03 -7.65562209e-03 4.01031741e-02] [ 7.26771128e-03 9.99973527e-01 3.55486889e-04 -2.18491089e-02] [ 7.65283689e-03 -4.11105942e-04 9.99970632e-01 -3.93323061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860281692999999 meters 0.7638895755991032 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.04 [[ 0.99992466 -0.00629542 -0.01053748 0.02109267] [ 0.00619151 0.99993217 -0.00986465 -0.01605231] [ 0.01059887 0.00979867 0.99989582 -0.03920209] [ 0. 0. 0. 1. ]] SLAMing on 4.8902816929999995 meters 0.7693140816048022 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.04 [[ 0.99994196 -0.00168436 -0.01064128 0.02142326] [ 0.00163289 0.99998694 -0.00484332 -0.01926231] [ 0.0106493 0.00482566 0.99993165 -0.03933447] [ 0. 0. 0. 1. ]] SLAMing on 4.920281693 meters 0.7724864050643302 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.04 [[ 0.9999682 -0.00440767 -0.00664646 0.04033037] [ 0.00442851 0.99998531 0.00312383 -0.02210527] [ 0.00663259 -0.00315316 0.99997303 -0.04067897] [ 0. 0. 0. 1. ]] SLAMing on 4.950281693 meters 0.7736156102110708 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.04 [[ 9.99962692e-01 5.75834112e-04 -8.61873665e-03 2.16940691e-02] [-5.99548405e-04 9.99996041e-01 -2.74915051e-03 -2.06728451e-02] [ 8.61711947e-03 2.75421530e-03 9.99959079e-01 -4.20115308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980281692999999 meters 0.7759726281379498 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.05 [[ 9.99949455e-01 2.55812181e-03 -9.72331119e-03 2.83134328e-02] [-2.56332325e-03 9.99996578e-01 -5.22519810e-04 -2.23888699e-02] [ 9.72194125e-03 5.47417389e-04 9.99952591e-01 -4.68415833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010281693 meters 0.7092585348191099 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:-0.05 [[ 0.99997033 0.00285989 -0.00715306 -0.01965872] [-0.002868 0.99999526 -0.00112341 -0.02056511] [ 0.00714981 0.00114389 0.99997379 -0.04755858] [ 0. 0. 0. 1. ]] SLAMing on 5.040281693 meters 0.730650574665461 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.05 [[ 9.99991463e-01 7.09178221e-04 -4.07079751e-03 2.73183689e-03] [-6.80371833e-04 9.99974752e-01 7.07337842e-03 -2.10361054e-02] [ 4.07571101e-03 -7.07054838e-03 9.99966697e-01 -5.09844151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.070281692999999 meters 0.7264858638203983 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.05 [[ 0.99998363 -0.00397369 -0.00411773 0.00278234] [ 0.00398049 0.99999073 0.00164482 -0.0160208 ] [ 0.00411116 -0.00166118 0.99999017 -0.05068766] [ 0. 0. 0. 1. ]] SLAMing on 5.1002816929999994 meters 0.7031765696567838 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:-0.05 [[ 0.99999374 -0.0018475 -0.00301722 -0.0038867 ] [ 0.00185896 0.99999105 0.00380097 -0.01609298] [ 0.00301017 -0.00380655 0.99998822 -0.04598124] [ 0. 0. 0. 1. ]] SLAMing on 5.130281693 meters 0.646045694534049 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.01, Z:-0.05 [[ 9.99998515e-01 -7.95296910e-04 -1.52917304e-03 -4.97202501e-02] [ 7.99653691e-04 9.99995617e-01 2.85061202e-03 -9.67905765e-03] [ 1.52689925e-03 -2.85183060e-03 9.99994768e-01 -4.68733525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160281693 meters 0.6975709949761153 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.05 [[ 9.99995647e-01 -3.30663196e-04 -2.93196866e-03 -4.13038018e-03] [ 3.41128674e-04 9.99993571e-01 3.56965586e-03 -7.11419130e-03] [ 2.93076945e-03 -3.57064050e-03 9.99989331e-01 -4.57281403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190281692999999 meters 0.6660581690350212 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.04 [[ 0.99997181 0.00299795 -0.00688447 -0.02543781] [-0.0030254 0.9999875 -0.00398036 -0.00206775] [ 0.00687245 0.00400108 0.99996838 -0.04172986] [ 0. 0. 0. 1. ]] SLAMing on 5.220281693 meters 0.658790539649247 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.04 [[ 9.99972437e-01 2.85193555e-03 -6.85507122e-03 -2.55617502e-02] [-2.88181951e-03 9.99986371e-01 -4.35347740e-03 -3.07619354e-04] [ 6.84256196e-03 4.37311248e-03 9.99967027e-01 -4.16406252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250281693 meters 0.6533452150540543 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.04 [[ 9.99972126e-01 2.85736101e-03 -6.89803942e-03 -2.53998457e-02] [-2.88735226e-03 9.99986406e-01 -4.34175754e-03 -3.61164653e-04] [ 6.88553968e-03 4.36155359e-03 9.99966783e-01 -4.17150692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280281692999999 meters 0.6534187630312597 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.04 [[ 9.99971824e-01 2.87969772e-03 -6.93236491e-03 -2.52378163e-02] [-2.90945815e-03 9.99986579e-01 -4.28671934e-03 -6.17565458e-04] [ 6.91992742e-03 4.30676798e-03 9.99966783e-01 -4.18582579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310281692999999 meters 0.6854906106611303 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99968300e-01 -8.00321675e-04 -7.92203732e-03 -4.23570992e-02] [ 8.19257390e-04 9.99996815e-01 2.38730175e-03 -2.09659926e-03] [ 7.92010148e-03 -2.39371626e-03 9.99965770e-01 -4.64564867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.340281693 meters 0.6050944812113395 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99967659e-01 -7.47376983e-04 -8.00764291e-03 -4.20200641e-02] [ 7.67558296e-04 9.99996537e-01 2.51747962e-03 -2.69390004e-03] [ 8.00573367e-03 -2.52354454e-03 9.99964769e-01 -4.66640382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.370281693 meters 0.18006586882640876 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99967362e-01 -6.96079052e-04 -8.04920304e-03 -4.18656687e-02] [ 7.17399651e-04 9.99996241e-01 2.64620000e-03 -3.29549739e-03] [ 8.04733082e-03 -2.65188813e-03 9.99964103e-01 -4.67362824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400281692999999 meters 0.21045695487341126 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99967243e-01 -6.45351200e-04 -8.06821216e-03 -4.17279623e-02] [ 6.67753890e-04 9.99995929e-01 2.77427556e-03 -3.88966713e-03] [ 8.06638893e-03 -2.77957227e-03 9.99963603e-01 -4.69318152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4302816929999995 meters 0.06982975712312847 Centerline is valid? [False, True] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99966874e-01 -5.76398547e-04 -8.11908951e-03 -4.14609285e-02] [ 6.00356189e-04 9.99995473e-01 2.94865129e-03 -4.69383694e-03] [ 8.11735315e-03 -2.95342796e-03 9.99962692e-01 -4.72170173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460281693 meters 0.29692453444899397 Centerline is valid? [True, False] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99966094e-01 -6.01515185e-04 -8.21272957e-03 -4.11542326e-02] [ 6.25241226e-04 9.99995638e-01 2.88667297e-03 -4.39710799e-03] [ 8.21095737e-03 -2.89171003e-03 9.99962108e-01 -4.72865542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.490281693 meters 0.06585453489305367 Centerline is valid? [False, True] Translation: X:-0.04, Y:-0.00, Z:-0.05 [[ 9.99966126e-01 -6.33598401e-04 -8.20644823e-03 -4.11749953e-02] [ 6.56658937e-04 9.99995843e-01 2.80766112e-03 -4.02607737e-03] [ 8.20463518e-03 -2.81295485e-03 9.99962385e-01 -4.72849742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520281692999999 meters 0.061020711900582184 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.01, Z:-0.04 [[ 9.99983985e-01 2.41926574e-03 -5.11626687e-03 -1.24246187e-02] [-2.41895079e-03 9.99997072e-01 6.77464291e-05 6.62282349e-03] [ 5.11641578e-03 -5.53693464e-05 9.99986910e-01 -3.89983421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.550281693 meters 0.05988918734517304 Centerline is valid? [True, True] Translation: X:0.02, Y:0.01, Z:-0.04 [[ 9.99984571e-01 3.61427306e-03 -4.21835438e-03 1.65790624e-02] [-3.61407026e-03 9.99993468e-01 5.56983532e-05 5.25447780e-03] [ 4.21852813e-03 -4.04520647e-05 9.99991101e-01 -3.84725852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580281693 meters 0.05743964064266262 Centerline is valid? [True, True] Translation: X:0.05, Y:0.01, Z:-0.04 [[ 9.99979308e-01 5.07311960e-03 -3.95559046e-03 4.50333235e-02] [-5.07295330e-03 9.99987131e-01 5.20718366e-05 1.14384435e-02] [ 3.95580372e-03 -3.20042335e-05 9.99992175e-01 -3.76582083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.610281692999999 meters 0.05108762348147772 Centerline is valid? [True, True] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99967083e-01 7.31390671e-03 -3.51268086e-03 7.40457555e-02] [-7.31378987e-03 9.99973253e-01 4.61060220e-05 1.72581637e-02] [ 3.51292412e-03 -2.04134946e-05 9.99993829e-01 -3.73748769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6402816929999995 meters 0.05396063039745065 Centerline is valid? [True, True] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 9.99960401e-01 7.82936688e-03 -4.23054766e-03 1.01563491e-01] [-7.82920293e-03 9.99969350e-01 5.53142717e-05 1.54976450e-02] [ 4.23085107e-03 -2.21902652e-05 9.99991050e-01 -4.00802116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670281693 meters 0.04786230922442915 Centerline is valid? [True, True] Translation: X:0.13, Y:0.02, Z:-0.04 [[ 9.99965166e-01 7.86186025e-03 -2.80335742e-03 1.30083258e-01] [-7.86178867e-03 9.99969095e-01 3.65526507e-05 1.78813857e-02] [ 2.80355815e-03 -1.45119739e-05 9.99996070e-01 -3.72282004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700281693 meters 0.0483931226160007 Centerline is valid? [True, True] Translation: X:0.16, Y:0.02, Z:-0.04 [[ 9.99971284e-01 7.02996239e-03 -2.83040427e-03 1.60024480e-01] [-7.02988637e-03 9.99975289e-01 3.68053474e-05 1.66557346e-02] [ 2.83059307e-03 -1.69068701e-05 9.99995994e-01 -3.73090116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730281692999999 meters 0.047261130725874276 Centerline is valid? [True, True] Translation: X:0.19, Y:0.01, Z:-0.04 [[ 9.99977503e-01 5.71605132e-03 -3.51013826e-03 1.88883051e-01] [-5.71592666e-03 9.99983663e-01 4.55449212e-05 1.41669683e-02] [ 3.51034125e-03 -2.54802037e-05 9.99993838e-01 -3.83467568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760281693 meters 0.04583240291829289 Centerline is valid? [True, True] Translation: X:0.22, Y:0.01, Z:-0.04 [[ 9.99989676e-01 2.40449706e-03 -3.85580436e-03 2.18471861e-01] [-2.40432244e-03 9.99997108e-01 4.99224450e-05 9.62435184e-03] [ 3.85591325e-03 -4.06513327e-05 9.99992565e-01 -4.01218310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790281693 meters 0.04412272684883404 Centerline is valid? [True, True] Translation: X:0.25, Y:0.01, Z:-0.04 [[ 9.99996121e-01 7.93197907e-04 -2.67010413e-03 2.46555651e-01] [-7.93108608e-04 9.99999685e-01 3.45028841e-05 5.73867957e-03] [ 2.67013066e-03 -3.23850676e-05 9.99996435e-01 -3.81444990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820281692999999 meters 0.04502085492095086 Centerline is valid? [True, True] Translation: X:0.28, Y:0.00, Z:-0.04 [[ 9.99997785e-01 -1.28261182e-03 -1.66868301e-03 2.76117870e-01] [ 1.28264948e-03 9.99999177e-01 2.14980057e-05 2.67399467e-03] [ 1.66865407e-03 -2.36382935e-05 9.99998608e-01 -3.56294151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8502816929999994 meters 0.03898161310951588 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.00, Z:-0.03 [[ 9.99988260e-01 -4.69705163e-03 1.19050034e-03 3.06107527e-01] [ 4.69707314e-03 9.99988969e-01 -1.52739859e-05 -3.91496453e-03] [-1.19041546e-03 2.08656737e-05 9.99999291e-01 -3.23833023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880281693 meters 0.041870002918683286 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.01, Z:-0.03 [[ 9.99982983e-01 -5.80359780e-03 5.92856796e-04 3.36163827e-01] [ 5.80360335e-03 9.99983159e-01 -7.64389112e-06 -6.17967579e-03] [-5.92802449e-04 1.10844667e-05 9.99999824e-01 -3.24369526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.910281693 meters 0.03843331192611759 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:-0.03 [[ 9.99982419e-01 -5.90508200e-03 5.39873046e-04 3.67921842e-01] [ 5.90508663e-03 9.99982565e-01 -6.99505367e-06 -6.35764871e-03] [-5.39822327e-04 1.01829278e-05 9.99999854e-01 -3.34750443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940281692999999 meters 0.03699336065860964 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.00, Z:-0.03 [[ 9.99992602e-01 -3.80367109e-03 -5.72595471e-04 3.98355375e-01] [ 3.80367593e-03 9.99992766e-01 7.35965168e-06 -3.31216448e-03] [ 5.72563335e-04 -9.53756485e-06 9.99999836e-01 -3.46156945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970281693 meters 0.03528580126602603 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.00, Z:-0.03 [[ 9.99997568e-01 -2.20514464e-03 4.45572303e-05 4.28288481e-01] [ 2.20514467e-03 9.99997569e-01 -5.74328838e-07 -2.41076854e-03] [-4.45558555e-05 6.72582579e-07 9.99999999e-01 -3.39337642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000281693 meters 0.03037702095786765 Centerline is valid? [True, True] Translation: X:0.46, Y:0.00, Z:-0.03 [[ 9.99999388e-01 -1.04042085e-03 3.76258062e-04 4.58423905e-01] [ 1.04042275e-03 9.99999459e-01 -4.84984937e-06 3.14585884e-03] [-3.76252813e-04 5.24131385e-06 9.99999929e-01 -3.47045461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030281692999999 meters 0.030018992708173722 Centerline is valid? [True, True] Translation: X:0.49, Y:0.00, Z:-0.03 [[ 9.99998816e-01 -1.30067266e-03 8.22240516e-04 4.88644794e-01] [ 1.30068183e-03 9.99999154e-01 -1.06289712e-05 1.83328888e-03] [-8.22225996e-04 1.16984319e-05 9.99999662e-01 -3.48328423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060281692999999 meters 0.029404620056606323 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.00, Z:-0.04 [[ 9.99997676e-01 -1.98022921e-03 8.52098693e-04 5.19584305e-01] [ 1.98023934e-03 9.99998039e-01 -1.10546839e-05 -1.73023538e-04] [-8.52075131e-04 1.27420175e-05 9.99999637e-01 -3.55985044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.090281693 meters 0.030089726841469967 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.00, Z:-0.04 [[ 9.99994703e-01 -3.17212796e-03 7.28446334e-04 5.51128990e-01] [ 3.17213571e-03 9.99994969e-01 -9.47287748e-06 -4.11237185e-03] [-7.28412620e-04 1.17835579e-05 9.99999735e-01 -3.58801774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120281693 meters 0.03223512924158114 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.01, Z:-0.04 [[ 9.99973350e-01 -7.15258240e-03 1.46314664e-03 5.82270093e-01] [ 7.15261788e-03 9.99974420e-01 -1.90162355e-05 -1.20049686e-02] [-1.46297320e-03 2.94810575e-05 9.99998929e-01 -3.51777744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150281692999999 meters 0.032304209551883484 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.02, Z:-0.04 [[ 9.99952545e-01 -9.26577498e-03 3.00882376e-03 6.13665728e-01] [ 9.26593480e-03 9.99957070e-01 -3.91812312e-05 -1.79653386e-02] [-3.00833155e-03 6.70589367e-05 9.99995473e-01 -3.64881930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1802816929999995 meters 0.03655219047708583 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.03, Z:-0.03 [[ 9.99937543e-01 -1.09060934e-02 2.44296914e-03 6.44702607e-01] [ 1.09062039e-02 9.99940525e-01 -3.19041384e-05 -2.50566100e-02] [-2.44247590e-03 5.85456652e-05 9.99997015e-01 -3.42681809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210281693 meters 0.037035865122202964 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.03, Z:-0.03 [[ 9.99928646e-01 -1.14374131e-02 3.44802088e-03 6.75176994e-01] [ 1.14376362e-02 9.99934587e-01 -4.49954919e-05 -3.38491151e-02] [-3.44728071e-03 8.44294898e-05 9.99994055e-01 -3.40872274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240281693 meters 0.033492106198425846 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.03, Z:-0.04 [[ 9.99936235e-01 -1.07408330e-02 3.48726763e-03 7.06828509e-01] [ 1.07410574e-02 9.99942312e-01 -4.56067843e-05 -3.31167564e-02] [-3.48657660e-03 8.30608178e-05 9.99993918e-01 -3.63292593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270281692999999 meters 0.03375105177033056 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.04, Z:-0.04 [[ 9.99948698e-01 -9.90533596e-03 2.11812874e-03 7.37866170e-01] [ 9.90541708e-03 9.99950940e-01 -2.78103496e-05 -3.61901055e-02] [-2.11774935e-03 4.87898714e-05 9.99997756e-01 -3.72087789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300281693 meters 0.03298265284507542 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.04, Z:-0.04 [[ 9.99951675e-01 -9.81899650e-03 4.85697898e-04 7.68892768e-01] [ 9.81900077e-03 9.99951792e-01 -6.41600575e-06 -4.25056322e-02] [-4.85611484e-04 1.11847637e-05 9.99999882e-01 -4.03794719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330281693 meters 0.03505837003005518 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.05, Z:-0.04 [[ 9.99951430e-01 -9.83216348e-03 6.83452996e-04 7.98949679e-01] [ 9.83217193e-03 9.99951663e-01 -8.99622898e-06 -4.98948979e-02] [-6.83331508e-04 1.57156194e-05 9.99999766e-01 -3.91207526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360281692999999 meters 0.030812384151761685 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.05, Z:-0.04 [[ 9.99945289e-01 -1.02999814e-02 1.82464200e-03 8.30492888e-01] [ 1.03000424e-02 9.99946953e-01 -2.40478972e-05 -4.91926017e-02] [-1.82429752e-03 4.28404715e-05 9.99998335e-01 -3.89756993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3902816929999995 meters 0.03142417664236762 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.05, Z:-0.04 [[ 9.99938883e-01 -1.06829393e-02 2.84690037e-03 8.61870452e-01] [ 1.06830895e-02 9.99942933e-01 -3.75602631e-05 -5.49877612e-02] [-2.84633665e-03 6.79716590e-05 9.99995947e-01 -3.77576648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420281693 meters 0.03142417664236762 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.06, Z:-0.04 [[ 9.99939129e-01 -1.06598645e-02 2.84689950e-03 8.92712414e-01] [ 1.06600148e-02 9.99943180e-01 -3.76261725e-05 -5.54374513e-02] [-2.84633664e-03 6.79718728e-05 9.99995947e-01 -3.76962843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450281693 meters 0.03139703525134841 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.06, Z:-0.04 [[ 9.99941410e-01 -1.05615562e-02 2.37270488e-03 9.23914543e-01] [ 1.05616605e-02 9.99944224e-01 -3.14210234e-05 -6.38083345e-02] [-2.37224068e-03 5.64788859e-05 9.99997185e-01 -3.87911828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480281692999999 meters 0.030940373984742392 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.07, Z:-0.04 [[ 9.99949523e-01 -9.90442767e-03 1.68909876e-03 9.55304965e-01] [ 9.90447966e-03 9.99950949e-01 -2.24198241e-05 -6.70925888e-02] [-1.68879385e-03 3.91483367e-05 9.99998573e-01 -3.95958972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510281693 meters 0.033102451891738875 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.07, Z:-0.04 [[ 9.99962776e-01 -8.59481897e-03 7.59309599e-04 9.85839717e-01] [ 8.59482911e-03 9.99963064e-01 -1.00893100e-05 -7.39857229e-02] [-7.59194838e-04 1.66150707e-05 9.99999712e-01 -3.96837149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540281693 meters 0.028276442535914246 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.07, Z:-0.04 [[ 9.99975163e-01 -7.02046874e-03 6.21224224e-04 1.01599302e+00] [ 7.02047521e-03 9.99975356e-01 -8.23598483e-06 -7.02093827e-02] [-6.21151094e-04 1.25970695e-05 9.99999807e-01 -4.01151930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570281692999999 meters 0.023136120568989324 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.07, Z:-0.04 [[ 9.99998401e-01 -1.48893844e-03 9.90566662e-04 1.04714925e+00] [ 1.48895219e-03 9.99998891e-01 -1.31403321e-05 -6.56859343e-02] [-9.90545999e-04 1.46152175e-05 9.99999509e-01 -3.92964700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6002816929999994 meters 0.02070834416058408 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.06, Z:-0.04 [[ 9.99997266e-01 2.09911744e-03 1.03048010e-03 1.07743324e+00] [-2.09910443e-03 9.99997797e-01 -1.36994216e-05 -6.26636020e-02] [-1.03050658e-03 1.15362989e-05 9.99999469e-01 -3.90978349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.630281693 meters 0.01867270243033335 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.06, Z:-0.04 [[ 9.99985209e-01 5.41899816e-03 4.64843872e-04 1.10674928e+00] [-5.41899588e-03 9.99985317e-01 -6.16933585e-06 -5.91605999e-02] [-4.64870478e-04 3.65025758e-06 9.99999892e-01 -3.98839022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660281693 meters 0.01693703262875765 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.05, Z:-0.04 [[ 9.99951142e-01 9.86421868e-03 -6.41461981e-04 1.13629574e+00] [-9.86421525e-03 9.99951347e-01 8.50480501e-06 -5.48959375e-02] [ 6.41514666e-04 -2.17687042e-06 9.99999794e-01 -4.20122046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690281692999999 meters 0.016428324508880293 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.05, Z:-0.04 [[ 9.99936406e-01 1.12744634e-02 -2.63927686e-04 1.16571177e+00] [-1.12744628e-02 9.99936441e-01 3.54400800e-06 -5.40779844e-02] [ 2.63950867e-04 -5.68139750e-07 9.99999965e-01 -4.17901175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720281693 meters 0.01640164513240259 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.05, Z:-0.04 [[ 9.99926380e-01 1.21336184e-02 -9.62197379e-05 1.19491901e+00] [-1.21336183e-02 9.99926385e-01 1.29704046e-06 -5.45987667e-02] [ 9.62283924e-05 -1.29451403e-07 9.99999995e-01 -4.10833037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750281693 meters 0.01633144864745513 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.06, Z:-0.04 [[ 9.99932745e-01 1.15928364e-02 -3.33511307e-04 1.22486329e+00] [-1.15928356e-02 9.99932801e-01 4.45567049e-06 -5.72078948e-02] [ 3.33540549e-04 -5.89029085e-07 9.99999944e-01 -4.19866564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780281692999999 meters 0.016500807870106837 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.06, Z:-0.04 [[ 9.99937765e-01 1.11327484e-02 -7.27109867e-04 1.25430911e+00] [-1.11327443e-02 9.99938029e-01 9.62735920e-06 -5.96717789e-02] [ 7.27171986e-04 -1.53203180e-06 9.99999736e-01 -4.27626387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810281692999999 meters 0.016413046790631786 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.06, Z:-0.04 [[ 9.99939257e-01 1.09672126e-02 -1.09690850e-03 1.28389804e+00] [-1.09672032e-02 9.99939858e-01 1.45097765e-05 -6.13909415e-02] [ 1.09700166e-03 -2.47887662e-06 9.99999398e-01 -4.30003396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840281693 meters 0.016369621300788183 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.06, Z:-0.04 [[ 9.99937009e-01 1.11635151e-02 -1.16323305e-03 1.31277130e+00] [-1.11635048e-02 9.99937686e-01 1.53669245e-05 -6.29716807e-02] [ 1.16333211e-03 -2.38019882e-06 9.99999323e-01 -4.29622747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.870281693 meters 0.016115398882218114 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.06, Z:-0.04 [[ 9.99906308e-01 1.36883165e-02 -7.59329891e-05 1.34138666e+00] [-1.36883165e-02 9.99906311e-01 1.04875493e-06 -6.14873804e-02] [ 7.59402307e-05 -9.26188432e-09 9.99999997e-01 -3.99838781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900281692999999 meters 0.016157688735475864 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.06, Z:-0.04 [[ 9.99883022e-01 1.52925901e-02 2.81556126e-04 1.37102224e+00] [-1.52925897e-02 9.99883062e-01 -3.64320932e-06 -6.00186008e-02] [-2.81578916e-04 -6.62939165e-07 9.99999960e-01 -3.93950905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9302816929999995 meters 0.01630107581127579 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.06, Z:-0.04 [[ 9.99864056e-01 1.64848026e-02 3.48188536e-04 1.40117234e+00] [-1.64848021e-02 9.99864116e-01 -4.50673924e-06 -6.01059773e-02] [-3.48215515e-04 -1.23369251e-06 9.99999939e-01 -3.93656551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960281693 meters 0.016526803823084323 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.06, Z:-0.04 [[ 9.99856446e-01 1.69332002e-02 -5.94445308e-04 1.43057444e+00] [-1.69331986e-02 9.99856623e-01 7.80730476e-06 -6.20806443e-02] [ 5.94492281e-04 2.25967646e-06 9.99999823e-01 -4.16561513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990281692999999 meters 0.016536159305498854 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.07, Z:-0.04 [[ 9.99858895e-01 1.67763195e-02 -8.63045059e-04 1.45882742e+00] [-1.67763160e-02 9.99859268e-01 1.13065317e-05 -6.68920609e-02] [ 8.63113282e-04 3.17378040e-06 9.99999628e-01 -4.22224724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020281692999999 meters 0.01637668232621821 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.07, Z:-0.04 [[ 9.99866514e-01 1.63386360e-02 -4.69680755e-05 1.48889142e+00] [-1.63386360e-02 9.99866516e-01 6.56804131e-07 -6.88757936e-02] [ 4.69725373e-05 1.10677833e-07 9.99999999e-01 -4.09573744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.050281693 meters 0.0161126081934906 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.07, Z:-0.04 [[ 9.99889703e-01 1.47871920e-02 1.38613795e-03 1.51876745e+00] [-1.47871813e-02 9.99890663e-01 -1.79750030e-05 -7.49066533e-02] [-1.38625219e-03 -2.52405271e-06 9.99999039e-01 -3.80813800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080281693 meters 0.01595088612138559 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.08, Z:-0.04 [[ 9.99902170e-01 1.39451515e-02 1.08753727e-03 1.54935937e+00] [-1.39451444e-02 9.99902762e-01 -1.41208910e-05 -7.95118148e-02] [-1.08762843e-03 -1.04635470e-06 9.99999409e-01 -3.88080329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110281692999999 meters 0.015938881997402832 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.08, Z:-0.04 [[ 9.99910420e-01 1.33818284e-02 2.81497672e-04 1.57924655e+00] [-1.33818278e-02 9.99910459e-01 -3.68130726e-06 -8.27346487e-02] [-2.81521729e-04 -8.59758993e-08 9.99999960e-01 -3.96988265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1402816929999995 meters 0.015794511823578775 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.09, Z:-0.04 [[ 9.99913945e-01 1.31103041e-02 -4.71708006e-04 1.60961928e+00] [-1.31103027e-02 9.99914056e-01 6.13024404e-06 -8.50742883e-02] [ 4.71747835e-04 5.45182206e-08 9.99999889e-01 -4.06215121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170281693 meters 0.01583900612327975 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.09, Z:-0.04 [[ 9.99906630e-01 1.36630048e-02 -2.29895899e-04 1.63890743e+00] [-1.36630045e-02 9.99906657e-01 3.00822421e-06 -8.72480755e-02] [ 2.29915541e-04 1.33125361e-07 9.99999974e-01 -3.94796120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200281692999999 meters 0.015728076652083922 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.09, Z:-0.04 [[ 9.99901406e-01 1.40307838e-02 5.62163502e-04 1.66964199e+00] [-1.40307819e-02 9.99901564e-01 -7.29923099e-06 -8.91647650e-02] [-5.62210579e-04 -5.89082193e-07 9.99999842e-01 -3.81578152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230281692999999 meters 0.01582410091124418 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.09, Z:-0.04 [[ 9.99888854e-01 1.49067798e-02 2.58060426e-04 1.69989823e+00] [-1.49067794e-02 9.99888888e-01 -3.47282417e-06 -9.20773129e-02] [-2.58083521e-04 -3.74411659e-07 9.99999967e-01 -3.88526469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260281693 meters 0.01577629824540837 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.09, Z:-0.04 [[ 9.99885480e-01 1.51183949e-02 -6.79449564e-04 1.73033609e+00] [-1.51183924e-02 9.99885711e-01 8.85900677e-06 -9.41118414e-02] [ 6.79505844e-04 1.41419287e-06 9.99999769e-01 -4.02589254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290281693 meters 0.01606656172414466 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.09, Z:-0.04 [[ 9.99876258e-01 1.56339949e-02 -1.74548128e-03 1.76021849e+00] [-1.56339790e-02 9.99877782e-01 2.27613452e-05 -9.49032513e-02] [ 1.74562380e-03 4.53028897e-06 9.99998476e-01 -4.15835018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320281692999999 meters 0.016404515284288115 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.09, Z:-0.04 [[ 9.99856890e-01 1.68294280e-02 -1.72343139e-03 1.78948329e+00] [-1.68294143e-02 9.99858375e-01 2.24567865e-05 -9.41703261e-02] [ 1.72356524e-03 6.55076805e-06 9.99998515e-01 -4.18102429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3502816929999994 meters 0.01709695034007722 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.09, Z:-0.04 [[ 9.99823601e-01 1.87465847e-02 -1.15406756e-03 1.81782686e+00] [-1.87465798e-02 9.99824267e-01 1.50359349e-05 -9.02148699e-02] [ 1.15414663e-03 6.60153709e-06 9.99999334e-01 -3.96425115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380281693 meters 0.017693061387891864 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.09, Z:-0.04 [[ 9.99804886e-01 1.97335324e-02 -8.81411545e-04 1.84763449e+00] [-1.97335299e-02 9.99805275e-01 1.14566172e-05 -8.80634181e-02] [ 8.81465992e-04 5.93897924e-06 9.99999611e-01 -3.92846126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410281693 meters 0.01822528913495516 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.09, Z:-0.04 [[ 9.99790880e-01 2.04222646e-02 -1.06208659e-03 1.87605340e+00] [-2.04222614e-02 9.99791444e-01 1.37820419e-05 -8.64031094e-02] [ 1.06214654e-03 7.91105021e-06 9.99999436e-01 -3.95841316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440281692999999 meters 0.019595485764073852 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.08, Z:-0.04 [[ 9.99750857e-01 2.22282103e-02 -2.03243820e-03 1.90503085e+00] [-2.22282029e-02 9.99752923e-01 2.62426007e-05 -8.16888236e-02] [ 2.03251936e-03 1.89413861e-05 9.99997934e-01 -4.13575757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470281693 meters 0.020353220876097318 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.08, Z:-0.04 [[ 9.99733289e-01 2.30442334e-02 -1.52100410e-03 1.93360527e+00] [-2.30442302e-02 9.99734446e-01 1.96045060e-05 -7.91482725e-02] [ 1.52105197e-03 1.54510915e-05 9.99998843e-01 -4.03628393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500281693 meters 0.02086201669393005 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.08, Z:-0.04 [[ 9.99720061e-01 2.36521889e-02 -6.11801458e-04 1.96338358e+00] [-2.36521885e-02 9.99720248e-01 7.88935337e-06 -7.68500468e-02] [ 6.11816906e-04 6.58329857e-06 9.99999813e-01 -3.83940272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530281692999999 meters 0.021426064301645564 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.07, Z:-0.04 [[ 9.99706928e-01 2.42036900e-02 4.90063159e-04 1.99307766e+00] [-2.42036898e-02 9.99707048e-01 -6.22907263e-06 -7.33331612e-02] [-4.90070360e-04 -5.63408962e-06 9.99999880e-01 -3.68008660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560281692999999 meters 0.021466954236131774 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.07, Z:-0.04 [[ 9.99704246e-01 2.43187407e-02 1.37083514e-04 2.02364354e+00] [-2.43187407e-02 9.99704256e-01 -1.75477707e-06 -7.19190508e-02] [-1.37085646e-04 -1.57944035e-06 9.99999991e-01 -3.68643812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.590281693 meters 0.022599584825009737 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.07, Z:-0.04 [[ 9.99676336e-01 2.54387875e-02 -3.00568004e-04 2.05424273e+00] [-2.54387875e-02 9.99676382e-01 3.84750744e-06 -6.72939398e-02] [ 3.00568610e-04 3.79982342e-06 9.99999955e-01 -3.72902285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620281693 meters 0.023760250661682532 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.06, Z:-0.04 [[ 9.99652691e-01 2.63531964e-02 7.92262483e-05 2.08329649e+00] [-2.63531964e-02 9.99652694e-01 -1.08219553e-06 -6.45364836e-02] [-7.92272518e-05 -1.00604521e-06 9.99999997e-01 -3.71777292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650281692999999 meters 0.02463515828279851 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.06, Z:-0.04 [[ 9.99628688e-01 2.72475413e-02 2.39859770e-04 2.11339071e+00] [-2.72475414e-02 9.99628717e-01 -3.02954237e-06 -6.25185634e-02] [-2.39853262e-04 -3.50717154e-06 9.99999971e-01 -3.67778164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6802816929999995 meters 0.02568937523223509 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.06, Z:-0.04 [[ 9.99605443e-01 2.80861192e-02 3.57118979e-04 2.14326629e+00] [-2.80861193e-02 9.99605507e-01 -4.59523507e-06 -6.02884801e-02] [-3.57107161e-04 -5.43666428e-06 9.99999936e-01 -3.59966379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710281693 meters 0.029252508922137193 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.05, Z:-0.04 [[ 9.99520200e-01 3.09729748e-02 2.09945415e-04 2.17237838e+00] [-3.09729749e-02 9.99520222e-01 -2.62752769e-06 -5.12548260e-02] [-2.09926070e-04 -3.87636706e-06 9.99999978e-01 -3.59574127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740281692999999 meters 0.029419422774605027 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.05, Z:-0.04 [[ 9.99460547e-01 3.28311037e-02 -8.56096808e-04 2.20229120e+00] [-3.28311063e-02 9.99460914e-01 1.09759142e-05 -4.80914501e-02] [ 8.55995650e-04 1.71366121e-05 9.99999633e-01 -3.82593986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770281692999999 meters 0.029563863454955392 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.04, Z:-0.04 [[ 9.99392820e-01 3.47879379e-02 -1.94686826e-03 2.23223178e+00] [-3.47879554e-02 9.99394716e-01 2.48600878e-05 -4.49993642e-02] [ 1.94655468e-03 4.28825730e-05 9.99998105e-01 -4.02495799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800281693 meters 0.036175022013609455 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.03, Z:-0.04 [[ 9.99329088e-01 3.65610836e-02 -2.15889005e-03 2.26085226e+00] [-3.65611094e-02 9.99331419e-01 2.75098117e-05 -3.31888958e-02] [ 2.15845245e-03 5.14400603e-05 9.99997669e-01 -4.08313738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830281693 meters 0.032519534299712445 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.03, Z:-0.04 [[ 9.99264452e-01 3.82955938e-02 -2.00049795e-03 2.28966971e+00] [-3.82956196e-02 9.99266453e-01 2.54265437e-05 -3.46780328e-02] [ 2.00000422e-03 5.12024673e-05 9.99997999e-01 -3.95724213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860281692999999 meters 0.03241524131747073 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.03, Z:-0.04 [[ 9.99279288e-01 3.79162384e-02 -1.80657512e-03 2.31892591e+00] [-3.79162590e-02 9.99280920e-01 2.28855517e-05 -3.32008577e-02] [ 1.80614378e-03 4.56295123e-05 9.99998368e-01 -3.93840273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8902816929999995 meters 0.03040500486618799 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.03, Z:-0.04 [[ 9.99369359e-01 3.53656019e-02 -3.18709129e-03 2.34715448e+00] [-3.53656536e-02 9.99374439e-01 4.01522185e-05 -3.33441792e-02] [ 3.18651757e-03 7.25866696e-05 9.99994920e-01 -4.20844630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920281693 meters 0.029202308457870182 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.03, Z:-0.04 [[ 9.99416703e-01 3.39314105e-02 -3.86167099e-03 2.37573899e+00] [-3.39314764e-02 9.99424160e-01 4.84500308e-05 -3.41315043e-02] [ 3.86109127e-03 8.26104282e-05 9.99992543e-01 -4.32803474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950281692999999 meters 0.0277359821699471 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.03, Z:-0.04 [[ 9.99450440e-01 3.29131140e-02 -3.94261779e-03 2.40443039e+00] [-3.29131756e-02 9.99458213e-01 4.92781398e-05 -3.47553608e-02] [ 3.94210363e-03 8.05130132e-05 9.99992227e-01 -4.28131184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980281692999999 meters 0.02801151918975117 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.03, Z:-0.04 [[ 9.99458324e-01 3.28029706e-02 -2.65020733e-03 2.43215349e+00] [-3.28029983e-02 9.99461836e-01 3.30194530e-05 -3.20760313e-02] [ 2.64986422e-03 5.39331796e-05 9.99996488e-01 -4.06943963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010281693 meters 0.029999554683856625 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.03, Z:-0.04 [[ 9.99429978e-01 3.37417784e-02 -1.10106688e-03 2.45979794e+00] [-3.37417838e-02 9.99430584e-01 1.37182700e-05 -2.52770844e-02] [ 1.10090279e-03 2.34415102e-05 9.99999394e-01 -3.74479073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040281692999999 meters 0.03001555618307147 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.02, Z:-0.04 [[ 9.99416853e-01 3.41079810e-02 -1.61250158e-03 2.48910036e+00] [-3.41079932e-02 9.99418153e-01 1.99369521e-05 -2.39623487e-02] [ 1.61224336e-03 3.50738671e-05 9.99998700e-01 -3.84669430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070281693 meters 0.030185311033235074 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.02, Z:-0.04 [[ 9.99416136e-01 3.40900971e-02 -2.29164973e-03 2.51773541e+00] [-3.40901220e-02 9.99418762e-01 2.81897189e-05 -2.24529731e-02] [ 2.29127873e-03 4.99493591e-05 9.99997374e-01 -3.96314348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100281693 meters 0.02933704247830126 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.02, Z:-0.04 [[ 9.99404540e-01 3.44195531e-02 -2.42090559e-03 2.54669126e+00] [-3.44195822e-02 9.99407470e-01 2.96623235e-05 -2.19346583e-02] [ 2.42049209e-03 5.36818982e-05 9.99997069e-01 -3.99524127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.130281692999999 meters 0.03069954346503156 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.01, Z:-0.04 [[ 9.99405487e-01 3.44229074e-02 -1.93264760e-03 2.57447009e+00] [-3.44229261e-02 9.99407355e-01 2.36077615e-05 -1.49807546e-02] [ 1.93231487e-03 4.29336591e-05 9.99998132e-01 -3.88067410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160281693 meters 0.031951978568354474 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.01, Z:-0.04 [[ 9.99419714e-01 3.40230740e-02 -1.63260876e-03 2.60225081e+00] [-3.40230869e-02 9.99421047e-01 1.98640588e-05 -1.08293878e-02] [ 1.63233939e-03 3.56938579e-05 9.99998667e-01 -3.83035235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190281693 meters 0.0300443494701714 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.01, Z:-0.04 [[ 9.99450484e-01 3.31149687e-02 -1.45895483e-03 2.63160193e+00] [-3.31149782e-02 9.99451549e-01 1.76864501e-05 -1.13291667e-02] [ 1.45874035e-03 3.06365264e-05 9.99998936e-01 -3.80251285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220281692999999 meters 0.02424848765203133 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.02, Z:-0.04 [[ 9.99526424e-01 3.07543137e-02 -1.04890293e-03 2.66144875e+00] [-3.07543173e-02 9.99526974e-01 1.26358820e-05 -1.70637405e-02] [ 1.04879538e-03 1.96283955e-05 9.99999450e-01 -3.72170249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250281693 meters 0.02645486868205647 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.01, Z:-0.04 [[ 9.99572794e-01 2.92245312e-02 -3.95395873e-04 2.68967147e+00] [-2.92245316e-02 9.99572872e-01 4.84376448e-06 -1.33270537e-02] [ 3.95368545e-04 6.71356398e-06 9.99999922e-01 -3.55095388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280281693 meters 0.025098917305941302 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.02, Z:-0.03 [[ 9.99617250e-01 2.76643253e-02 1.97265580e-04 2.71852273e+00] [-2.76643254e-02 9.99617269e-01 -2.28120553e-06 -1.56857204e-02] [-1.97253188e-04 -3.17688680e-06 9.99999981e-01 -3.43637990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310281693 meters 0.025098917305941302 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.02, Z:-0.03 [[ 9.99617865e-01 2.76420824e-02 1.97265362e-04 2.74768737e+00] [-2.76420825e-02 9.99617885e-01 -2.29945255e-06 -1.59859682e-02] [-1.97253546e-04 -3.15425156e-06 9.99999981e-01 -3.43057520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340281693 meters 0.022120141645322278 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.02, Z:-0.03 [[ 9.99699444e-01 2.45037393e-02 7.66883686e-04 2.77722767e+00] [-2.45037396e-02 9.99699738e-01 -9.05032053e-06 -2.09741482e-02] [-7.66875187e-04 -9.74391772e-06 9.99999706e-01 -3.33153984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370281692999999 meters 0.019809632396406075 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.03, Z:-0.03 [[ 9.99728798e-01 2.32639740e-02 1.05770500e-03 2.80647080e+00] [-2.32639738e-02 9.99729357e-01 -1.24712776e-05 -2.60366437e-02] [-1.05770887e-03 -1.21385260e-05 9.99999441e-01 -3.39079643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400281693 meters 0.018753691026544072 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.03, Z:-0.03 [[ 9.99756003e-01 2.20717308e-02 8.78736024e-04 2.83652662e+00] [-2.20717303e-02 9.99756390e-01 -1.03313660e-05 -2.93412838e-02] [-8.78749986e-04 -9.06637929e-06 9.99999614e-01 -3.45628230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430281693 meters 0.019338736784247395 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.03, Z:-0.04 [[ 9.99786011e-01 2.06807465e-02 -4.88594195e-04 2.86624906e+00] [-2.06807461e-02 9.99786130e-01 5.78885421e-06 -3.07918121e-02] [ 4.88609417e-04 4.31687703e-06 9.99999881e-01 -3.60841757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460281692999999 meters 0.018638633842558008 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.03, Z:-0.04 [[ 9.99797724e-01 2.00318899e-02 -1.79854800e-03 2.89624629e+00] [-2.00318842e-02 9.99799341e-01 2.12260077e-05 -3.41726874e-02] [ 1.79861230e-03 1.48065910e-05 9.99998382e-01 -3.82162605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490281693 meters 0.017420772360754903 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.04, Z:-0.04 [[ 9.99811338e-01 1.91543207e-02 -3.22493737e-03 2.92549086e+00] [-1.91542980e-02 9.99816539e-01 3.79391864e-05 -4.24498308e-02] [ 3.22507242e-03 2.38393827e-05 9.99994799e-01 -4.08409245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520281693 meters 0.017846747357084514 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.04, Z:-0.04 [[ 9.99822395e-01 1.86362865e-02 -2.80497215e-03 2.95379629e+00] [-1.86362675e-02 9.99826329e-01 3.28997513e-05 -4.32321316e-02] [ 2.80509813e-03 1.93803032e-05 9.99996066e-01 -3.98151965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550281692999999 meters 0.016750291909695413 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.05, Z:-0.04 [[ 9.99832404e-01 1.82433857e-02 -1.53054998e-03 2.98272368e+00] [-1.82433796e-02 9.99833576e-01 1.79231784e-05 -4.71690591e-02] [ 1.53062224e-03 1.00022298e-05 9.99998829e-01 -3.80433458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580281693 meters 0.017143795829136724 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.05, Z:-0.04 [[ 9.99843562e-01 1.76775367e-02 -5.96832416e-04 3.01154807e+00] [-1.76775356e-02 9.99843740e-01 7.00157149e-06 -4.74155603e-02] [ 5.96862926e-04 3.55005012e-06 9.99999822e-01 -3.57378193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610281693 meters 0.016132179671336292 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.05, Z:-0.04 [[ 9.99873856e-01 1.58362258e-02 -1.21893428e-03 3.04115759e+00] [-1.58362203e-02 9.99874599e-01 1.41717904e-05 -5.48962259e-02] [ 1.21900585e-03 5.13330912e-06 9.99999257e-01 -3.75931153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640281693 meters 0.015550510126863025 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.06, Z:-0.04 [[ 9.99888848e-01 1.46678762e-02 -2.67312911e-03 3.07036831e+00] [-1.46678458e-02 9.99892421e-01 3.09702780e-05 -6.00093860e-02] [ 2.67329580e-03 8.24220988e-06 9.99996427e-01 -4.04916446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670281693 meters 0.015487448245807315 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.06, Z:-0.04 [[ 9.99900344e-01 1.36097959e-02 -3.75181897e-03 3.09886503e+00] [-1.36097291e-02 9.99907382e-01 4.33415253e-05 -6.34794797e-02] [ 3.75206136e-03 7.72403375e-06 9.99992961e-01 -4.17751244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700281692999999 meters 0.015551012583654706 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.07, Z:-0.04 [[ 9.99899463e-01 1.36138345e-02 -3.96584840e-03 3.12755341e+00] [-1.36137605e-02 9.99907327e-01 4.56720269e-05 -6.53605093e-02] [ 3.96610265e-03 8.32267513e-06 9.99992135e-01 -4.16791027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730281693 meters 0.01576089928721852 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.07, Z:-0.04 [[ 9.99886020e-01 1.48525050e-02 -2.71115573e-03 3.15631547e+00] [-1.48524752e-02 9.99889695e-01 3.11419346e-05 -6.61990417e-02] [ 2.71131921e-03 9.12898816e-06 9.99996324e-01 -3.88546884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760281693 meters 0.015792200828289943 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.07, Z:-0.04 [[ 9.99882697e-01 1.51651973e-02 -2.14675448e-03 3.18462172e+00] [-1.51651794e-02 9.99885002e-01 2.45808017e-05 -6.62362461e-02] [ 2.14688038e-03 7.97799859e-06 9.99997695e-01 -3.77320377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790281692999999 meters 0.015587758229111012 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.07, Z:-0.04 [[ 9.99897967e-01 1.42843547e-02 -1.13349945e-04 3.21376366e+00] [-1.42843546e-02 9.99897973e-01 1.33701831e-06 -6.85540522e-02] [ 1.13357479e-04 2.82248925e-07 9.99999994e-01 -3.50347201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820281693 meters 0.01546951731247302 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.07, Z:-0.03 [[ 9.99899484e-01 1.41642632e-02 6.29102327e-04 3.24353601e+00] [-1.41642615e-02 9.99899682e-01 -7.13924681e-06 -6.97356443e-02] [-6.29140339e-04 -1.77224066e-06 9.99999802e-01 -3.33708910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850281693 meters 0.01567308884079987 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.07, Z:-0.03 [[ 9.99893211e-01 1.45705645e-02 1.12492763e-03 3.27411382e+00] [-1.45705593e-02 9.99893844e-01 -1.28063873e-05 -7.01361850e-02] [-1.12499481e-03 -3.58580501e-06 9.99999367e-01 -3.23441596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880281692999999 meters 0.01640027756766768 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.07, Z:-0.03 [[ 9.99864064e-01 1.64644146e-02 8.81131089e-04 3.30370861e+00] [-1.64644122e-02 9.99864452e-01 -9.99872953e-06 -6.69498403e-02] [-8.81176277e-04 -4.50993508e-06 9.99999612e-01 -3.16442468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910281693 meters 0.016753770875518617 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:-0.03 [[ 9.99848865e-01 1.73850470e-02 8.52004131e-05 3.33337391e+00] [-1.73850470e-02 9.99848869e-01 -9.22031264e-07 -6.45837154e-02] [-8.52035662e-05 -5.59321273e-07 9.99999996e-01 -3.29657500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940281693 meters 0.017326458995249896 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.06, Z:-0.03 [[ 9.99833306e-01 1.82353249e-02 -9.12734403e-04 3.36300533e+00] [-1.82353230e-02 9.99833723e-01 1.03842757e-05 -6.25344659e-02] [ 9.12771997e-04 6.26146197e-06 9.99999583e-01 -3.49201786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970281692999999 meters 0.01778565599865235 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.06, Z:-0.04 [[ 9.99818786e-01 1.89511463e-02 -1.80257120e-03 3.39283864e+00] [-1.89511403e-02 9.99820411e-01 2.04231205e-05 -6.03699165e-02] [ 1.80263452e-03 1.37413602e-05 9.99998375e-01 -3.66541992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000281693 meters 0.01794971132450753 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.06, Z:-0.04 [[ 9.99819346e-01 1.89128771e-02 -1.89176862e-03 3.42298036e+00] [-1.89128705e-02 9.99821135e-01 2.13888505e-05 -6.03108946e-02] [ 1.89183477e-03 1.43937884e-05 9.99998210e-01 -3.66306368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030281693 meters 0.017763052045639872 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.06, Z:-0.04 [[ 9.99828386e-01 1.84832658e-02 -1.25179572e-03 3.45157913e+00] [-1.84832626e-02 9.99829170e-01 1.41483085e-05 -5.99990027e-02] [ 1.25184338e-03 8.99138848e-06 9.99999216e-01 -3.57430213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060281693 meters 0.017677721917737116 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.06, Z:-0.03 [[ 9.99830439e-01 1.83922313e-02 -9.05544553e-04 3.48116919e+00] [-1.83922296e-02 9.99830849e-01 1.02104859e-05 -5.96998978e-02] [ 9.05579172e-04 6.44622874e-06 9.99999590e-01 -3.48942618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090281693 meters 0.018452956917450105 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.06, Z:-0.03 [[ 9.99809347e-01 1.95094598e-02 -8.07003496e-04 3.50974224e+00] [-1.95094588e-02 9.99809672e-01 9.09919408e-06 -5.59483213e-02] [ 8.07027422e-04 6.64674221e-06 9.99999674e-01 -3.42728436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120281692999999 meters 0.01949996433191465 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.05, Z:-0.03 [[ 9.99783595e-01 2.07820608e-02 -9.31809466e-04 3.53896567e+00] [-2.07820601e-02 9.99784030e-01 1.04649986e-05 -5.26770299e-02] [ 9.31825707e-04 8.90218638e-06 9.99999566e-01 -3.43771183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150281693 meters 0.021160360969107946 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.05, Z:-0.03 [[ 9.99745583e-01 2.25332638e-02 -1.01032892e-03 3.56860117e+00] [-2.25332639e-02 9.99746094e-01 1.12970465e-05 -4.86511881e-02] [ 1.01032695e-03 1.14718359e-05 9.99999490e-01 -3.46982481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180281693 meters 0.025288603525072773 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.04, Z:-0.04 [[ 9.99631289e-01 2.70817965e-02 -1.96534890e-03 3.59827572e+00] [-2.70818057e-02 9.99633220e-01 2.18908985e-05 -3.83426245e-02] [ 1.96522090e-03 3.13423701e-05 9.99998068e-01 -3.59428260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210281692999999 meters 0.028150451732174474 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.03, Z:-0.04 [[ 9.99571320e-01 2.91591760e-02 -2.63037466e-03 3.62699868e+00] [-2.91592000e-02 9.99574780e-01 2.92203702e-05 -3.22317365e-02] [ 2.63010821e-03 4.74917768e-05 9.99996540e-01 -3.71032547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240281693 meters 0.030342494038068425 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.03, Z:-0.04 [[ 9.99499010e-01 3.15024013e-02 -3.05419309e-03 3.65619497e+00] [-3.15024449e-02 9.99503674e-01 3.38137868e-05 -2.67080385e-02] [ 3.05374243e-03 6.24177032e-05 9.99995335e-01 -3.77636869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270281693 meters 0.03893681269985446 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.01, Z:-0.04 [[ 9.99276206e-01 3.78296138e-02 -3.99804650e-03 3.68583715e+00] [-3.78297399e-02 9.99284198e-01 4.41084933e-05 -1.02168682e-02] [ 3.99685330e-03 1.07168491e-04 9.99992007e-01 -3.92578203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300281692999999 meters 0.038365714647671946 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.01, Z:-0.04 [[ 9.99127499e-01 4.15854820e-02 -3.85859962e-03 3.71587776e+00] [-4.15856276e-02 9.99134943e-01 4.25106182e-05 -8.80195485e-03] [ 3.85702953e-03 1.17988759e-04 9.99992555e-01 -3.86594956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330281693 meters 0.049909727591251445 Centerline is valid? [True, True] Translation: X:3.75, Y:0.01, Z:-0.04 [[ 9.98973449e-01 4.51794040e-02 -3.29680331e-03 3.74569606e+00] [-4.51795300e-02 9.98978883e-01 3.62862280e-05 9.41918825e-03] [ 3.29507627e-03 1.12699045e-04 9.99994565e-01 -3.76131601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360281693 meters 0.047333907230392346 Centerline is valid? [True, True] Translation: X:3.78, Y:0.01, Z:-0.04 [[ 9.98703857e-01 5.08728845e-02 -1.59881338e-03 3.77575291e+00] [-5.08729214e-02 9.98705134e-01 1.75907644e-05 1.31647926e-02] [ 1.59763802e-03 6.37683430e-05 9.99998722e-01 -3.50231078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390281692999999 meters 0.05837218331704004 Centerline is valid? [True, True] Translation: X:3.80, Y:0.03, Z:-0.03 [[ 9.98613986e-01 5.26243870e-02 -8.83555934e-04 3.80480753e+00] [-5.26243989e-02 9.98614376e-01 9.74676042e-06 3.10716164e-02] [ 8.82844575e-04 3.67633487e-05 9.99999610e-01 -3.35633414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420281693 meters 0.05982591825930079 Centerline is valid? [True, True] Translation: X:3.83, Y:0.04, Z:-0.03 [[ 9.98560318e-01 5.36371120e-02 -5.92765415e-04 3.83337527e+00] [-5.36371176e-02 9.98560494e-01 6.55148641e-06 3.55917742e-02] [ 5.92263528e-04 2.52521739e-05 9.99999824e-01 -3.35776197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450281692999999 meters 0.05176761706262523 Centerline is valid? [True, True] Translation: X:3.86, Y:0.03, Z:-0.04 [[ 9.98503399e-01 5.46268887e-02 -2.62031269e-03 3.86178331e+00] [-5.46270015e-02 9.98506830e-01 2.85596193e-05 3.11849903e-02] [ 2.61796024e-03 1.14622948e-04 9.99996567e-01 -3.70125361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480281693 meters 0.0521229381923797 Centerline is valid? [True, True] Translation: X:3.89, Y:0.04, Z:-0.04 [[ 9.98505675e-01 5.45192500e-02 -3.75076384e-03 3.88890667e+00] [-5.45194815e-02 9.98512706e-01 4.05734096e-05 3.59207493e-02] [ 3.74739738e-03 1.63976920e-04 9.99992965e-01 -3.87273852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510281693 meters 0.05247572466461553 Centerline is valid? [True, True] Translation: X:3.92, Y:0.04, Z:-0.04 [[ 9.98524049e-01 5.41805486e-02 -3.76719736e-03 3.91689630e+00] [-5.41807809e-02 9.98531142e-01 4.04509180e-05 4.03769527e-02] [ 3.76385553e-03 1.63718480e-04 9.99992903e-01 -3.88247449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540281692999999 meters 0.04793606062413292 Centerline is valid? [True, True] Translation: X:3.95, Y:0.04, Z:-0.04 [[ 9.98632750e-01 5.22459249e-02 -1.73031241e-03 3.94693625e+00] [-5.22459711e-02 9.98634246e-01 1.85357007e-05 4.23137077e-02] [ 1.72891764e-03 7.18914942e-05 9.99998503e-01 -3.53516329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570281693 meters 0.046322549117454016 Centerline is valid? [True, True] Translation: X:3.98, Y:0.04, Z:-0.04 [[ 9.98696572e-01 5.10251848e-02 -1.25986263e-03 3.97540748e+00] [-5.10252084e-02 9.98697366e-01 1.34816477e-05 4.36795091e-02] [ 1.25890939e-03 5.08206777e-05 9.99999206e-01 -3.51904090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600281693 meters 0.044737036558073345 Centerline is valid? [True, True] Translation: X:4.00, Y:0.05, Z:-0.04 [[ 9.98791782e-01 4.91203595e-02 -1.47163920e-03 4.00459381e+00] [-4.91203897e-02 9.98792865e-01 1.56552193e-05 4.51059033e-02] [ 1.47063173e-03 5.66511869e-05 9.99998917e-01 -3.55084249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630281692999999 meters 0.039583255411085726 Centerline is valid? [True, True] Translation: X:4.03, Y:0.04, Z:-0.04 [[ 9.99075405e-01 4.29340522e-02 -2.23641174e-03 4.03383246e+00] [-4.29341067e-02 9.99077906e-01 2.36793990e-05 4.34686877e-02] [ 2.23536621e-03 7.23608351e-05 9.99997499e-01 -3.77232320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660281693 meters 0.03522840001917698 Centerline is valid? [True, True] Translation: X:4.06, Y:0.04, Z:-0.04 [[ 9.99256200e-01 3.85150446e-02 -1.90762142e-03 4.06334709e+00] [-3.85150762e-02 9.99258019e-01 2.01765425e-05 3.91537073e-02] [ 1.90698310e-03 5.33106492e-05 9.99998180e-01 -3.75294605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690281693 meters 0.0322075767836405 Centerline is valid? [True, True] Translation: X:4.09, Y:0.04, Z:-0.04 [[ 9.99430546e-01 3.37121552e-02 -1.43998305e-03 4.09228030e+00] [-3.37121682e-02 9.99431583e-01 1.52079535e-05 3.61708792e-02] [ 1.43967723e-03 3.33456575e-05 9.99998963e-01 -3.65794942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720281692999999 meters 0.02695782354906214 Centerline is valid? [True, True] Translation: X:4.12, Y:0.03, Z:-0.04 [[ 9.99576737e-01 2.90790549e-02 -8.68841049e-04 4.12258865e+00] [-2.90790579e-02 9.99577115e-01 9.16050432e-06 2.90976311e-02] [ 8.68740008e-04 1.61084522e-05 9.99999623e-01 -3.56864140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750281693 meters 0.01954204064179611 Centerline is valid? [True, True] Translation: X:4.15, Y:0.02, Z:-0.04 [[ 9.99767487e-01 2.15359485e-02 -1.08394718e-03 4.15287668e+00] [-2.15359488e-02 9.99768074e-01 1.14108880e-05 1.74151734e-02] [ 1.08394153e-03 1.19355962e-05 9.99999412e-01 -3.52597399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780281693 meters 0.017251039763379467 Centerline is valid? [True, True] Translation: X:4.18, Y:0.01, Z:-0.04 [[ 9.99830182e-01 1.83661492e-02 -1.51411029e-03 4.18123552e+00] [-1.83661461e-02 9.99831328e-01 1.59295118e-05 1.28965474e-02] [ 1.51414746e-03 1.18815641e-05 9.99998854e-01 -3.62452148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810281693 meters 0.016065110081107864 Centerline is valid? [True, True] Translation: X:4.21, Y:0.01, Z:-0.04 [[ 9.99877425e-01 1.55611571e-02 -1.72774496e-03 4.20984621e+00] [-1.55611491e-02 9.99878918e-01 1.80799502e-05 9.66387521e-03] [ 1.72781710e-03 8.80796289e-06 9.99998507e-01 -3.68563800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840281693 meters 0.014926452804911635 Centerline is valid? [True, True] Translation: X:4.24, Y:0.00, Z:-0.04 [[ 9.99927928e-01 1.19936273e-02 -5.40306089e-04 4.23930219e+00] [-1.19936260e-02 9.99928074e-01 5.66564526e-06 4.64144474e-03] [ 5.40335179e-04 8.14992248e-07 9.99999854e-01 -3.50614262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.870281692999999 meters 0.015036427797036034 Centerline is valid? [True, True] Translation: X:4.27, Y:0.00, Z:-0.03 [[ 9.99933799e-01 1.15062967e-02 -5.77108972e-05 4.26904635e+00] [-1.15062967e-02 9.99933800e-01 6.44591912e-07 3.56011568e-03] [ 5.77144937e-05 1.94894645e-08 9.99999998e-01 -3.40020690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900281693 meters 0.014989626645687574 Centerline is valid? [True, True] Translation: X:4.30, Y:0.00, Z:-0.04 [[ 9.99928343e-01 1.18908310e-02 -1.38459520e-03 4.29810480e+00] [-1.18908225e-02 9.99929302e-01 1.43844353e-05 3.87753532e-03] [ 1.38466836e-03 2.08057114e-06 9.99999041e-01 -3.59961310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930281693 meters 0.015133686692412437 Centerline is valid? [True, True] Translation: X:4.33, Y:0.00, Z:-0.04 [[ 9.99921035e-01 1.22523345e-02 -2.79365908e-03 4.32758497e+00] [-1.22523015e-02 9.99924937e-01 2.89091057e-05 4.37120140e-03] [ 2.79380359e-03 5.32193056e-06 9.99996097e-01 -3.85094612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960281692999999 meters 0.015419907645208347 Centerline is valid? [True, True] Translation: X:4.36, Y:0.01, Z:-0.04 [[ 9.99913795e-01 1.25421575e-02 -3.88545542e-03 4.35650154e+00] [-1.25420965e-02 9.99921344e-01 4.00579254e-05 5.30973053e-03] [ 3.88565221e-03 8.67728446e-06 9.99992451e-01 -4.04943894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.990281693 meters 0.015430185773352671 Centerline is valid? [True, True] Translation: X:4.38, Y:0.01, Z:-0.04 [[ 9.99915426e-01 1.25850675e-02 -3.27986384e-03 4.38422462e+00] [-1.25850247e-02 9.99920805e-01 3.36643762e-05 6.33313093e-03] [ 3.28002776e-03 7.61563854e-06 9.99994621e-01 -3.91766244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020281693 meters 0.015221606150895935 Centerline is valid? [True, True] Translation: X:4.41, Y:0.01, Z:-0.04 [[ 9.99925984e-01 1.19276083e-02 -2.39992743e-03 4.41342968e+00] [-1.19275838e-02 9.99928864e-01 2.45315700e-05 5.10482161e-03] [ 2.40004931e-03 4.09558115e-06 9.99997120e-01 -3.78754576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050281692999999 meters 0.01503116036545416 Centerline is valid? [True, True] Translation: X:4.44, Y:0.00, Z:-0.04 [[ 9.99938587e-01 1.09389702e-02 -1.77809313e-03 4.44224572e+00] [-1.09389553e-02 9.99940168e-01 1.81146061e-05 3.12459324e-03] [ 1.77818490e-03 1.33698758e-06 9.99998419e-01 -3.64123217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080281693 meters 0.014963464636253795 Centerline is valid? [True, True] Translation: X:4.47, Y:0.00, Z:-0.04 [[ 9.99953610e-01 9.55848228e-03 -1.18910817e-03 4.47221606e+00] [-9.55847465e-03 9.99954317e-01 1.20987356e-05 8.58312754e-04] [ 1.18916949e-03 -7.32114105e-07 9.99999293e-01 -3.55705015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110281693 meters 0.015856174022810757 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.01, Z:-0.03 [[ 9.99984244e-01 5.60454094e-03 -3.18582026e-04 4.50165631e+00] [-5.60454018e-03 9.99984294e-01 3.26741682e-06 -5.73871382e-03] [ 3.18595335e-04 -1.48185957e-06 9.99999949e-01 -3.44350468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140281692999999 meters 0.017390905645112524 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.01, Z:-0.03 [[ 9.99994378e-01 3.28892167e-03 6.52946669e-04 4.53067233e+00] [-3.28891805e-03 9.99994591e-01 -6.62332509e-06 -1.22774168e-02] [-6.52964921e-04 4.47579977e-06 9.99999787e-01 -3.29602683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170281693 meters 0.018204251711364736 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.02, Z:-0.03 [[ 9.99998881e-01 8.74032790e-04 1.21449414e-03 4.56127470e+00] [-8.74018506e-04 9.99999618e-01 -1.22918161e-05 -1.67799655e-02] [-1.21450442e-03 1.12303119e-05 9.99999262e-01 -3.28041807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200281692999999 meters 0.02135563320221517 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.03, Z:-0.03 [[ 9.99995168e-01 -2.81952022e-03 1.30951337e-03 4.59142133e+00] [ 2.81954004e-03 9.99996025e-01 -1.32917498e-05 -2.65829437e-02] [-1.30947069e-03 1.69839110e-05 9.99999142e-01 -3.19955037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230281693 meters 0.02135563320221517 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.03, Z:-0.03 [[ 9.99995231e-01 -2.79714664e-03 1.30951286e-03 4.62225966e+00] [ 2.79716651e-03 9.99996088e-01 -1.33425030e-05 -2.69394810e-02] [-1.30947041e-03 1.70053649e-05 9.99999142e-01 -3.19341336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260281693 meters 0.022244986490645848 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.03, Z:-0.03 [[ 9.99993197e-01 -3.68461769e-03 1.74453903e-04 4.65392517e+00] [ 3.68461807e-03 9.99993212e-01 -1.81976065e-06 -3.06553083e-02] [-1.74446013e-04 2.46254427e-06 9.99999985e-01 -3.39842837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290281692999999 meters 0.022644874708811883 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.04, Z:-0.04 [[ 9.99990132e-01 -3.90858110e-03 -2.11141354e-03 4.68400595e+00] [ 3.90863518e-03 9.99992361e-01 2.14882210e-05 -3.78439603e-02] [ 2.11131342e-03 -2.97407542e-05 9.99997771e-01 -3.85372870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320281693 meters 0.0226238164464917 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.04, Z:-0.04 [[ 9.99991320e-01 -3.63517522e-03 -2.03615473e-03 4.71348981e+00] [ 3.63522495e-03 9.99993392e-01 2.07224470e-05 -4.08961756e-02] [ 2.03606594e-03 -2.81241475e-05 9.99997927e-01 -3.81305067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350281693 meters 0.021701588785249967 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.04, Z:-0.04 [[ 9.99996095e-01 -2.67631472e-03 -8.04655059e-04 4.74366054e+00] [ 2.67632218e-03 9.99996419e-01 8.20479518e-06 -4.16612600e-02] [ 8.04630219e-04 -1.03582793e-05 9.99999676e-01 -3.54159466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380281692999999 meters 0.018081994822012757 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.04, Z:-0.03 [[ 9.99996914e-01 2.41358929e-03 -5.88630141e-04 4.77295849e+00] [-2.41358617e-03 9.99997087e-01 6.00137283e-06 -3.76251822e-02] [ 5.88642911e-04 -4.58064474e-06 9.99999827e-01 -3.42281744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410281693 meters 0.01602921292695658 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.03, Z:-0.03 [[ 9.99980274e-01 6.23216811e-03 -7.82712427e-04 4.80279029e+00] [-6.23216377e-03 9.99980580e-01 7.97784449e-06 -3.24844300e-02] [ 7.82746945e-04 -3.09969509e-06 9.99999694e-01 -3.45086382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440281693 meters 0.015320440174716872 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.03, Z:-0.03 [[ 9.99943087e-01 1.06412226e-02 -7.66404752e-04 4.83148679e+00] [-1.06412198e-02 9.99943381e-01 7.80886254e-06 -2.56098312e-02] [ 7.66444454e-04 3.47063273e-07 9.99999706e-01 -3.39420007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470281692999999 meters 0.01638023818456835 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.02, Z:-0.03 [[ 9.99884645e-01 1.51629086e-02 -8.84448535e-04 4.86029459e+00] [-1.51629066e-02 9.99885036e-01 8.98706986e-06 -1.83740410e-02] [ 8.84483126e-04 4.42477734e-06 9.99999609e-01 -3.40812169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500281693 meters 0.021378342988855416 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.00, Z:-0.03 [[ 9.99739017e-01 2.28059324e-02 -1.33728552e-03 4.88878692e+00] [-2.28059347e-02 9.99739911e-01 1.34748003e-05 -4.66644553e-03] [ 1.33724501e-03 1.70267626e-05 9.99999106e-01 -3.49052192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530281693 meters 0.023727134492192194 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.00, Z:-0.04 [[ 9.99676036e-01 2.54006537e-02 -1.62148634e-03 4.91713183e+00] [-2.54006607e-02 9.99677351e-01 1.62617772e-05 -3.84234262e-04] [ 1.62137623e-03 2.49303153e-05 9.99998685e-01 -3.52201344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560281692999999 meters 0.024764578410851 Centerline is valid? [True, True] Translation: X:4.95, Y:0.00, Z:-0.04 [[ 9.99639151e-01 2.67957349e-02 -1.88584259e-03 4.94563582e+00] [-2.67957471e-02 9.99640929e-01 1.87850000e-05 2.34254792e-03] [ 1.88566879e-03 3.17543396e-05 9.99998222e-01 -3.56849084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590281693 meters 0.028392145023284826 Centerline is valid? [True, True] Translation: X:4.97, Y:0.01, Z:-0.04 [[ 9.99611746e-01 2.77404834e-02 -2.61191270e-03 4.97309753e+00] [-2.77405105e-02 9.99615158e-01 2.58630697e-05 1.11928168e-02] [ 2.61162498e-03 4.66027633e-05 9.99996589e-01 -3.70961642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620281692999999 meters 0.026414172570279504 Centerline is valid? [True, True] Translation: X:5.00, Y:0.01, Z:-0.04 [[ 9.99606093e-01 2.79180506e-02 -2.87082803e-03 5.00158101e+00] [-2.79180845e-02 9.99610214e-01 2.82943859e-05 9.04872316e-03] [ 2.87049895e-03 5.18647790e-05 9.99995879e-01 -3.63704106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650281693 meters 0.02646167799388722 Centerline is valid? [True, True] Translation: X:5.03, Y:0.01, Z:-0.04 [[ 9.99602738e-01 2.80258113e-02 -2.98667420e-03 5.03047083e+00] [-2.80258489e-02 9.99607198e-01 2.92948756e-05 1.04208224e-02] [ 2.98632204e-03 5.44208417e-05 9.99995539e-01 -3.72459999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680281693 meters 0.029643620558374318 Centerline is valid? [True, True] Translation: X:5.06, Y:0.02, Z:-0.04 [[ 9.99591414e-01 2.83926043e-02 -3.29629420e-03 5.05864384e+00] [-2.83926526e-02 9.99596847e-01 3.21556336e-05 1.98032473e-02] [ 3.29587827e-03 6.14480410e-05 9.99994567e-01 -3.83209227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710281692999999 meters 0.026900484395891773 Centerline is valid? [True, True] Translation: X:5.09, Y:0.02, Z:-0.04 [[ 9.99597993e-01 2.81450421e-02 -3.42184956e-03 5.08771381e+00] [-2.81450933e-02 9.99603848e-01 3.31962246e-05 1.80060657e-02] [ 3.42142830e-03 6.31253956e-05 9.99994145e-01 -3.84154961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740281693 meters 0.02720754985489948 Centerline is valid? [True, True] Translation: X:5.12, Y:0.02, Z:-0.04 [[ 9.99600233e-01 2.80375229e-02 -3.64309505e-03 5.11570838e+00] [-2.80375810e-02 9.99606869e-01 3.51435094e-05 2.06762321e-02] [ 3.64264818e-03 6.70141124e-05 9.99993363e-01 -3.87864618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770281693 meters 0.02664559511019336 Centerline is valid? [True, True] Translation: X:5.14, Y:0.02, Z:-0.04 [[ 9.99615175e-01 2.74555779e-02 -3.96146589e-03 5.14443067e+00] [-2.74556429e-02 9.99623022e-01 3.79919278e-05 2.44537065e-02] [ 3.96101560e-03 7.07872853e-05 9.99992153e-01 -3.90401120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800281692999999 meters 0.02628739437501369 Centerline is valid? [True, True] Translation: X:5.17, Y:0.03, Z:-0.04 [[ 9.99636268e-01 2.66951752e-02 -3.83384505e-03 5.17259832e+00] [-2.66952312e-02 9.99643618e-01 3.65710807e-05 2.63970044e-02] [ 3.83345501e-03 6.57876013e-05 9.99992650e-01 -3.87459706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830281693 meters 0.024921513974662367 Centerline is valid? [True, True] Translation: X:5.20, Y:0.03, Z:-0.04 [[ 9.99676650e-01 2.51821757e-02 -3.52881845e-03 5.20149579e+00] [-2.51822143e-02 9.99682877e-01 3.34841346e-05 2.65333092e-02] [ 3.52854258e-03 5.53901548e-05 9.99993773e-01 -3.87408746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860281693 meters 0.020353608502016077 Centerline is valid? [True, True] Translation: X:5.23, Y:0.02, Z:-0.04 [[ 9.99796236e-01 2.00049482e-02 -2.69978460e-03 5.22986182e+00] [-2.00049521e-02 9.99799881e-01 2.55346283e-05 2.23189578e-02] [ 2.69975514e-03 2.84796364e-05 9.99996355e-01 -3.68893013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890281692999999 meters 0.01832663327200783 Centerline is valid? [True, True] Translation: X:5.26, Y:0.02, Z:-0.04 [[ 9.99852399e-01 1.69764166e-02 -2.64215261e-03 5.25907605e+00] [-1.69764101e-02 9.99855890e-01 2.49077335e-05 1.85298317e-02] [ 2.64219470e-03 1.99502092e-05 9.99996509e-01 -3.68919707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920281693 meters 0.016586355791411326 Centerline is valid? [True, True] Translation: X:5.29, Y:0.01, Z:-0.04 [[ 9.99903037e-01 1.36577736e-02 -2.71688973e-03 5.28647410e+00] [-1.36577549e-02 9.99906728e-01 2.54449901e-05 1.42424880e-02] [ 2.71698385e-03 1.16640912e-05 9.99996309e-01 -3.72927301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950281692999999 meters 0.01574764778212842 Centerline is valid? [True, True] Translation: X:5.32, Y:0.01, Z:-0.04 [[ 9.99973017e-01 7.16034015e-03 -1.64166427e-03 5.31638753e+00] [-7.16032465e-03 9.99974364e-01 1.53165208e-05 6.12216483e-03] [ 1.64173186e-03 -3.56125837e-06 9.99998652e-01 -3.54688520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980281693 meters 0.016863165949972645 Centerline is valid? [True, True] Translation: X:5.35, Y:0.00, Z:-0.03 [[ 9.99992240e-01 3.88945879e-03 -6.26585310e-04 5.34556665e+00] [-3.88945588e-03 9.99992436e-01 5.85969307e-06 1.73378048e-03] [ 6.26603362e-04 -3.42257167e-06 9.99999804e-01 -3.37862515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010281693 meters 0.018860145810919934 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.01, Z:-0.03 [[ 9.99999656e-01 7.70722791e-04 -3.06318791e-04 5.37466678e+00] [-7.70721951e-04 9.99999703e-01 2.86162246e-06 -5.05292305e-03] [ 3.06320906e-04 -2.62553486e-06 9.99999953e-01 -3.35015913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040281692999999 meters 0.02377989130650018 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.02, Z:-0.04 [[ 9.99982738e-01 -5.69969383e-03 -1.42763404e-03 5.40443288e+00] [ 5.69971854e-03 9.99983756e-01 1.32351890e-05 -1.86398427e-02] [ 1.42753541e-03 -2.13720727e-05 9.99998981e-01 -3.59122859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070281693 meters 0.027210703948097763 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.03, Z:-0.04 [[ 9.99958146e-01 -8.74361645e-03 -2.69374079e-03 5.43366406e+00] [ 8.74371540e-03 9.99961773e-01 2.49587126e-05 -2.60222602e-02] [ 2.69341958e-03 -4.85109708e-05 9.99996372e-01 -3.80335373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100281693 meters 0.030946494475287963 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.03, Z:-0.04 [[ 9.99930467e-01 -1.12810293e-02 -3.43491416e-03 5.46327993e+00] [ 1.12812050e-02 9.99936365e-01 3.17824722e-05 -3.40087123e-02] [ 3.43433704e-03 -7.05302331e-05 9.99994100e-01 -3.95196780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130281692999999 meters 0.036240913354273485 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.05, Z:-0.04 [[ 9.99868000e-01 -1.57930514e-02 -3.81605517e-03 5.49340477e+00] [ 1.57933009e-02 9.99875277e-01 3.52658713e-05 -4.78396338e-02] [ 3.81502226e-03 -9.55293237e-05 9.99992718e-01 -4.05430346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160281693 meters 0.038391779129037525 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.05, Z:-0.04 [[ 9.99839007e-01 -1.76573460e-02 -3.19040759e-03 5.52247192e+00] [ 1.76575297e-02 9.99844093e-01 2.94285429e-05 -5.47899120e-02] [ 3.18939055e-03 -8.57585219e-05 9.99994910e-01 -3.95206317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190281693 meters 0.03723007648604979 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.06, Z:-0.04 [[ 9.99806356e-01 -1.94952408e-02 -2.68072028e-03 5.55207196e+00] [ 1.94953770e-02 9.99809947e-01 2.46590755e-05 -5.68790978e-02] [ 2.67973007e-03 -7.69159528e-05 9.99996407e-01 -3.76734129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220281692999999 meters 0.04409016140577787 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.07, Z:-0.04 [[ 9.99756265e-01 -2.19237757e-02 -2.59974301e-03 5.58153371e+00] [ 2.19239118e-02 9.99759642e-01 2.38648370e-05 -7.22520057e-02] [ 2.59859493e-03 -8.08555569e-05 9.99996620e-01 -3.73669747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250281693 meters 0.04045067562749982 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.07, Z:-0.04 [[ 9.99749918e-01 -2.21735454e-02 -2.90448662e-03 5.61225293e+00] [ 2.21737163e-02 9.99754133e-01 2.66378627e-05 -7.07409081e-02] [ 2.90318184e-03 -9.10344632e-05 9.99995782e-01 -3.82707722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280281693 meters 0.038086735980805565 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.07, Z:-0.04 [[ 9.99763544e-01 -2.14495910e-02 -3.57379816e-03 5.64191378e+00] [ 2.14498450e-02 9.99769925e-01 3.27406240e-05 -7.14491902e-02] [ 3.57227365e-03 -1.09390299e-04 9.99993613e-01 -3.93211113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310281692999999 meters 0.03520161293191844 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.07, Z:-0.04 [[ 9.99831755e-01 -1.78171938e-02 -4.35988375e-03 5.67072616e+00] [ 1.78175367e-02 9.99841254e-01 3.98343465e-05 -7.28955617e-02] [ 4.35848190e-03 -1.17510034e-04 9.99990495e-01 -4.08613867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340281693 meters 0.03261084204681619 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.07, Z:-0.04 [[ 9.99871243e-01 -1.53699331e-02 -4.61108920e-03 5.69948442e+00] [ 1.53702900e-02 9.99881869e-01 4.19649730e-05 -7.12559385e-02] [ 4.60989949e-03 -1.12833348e-04 9.99989368e-01 -4.06884894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370281692999999 meters 0.030461659605196284 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.07, Z:-0.04 [[ 9.99897783e-01 -1.34483831e-02 -4.85440367e-03 5.72865225e+00] [ 1.34487535e-02 9.99909560e-01 4.36685173e-05 -6.95859191e-02] [ 4.85337737e-03 -1.08949732e-04 9.99988216e-01 -4.06343909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400281693 meters 0.02764473165421485 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.07, Z:-0.04 [[ 9.99936942e-01 -1.00045839e-02 -5.10095677e-03 5.75745142e+00] [ 1.00049460e-02 9.99949948e-01 4.54780456e-05 -7.16248179e-02] [ 5.10024647e-03 -9.65099748e-05 9.99986989e-01 -4.10295122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430281693 meters 0.02689043126784773 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.07, Z:-0.04 [[ 9.99945943e-01 -9.50089488e-03 -4.22418256e-03 5.78645021e+00] [ 9.50113702e-03 9.99954862e-01 3.72577662e-05 -7.42002139e-02] [ 4.22363791e-03 -7.73902895e-05 9.99991077e-01 -3.96813762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460281692999999 meters 0.02728360716213324 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.08, Z:-0.04 [[ 9.99944657e-01 -1.03119411e-02 -2.08477025e-03 5.81484166e+00] [ 1.03120015e-02 9.99946830e-01 1.82200050e-05 -8.13896780e-02] [ 2.08447151e-03 -3.97171505e-05 9.99997827e-01 -3.61037185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490281693 meters 0.02823094097043947 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.09, Z:-0.04 [[ 9.99935795e-01 -1.12212889e-02 -1.57736263e-03 5.84480683e+00] [ 1.12213243e-02 9.99937039e-01 1.35547850e-05 -8.60110565e-02] [ 1.57711122e-03 -3.12540123e-05 9.99998756e-01 -3.55669372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520281693 meters 0.02939381851903446 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.09, Z:-0.04 [[ 9.99922587e-01 -1.23072691e-02 -1.83060364e-03 5.87559550e+00] [ 1.23073184e-02 9.99924262e-01 1.57052762e-05 -9.21563395e-02] [ 1.83027171e-03 -3.82338823e-05 9.99998324e-01 -3.61565360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550281692999999 meters 0.033027688141066665 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.11, Z:-0.04 [[ 9.99881043e-01 -1.50463114e-02 -3.39242789e-03 5.90523611e+00] [ 1.50464966e-02 9.99886795e-01 2.90891332e-05 -1.06892042e-01] [ 3.39160617e-03 -8.01298276e-05 9.99994245e-01 -3.99388991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580281693 meters 0.033149248000597036 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.11, Z:-0.04 [[ 9.99862563e-01 -1.60660566e-02 -4.09112339e-03 5.93429666e+00] [ 1.60663331e-02 9.99870928e-01 3.47277199e-05 -1.10369540e-01] [ 4.09003740e-03 -1.00452298e-04 9.99991631e-01 -4.11526211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610281693 meters 0.033674192928237937 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.11, Z:-0.04 [[ 9.99862704e-01 -1.58221080e-02 -4.92282341e-03 5.96255831e+00] [ 1.58225027e-02 9.99874816e-01 4.12542506e-05 -1.14087141e-01] [ 4.92155442e-03 -1.19139973e-04 9.99987882e-01 -4.16088750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640281692999999 meters 0.03201284337889821 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.12, Z:-0.04 [[ 9.99893740e-01 -1.37419199e-02 -4.86500629e-03 5.99041615e+00] [ 1.37422795e-02 9.99905570e-01 4.05040116e-05 -1.18986580e-01] [ 4.86399028e-03 -1.07355984e-04 9.99988165e-01 -4.09153412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670281693 meters 0.030030548699951115 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.12, Z:-0.04 [[ 9.99907378e-01 -1.26797550e-02 -4.94553595e-03 6.01976561e+00] [ 1.26801110e-02 9.99919603e-01 4.06404323e-05 -1.20029991e-01] [ 4.94462303e-03 -1.03346613e-04 9.99987770e-01 -4.02770859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700281692999999 meters 0.028420179643824445 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.12, Z:-0.04 [[ 9.99942233e-01 -9.88414135e-03 -4.22315325e-03 6.04783124e+00] [ 9.88437449e-03 9.99951148e-01 3.43381553e-05 -1.23431190e-01] [ 4.22260754e-03 -7.60794000e-05 9.99991082e-01 -3.94810297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730281693 meters 0.026365135863239696 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.12, Z:-0.04 [[ 9.99957819e-01 -8.73941912e-03 -2.82522460e-03 6.07645928e+00] [ 8.73951833e-03 9.99961809e-01 2.27712633e-05 -1.22846620e-01] [ 2.82491770e-03 -4.74614050e-05 9.99996009e-01 -3.71731459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760281693 meters 0.02516161708628671 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.12, Z:-0.04 [[ 9.99969849e-01 -7.54295206e-03 -1.84512602e-03 6.10598877e+00] [ 7.54299198e-03 9.99971551e-01 1.46766732e-05 -1.23682175e-01] [ 1.84496282e-03 -2.85940014e-05 9.99998298e-01 -3.54109248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790281692999999 meters 0.02417632908911856 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.13, Z:-0.03 [[ 9.99977447e-01 -6.45839218e-03 -1.84262499e-03 6.13510835e+00] [ 6.45843007e-03 9.99979144e-01 1.46127758e-05 -1.25259021e-01] [ 1.84249219e-03 -2.65129109e-05 9.99998302e-01 -3.48778848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820281693 meters 0.02345236733257095 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.13, Z:-0.04 [[ 9.99982326e-01 -5.63968932e-03 -1.88183373e-03 6.16515609e+00] [ 5.63972742e-03 9.99984096e-01 1.49368720e-05 -1.26788330e-01] [ 1.88171956e-03 -2.55496373e-05 9.99998229e-01 -3.52991814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850281693 meters 0.02327515220671774 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.13, Z:-0.04 [[ 9.99982376e-01 -4.40783836e-03 -3.97720178e-03 6.19411586e+00] [ 4.40799810e-03 9.99990284e-01 3.14000161e-05 -1.30926227e-01] [ 3.97702473e-03 -4.89309606e-05 9.99992090e-01 -3.90294404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880281692999999 meters 0.02183655677996474 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.13, Z:-0.04 [[ 9.99979938e-01 -3.64952026e-03 -5.17739264e-03 6.22247948e+00] [ 3.64977779e-03 9.99993339e-01 4.02941579e-05 -1.30263981e-01] [ 5.17721110e-03 -5.91896822e-05 9.99986596e-01 -4.06372306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910281693 meters 0.02010135613471393 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.13, Z:-0.04 [[ 9.99980807e-01 -1.37075625e-03 -6.04209825e-03 6.25065311e+00] [ 1.37106198e-03 9.99999059e-01 4.64582372e-05 -1.32351084e-01] [ 6.04202888e-03 -5.47414367e-05 9.99981745e-01 -4.36053770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940281693 meters 0.01843774263613748 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.13, Z:-0.04 [[ 9.99986528e-01 -2.83914471e-04 -5.18303263e-03 6.27979095e+00] [ 2.84121757e-04 9.99999959e-01 3.92570054e-05 -1.32071963e-01] [ 5.18302127e-03 -4.07290888e-05 9.99986567e-01 -4.15070787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970281692999999 meters 0.0176108476962348 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.13, Z:-0.04 [[ 9.99993008e-01 7.65607607e-04 -3.66037544e-03 6.30805830e+00] [-7.65513028e-04 9.99999707e-01 2.72394063e-05 -1.32536071e-01] [ 3.66039522e-03 -2.44371508e-05 9.99993300e-01 -3.88602583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000281693 meters 0.015896584400514006 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.13, Z:-0.04 [[ 9.99983283e-01 4.86337855e-03 -3.12754098e-03 6.33710863e+00] [-4.86333096e-03 9.99988174e-01 2.28219245e-05 -1.28684204e-01] [ 3.12761499e-03 -7.61127615e-06 9.99995109e-01 -3.76646475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030281693 meters 0.015832953560440344 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.13, Z:-0.04 [[ 9.99957598e-01 8.51385859e-03 -3.50938087e-03 6.36614998e+00] [-8.51382261e-03 9.99963756e-01 2.51926186e-05 -1.25055719e-01] [ 3.50946816e-03 4.68669577e-06 9.99993842e-01 -3.82115888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060281692999999 meters 0.017239917452145852 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.12, Z:-0.04 [[ 9.99911286e-01 1.27560538e-02 -3.83457877e-03 6.39365435e+00] [-1.27560427e-02 9.99918638e-01 2.73459309e-05 -1.19461290e-01] [ 3.83461561e-03 2.15705456e-05 9.99992648e-01 -3.88272578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090281693 meters 0.024515398398794446 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.10, Z:-0.04 [[ 9.99739396e-01 2.23615145e-02 -4.59378677e-03 6.42312494e+00] [-2.23616010e-02 9.99749948e-01 3.25358410e-05 -1.04341237e-01] [ 4.59336563e-03 7.01970651e-05 9.99989448e-01 -3.88685373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120281692999999 meters 0.024515398398794446 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.10, Z:-0.04 [[ 9.99740413e-01 2.23160039e-02 -4.59378808e-03 6.45145604e+00] [-2.23160908e-02 9.99750965e-01 3.23503922e-05 -1.04448692e-01] [ 4.59336599e-03 7.01733973e-05 9.99989448e-01 -3.88121559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150281693 meters 0.02834098475794719 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.10, Z:-0.04 [[ 9.99618145e-01 2.72178994e-02 -4.76967797e-03 6.48075746e+00] [-2.72180498e-02 9.99629520e-01 3.33973572e-05 -9.71422738e-02] [ 4.76881990e-03 9.64367280e-05 9.99988624e-01 -3.87728040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180281693 meters 0.03328694660897963 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.09, Z:-0.04 [[ 9.99466075e-01 3.23030323e-02 -4.90695281e-03 6.51145448e+00] [-3.23032530e-02 9.99478113e-01 3.42866568e-05 -8.83435102e-02] [ 4.90549950e-03 1.24242188e-04 9.99987960e-01 -3.84081127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210281692999999 meters 0.043409566540438274 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.07, Z:-0.04 [[ 9.99120393e-01 4.17961898e-02 -3.39407144e-03 6.54100986e+00] [-4.17963501e-02 9.99126150e-01 2.37017146e-05 -6.94458446e-02] [ 3.39209617e-03 1.18178932e-04 9.99994240e-01 -3.62108495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240281693 meters 0.04991112023032441 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.06, Z:-0.03 [[ 9.98949704e-01 4.57540365e-02 -2.46115003e-03 6.57047840e+00] [-4.57541329e-02 9.98952731e-01 1.71618365e-05 -5.73367704e-02] [ 2.45935777e-03 9.54639741e-05 9.99996971e-01 -3.41968762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270281693 meters 0.0636125356622733 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.04, Z:-0.03 [[ 9.98787590e-01 4.92018035e-02 -1.59144610e-03 6.59988049e+00] [-4.92018482e-02 9.98788856e-01 1.10767534e-05 -3.51357876e-02] [ 1.59006363e-03 6.72387657e-05 9.99998734e-01 -3.21372482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300281692999999 meters 0.05592520956256207 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.04, Z:-0.03 [[ 9.98644066e-01 5.20367634e-02 -1.48480766e-03 6.63017569e+00] [-5.20368055e-02 9.98645168e-01 1.03005863e-05 -4.02481921e-02] [ 1.48333200e-03 6.69780278e-05 9.99998898e-01 -3.20084887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330281693 meters 0.06085999689379143 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.02, Z:-0.04 [[ 9.98431275e-01 5.58696199e-02 -3.68424949e-03 6.66006535e+00] [-5.58699053e-02 9.98438057e-01 2.54903563e-05 -2.37094208e-02] [ 3.67991903e-03 1.80388301e-04 9.99993213e-01 -3.69942831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360281693 meters 0.061936859181494455 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.02, Z:-0.04 [[ 9.98440683e-01 5.56247347e-02 -4.70022158e-03 6.68765234e+00] [-5.56251973e-02 9.98451720e-01 3.23542339e-05 -1.74657069e-02] [ 4.69474401e-03 2.29146969e-04 9.99988953e-01 -3.92399064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390281692999999 meters 0.05533903198180823 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.02, Z:-0.04 [[ 9.98701047e-01 5.07585055e-02 -4.44900211e-03 6.71794343e+00] [-5.07588724e-02 9.98710937e-01 3.04943272e-05 -1.63523411e-02] [ 4.44481492e-03 1.95371614e-04 9.99990103e-01 -3.90702467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420281693 meters 0.05089169950070127 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.02, Z:-0.04 [[ 9.98943625e-01 4.58437839e-02 -3.15935074e-03 6.74708220e+00] [-4.58439444e-02 9.98948613e-01 2.16317214e-05 -1.82287606e-02] [ 3.15702072e-03 1.23228230e-04 9.99995009e-01 -3.71886009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450281692999999 meters 0.035119281790904885 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.04, Z:-0.03 [[ 9.99468834e-01 3.25718478e-02 -1.06050089e-03 6.77777343e+00] [-3.25718585e-02 9.99469396e-01 7.24473912e-06 -3.62064622e-02] [ 1.06017416e-03 2.73015941e-05 9.99999438e-01 -3.25856385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480281693 meters 0.02826631095956178 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.05, Z:-0.03 [[ 9.99674461e-01 2.54958737e-02 -9.65307301e-04 6.80672088e+00] [-2.54958792e-02 9.99674927e-01 6.62383054e-06 -4.55139817e-02] [ 9.65162386e-04 1.79896841e-05 9.99999534e-01 -3.23878784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510281693 meters 0.021052967905762523 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.06, Z:-0.03 [[ 9.99815755e-01 1.91367507e-02 -1.49678929e-03 6.83644129e+00] [-1.91367568e-02 9.99816875e-01 1.02389355e-05 -5.64233281e-02] [ 1.49671113e-03 1.84066436e-05 9.99998880e-01 -3.39367541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540281692999999 meters 0.01740273107126778 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.06, Z:-0.04 [[ 9.99896557e-01 1.41144529e-02 -2.76713230e-03 6.86602282e+00] [-1.41144549e-02 9.99900386e-01 1.88253702e-05 -6.36853967e-02] [ 2.76712237e-03 2.02331412e-05 9.99996171e-01 -3.64292110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570281693 meters 0.015536366345127051 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.07, Z:-0.04 [[ 9.99964268e-01 7.56631920e-03 -3.76999962e-03 6.89449451e+00] [-7.56627676e-03 9.99971375e-01 2.55212063e-05 -7.35699565e-02] [ 3.77008481e-03 3.00456616e-06 9.99992893e-01 -3.85452337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600281693 meters 0.015435141296123353 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.08, Z:-0.04 [[ 9.99976266e-01 5.72831399e-03 -3.82809504e-03 6.92285474e+00] [-5.72825728e-03 9.99983593e-01 2.57779916e-05 -7.77010786e-02] [ 3.82817990e-03 -3.84906652e-06 9.99992672e-01 -3.77539316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630281692999999 meters 0.015965680082929538 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.08, Z:-0.04 [[ 9.99977564e-01 4.07537021e-03 -5.31628310e-03 6.95096224e+00] [-4.07523905e-03 9.99991696e-01 3.55039439e-05 -8.30700315e-02] [ 5.31638364e-03 -1.38380229e-05 9.99985868e-01 -3.92301867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660281693 meters 0.01615202944675672 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.09, Z:-0.04 [[ 9.99977577e-01 3.66711447e-03 -5.60333795e-03 6.97913395e+00] [-3.66696423e-03 9.99993276e-01 3.70861094e-05 -8.55464921e-02] [ 5.60343627e-03 -1.65380379e-05 9.99984300e-01 -4.01134853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690281693 meters 0.01618683356002973 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.09, Z:-0.04 [[ 9.99979947e-01 3.77282890e-03 -5.08646455e-03 7.00654931e+00] [-3.77270792e-03 9.99992883e-01 3.33802042e-05 -8.82447941e-02] [ 5.08655428e-03 -1.41897897e-05 9.99987063e-01 -4.03029308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720281692999999 meters 0.015771001572538895 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.09, Z:-0.04 [[ 9.99980329e-01 4.91326887e-03 -3.89900326e-03 7.03521256e+00] [-4.91320713e-03 9.99987930e-01 2.54131022e-05 -8.85136812e-02] [ 3.89908106e-03 -6.25599165e-06 9.99992399e-01 -3.78433049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750281693 meters 0.015701124876997676 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.09, Z:-0.04 [[ 9.99973398e-01 5.92574821e-03 -4.25305818e-03 7.06455373e+00] [-5.92568465e-03 9.99982443e-01 2.75460004e-05 -8.67588778e-02] [ 4.25314674e-03 -2.34298606e-06 9.99990955e-01 -3.84487242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780281693 meters 0.015956161951161264 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.08, Z:-0.04 [[ 9.99952364e-01 8.91864071e-03 -3.96570074e-03 7.09366965e+00] [-8.91860961e-03 9.99960228e-01 2.55278906e-05 -8.13049170e-02] [ 3.96577069e-03 9.84186219e-06 9.99992136e-01 -3.78052330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810281692999999 meters 0.016484387342415748 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.08, Z:-0.04 [[ 9.99933933e-01 1.07932986e-02 -3.95401182e-03 7.12121971e+00] [-1.07932832e-02 9.99941751e-01 2.52424291e-05 -7.79387005e-02] [ 3.95405395e-03 1.74360078e-05 9.99992183e-01 -3.74557575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840281693 meters 0.01740665786887367 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.07, Z:-0.04 [[ 9.99918939e-01 1.20331823e-02 -4.16142499e-03 7.14908087e+00] [-1.20331768e-02 9.99927598e-01 2.63427429e-05 -7.42793627e-02] [ 4.16144068e-03 2.37345553e-05 9.99991341e-01 -3.81861692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870281692999999 meters 0.017672172762616033 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.07, Z:-0.04 [[ 9.99910249e-01 1.26382793e-02 -4.44616699e-03 7.17769875e+00] [-1.26382800e-02 9.99920133e-01 2.79359251e-05 -7.27457561e-02] [ 4.44616495e-03 2.82584854e-05 9.99990115e-01 -3.87038730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900281693 meters 0.017291354487657944 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.07, Z:-0.04 [[ 9.99915220e-01 1.24777291e-02 -3.72264976e-03 7.20674881e+00] [-1.24777290e-02 9.99922150e-01 2.32331646e-05 -7.22968373e-02] [ 3.72264985e-03 2.32190201e-05 9.99993071e-01 -3.72878457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930281693 meters 0.017005280242590425 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.07, Z:-0.04 [[ 9.99924546e-01 1.19046894e-02 -3.03007296e-03 7.23416424e+00] [-1.19046871e-02 9.99929137e-01 1.87746201e-05 -7.27314052e-02] [ 3.03008174e-03 1.72988671e-05 9.99995409e-01 -3.62731847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960281692999999 meters 0.01611296892272338 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.08, Z:-0.03 [[ 9.99954650e-01 9.25559973e-03 -2.24325124e-03 7.26350126e+00] [-9.25559205e-03 9.99957166e-01 1.38053174e-05 -7.55092094e-02] [ 2.24328293e-03 6.95792704e-06 9.99997484e-01 -3.46869500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990281693 meters 0.01564185253915659 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.08, Z:-0.04 [[ 9.99968459e-01 7.56775876e-03 -2.41033548e-03 7.29330713e+00] [-7.56774518e-03 9.99971364e-01 1.47547727e-05 -7.85134370e-02] [ 2.41037812e-03 3.48649732e-06 9.99997095e-01 -3.52492488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020281693 meters 0.01565993983263781 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.08, Z:-0.04 [[ 9.99979479e-01 5.47199318e-03 -3.33156986e-03 7.32153785e+00] [-5.47195586e-03 9.99985029e-01 2.03156330e-05 -8.28838862e-02] [ 3.33163114e-03 -2.08501290e-06 9.99994450e-01 -3.69630434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050281692999999 meters 0.016123857288928813 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.09, Z:-0.04 [[ 9.99986202e-01 3.21378854e-03 -4.15543032e-03 7.35052588e+00] [-3.21371177e-03 9.99994836e-01 2.51527325e-05 -8.81102613e-02] [ 4.15548970e-03 -1.17980302e-05 9.99991366e-01 -3.90554665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080281693 meters 0.01713418659352515 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.10, Z:-0.04 [[ 9.99985587e-01 1.05028905e-04 -5.36798177e-03 7.38041318e+00] [-1.04857072e-04 9.99999994e-01 3.22921433e-05 -9.66289119e-02] [ 5.36798513e-03 -3.17288070e-05 9.99985592e-01 -4.06780011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110281693 meters 0.017852635525816493 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.10, Z:-0.04 [[ 9.99985300e-01 -7.52597705e-04 -5.36961996e-03 7.40776373e+00] [ 7.52780665e-04 9.99999716e-01 3.20522563e-05 -9.97059756e-02] [ 5.36959432e-03 -3.60939313e-05 9.99985583e-01 -4.06643087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140281692999999 meters 0.018192658174601195 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.10, Z:-0.04 [[ 9.99987335e-01 -1.29539200e-03 -4.86327430e-03 7.43643423e+00] [ 1.29554735e-03 9.99999160e-01 2.87933493e-05 -1.00726025e-01] [ 4.86323292e-03 -3.50935867e-05 9.99988174e-01 -3.96476128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170281693 meters 0.018349273018804662 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.10, Z:-0.04 [[ 9.99993114e-01 -1.70541029e-03 -3.29588840e-03 7.46439314e+00] [ 1.70548343e-03 9.99998545e-01 1.93807176e-05 -1.03759117e-01] [ 3.29585055e-03 -2.50016672e-05 9.99994568e-01 -3.81560264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200281692999999 meters 0.018218300192090957 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.11, Z:-0.04 [[ 9.99993074e-01 -2.10893117e-03 -3.06659513e-03 7.49273908e+00] [ 2.10899553e-03 9.99997776e-01 1.77545832e-05 -1.05017164e-01] [ 3.06655087e-03 -2.42218957e-05 9.99995298e-01 -3.81904364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230281692999998 meters 0.018116529504370423 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.11, Z:-0.04 [[ 9.99990461e-01 -1.35506560e-03 -4.15235569e-03 7.52181120e+00] [ 1.35517497e-03 9.99999081e-01 2.35273265e-05 -1.08141355e-01] [ 4.15232000e-03 -2.91542706e-05 9.99991379e-01 -3.97268327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260281693 meters 0.017299359529828362 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.11, Z:-0.04 [[ 9.99989298e-01 -2.09692134e-04 -4.62176257e-03 7.55031716e+00] [ 2.09813097e-04 9.99999978e-01 2.56876672e-05 -1.06881799e-01] [ 4.62175708e-03 -2.66570986e-05 9.99989319e-01 -4.03451906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290281692999999 meters 0.016803606221245923 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.11, Z:-0.04 [[ 9.99986741e-01 1.37800457e-03 -4.96175397e-03 7.57823927e+00] [-1.37788724e-03 9.99999050e-01 2.70651624e-05 -1.06661940e-01] [ 4.96178656e-03 -2.02280660e-05 9.99987690e-01 -4.08500528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320281693 meters 0.01602173989502897 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.11, Z:-0.04 [[ 9.99983718e-01 4.02845347e-03 -4.04175558e-03 7.60697698e+00] [-4.02839899e-03 9.99991886e-01 2.16210707e-05 -1.05259426e-01] [ 4.04180989e-03 -5.33891455e-06 9.99991832e-01 -3.80960557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350281693 meters 0.01579554918321489 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.10, Z:-0.04 [[ 9.99982562e-01 5.18598013e-03 -2.82519511e-03 7.63560111e+00] [-5.18595888e-03 9.99986553e-01 1.48481491e-05 -1.04587557e-01] [ 2.82523412e-03 -1.96544568e-07 9.99996009e-01 -3.57184646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380281692999999 meters 0.01559281786864809 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.10, Z:-0.03 [[ 9.99979848e-01 6.12606618e-03 -1.66594393e-03 7.66473130e+00] [-6.12606016e-03 9.99981235e-01 8.71590694e-06 -1.04009200e-01] [ 1.66596607e-03 1.48994146e-06 9.99998612e-01 -3.32255121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410281693 meters 0.015753526860294905 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.10, Z:-0.03 [[ 9.99973573e-01 7.18577880e-03 -1.10393795e-03 7.69424141e+00] [-7.18577685e-03 9.99974182e-01 5.73461296e-06 -1.03229904e-01] [ 1.10395065e-03 2.19819033e-06 9.99999391e-01 -3.23498673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440281693 meters 0.01646545945045545 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.10, Z:-0.03 [[ 9.99960700e-01 8.71068190e-03 -1.65001910e-03 7.72400241e+00] [-8.71067972e-03 9.99962061e-01 8.50575507e-06 -1.02254296e-01] [ 1.65003059e-03 5.86736709e-06 9.99998639e-01 -3.40801184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470281692999999 meters 0.01658541500570715 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.10, Z:-0.04 [[ 9.99955796e-01 9.12518091e-03 -2.26638891e-03 7.75374756e+00] [-9.12517796e-03 9.99958365e-01 1.16453429e-05 -1.03853992e-01] [ 2.26640082e-03 9.03637397e-06 9.99997432e-01 -3.55170001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500281693 meters 0.016659414170600663 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.11, Z:-0.04 [[ 9.99950521e-01 9.10547144e-03 -4.00577282e-03 7.78241795e+00] [-9.10546272e-03 9.99958544e-01 2.04142089e-05 -1.07552662e-01] [ 4.00579264e-03 1.60612163e-05 9.99991977e-01 -3.86386653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530281693 meters 0.016753976964885404 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.11, Z:-0.04 [[ 9.99943990e-01 9.12083099e-03 -5.36913993e-03 7.81160900e+00] [-9.12081703e-03 9.99958404e-01 2.70859163e-05 -1.08407635e-01] [ 5.36916364e-03 2.18865436e-05 9.99985586e-01 -4.09873283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560281692999999 meters 0.01710337795069657 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.11, Z:-0.04 [[ 9.99926555e-01 1.00371036e-02 -6.79270289e-03 7.84053804e+00] [-1.00371047e-02 9.99949626e-01 3.39251614e-05 -1.06392112e-01] [ 6.79270122e-03 3.42564006e-05 9.99976929e-01 -4.30859109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590281693 meters 0.017278443324125276 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.11, Z:-0.04 [[ 9.99925280e-01 1.01000782e-02 -6.88636845e-03 7.86889269e+00] [-1.01000831e-02 9.99948992e-01 3.40677586e-05 -1.06101037e-01] [ 6.88636128e-03 3.54876804e-05 9.99976288e-01 -4.31415782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620281692999999 meters 0.017283685349258938 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.11, Z:-0.04 [[ 9.99930870e-01 9.86276302e-03 -6.40161127e-03 7.89684222e+00] [-9.86276472e-03 9.99951361e-01 3.13047152e-05 -1.06280047e-01] [ 6.40160866e-03 3.18350347e-05 9.99979509e-01 -4.31236928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650281693 meters 0.017181371556474218 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.11, Z:-0.04 [[ 9.99936416e-01 9.81921371e-03 -5.54492038e-03 7.92452346e+00] [-9.81921602e-03 9.99951790e-01 2.68069278e-05 -1.06661468e-01] [ 5.54491629e-03 2.76415477e-05 9.99984626e-01 -4.07132849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680281693 meters 0.01757011252393941 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.10, Z:-0.04 [[ 9.99929328e-01 1.14023530e-02 -3.36544824e-03 7.95320426e+00] [-1.14023632e-02 9.99934991e-01 1.61388359e-05 -1.03303826e-01] [ 3.36541348e-03 2.22363680e-05 9.99994337e-01 -3.56704479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710281692999999 meters 0.018760491124676613 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.10, Z:-0.04 [[ 9.99913324e-01 1.28560203e-02 -2.84033971e-03 7.98069577e+00] [-1.28560339e-02 9.99917358e-01 1.34943421e-05 -9.87743563e-02] [ 2.84027846e-03 2.30223310e-05 9.99995966e-01 -3.51128196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740281693 meters 0.0196090584281581 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.09, Z:-0.04 [[ 9.99896245e-01 1.40665931e-02 -3.10311430e-03 8.01077898e+00] [-1.40666156e-02 9.99901060e-01 1.45932400e-05 -9.43456486e-02] [ 3.10301255e-03 2.90585900e-05 9.99995185e-01 -3.57756858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770281693 meters 0.01866527350234895 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.10, Z:-0.04 [[ 9.99899253e-01 1.36743287e-02 -3.80751596e-03 8.03977490e+00] [-1.36743602e-02 9.99906501e-01 1.77650075e-05 -9.53132197e-02] [ 3.80740288e-03 3.43021269e-05 9.99992751e-01 -3.64964845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800281692999999 meters 0.018622188177146726 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.09, Z:-0.04 [[ 9.99903088e-01 1.31309631e-02 -4.62523587e-03 8.06825906e+00] [-1.31310047e-02 9.99913784e-01 2.13714857e-05 -9.35062757e-02] [ 4.62511773e-03 3.93645794e-05 9.99989303e-01 -3.81197581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830281693 meters 0.0196137409310134 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.09, Z:-0.04 [[ 9.99893698e-01 1.29519534e-02 -6.69625286e-03 8.09596713e+00] [-1.29520392e-02 9.99916118e-01 3.05423047e-05 -8.68588448e-02] [ 6.69608675e-03 5.61910717e-05 9.99977579e-01 -4.27708552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860281693 meters 0.020660192722343314 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.08, Z:-0.04 [[ 9.99875150e-01 1.40081578e-02 -7.31130588e-03 8.12476536e+00] [-1.40082907e-02 9.99901879e-01 3.30382910e-05 -8.30320205e-02] [ 7.31105129e-03 6.93847321e-05 9.99973272e-01 -4.38868932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890281692999999 meters 0.020740475820993403 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.08, Z:-0.04 [[ 9.99862934e-01 1.49097364e-02 -7.19815956e-03 8.15374251e+00] [-1.49098907e-02 9.99888841e-01 3.22281240e-05 -8.08345624e-02] [ 7.19783993e-03 7.51000653e-05 9.99974092e-01 -4.32652936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920281693 meters 0.021212185032101937 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.07, Z:-0.04 [[ 9.99852563e-01 1.61377191e-02 -5.86740074e-03 8.18242960e+00] [-1.61378442e-02 9.99869776e-01 2.60198896e-05 -7.26267284e-02] [ 5.86705657e-03 6.86711457e-05 9.99982786e-01 -3.89857345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950281692999999 meters 0.021268904377969872 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.07, Z:-0.04 [[ 9.99846702e-01 1.66576599e-02 -5.39387700e-03 8.21124956e+00] [-1.66577745e-02 9.99861249e-01 2.36791882e-05 -6.90812644e-02] [ 5.39352304e-03 6.61744288e-05 9.99985453e-01 -3.79616564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980281692999998 meters 0.021584718864242187 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.07, Z:-0.04 [[ 9.99845031e-01 1.64099545e-02 -6.37403106e-03 8.23946383e+00] [-1.64101118e-02 9.99865345e-01 2.76223210e-05 -6.61830330e-02] [ 6.37362605e-03 7.69805222e-05 9.99979685e-01 -4.11631049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010281693 meters 0.02127638005718585 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.07, Z:-0.04 [[ 9.99856566e-01 1.53960087e-02 -7.05764677e-03 8.26729533e+00] [-1.53961794e-02 9.99881471e-01 3.01488524e-05 -6.66137191e-02] [ 7.05727441e-03 7.85162676e-05 9.99975094e-01 -4.35129348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040281692999999 meters 0.02127638005718585 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.07, Z:-0.04 [[ 9.99857251e-01 1.53514458e-02 -7.05764825e-03 8.29562331e+00] [-1.53516178e-02 9.99882157e-01 2.98013450e-05 -6.66412894e-02] [ 7.05727404e-03 7.85492275e-05 9.99975094e-01 -4.34565528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070281693 meters 0.019710945241378605 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.07, Z:-0.04 [[ 9.99874242e-01 1.38481154e-02 -7.72844778e-03 8.32441698e+00] [-1.38482796e-02 9.99904107e-01 3.22723195e-05 -6.86149193e-02] [ 7.72815359e-03 7.47574446e-05 9.99970135e-01 -4.45206820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100281693 meters 0.01928955620490677 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.07, Z:-0.04 [[ 9.99892425e-01 1.23394671e-02 -7.92945234e-03 8.35202680e+00] [-1.23395960e-02 9.99923864e-01 3.26763193e-05 -6.84412004e-02] [ 7.92925183e-03 6.51734339e-05 9.99968561e-01 -4.47563987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130281692999999 meters 0.016958440288862793 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.07, Z:-0.04 [[ 9.99935719e-01 9.65031432e-03 -5.95222753e-03 8.38058051e+00] [-9.65034088e-03 9.99953434e-01 2.42595421e-05 -7.18874384e-02] [ 5.95218447e-03 3.31830420e-05 9.99982285e-01 -3.94425607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160281693 meters 0.016213603686269996 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.07, Z:-0.04 [[ 9.99957027e-01 7.82694391e-03 -4.96821933e-03 8.40793173e+00] [-7.82694113e-03 9.99969369e-01 2.00018997e-05 -7.41272384e-02] [ 4.96822370e-03 1.88849200e-05 9.99987658e-01 -3.77792300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190281693 meters 0.015671995903433263 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.08, Z:-0.04 [[ 9.99977513e-01 3.41027833e-03 -5.77431261e-03 8.43539574e+00] [-3.41020305e-03 9.99994185e-01 2.28822932e-05 -8.06549358e-02] [ 5.77435707e-03 -3.19020016e-06 9.99983328e-01 -4.02623598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220281692999999 meters 0.015945901152713698 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.08, Z:-0.04 [[ 9.99981851e-01 1.53144215e-03 -5.82681544e-03 8.46426187e+00] [-1.53133531e-03 9.99998827e-01 2.27979815e-05 -8.38746484e-02] [ 5.82684352e-03 -1.38747596e-05 9.99983024e-01 -4.08820180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250281693 meters 0.017397998080272595 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.09, Z:-0.04 [[ 9.99984050e-01 -2.18568819e-03 -5.20793377e-03 8.49217898e+00] [ 2.18582262e-03 9.99997611e-01 2.01214010e-05 -9.21793547e-02] [ 5.20787735e-03 -3.15046996e-05 9.99986438e-01 -4.04121818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280281693 meters 0.017726363716732845 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.09, Z:-0.04 [[ 9.99983452e-01 -3.43110205e-03 -4.61767229e-03 8.52053842e+00] [ 3.43122002e-03 9.99994113e-01 1.76260218e-05 -9.48541730e-02] [ 4.61758463e-03 -3.34699798e-05 9.99989338e-01 -3.85708315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310281692999999 meters 0.018383544380826664 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.10, Z:-0.04 [[ 9.99980581e-01 -4.75038189e-03 -4.03378723e-03 8.54917854e+00] [ 4.75048103e-03 9.99988716e-01 1.49969972e-05 -9.81274868e-02] [ 4.03367047e-03 -3.41591357e-05 9.99991864e-01 -3.72312035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340281693 meters 0.021252757238819284 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.11, Z:-0.04 [[ 9.99965111e-01 -7.46694513e-03 -3.74445140e-03 8.57658272e+00] [ 7.46704815e-03 9.99972121e-01 1.35321045e-05 -1.09447506e-01] [ 3.74424597e-03 -4.14916313e-05 9.99992989e-01 -3.63442450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370281692999999 meters 0.02177029650388337 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.11, Z:-0.04 [[ 9.99951641e-01 -8.96623053e-03 -4.04018848e-03 8.60572245e+00] [ 8.96636094e-03 9.99959801e-01 1.41640007e-05 -1.12627008e-01] [ 4.03989907e-03 -5.03891039e-05 9.99991838e-01 -3.72969777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400281692999998 meters 0.022217148697713095 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.12, Z:-0.04 [[ 9.99943466e-01 -9.50162418e-03 -4.77317389e-03 8.63422556e+00] [ 9.50180851e-03 9.99954857e-01 1.59418094e-05 -1.15329756e-01] [ 4.77280694e-03 -6.12946924e-05 9.99988608e-01 -3.83102402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430281693 meters 0.021432651983466864 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.12, Z:-0.04 [[ 9.99953129e-01 -8.53935604e-03 -4.56285136e-03 8.66286512e+00] [ 8.53951133e-03 9.99963538e-01 1.45520536e-05 -1.17317823e-01] [ 4.56256072e-03 -5.35158924e-05 9.99989590e-01 -3.84724699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460281692999999 meters 0.02000407669472473 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.12, Z:-0.04 [[ 9.99961168e-01 -7.85415691e-03 -3.99676383e-03 8.69170348e+00] [ 7.85426825e-03 9.99969155e-01 1.21604968e-05 -1.16990367e-01] [ 3.99654504e-03 -4.35516798e-05 9.99992013e-01 -3.69533347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490281693 meters 0.020098190537322577 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.12, Z:-0.04 [[ 9.99971823e-01 -6.78051669e-03 -3.22155242e-03 8.71933291e+00] [ 6.78058231e-03 9.99977012e-01 9.44759837e-06 -1.19616712e-01] [ 3.22141431e-03 -3.12913336e-05 9.99994811e-01 -3.54960383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520281693 meters 0.017999914684649326 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.12, Z:-0.03 [[ 9.99985747e-01 -4.96800038e-03 -1.95566590e-03 8.74818311e+00] [ 4.96802091e-03 9.99987659e-01 5.64310296e-06 -1.19203135e-01] [ 1.95561373e-03 -1.53588116e-05 9.99998088e-01 -3.28849297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550281692999999 meters 0.01741574750721455 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.12, Z:-0.03 [[ 9.99989710e-01 -3.94684232e-03 -2.23643341e-03 8.77725789e+00] [ 3.94686582e-03 9.99992211e-01 6.09390419e-06 -1.19846070e-01] [ 2.23639194e-03 -1.49207441e-05 9.99997499e-01 -3.33103392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580281693 meters 0.017126806299078506 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.12, Z:-0.03 [[ 9.99990503e-01 -3.48487215e-03 -2.61732312e-03 8.80657565e+00] [ 3.48490244e-03 9.99993928e-01 7.01527618e-06 -1.20662937e-01] [ 2.61728278e-03 -1.61363253e-05 9.99996575e-01 -3.40351025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610281693 meters 0.016827551319446306 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.12, Z:-0.04 [[ 9.99985900e-01 -2.37057736e-03 -4.75190671e-03 8.83536752e+00] [ 2.37066166e-03 9.99997190e-01 1.21081319e-05 -1.23648914e-01] [ 4.75186466e-03 -2.33731243e-05 9.99988710e-01 -3.82487963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640281692999999 meters 0.01656378365176662 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.12, Z:-0.04 [[ 9.99982912e-01 -2.24624531e-03 -5.39726143e-03 8.86302269e+00] [ 2.24634837e-03 9.99997477e-01 1.30318328e-05 -1.24901844e-01] [ 5.39721854e-03 -2.51557396e-05 9.99985435e-01 -3.89072396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670281693 meters 0.016479323541119795 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.13, Z:-0.04 [[ 9.99983746e-01 -1.24000850e-03 -5.56502370e-03 8.89128448e+00] [ 1.24009921e-03 9.99999231e-01 1.28490876e-05 -1.26485868e-01] [ 5.56500348e-03 -1.97500602e-05 9.99984515e-01 -3.91277353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700281692999999 meters 0.015679460698095674 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.12, Z:-0.04 [[ 9.99983968e-01 3.24304939e-03 -4.64183931e-03 8.92033967e+00] [-3.24303699e-03 9.99994741e-01 1.01994857e-05 -1.20751203e-01] [ 4.64184798e-03 4.85433439e-06 9.99989227e-01 -3.63972333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730281692999998 meters 0.016847711417856924 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.11, Z:-0.04 [[ 9.99966840e-01 6.85573103e-03 -4.39517669e-03 8.94849976e+00] [-6.85575672e-03 9.99976499e-01 9.22174987e-06 -1.14457131e-01] [ 4.39513662e-03 2.09108180e-05 9.99990341e-01 -3.62764747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760281693 meters 0.01861708349107123 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.11, Z:-0.04 [[ 9.99935251e-01 1.05632173e-02 -4.23231133e-03 8.97692568e+00] [-1.05632762e-02 9.99944207e-01 8.43294749e-06 -1.09233353e-01] [ 4.23216428e-03 3.62746720e-05 9.99991044e-01 -3.63472487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790281692999999 meters 0.025045039070373427 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.10, Z:-0.04 [[ 9.99858389e-01 1.64724893e-02 -3.44370842e-03 9.00522832e+00] [-1.64725644e-02 9.99864318e-01 6.54931959e-06 -9.57729525e-02] [ 3.44334905e-03 5.01783165e-05 9.99994070e-01 -3.65330956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820281693 meters 0.026988004117198622 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.09, Z:-0.04 [[ 9.99829019e-01 1.81086718e-02 -3.74283232e-03 9.03404469e+00] [-1.81087726e-02 9.99836023e-01 6.96084984e-06 -9.09020602e-02] [ 3.74234463e-03 6.08184397e-05 9.99992996e-01 -3.73523083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850281693 meters 0.026012849254617432 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.09, Z:-0.04 [[ 9.99818843e-01 1.82998769e-02 -5.23405554e-03 9.06275482e+00] [-1.83000779e-02 9.99832540e-01 9.49728588e-06 -8.90166152e-02] [ 5.23335284e-03 8.62880585e-05 9.99986302e-01 -4.03486502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880281692999999 meters 0.024673219332017098 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.09, Z:-0.04 [[ 9.99831894e-01 1.73583612e-02 -5.90514217e-03 9.09120342e+00] [-1.73586022e-02 9.99849328e-01 1.04330460e-05 -8.93913393e-02] [ 5.90443354e-03 9.20737220e-05 9.99982564e-01 -4.06777669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910281693 meters 0.02370678517609147 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.09, Z:-0.04 [[ 9.99851105e-01 1.60696350e-02 -6.28767408e-03 9.12008301e+00] [-1.60698847e-02 9.99870871e-01 1.08143041e-05 -8.88091727e-02] [ 6.28703594e-03 9.02295038e-05 9.99980232e-01 -4.11969953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940281693 meters 0.022878153294842683 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.09, Z:-0.04 [[ 9.99873881e-01 1.45050126e-02 -6.46734776e-03 9.14772169e+00] [-1.45052463e-02 9.99894793e-01 1.07738257e-05 -8.72121481e-02] [ 6.46682363e-03 8.30380054e-05 9.99979086e-01 -4.15690084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970281692999999 meters 0.02059249034782997 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.08, Z:-0.04 [[ 9.99913022e-01 1.19943355e-02 -5.48494292e-03 9.17708429e+00] [-1.19944670e-02 9.99928064e-01 8.92248178e-06 -8.44456245e-02] [ 5.48465537e-03 5.68672613e-05 9.99984958e-01 -3.97080255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000281693 meters 0.019868948246103982 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.08, Z:-0.04 [[ 9.99936842e-01 1.05534222e-02 -3.86494258e-03 9.20485161e+00] [-1.05534773e-02 9.99944310e-01 6.12501243e-06 -8.22067422e-02] [ 3.86479199e-03 3.46639584e-05 9.99992531e-01 -3.71935719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030281693 meters 0.018962142241487918 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.08, Z:-0.04 [[ 9.99952229e-01 9.33790156e-03 -2.88855087e-03 9.23395925e+00] [-9.33792767e-03 9.99956401e-01 4.44808678e-06 -8.10153424e-02] [ 2.88846647e-03 2.25252048e-05 9.99995828e-01 -3.51035782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060281692999999 meters 0.01665502057596237 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.08, Z:-0.03 [[ 9.99979721e-01 5.95388079e-03 -2.26048660e-03 9.26393748e+00] [-5.95388830e-03 9.99982275e-01 3.40792662e-06 -8.34757682e-02] [ 2.26046683e-03 1.00508272e-05 9.99997445e-01 -3.43203060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090281693 meters 0.01580753972106626 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.09, Z:-0.03 [[ 9.99992680e-01 3.09825264e-03 -2.24531477e-03 9.29399880e+00] [-3.09825296e-03 9.99995200e-01 3.33466779e-06 -8.65484811e-02] [ 2.24531432e-03 3.62190974e-06 9.99997479e-01 -3.48449737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120281692999999 meters 0.016933438664486974 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.09, Z:-0.03 [[ 9.99992358e-01 -3.58289545e-03 -1.56430973e-03 9.32298780e+00] [ 3.58290343e-03 9.99993581e-01 2.30083428e-06 -9.30598049e-02] [ 1.56429144e-03 -7.90558738e-06 9.99998776e-01 -3.41097149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150281692999998 meters 0.01843926557577162 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.10, Z:-0.03 [[ 9.99974244e-01 -7.16653551e-03 -3.89937186e-04 9.35257513e+00] [ 7.16653629e-03 9.99974320e-01 5.98889520e-07 -9.63865104e-02] [ 3.89922880e-04 -3.39337309e-06 9.99999924e-01 -3.23584221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180281693 meters 0.02335112060829389 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.11, Z:-0.03 [[ 9.99930744e-01 -1.17441768e-02 7.62363922e-04 9.38173823e+00] [ 1.17441810e-02 9.99931035e-01 -1.08250843e-06 -1.05737307e-01] [-7.62298632e-04 1.00357734e-05 9.99999709e-01 -3.01616673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210281692999999 meters 0.022774440010968657 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.10, Z:-0.03 [[ 9.99917345e-01 -1.28555108e-02 1.99236582e-04 9.41321937e+00] [ 1.28555111e-02 9.99917365e-01 -3.32700063e-07 -1.04658970e-01] [-1.99215841e-04 2.89396066e-06 9.99999980e-01 -3.10464695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240281693 meters 0.02586002108466769 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.11, Z:-0.03 [[ 9.99915000e-01 -1.30204060e-02 -6.79818585e-04 9.44395682e+00] [ 1.30204096e-02 9.99915231e-01 9.30764733e-07 -1.09463672e-01] [ 6.79748839e-04 -9.78220205e-06 9.99999769e-01 -3.24144979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270281693 meters 0.023203010942492445 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.10, Z:-0.03 [[ 9.99916633e-01 -1.28127992e-02 -1.59959080e-03 9.47473082e+00] [ 1.28128193e-02 9.99917912e-01 2.36607963e-06 -1.04102629e-01] [ 1.59942917e-03 -2.28611503e-05 9.99998721e-01 -3.39886472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300281692999999 meters 0.021821208294269527 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.10, Z:-0.03 [[ 9.99937044e-01 -1.10271648e-02 -2.07590170e-03 9.50539198e+00] [ 1.10271949e-02 9.99939199e-01 3.07062829e-06 -9.94786386e-02] [ 2.07574163e-03 -2.59618076e-05 9.99997845e-01 -3.42177505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330281693 meters 0.021223393799493246 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.10, Z:-0.03 [[ 9.99947183e-01 -1.00829379e-02 -1.99160525e-03 9.53492740e+00] [ 1.00829638e-02 9.99949166e-01 2.94594609e-06 -9.83083797e-02] [ 1.99147430e-03 -2.30270740e-05 9.99998017e-01 -3.41626017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360281693 meters 0.02063797164061731 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.10, Z:-0.03 [[ 9.99958026e-01 -9.13124399e-03 -7.53144339e-04 9.56471710e+00] [ 9.13124743e-03 9.99958309e-01 1.13101604e-06 -9.66351528e-02] [ 7.53102613e-04 -8.00811588e-06 9.99999716e-01 -3.24870209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390281692999999 meters 0.021065547349031058 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.10, Z:-0.03 [[ 9.99960321e-01 -8.88554290e-03 6.34710384e-04 9.59417384e+00] [ 8.88554527e-03 9.99960523e-01 -9.06305274e-07 -9.70954337e-02] [-6.34677275e-04 6.54601716e-06 9.99999799e-01 -2.95860834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420281693 meters 0.01940470087887199 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.09, Z:-0.03 [[ 9.99960646e-01 -8.45756218e-03 2.67874367e-03 9.62533706e+00] [ 8.45760330e-03 9.99964234e-01 -4.02280601e-06 -9.41096819e-02] [-2.67861384e-03 2.66783990e-05 9.99996412e-01 -2.74366319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450281692999999 meters 0.019414161648669305 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.09, Z:-0.03 [[ 9.99962086e-01 -7.98849627e-03 3.46574511e-03 9.65680114e+00] [ 7.98856273e-03 9.99968091e-01 -5.33232035e-06 -9.49448151e-02] [-3.46559193e-03 3.30184404e-05 9.99993994e-01 -2.60157982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480281692999998 meters 0.018856357695970185 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.10, Z:-0.03 [[ 9.99975572e-01 -6.68435084e-03 2.04326642e-03 9.68786422e+00] [ 6.68437141e-03 9.99977659e-01 -3.23921971e-06 -9.50774219e-02] [-2.04319912e-03 1.68970922e-05 9.99997913e-01 -2.78656593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510281693 meters 0.018146524637107593 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.09, Z:-0.03 [[ 9.99984593e-01 -5.53394258e-03 4.34554529e-04 9.71925559e+00] [ 5.53394342e-03 9.99984688e-01 -7.28627901e-07 -9.37080196e-02] [-4.34543842e-04 3.13341685e-06 9.99999906e-01 -3.11456724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540281692999999 meters 0.01645216328003636 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.09, Z:-0.03 [[ 9.99997271e-01 -2.23457349e-03 -6.81370042e-04 9.75019630e+00] [ 2.23457474e-03 9.99997503e-01 1.07303634e-06 -8.93304183e-02] [ 6.81365943e-04 -2.59560570e-06 9.99999768e-01 -3.30792384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570281693 meters 0.016092969360866315 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.09, Z:-0.03 [[ 9.99999950e-01 -1.11696276e-04 -2.95007889e-04 9.78015103e+00] [ 1.11696416e-04 9.99999994e-01 4.58805455e-07 -8.71035857e-02] [ 2.95007836e-04 -4.91756756e-07 9.99999956e-01 -3.20117757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600281693 meters 0.015852584440192476 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.08, Z:-0.03 [[ 9.99997470e-01 2.24939087e-03 -1.77773431e-05 9.80955972e+00] [-2.24939087e-03 9.99997470e-01 2.26116359e-08 -8.44721446e-02] [ 1.77773490e-05 1.73766144e-08 1.00000000e+00 -3.11625710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630281692999999 meters 0.01685451693012057 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.08, Z:-0.03 [[ 9.99975136e-01 6.90702225e-03 1.42138210e-03 9.83972056e+00] [-6.90702603e-03 9.99976146e-01 -2.24719421e-06 -7.91938003e-02] [-1.42136372e-03 -7.57038485e-06 9.99998990e-01 -3.02075277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660281693 meters 0.018566727636483264 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.07, Z:-0.03 [[ 9.99953469e-01 9.53653287e-03 1.45378250e-03 9.86963063e+00] [-9.53653933e-03 9.99954526e-01 -2.48482102e-06 -7.43412904e-02] [-1.45374009e-03 -1.13793486e-05 9.99998943e-01 -2.92537915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690281693 meters 0.022147390103592113 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.07, Z:-0.03 [[ 9.99896518e-01 1.43524554e-02 9.79875693e-04 9.90023789e+00] [-1.43524607e-02 9.99896998e-01 -1.60221407e-06 -6.74311190e-02] [-9.79797760e-04 -1.24615791e-05 9.99999520e-01 -3.13749298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720281692999999 meters 0.023767466459185742 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.06, Z:-0.03 [[ 9.99862840e-01 1.65613448e-02 -1.53750026e-04 9.93001109e+00] [-1.65613449e-02 9.99862852e-01 2.94212694e-07 -6.46021477e-02] [ 1.53733812e-04 2.25213487e-06 9.99999988e-01 -3.30789058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750281693 meters 0.023967723014561036 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.06, Z:-0.03 [[ 9.99839017e-01 1.79424645e-02 -8.96494775e-05 9.95948284e+00] [-1.79424646e-02 9.99839021e-01 1.90598904e-07 -6.31717500e-02] [ 8.96384657e-05 1.41796435e-06 9.99999996e-01 -3.28574446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780281693 meters 0.025002709682675057 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.06, Z:-0.03 [[ 9.99818293e-01 1.90620912e-02 1.33384700e-04 9.98878216e+00] [-1.90620913e-02 9.99818302e-01 -1.60304363e-07 -6.08953288e-02] [-1.33363520e-04 -2.38231610e-06 9.99999991e-01 -3.23411649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810281692999999 meters 0.028218390029516698 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.06, Z:-0.03 [[ 9.99792107e-01 2.03430056e-02 1.38036095e-03 1.00170805e+01] [-2.03430222e-02 9.99793059e-01 -2.03645517e-06 -5.57421191e-02] [-1.38011672e-03 -2.60446816e-05 9.99999047e-01 -2.94655453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840281693 meters 0.0281459128366817 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.06, Z:-0.03 [[ 9.99771820e-01 2.13040719e-02 1.56332872e-03 1.00467293e+01] [-2.13040944e-02 9.99773042e-01 -2.30518964e-06 -5.57784688e-02] [-1.56302302e-03 -3.10006390e-05 9.99998778e-01 -2.93711060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870281692999999 meters 0.030755389822479173 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.05, Z:-0.03 [[ 9.99699605e-01 2.44617771e-02 1.52362906e-03 1.00766546e+01] [-2.44618021e-02 9.99700765e-01 -2.25060873e-06 -5.04829730e-02] [-1.52322819e-03 -3.50207799e-05 9.99998839e-01 -2.97483855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900281692999998 meters 0.03286734810048097 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.05, Z:-0.03 [[ 9.99652044e-01 2.63134618e-02 1.84167086e-03 1.01060881e+01] [-2.63135015e-02 9.99653740e-01 -2.65928443e-06 -4.60210581e-02] [-1.84110313e-03 -4.58024497e-05 9.99998304e-01 -2.88303052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930281693 meters 0.03286734810048097 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.05, Z:-0.03 [[ 9.99652658e-01 2.62901400e-02 1.84167092e-03 1.01352595e+01] [-2.62901797e-02 9.99654353e-01 -2.61622317e-06 -4.60186867e-02] [-1.84110313e-03 -4.58025450e-05 9.99998304e-01 -2.87722494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960281692999999 meters 0.03375982804338651 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.04, Z:-0.03 [[ 9.99609324e-01 2.78252099e-02 2.63777975e-03 1.01647325e+01] [-2.78252969e-02 9.99612801e-01 -3.70448417e-06 -4.34695893e-02] [-2.63686148e-03 -6.96939677e-05 9.99996521e-01 -2.80370275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990281693 meters 0.034838065379115386 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.04, Z:-0.03 [[ 9.99600541e-01 2.80772943e-02 3.22848674e-03 1.01936328e+01] [-2.80774262e-02 9.99605751e-01 -4.45966691e-06 -3.98533504e-02] [-3.22733913e-03 -8.61897128e-05 9.99994788e-01 -2.79069612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020281693 meters 0.03354440223934441 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.04, Z:-0.03 [[ 9.99643321e-01 2.66187958e-02 2.16104670e-03 1.02229615e+01] [-2.66188516e-02 9.99645656e-01 -2.92257986e-06 -4.12926734e-02] [-2.16035874e-03 -5.46030441e-05 9.99997665e-01 -3.02197578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050281693000002 meters 0.03272491812352679 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.04, Z:-0.03 [[ 9.99693700e-01 2.47486488e-02 9.84392864e-05 1.02520767e+01] [-2.47486489e-02 9.99693705e-01 -8.70094632e-08 -4.32786886e-02] [-9.84112883e-05 -2.34925652e-06 9.99999995e-01 -3.45243978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080281693 meters 0.030277172688523098 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.05, Z:-0.04 [[ 9.99741923e-01 2.26734603e-02 -1.41475865e-03 1.02821515e+01] [-2.26734802e-02 9.99742924e-01 1.91747015e-06 -4.85777578e-02] [ 1.41443843e-03 3.01605271e-05 9.99998999e-01 -3.77197477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110281693 meters 0.02735765878467419 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.05, Z:-0.04 [[ 9.99813950e-01 1.91714372e-02 -2.12632800e-03 1.03111859e+01] [-1.91714745e-02 9.99816210e-01 2.84430756e-06 -5.42173604e-02] [ 2.12599173e-03 3.79210645e-05 9.99997739e-01 -3.82162792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140281693000002 meters 0.026164158388583325 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.06, Z:-0.04 [[ 9.99830650e-01 1.83638551e-02 -1.20001111e-03 1.03397145e+01] [-1.83638664e-02 9.99831370e-01 1.61577442e-06 -5.57282812e-02] [ 1.19983842e-03 2.04213429e-05 9.99999280e-01 -3.63411343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170281693 meters 0.025700299401023717 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.06, Z:-0.03 [[ 9.99833059e-01 1.82647128e-02 5.03800482e-04 1.03681940e+01] [-1.82647149e-02 9.99833186e-01 -5.23702249e-07 -5.55023259e-02] [-5.03726006e-04 -8.67815734e-06 9.99999873e-01 -3.34546038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200281693 meters 0.027235034571145792 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.05, Z:-0.03 [[ 9.99827197e-01 1.85822727e-02 5.24864397e-04 1.03972483e+01] [-1.85822749e-02 9.99827335e-01 -5.54789009e-07 -5.26116508e-02] [-5.24784080e-04 -9.19848140e-06 9.99999862e-01 -3.31567325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230281693000002 meters 0.026591018692232467 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.05, Z:-0.04 [[ 9.99823620e-01 1.87756206e-02 -4.51831852e-04 1.04268833e+01] [-1.87756222e-02 9.99823722e-01 5.72675150e-07 -5.29979726e-02] [ 4.51762956e-04 7.91085001e-06 9.99999898e-01 -3.50251747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260281693 meters 0.028089724575870594 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.05, Z:-0.04 [[ 9.99800282e-01 1.97377259e-02 -3.13347001e-03 1.04552175e+01] [-1.97378115e-02 9.99805190e-01 3.61357752e-06 -4.85362260e-02] [ 3.13293091e-03 5.82349845e-05 9.99995091e-01 -3.93293631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290281693 meters 0.027618492244938984 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.05, Z:-0.04 [[ 9.99804156e-01 1.95300540e-02 -3.19785925e-03 1.04835888e+01] [-1.95301425e-02 9.99809269e-01 3.56213954e-06 -4.86612653e-02] [ 3.19731889e-03 5.88932049e-05 9.99994887e-01 -3.93270380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320281693000002 meters 0.026751783681909152 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.05, Z:-0.04 [[ 9.99825044e-01 1.85443454e-02 -2.44698975e-03 1.05121262e+01] [-1.85443945e-02 9.99828038e-01 2.63441617e-06 -4.97966190e-02] [ 2.44661782e-03 4.27439880e-05 9.99997006e-01 -3.78770826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350281693 meters 0.02247205659899308 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.06, Z:-0.03 [[ 9.99901548e-01 1.40290655e-02 2.80535583e-04 1.05419035e+01] [-1.40290660e-02 9.99901588e-01 -2.38626725e-07 -5.55896953e-02] [-2.80511323e-04 -3.69704898e-06 9.99999961e-01 -3.34494828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380281693 meters 0.020345551606576664 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.06, Z:-0.03 [[ 9.99936623e-01 1.11790180e-02 1.33371368e-03 1.05716617e+01] [-1.11790262e-02 9.99937513e-01 -1.31632541e-06 -5.92267400e-02] [-1.33364506e-03 -1.35933781e-05 9.99999111e-01 -3.13786839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410281693 meters 0.019090200091126303 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.06, Z:-0.03 [[ 9.99959380e-01 8.82917115e-03 1.81237166e-03 1.06008399e+01] [-8.82918243e-03 9.99961022e-01 -1.77674373e-06 -6.16760609e-02] [-1.81231670e-03 -1.42250884e-05 9.99998358e-01 -3.00464366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440281693 meters 0.017680934360456084 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.06, Z:-0.03 [[ 9.99980454e-01 6.14575816e-03 1.14926298e-03 1.06308900e+01] [-6.14576091e-03 9.99981115e-01 -1.14105697e-06 -6.26948593e-02] [-1.14924829e-03 -5.92206082e-06 9.99999340e-01 -3.08442823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470281693 meters 0.01744441891601806 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.06, Z:-0.03 [[ 9.99982308e-01 5.72272207e-03 1.62279754e-03 1.06613261e+01] [-5.72272699e-03 9.99983625e-01 -1.61121038e-06 -6.14301803e-02] [-1.62278019e-03 -7.67564542e-06 9.99998683e-01 -3.03212923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500281693 meters 0.01726040217296219 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.06, Z:-0.03 [[ 9.99984407e-01 5.21311687e-03 2.00252808e-03 1.06917096e+01] [-5.21312334e-03 9.99986412e-01 -1.98822956e-06 -6.12303478e-02] [-2.00251124e-03 -8.45122735e-06 9.99997995e-01 -2.94745417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530281693000003 meters 0.01698885637399266 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.06, Z:-0.03 [[ 9.99988824e-01 4.52417706e-03 1.37239541e-03 1.07223162e+01] [-4.52417940e-03 9.99989766e-01 -1.40082783e-06 -6.12663579e-02] [-1.37238770e-03 -4.80815085e-06 9.99999058e-01 -2.98903203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560281693 meters 0.016826658194563842 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.06, Z:-0.03 [[ 9.99993863e-01 3.41438490e-03 7.85383703e-04 1.07525736e+01] [-3.41438533e-03 9.99994171e-01 -7.88706014e-07 -6.28064121e-02] [-7.85381818e-04 -1.89290142e-06 9.99999692e-01 -3.12233209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590281693 meters 0.01652415207276241 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.07, Z:-0.03 [[ 9.99998105e-01 1.48393870e-03 1.26015987e-03 1.07827395e+01] [-1.48393828e-03 9.99998899e-01 -1.26549057e-06 -6.62032493e-02] [-1.26016036e-03 -6.04511305e-07 9.99999206e-01 -3.18572985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620281693000003 meters 0.016518933641475983 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.07, Z:-0.03 [[ 9.99998353e-01 2.20344198e-04 1.80160872e-03 1.08127895e+01] [-2.20341215e-04 9.99999976e-01 -1.85406764e-06 -6.90865873e-02] [-1.80160908e-03 1.45709593e-06 9.99998377e-01 -3.03603749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650281693 meters 0.016664588479428994 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.07, Z:-0.03 [[ 9.99996288e-01 -1.32610452e-03 2.38040903e-03 1.08442094e+01] [ 1.32611428e-03 9.99999121e-01 -2.52184591e-06 -7.17570061e-02] [-2.38040359e-03 5.67853096e-06 9.99997167e-01 -3.01045165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680281693 meters 0.017027188114568097 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.07, Z:-0.03 [[ 9.99995935e-01 -2.49600246e-03 1.37823203e-03 1.08756514e+01] [ 2.49600751e-03 9.99996885e-01 -1.94820387e-06 -7.43667807e-02] [-1.37822287e-03 5.38827344e-06 9.99999050e-01 -2.99388332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710281693000002 meters 0.017290267019532977 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.08, Z:-0.03 [[ 9.99995446e-01 -2.93558507e-03 6.99546942e-04 1.09055087e+01] [ 2.93558639e-03 9.99995691e-01 -8.64414263e-07 -7.53579688e-02] [-6.99541390e-04 2.91799081e-06 9.99999755e-01 -3.07929689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740281693 meters 0.01729295566502973 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.08, Z:-0.03 [[ 9.99993107e-01 -3.52352020e-03 1.17089456e-03 1.09368246e+01] [ 3.52352435e-03 9.99993792e-01 -1.48207389e-06 -7.71796298e-02] [-1.17088206e-03 5.60773915e-06 9.99999315e-01 -2.95752661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770281693 meters 0.01738733553017933 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.08, Z:-0.03 [[ 9.99991553e-01 -3.69528338e-03 1.79949844e-03 1.09677002e+01] [ 3.69529350e-03 9.99993172e-01 -2.29592826e-06 -7.82594868e-02] [-1.79947767e-03 8.94558377e-06 9.99998381e-01 -2.89279824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800281693000002 meters 0.01772073955552417 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.08, Z:-0.03 [[ 9.99989248e-01 -4.14963301e-03 2.06988823e-03 1.09986539e+01] [ 4.14964745e-03 9.99991390e-01 -2.68124661e-06 -8.08126361e-02] [-2.06985928e-03 1.12705242e-05 9.99997858e-01 -2.79881308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830281693 meters 0.018040477318771907 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.08, Z:-0.03 [[ 9.99985630e-01 -4.98063119e-03 1.98307980e-03 1.10298495e+01] [ 4.98064617e-03 9.99987597e-01 -2.61630333e-06 -8.37450834e-02] [-1.98304217e-03 1.24932845e-05 9.99998034e-01 -2.79017501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860281693 meters 0.018173386143668417 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.08, Z:-0.03 [[ 9.99986962e-01 -5.01985722e-03 9.36244231e-04 1.10612403e+01] [ 5.01986065e-03 9.99987400e-01 -1.31439803e-06 -8.44635520e-02] [-9.36225836e-04 6.01419646e-06 9.99999562e-01 -2.98154199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890281693000002 meters 0.017485065665611758 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.08, Z:-0.03 [[ 9.99994618e-01 -3.28083848e-03 -3.67928730e-07 1.10912859e+01] [ 3.28083848e-03 9.99994618e-01 -2.23386393e-08 -8.06177885e-02] [ 3.68000039e-07 2.11314042e-08 1.00000000e+00 -3.09229538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920281693 meters 0.016772761348730014 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.08, Z:-0.03 [[ 9.99998806e-01 -6.73405432e-04 -1.39082998e-03 1.11212768e+01] [ 6.73408679e-04 9.99999773e-01 1.86668195e-06 -7.60620180e-02] [ 1.39082841e-03 -2.80327670e-06 9.99999033e-01 -3.35857217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950281693 meters 0.01721288420023421 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.07, Z:-0.04 [[ 9.99986141e-01 4.02301184e-03 -3.39612617e-03 1.11511835e+01] [-4.02301961e-03 9.99991908e-01 4.54288874e-06 -6.74776144e-02] [ 3.39611696e-03 9.11985638e-06 9.99994233e-01 -3.77565280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980281693000002 meters 0.0173642849791611 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.07, Z:-0.04 [[ 9.99981300e-01 5.36771785e-03 -2.93042793e-03 1.11797779e+01] [-5.36772960e-03 9.99985594e-01 3.85683021e-06 -6.62338352e-02] [ 2.93040642e-03 1.18729867e-05 9.99995706e-01 -3.64106240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010281693 meters 0.03143054713945598 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.07, Z:-0.03 [[ 9.99987940e-01 4.81947226e-03 -9.44947451e-04 1.12088067e+01] [-4.81947322e-03 9.99988386e-01 1.26357462e-06 -6.83909712e-02] [ 9.44942566e-04 3.29058955e-06 9.99999554e-01 -2.59185934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040281693 meters 0.016980050071928335 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.07, Z:-0.03 [[ 9.99996240e-01 2.73543695e-03 -1.93835360e-04 1.12386794e+01] [-2.73543695e-03 9.99996259e-01 2.61002301e-07 -7.26774229e-02] [ 1.93835349e-04 2.69223087e-07 9.99999981e-01 -3.20618771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070281693000002 meters 0.016840309859036867 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.08, Z:-0.03 [[ 9.99999589e-01 8.93886221e-04 -1.54332817e-04 1.12689782e+01] [-8.93886203e-04 9.99999600e-01 1.88878854e-07 -7.80004236e-02] [ 1.54332924e-04 -5.09228005e-08 9.99999988e-01 -3.27332475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100281693 meters 0.024360375225145843 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.08, Z:-0.03 [[ 9.99997279e-01 -1.27115446e-03 -1.95606635e-03 1.12981371e+01] [ 1.27116158e-03 9.99999192e-01 2.39432194e-06 -8.40664388e-02] [ 1.95606173e-03 -4.88079181e-06 9.99998087e-01 -2.98099504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130281693 meters 0.017400292009498233 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.09, Z:-0.04 [[ 9.99994938e-01 -2.13803763e-03 -2.35658775e-03 1.13267004e+01] [ 2.13805027e-03 9.99997714e-01 2.84269746e-06 -8.68847513e-02] [ 2.35657628e-03 -7.88118614e-06 9.99997223e-01 -3.69235968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160281693 meters 0.017650722108199214 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.09, Z:-0.04 [[ 9.99993682e-01 -2.89165042e-03 -2.06721466e-03 1.13562150e+01] [ 2.89166162e-03 9.99995819e-01 2.42949082e-06 -9.01061631e-02] [ 2.06719899e-03 -8.40716077e-06 9.99997863e-01 -3.62472866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190281693 meters 0.017792006268208458 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.09, Z:-0.03 [[ 9.99992589e-01 -3.70474338e-03 -1.04689288e-03 1.13855612e+01] [ 3.70474670e-03 9.99993137e-01 1.22914587e-06 -9.39152946e-02] [ 1.04688114e-03 -5.10760970e-06 9.99999452e-01 -3.46100861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220281693 meters 0.01780392125741064 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.10, Z:-0.03 [[ 9.99990968e-01 -4.21214618e-03 -5.67732886e-04 1.14159946e+01] [ 4.21214723e-03 9.99991129e-01 6.41165640e-07 -1.00590154e-01] [ 5.67725148e-04 -3.03253435e-06 9.99999839e-01 -3.24573037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250281693 meters 0.017792192556454266 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.10, Z:-0.03 [[ 9.99992843e-01 -3.58005370e-03 -1.22372971e-03 1.14458024e+01] [ 3.58005807e-03 9.99993592e-01 1.37935145e-06 -1.03893929e-01] [ 1.22371693e-03 -5.76036499e-06 9.99999251e-01 -3.31123088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280281693000003 meters 0.01744207075945171 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.11, Z:-0.03 [[ 9.99996315e-01 -1.61798980e-03 -2.17981201e-03 1.14759601e+01] [ 1.61799903e-03 9.99998691e-01 2.46714082e-06 -1.06118822e-01] [ 2.17980517e-03 -5.99406545e-06 9.99997624e-01 -3.46294974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310281693 meters 0.017297331709535648 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.10, Z:-0.03 [[ 9.99997251e-01 7.63775102e-04 -2.21673627e-03 1.15045527e+01] [-7.63771486e-04 9.99999708e-01 2.47785544e-06 -1.04748882e-01] [ 2.21673752e-03 -7.84768679e-07 9.99997543e-01 -3.45430804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340281693 meters 0.017592794786516232 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.10, Z:-0.03 [[ 9.99991731e-01 3.49853241e-03 -2.07342819e-03 1.15339873e+01] [-3.49853526e-03 9.99993880e-01 2.25176180e-06 -1.01939186e-01] [ 2.07342338e-03 5.00221845e-06 9.99997850e-01 -3.42636964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370281693000003 meters 0.01996410499556968 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.09, Z:-0.03 [[ 9.99955758e-01 9.39410524e-03 -4.83332493e-04 1.15629281e+01] [-9.39410607e-03 9.99955874e-01 5.48842994e-07 -9.41148754e-02] [ 4.83316322e-04 3.99165800e-06 9.99999883e-01 -3.12046305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400281693 meters 0.02107612803113174 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.09, Z:-0.03 [[ 9.99931931e-01 1.16568626e-02 5.01553282e-04 1.15922937e+01] [-1.16568639e-02 9.99932056e-01 -4.63413244e-07 -9.15909740e-02] [-5.01524607e-04 -5.38315663e-06 9.99999874e-01 -2.99104597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430281693 meters 0.022019457220016497 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.09, Z:-0.03 [[ 9.99910544e-01 1.33549482e-02 7.41408845e-04 1.16227731e+01] [-1.33549513e-02 9.99910819e-01 -7.54255614e-07 -8.98122734e-02] [-7.41352798e-04 -9.14729088e-06 9.99999725e-01 -2.95238256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460281693000002 meters 0.022679765592405213 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.09, Z:-0.03 [[ 9.99903308e-01 1.39039013e-02 2.35423048e-04 1.16535484e+01] [-1.39039016e-02 9.99903336e-01 -2.39502343e-07 -9.20359058e-02] [-2.35403621e-04 -3.03381971e-06 9.99999972e-01 -3.14870025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490281693 meters 0.022254642640250923 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.10, Z:-0.03 [[ 9.99912179e-01 1.32321070e-02 -7.38556683e-04 1.16827604e+01] [-1.32321101e-02 9.99912452e-01 7.66176436e-07 -9.55259939e-02] [ 7.38502161e-04 9.00655418e-06 9.99999727e-01 -3.32450310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520281693 meters 0.022210475664513167 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.10, Z:-0.03 [[ 9.99917414e-01 1.27230201e-02 -1.81398968e-03 1.17117656e+01] [-1.27230377e-02 9.99919059e-01 1.83014564e-06 -9.82777946e-02] [ 1.81386614e-03 2.12494646e-05 9.99998355e-01 -3.46475307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550281693000002 meters 0.022316274758362713 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.10, Z:-0.04 [[ 9.99913605e-01 1.26360781e-02 -3.62102217e-03 1.17409839e+01] [-1.26361483e-02 9.99920161e-01 3.47472361e-06 -1.00469220e-01] [ 3.62077698e-03 4.22813498e-05 9.99993444e-01 -3.78013340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580281693 meters 0.022511851671960098 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.10, Z:-0.04 [[ 9.99914457e-01 1.26162767e-02 -3.45096712e-03 1.17698329e+01] [-1.26163408e-02 9.99920411e-01 3.21555651e-06 -1.00447345e-01] [ 3.45073303e-03 4.03232958e-05 9.99994045e-01 -3.77776140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610281693 meters 0.022378282076323378 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.10, Z:-0.03 [[ 9.99905597e-01 1.36981436e-02 -1.07649106e-03 1.17984275e+01] [-1.36981505e-02 9.99906176e-01 1.02547813e-06 -1.01394537e-01] [ 1.07640410e-03 1.37205552e-05 9.99999421e-01 -3.35863312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640281693000002 meters 0.02412507870826616 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.10, Z:-0.03 [[ 9.99888978e-01 1.48612167e-02 -1.08436638e-03 1.18267659e+01] [-1.48612244e-02 9.99889566e-01 9.61217505e-07 -9.75345219e-02] [ 1.08426092e-03 1.51539014e-05 9.99999412e-01 -3.25744333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670281693 meters 0.02657571236411159 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.09, Z:-0.03 [[ 9.99855809e-01 1.68414843e-02 -2.17383635e-03 1.18553056e+01] [-1.68415201e-02 9.99858172e-01 1.80917167e-06 -9.22672794e-02] [ 2.17355851e-03 3.48017978e-05 9.99997637e-01 -3.44591287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700281693 meters 0.03134416682697556 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.08, Z:-0.04 [[ 9.99744383e-01 2.19665728e-02 -5.35148627e-03 1.18849779e+01] [-2.19668649e-02 9.99758699e-01 4.20793561e-06 -8.15852503e-02] [ 5.35028739e-03 1.13348516e-04 9.99985681e-01 -4.07673991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730281693000002 meters 0.03425725080833363 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.08, Z:-0.04 [[ 9.99710951e-01 2.33661962e-02 -5.65994522e-03 1.19128458e+01] [-2.33665470e-02 9.99726965e-01 4.15807531e-06 -7.55945722e-02] [ 5.65849701e-03 1.28096502e-04 9.99983982e-01 -4.12211121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760281693 meters 0.03331975891747542 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.07, Z:-0.04 [[ 9.99701747e-01 2.39443474e-02 -4.80462859e-03 1.19421205e+01] [-2.39446080e-02 9.99713287e-01 3.28831426e-06 -7.49909041e-02] [ 4.80332977e-03 1.11757615e-04 9.99988458e-01 -3.91779896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790281693 meters 0.033614851594936684 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.07, Z:-0.04 [[ 9.99709187e-01 2.38623593e-02 -3.48258786e-03 1.19694990e+01] [-2.38624963e-02 9.99715250e-01 2.23313074e-06 -7.18685647e-02] [ 3.48164948e-03 8.08707586e-05 9.99993936e-01 -3.60598422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820281693000002 meters 0.03142441098661158 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.07, Z:-0.03 [[ 9.99727110e-01 2.32747358e-02 -1.99780981e-03 1.19984057e+01] [-2.32747798e-02 9.99729106e-01 1.21611519e-06 -6.97658869e-02] [ 1.99729692e-03 4.52828001e-05 9.99998004e-01 -3.27492508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850281693 meters 0.03142441098661158 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.07, Z:-0.03 [[ 9.99728203e-01 2.32277654e-02 -1.99780986e-03 1.20267386e+01] [-2.32278095e-02 9.99730198e-01 1.12239364e-06 -6.96917772e-02] [ 1.99729692e-03 4.52826584e-05 9.99998004e-01 -3.26928612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880281693 meters 0.03343497945325984 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.06, Z:-0.03 [[ 9.99729771e-01 2.31536787e-02 -2.07156992e-03 1.20543192e+01] [-2.31537262e-02 9.99731917e-01 1.06211824e-06 -6.36490930e-02] [ 2.07103916e-03 4.69027315e-05 9.99997854e-01 -3.29750744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910281693 meters 0.03495251091111543 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.05, Z:-0.03 [[ 9.99700043e-01 2.44397719e-02 -1.58774999e-03 1.20834123e+01] [-2.44398016e-02 9.99701303e-01 7.42865935e-07 -5.39748337e-02] [ 1.58729389e-03 3.80616516e-05 9.99998740e-01 -3.14743621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940281693 meters 0.03361164780651925 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.05, Z:-0.03 [[ 9.99680498e-01 2.52456069e-02 -1.24922310e-03 1.21120226e+01] [-2.52456259e-02 9.99681278e-01 5.49201999e-07 -5.15005508e-02] [ 1.24883881e-03 3.09883924e-05 9.99999220e-01 -3.07663310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970281693 meters 0.03723096179232507 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.04, Z:-0.03 [[ 9.99666685e-01 2.57802728e-02 -1.37681698e-03 1.21403404e+01] [-2.57802965e-02 9.99667633e-01 5.19687059e-07 -3.81018278e-02] [ 1.37637277e-03 3.49752361e-05 9.99999052e-01 -2.99933955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000281693 meters 0.03603118076809826 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.04, Z:-0.03 [[ 9.99692470e-01 2.47352082e-02 -1.77049310e-03 1.21690679e+01] [-2.47352459e-02 9.99694037e-01 6.08645640e-07 -3.69913739e-02] [ 1.76996645e-03 4.31851237e-05 9.99998433e-01 -3.06747802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030281693 meters 0.034776597291232586 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.04, Z:-0.03 [[ 9.99731775e-01 2.30592742e-02 -2.15571352e-03 1.21981059e+01] [-2.30593265e-02 9.99734098e-01 6.30849011e-07 -3.64611591e-02] [ 2.15515486e-03 4.90786220e-05 9.99997676e-01 -3.12591315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060281693 meters 0.02966327857021688 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.04, Z:-0.03 [[ 9.99773701e-01 2.11192902e-02 -2.55386449e-03 1.22267121e+01] [-2.11193573e-02 9.99776962e-01 6.69111471e-07 -4.16169817e-02] [ 2.55330901e-03 5.32670167e-05 9.99996739e-01 -3.21244949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090281693 meters 0.02904595198385439 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.04, Z:-0.03 [[ 9.99844601e-01 1.75003828e-02 -2.12392876e-03 1.22555064e+01] [-1.75004212e-02 9.99846856e-01 4.73781144e-07 -3.63394148e-02] [ 2.12361178e-03 3.66959404e-05 9.99997744e-01 -3.11499397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120281693000003 meters 0.02792673954939375 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.04, Z:-0.03 [[ 9.99865440e-01 1.63949868e-02 -5.52696376e-04 1.22854955e+01] [-1.63949892e-02 9.99865593e-01 1.36245905e-07 -3.52268212e-02] [ 5.52624324e-04 8.92522356e-06 9.99999847e-01 -2.80798627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150281693 meters 0.025398742339147646 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.03, Z:-0.02 [[ 9.99873154e-01 1.58183136e-02 1.85936128e-03 1.23151919e+01] [-1.58183405e-02 9.99874882e-01 -2.24230456e-07 -3.44844240e-02] [-1.85913219e-03 -2.91878079e-05 9.99998271e-01 -2.48236401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180281693 meters 0.02551274391847436 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.03, Z:-0.03 [[ 9.99881601e-01 1.53171015e-02 1.47342231e-03 1.23446194e+01] [-1.53171177e-02 9.99882686e-01 -2.65394686e-07 -3.17471285e-02] [-1.47325352e-03 -2.23032197e-05 9.99998915e-01 -2.58075041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210281693000002 meters 0.023882013678318333 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.03, Z:-0.03 [[ 9.99906950e-01 1.36371375e-02 -3.47151313e-04 1.23750638e+01] [-1.36371383e-02 9.99907010e-01 5.55995078e-08 -3.27694860e-02] [ 3.47119790e-04 4.67855612e-06 9.99999940e-01 -2.93542647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240281693 meters 0.01957597730225026 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.04, Z:-0.04 [[ 9.99973180e-01 6.67504438e-03 -3.01382652e-03 1.24047640e+01] [-6.67507331e-03 9.99977721e-01 4.59402020e-07 -4.15175742e-02] [ 3.01376244e-03 1.96581233e-05 9.99995458e-01 -3.53283522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270281693 meters 0.01801538993738889 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.05, Z:-0.04 [[ 9.99992107e-01 2.19247769e-03 -3.31342406e-03 1.24332741e+01] [-2.19248831e-03 9.99997596e-01 4.27291638e-07 -4.82220093e-02] [ 3.31341704e-03 6.83735526e-06 9.99994511e-01 -3.57929666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300281693000002 meters 0.01798340903628715 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.05, Z:-0.04 [[ 9.99993455e-01 -1.93848406e-03 -3.05471700e-03 1.24625180e+01] [ 1.93849404e-03 9.99998121e-01 3.07417122e-07 -5.49431018e-02] [ 3.05471066e-03 -6.22896581e-06 9.99995334e-01 -3.50444676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330281693 meters 0.01982925144107225 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.06, Z:-0.03 [[ 9.99970705e-01 -6.95336828e-03 -3.19994562e-03 1.24911379e+01] [ 6.95340451e-03 9.99975825e-01 1.95713286e-07 -6.40679621e-02] [ 3.19986690e-03 -2.24462239e-05 9.99994880e-01 -3.35517282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360281693 meters 0.020474926266076315 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.07, Z:-0.04 [[ 9.99960608e-01 -7.88045213e-03 -4.08421311e-03 1.25194722e+01] [ 7.88051831e-03 9.99968948e-01 1.11584547e-07 -6.58139809e-02] [ 4.08408541e-03 -3.22972964e-05 9.99991660e-01 -3.51445997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390281693000002 meters 0.020680511808908487 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.06, Z:-0.04 [[ 9.99951663e-01 -7.80959935e-03 -5.97342959e-03 1.25485245e+01] [ 7.80973831e-03 9.99969504e-01 -6.31399065e-08 -6.40371799e-02] [ 5.97324791e-03 -4.65877850e-05 9.99982159e-01 -3.87818895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420281693 meters 0.020435999282208062 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.06, Z:-0.04 [[ 9.99950675e-01 -7.44314602e-03 -6.57623956e-03 1.25767590e+01] [ 7.44330080e-03 9.99972298e-01 -9.39016573e-07 -6.12442398e-02] [ 6.57606438e-03 -4.80099590e-05 9.99978376e-01 -3.95365056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450281693 meters 0.01987141161278963 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.06, Z:-0.04 [[ 9.99954558e-01 -6.64827575e-03 -6.83245844e-03 1.26048915e+01] [ 6.64841591e-03 9.99977899e-01 -2.19925667e-06 -5.79923280e-02] [ 6.83232206e-03 -4.32258686e-05 9.99976658e-01 -3.97903120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480281693000002 meters 0.019719230048066173 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.06, Z:-0.04 [[ 9.99956302e-01 -6.10620199e-03 -7.07872006e-03 1.26315364e+01] [ 6.10633345e-03 9.99981356e-01 -3.04182525e-06 -5.74559343e-02] [ 7.07860666e-03 -4.01833328e-05 9.99974946e-01 -4.08462342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510281693 meters 0.02004384369428865 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.06, Z:-0.04 [[ 9.99959743e-01 -6.63638428e-03 -6.03905027e-03 1.26587764e+01] [ 6.63648696e-03 9.99977978e-01 -3.03536826e-06 -6.13278276e-02] [ 6.03893742e-03 -3.70428323e-05 9.99981765e-01 -4.02634843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540281693 meters 0.01984332382586896 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.06, Z:-0.04 [[ 9.99953798e-01 -8.01236184e-03 -5.31072726e-03 1.26876404e+01] [ 8.01245703e-03 9.99967900e-01 -3.35159162e-06 -6.22008042e-02] [ 5.31058364e-03 -3.92005372e-05 9.99985898e-01 -3.73946033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570281693000002 meters 0.021635253681636307 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.07, Z:-0.04 [[ 9.99942535e-01 -9.69850533e-03 -4.56797108e-03 1.27157408e+01] [ 9.69859137e-03 9.99952968e-01 -3.31668695e-06 -6.76832340e-02] [ 4.56778841e-03 -4.09863886e-05 9.99989567e-01 -3.64286886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600281693 meters 0.022218120652469305 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.07, Z:-0.03 [[ 9.99916138e-01 -1.23132777e-02 -4.01249584e-03 1.27449228e+01] [ 1.23133644e-02 9.99924188e-01 -3.08573031e-06 -6.99512644e-02] [ 4.01222964e-03 -4.63218521e-05 9.99991950e-01 -3.41394381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630281693 meters 0.022113691262597136 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.07, Z:-0.03 [[ 9.99913111e-01 -1.26036756e-02 -3.86231303e-03 1.27744839e+01] [ 1.26037578e-02 9.99920569e-01 -3.08039671e-06 -7.01751372e-02] [ 3.86204507e-03 -4.55995288e-05 9.99992541e-01 -3.34927439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660281693 meters 0.023313224301251382 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.07, Z:-0.03 [[ 9.99924731e-01 -1.16993667e-02 -3.69568119e-03 1.28027123e+01] [ 1.16994353e-02 9.99931559e-01 -3.05148654e-06 -7.16397683e-02] [ 3.69546395e-03 -4.01861262e-05 9.99993171e-01 -3.35843812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690281693 meters 0.02068292039840212 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.07, Z:-0.03 [[ 9.99941925e-01 -1.02823482e-02 -3.22802392e-03 1.28321625e+01] [ 1.02823929e-02 9.99947135e-01 -2.75509106e-06 -6.53110628e-02] [ 3.22788160e-03 -3.04368792e-05 9.99994790e-01 -3.19844838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720281693 meters 0.020106625414418305 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.06, Z:-0.03 [[ 9.99958312e-01 -8.82561374e-03 -2.34163333e-03 1.28603903e+01] [ 8.82563315e-03 9.99961053e-01 -2.04493040e-06 -6.30108540e-02] [ 2.34156018e-03 -1.86215516e-05 9.99997258e-01 -3.07980337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750281693 meters 0.01974067383072821 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.06, Z:-0.03 [[ 9.99967527e-01 -8.05400598e-03 -2.78718111e-04 1.28897609e+01] [ 8.05400623e-03 9.99967566e-01 -2.12063213e-07 -6.20723640e-02] [ 2.78710779e-04 -2.03274108e-06 9.99999961e-01 -2.72166863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780281693 meters 0.02008384558476299 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.06, Z:-0.03 [[ 9.99965197e-01 -8.34244039e-03 -8.78799513e-05 1.29203799e+01] [ 8.34244041e-03 9.99965201e-01 -1.51213746e-07 -6.29011012e-02] [ 8.78781546e-05 -5.81924774e-07 9.99999996e-01 -2.68252662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810281693 meters 0.021103202616742305 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.06, Z:-0.03 [[ 9.99961938e-01 -8.71770014e-03 -3.52272458e-04 1.29509469e+01] [ 8.71770055e-03 9.99962000e-01 -3.69475911e-07 -6.43016497e-02] [ 3.52262293e-04 -2.70154395e-06 9.99999938e-01 -2.66856030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840281693 meters 0.020679440413327164 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.06, Z:-0.03 [[ 9.99952537e-01 -9.66767585e-03 -1.20801765e-03 1.29818508e+01] [ 9.66768166e-03 9.99953267e-01 -1.03332606e-06 -6.16472568e-02] [ 1.20797119e-03 -1.06454531e-05 9.99999270e-01 -2.96788454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870281693000003 meters 0.021085853767115484 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.06, Z:-0.03 [[ 9.99947432e-01 -9.99325002e-03 -2.29543246e-03 1.30119506e+01] [ 9.99327185e-03 9.99950066e-01 -1.95992723e-06 -6.37750640e-02] [ 2.29533743e-03 -2.09790564e-05 9.99997365e-01 -3.12019868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900281693 meters 0.02106689937826449 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.06, Z:-0.03 [[ 9.99941010e-01 -1.03371862e-02 -3.33446109e-03 1.30417381e+01] [ 1.03372342e-02 9.99946569e-01 -2.84449794e-06 -6.42300779e-02] [ 3.33431233e-03 -3.16247750e-05 9.99994441e-01 -3.28304095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930281693 meters 0.021091618272175188 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.06, Z:-0.03 [[ 9.99937040e-01 -1.03078955e-02 -4.43428841e-03 1.30715474e+01] [ 1.03079795e-02 9.99946871e-01 -3.90117621e-06 -6.38002761e-02] [ 4.43409304e-03 -4.18076236e-05 9.99990168e-01 -3.48195835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960281693000002 meters 0.021167670114724695 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.06, Z:-0.04 [[ 9.99936763e-01 -1.01732726e-02 -4.79327273e-03 1.31006542e+01] [ 1.01733684e-02 9.99948250e-01 -4.39092219e-06 -6.44770231e-02] [ 4.79306935e-03 -4.43730850e-05 9.99988512e-01 -3.60126426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990281693 meters 0.02094210745116954 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.07, Z:-0.04 [[ 9.99942810e-01 -9.50705214e-03 -4.89823470e-03 1.31291098e+01] [ 9.50714328e-03 9.99954806e-01 -4.67742236e-06 -6.68140461e-02] [ 4.89805780e-03 -4.18910643e-05 9.99988004e-01 -3.69518698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020281693 meters 0.020543102880489644 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.07, Z:-0.04 [[ 9.99948022e-01 -8.93119811e-03 -4.91811747e-03 1.31575629e+01] [ 8.93128037e-03 9.99960115e-01 -5.23611307e-06 -6.64853183e-02] [ 4.91796807e-03 -3.86892451e-05 9.99987906e-01 -3.63193328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050281693000002 meters 0.020604059904317677 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.07, Z:-0.04 [[ 9.99953391e-01 -8.45876835e-03 -4.65449343e-03 1.31851542e+01] [ 8.45883440e-03 9.99964223e-01 -5.49521315e-06 -6.64714534e-02] [ 4.65437339e-03 -3.38766321e-05 9.99989168e-01 -3.59035362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080281693 meters 0.020115823184386664 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.07, Z:-0.04 [[ 9.99958017e-01 -8.08391700e-03 -4.31444694e-03 1.32141375e+01] [ 8.08396795e-03 9.99967324e-01 -5.62980129e-06 -6.58861713e-02] [ 4.31435148e-03 -2.92482859e-05 9.99990693e-01 -3.51029461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110281693 meters 0.01987809191613479 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.07, Z:-0.04 [[ 9.99964873e-01 -6.80529920e-03 -4.89297974e-03 1.32424680e+01] [ 6.80534717e-03 9.99976843e-01 -6.84441512e-06 -6.75839911e-02] [ 4.89291301e-03 -2.64542511e-05 9.99988029e-01 -3.67639670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140281693000002 meters 0.019378648374703128 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.07, Z:-0.04 [[ 9.99972072e-01 -5.75882638e-03 -4.76349267e-03 1.32708328e+01] [ 5.75885755e-03 9.99983418e-01 -7.17452685e-06 -6.62893520e-02] [ 4.76345500e-03 -2.02579492e-05 9.99988654e-01 -3.63837642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170281693 meters 0.01884425414909121 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.06, Z:-0.04 [[ 9.99983518e-01 -2.86866142e-03 -4.97329625e-03 1.32990158e+01] [ 2.86865714e-03 9.99995885e-01 -7.99415590e-06 -6.30937957e-02] [ 4.97329872e-03 -6.27265767e-06 9.99987633e-01 -3.63797096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200281693 meters 0.018601212663339396 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.06, Z:-0.04 [[ 9.99987446e-01 -1.44340983e-03 -4.79834508e-03 1.33268532e+01] [ 1.44338651e-03 9.99998958e-01 -8.32324677e-06 -6.10519876e-02] [ 4.79835210e-03 1.39727570e-06 9.99988488e-01 -3.55978090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230281693000002 meters 0.018799477985223696 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.06, Z:-0.04 [[ 9.99990073e-01 1.96932069e-04 -4.45142590e-03 1.33545202e+01] [-1.96971696e-04 9.99999981e-01 -8.46363331e-06 -5.86720631e-02] [ 4.45142414e-03 9.34035420e-06 9.99990092e-01 -3.52879855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260281693 meters 0.020034823658840156 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.05, Z:-0.04 [[ 9.99980205e-01 3.49620781e-03 -5.23135190e-03 1.33825841e+01] [-3.49631068e-03 9.99993888e-01 -1.05198042e-05 -5.24953633e-02] [ 5.23128315e-03 2.88100275e-05 9.99986316e-01 -3.66023017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290281693 meters 0.02059814686719679 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.05, Z:-0.04 [[ 9.99972283e-01 4.53166699e-03 -5.90738070e-03 1.34116176e+01] [-4.53181801e-03 9.99989731e-01 -1.21789618e-05 -4.99126586e-02] [ 5.90726485e-03 3.89497985e-05 9.99982551e-01 -3.80358273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320281693000002 meters 0.020681373974903036 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.05, Z:-0.04 [[ 9.99969902e-01 4.58902038e-03 -6.25587633e-03 1.34401298e+01] [-4.58919264e-03 9.99989470e-01 -1.31816186e-05 -4.95162551e-02] [ 6.25574996e-03 4.18906435e-05 9.99980432e-01 -3.91108838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350281693 meters 0.019575127567876733 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.05, Z:-0.04 [[ 9.99984397e-01 2.54263980e-03 -4.97404396e-03 1.34692190e+01] [-2.54272442e-03 9.99996767e-01 -1.06885806e-05 -5.40586944e-02] [ 4.97400070e-03 2.33360368e-05 9.99987629e-01 -3.59681116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380281693 meters 0.019075959613511308 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.06, Z:-0.03 [[ 9.99987850e-01 1.03360785e-03 -4.81992716e-03 1.34975389e+01] [-1.03367083e-03 9.99999466e-01 -1.05747714e-05 -5.59301457e-02] [ 4.81991366e-03 1.55568610e-05 9.99988384e-01 -3.40621663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410281693 meters 0.01883244573378382 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.06, Z:-0.03 [[ 9.99986949e-01 -7.56614273e-04 -5.05261908e-03 1.35253289e+01] [ 7.56566573e-04 9.99999714e-01 -1.13518869e-05 -5.83631557e-02] [ 5.05262622e-03 7.52909606e-06 9.99987235e-01 -3.45618917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440281693 meters 0.018837333385483247 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.06, Z:-0.04 [[ 9.99983840e-01 -1.32362167e-03 -5.52883748e-03 1.35538087e+01] [ 1.32357124e-03 9.99999124e-01 -1.27802566e-05 -5.97507908e-02] [ 5.52884955e-03 5.46223978e-06 9.99984716e-01 -3.55840825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470281693 meters 0.018775026285023984 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.06, Z:-0.04 [[ 9.99983539e-01 -1.47163839e-03 -5.54583398e-03 1.35815218e+01] [ 1.47158562e-03 9.99998917e-01 -1.35963128e-05 -6.04519828e-02] [ 5.54584798e-03 5.43491943e-06 9.99984622e-01 -3.58270125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500281693 meters 0.019115358171071673 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.06, Z:-0.03 [[ 9.99990878e-01 1.06910293e-03 -4.13539740e-03 1.36097271e+01] [-1.06915611e-03 9.99999428e-01 -1.06478817e-05 -5.57269359e-02] [ 4.13538366e-03 1.50691699e-05 9.99991449e-01 -3.27458418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530281693 meters 0.02024679825715209 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.05, Z:-0.03 [[ 9.99988223e-01 3.77312229e-03 -3.05238884e-03 1.36377710e+01] [-3.77316465e-03 9.99992882e-01 -8.11832551e-06 -5.01568408e-02] [ 3.05233648e-03 1.96353956e-05 9.99995341e-01 -3.13075593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560281693 meters 0.021583318977413016 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.05, Z:-0.03 [[ 9.99976431e-01 6.53419009e-03 -2.10732642e-03 1.36660409e+01] [-6.53421668e-03 9.99978652e-01 -5.73309105e-06 -4.52830377e-02] [ 2.10724397e-03 1.95026834e-05 9.99997780e-01 -2.92602131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590281693 meters 0.02582420819512568 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.03, Z:-0.03 [[ 9.99932647e-01 1.15069720e-02 -1.51367458e-03 1.36943967e+01] [-1.15069915e-02 9.99933792e-01 -4.18326162e-06 -3.46420597e-02] [ 1.51352623e-03 2.16008204e-05 9.99998854e-01 -2.88658075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620281693000003 meters 0.028216517185181433 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.03, Z:-0.03 [[ 9.99901775e-01 1.38927438e-02 -1.85260529e-03 1.37236447e+01] [-1.38927773e-02 9.99903491e-01 -5.19869141e-06 -2.88664605e-02] [ 1.85235427e-03 3.09360135e-05 9.99998284e-01 -2.88555371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650281693 meters 0.03379342110578997 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.02, Z:-0.03 [[ 9.99817532e-01 1.88953336e-02 -2.80535231e-03 1.37534608e+01] [-1.88954303e-02 9.99821465e-01 -7.97177668e-06 -1.69617004e-02] [ 2.80470083e-03 6.09786613e-05 9.99996065e-01 -2.99940519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680281693 meters 0.034931319354267694 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.01, Z:-0.03 [[ 9.99769467e-01 2.12586286e-02 -3.01401911e-03 1.37829140e+01] [-2.12587511e-02 9.99774007e-01 -8.61156361e-06 -1.34464184e-02] [ 3.01315489e-03 7.26838604e-05 9.99995458e-01 -3.02198314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710281693000002 meters 0.03832194159648758 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.01, Z:-0.03 [[ 9.99714218e-01 2.37674760e-02 -2.56695430e-03 1.38118605e+01] [-2.37675733e-02 9.99717511e-01 -7.39236810e-06 -6.00980491e-03] [ 2.56605347e-03 6.84005299e-05 9.99996705e-01 -2.97966487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740281693 meters 0.03832194159648758 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.01, Z:-0.03 [[ 9.99715286e-01 2.37225232e-02 -2.56695403e-03 1.38401933e+01] [-2.37226205e-02 9.99718579e-01 -7.48569136e-06 -5.83365741e-03] [ 2.56605406e-03 6.83784365e-05 9.99996705e-01 -2.97402566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770281693 meters 0.04444398100741253 Centerline is valid? [True, True] Translation: X:13.87, Y:0.01, Z:-0.03 [[ 9.99623999e-01 2.72524904e-02 -3.02689726e-03 1.38686209e+01] [-2.72526424e-02 9.99628578e-01 -8.97846241e-06 8.69130948e-03] [ 3.02552831e-03 9.14660351e-05 9.99995419e-01 -3.24205689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800281693000002 meters 0.04520573249595848 Centerline is valid? [True, True] Translation: X:13.90, Y:0.01, Z:-0.04 [[ 9.99606174e-01 2.77924600e-02 -3.88272121e-03 1.38968994e+01] [-2.77927151e-02 9.99613708e-01 -1.17325064e-05 1.20825573e-02] [ 3.88089527e-03 1.19639250e-04 9.99992462e-01 -3.51331350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830281693 meters 0.04145750507949061 Centerline is valid? [True, True] Translation: X:13.93, Y:0.01, Z:-0.04 [[ 9.99599445e-01 2.78964742e-02 -4.76822313e-03 1.39260782e+01] [-2.78968612e-02 9.99610807e-01 -1.46679009e-05 8.57542346e-03] [ 4.76595819e-03 1.47680485e-04 9.99988632e-01 -3.63034261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860281693 meters 0.04055509068728426 Centerline is valid? [True, True] Translation: X:13.95, Y:0.01, Z:-0.04 [[ 9.99637285e-01 2.63729927e-02 -5.45561731e-03 1.39543984e+01] [-2.63734782e-02 9.99652159e-01 -1.70457096e-05 1.22232484e-02] [ 5.45327008e-03 1.60923131e-04 9.99985118e-01 -3.72027447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890281693000002 meters 0.039377898969565145 Centerline is valid? [True, True] Translation: X:13.98, Y:0.01, Z:-0.04 [[ 9.99678144e-01 2.48259586e-02 -5.22304882e-03 1.39835424e+01] [-2.48263836e-02 9.99691778e-01 -1.65531878e-05 1.34391270e-02] [ 5.22102801e-03 1.46217274e-04 9.99986360e-01 -3.69118900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920281693 meters 0.0363720621967792 Centerline is valid? [True, True] Translation: X:14.01, Y:0.01, Z:-0.04 [[ 9.99755093e-01 2.15749741e-02 -4.92693104e-03 1.40124949e+01] [-2.15753136e-02 9.99767226e-01 -1.57665357e-05 1.28288746e-02] [ 4.92544402e-03 1.22062757e-04 9.99987862e-01 -3.68740378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950281693 meters 0.03398429709890044 Centerline is valid? [True, True] Translation: X:14.04, Y:0.01, Z:-0.04 [[ 9.99790983e-01 1.97549190e-02 -5.26618823e-03 1.40411497e+01] [-1.97552827e-02 9.99804845e-01 -1.70479444e-05 1.06559972e-02] [ 5.26482373e-03 1.21079418e-04 9.99986133e-01 -3.72689402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980281693000002 meters 0.032310869683755135 Centerline is valid? [True, True] Translation: X:14.07, Y:0.01, Z:-0.04 [[ 9.99825149e-01 1.78184550e-02 -5.67227873e-03 1.40699647e+01] [-1.78188473e-02 9.99841232e-01 -1.86243030e-05 9.57903037e-03] [ 5.67104630e-03 1.19694515e-04 9.99983912e-01 -3.74962496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010281693 meters 0.03088527917926777 Centerline is valid? [True, True] Translation: X:14.10, Y:0.01, Z:-0.04 [[ 9.99852034e-01 1.61447721e-02 -5.93774057e-03 1.40990495e+01] [-1.61451741e-02 9.99869658e-01 -1.97661737e-05 8.55094224e-03] [ 5.93664751e-03 1.15629104e-04 9.99982371e-01 -3.80317125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040281693 meters 0.028289443692423397 Centerline is valid? [True, True] Translation: X:14.13, Y:0.01, Z:-0.04 [[ 9.99895204e-01 1.35978259e-02 -4.96784018e-03 1.41281289e+01] [-1.35980769e-02 9.99907542e-01 -1.67449075e-05 6.12502292e-03] [ 4.96715316e-03 8.42962252e-05 9.99987660e-01 -3.60277381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070281693000002 meters 0.027317669474724464 Centerline is valid? [True, True] Translation: X:14.16, Y:0.01, Z:-0.04 [[ 9.99912055e-01 1.25051895e-02 -4.41607155e-03 1.41573469e+01] [-1.25053780e-02 9.99921805e-01 -1.50714740e-05 5.12030298e-03] [ 4.41553776e-03 7.02947926e-05 9.99990249e-01 -3.50276218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100281693 meters 0.024582106138360846 Centerline is valid? [True, True] Translation: X:14.18, Y:0.00, Z:-0.03 [[ 9.99947048e-01 9.20641036e-03 -4.59807768e-03 1.41849632e+01] [-9.20658089e-03 9.99957618e-01 -1.59209484e-05 2.75277301e-03] [ 4.59773624e-03 5.82526795e-05 9.99989429e-01 -3.47505578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130281693 meters 0.022402889745289076 Centerline is valid? [True, True] Translation: X:14.21, Y:0.00, Z:-0.04 [[ 9.99956241e-01 7.54133702e-03 -5.53570865e-03 1.42141471e+01] [-7.54156028e-03 9.99971562e-01 -1.94584785e-05 1.67306262e-04] [ 5.53540448e-03 6.12055076e-05 9.99984678e-01 -3.52560303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160281693 meters 0.02235702747299639 Centerline is valid? [True, True] Translation: X:14.24, Y:0.00, Z:-0.04 [[ 9.99963960e-01 6.19483173e-03 -5.80542203e-03 1.42423623e+01] [-6.19505645e-03 9.99980810e-01 -2.07257266e-05 1.87381581e-03] [ 5.80518223e-03 5.66898967e-05 9.99983148e-01 -3.60247988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190281693 meters 0.020157586515890235 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.00, Z:-0.03 [[ 9.99991826e-01 2.80082787e-03 -2.91594193e-03 1.42705464e+01] [-2.80087044e-03 9.99996077e-01 -1.05178003e-05 -1.78103210e-03] [ 2.91590103e-03 1.86848899e-05 9.99995749e-01 -3.01853303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220281693 meters 0.01873428057513442 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.01, Z:-0.03 [[ 9.99999260e-01 7.09092531e-04 -9.88518330e-04 1.42997217e+01] [-7.09096391e-04 9.99999749e-01 -3.55470585e-06 -5.93044632e-03] [ 9.88515561e-04 4.25565800e-06 9.99999511e-01 -2.70804647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250281693 meters 0.018258120059723323 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.01, Z:-0.02 [[ 9.99999216e-01 -1.19068679e-03 3.87912075e-04 1.43296655e+01] [ 1.19068633e-03 9.99999291e-01 1.40315795e-06 -8.43539304e-03] [-3.87913471e-04 -9.41275243e-07 9.99999925e-01 -2.47565864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280281693 meters 0.01815792723097279 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.02, Z:-0.02 [[ 9.99985535e-01 -5.33168250e-03 7.09777267e-04 1.43599989e+01] [ 5.33168199e-03 9.99985786e-01 2.61095711e-06 -1.86219766e-02] [-7.09781100e-04 1.17338733e-06 9.99999748e-01 -2.45530668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310281693 meters 0.018499908412875923 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.02, Z:-0.03 [[ 9.99971559e-01 -7.54026706e-03 1.57422190e-04 1.43913121e+01] [ 7.54026707e-03 9.99971572e-01 5.31648898e-07 -2.38873047e-02] [-1.57421723e-04 6.55371575e-07 9.99999988e-01 -2.52429204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340281693 meters 0.02073317538585171 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.03, Z:-0.03 [[ 9.99935510e-01 -1.12247399e-02 -1.72676326e-03 1.44215954e+01] [ 1.12247457e-02 9.99937001e-01 -6.31674371e-06 -3.47354256e-02] [ 1.72672538e-03 -1.30661422e-05 9.99998509e-01 -2.85339019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370281693000003 meters 0.020389431202787467 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.04, Z:-0.03 [[ 9.99921017e-01 -1.21170392e-02 -3.33716244e-03 1.44524464e+01] [ 1.21170661e-02 9.99926586e-01 -1.21500771e-05 -3.53091548e-02] [ 3.33706467e-03 -2.82875005e-05 9.99994432e-01 -3.12125740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400281693 meters 0.020441054674756213 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.04, Z:-0.03 [[ 9.99917933e-01 -1.20520141e-02 -4.34479230e-03 1.44824251e+01] [ 1.20520590e-02 9.99927371e-01 -1.58425466e-05 -3.63887910e-02] [ 4.34466768e-03 -3.65224469e-05 9.99990561e-01 -3.29463488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430281693 meters 0.02005573240841528 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.04, Z:-0.03 [[ 9.99942854e-01 -9.83796405e-03 -4.18363572e-03 1.45112761e+01] [ 9.83798593e-03 9.99951606e-01 -1.53484827e-05 -3.73996809e-02] [ 4.18358425e-03 -2.58109438e-05 9.99991248e-01 -3.25540919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460281693000002 meters 0.018840695287632055 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.03, Z:-0.03 [[ 9.99958799e-01 -8.03629908e-03 -4.22113752e-03 1.45404846e+01] [ 8.03630490e-03 9.99967708e-01 -1.55825552e-05 -3.44564828e-02] [ 4.22112644e-03 -1.83404349e-05 9.99991091e-01 -3.22393591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490281693 meters 0.018369258099243196 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.03, Z:-0.03 [[ 9.99967274e-01 -6.44574676e-03 -4.88906827e-03 1.45691310e+01] [ 6.44573302e-03 9.99979226e-01 -1.85677225e-05 -3.27321119e-02] [ 4.88908639e-03 -1.29465139e-05 9.99988048e-01 -3.32526373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520281693 meters 0.01822375210950683 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.03, Z:-0.03 [[ 9.99980387e-01 -3.38148721e-03 -5.27177850e-03 1.45977726e+01] [ 3.38142402e-03 9.99994283e-01 -2.09006348e-05 -2.79342340e-02] [ 5.27181903e-03 3.07410645e-06 9.99986104e-01 -3.43152213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550281693000002 meters 0.018413377013099436 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.02, Z:-0.03 [[ 9.99984201e-01 -1.64861846e-03 -5.37399050e-03 1.46251427e+01] [ 1.64852495e-03 9.99998641e-01 -2.18307897e-05 -2.44465343e-02] [ 5.37401918e-03 1.29712874e-05 9.99985560e-01 -3.48526611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580281693 meters 0.018718446800973794 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.02, Z:-0.03 [[ 9.99986444e-01 -2.71318955e-04 -5.19984314e-03 1.46529344e+01] [ 2.71209141e-04 9.99999963e-01 -2.18238932e-05 -2.08500472e-02] [ 5.19984887e-03 2.04133524e-05 9.99986480e-01 -3.44778912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610281693 meters 0.02026295655093431 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.01, Z:-0.03 [[ 9.99983643e-01 2.88836605e-03 -4.93662794e-03 1.46804599e+01] [-2.88850607e-03 9.99995828e-01 -2.12346773e-05 -1.24559197e-02] [ 4.93654601e-03 3.54938097e-05 9.99987815e-01 -3.30616026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640281693000002 meters 0.02078341322217587 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.01, Z:-0.03 [[ 9.99977103e-01 4.03006988e-03 -5.43616710e-03 1.47094013e+01] [-4.03025808e-03 9.99991878e-01 -2.36658738e-05 -8.21042440e-03] [ 5.43602758e-03 4.55744883e-05 9.99985224e-01 -3.34270893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670281693 meters 0.02170948654356307 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.00, Z:-0.03 [[ 9.99970330e-01 5.26520733e-03 -5.62287233e-03 1.47376330e+01] [-5.26542989e-03 9.99986137e-01 -2.47787593e-05 -2.86473651e-03] [ 5.62266392e-03 5.43848642e-05 9.99984191e-01 -3.47246363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700281693 meters 0.02153293780240071 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.00, Z:-0.03 [[ 9.99973078e-01 5.05478878e-03 -5.31903145e-03 1.47662692e+01] [-5.05498633e-03 9.99987223e-01 -2.36972518e-05 -2.26752350e-03] [ 5.31884371e-03 5.05842452e-05 9.99985854e-01 -3.42383501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730281693000002 meters 0.02032865644989175 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.00, Z:-0.03 [[ 9.99979538e-01 4.20116295e-03 -4.82435219e-03 1.47947477e+01] [-4.20131658e-03 9.99991174e-01 -2.17099102e-05 -3.92175033e-03] [ 4.82421840e-03 4.19780968e-05 9.99988363e-01 -3.34267715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760281693 meters 0.020384826544402972 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.00, Z:-0.03 [[ 9.99981710e-01 3.05546351e-03 -5.21950244e-03 1.48224665e+01] [-3.05562926e-03 9.99995331e-01 -2.37820818e-05 -3.42446833e-03] [ 5.21940541e-03 3.97305112e-05 9.99986378e-01 -3.42246206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790281693 meters 0.018940530740498902 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.01, Z:-0.04 [[ 9.99982384e-01 -6.49459762e-04 -5.89998881e-03 1.48498936e+01] [ 6.49310391e-04 9.99999789e-01 -2.72327071e-05 -7.11423359e-03] [ 5.90000525e-03 2.34013033e-05 9.99982595e-01 -3.62111932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820281693000002 meters 0.01828759201103351 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.01, Z:-0.04 [[ 9.99978092e-01 -3.06195051e-03 -5.86864078e-03 1.48790061e+01] [ 3.06184262e-03 9.99995312e-01 -2.73687360e-05 -1.06463267e-02] [ 5.86869707e-03 9.39928193e-06 9.99982779e-01 -3.68654121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850281693 meters 0.01815046711975009 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.01, Z:-0.04 [[ 9.99970634e-01 -5.23595204e-03 -5.59604370e-03 1.49071458e+01] [ 5.23588640e-03 9.99986292e-01 -2.63798468e-05 -1.45297395e-02] [ 5.59610511e-03 -2.92117694e-06 9.99984342e-01 -3.66634823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880281693 meters 0.01820398682158526 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.02, Z:-0.03 [[ 9.99962264e-01 -7.31556284e-03 -4.68539485e-03 1.49347341e+01] [ 7.31553702e-03 9.99973241e-01 -2.26492870e-05 -1.87532268e-02] [ 4.68543516e-03 -1.16277472e-05 9.99989023e-01 -3.42519073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910281693 meters 0.018293790087850374 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.02, Z:-0.03 [[ 9.99960592e-01 -7.27922966e-03 -5.08200168e-03 1.49636106e+01] [ 7.27919441e-03 9.99973506e-01 -2.54333493e-05 -1.77094475e-02] [ 5.08205218e-03 -1.15605312e-05 9.99987086e-01 -3.41644634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940281693 meters 0.018335302692430253 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.01, Z:-0.04 [[ 9.99960371e-01 -6.42121697e-03 -6.16641551e-03 1.49915015e+01] [ 6.42114494e-03 9.99979384e-01 -3.14789912e-05 -1.49519240e-02] [ 6.16649051e-03 -8.11770397e-06 9.99980987e-01 -3.64083660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970281693 meters 0.01819364393953232 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.01, Z:-0.04 [[ 9.99961955e-01 -6.23600127e-03 -6.09923778e-03 1.50190785e+01] [ 6.23592217e-03 9.99980556e-01 -3.19863629e-05 -1.44181985e-02] [ 6.09931865e-03 -6.04922613e-06 9.99981399e-01 -3.59443897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000281693 meters 0.018001100200410184 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.01, Z:-0.04 [[ 9.99965688e-01 -6.18443152e-03 -5.51140174e-03 1.50466335e+01] [ 6.18436082e-03 9.99980876e-01 -2.98703805e-05 -1.46722650e-02] [ 5.51148107e-03 -4.21514137e-06 9.99984812e-01 -3.59551578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030281693 meters 0.018001428016030125 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.02, Z:-0.03 [[ 9.99975573e-01 -5.35523469e-03 -4.49161260e-03 1.50746068e+01] [ 5.35517740e-03 9.99985661e-01 -2.47819189e-05 -1.53270541e-02] [ 4.49168091e-03 7.27931282e-07 9.99989912e-01 -3.42666794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060281693 meters 0.01801024380607917 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.01, Z:-0.03 [[ 9.99981121e-01 -4.28831570e-03 -4.40085218e-03 1.51033414e+01] [ 4.28824822e-03 9.99990805e-01 -2.47690774e-05 -1.42911454e-02] [ 4.40091793e-03 5.89666327e-06 9.99990316e-01 -3.38952302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090281693 meters 0.018194567821425176 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.01, Z:-0.03 [[ 9.99986384e-01 -3.19166200e-03 -4.12854241e-03 1.51324911e+01] [ 3.19159177e-03 9.99994907e-01 -2.36001720e-05 -1.35787267e-02] [ 4.12859670e-03 1.04232287e-05 9.99991477e-01 -3.26264612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120281693 meters 0.01845121691409285 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.01, Z:-0.03 [[ 9.99990506e-01 -2.23449102e-03 -3.74091313e-03 1.51613614e+01] [ 2.23442540e-03 9.99997503e-01 -2.17201808e-05 -1.25997955e-02] [ 3.74095232e-03 1.33611833e-05 9.99993003e-01 -3.12520438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150281693 meters 0.019111151103749467 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.01, Z:-0.03 [[ 9.99995107e-01 -1.74936473e-04 -3.12336922e-03 1.51896681e+01] [ 1.74879750e-04 9.99999985e-01 -1.84338831e-05 -1.10631798e-02] [ 3.12337240e-03 1.78875789e-05 9.99995122e-01 -2.99625031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180281693 meters 0.0198604090137551 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.01, Z:-0.03 [[ 9.99993122e-01 1.03652695e-03 -3.56106689e-03 1.52182152e+01] [-1.03660951e-03 9.99999462e-01 -2.13385938e-05 -9.03389008e-03] [ 3.56104286e-03 2.50298829e-05 9.99993659e-01 -3.02369262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210281693000002 meters 0.02096750693973312 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.01, Z:-0.03 [[ 9.99988313e-01 2.78809565e-03 -3.94985140e-03 1.52471785e+01] [-2.78821346e-03 9.99996113e-01 -2.43189097e-05 -5.91929245e-03] [ 3.94976824e-03 3.53316543e-05 9.99992199e-01 -3.13898636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240281693 meters 0.02447641926363217 Centerline is valid? [True, True] Translation: X:15.27, Y:0.00, Z:-0.03 [[ 9.99967910e-01 7.14088748e-03 -3.63125128e-03 1.52744040e+01] [-7.14101718e-03 9.99974502e-01 -2.27521536e-05 1.85214119e-03] [ 3.63099622e-03 4.86822513e-05 9.99993407e-01 -3.00699601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270281693 meters 0.026278656671493508 Centerline is valid? [True, True] Translation: X:15.30, Y:0.00, Z:-0.03 [[ 9.99955670e-01 8.92803480e-03 -2.99149200e-03 1.53030489e+01] [-8.92813127e-03 9.99960143e-01 -1.88971053e-05 4.92760600e-03] [ 2.99120405e-03 4.56047008e-05 9.99995525e-01 -2.91306600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300281693000002 meters 0.026547587731591948 Centerline is valid? [True, True] Translation: X:15.33, Y:0.01, Z:-0.03 [[ 9.99936553e-01 1.07412553e-02 -3.39352169e-03 1.53317188e+01] [-1.07413905e-02 9.99942309e-01 -2.16014158e-05 5.67671086e-03] [ 3.39309389e-03 5.80511868e-05 9.99994242e-01 -3.05864927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330281693 meters 0.028611234142461008 Centerline is valid? [True, True] Translation: X:15.36, Y:0.01, Z:-0.03 [[ 9.99935133e-01 1.07055940e-02 -3.88851098e-03 1.53599310e+01] [-1.07057720e-02 9.99942691e-01 -2.49675453e-05 9.98162360e-03] [ 3.88802085e-03 6.65954379e-05 9.99992439e-01 -3.18077885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360281693 meters 0.027654841817377436 Centerline is valid? [True, True] Translation: X:15.39, Y:0.01, Z:-0.03 [[ 9.99930680e-01 1.10142851e-02 -4.16187523e-03 1.53883734e+01] [-1.10144926e-02 9.99939338e-01 -2.69443040e-05 1.01577874e-02] [ 4.16132599e-03 7.27833802e-05 9.99991339e-01 -3.11794252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390281693000002 meters 0.028516336447216465 Centerline is valid? [True, True] Translation: X:15.42, Y:0.01, Z:-0.03 [[ 9.99917527e-01 1.23748620e-02 -3.43539197e-03 1.54171466e+01] [-1.23750119e-02 9.99923426e-01 -2.23820137e-05 1.44476653e-02] [ 3.43485194e-03 6.48931845e-05 9.99994099e-01 -2.86690794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420281693 meters 0.0316608923520486 Centerline is valid? [True, True] Translation: X:15.44, Y:0.02, Z:-0.03 [[ 9.99910008e-01 1.30489060e-02 -3.11478427e-03 1.54445078e+01] [-1.30490330e-02 9.99914858e-01 -2.04405851e-05 2.08237197e-02] [ 3.11425234e-03 6.10836681e-05 9.99995149e-01 -2.83598139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450281693 meters 0.03186346139286378 Centerline is valid? [True, True] Translation: X:15.47, Y:0.02, Z:-0.03 [[ 9.99910319e-01 1.30817443e-02 -2.86739741e-03 1.54734894e+01] [-1.30818525e-02 9.99914429e-01 -1.89595181e-05 2.29336194e-02] [ 2.86690402e-03 5.64686878e-05 9.99995889e-01 -2.83392702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480281693000002 meters 0.029829939358769788 Centerline is valid? [True, True] Translation: X:15.50, Y:0.03, Z:-0.03 [[ 9.99935616e-01 1.11393442e-02 -2.16313766e-03 1.55021014e+01] [-1.11394014e-02 9.99937955e-01 -1.43726949e-05 2.51461992e-02] [ 2.16284335e-03 3.84678282e-05 9.99997660e-01 -2.68672494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510281693 meters 0.028310292422637745 Centerline is valid? [True, True] Translation: X:15.53, Y:0.03, Z:-0.03 [[ 9.99950775e-01 9.73733239e-03 -1.90596255e-03 1.55307699e+01] [-9.73737431e-03 9.99952591e-01 -1.27165323e-05 2.51640955e-02] [ 1.90574837e-03 3.12749771e-05 9.99998184e-01 -2.55476640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540281693 meters 0.027105171717800604 Centerline is valid? [True, True] Translation: X:15.56, Y:0.02, Z:-0.03 [[ 9.99963188e-01 8.35767762e-03 -1.94224085e-03 1.55597999e+01] [-8.35771871e-03 9.99965074e-01 -1.30423114e-05 2.47022131e-02] [ 1.94206401e-03 2.92745340e-05 9.99998114e-01 -2.53256492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570281693000002 meters 0.025538144553130637 Centerline is valid? [True, True] Translation: X:15.59, Y:0.03, Z:-0.03 [[ 9.99972492e-01 6.73773576e-03 -3.10120983e-03 1.55892573e+01] [-6.73783323e-03 9.99977300e-01 -2.09818127e-05 2.52732532e-02] [ 3.10099806e-03 4.18766702e-05 9.99995191e-01 -2.78370003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600281693 meters 0.022284327411275753 Centerline is valid? [True, True] Translation: X:15.62, Y:0.02, Z:-0.03 [[ 9.99978322e-01 5.89808310e-03 -2.92697272e-03 1.56177039e+01] [-5.89816657e-03 9.99982605e-01 -1.98867782e-05 2.12491719e-02] [ 2.92680451e-03 3.71501197e-05 9.99995716e-01 -2.78109806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630281693 meters 0.021002737450947415 Centerline is valid? [True, True] Translation: X:15.65, Y:0.02, Z:-0.03 [[ 9.99989480e-01 3.68727145e-03 -2.72831292e-03 1.56466150e+01] [-3.68733606e-03 9.99993202e-01 -1.86508962e-05 2.19567693e-02] [ 2.72822560e-03 2.87109065e-05 9.99996278e-01 -2.74471728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660281693 meters 0.0198325608816198 Centerline is valid? [True, True] Translation: X:15.67, Y:0.02, Z:-0.03 [[ 9.99994266e-01 1.51658011e-03 -3.02777756e-03 1.56746903e+01] [-1.51665016e-03 9.99998850e-01 -2.08389175e-05 2.10117365e-02] [ 3.02774247e-03 2.54308773e-05 9.99995416e-01 -2.78417100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690281693 meters 0.0198325608816198 Centerline is valid? [True, True] Translation: X:15.70, Y:0.02, Z:-0.03 [[ 9.99994334e-01 1.47103068e-03 -3.02777640e-03 1.57030126e+01] [-1.47110102e-03 9.99998918e-01 -2.10072050e-05 2.12976110e-02] [ 3.02774222e-03 2.54612510e-05 9.99995416e-01 -2.77853282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720281693 meters 0.0185026260892947 Centerline is valid? [True, True] Translation: X:15.73, Y:0.02, Z:-0.03 [[ 9.99994245e-01 -1.16168059e-03 -3.18755455e-03 1.57320565e+01] [ 1.16161551e-03 9.99999325e-01 -2.22668711e-05 1.82493256e-02] [ 3.18757826e-03 1.85640302e-05 9.99994919e-01 -2.78910829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750281693 meters 0.017667471086027772 Centerline is valid? [True, True] Translation: X:15.76, Y:0.01, Z:-0.03 [[ 9.99985842e-01 -4.12697737e-03 -3.35915231e-03 1.57610907e+01] [ 4.12692129e-03 9.99991484e-01 -2.36266083e-05 1.45341998e-02] [ 3.35922121e-03 9.76331662e-06 9.99994358e-01 -2.89859477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780281693 meters 0.01801943297749552 Centerline is valid? [True, True] Translation: X:15.79, Y:0.00, Z:-0.03 [[ 9.99936602e-01 -1.07122422e-02 -3.46992417e-03 1.57902092e+01] [ 1.07122215e-02 9.99942622e-01 -2.45522395e-05 1.86594130e-03] [ 3.46998809e-03 -1.26199135e-05 9.99993979e-01 -3.09386742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810281693 meters 0.018850841445956567 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.00, Z:-0.03 [[ 9.99900035e-01 -1.36965746e-02 -3.51045450e-03 1.58202987e+01] [ 1.36965714e-02 9.99906197e-01 -2.49431499e-05 -1.77695946e-03] [ 3.51046684e-03 -2.31405341e-05 9.99993838e-01 -3.04095346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840281693 meters 0.021207982284695222 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.01, Z:-0.03 [[ 9.99833587e-01 -1.80062957e-02 -2.92767178e-03 1.58503941e+01] [ 1.80063118e-02 9.99837873e-01 -2.08612689e-05 -9.02106081e-03] [ 2.92757276e-03 -3.18587736e-05 9.99995714e-01 -2.92066926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870281693 meters 0.022031941409568552 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.01, Z:-0.03 [[ 9.99805042e-01 -1.94861800e-02 -3.18865873e-03 1.58805239e+01] [ 1.94862064e-02 9.99810126e-01 -2.27700659e-05 -1.17541360e-02] [ 3.18849699e-03 -3.93692356e-05 9.99994916e-01 -2.95406973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900281693 meters 0.026426368886136052 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.02, Z:-0.03 [[ 9.99779464e-01 -2.04741385e-02 -4.67260142e-03 1.59104894e+01] [ 2.04742060e-02 9.99790381e-01 -3.33972330e-05 -2.27132496e-02] [ 4.67230573e-03 -6.22779361e-05 9.99989083e-01 -3.42144286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930281693 meters 0.022906206399854454 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.02, Z:-0.03 [[ 9.99780003e-01 -2.02420146e-02 -5.49600014e-03 1.59400494e+01] [ 2.02421039e-02 9.99795107e-01 -3.93893345e-05 -1.75824819e-02] [ 5.49567136e-03 -7.18699367e-05 9.99984896e-01 -3.39739172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960281693000002 meters 0.021806626592744134 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.02, Z:-0.03 [[ 9.99794346e-01 -1.94677615e-02 -5.68090562e-03 1.59692407e+01] [ 1.94678436e-02 9.99810483e-01 -4.08489410e-05 -1.68691543e-02] [ 5.68062423e-03 -6.97544419e-05 9.99983863e-01 -3.37563706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990281693 meters 0.021424284812527783 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.02, Z:-0.03 [[ 9.99817941e-01 -1.81439776e-02 -5.90592650e-03 1.59982604e+01] [ 1.81440421e-02 9.99835382e-01 -4.26538667e-05 -1.73801248e-02] [ 5.90572819e-03 -6.45112780e-05 9.99982559e-01 -3.47460380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020281693 meters 0.019088023164377247 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.01, Z:-0.04 [[ 9.99890306e-01 -1.33820169e-02 -6.34803776e-03 1.60265854e+01] [ 1.33819940e-02 9.99910456e-01 -4.60715025e-05 -1.40217175e-02] [ 6.34808586e-03 -3.88829548e-05 9.99979850e-01 -3.50870328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050281693000002 meters 0.017908389904088787 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.01, Z:-0.03 [[ 9.99921665e-01 -1.07654112e-02 -6.38504779e-03 1.60558054e+01] [ 1.07653299e-02 9.99942051e-01 -4.70995926e-05 -9.99782216e-03] [ 6.38518483e-03 -2.16412426e-05 9.99979614e-01 -3.49324317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080281693 meters 0.017708616796143238 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.01, Z:-0.04 [[ 9.99941773e-01 -8.11358200e-03 -7.11484434e-03 1.60849284e+01] [ 8.11340566e-03 9.99967084e-01 -5.36485620e-05 -5.87297229e-03] [ 7.11504543e-03 -4.08018018e-06 9.99974688e-01 -3.53833480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110281693 meters 0.01839898045994394 Centerline is valid? [True, True] Translation: X:16.11, Y:0.00, Z:-0.04 [[ 9.99968187e-01 -3.35914985e-03 -7.23475952e-03 1.61134084e+01] [ 3.35883461e-03 9.99994358e-01 -5.57230218e-05 1.17553053e-03] [ 7.23490588e-03 3.14208884e-05 9.99973827e-01 -3.53089211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140281693000002 meters 0.01933332513033626 Centerline is valid? [True, True] Translation: X:16.14, Y:0.00, Z:-0.04 [[ 9.99974687e-01 -1.41858034e-03 -6.97231991e-03 1.61408092e+01] [ 1.41823623e-03 9.99998993e-01 -5.42979061e-05 4.16990280e-03] [ 6.97238991e-03 4.44081350e-05 9.99975692e-01 -3.55384665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170281693 meters 0.02127404483811169 Centerline is valid? [True, True] Translation: X:16.17, Y:0.01, Z:-0.03 [[ 9.99978971e-01 2.10770441e-03 -6.13314238e-03 1.61693888e+01] [-2.10804168e-03 9.99997777e-01 -4.85278261e-05 9.60647218e-03] [ 6.13302646e-03 6.14557254e-05 9.99981191e-01 -3.32491952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200281693 meters 0.022098209041384504 Centerline is valid? [True, True] Translation: X:16.20, Y:0.01, Z:-0.03 [[ 9.99980602e-01 3.75641585e-03 -4.96835643e-03 1.61981051e+01] [-3.75666122e-03 9.99992943e-01 -4.00564536e-05 1.31412814e-02] [ 4.96817090e-03 5.87201086e-05 9.99987657e-01 -3.12527762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230281693000002 meters 0.023206892587599656 Centerline is valid? [True, True] Translation: X:16.23, Y:0.02, Z:-0.03 [[ 9.99977056e-01 5.29428474e-03 -4.22581368e-03 1.62270106e+01] [-5.29447759e-03 9.99985984e-01 -3.44501501e-05 1.73069914e-02] [ 4.22557206e-03 5.68228356e-05 9.99991071e-01 -2.99648770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260281693 meters 0.02496625473568851 Centerline is valid? [True, True] Translation: X:16.25, Y:0.02, Z:-0.03 [[ 9.99970552e-01 6.63010390e-03 -3.86482302e-03 1.62546926e+01] [-6.63027593e-03 9.99978019e-01 -3.17003513e-05 2.23481444e-02] [ 3.86452789e-03 5.73242608e-05 9.99992531e-01 -2.90237420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290281693 meters 0.025325944871038127 Centerline is valid? [True, True] Translation: X:16.28, Y:0.03, Z:-0.03 [[ 9.99960107e-01 8.57754972e-03 -2.49206496e-03 1.62837480e+01] [-8.57762754e-03 9.99963211e-01 -2.05387703e-05 2.62859871e-02] [ 2.49179710e-03 4.19139559e-05 9.99996895e-01 -2.67534050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320281693000002 meters 0.02631992359018192 Centerline is valid? [True, True] Translation: X:16.31, Y:0.03, Z:-0.03 [[ 9.99954242e-01 9.24747908e-03 -2.44925364e-03 1.63115074e+01] [-9.24755654e-03 9.99957240e-01 -2.03063775e-05 3.02829886e-02] [ 2.44896113e-03 4.29550599e-05 9.99997000e-01 -2.67490347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350281693 meters 0.025904056884952287 Centerline is valid? [True, True] Translation: X:16.34, Y:0.03, Z:-0.03 [[ 9.99956046e-01 9.14449524e-03 -2.06993038e-03 1.63404160e+01] [-9.14455057e-03 9.99958188e-01 -1.72652197e-05 3.27694551e-02] [ 2.06968595e-03 3.61930438e-05 9.99997858e-01 -2.61816194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380281693 meters 0.024616595620750963 Centerline is valid? [True, True] Translation: X:16.37, Y:0.04, Z:-0.02 [[ 9.99974201e-01 7.12501749e-03 -9.11514362e-04 1.63693524e+01] [-7.12502739e-03 9.99974617e-01 -7.60626178e-06 3.51868171e-02] [ 9.11437030e-04 1.41006303e-05 9.99999585e-01 -2.44366903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410281693 meters 0.023743859897423225 Centerline is valid? [True, True] Translation: X:16.40, Y:0.03, Z:-0.02 [[ 9.99986865e-01 5.03227209e-03 -9.72445544e-04 1.63984021e+01] [-5.03228240e-03 9.99987338e-01 -8.15413911e-06 3.48802475e-02] [ 9.72392197e-04 1.30476526e-05 9.99999527e-01 -2.43218966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440281693 meters 0.021687368603416836 Centerline is valid? [True, True] Translation: X:16.43, Y:0.03, Z:-0.03 [[ 9.99996213e-01 2.46625892e-03 -1.22117840e-03 1.64276905e+01] [-2.46627334e-03 9.99996959e-01 -1.03098519e-05 3.20463969e-02] [ 1.22114926e-03 1.33215726e-05 9.99999254e-01 -2.55229462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470281693 meters 0.018535503608458827 Centerline is valid? [True, True] Translation: X:16.46, Y:0.03, Z:-0.03 [[ 9.99994981e-01 -2.89771196e-03 -1.28140552e-03 1.64568708e+01] [ 2.89770043e-03 9.99995802e-01 -1.08497178e-05 2.51560555e-02] [ 1.28143158e-03 7.13653405e-06 9.99999179e-01 -2.64514632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500281693 meters 0.017741200279979517 Centerline is valid? [True, True] Translation: X:16.49, Y:0.02, Z:-0.03 [[ 9.99984281e-01 -5.43824346e-03 -1.36522693e-03 1.64873820e+01] [ 5.43823268e-03 9.99985213e-01 -1.16070204e-05 2.05834232e-02] [ 1.36526986e-03 4.18241624e-06 9.99999068e-01 -2.68306663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530281693 meters 0.017494925444882896 Centerline is valid? [True, True] Translation: X:16.52, Y:0.02, Z:-0.03 [[ 9.99970427e-01 -7.54880820e-03 -1.46973818e-03 1.65166408e+01] [ 7.54879799e-03 9.99971507e-01 -1.24893294e-05 1.75807784e-02] [ 1.46979058e-03 1.39420344e-06 9.99998920e-01 -2.68281635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560281693 meters 0.01769296788669427 Centerline is valid? [True, True] Translation: X:16.55, Y:0.01, Z:-0.03 [[ 9.99937967e-01 -1.09842468e-02 -1.84609780e-03 1.65469912e+01] [ 1.09842365e-02 9.99939671e-01 -1.57174632e-05 1.30372762e-02] [ 1.84615908e-03 -4.56148664e-06 9.99998296e-01 -2.78447094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590281693 meters 0.01779608886307633 Centerline is valid? [True, True] Translation: X:16.58, Y:0.01, Z:-0.03 [[ 9.99926341e-01 -1.18617983e-02 -2.57095520e-03 1.65774103e+01] [ 1.18617812e-02 9.99929646e-01 -2.18888153e-05 1.23960841e-02] [ 2.57103396e-03 -8.60890512e-06 9.99996695e-01 -2.94337173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620281693 meters 0.0181055957824283 Centerline is valid? [True, True] Translation: X:16.61, Y:0.01, Z:-0.03 [[ 9.99916763e-01 -1.23532021e-02 -3.72364751e-03 1.66069883e+01] [ 1.23531696e-02 9.99923696e-01 -3.17228054e-05 1.14924230e-02] [ 3.72375526e-03 -1.42786845e-05 9.99993067e-01 -3.06789575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650281693 meters 0.01808819322057416 Centerline is valid? [True, True] Translation: X:16.64, Y:0.01, Z:-0.03 [[ 9.99916090e-01 -1.19490187e-02 -5.00340307e-03 1.66364091e+01] [ 1.19489545e-02 9.99928608e-01 -4.27261743e-05 1.10579315e-02] [ 5.00355640e-03 -1.70628464e-05 9.99987482e-01 -3.26899490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680281693 meters 0.0181985955251248 Centerline is valid? [True, True] Translation: X:16.67, Y:0.01, Z:-0.03 [[ 9.99919122e-01 -1.14307670e-02 -5.57554355e-03 1.66654981e+01] [ 1.14306780e-02 9.99934667e-01 -4.78247802e-05 1.23326765e-02] [ 5.57572596e-03 -1.59113308e-05 9.99984455e-01 -3.34884342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710281693000002 meters 0.017974394767516156 Centerline is valid? [True, True] Translation: X:16.69, Y:0.01, Z:-0.03 [[ 9.99927146e-01 -1.09297562e-02 -5.12275730e-03 1.66946300e+01] [ 1.09296716e-02 9.99940268e-01 -4.45182406e-05 1.45058661e-02] [ 5.12293788e-03 -1.14750576e-05 9.99986878e-01 -3.26139639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740281693 meters 0.01772247571976829 Centerline is valid? [True, True] Translation: X:16.72, Y:0.02, Z:-0.03 [[ 9.99945177e-01 -9.88659665e-03 -3.44923365e-03 1.67234365e+01] [ 9.88655051e-03 9.99951126e-01 -3.04277175e-05 1.69081370e-02] [ 3.44936590e-03 -3.67497332e-06 9.99994051e-01 -2.98398437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770281693 meters 0.017770282246560236 Centerline is valid? [True, True] Translation: X:16.75, Y:0.02, Z:-0.03 [[ 9.99952570e-01 -9.31207856e-03 -2.85351503e-03 1.67535548e+01] [ 9.31204381e-03 9.99956642e-01 -2.54649336e-05 1.78640078e-02] [ 2.85362844e-03 -1.10833113e-06 9.99995928e-01 -2.89599436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800281693000002 meters 0.01779786843707933 Centerline is valid? [True, True] Translation: X:16.78, Y:0.02, Z:-0.03 [[ 9.99959419e-01 -8.33345524e-03 -3.42251621e-03 1.67828902e+01] [ 8.33339927e-03 9.99965276e-01 -3.06156012e-05 1.98290789e-02] [ 3.42265250e-03 2.09316474e-06 9.99994143e-01 -2.98946101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830281693 meters 0.018087526919064914 Centerline is valid? [True, True] Translation: X:16.81, Y:0.02, Z:-0.03 [[ 9.99963045e-01 -7.29743760e-03 -4.54496627e-03 1.68120671e+01] [ 7.29732804e-03 9.99973373e-01 -4.06897012e-05 2.30842576e-02] [ 4.54514218e-03 7.52208768e-06 9.99989671e-01 -3.22354738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860281693 meters 0.018138464240995158 Centerline is valid? [True, True] Translation: X:16.84, Y:0.02, Z:-0.03 [[ 9.99957343e-01 -7.82552633e-03 -4.90638211e-03 1.68407738e+01] [ 7.82540277e-03 9.99969380e-01 -4.43808817e-05 2.28310943e-02] [ 4.90657918e-03 5.98457242e-06 9.99987963e-01 -3.30771616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890281693000002 meters 0.01806187859342366 Centerline is valid? [True, True] Translation: X:16.87, Y:0.02, Z:-0.03 [[ 9.99939650e-01 -1.00031327e-02 -4.54234835e-03 1.68700809e+01] [ 1.00030461e-02 9.99949967e-01 -4.17859213e-05 1.96080133e-02] [ 4.54253907e-03 -3.65392036e-06 9.99989683e-01 -3.26046008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920281693 meters 0.018039968220607886 Centerline is valid? [True, True] Translation: X:16.90, Y:0.02, Z:-0.03 [[ 9.99932819e-01 -1.07259351e-02 -4.39441854e-03 1.68983896e+01] [ 1.07258593e-02 9.99942475e-01 -4.08178511e-05 1.91716039e-02] [ 4.39460356e-03 -6.31880612e-06 9.99990344e-01 -3.26005364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950281693 meters 0.018172816668414866 Centerline is valid? [True, True] Translation: X:16.93, Y:0.02, Z:-0.03 [[ 9.99921851e-01 -1.17365159e-02 -4.30658468e-03 1.69268333e+01] [ 1.17364507e-02 9.99931125e-01 -4.04022136e-05 1.82963291e-02] [ 4.30676224e-03 -1.01449627e-05 9.99990726e-01 -3.23229973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980281693000002 meters 0.018301287648435173 Centerline is valid? [True, True] Translation: X:16.96, Y:0.02, Z:-0.03 [[ 9.99907465e-01 -1.27618340e-02 -4.71147321e-03 1.69567819e+01] [ 1.27617657e-02 9.99918564e-01 -4.45770280e-05 1.75929613e-02] [ 4.71165841e-03 -1.55538141e-05 9.99988900e-01 -3.23043056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010281693 meters 0.01872308323269797 Centerline is valid? [True, True] Translation: X:16.99, Y:0.02, Z:-0.03 [[ 9.99884291e-01 -1.42387667e-02 -5.35376221e-03 1.69864713e+01] [ 1.42386989e-02 9.99898623e-01 -5.07839594e-05 1.59042353e-02] [ 5.35394256e-03 -2.54525249e-05 9.99985667e-01 -3.30057911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040281693 meters 0.018653248770642023 Centerline is valid? [True, True] Translation: X:17.02, Y:0.02, Z:-0.03 [[ 9.99884472e-01 -1.43896439e-02 -4.89710098e-03 1.70161649e+01] [ 1.43895885e-02 9.99896463e-01 -4.65625105e-05 1.73153960e-02] [ 4.89726397e-03 -2.39101366e-05 9.99988008e-01 -3.17441437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070281693000002 meters 0.01871106770434921 Centerline is valid? [True, True] Translation: X:17.05, Y:0.02, Z:-0.03 [[ 9.99882971e-01 -1.50608460e-02 -2.68609817e-03 1.70452147e+01] [ 1.50608316e-02 9.99886579e-01 -2.55899721e-05 1.79919257e-02] [ 2.68617891e-03 -1.48678948e-05 9.99996392e-01 -2.82998718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100281693 meters 0.019061980076954747 Centerline is valid? [True, True] Translation: X:17.08, Y:0.02, Z:-0.03 [[ 9.99869450e-01 -1.60270288e-02 -2.05344423e-03 1.70755643e+01] [ 1.60270223e-02 9.99871559e-01 -1.96161596e-05 1.63680691e-02] [ 2.05349487e-03 -1.32969978e-05 9.99997891e-01 -2.73327768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130281693 meters 0.019793307512981324 Centerline is valid? [True, True] Translation: X:17.11, Y:0.01, Z:-0.03 [[ 9.99845647e-01 -1.74512617e-02 -2.03345435e-03 1.71071654e+01] [ 1.74512582e-02 9.99847715e-01 -1.94242020e-05 1.34209139e-02] [ 2.03348366e-03 -1.60651331e-05 9.99997932e-01 -2.74628298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160281693 meters 0.02241146230999118 Centerline is valid? [True, True] Translation: X:17.14, Y:0.01, Z:-0.03 [[ 9.99763352e-01 -2.15579350e-02 -2.91475596e-03 1.71377979e+01] [ 2.15579456e-02 9.99767600e-01 -2.77667427e-05 7.22793116e-03] [ 2.91467717e-03 -3.50759788e-05 9.99995752e-01 -2.89204101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190281693 meters 0.024126685480400305 Centerline is valid? [True, True] Translation: X:17.17, Y:0.00, Z:-0.03 [[ 9.99708223e-01 -2.39573738e-02 -3.08429104e-03 1.71683486e+01] [ 2.39573972e-02 9.99712980e-01 -2.93577320e-05 4.39909769e-03] [ 3.08410912e-03 -4.45424195e-05 9.99995243e-01 -2.95782194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220281693 meters 0.026240852581742836 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.00, Z:-0.03 [[ 9.99649798e-01 -2.62223379e-02 -3.55957494e-03 1.71980393e+01] [ 2.62223834e-02 9.99656134e-01 -3.38994100e-05 -1.94617847e-04] [ 3.55923985e-03 -5.94530004e-05 9.99993664e-01 -3.04591146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250281693 meters 0.030428006841769644 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.01, Z:-0.03 [[ 9.99497224e-01 -3.14019801e-02 -4.38353487e-03 1.72282872e+01] [ 3.14020986e-02 9.99506832e-01 -4.18010864e-05 -1.10754946e-02] [ 4.38268568e-03 -9.58721245e-05 9.99990391e-01 -3.21279845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280281693 meters 0.03306750529855261 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.02, Z:-0.03 [[ 9.99406343e-01 -3.41172491e-02 -4.79313651e-03 1.72577406e+01] [ 3.41174216e-02 9.99417830e-01 -4.57949541e-05 -1.71745771e-02] [ 4.79190849e-03 -1.17761692e-04 9.99988512e-01 -3.25424284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310281693 meters 0.03545894436627548 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.02, Z:-0.03 [[ 9.99326556e-01 -3.64191608e-02 -4.48089089e-03 1.72859050e+01] [ 3.64193340e-02 9.99336595e-01 -4.29659546e-05 -2.27688042e-02] [ 4.47948303e-03 -1.20254042e-04 9.99989960e-01 -3.22951260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340281693 meters 0.038925473196653716 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.03, Z:-0.03 [[ 9.99248907e-01 -3.84650912e-02 -4.69669517e-03 1.73145383e+01] [ 3.84653031e-02 9.99259935e-01 -4.52198632e-05 -3.07413268e-02] [ 4.69495870e-03 -1.35473905e-04 9.99988969e-01 -3.24588542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370281693 meters 0.043085325429289466 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.04, Z:-0.03 [[ 9.99101235e-01 -4.21555531e-02 -4.43069428e-03 1.73436865e+01] [ 4.21557777e-02 9.99111049e-01 -4.27432635e-05 -4.46702982e-02] [ 4.42855748e-03 -1.44074516e-04 9.99990184e-01 -3.34155430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400281693 meters 0.04459309385796376 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.05, Z:-0.03 [[ 9.99026496e-01 -4.38614927e-02 -4.71485758e-03 1.73729161e+01] [ 4.38617639e-02 9.99037609e-01 -4.59177262e-05 -5.08225725e-02] [ 4.71233406e-03 -1.60928945e-04 9.99988884e-01 -3.39852738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430281693 meters 0.045951625598895644 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.06, Z:-0.03 [[ 9.98951839e-01 -4.54561688e-02 -5.38144680e-03 1.74025364e+01] [ 4.54565430e-02 9.98966316e-01 -5.28293021e-05 -6.04027708e-02] [ 5.37828550e-03 -1.91848039e-04 9.99985519e-01 -3.43259872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460281693000002 meters 0.04719243131699975 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.07, Z:-0.03 [[ 9.98965941e-01 -4.50756831e-02 -5.93562645e-03 1.74303840e+01] [ 4.50761300e-02 9.98983553e-01 -5.85338663e-05 -6.62514018e-02] [ 5.93223166e-03 -2.09081731e-04 9.99982382e-01 -3.43830036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490281693 meters 0.04264431683181291 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.06, Z:-0.03 [[ 9.98992380e-01 -4.44546460e-02 -6.16520629e-03 1.74597371e+01] [ 4.44551118e-02 9.99011381e-01 -6.15256534e-05 -6.41960084e-02] [ 6.16184635e-03 -2.12611276e-04 9.99980993e-01 -3.36264137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520281693 meters 0.0420634524119273 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.07, Z:-0.03 [[ 9.99151558e-01 -4.08663238e-02 -5.10957282e-03 1.74883697e+01] [ 4.08665951e-02 9.99164610e-01 -5.13394121e-05 -7.11789356e-02] [ 5.10740239e-03 -1.57514990e-04 9.99986945e-01 -3.19608578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550281693000002 meters 0.038843417963078365 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.07, Z:-0.03 [[ 9.99273775e-01 -3.79426230e-02 -3.50435489e-03 1.75186931e+01] [ 3.79427325e-02 9.99279915e-01 -3.52733047e-05 -6.95359122e-02] [ 3.50316981e-03 -9.77171116e-05 9.99993859e-01 -2.89539166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580281693 meters 0.038843417963078365 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.07, Z:-0.03 [[ 9.99267166e-01 -3.81162759e-02 -3.50435200e-03 1.75461773e+01] [ 3.81163854e-02 9.99273306e-01 -3.55580179e-05 -6.90665913e-02] [ 3.50316074e-03 -9.80412714e-05 9.99993859e-01 -2.88992157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610281693 meters 0.03291526359598863 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.07, Z:-0.03 [[ 9.99474789e-01 -3.23395581e-02 -2.07325047e-03 1.75764884e+01] [ 3.23395835e-02 9.99476939e-01 -2.12417463e-05 -6.69359799e-02] [ 2.07285298e-03 -4.58174668e-05 9.99997851e-01 -2.57975501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640281693000002 meters 0.030811786311404857 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.07, Z:-0.03 [[ 9.99543451e-01 -3.00873988e-02 -2.76360917e-03 1.76050086e+01] [ 3.00874354e-02 9.99547270e-01 -2.83561536e-05 -6.61920390e-02] [ 2.76321117e-03 -5.48067048e-05 9.99996181e-01 -2.69283656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670281693 meters 0.027078386752759677 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.06, Z:-0.03 [[ 9.99584443e-01 -2.85525954e-02 -3.96103614e-03 1.76338434e+01] [ 2.85526567e-02 9.99592289e-01 -4.10841990e-05 -6.18184621e-02] [ 3.96059425e-03 -7.20309789e-05 9.99992154e-01 -2.87625261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700281693 meters 0.025665856361761996 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.06, Z:-0.03 [[ 9.99628886e-01 -2.66740549e-02 -5.53039233e-03 1.76626097e+01] [ 2.66741400e-02 9.99644180e-01 -5.83838149e-05 -6.08974281e-02] [ 5.52998184e-03 -8.91563115e-05 9.99984706e-01 -3.08177336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730281693000002 meters 0.02284904760628686 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.06, Z:-0.03 [[ 9.99725872e-01 -2.22498409e-02 -7.28872993e-03 1.76906487e+01] [ 2.22498659e-02 9.99752438e-01 -7.76740220e-05 -5.80895936e-02] [ 7.28865375e-03 -8.45205338e-05 9.99973434e-01 -3.42154703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760281693 meters 0.021798864392067678 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.06, Z:-0.04 [[ 9.99758229e-01 -2.05615950e-02 -7.79135636e-03 1.77198703e+01] [ 2.05615641e-02 9.99788585e-01 -8.40809990e-05 -5.61655522e-02] [ 7.79143799e-03 -7.61418025e-05 9.99969643e-01 -3.51454199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790281693 meters 0.020893559008831716 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.05, Z:-0.04 [[ 9.99789355e-01 -1.90227255e-02 -7.70588855e-03 1.77485840e+01] [ 1.90226400e-02 9.99819050e-01 -8.43927761e-05 -5.35724583e-02] [ 7.70609954e-03 -6.22113443e-05 9.99970306e-01 -3.50799551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820281693000002 meters 0.019153265708809472 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.05, Z:-0.03 [[ 9.99862648e-01 -1.53326036e-02 -6.29262225e-03 1.77772922e+01] [ 1.53324674e-02 9.99882448e-01 -6.98811119e-05 -4.60252765e-02] [ 6.29295400e-03 -2.66099122e-05 9.99980199e-01 -3.15239539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850281693 meters 0.018582362631743458 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.04, Z:-0.03 [[ 9.99894641e-01 -1.32254119e-02 -5.98290855e-03 1.78048242e+01] [ 1.32252479e-02 9.99912540e-01 -6.69844205e-05 -4.11176888e-02] [ 5.98327118e-03 -1.21480854e-05 9.99982100e-01 -3.00474926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880281693 meters 0.01866662255314423 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.03, Z:-0.03 [[ 9.99941958e-01 -9.04820471e-03 -5.84896497e-03 1.78329361e+01] [ 9.04797450e-03 9.99959064e-01 -6.58202592e-05 -3.04212743e-02] [ 5.84932109e-03 1.28951529e-05 9.99982892e-01 -3.01340688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910281693 meters 0.01916709725892241 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.03, Z:-0.03 [[ 9.99952978e-01 -7.76922397e-03 -5.80359042e-03 1.78606824e+01] [ 7.76897112e-03 9.99969819e-01 -6.61103793e-05 -2.60287371e-02] [ 5.80392889e-03 2.10193442e-05 9.99983157e-01 -2.99111660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940281693 meters 0.019237008764117502 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.02, Z:-0.03 [[ 9.99959765e-01 -7.29718403e-03 -5.21722383e-03 1.78885762e+01] [ 7.29696857e-03 9.99973375e-01 -6.03327089e-05 -2.26048455e-02] [ 5.21752518e-03 2.22603632e-05 9.99986388e-01 -2.94761195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970281693 meters 0.019280520889180346 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.02, Z:-0.03 [[ 9.99959549e-01 -7.36794522e-03 -5.15876195e-03 1.79159236e+01] [ 7.36773277e-03 9.99972856e-01 -6.01867091e-05 -1.93276045e-02] [ 5.15906537e-03 2.21758951e-05 9.99986692e-01 -2.87973200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000281693 meters 0.018593887644521054 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.01, Z:-0.03 [[ 9.99947639e-01 -9.03618669e-03 -4.80273414e-03 1.79446729e+01] [ 9.03601915e-03 9.99959173e-01 -5.65822509e-05 -1.41812111e-02] [ 4.80304935e-03 1.31816905e-05 9.99988465e-01 -2.67987663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030281693 meters 0.018466439110459486 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.01, Z:-0.03 [[ 9.99940659e-01 -9.77113258e-03 -4.81706201e-03 1.79729956e+01] [ 9.77096882e-03 9.99952261e-01 -5.75289752e-05 -1.08061813e-02] [ 4.81739418e-03 1.04581986e-05 9.99988396e-01 -2.68027355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060281693 meters 0.01853420549159521 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.01, Z:-0.03 [[ 9.99931289e-01 -1.04119549e-02 -5.38591196e-03 1.80014694e+01] [ 1.04117569e-02 9.99945794e-01 -6.48036464e-05 -5.31439306e-03] [ 5.38629475e-03 8.72238775e-06 9.99985494e-01 -2.83481760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090281693 meters 0.018642009998734905 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.00, Z:-0.03 [[ 9.99927530e-01 -1.05232343e-02 -5.84778601e-03 1.80301318e+01] [ 1.05229988e-02 9.99944629e-01 -7.10422989e-05 -1.80039796e-03] [ 5.84820981e-03 9.50090510e-06 9.99982899e-01 -2.90465303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120281693 meters 0.018606720465663654 Centerline is valid? [True, True] Translation: X:18.06, Y:0.00, Z:-0.03 [[ 9.99923910e-01 -1.06778797e-02 -6.17721792e-03 1.80581602e+01] [ 1.06776164e-02 9.99942990e-01 -7.56084666e-05 2.21746262e-03] [ 6.17767309e-03 9.64475021e-06 9.99980918e-01 -2.85162436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150281693 meters 0.01852419572871487 Centerline is valid? [True, True] Translation: X:18.09, Y:0.00, Z:-0.03 [[ 9.99894002e-01 -1.32193163e-02 -6.10203156e-03 1.80863587e+01] [ 1.32191014e-02 9.99912621e-01 -7.55385273e-05 3.49513508e-03] [ 6.10249694e-03 -5.13285383e-06 9.99981380e-01 -2.82906626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180281693 meters 0.01855684514676859 Centerline is valid? [True, True] Translation: X:18.12, Y:0.00, Z:-0.03 [[ 9.99859157e-01 -1.56910244e-02 -5.95468206e-03 1.81156350e+01] [ 1.56908576e-02 9.99876888e-01 -7.47296056e-05 1.31849421e-03] [ 5.95512155e-03 -1.87149881e-05 9.99982268e-01 -2.72304412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210281693000002 meters 0.019505565215542964 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.00, Z:-0.03 [[ 9.99816515e-01 -1.84405344e-02 -5.18489456e-03 1.81432112e+01] [ 1.84404424e-02 9.99829958e-01 -6.55504096e-05 -2.74952883e-03] [ 5.18522170e-03 -3.00733673e-05 9.99986556e-01 -2.68156303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240281693 meters 0.02146995989218568 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.01, Z:-0.02 [[ 9.99735673e-01 -2.26585417e-02 -3.89554698e-03 1.81715899e+01] [ 2.26585212e-02 9.99743262e-01 -4.94028014e-05 -7.28997922e-03] [ 3.89566624e-03 -3.88775912e-05 9.99992411e-01 -2.35351245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270281693 meters 0.0222972635029527 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.01, Z:-0.02 [[ 9.99696782e-01 -2.43236895e-02 -3.83443353e-03 1.82011727e+01] [ 2.43236815e-02 9.99704134e-01 -4.87353937e-05 -7.93322453e-03] [ 3.83448448e-03 -4.45469236e-05 9.99992647e-01 -2.37465168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300281693000002 meters 0.02479076492585565 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.01, Z:-0.03 [[ 9.99653554e-01 -2.59022944e-02 -4.67376335e-03 1.82310275e+01] [ 2.59022994e-02 9.99664477e-01 -5.94889079e-05 -1.20433476e-02] [ 4.67373610e-03 -6.15929192e-05 9.99989076e-01 -2.62208539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330281693 meters 0.0260010232904622 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.01, Z:-0.03 [[ 9.99544895e-01 -2.93035513e-02 -7.16273550e-03 1.82609923e+01] [ 2.93036490e-02 9.99570552e-01 -9.13230414e-05 -1.47147009e-02] [ 7.16233556e-03 -1.18612807e-04 9.99974343e-01 -2.97953411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360281693 meters 0.02761112024973177 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.02, Z:-0.03 [[ 9.99494213e-01 -3.08157604e-02 -7.85539508e-03 1.82885883e+01] [ 3.08159217e-02 9.99525072e-01 -1.00539768e-04 -1.77967526e-02] [ 7.85476254e-03 -1.41582323e-04 9.99969141e-01 -3.03008485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390281693000002 meters 0.028518171128132788 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.02, Z:-0.03 [[ 9.99413467e-01 -3.35998918e-02 -6.61576382e-03 1.83175651e+01] [ 3.36000615e-02 9.99435355e-01 -8.55290619e-05 -2.12807154e-02] [ 6.61490203e-03 -1.36811175e-04 9.99978112e-01 -2.72418108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420281693 meters 0.03080050894809714 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.03, Z:-0.03 [[ 9.99381737e-01 -3.46828252e-02 -5.76590735e-03 1.83452738e+01] [ 3.46829686e-02 9.99398362e-01 -7.51591296e-05 -2.74529323e-02] [ 5.76504509e-03 -1.24866122e-04 9.99983374e-01 -2.65479764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450281693 meters 0.031917893269488254 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.03, Z:-0.03 [[ 9.99351741e-01 -3.56849269e-02 -4.76284127e-03 1.83730663e+01] [ 3.56850346e-02 9.99363084e-01 -6.23845563e-05 -3.18693605e-02] [ 4.76203393e-03 -1.07618041e-04 9.99988656e-01 -2.55467670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480281693000002 meters 0.031847835958633976 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.03, Z:-0.02 [[ 9.99279874e-01 -3.76462010e-02 -4.74305040e-03 1.84021358e+01] [ 3.76463273e-02 9.99291124e-01 -6.26830698e-05 -3.35986322e-02] [ 4.74204794e-03 -1.15920498e-04 9.99988750e-01 -2.47986087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510281693 meters 0.03378486339255938 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.04, Z:-0.03 [[ 9.99277542e-01 -3.75720788e-02 -5.72132908e-03 1.84295491e+01] [ 3.75722573e-02 9.99293911e-01 -7.63238481e-05 -3.61046296e-02] [ 5.72015695e-03 -1.38694541e-04 9.99983630e-01 -2.73217245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540281693 meters 0.03235915692804109 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.03, Z:-0.03 [[ 9.99278873e-01 -3.73019780e-02 -7.09204341e-03 1.84581832e+01] [ 3.73022381e-02 9.99304025e-01 -9.56391423e-05 -3.41562270e-02] [ 7.09067505e-03 -1.68978918e-04 9.99974847e-01 -2.89688198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570281693000002 meters 0.030534906440477027 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.04, Z:-0.03 [[ 9.99331982e-01 -3.58641841e-02 -7.02493411e-03 1.84867733e+01] [ 3.58643959e-02 9.99356661e-01 -9.58627357e-05 -3.61165928e-02] [ 7.02385273e-03 -1.56146320e-04 9.99975320e-01 -2.84193869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600281693 meters 0.0294289348591231 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.04, Z:-0.03 [[ 9.99356597e-01 -3.53675738e-02 -5.96041601e-03 1.85156402e+01] [ 3.53677119e-02 9.99374363e-01 -8.22560900e-05 -3.63146340e-02] [ 5.95959616e-03 -1.28603110e-04 9.99982233e-01 -2.57383557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630281693 meters 0.02979566372412034 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.04, Z:-0.02 [[ 9.99428892e-01 -3.34162826e-02 -5.02404655e-03 1.85437801e+01] [ 3.34163534e-02 9.99441515e-01 -6.98663574e-05 -4.04255849e-02] [ 5.02357537e-03 -9.80588590e-05 9.99987377e-01 -2.49899525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660281693 meters 0.026480554925332245 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.04, Z:-0.03 [[ 9.99466668e-01 -3.21782149e-02 -5.56263794e-03 1.85723529e+01] [ 3.21782783e-02 9.99482142e-01 -7.81332720e-05 -3.65170872e-02] [ 5.56227147e-03 -1.00904511e-04 9.99984525e-01 -2.56070586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690281693 meters 0.025332496922305922 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.04, Z:-0.03 [[ 9.99529982e-01 -3.00235605e-02 -6.19679142e-03 1.86007211e+01] [ 3.00235912e-02 9.99549186e-01 -8.80958594e-05 -3.60174196e-02] [ 6.19664278e-03 -9.79954795e-05 9.99980796e-01 -2.66530037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720281693 meters 0.02419469407352179 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.03, Z:-0.03 [[ 9.99586799e-01 -2.78375229e-02 -7.16271312e-03 1.86289539e+01] [ 2.78374990e-02 9.99612456e-01 -1.03045412e-04 -3.48779394e-02] [ 7.16280579e-03 -9.63891857e-05 9.99974342e-01 -2.80056303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750281693 meters 0.020966437711830595 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.03, Z:-0.03 [[ 9.99712843e-01 -2.24427337e-02 -8.39975963e-03 1.86565523e+01] [ 2.24425043e-02 9.99748128e-01 -1.21583279e-04 -2.87625989e-02] [ 8.40037262e-03 -6.69632764e-05 9.99964714e-01 -2.95984549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780281693 meters 0.019593795846319803 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.02, Z:-0.03 [[ 9.99769043e-01 -1.96878964e-02 -8.61671790e-03 1.86857081e+01] [ 1.96875423e-02 9.99806174e-01 -1.25918615e-04 -2.31468169e-02] [ 8.61752683e-03 -4.37524652e-05 9.99962867e-01 -2.93228386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810281693 meters 0.018855922734887738 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.01, Z:-0.03 [[ 9.99872245e-01 -1.39456024e-02 -7.81119351e-03 1.87129575e+01] [ 1.39451312e-02 9.99902755e-01 -1.14779235e-04 -1.47183841e-02] [ 7.81203458e-03 5.83645277e-06 9.99969486e-01 -2.90404171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840281693 meters 0.01899527863177108 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.01, Z:-0.03 [[ 9.99900211e-01 -1.21428154e-02 -7.21945516e-03 1.87412768e+01] [ 1.21423581e-02 9.99926273e-01 -1.07173307e-04 -1.26626851e-02] [ 7.22022428e-03 1.95014022e-05 9.99973934e-01 -2.66625204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870281693 meters 0.01914189407204288 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.01, Z:-0.03 [[ 9.99911690e-01 -1.13884570e-02 -6.84953501e-03 1.87693275e+01] [ 1.13880189e-02 9.99935149e-01 -1.02959104e-04 -1.19938768e-02] [ 6.85026336e-03 2.49473775e-05 9.99976536e-01 -2.55384092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900281693 meters 0.019326647945234258 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.01, Z:-0.03 [[ 9.99894418e-01 -1.20120300e-02 -8.17699755e-03 1.87971636e+01] [ 1.20114198e-02 9.99927853e-01 -1.23728006e-04 -1.33127223e-02] [ 8.17789383e-03 2.54975920e-05 9.99966560e-01 -2.86107537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930281693 meters 0.019365378283915585 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.01, Z:-0.03 [[ 9.99874562e-01 -1.29814821e-02 -9.07422862e-03 1.88253246e+01] [ 1.29807658e-02 9.99915737e-01 -1.37839286e-04 -1.38830200e-02] [ 9.07525336e-03 2.00315593e-05 9.99958819e-01 -3.15091828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960281693000002 meters 0.019372363329644492 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.01, Z:-0.03 [[ 9.99863139e-01 -1.35580271e-02 -9.48067069e-03 1.88537281e+01] [ 1.35572569e-02 9.99908086e-01 -1.45509176e-04 -1.44235611e-02] [ 9.48177210e-03 1.69573732e-05 9.99955047e-01 -3.12411172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990281693 meters 0.01926082430144437 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.01, Z:-0.03 [[ 9.99875792e-01 -1.29008790e-02 -9.05360951e-03 1.88817468e+01] [ 1.29001346e-02 9.99916780e-01 -1.40609086e-04 -1.29246913e-02] [ 9.05467005e-03 2.37988394e-05 9.99959005e-01 -2.95381084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020281693 meters 0.0196630637775486 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.01, Z:-0.03 [[ 9.99884332e-01 -1.20256202e-02 -9.31161842e-03 1.89092081e+01] [ 1.20247875e-02 9.99927689e-01 -1.45413927e-04 -1.09662399e-02] [ 9.31269378e-03 3.34268752e-05 9.99956635e-01 -2.97562964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050281693000002 meters 0.020033802201754637 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.01, Z:-0.03 [[ 9.99896064e-01 -1.08298018e-02 -9.51719232e-03 1.89383597e+01] [ 1.08288651e-02 9.99941355e-01 -1.49945253e-04 -8.47420906e-03] [ 9.51825807e-03 4.68692765e-05 9.99954699e-01 -2.97724853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080281693 meters 0.020279785842946995 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.01, Z:-0.03 [[ 9.99913143e-01 -9.72814053e-03 -8.89214684e-03 1.89664082e+01] [ 9.72726514e-03 9.99952679e-01 -1.41690894e-04 -5.61518147e-03] [ 8.89310444e-03 5.51823169e-05 9.99960454e-01 -2.85289394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110281693 meters 0.020193818195381935 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.00, Z:-0.03 [[ 9.99914586e-01 -9.84102510e-03 -8.60092024e-03 1.89930713e+01] [ 9.84020253e-03 9.99951575e-01 -1.37951694e-04 -4.26534638e-03] [ 8.60186132e-03 5.33051143e-05 9.99963002e-01 -2.83081497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140281693000002 meters 0.020013871565540884 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.01, Z:-0.03 [[ 9.99897111e-01 -1.11229445e-02 -9.05796207e-03 1.90211694e+01] [ 1.11220713e-02 9.99938137e-01 -1.46770162e-04 -5.52397898e-03] [ 9.05903424e-03 4.60117606e-05 9.99958965e-01 -2.97285349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170281693 meters 0.019827474002321623 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.01, Z:-0.03 [[ 9.99872338e-01 -1.24289187e-02 -1.00414015e-02 1.90493466e+01] [ 1.24278923e-02 9.99922757e-01 -1.64607084e-04 -7.66902434e-03] [ 1.00426717e-02 3.97926138e-05 9.99949570e-01 -3.21981434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200281693 meters 0.019622092100750697 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.01, Z:-0.03 [[ 9.99843681e-01 -1.41871249e-02 -1.05517714e-02 1.90758871e+01] [ 1.41860781e-02 9.99899357e-01 -1.74049602e-04 -1.02899462e-02] [ 1.05531787e-02 2.43341411e-05 9.99944313e-01 -3.37483765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230281693000002 meters 0.01949284561042473 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.01, Z:-0.03 [[ 9.99807092e-01 -1.62551924e-02 -1.10248198e-02 1.91035657e+01] [ 1.62541552e-02 9.99867876e-01 -1.83674023e-04 -1.25393573e-02] [ 1.10263488e-02 4.43945788e-06 9.99939208e-01 -3.40747333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260281693 meters 0.019529996572892647 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.02, Z:-0.03 [[ 9.99766110e-01 -1.90054767e-02 -1.03207471e-02 1.91317386e+01] [ 1.90047060e-02 9.99819379e-01 -1.72758844e-04 -1.74089045e-02] [ 1.03221663e-02 -2.34243263e-05 9.99946725e-01 -3.13979448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290281693 meters 0.019565264827684444 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.02, Z:-0.03 [[ 9.99761574e-01 -1.98316184e-02 -9.13789373e-03 1.91599620e+01] [ 1.98310441e-02 9.99803334e-01 -1.53461363e-04 -1.85923871e-02] [ 9.13914000e-03 -2.77891994e-05 9.99958237e-01 -2.93955757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320281693000002 meters 0.019431673592942702 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.02, Z:-0.02 [[ 9.99737826e-01 -2.18950606e-02 -6.69974201e-03 1.91875252e+01] [ 2.18947917e-02 9.99760274e-01 -1.13479669e-04 -1.93043485e-02] [ 6.70062055e-03 -3.32395390e-05 9.99977550e-01 -2.29842821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350281693 meters 0.019855635323157497 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.02, Z:-0.02 [[ 9.99716971e-01 -2.30561640e-02 -5.86433087e-03 1.92148797e+01] [ 2.30559748e-02 9.99734171e-01 -9.98796388e-05 -1.98669395e-02] [ 5.86507480e-03 -3.53564946e-05 9.99982800e-01 -2.28234464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380281693 meters 0.020209686523684208 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.02, Z:-0.02 [[ 9.99688974e-01 -2.43440278e-02 -5.41515557e-03 1.92440990e+01] [ 2.43438817e-02 9.99703639e-01 -9.28905136e-05 -1.96277196e-02] [ 5.41581206e-03 -3.89642843e-05 9.99985334e-01 -2.17640987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410281693 meters 0.021248479815440494 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.02, Z:-0.02 [[ 9.99637131e-01 -2.65043306e-02 -4.80897083e-03 1.92720309e+01] [ 2.65042382e-02 9.99648698e-01 -8.29399768e-05 -2.31001501e-02] [ 4.80947970e-03 -4.45482280e-05 9.99988433e-01 -2.12258461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440281693 meters 0.02236057358583419 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.02, Z:-0.02 [[ 9.99610898e-01 -2.73167172e-02 -5.64359878e-03 1.93004538e+01] [ 2.73166015e-02 9.99626827e-01 -9.75931705e-05 -2.42396149e-02] [ 5.64415867e-03 -5.66087421e-05 9.99984070e-01 -2.19589415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470281693 meters 0.02236057358583419 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.02, Z:-0.02 [[ 9.99606694e-01 -2.74701276e-02 -5.64358786e-03 1.93287591e+01] [ 2.74700108e-02 9.99622623e-01 -9.82217678e-05 -2.35971713e-02] [ 5.64415626e-03 -5.68462831e-05 9.99984070e-01 -2.19025969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500281693 meters 0.02233198255497931 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.02, Z:-0.02 [[ 9.99577248e-01 -2.83408738e-02 -6.49000635e-03 1.93575090e+01] [ 2.83407307e-02 9.99598314e-01 -1.14024327e-04 -2.07468216e-02] [ 6.49063095e-03 -6.99553989e-05 9.99978933e-01 -2.22153215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530281693 meters 0.022581567409769576 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.02, Z:-0.03 [[ 9.99573961e-01 -2.80526318e-02 -8.05889944e-03 1.93852339e+01] [ 2.80523959e-02 9.99606444e-01 -1.42329372e-04 -1.67330912e-02] [ 8.05972053e-03 -8.38027034e-05 9.99967516e-01 -2.54741800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560281693 meters 0.022577214124319425 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.02, Z:-0.03 [[ 9.99598026e-01 -2.70519938e-02 -8.48389373e-03 1.94130472e+01] [ 2.70516922e-02 9.99634025e-01 -1.50318895e-04 -1.50210560e-02] [ 8.48485526e-03 -7.92452119e-05 9.99964000e-01 -2.71688159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590281693 meters 0.020908961778069966 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.01, Z:-0.03 [[ 9.99612561e-01 -2.63424804e-02 -8.98894193e-03 1.94405727e+01] [ 2.63421000e-02 9.99652974e-01 -1.60738682e-04 -9.24810188e-03] [ 8.99005678e-03 -7.61112017e-05 9.99959586e-01 -2.61663985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620281693 meters 0.020588065786565052 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.00, Z:-0.03 [[ 9.99641201e-01 -2.48398206e-02 -1.00226295e-02 1.94682897e+01] [ 2.48392629e-02 9.99691442e-01 -1.80134472e-04 -3.58021266e-03] [ 1.00240114e-02 -6.88848891e-05 9.99949756e-01 -2.84395124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650281693 meters 0.0209215617909486 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.00, Z:-0.03 [[ 9.99652340e-01 -2.44396706e-02 -9.89452952e-03 1.94949544e+01] [ 2.44390964e-02 9.99701305e-01 -1.78963220e-04 -2.04539184e-03] [ 9.89594787e-03 -6.29123587e-05 9.99951032e-01 -2.95430083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680281693 meters 0.020308886425180476 Centerline is valid? [True, True] Translation: X:19.52, Y:0.00, Z:-0.03 [[ 9.99660231e-01 -2.44553006e-02 -9.02006850e-03 1.95236668e+01] [ 2.44548120e-02 9.99700923e-01 -1.64475651e-04 4.97845890e-04] [ 9.02139310e-03 -5.61643119e-05 9.99959305e-01 -2.68154181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710281693 meters 0.02143126270990922 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.00, Z:-0.02 [[ 9.99636420e-01 -2.59325876e-02 -7.38439432e-03 1.95507274e+01] [ 2.59322954e-02 9.99663692e-01 -1.35321499e-04 -3.38550130e-03] [ 7.38542013e-03 -5.62219968e-05 9.99972726e-01 -2.48761951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740281693 meters 0.021194388190349165 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.00, Z:-0.02 [[ 9.99596766e-01 -2.75790250e-02 -6.76037943e-03 1.95797295e+01] [ 2.75788116e-02 9.99619624e-01 -1.24804583e-04 -2.35327206e-03] [ 6.76124994e-03 -6.16889731e-05 9.99977141e-01 -2.24641150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770281693 meters 0.022125046525072436 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.00, Z:-0.02 [[ 9.99566092e-01 -2.87012891e-02 -6.62303166e-03 1.96079002e+01] [ 2.87011042e-02 9.99588031e-01 -1.22979160e-04 -3.92757731e-03] [ 6.62383284e-03 -6.71625234e-05 9.99978060e-01 -2.28803078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800281693000002 meters 0.0225091395029271 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.01, Z:-0.02 [[ 9.99540614e-01 -2.93505101e-02 -7.55696716e-03 1.96366384e+01] [ 2.93502798e-02 9.99569178e-01 -1.41401108e-04 -5.24179348e-03] [ 7.55786164e-03 -8.04629502e-05 9.99971436e-01 -2.44457874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830281693 meters 0.021986493513885465 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.00, Z:-0.02 [[ 9.99549754e-01 -2.91230067e-02 -7.22078290e-03 1.96647995e+01] [ 2.91227813e-02 9.99575833e-01 -1.36389952e-04 -4.59845316e-03] [ 7.22169217e-03 -7.39607378e-05 9.99973921e-01 -2.32974946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860281693 meters 0.020988946545117515 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.00, Z:-0.02 [[ 9.99603522e-01 -2.74421642e-02 -6.30289931e-03 1.96923599e+01] [ 2.74419554e-02 9.99623391e-01 -1.19625476e-04 -3.80380817e-03] [ 6.30380837e-03 -5.33858350e-05 9.99980129e-01 -2.10287801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890281693000002 meters 0.02062122111377854 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.00, Z:-0.02 [[ 9.99618933e-01 -2.66276622e-02 -7.27712838e-03 1.97214911e+01] [ 2.66273551e-02 9.99645419e-01 -1.39099578e-04 -2.04913349e-03] [ 7.27825195e-03 -5.47241091e-05 9.99973512e-01 -2.29276803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920281693 meters 0.020588186743427987 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.00, Z:-0.03 [[ 9.99620074e-01 -2.60115456e-02 -9.11628597e-03 1.97505580e+01] [ 2.60110239e-02 9.99661641e-01 -1.75811044e-04 -8.16643367e-04] [ 9.11777451e-03 -6.13796835e-05 9.99958430e-01 -2.62812618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950281693 meters 0.020997778601350728 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.00, Z:-0.03 [[ 9.99613619e-01 -2.56634261e-02 -1.06771364e-02 1.97787264e+01] [ 2.56626812e-02 9.99670638e-01 -2.06790194e-04 -1.48223823e-03] [ 1.06789267e-02 -6.72936530e-05 9.99942976e-01 -3.00193387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980281693000002 meters 0.020712336632798912 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.00, Z:-0.03 [[ 9.99622542e-01 -2.52892201e-02 -1.07344547e-02 1.98065113e+01] [ 2.52884273e-02 9.99680175e-01 -2.09599567e-04 -1.76152056e-03] [ 1.07363222e-02 -6.19370251e-05 9.99942362e-01 -2.96727797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010281693 meters 0.02013400836123368 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.00, Z:-0.03 [[ 9.99652065e-01 -2.46610218e-02 -9.35859857e-03 1.98342081e+01] [ 2.46603848e-02 9.99695870e-01 -1.83465491e-04 -2.99686947e-04] [ 9.36027679e-03 -4.73849855e-05 9.99956191e-01 -2.69703921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040281693 meters 0.018672322297441 Centerline is valid? [True, True] Translation: X:19.86, Y:0.01, Z:-0.02 [[ 9.99771171e-01 -2.06807048e-02 -5.46941300e-03 1.98631493e+01] [ 2.06804243e-02 9.99786131e-01 -1.07847858e-04 8.56381497e-03] [ 5.47047363e-03 -5.28660223e-06 9.99985037e-01 -1.83704770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070281693000002 meters 0.018675396509008815 Centerline is valid? [True, True] Translation: X:19.89, Y:0.02, Z:-0.02 [[ 9.99825495e-01 -1.80306447e-02 -4.88619541e-03 1.98913085e+01] [ 1.80303873e-02 9.99837435e-01 -9.67331149e-05 1.51213376e-02] [ 4.88714525e-03 8.61623891e-06 9.99988058e-01 -1.74559278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100281693 meters 0.019403943914961447 Centerline is valid? [True, True] Translation: X:19.92, Y:0.02, Z:-0.02 [[ 9.99870417e-01 -1.51335906e-02 -5.48843314e-03 1.99208894e+01] [ 1.51332213e-02 9.99885480e-01 -1.08812888e-04 2.15814344e-02] [ 5.48945134e-03 2.57411148e-05 9.99984933e-01 -1.85172514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130281693 meters 0.022813540819563854 Centerline is valid? [True, True] Translation: X:19.95, Y:0.03, Z:-0.02 [[ 9.99919664e-01 -9.91585871e-03 -7.89565677e-03 1.99495913e+01] [ 9.91492962e-03 9.99950834e-01 -1.56807002e-04 3.44421779e-02] [ 7.89682344e-03 7.85095240e-05 9.99968817e-01 -2.34227315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160281693 meters 0.024288499743789695 Centerline is valid? [True, True] Translation: X:19.98, Y:0.04, Z:-0.02 [[ 9.99928592e-01 -8.37157919e-03 -8.52801355e-03 1.99782807e+01] [ 8.37042986e-03 9.99964953e-01 -1.70455438e-04 4.06415758e-02] [ 8.52914164e-03 9.90601265e-05 9.99963621e-01 -2.47625792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190281693 meters 0.024699450025490895 Centerline is valid? [True, True] Translation: X:20.01, Y:0.04, Z:-0.02 [[ 9.99933062e-01 -7.46177908e-03 -8.84273199e-03 2.00068023e+01] [ 7.46049528e-03 9.99972154e-01 -1.78159101e-04 4.48553359e-02] [ 8.84381514e-03 1.12176015e-04 9.99960886e-01 -2.48217050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220281693 meters 0.025807776208137585 Centerline is valid? [True, True] Translation: X:20.03, Y:0.05, Z:-0.03 [[ 9.99937510e-01 -6.88865533e-03 -8.80472696e-03 2.00349422e+01] [ 6.88735415e-03 9.99976266e-01 -1.78094518e-04 4.94091183e-02] [ 8.80574482e-03 1.17442116e-04 9.99961222e-01 -2.53001357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250281693 meters 0.024670683365586622 Centerline is valid? [True, True] Translation: X:20.06, Y:0.05, Z:-0.02 [[ 9.99935358e-01 -7.94028850e-03 -8.13822379e-03 2.00638812e+01] [ 7.93920295e-03 9.99968470e-01 -1.65686204e-04 4.86175786e-02] [ 8.13928279e-03 1.01064484e-04 9.99966870e-01 -2.38109321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280281693 meters 0.022867423332238488 Centerline is valid? [True, True] Translation: X:20.09, Y:0.05, Z:-0.02 [[ 9.99919839e-01 -9.78519897e-03 -8.03531350e-03 2.00927445e+01] [ 9.78418987e-03 9.99952120e-01 -1.64884967e-04 4.56881765e-02] [ 8.03654220e-03 8.62527164e-05 9.99967703e-01 -2.26480307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310281693 meters 0.021335370688567296 Centerline is valid? [True, True] Translation: X:20.12, Y:0.05, Z:-0.02 [[ 9.99865368e-01 -1.33577652e-02 -9.52971462e-03 2.01205228e+01] [ 1.33564982e-02 9.99910779e-01 -1.96584257e-04 4.50112891e-02] [ 9.53149029e-03 6.92741743e-05 9.99954572e-01 -2.49233320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340281693 meters 0.020846709881922807 Centerline is valid? [True, True] Translation: X:20.15, Y:0.05, Z:-0.03 [[ 9.99847895e-01 -1.43603300e-02 -9.89789009e-03 2.01480896e+01] [ 1.43590061e-02 9.99896883e-01 -2.04803678e-04 4.70423045e-02] [ 9.89981050e-03 6.26486617e-05 9.99950994e-01 -2.53204420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370281693 meters 0.02006725445790638 Centerline is valid? [True, True] Translation: X:20.18, Y:0.05, Z:-0.02 [[ 9.99851071e-01 -1.50167810e-02 -8.50477591e-03 2.01769455e+01] [ 1.50158175e-02 9.99887241e-01 -1.77140264e-04 4.78506048e-02] [ 8.50647699e-03 4.94077207e-05 9.99963818e-01 -2.22893879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400281693 meters 0.01952611881893875 Centerline is valid? [True, True] Translation: X:20.20, Y:0.05, Z:-0.02 [[ 9.99862072e-01 -1.57162660e-02 -5.36993584e-03 2.02047539e+01] [ 1.57158898e-02 9.99876491e-01 -1.12247533e-04 5.03713267e-02] [ 5.37103672e-03 2.78387312e-05 9.99985575e-01 -1.66144675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430281693 meters 0.01952306365820806 Centerline is valid? [True, True] Translation: X:20.23, Y:0.05, Z:-0.02 [[ 9.99863734e-01 -1.59275744e-02 -4.33875668e-03 2.02329937e+01] [ 1.59273289e-02 9.99873148e-01 -9.11473247e-05 5.30242738e-02] [ 4.33965805e-03 2.20301000e-05 9.99990583e-01 -1.53970398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460281693 meters 0.019266726713583062 Centerline is valid? [True, True] Translation: X:20.26, Y:0.06, Z:-0.01 [[ 9.99861786e-01 -1.60596514e-02 -4.30074083e-03 2.02625413e+01] [ 1.60594099e-02 9.99871035e-01 -9.07032727e-05 5.52144351e-02] [ 4.30164284e-03 2.16233766e-05 9.99990748e-01 -1.48004421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490281693 meters 0.01845985547941871 Centerline is valid? [True, True] Translation: X:20.29, Y:0.06, Z:-0.01 [[ 9.99829134e-01 -1.80837196e-02 -3.83160653e-03 2.02922217e+01] [ 1.80835424e-02 9.99836476e-01 -8.08917534e-05 5.63672961e-02] [ 3.83244280e-03 1.15889127e-05 9.99992656e-01 -1.45989563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520281693 meters 0.018208368389822375 Centerline is valid? [True, True] Translation: X:20.32, Y:0.05, Z:-0.02 [[ 9.99785833e-01 -2.02592741e-02 -4.22502703e-03 2.03220742e+01] [ 2.02590776e-02 9.99794760e-01 -8.93018372e-05 5.49485379e-02] [ 4.22596908e-03 3.68756090e-06 9.99991071e-01 -1.61394892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550281693000002 meters 0.01864828771745602 Centerline is valid? [True, True] Translation: X:20.35, Y:0.05, Z:-0.02 [[ 9.99705513e-01 -2.37087527e-02 -5.17518804e-03 2.03512171e+01] [ 2.37085037e-02 9.99718908e-01 -1.09479214e-04 5.05559288e-02] [ 5.17632895e-03 -1.32489906e-05 9.99986603e-01 -1.87646502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580281693 meters 0.019870289183687044 Centerline is valid? [True, True] Translation: X:20.38, Y:0.05, Z:-0.02 [[ 9.99604265e-01 -2.75483298e-02 -5.69229706e-03 2.03812755e+01] [ 2.75480901e-02 9.99620472e-01 -1.20527513e-04 4.56051224e-02] [ 5.69345701e-03 -3.63320958e-05 9.99983791e-01 -1.91827921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610281693 meters 0.023936290293217036 Centerline is valid? [True, True] Translation: X:20.41, Y:0.04, Z:-0.02 [[ 9.99346603e-01 -3.58006919e-02 -4.96755286e-03 2.04110403e+01] [ 3.58006107e-02 9.99358947e-01 -1.05291472e-04 3.56785205e-02] [ 4.96813791e-03 -7.26187509e-05 9.99987656e-01 -1.69999299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640281693000002 meters 0.02718728760960016 Centerline is valid? [True, True] Translation: X:20.44, Y:0.03, Z:-0.02 [[ 9.99214719e-01 -3.93304407e-02 -4.80226182e-03 2.04402106e+01] [ 3.93304049e-02 9.99226255e-01 -1.01932128e-04 2.89605997e-02] [ 4.80255513e-03 -8.70228189e-05 9.99988464e-01 -1.70358356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670281693 meters 0.02955013416687592 Centerline is valid? [True, True] Translation: X:20.47, Y:0.02, Z:-0.02 [[ 9.99087094e-01 -4.24340365e-02 -4.93276058e-03 2.04701502e+01] [ 4.24340358e-02 9.99099265e-01 -1.04841944e-04 2.31196513e-02] [ 4.93276633e-03 -1.04570706e-04 9.99987828e-01 -1.77927211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700281693 meters 0.03238981412442616 Centerline is valid? [True, True] Translation: X:20.50, Y:0.01, Z:-0.02 [[ 9.98896072e-01 -4.66359538e-02 -5.63256466e-03 2.04994101e+01] [ 4.66360186e-02 9.98911942e-01 -1.19897152e-04 1.27225050e-02] [ 5.63202762e-03 -1.42915596e-04 9.99984130e-01 -1.90428452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730281693000002 meters 0.034866959325223074 Centerline is valid? [True, True] Translation: X:20.53, Y:0.01, Z:-0.02 [[ 9.98860241e-01 -4.73208124e-02 -6.24182932e-03 2.05277246e+01] [ 4.73209034e-02 9.98879730e-01 -1.33192079e-04 7.18081805e-03] [ 6.24113954e-03 -1.62328730e-04 9.99980511e-01 -1.99113394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760281693 meters 0.033067576894128696 Centerline is valid? [True, True] Translation: X:20.56, Y:0.00, Z:-0.02 [[ 9.98943140e-01 -4.54777741e-02 -6.66151779e-03 2.05568386e+01] [ 4.54778312e-02 9.98965338e-01 -1.42988303e-04 4.24003107e-03] [ 6.66112816e-03 -1.60114197e-04 9.99977802e-01 -2.00479556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790281693 meters 0.030447476232458248 Centerline is valid? [True, True] Translation: X:20.59, Y:0.00, Z:-0.02 [[ 9.99039811e-01 -4.34249222e-02 -5.80796488e-03 2.05856191e+01] [ 4.34249283e-02 9.99056685e-01 -1.25107873e-04 4.16052827e-03] [ 5.80791894e-03 -1.27222712e-04 9.99983126e-01 -1.90070481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820281693000002 meters 0.028287984983814733 Centerline is valid? [True, True] Translation: X:20.61, Y:0.00, Z:-0.02 [[ 9.99136495e-01 -4.11746133e-02 -5.56013192e-03 2.06148580e+01] [ 4.11745806e-02 9.99151960e-01 -1.20393142e-04 3.78468589e-03] [ 5.56037384e-03 -1.08646918e-04 9.99984535e-01 -1.81344398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850281693 meters 0.027001047462022205 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.00, Z:-0.02 [[ 9.99311843e-01 -3.65903543e-02 -6.08156964e-03 2.06434157e+01] [ 3.65902275e-02 9.99330345e-01 -1.32152324e-04 -2.17877125e-05] [ 6.08233259e-03 -9.04646344e-05 9.99981498e-01 -1.94373607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880281693 meters 0.023248218577755542 Centerline is valid? [True, True] Translation: X:20.67, Y:0.01, Z:-0.02 [[ 9.99387384e-01 -3.43833611e-02 -6.53006425e-03 2.06723350e+01] [ 3.43831626e-02 9.99408714e-01 -1.42696645e-04 5.43986093e-03] [ 6.53110950e-03 -8.19150341e-05 9.99978669e-01 -1.91122478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910281693 meters 0.021687970786507145 Centerline is valid? [True, True] Translation: X:20.70, Y:0.01, Z:-0.02 [[ 9.99467281e-01 -3.18577425e-02 -7.08795374e-03 2.07014048e+01] [ 3.18574369e-02 9.99492411e-01 -1.56046286e-04 7.26919853e-03] [ 7.08932725e-03 -6.98408818e-05 9.99974868e-01 -1.99539778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940281693 meters 0.020540720121459393 Centerline is valid? [True, True] Translation: X:20.73, Y:0.01, Z:-0.02 [[ 9.99525953e-01 -2.97917715e-02 -7.76661210e-03 2.07297783e+01] [ 2.97913322e-02 9.99556125e-01 -1.72262566e-04 8.78255182e-03] [ 7.76829670e-03 -5.91968165e-05 9.99969825e-01 -2.07742748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970281693 meters 0.01870719664592192 Centerline is valid? [True, True] Translation: X:20.76, Y:0.01, Z:-0.02 [[ 9.99636552e-01 -2.60673791e-02 -6.87433394e-03 2.07585421e+01] [ 2.60669394e-02 9.99660188e-01 -1.53562556e-04 1.27469527e-02] [ 6.87600093e-03 -2.56861020e-05 9.99976360e-01 -1.84726683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000281693 meters 0.018162651995447008 Centerline is valid? [True, True] Translation: X:20.79, Y:0.02, Z:-0.02 [[ 9.99687287e-01 -2.41713662e-02 -6.40878733e-03 2.07864540e+01] [ 2.41709384e-02 9.99707830e-01 -1.44197674e-04 1.59303044e-02] [ 6.41040033e-03 -1.07538227e-05 9.99979453e-01 -1.80009222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030281693 meters 0.01803239777875856 Centerline is valid? [True, True] Translation: X:20.81, Y:0.02, Z:-0.02 [[ 9.99730316e-01 -2.25705473e-02 -5.46487663e-03 2.08138384e+01] [ 2.25702098e-02 9.99745253e-01 -1.23434904e-04 1.88125647e-02] [ 5.46627046e-03 5.82040340e-08 9.99985060e-01 -1.67006153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060281693 meters 0.01818691708917614 Centerline is valid? [True, True] Translation: X:20.84, Y:0.02, Z:-0.02 [[ 9.99773367e-01 -2.07052662e-02 -4.95051163e-03 2.08430041e+01] [ 2.07049635e-02 9.99785623e-01 -1.12397696e-04 1.98918548e-02] [ 4.95177758e-03 9.87206076e-06 9.99987740e-01 -1.61246243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090281693 meters 0.018199998784346968 Centerline is valid? [True, True] Translation: X:20.87, Y:0.02, Z:-0.02 [[ 9.99773228e-01 -2.06190593e-02 -5.32421721e-03 2.08721218e+01] [ 2.06187032e-02 9.99787405e-01 -1.21778981e-04 1.97962165e-02] [ 5.32559627e-03 1.19729109e-05 9.99985819e-01 -1.71237015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120281693 meters 0.018112064532005596 Centerline is valid? [True, True] Translation: X:20.90, Y:0.02, Z:-0.02 [[ 9.99756537e-01 -2.11688007e-02 -6.22479646e-03 2.09006714e+01] [ 2.11683176e-02 9.99775916e-01 -1.43483999e-04 1.87605056e-02] [ 6.22643897e-03 1.16805979e-05 9.99980615e-01 -1.88588016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150281693 meters 0.018604695145065728 Centerline is valid? [True, True] Translation: X:20.93, Y:0.01, Z:-0.02 [[ 9.99674441e-01 -2.38281391e-02 -9.12316061e-03 2.09286491e+01] [ 2.38272017e-02 9.99716070e-01 -2.11442616e-04 1.32082457e-02] [ 9.12560855e-03 -6.00560955e-06 9.99958361e-01 -2.47166358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180281693 meters 0.018872709447521757 Centerline is valid? [True, True] Translation: X:20.96, Y:0.01, Z:-0.03 [[ 9.99641546e-01 -2.48268888e-02 -1.00202542e-02 2.09568544e+01] [ 2.48258015e-02 9.99691765e-01 -2.32895295e-04 1.09991945e-02] [ 1.00229476e-02 -1.59490283e-05 9.99949769e-01 -2.65691464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210281693 meters 0.0189274120504209 Centerline is valid? [True, True] Translation: X:20.98, Y:0.01, Z:-0.03 [[ 9.99625850e-01 -2.56807863e-02 -9.41583203e-03 2.09834924e+01] [ 2.56798576e-02 9.99670194e-01 -2.19545409e-04 6.65972768e-03] [ 9.41836473e-03 -2.23339595e-05 9.99955646e-01 -2.59063962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240281693 meters 0.018684506037267616 Centerline is valid? [True, True] Translation: X:21.01, Y:0.01, Z:-0.02 [[ 9.99648067e-01 -2.51109219e-02 -8.55476564e-03 2.10117563e+01] [ 2.51101300e-02 9.99684671e-01 -1.99974242e-04 7.13572265e-03] [ 8.55708961e-03 -1.49074128e-05 9.99963387e-01 -2.41143319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270281693 meters 0.018355825023367484 Centerline is valid? [True, True] Translation: X:21.04, Y:0.01, Z:-0.02 [[ 9.99669032e-01 -2.44894066e-02 -7.88008758e-03 2.10399415e+01] [ 2.44887059e-02 9.99700089e-01 -1.85414914e-04 9.32189769e-03] [ 7.88226496e-03 -7.61959927e-06 9.99968934e-01 -2.19816165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300281693000002 meters 0.018390832355340458 Centerline is valid? [True, True] Translation: X:21.07, Y:0.01, Z:-0.02 [[ 9.99683352e-01 -2.38124980e-02 -8.13389463e-03 2.10665390e+01] [ 2.38117194e-02 9.99716442e-01 -1.92573310e-04 1.14235623e-02] [ 8.13617385e-03 -1.16968456e-06 9.99966901e-01 -2.28181493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330281693 meters 0.018769276639740835 Centerline is valid? [True, True] Translation: X:21.09, Y:0.01, Z:-0.02 [[ 9.99732713e-01 -2.14105856e-02 -8.72293856e-03 2.10949275e+01] [ 2.14095869e-02 9.99770767e-01 -2.07868499e-04 1.43425812e-02] [ 8.72538956e-03 2.10584269e-05 9.99961933e-01 -2.37620989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360281693 meters 0.018769276639740835 Centerline is valid? [True, True] Translation: X:21.12, Y:0.02, Z:-0.02 [[ 9.99728805e-01 -2.15923169e-02 -8.72290169e-03 2.11223907e+01] [ 2.15913116e-02 9.99766859e-01 -2.09408960e-04 1.52023637e-02] [ 8.72538964e-03 2.10132802e-05 9.99961933e-01 -2.37074081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390281693000002 meters 0.018541711923314386 Centerline is valid? [True, True] Translation: X:21.15, Y:0.02, Z:-0.02 [[ 9.99755085e-01 -2.07920100e-02 -7.58037885e-03 2.11499156e+01] [ 2.07912174e-02 9.99783822e-01 -1.83366046e-04 1.56645264e-02] [ 7.58255269e-03 2.57158323e-05 9.99971252e-01 -2.15097242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420281693 meters 0.018634740207663533 Centerline is valid? [True, True] Translation: X:21.18, Y:0.02, Z:-0.02 [[ 9.99769549e-01 -2.04941637e-02 -6.39051552e-03 2.11774439e+01] [ 2.04935906e-02 9.99789972e-01 -1.55166704e-04 1.69635552e-02] [ 6.39235334e-03 2.41663371e-05 9.99979568e-01 -2.00388950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450281693 meters 0.017968424532959812 Centerline is valid? [True, True] Translation: X:21.21, Y:0.01, Z:-0.02 [[ 9.99741394e-01 -2.22936635e-02 -4.48754942e-03 2.12061081e+01] [ 2.22933968e-02 9.99751465e-01 -1.09444875e-04 1.40273062e-02] [ 4.48887403e-03 9.37385183e-06 9.99989925e-01 -1.70194336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480281693000002 meters 0.01778930346353256 Centerline is valid? [True, True] Translation: X:21.23, Y:0.01, Z:-0.02 [[ 9.99705440e-01 -2.37985737e-02 -4.76027122e-03 2.12343186e+01] [ 2.37982884e-02 9.99716774e-01 -1.16592040e-04 1.08465245e-02] [ 4.76169771e-03 3.27138967e-06 9.99988663e-01 -1.74792541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510281693 meters 0.017837732381803813 Centerline is valid? [True, True] Translation: X:21.26, Y:0.01, Z:-0.02 [[ 9.99656929e-01 -2.56871184e-02 -5.11831591e-03 2.12634552e+01] [ 2.56868100e-02 9.99670032e-01 -1.25985957e-04 7.91616542e-03] [ 5.11986324e-03 -5.53047369e-06 9.99986893e-01 -1.76077610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540281693 meters 0.018475455300363017 Centerline is valid? [True, True] Translation: X:21.29, Y:0.00, Z:-0.02 [[ 9.99554178e-01 -2.91562372e-02 -6.43109388e-03 2.12921380e+01] [ 2.91558149e-02 9.99574866e-01 -1.59433305e-04 4.55969254e-03] [ 6.43300828e-03 -2.81415570e-05 9.99979308e-01 -1.92280245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570281693000002 meters 0.01896118850162845 Centerline is valid? [True, True] Translation: X:21.32, Y:0.00, Z:-0.02 [[ 9.99516184e-01 -3.03147844e-02 -6.95790996e-03 2.13201462e+01] [ 3.03143125e-02 9.99540401e-01 -1.73300410e-04 3.90560903e-03] [ 6.95996567e-03 -3.77076922e-05 9.99975778e-01 -2.01974624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600281693 meters 0.01877749512741786 Centerline is valid? [True, True] Translation: X:21.35, Y:0.00, Z:-0.02 [[ 9.99525037e-01 -3.01653035e-02 -6.30512126e-03 2.13479252e+01] [ 3.01649070e-02 9.99544923e-01 -1.58009873e-04 2.94090904e-03] [ 6.30701836e-03 -3.22585725e-05 9.99980110e-01 -1.86095425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630281693 meters 0.01850331991387589 Centerline is valid? [True, True] Translation: X:21.38, Y:0.00, Z:-0.02 [[ 9.99549720e-01 -2.94103238e-02 -5.94896554e-03 2.13760233e+01] [ 2.94099509e-02 9.99567423e-01 -1.50169376e-04 4.27207456e-03] [ 5.95080869e-03 -2.48570265e-05 9.99982293e-01 -1.74173635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660281693 meters 0.01807176460224462 Centerline is valid? [True, True] Translation: X:21.40, Y:0.01, Z:-0.02 [[ 9.99587133e-01 -2.81089249e-02 -5.95412014e-03 2.14039557e+01] [ 2.81085248e-02 9.99604866e-01 -1.50898294e-04 7.31962786e-03] [ 5.95600905e-03 -1.65255400e-05 9.99982263e-01 -1.77694336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690281693 meters 0.01807038501184336 Centerline is valid? [True, True] Translation: X:21.43, Y:0.02, Z:-0.02 [[ 9.99698819e-01 -2.37420609e-02 -6.21179438e-03 2.14314298e+01] [ 2.37415380e-02 9.99718117e-01 -1.57914382e-04 1.72206157e-02] [ 6.21379259e-03 1.03892688e-05 9.99980694e-01 -1.90177637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720281693 meters 0.01829908234682115 Centerline is valid? [True, True] Translation: X:21.46, Y:0.02, Z:-0.02 [[ 9.99745902e-01 -2.17886002e-02 -5.77824713e-03 2.14590396e+01] [ 2.17881101e-02 9.99762600e-01 -1.47748265e-04 2.24281719e-02] [ 5.78009461e-03 2.18136379e-05 9.99983295e-01 -1.81173348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750281693 meters 0.019406188276262077 Centerline is valid? [True, True] Translation: X:21.49, Y:0.03, Z:-0.02 [[ 9.99794042e-01 -1.95274473e-02 -5.52748625e-03 2.14866514e+01] [ 1.95269613e-02 9.99809321e-01 -1.41886681e-04 2.84872472e-02] [ 5.52920295e-03 3.39224480e-05 9.99984713e-01 -1.69865937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780281693 meters 0.020405363908626156 Centerline is valid? [True, True] Translation: X:21.51, Y:0.03, Z:-0.01 [[ 9.99841547e-01 -1.72028237e-02 -4.57644499e-03 2.15149970e+01] [ 1.72024639e-02 9.99852020e-01 -1.17982808e-04 3.42034327e-02] [ 4.57779740e-03 3.92379838e-05 9.99989521e-01 -1.44227106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810281693 meters 0.024822970077996054 Centerline is valid? [True, True] Translation: X:21.54, Y:0.05, Z:-0.01 [[ 9.99918713e-01 -1.17949305e-02 -4.84216413e-03 2.15427971e+01] [ 1.17944620e-02 9.99930435e-01 -1.25300678e-04 4.84340993e-02] [ 4.84330520e-03 6.81797722e-05 9.99988269e-01 -1.47522098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840281693 meters 0.026541339706873602 Centerline is valid? [True, True] Translation: X:21.57, Y:0.05, Z:-0.02 [[ 9.99935780e-01 -1.00484457e-02 -5.24064277e-03 2.15710822e+01] [ 1.00478718e-02 9.99949510e-01 -1.35820049e-04 5.45934478e-02] [ 5.24174295e-03 8.31540195e-05 9.99986259e-01 -1.55513171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870281693 meters 0.02824891816678474 Centerline is valid? [True, True] Translation: X:21.60, Y:0.06, Z:-0.02 [[ 9.99950985e-01 -8.54196578e-03 -5.00622947e-03 2.15993630e+01] [ 8.54142053e-03 9.99963513e-01 -1.30283601e-04 6.07077500e-02] [ 5.00715968e-03 8.75169045e-05 9.99987460e-01 -1.51157744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900281693 meters 0.03378986132033904 Centerline is valid? [True, True] Translation: X:21.63, Y:0.08, Z:-0.02 [[ 9.99971194e-01 -6.20103891e-03 -4.37699857e-03 2.16265691e+01] [ 6.20059792e-03 9.99980770e-01 -1.14315395e-04 7.61048107e-02] [ 4.37762327e-03 8.71720935e-05 9.99990414e-01 -1.51991959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930281693 meters 0.029933653987333306 Centerline is valid? [True, True] Translation: X:21.66, Y:0.07, Z:-0.01 [[ 9.99976066e-01 -6.05531562e-03 -3.34679644e-03 2.16554298e+01] [ 6.05505595e-03 9.99981664e-01 -8.77132188e-05 7.49455190e-02] [ 3.34726621e-03 6.74460798e-05 9.99994396e-01 -1.30304918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960281693 meters 0.02996047050204339 Centerline is valid? [True, True] Translation: X:21.68, Y:0.08, Z:-0.01 [[ 9.99976143e-01 -6.50564501e-03 -2.32185415e-03 2.16845170e+01] [ 6.50552071e-03 9.99978837e-01 -6.10815285e-05 7.85245763e-02] [ 2.32220239e-03 4.59752009e-05 9.99997303e-01 -1.09149394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990281693 meters 0.02768139602050259 Centerline is valid? [True, True] Translation: X:21.71, Y:0.08, Z:-0.01 [[ 9.99963038e-01 -8.34887445e-03 -2.05386627e-03 2.17141263e+01] [ 8.34878100e-03 9.99965147e-01 -5.40732470e-05 7.77114521e-02] [ 2.05424614e-03 3.69239687e-05 9.99997889e-01 -1.04083501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020281693 meters 0.0282071969592543 Centerline is valid? [True, True] Translation: X:21.74, Y:0.08, Z:-0.01 [[ 9.99949717e-01 -9.40975952e-03 -3.46692684e-03 2.17432055e+01] [ 9.40949928e-03 9.99955726e-01 -9.13694811e-05 8.06402617e-02] [ 3.46763311e-03 5.87428412e-05 9.99993986e-01 -1.25039058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050281693000002 meters 0.0277876363174943 Centerline is valid? [True, True] Translation: X:21.77, Y:0.09, Z:-0.02 [[ 9.99935477e-01 -1.02067309e-02 -4.98652280e-03 2.17716809e+01] [ 1.02062016e-02 9.99947907e-01 -1.31572322e-04 8.58197379e-02] [ 4.98760596e-03 8.06703753e-05 9.99987559e-01 -1.55770350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080281693 meters 0.02663110214062267 Centerline is valid? [True, True] Translation: X:21.80, Y:0.09, Z:-0.02 [[ 9.99938130e-01 -1.00928931e-02 -4.67642156e-03 2.18005633e+01] [ 1.00924240e-02 9.99949063e-01 -1.23894968e-04 8.66459595e-02] [ 4.67743382e-03 7.66908735e-05 9.99989058e-01 -1.51921062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110281693 meters 0.02765047210134297 Centerline is valid? [True, True] Translation: X:21.83, Y:0.09, Z:-0.01 [[ 9.99940750e-01 -1.01533470e-02 -3.92512103e-03 2.18289868e+01] [ 1.01530157e-02 9.99948451e-01 -1.04322721e-04 8.96514813e-02] [ 3.92597792e-03 6.44647244e-05 9.99992291e-01 -1.38315831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140281693000002 meters 0.026233735194060543 Centerline is valid? [True, True] Translation: X:21.86, Y:0.09, Z:-0.01 [[ 9.99942217e-01 -1.05108009e-02 -2.25509668e-03 2.18583799e+01] [ 1.05106924e-02 9.99944759e-01 -5.99813569e-05 8.92011362e-02] [ 2.25560256e-03 3.62752636e-05 9.99997455e-01 -1.10078026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170281693 meters 0.02539250173989876 Centerline is valid? [True, True] Translation: X:21.89, Y:0.09, Z:-0.01 [[ 9.99930967e-01 -1.15495031e-02 -2.16117674e-03 2.18888980e+01] [ 1.15494057e-02 9.99933302e-01 -5.75266349e-05 8.96126824e-02] [ 2.16169700e-03 3.25623566e-05 9.99997663e-01 -1.15997526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200281693 meters 0.02406346875643755 Centerline is valid? [True, True] Translation: X:21.92, Y:0.09, Z:-0.01 [[ 9.99909821e-01 -1.30423955e-02 -3.20099126e-03 2.19190843e+01] [ 1.30421896e-02 9.99914943e-01 -8.52046257e-05 8.89200884e-02] [ 3.20183026e-03 4.34490073e-05 9.99994873e-01 -1.36057080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230281693000002 meters 0.022569004201418507 Centerline is valid? [True, True] Translation: X:21.95, Y:0.09, Z:-0.02 [[ 9.99876386e-01 -1.50605785e-02 -4.51577048e-03 2.19491899e+01] [ 1.50601889e-02 9.99886582e-01 -1.20258475e-04 8.67044887e-02] [ 4.51706947e-03 5.22352523e-05 9.99989797e-01 -1.63315030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260281693 meters 0.019493184940685533 Centerline is valid? [True, True] Translation: X:21.98, Y:0.08, Z:-0.02 [[ 9.99781006e-01 -2.01471694e-02 -5.65957710e-03 2.19776262e+01] [ 2.01466354e-02 9.99797024e-01 -1.51350709e-04 7.71321288e-02] [ 5.66147763e-03 3.72961271e-05 9.99983973e-01 -1.80682372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290281693 meters 0.017723703627314697 Centerline is valid? [True, True] Translation: X:22.01, Y:0.07, Z:-0.01 [[ 9.99727016e-01 -2.29511164e-02 -4.37485488e-03 2.20066119e+01] [ 2.29508214e-02 9.99736588e-01 -1.17635279e-04 7.27747216e-02] [ 4.37640236e-03 1.71966540e-05 9.99990423e-01 -1.47043131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320281693000002 meters 0.017265151597487403 Centerline is valid? [True, True] Translation: X:22.04, Y:0.07, Z:-0.01 [[ 9.99673446e-01 -2.53770400e-02 -3.00126886e-03 2.20350524e+01] [ 2.53769113e-02 9.99677951e-01 -8.09658177e-05 7.11718168e-02] [ 3.00235698e-03 4.77644420e-06 9.99995493e-01 -1.18438298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350281693 meters 0.016965868389330573 Centerline is valid? [True, True] Translation: X:22.06, Y:0.07, Z:-0.01 [[ 9.99633957e-01 -2.70250458e-02 -1.26474272e-03 2.20643518e+01] [ 2.70250242e-02 9.99634757e-01 -3.41410249e-05 6.91506930e-02] [ 1.26520344e-03 -5.11747642e-08 9.99999200e-01 -8.44417778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380281693 meters 0.016947436215263057 Centerline is valid? [True, True] Translation: X:22.09, Y:0.07, Z:-0.01 [[ 9.99626119e-01 -2.73124637e-02 -1.28546288e-03 2.20943576e+01] [ 2.73124417e-02 9.99626945e-01 -3.47245075e-05 6.81154766e-02] [ 1.28593175e-03 -3.97605361e-07 9.99999173e-01 -9.46837446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410281693 meters 0.01720565790252322 Centerline is valid? [True, True] Translation: X:22.12, Y:0.06, Z:-0.01 [[ 9.99589556e-01 -2.85882381e-02 -1.85266870e-03 2.21236241e+01] [ 2.85881944e-02 9.99591273e-01 -5.00382039e-05 6.36951145e-02] [ 1.85334196e-03 -2.94678679e-06 9.99998283e-01 -1.06443219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440281693 meters 0.017199730474932905 Centerline is valid? [True, True] Translation: X:22.15, Y:0.06, Z:-0.01 [[ 9.99584815e-01 -2.87632274e-02 -1.69513892e-03 2.21531233e+01] [ 2.87631911e-02 9.99586253e-01 -4.57969022e-05 6.36637394e-02] [ 1.69575483e-03 -2.97971670e-06 9.99998562e-01 -1.04429565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470281693 meters 0.017205976568053723 Centerline is valid? [True, True] Translation: X:22.18, Y:0.07, Z:-0.01 [[ 9.99603300e-01 -2.80838332e-02 -2.13094457e-03 2.21826849e+01] [ 2.80837741e-02 9.99605571e-01 -5.76275767e-05 6.54859565e-02] [ 2.13172247e-03 -2.24025033e-06 9.99997728e-01 -1.08942577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500281693 meters 0.017248657399280106 Centerline is valid? [True, True] Translation: X:22.21, Y:0.07, Z:-0.01 [[ 9.99631158e-01 -2.70421972e-02 -2.50351249e-03 2.22124817e+01] [ 2.70421123e-02 9.99634293e-01 -6.77640142e-05 6.78259571e-02] [ 2.50442943e-03 3.87538700e-08 9.99996864e-01 -1.10962388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530281693 meters 0.017939105621483365 Centerline is valid? [True, True] Translation: X:22.24, Y:0.07, Z:-0.02 [[ 9.99689718e-01 -2.44914670e-02 -4.54272119e-03 2.22412529e+01] [ 2.44911604e-02 9.99700039e-01 -1.23118475e-04 7.22210076e-02] [ 4.54437390e-03 1.18237602e-05 9.99989674e-01 -1.53394353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560281693 meters 0.018611324399371285 Centerline is valid? [True, True] Translation: X:22.27, Y:0.08, Z:-0.02 [[ 9.99707315e-01 -2.34375027e-02 -5.99724202e-03 2.22707806e+01] [ 2.34369483e-02 9.99725304e-01 -1.62707542e-04 7.51553282e-02] [ 5.99940806e-03 2.21028682e-05 9.99982003e-01 -1.77628055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590281693 meters 0.019898640355889202 Centerline is valid? [True, True] Translation: X:22.30, Y:0.08, Z:-0.02 [[ 9.99759296e-01 -2.11152573e-02 -5.95788067e-03 2.22986775e+01] [ 2.11146669e-02 9.99777047e-01 -1.61997147e-04 8.12154000e-02] [ 5.95997295e-03 3.61594879e-05 9.99982239e-01 -1.76389586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620281693 meters 0.01985811158812523 Centerline is valid? [True, True] Translation: X:22.33, Y:0.08, Z:-0.01 [[ 9.99788165e-01 -2.00757400e-02 -4.53770072e-03 2.23267116e+01] [ 2.00753842e-02 9.99798461e-01 -1.23946734e-04 8.20682577e-02] [ 4.53927452e-03 3.28243923e-05 9.99989697e-01 -1.45311068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650281693 meters 0.02123173139679418 Centerline is valid? [True, True] Translation: X:22.36, Y:0.09, Z:-0.01 [[ 9.99805561e-01 -1.93658942e-02 -3.71514928e-03 2.23556347e+01] [ 1.93656495e-02 9.99812463e-01 -1.01822907e-04 8.61098347e-02] [ 3.71642444e-03 2.98568300e-05 9.99993094e-01 -1.35679261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680281693 meters 0.020892984151571693 Centerline is valid? [True, True] Translation: X:22.39, Y:0.08, Z:-0.02 [[ 9.99782547e-01 -2.04112335e-02 -4.27089959e-03 2.23855506e+01] [ 2.04109191e-02 9.99791669e-01 -1.17181762e-04 8.49236699e-02] [ 4.27240166e-03 2.99832937e-05 9.99990873e-01 -1.50640868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710281693 meters 0.020808459393883195 Centerline is valid? [True, True] Translation: X:22.41, Y:0.09, Z:-0.02 [[ 9.99772202e-01 -2.08059890e-02 -4.75978495e-03 2.24147280e+01] [ 2.08056025e-02 9.99783531e-01 -1.30699195e-04 8.54386360e-02] [ 4.76147394e-03 3.16392278e-05 9.99988664e-01 -1.53994339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740281693 meters 0.02097372340358997 Centerline is valid? [True, True] Translation: X:22.44, Y:0.09, Z:-0.01 [[ 9.99781811e-01 -2.06652678e-02 -3.04592697e-03 2.24443164e+01] [ 2.06651087e-02 9.99786450e-01 -8.36866493e-05 8.84470697e-02] [ 3.04700592e-03 2.07239777e-05 9.99995358e-01 -1.19597358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770281693 meters 0.02135737470279569 Centerline is valid? [True, True] Translation: X:22.47, Y:0.09, Z:-0.01 [[ 9.99788748e-01 -2.03885964e-02 -2.60081703e-03 2.24741512e+01] [ 2.03884793e-02 9.99792131e-01 -7.15051935e-05 9.05957634e-02] [ 2.60173429e-03 1.84633836e-05 9.99996615e-01 -1.12684992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800281693 meters 0.021465080145121964 Centerline is valid? [True, True] Translation: X:22.50, Y:0.09, Z:-0.01 [[ 9.99789638e-01 -2.03006319e-02 -2.92642917e-03 2.25039314e+01] [ 2.03004831e-02 9.99793921e-01 -8.05234687e-05 9.17747556e-02] [ 2.92746077e-03 2.10986037e-05 9.99995715e-01 -1.19841746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830281693 meters 0.022152074206786734 Centerline is valid? [True, True] Translation: X:22.53, Y:0.09, Z:-0.02 [[ 9.99794035e-01 -1.98196258e-02 -4.36703049e-03 2.25334276e+01] [ 1.98192895e-02 9.99803571e-01 -1.20274243e-04 9.35997803e-02] [ 4.36855647e-03 3.36980297e-05 9.99990457e-01 -1.52386223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860281693 meters 0.02224983788720044 Centerline is valid? [True, True] Translation: X:22.56, Y:0.10, Z:-0.02 [[ 9.99805647e-01 -1.87924900e-02 -5.95906113e-03 2.25627691e+01] [ 1.87918447e-02 9.99823404e-01 -1.64265988e-04 9.52772691e-02] [ 5.96109575e-03 5.22523111e-05 9.99982231e-01 -1.73468303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890281693000002 meters 0.02232196702728844 Centerline is valid? [True, True] Translation: X:22.59, Y:0.10, Z:-0.02 [[ 9.99811034e-01 -1.86741618e-02 -5.40110231e-03 2.25912707e+01] [ 1.86736268e-02 9.99825621e-01 -1.49461377e-04 9.73532602e-02] [ 5.40295154e-03 4.85749653e-05 9.99985403e-01 -1.59267977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920281693 meters 0.02208404004821193 Centerline is valid? [True, True] Translation: X:22.62, Y:0.10, Z:-0.01 [[ 9.99807596e-01 -1.92261625e-02 -3.88924371e-03 2.26198155e+01] [ 1.92258873e-02 9.99815160e-01 -1.08146119e-04 9.85440150e-02] [ 3.89060405e-03 3.33511504e-05 9.99992431e-01 -1.34451106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950281693 meters 0.020605776310948933 Centerline is valid? [True, True] Translation: X:22.65, Y:0.10, Z:-0.01 [[ 9.99767434e-01 -2.13199937e-02 -3.24592238e-03 2.26487832e+01] [ 2.13198121e-02 9.99772703e-01 -9.05586926e-05 9.80005166e-02] [ 3.24711530e-03 2.13351767e-05 9.99994728e-01 -1.22835386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980281693000002 meters 0.020202801981785465 Centerline is valid? [True, True] Translation: X:22.68, Y:0.10, Z:-0.01 [[ 9.99740638e-01 -2.24347829e-02 -3.91627770e-03 2.26782926e+01] [ 2.24345266e-02 9.99748308e-01 -1.09383577e-04 9.78373862e-02] [ 3.91774600e-03 2.14953714e-05 9.99992325e-01 -1.36453204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010281693 meters 0.020354618765382297 Centerline is valid? [True, True] Translation: X:22.71, Y:0.10, Z:-0.02 [[ 9.99718382e-01 -2.33021767e-02 -4.49064116e-03 2.27082024e+01] [ 2.33018480e-02 9.99728467e-01 -1.25503479e-04 9.91320287e-02] [ 4.49234631e-03 2.08278973e-05 9.99989909e-01 -1.52410257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040281693 meters 0.019428350044463284 Centerline is valid? [True, True] Translation: X:22.74, Y:0.10, Z:-0.01 [[ 9.99687462e-01 -2.47236711e-02 -3.70389667e-03 2.27380240e+01] [ 2.47234571e-02 9.99694323e-01 -1.03571569e-04 9.57597022e-02] [ 3.70532515e-03 1.19660687e-05 9.99993135e-01 -1.36040455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070281693000002 meters 0.019173630566737987 Centerline is valid? [True, True] Translation: X:22.77, Y:0.09, Z:-0.01 [[ 9.99664978e-01 -2.56724530e-02 -3.29496758e-03 2.27663338e+01] [ 2.56722885e-02 9.99670408e-01 -9.22313168e-05 9.39143144e-02] [ 3.29624939e-03 7.61105911e-06 9.99994567e-01 -1.27005007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100281693 meters 0.01890725845616673 Centerline is valid? [True, True] Translation: X:22.80, Y:0.09, Z:-0.01 [[ 9.99635462e-01 -2.68194265e-02 -3.10830868e-03 2.27956478e+01] [ 2.68192853e-02 9.99640294e-01 -8.71105746e-05 9.14555581e-02] [ 3.10952686e-03 3.71620228e-06 9.99995165e-01 -1.23120369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130281693 meters 0.018838887259274573 Centerline is valid? [True, True] Translation: X:22.82, Y:0.09, Z:-0.01 [[ 9.99578149e-01 -2.87873526e-02 -3.84866107e-03 2.28244166e+01] [ 2.87871503e-02 9.99585558e-01 -1.07973075e-04 8.58157574e-02] [ 3.85017428e-03 -2.86445834e-06 9.99992588e-01 -1.32871663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160281693 meters 0.018888825676036867 Centerline is valid? [True, True] Translation: X:22.85, Y:0.08, Z:-0.01 [[ 9.99564016e-01 -2.91866051e-02 -4.46326637e-03 2.28534533e+01] [ 2.91863350e-02 9.99573980e-01 -1.25666072e-04 8.42152235e-02] [ 4.46503270e-03 -4.65510414e-06 9.99990032e-01 -1.42569999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190281693 meters 0.018887199214287245 Centerline is valid? [True, True] Translation: X:22.88, Y:0.08, Z:-0.01 [[ 9.99579908e-01 -2.86345311e-02 -4.48006013e-03 2.28808876e+01] [ 2.86342514e-02 9.99589948e-01 -1.26575889e-04 8.40834855e-02] [ 4.48184752e-03 -1.76045256e-06 9.99989956e-01 -1.41865324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220281693 meters 0.01895865964185399 Centerline is valid? [True, True] Translation: X:22.91, Y:0.09, Z:-0.01 [[ 9.99646593e-01 -2.64268204e-02 -2.88310880e-03 2.29087586e+01] [ 2.64266950e-02 9.99650751e-01 -8.15728191e-05 8.67867812e-02] [ 2.88425758e-03 5.35295373e-06 9.99995841e-01 -1.15048111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250281693 meters 0.019187112844548965 Centerline is valid? [True, True] Translation: X:22.94, Y:0.09, Z:-0.01 [[ 9.99671844e-01 -2.54414670e-02 -2.98929427e-03 2.29388645e+01] [ 2.54413275e-02 9.99676313e-01 -8.47077113e-05 8.87882977e-02] [ 2.99048176e-03 8.62829967e-06 9.99995528e-01 -1.18229790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280281693 meters 0.019187112844548965 Centerline is valid? [True, True] Translation: X:22.97, Y:0.09, Z:-0.01 [[ 9.99671284e-01 -2.54634681e-02 -2.98929240e-03 2.29680148e+01] [ 2.54633285e-02 9.99675753e-01 -8.47735486e-05 8.96615932e-02] [ 2.99048176e-03 8.62834791e-06 9.99995528e-01 -1.17649414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310281693 meters 0.020276381828006777 Centerline is valid? [True, True] Translation: X:23.00, Y:0.09, Z:-0.01 [[ 9.99732184e-01 -2.27769464e-02 -4.09534356e-03 2.29975872e+01] [ 2.27766613e-02 9.99740571e-01 -1.16247313e-04 9.37880917e-02] [ 4.09692887e-03 2.29379271e-05 9.99991607e-01 -1.38191619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340281693 meters 0.021152989822238753 Centerline is valid? [True, True] Translation: X:23.03, Y:0.10, Z:-0.01 [[ 9.99771803e-01 -2.09633268e-02 -4.10866584e-03 2.30259335e+01] [ 2.09630241e-02 9.99780245e-01 -1.16740860e-04 9.80120006e-02] [ 4.11021021e-03 3.05841589e-05 9.99991553e-01 -1.35237367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370281693 meters 0.022297886829596818 Centerline is valid? [True, True] Translation: X:23.06, Y:0.10, Z:-0.01 [[ 9.99810938e-01 -1.90927190e-02 -3.68180904e-03 2.30559021e+01] [ 1.90924629e-02 9.99817717e-01 -1.04709450e-04 1.03120529e-01] [ 3.68313709e-03 3.43948510e-05 9.99993217e-01 -1.20844046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400281693 meters 0.024894120965699228 Centerline is valid? [True, True] Translation: X:23.09, Y:0.11, Z:-0.01 [[ 9.99873997e-01 -1.57017873e-02 -2.33324314e-03 2.30853430e+01] [ 1.57016751e-02 9.99876719e-01 -6.63922332e-05 1.13409787e-01] [ 2.33399797e-03 2.97480419e-05 9.99997276e-01 -1.00905289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430281693 meters 0.02456295311507886 Centerline is valid? [True, True] Translation: X:23.12, Y:0.11, Z:-0.01 [[ 9.99887748e-01 -1.48054912e-02 -2.29956755e-03 2.31162707e+01] [ 1.48053798e-02 9.99890392e-01 -6.54772768e-05 1.14865905e-01] [ 2.30028492e-03 3.14239560e-05 9.99997354e-01 -1.07513844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460281693 meters 0.026411294692099633 Centerline is valid? [True, True] Translation: X:23.15, Y:0.12, Z:-0.01 [[ 9.99892733e-01 -1.43290963e-02 -3.03300414e-03 2.31454798e+01] [ 1.43289002e-02 9.99897332e-01 -8.63731132e-05 1.19907365e-01] [ 3.03393039e-03 4.29042347e-05 9.99995397e-01 -1.29706924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490281693 meters 0.023831678557582024 Centerline is valid? [True, True] Translation: X:23.18, Y:0.12, Z:-0.01 [[ 9.99857946e-01 -1.63075388e-02 -4.26059038e-03 2.31750813e+01] [ 1.63071694e-02 9.99867022e-01 -1.21417158e-04 1.17409474e-01] [ 4.26200383e-03 5.19217405e-05 9.99990916e-01 -1.48192539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520281693 meters 0.022516724313402656 Centerline is valid? [True, True] Translation: X:23.20, Y:0.12, Z:-0.02 [[ 9.99819576e-01 -1.83443816e-02 -4.92939429e-03 2.32047976e+01] [ 1.83439113e-02 9.99831726e-01 -1.40597922e-04 1.15855630e-01] [ 4.93114398e-03 5.01481830e-05 9.99987841e-01 -1.59336725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550281693 meters 0.021242195859456938 Centerline is valid? [True, True] Translation: X:23.23, Y:0.11, Z:-0.02 [[ 9.99775135e-01 -2.06055110e-02 -5.00926460e-03 2.32336661e+01] [ 2.06050511e-02 9.99787683e-01 -1.43418352e-04 1.12851312e-01] [ 5.01115626e-03 4.01699491e-05 9.99987443e-01 -1.70778121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580281693 meters 0.019892061545951346 Centerline is valid? [True, True] Translation: X:23.26, Y:0.11, Z:-0.02 [[ 9.99706429e-01 -2.38189728e-02 -4.43976259e-03 2.32622183e+01] [ 2.38186415e-02 9.99716288e-01 -1.27487689e-04 1.07155106e-01] [ 4.44153960e-03 2.17011488e-05 9.99990136e-01 -1.66053229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610281693 meters 0.01984882309605097 Centerline is valid? [True, True] Translation: X:23.29, Y:0.11, Z:-0.02 [[ 9.99683351e-01 -2.48514112e-02 -3.95030953e-03 2.32904299e+01] [ 2.48511565e-02 9.99691156e-01 -1.13562225e-04 1.06963638e-01] [ 3.95191169e-03 1.53565055e-05 9.99992191e-01 -1.62665710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640281693000002 meters 0.01938645431312485 Centerline is valid? [True, True] Translation: X:23.32, Y:0.11, Z:-0.02 [[ 9.99662112e-01 -2.57266517e-02 -3.71509882e-03 2.33202056e+01] [ 2.57264321e-02 9.99669015e-01 -1.06901638e-04 1.06726862e-01] [ 3.71661940e-03 1.12892796e-05 9.99993093e-01 -1.54670103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670281693 meters 0.018940451439954507 Centerline is valid? [True, True] Translation: X:23.35, Y:0.10, Z:-0.01 [[ 9.99602530e-01 -2.79333303e-02 -3.80932395e-03 2.33504006e+01] [ 2.79331151e-02 9.99609788e-01 -1.09699311e-04 1.02793490e-01] [ 3.81090178e-03 3.24942382e-06 9.99992738e-01 -1.49788261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700281693 meters 0.018994227480167256 Centerline is valid? [True, True] Translation: X:23.38, Y:0.10, Z:-0.02 [[ 9.99558329e-01 -2.94378663e-02 -4.06935054e-03 2.33787304e+01] [ 2.94376327e-02 9.99566612e-01 -1.17310651e-04 1.00212334e-01] [ 4.07104030e-03 -2.53320778e-06 9.99991713e-01 -1.64807514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730281693000002 meters 0.019182354216307346 Centerline is valid? [True, True] Translation: X:23.41, Y:0.10, Z:-0.02 [[ 9.99501918e-01 -3.12360747e-02 -4.49705458e-03 2.34085003e+01] [ 3.12358069e-02 9.99512035e-01 -1.29773604e-04 9.74261449e-02] [ 4.49891379e-03 -1.07601626e-05 9.99989880e-01 -1.67645791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760281693 meters 0.020420133957014364 Centerline is valid? [True, True] Translation: X:23.44, Y:0.09, Z:-0.02 [[ 9.99394744e-01 -3.45492160e-02 -4.06170824e-03 2.34376607e+01] [ 3.45490245e-02 9.99402997e-01 -1.17319468e-04 9.11007854e-02] [ 4.06333668e-03 -2.30795980e-05 9.99991744e-01 -1.60606395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790281693 meters 0.02054640372530884 Centerline is valid? [True, True] Translation: X:23.47, Y:0.09, Z:-0.01 [[ 9.99347334e-01 -3.59543639e-02 -3.49152369e-03 2.34659938e+01] [ 3.59542304e-02 9.99353433e-01 -1.00992629e-04 9.09100920e-02] [ 3.49289731e-03 -2.46083332e-05 9.99993900e-01 -1.45890776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820281693000002 meters 0.02172679461651335 Centerline is valid? [True, True] Translation: X:23.50, Y:0.09, Z:-0.01 [[ 9.99244087e-01 -3.88282841e-02 -1.90235933e-03 2.34955957e+01] [ 3.88282496e-02 9.99245898e-01 -5.50857900e-05 8.51531954e-02] [ 1.90306364e-03 -1.88211329e-05 9.99998189e-01 -1.15091873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850281693 meters 0.022716397705401223 Centerline is valid? [True, True] Translation: X:23.52, Y:0.08, Z:-0.01 [[ 9.99187240e-01 -4.02726391e-02 -1.72466837e-03 2.35239103e+01] [ 4.02726129e-02 9.99188728e-01 -4.99734032e-05 8.24014561e-02] [ 1.72528176e-03 -1.95241150e-05 9.99998512e-01 -1.11224155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880281693 meters 0.023051064861570374 Centerline is valid? [True, True] Translation: X:23.55, Y:0.08, Z:-0.01 [[ 9.99153052e-01 -4.10982022e-02 -2.02885032e-03 2.35525369e+01] [ 4.10981673e-02 9.99155112e-01 -5.88750826e-05 8.20009820e-02] [ 2.02955582e-03 -2.45568113e-05 9.99997940e-01 -1.17731641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910281693 meters 0.02316959463857417 Centerline is valid? [True, True] Translation: X:23.58, Y:0.08, Z:-0.01 [[ 9.99180443e-01 -4.03830968e-02 -2.76543413e-03 2.35813144e+01] [ 4.03830281e-02 9.99184270e-01 -8.07160373e-05 8.07359437e-02] [ 2.76643785e-03 -3.10267183e-05 9.99996173e-01 -1.28550345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940281693 meters 0.021543830114745935 Centerline is valid? [True, True] Translation: X:23.61, Y:0.08, Z:-0.01 [[ 9.99249712e-01 -3.86476419e-02 -2.52453482e-03 2.36099892e+01] [ 3.86475787e-02 9.99252901e-01 -7.38335882e-05 8.35425518e-02] [ 2.52550223e-03 -2.37889662e-05 9.99996811e-01 -1.26371450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970281693 meters 0.021065551968025523 Centerline is valid? [True, True] Translation: X:23.64, Y:0.08, Z:-0.01 [[ 9.99327574e-01 -3.65724050e-02 -2.61914103e-03 2.36389998e+01] [ 3.65723289e-02 9.99331006e-01 -7.69544701e-05 8.41700229e-02] [ 2.62020325e-03 -1.88853634e-05 9.99996567e-01 -1.17443921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000281693 meters 0.018985150988615043 Centerline is valid? [True, True] Translation: X:23.67, Y:0.09, Z:-0.01 [[ 9.99458089e-01 -3.28117217e-02 -2.63062665e-03 2.36680781e+01] [ 3.28116317e-02 9.99461550e-01 -7.73750300e-05 9.12683661e-02] [ 2.63174900e-03 -8.98205303e-06 9.99996537e-01 -1.08253401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030281693 meters 0.018512110722273625 Centerline is valid? [True, True] Translation: X:23.70, Y:0.10, Z:-0.01 [[ 9.99522696e-01 -3.08365431e-02 -1.86743379e-03 2.36971221e+01] [ 3.08364943e-02 9.99524441e-01 -5.49397494e-05 9.50600177e-02] [ 1.86823987e-03 -2.67158487e-06 9.99998255e-01 -9.11401800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060281693 meters 0.018696821719113778 Centerline is valid? [True, True] Translation: X:23.73, Y:0.10, Z:-0.01 [[ 9.99601500e-01 -2.82119312e-02 -9.63634748e-04 2.37259844e+01] [ 2.82119169e-02 9.99601964e-01 -2.84794993e-05 9.88407531e-02] [ 9.64054648e-04 1.28216686e-06 9.99999535e-01 -7.53211533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090281693 meters 0.019619003294500042 Centerline is valid? [True, True] Translation: X:23.76, Y:0.10, Z:-0.01 [[ 9.99697580e-01 -2.45832807e-02 -6.40379902e-04 2.37559609e+01] [ 2.45832736e-02 9.99697785e-01 -1.89405286e-05 1.03126290e-01] [ 6.40651990e-04 3.19216621e-06 9.99999795e-01 -7.50302034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120281693 meters 0.019784160651566747 Centerline is valid? [True, True] Translation: X:23.79, Y:0.10, Z:-0.01 [[ 9.99708503e-01 -2.41360169e-02 -6.00957005e-04 2.37864506e+01] [ 2.41360106e-02 9.99708684e-01 -1.78164567e-05 1.04847448e-01] [ 6.01211955e-04 3.30655865e-06 9.99999819e-01 -7.36642231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150281693 meters 0.01964679294452241 Centerline is valid? [True, True] Translation: X:23.82, Y:0.10, Z:-0.01 [[ 9.99700102e-01 -2.44641160e-02 -1.10177429e-03 2.38158433e+01] [ 2.44640948e-02 9.99700709e-01 -3.26541299e-05 1.04908999e-01] [ 1.10224339e-03 5.69042639e-06 9.99999393e-01 -8.70643726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180281693 meters 0.019466186639712734 Centerline is valid? [True, True] Translation: X:23.85, Y:0.10, Z:-0.01 [[ 9.99686794e-01 -2.49967627e-02 -1.21456964e-03 2.38453879e+01] [ 2.49967374e-02 9.99687532e-01 -3.60043882e-05 1.02957657e-01] [ 1.21509012e-03 5.63283302e-06 9.99999262e-01 -9.38990453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210281693 meters 0.019346377901738723 Centerline is valid? [True, True] Translation: X:23.88, Y:0.10, Z:-0.01 [[ 9.99672505e-01 -2.55290597e-02 -1.77473515e-03 2.38756264e+01] [ 2.55290064e-02 9.99674080e-01 -5.26701382e-05 1.00592040e-01] [ 1.77550135e-03 7.34566388e-06 9.99998424e-01 -1.04664867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240281693 meters 0.019169787025931476 Centerline is valid? [True, True] Translation: X:23.90, Y:0.10, Z:-0.01 [[ 9.99647731e-01 -2.63538706e-02 -3.14428069e-03 2.39040898e+01] [ 2.63537071e-02 9.99652676e-01 -9.34437697e-05 9.84356081e-02] [ 3.14565122e-03 1.05474000e-05 9.99995052e-01 -1.32009784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270281693 meters 0.01869231624692569 Centerline is valid? [True, True] Translation: X:23.93, Y:0.09, Z:-0.02 [[ 9.99583816e-01 -2.85145070e-02 -4.37238104e-03 2.39334295e+01] [ 2.85142107e-02 9.99593379e-01 -1.30113958e-04 9.36435134e-02] [ 4.37431328e-03 5.38481235e-06 9.99990433e-01 -1.58795442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300281693 meters 0.018746140411025465 Centerline is valid? [True, True] Translation: X:23.96, Y:0.09, Z:-0.02 [[ 9.99562468e-01 -2.92734547e-02 -4.23528671e-03 2.39627570e+01] [ 2.92731817e-02 9.99571441e-01 -1.26426200e-04 9.27256042e-02] [ 4.23717257e-03 2.39056717e-06 9.99991023e-01 -1.53919358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330281693 meters 0.018621549432722713 Centerline is valid? [True, True] Translation: X:23.99, Y:0.09, Z:-0.02 [[ 9.99555858e-01 -2.95136886e-02 -4.12655817e-03 2.39901632e+01] [ 2.95134299e-02 9.99564376e-01 -1.23599589e-04 9.24412263e-02] [ 4.12840842e-03 1.75580775e-06 9.99991478e-01 -1.51563053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360281693 meters 0.018967628803029105 Centerline is valid? [True, True] Translation: X:24.02, Y:0.09, Z:-0.02 [[ 9.99586798e-01 -2.82753350e-02 -5.17095445e-03 2.40176703e+01] [ 2.82749106e-02 9.99600173e-01 -1.55190998e-04 9.36698571e-02] [ 5.17327504e-03 8.91859787e-06 9.99986618e-01 -1.73322253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390281693000002 meters 0.019260885363187156 Centerline is valid? [True, True] Translation: X:24.05, Y:0.10, Z:-0.02 [[ 9.99596687e-01 -2.77533274e-02 -6.01796303e-03 2.40457183e+01] [ 2.77527380e-02 9.99614802e-01 -1.81433600e-04 9.61363521e-02] [ 6.02068031e-03 1.43454735e-05 9.99981875e-01 -1.91722263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420281693 meters 0.019333709049540775 Centerline is valid? [True, True] Translation: X:24.07, Y:0.10, Z:-0.02 [[ 9.99609237e-01 -2.71687661e-02 -6.57512986e-03 2.40737613e+01] [ 2.71680458e-02 9.99630861e-01 -1.98855104e-04 9.94971849e-02] [ 6.57810537e-03 2.01439692e-05 9.99978364e-01 -2.08233998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450281693 meters 0.019295643410481726 Centerline is valid? [True, True] Translation: X:24.10, Y:0.10, Z:-0.02 [[ 9.99604727e-01 -2.73688914e-02 -6.42907416e-03 2.41019777e+01] [ 2.73682014e-02 9.99625402e-01 -1.95301447e-04 1.00223537e-01] [ 6.43201102e-03 1.92720531e-05 9.99979314e-01 -2.04206481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480281693000002 meters 0.019309641525523467 Centerline is valid? [True, True] Translation: X:24.13, Y:0.10, Z:-0.02 [[ 9.99612930e-01 -2.71963669e-02 -5.86064136e-03 2.41302269e+01] [ 2.71957847e-02 9.99630110e-01 -1.79014002e-04 1.00918820e-01] [ 5.86334210e-03 1.95599702e-05 9.99982810e-01 -1.87997537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510281693 meters 0.019582863264317525 Centerline is valid? [True, True] Translation: X:24.16, Y:0.10, Z:-0.02 [[ 9.99635729e-01 -2.64144607e-02 -5.53936907e-03 2.41578787e+01] [ 2.64139258e-02 9.99651077e-01 -1.69717935e-04 1.01610155e-01] [ 5.54191926e-03 2.33396282e-05 9.99984643e-01 -1.74346809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540281693 meters 0.019518379646331775 Centerline is valid? [True, True] Translation: X:24.19, Y:0.10, Z:-0.02 [[ 9.99634834e-01 -2.64761466e-02 -5.40479668e-03 2.41861882e+01] [ 2.64756345e-02 9.99649445e-01 -1.66287304e-04 1.02441953e-01] [ 5.40730464e-03 2.31311605e-05 9.99985380e-01 -1.74262153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570281693000002 meters 0.019580751768085273 Centerline is valid? [True, True] Translation: X:24.21, Y:0.10, Z:-0.02 [[ 9.99628338e-01 -2.67498978e-02 -5.25638917e-03 2.42135403e+01] [ 2.67494146e-02 9.99642157e-01 -1.62229058e-04 1.02941816e-01] [ 5.25884782e-03 2.15634310e-05 9.99986172e-01 -1.73425035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600281693 meters 0.01929562593206309 Centerline is valid? [True, True] Translation: X:24.24, Y:0.10, Z:-0.02 [[ 9.99616070e-01 -2.73071999e-02 -4.69350332e-03 2.42411747e+01] [ 2.73068182e-02 9.99627089e-01 -1.45410673e-04 1.03251116e-01] [ 4.69572381e-03 1.71902041e-05 9.99988975e-01 -1.62111642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630281693 meters 0.01859170114287829 Centerline is valid? [True, True] Translation: X:24.27, Y:0.10, Z:-0.01 [[ 9.99554482e-01 -2.96841704e-02 -3.11238486e-03 2.42702475e+01] [ 2.96840128e-02 9.99559328e-01 -9.68160713e-05 9.88725909e-02] [ 3.11388723e-03 4.38486588e-06 9.99995152e-01 -1.34321144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660281693 meters 0.018314918071470322 Centerline is valid? [True, True] Translation: X:24.30, Y:0.09, Z:-0.01 [[ 9.99481215e-01 -3.20731659e-02 -2.93487057e-03 2.42988821e+01] [ 3.20730349e-02 9.99485524e-01 -9.17117515e-05 9.46980262e-02] [ 2.93630214e-03 -2.46603356e-06 9.99995689e-01 -1.32337110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690281693 meters 0.020006656876622394 Centerline is valid? [True, True] Translation: X:24.33, Y:0.08, Z:-0.02 [[ 9.99294124e-01 -3.73590857e-02 -3.94370449e-03 2.43276722e+01] [ 3.73588876e-02 9.99301905e-01 -1.23917941e-04 8.25151862e-02] [ 3.94558087e-03 -2.35019426e-05 9.99992216e-01 -1.53019419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720281693 meters 0.02105523854100691 Centerline is valid? [True, True] Translation: X:24.36, Y:0.08, Z:-0.02 [[ 9.99222403e-01 -3.91874111e-02 -4.35164316e-03 2.43563915e+01] [ 3.91871843e-02 9.99231878e-01 -1.37404190e-04 7.73042954e-02] [ 4.35368508e-03 -3.32312972e-05 9.99990522e-01 -1.59009096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750281693 meters 0.021743627809860392 Centerline is valid? [True, True] Translation: X:24.38, Y:0.07, Z:-0.02 [[ 9.99194035e-01 -3.98678734e-02 -4.67269123e-03 2.43843232e+01] [ 3.98676172e-02 9.99204960e-01 -1.47993298e-04 7.32297819e-02] [ 4.67487643e-03 -3.84150445e-05 9.99989072e-01 -1.64159311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780281693 meters 0.021054001491766054 Centerline is valid? [True, True] Translation: X:24.41, Y:0.07, Z:-0.02 [[ 9.99219636e-01 -3.91934226e-02 -4.89838730e-03 2.44120776e+01] [ 3.91931301e-02 9.99231642e-01 -1.55733445e-04 7.15162740e-02] [ 4.90072731e-03 -3.63712148e-05 9.99987991e-01 -1.60720527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810281693 meters 0.020401708689341443 Centerline is valid? [True, True] Translation: X:24.44, Y:0.07, Z:-0.02 [[ 9.99255229e-01 -3.83028529e-02 -4.67757786e-03 2.44405587e+01] [ 3.83025731e-02 9.99266176e-01 -1.49419239e-04 7.40269183e-02] [ 4.67986852e-03 -2.98553116e-05 9.99989049e-01 -1.57868697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840281693 meters 0.01941995591168438 Centerline is valid? [True, True] Translation: X:24.47, Y:0.08, Z:-0.02 [[ 9.99306716e-01 -3.69580204e-02 -4.49353210e-03 2.44694559e+01] [ 3.69577457e-02 9.99316819e-01 -1.44181327e-04 7.71389685e-02] [ 4.49579086e-03 -2.19894476e-05 9.99989894e-01 -1.54817717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870281693 meters 0.01878711654164146 Centerline is valid? [True, True] Translation: X:24.50, Y:0.08, Z:-0.02 [[ 9.99363489e-01 -3.53424201e-02 -4.85080763e-03 2.44975830e+01] [ 3.53420771e-02 9.99375261e-01 -1.56432057e-04 7.98336844e-02] [ 4.85330583e-03 -1.51051312e-05 9.99988223e-01 -1.60499199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900281693 meters 0.01840615890718655 Centerline is valid? [True, True] Translation: X:24.53, Y:0.08, Z:-0.02 [[ 9.99443984e-01 -3.28511367e-02 -5.70318876e-03 2.45256221e+01] [ 3.28506163e-02 9.99460256e-01 -1.84926063e-04 8.10357555e-02] [ 5.70618553e-03 -2.53002380e-06 9.99983720e-01 -1.78858433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930281693 meters 0.01838657155561119 Centerline is valid? [True, True] Translation: X:24.55, Y:0.08, Z:-0.02 [[ 9.99476025e-01 -3.19308707e-02 -5.30054673e-03 2.45535325e+01] [ 3.19304037e-02 9.99490080e-01 -1.72728444e-04 8.21328236e-02] [ 5.30335924e-03 3.38934218e-06 9.99985937e-01 -1.70482084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960281693 meters 0.01852372445039256 Centerline is valid? [True, True] Translation: X:24.58, Y:0.08, Z:-0.01 [[ 9.99536903e-01 -3.02949110e-02 -2.86334793e-03 2.45814559e+01] [ 3.02947671e-02 9.99541004e-01 -9.36320785e-05 8.38692574e-02] [ 2.86487024e-03 6.84425912e-06 9.99995896e-01 -1.15420118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990281693 meters 0.01846878338388771 Centerline is valid? [True, True] Translation: X:24.61, Y:0.08, Z:-0.01 [[ 9.99574765e-01 -2.90920350e-02 -1.98549054e-03 2.46106134e+01] [ 2.90919630e-02 9.99576737e-01 -6.51552718e-05 8.48751962e-02] [ 1.98654565e-03 7.36574825e-06 9.99998027e-01 -8.67383433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020281693 meters 0.019955722268016514 Centerline is valid? [True, True] Translation: X:24.64, Y:0.09, Z:-0.01 [[ 9.99616743e-01 -2.76311974e-02 -1.69817128e-03 2.46382121e+01] [ 2.76311422e-02 9.99618186e-01 -5.59925766e-05 9.07138297e-02] [ 1.69907004e-03 9.04870484e-06 9.99998557e-01 -8.01549119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050281693 meters 0.023392206758617907 Centerline is valid? [True, True] Translation: X:24.67, Y:0.10, Z:-0.01 [[ 9.99713116e-01 -2.37540930e-02 -3.07053377e-03 2.46669758e+01] [ 2.37538929e-02 9.99717831e-01 -1.01612782e-04 1.00596418e-01] [ 3.07208108e-03 2.86465008e-05 9.99995281e-01 -1.09289991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080281693 meters 0.02571938156712505 Centerline is valid? [True, True] Translation: X:24.70, Y:0.11, Z:-0.01 [[ 9.99757135e-01 -2.17132211e-02 -3.76929341e-03 2.46959918e+01] [ 2.17129028e-02 9.99764239e-01 -1.25352651e-04 1.06274689e-01] [ 3.77112657e-03 4.34799056e-05 9.99992888e-01 -1.23620538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110281693 meters 0.030110078979285824 Centerline is valid? [True, True] Translation: X:24.72, Y:0.11, Z:-0.01 [[ 9.99830636e-01 -1.81624436e-02 -2.97076645e-03 2.47239956e+01] [ 1.81622294e-02 9.99835048e-01 -9.90765712e-05 1.14255620e-01] [ 2.97207589e-03 4.51040494e-05 9.99995582e-01 -1.09213892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140281693000002 meters 0.02602970683681763 Centerline is valid? [True, True] Translation: X:24.75, Y:0.11, Z:-0.01 [[ 9.99843218e-01 -1.75509819e-02 -2.34590459e-03 2.47530242e+01] [ 1.75508463e-02 9.99845969e-01 -7.83766378e-05 1.07668948e-01] [ 2.34691883e-03 3.71917389e-05 9.99997245e-01 -9.26774544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170281693 meters 0.02602970683681763 Centerline is valid? [True, True] Translation: X:24.78, Y:0.11, Z:-0.01 [[ 9.99842811e-01 -1.75741089e-02 -2.34589349e-03 2.47821740e+01] [ 1.75739726e-02 9.99845563e-01 -7.87076014e-05 1.08692369e-01] [ 2.34691441e-03 3.74685616e-05 9.99997245e-01 -9.20969484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200281693 meters 0.025895518486211706 Centerline is valid? [True, True] Translation: X:24.81, Y:0.11, Z:-0.01 [[ 9.99845221e-01 -1.74406742e-02 -2.31438837e-03 2.48115409e+01] [ 1.74405410e-02 9.99847899e-01 -7.77035774e-05 1.08315416e-01] [ 2.31539155e-03 3.73273654e-05 9.99997319e-01 -9.05784440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230281693000002 meters 0.025809574782934403 Centerline is valid? [True, True] Translation: X:24.84, Y:0.11, Z:-0.01 [[ 9.99841328e-01 -1.75681864e-02 -2.94574613e-03 2.48415070e+01] [ 1.75679710e-02 9.99845666e-01 -9.89820777e-05 1.07605935e-01] [ 2.94703043e-03 4.72155896e-05 9.99995656e-01 -9.90452308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260281693 meters 0.02755799009585253 Centerline is valid? [True, True] Translation: X:24.87, Y:0.11, Z:-0.01 [[ 9.99832337e-01 -1.74682994e-02 -5.49153478e-03 2.48704728e+01] [ 1.74675481e-02 9.99847414e-01 -1.84733238e-04 1.09688886e-01] [ 5.49392382e-03 8.87786165e-05 9.99984904e-01 -1.40556887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290281693 meters 0.027128300849525274 Centerline is valid? [True, True] Translation: X:24.90, Y:0.11, Z:-0.01 [[ 9.99847532e-01 -1.64331019e-02 -5.90466017e-03 2.48993299e+01] [ 1.64322111e-02 9.99864962e-01 -1.99346255e-04 1.09433674e-01] [ 5.90713869e-03 1.02289239e-04 9.99982547e-01 -1.47248521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320281693000002 meters 0.028650051605426486 Centerline is valid? [True, True] Translation: X:24.93, Y:0.11, Z:-0.01 [[ 9.99875022e-01 -1.48282893e-02 -5.48296570e-03 2.49282682e+01] [ 1.48274923e-02 9.99890049e-01 -1.85981429e-04 1.12332839e-01] [ 5.48512063e-03 1.04659554e-04 9.99984951e-01 -1.44239339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350281693 meters 0.030785476592903704 Centerline is valid? [True, True] Translation: X:24.96, Y:0.11, Z:-0.01 [[ 9.99924049e-01 -1.17862935e-02 -3.60278867e-03 2.49573168e+01] [ 1.17859286e-02 9.99930536e-01 -1.22497760e-04 1.14416258e-01] [ 3.60398220e-03 8.00262463e-05 9.99993502e-01 -1.09343728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380281693 meters 0.03345565903168748 Centerline is valid? [True, True] Translation: X:24.99, Y:0.12, Z:-0.01 [[ 9.99935670e-01 -1.05866286e-02 -4.07163709e-03 2.49856141e+01] [ 1.05861518e-02 9.99943956e-01 -1.38621969e-04 1.18827772e-01] [ 4.07287644e-03 9.55100831e-05 9.99991701e-01 -1.16045481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410281693 meters 0.03631798961002379 Centerline is valid? [True, True] Translation: X:25.01, Y:0.12, Z:-0.02 [[ 9.99953489e-01 -7.47553422e-03 -6.09386831e-03 2.50147409e+01] [ 7.47440708e-03 9.99972045e-01 -2.07716197e-04 1.24447676e-01] [ 6.09525074e-03 1.62158484e-04 9.99981411e-01 -1.50877792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440281693 meters 0.041842072440148856 Centerline is valid? [True, True] Translation: X:25.04, Y:0.13, Z:-0.02 [[ 9.99963768e-01 -5.83032650e-03 -6.20247589e-03 2.50421011e+01] [ 5.82912528e-03 9.99982988e-01 -2.11727469e-04 1.33109393e-01] [ 6.20360482e-03 1.75564789e-04 9.99980742e-01 -1.61361051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470281693 meters 0.038088296515537697 Centerline is valid? [True, True] Translation: X:25.07, Y:0.13, Z:-0.02 [[ 9.99968746e-01 -4.90240252e-03 -6.20274415e-03 2.50706477e+01] [ 4.90118114e-03 9.99987967e-01 -2.12095219e-04 1.28186466e-01] [ 6.20370929e-03 1.81687817e-04 9.99980740e-01 -1.57231184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500281693 meters 0.039866228184873766 Centerline is valid? [True, True] Translation: X:25.10, Y:0.13, Z:-0.02 [[ 9.99968079e-01 -5.18693510e-03 -6.07760612e-03 2.50978438e+01] [ 5.18576388e-03 9.99986532e-01 -2.08452921e-04 1.30838746e-01] [ 6.07860550e-03 1.76929236e-04 9.99981509e-01 -1.60930355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530281693 meters 0.03695354364257533 Centerline is valid? [True, True] Translation: X:25.13, Y:0.13, Z:-0.01 [[ 9.99959657e-01 -7.29662976e-03 -5.23868184e-03 2.51266521e+01] [ 7.29578657e-03 9.99973369e-01 -1.80046482e-04 1.28187828e-01] [ 5.23985606e-03 1.41818913e-04 9.99986262e-01 -1.40955866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560281693 meters 0.03595974767764995 Centerline is valid? [True, True] Translation: X:25.16, Y:0.13, Z:-0.01 [[ 9.99950967e-01 -8.50806771e-03 -5.06719589e-03 2.51553734e+01] [ 8.50729144e-03 9.99963797e-01 -1.74730707e-04 1.28819274e-01] [ 5.06849906e-03 1.31614028e-04 9.99987146e-01 -1.39251584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590281693 meters 0.036921020796049225 Centerline is valid? [True, True] Translation: X:25.18, Y:0.13, Z:-0.02 [[ 9.99943739e-01 -8.85529645e-03 -5.83978899e-03 2.51826664e+01] [ 8.85426792e-03 9.99960780e-01 -2.01954226e-04 1.31885330e-01] [ 5.84134832e-03 1.50235807e-04 9.99982928e-01 -1.53168230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620281693 meters 0.03615576481905501 Centerline is valid? [True, True] Translation: X:25.21, Y:0.13, Z:-0.02 [[ 9.99927185e-01 -9.27784041e-03 -7.71666358e-03 2.52110410e+01] [ 9.27604794e-03 9.99956941e-01 -2.68045039e-04 1.32555794e-01] [ 7.71881818e-03 1.96445380e-04 9.99970190e-01 -1.86818703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650281693 meters 0.03740514593854573 Centerline is valid? [True, True] Translation: X:25.24, Y:0.14, Z:-0.02 [[ 9.99918814e-01 -9.86107710e-03 -8.06998951e-03 2.52385599e+01] [ 9.85912991e-03 9.99951358e-01 -2.81035301e-04 1.36951881e-01] [ 8.07236828e-03 2.01449410e-04 9.99967398e-01 -1.98249899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680281693 meters 0.030491271084532846 Centerline is valid? [True, True] Translation: X:25.27, Y:0.13, Z:-0.02 [[ 9.99893860e-01 -1.29210799e-02 -6.73161759e-03 2.52678425e+01] [ 1.29197888e-02 9.99916508e-01 -2.35247989e-04 1.31735455e-01] [ 6.73409521e-03 1.48251942e-04 9.99977315e-01 -1.57997257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710281693 meters 0.030275662777672227 Centerline is valid? [True, True] Translation: X:25.30, Y:0.13, Z:-0.01 [[ 9.99874059e-01 -1.48664225e-02 -5.55472004e-03 2.52960012e+01] [ 1.48655688e-02 9.99889482e-01 -1.94956900e-04 1.32889987e-01] [ 5.55700445e-03 1.12358275e-04 9.99984553e-01 -1.43991304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740281693 meters 0.028639675915917644 Centerline is valid? [True, True] Translation: X:25.32, Y:0.13, Z:-0.01 [[ 9.99840127e-01 -1.71087687e-02 -5.19723804e-03 2.53243926e+01] [ 1.71080473e-02 9.99853630e-01 -1.83224284e-04 1.31094635e-01] [ 5.19961206e-03 9.42803970e-05 9.99986477e-01 -1.41018449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770281693 meters 0.023542042152881512 Centerline is valid? [True, True] Translation: X:25.35, Y:0.12, Z:-0.01 [[ 9.99742199e-01 -2.20861197e-02 -5.26681233e-03 2.53540297e+01] [ 2.20854437e-02 9.99756069e-01 -1.86491096e-04 1.24598519e-01] [ 5.26964646e-03 7.01231312e-05 9.99986113e-01 -1.33830329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800281693 meters 0.02290062088560238 Centerline is valid? [True, True] Translation: X:25.38, Y:0.13, Z:-0.01 [[ 9.99682098e-01 -2.47051633e-02 -5.03558077e-03 2.53817462e+01] [ 2.47045762e-02 9.99694779e-01 -1.78766343e-04 1.25630338e-01] [ 5.03846026e-03 5.43076240e-05 9.99987305e-01 -1.29161779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830281693 meters 0.019965991381915658 Centerline is valid? [True, True] Translation: X:25.41, Y:0.12, Z:-0.01 [[ 9.99621227e-01 -2.72286326e-02 -4.00057179e-03 2.54106235e+01] [ 2.72282806e-02 9.99629231e-01 -1.42440564e-04 1.20703261e-01] [ 4.00296696e-03 3.34579204e-05 9.99991988e-01 -1.07301163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860281693 meters 0.018654810724569246 Centerline is valid? [True, True] Translation: X:25.44, Y:0.12, Z:-0.01 [[ 9.99530703e-01 -3.05411139e-02 -2.36924993e-03 2.54388143e+01] [ 3.05409992e-02 9.99533511e-01 -8.45818645e-05 1.17720924e-01] [ 2.37072793e-03 1.21829102e-05 9.99997190e-01 -7.65631168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890281693000002 meters 0.017862097067465568 Centerline is valid? [True, True] Translation: X:25.47, Y:0.12, Z:-0.01 [[ 9.99492703e-01 -3.17764254e-02 -2.14356720e-03 2.54680741e+01] [ 3.17763339e-02 9.99495002e-01 -7.67087007e-05 1.16851679e-01] [ 2.14492223e-03 8.55507947e-06 9.99997700e-01 -7.31652489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920281693 meters 0.017598707978053026 Centerline is valid? [True, True] Translation: X:25.50, Y:0.12, Z:-0.01 [[ 9.99475355e-01 -3.23062698e-02 -2.30633170e-03 2.54969661e+01] [ 3.23061644e-02 9.99478016e-01 -8.29365658e-05 1.18661943e-01] [ 2.30780721e-03 8.38432239e-06 9.99997337e-01 -7.41648860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950281693 meters 0.017492612842358184 Centerline is valid? [True, True] Translation: X:25.52, Y:0.12, Z:-0.01 [[ 9.99450316e-01 -3.29665490e-02 -3.50325878e-03 2.55243139e+01] [ 3.29663079e-02 9.99456456e-01 -1.26569015e-04 1.21909548e-01] [ 3.50552715e-03 1.10099346e-05 9.99993856e-01 -9.94839198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980281693000002 meters 0.017581473469537017 Centerline is valid? [True, True] Translation: X:25.55, Y:0.12, Z:-0.01 [[ 9.99422845e-01 -3.37177613e-02 -4.13391147e-03 2.55524189e+01] [ 3.37174306e-02 9.99431395e-01 -1.49678211e-04 1.22320247e-01] [ 4.13660772e-03 1.02069508e-05 9.99991444e-01 -1.12224900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010281692999996 meters 0.01719684074348566 Centerline is valid? [True, True] Translation: X:25.58, Y:0.12, Z:-0.01 [[ 9.99346394e-01 -3.58910528e-02 -4.31483398e-03 2.55803780e+01] [ 3.58907101e-02 9.99355709e-01 -1.56851241e-04 1.20950623e-01] [ 4.31768352e-03 1.88626613e-06 9.99990679e-01 -1.13964934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040281693 meters 0.017202494091195102 Centerline is valid? [True, True] Translation: X:25.61, Y:0.12, Z:-0.01 [[ 9.99305353e-01 -3.70740915e-02 -3.78461907e-03 2.56077549e+01] [ 3.70738345e-02 9.99312520e-01 -1.38057035e-04 1.21953547e-01] [ 3.78713555e-03 -2.34920715e-06 9.99992829e-01 -1.04258236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070281693 meters 0.01724194351248319 Centerline is valid? [True, True] Translation: X:25.63, Y:0.12, Z:-0.01 [[ 9.99279840e-01 -3.77812108e-02 -3.51864697e-03 2.56342479e+01] [ 3.77809921e-02 9.99286035e-01 -1.28628956e-04 1.23227537e-01] [ 3.52099453e-03 -4.40165078e-06 9.99993801e-01 -9.74975436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100281693 meters 0.01700370259688951 Centerline is valid? [True, True] Translation: X:25.66, Y:0.13, Z:-0.01 [[ 9.99277371e-01 -3.78513571e-02 -3.46567911e-03 2.56624699e+01] [ 3.78511439e-02 9.99283381e-01 -1.27124651e-04 1.25727553e-01] [ 3.46800738e-03 -4.14713200e-06 9.99993986e-01 -9.07216588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13028169299999 meters 0.017052699522186413 Centerline is valid? [True, True] Translation: X:25.69, Y:0.13, Z:-0.01 [[ 9.99336405e-01 -3.62778934e-02 -3.26566092e-03 2.56896090e+01] [ 3.62776942e-02 9.99341741e-01 -1.20243059e-04 1.28852829e-01] [ 3.26787344e-03 1.69261820e-06 9.99994660e-01 -9.61096010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160281692999995 meters 0.017102732638245056 Centerline is valid? [True, True] Translation: X:25.72, Y:0.13, Z:-0.01 [[ 9.99355013e-01 -3.57408539e-02 -3.48569491e-03 2.57170916e+01] [ 3.57406221e-02 9.99361092e-01 -1.28797189e-04 1.30918578e-01] [ 3.48807119e-03 4.13321163e-06 9.99993917e-01 -9.69398276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190281692999996 meters 0.01743032813814926 Centerline is valid? [True, True] Translation: X:25.75, Y:0.13, Z:-0.01 [[ 9.99384992e-01 -3.48604084e-02 -3.79342098e-03 2.57452645e+01] [ 3.48601247e-02 9.99392191e-01 -1.40906819e-04 1.33909465e-01] [ 3.79602738e-03 8.58103123e-06 9.99992795e-01 -1.03346674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220281693 meters 0.017942870541885793 Centerline is valid? [True, True] Translation: X:25.77, Y:0.14, Z:-0.01 [[ 9.99416033e-01 -3.37317973e-02 -5.45524220e-03 2.57732532e+01] [ 3.37311898e-02 9.99430921e-01 -2.03366578e-04 1.38414491e-01] [ 5.45899766e-03 1.92360089e-05 9.99985099e-01 -1.44105986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250281693 meters 0.01841893450880162 Centerline is valid? [True, True] Translation: X:25.80, Y:0.14, Z:-0.02 [[ 9.99419312e-01 -3.34990962e-02 -6.23285285e-03 2.58005515e+01] [ 3.34982962e-02 9.99438747e-01 -2.32722914e-04 1.40916199e-01] [ 6.23715065e-03 2.37978239e-05 9.99980549e-01 -1.70700676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280281693 meters 0.018114082375287652 Centerline is valid? [True, True] Translation: X:25.83, Y:0.14, Z:-0.02 [[ 9.99401946e-01 -3.37726448e-02 -7.42685965e-03 2.58292609e+01] [ 3.37715090e-02 9.99429541e-01 -2.78314581e-04 1.40628751e-01] [ 7.43202235e-03 2.73318759e-05 9.99972382e-01 -1.80004425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310281693 meters 0.01808307100024783 Centerline is valid? [True, True] Translation: X:25.86, Y:0.14, Z:-0.02 [[ 9.99386747e-01 -3.41643704e-02 -7.67635547e-03 2.58573893e+01] [ 3.41631578e-02 9.99416227e-01 -2.89066228e-04 1.41033998e-01] [ 7.68174999e-03 2.66404139e-05 9.99970495e-01 -1.80922865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340281692999994 meters 0.018076852061128773 Centerline is valid? [True, True] Translation: X:25.88, Y:0.14, Z:-0.02 [[ 9.99378895e-01 -3.43386829e-02 -7.91697777e-03 2.58841865e+01] [ 3.43373895e-02 9.99410253e-01 -2.99281227e-04 1.42013866e-01] [ 7.92258568e-03 2.72469933e-05 9.99968615e-01 -1.87558437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370281692999995 meters 0.017987140354997922 Centerline is valid? [True, True] Translation: X:25.91, Y:0.14, Z:-0.02 [[ 9.99371386e-01 -3.47968847e-02 -6.78303431e-03 2.59121877e+01] [ 3.47959384e-02 9.99394405e-01 -2.57508544e-04 1.41431253e-01] [ 6.78788703e-03 2.13246274e-05 9.99976962e-01 -1.59725569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400281693 meters 0.017652189263197112 Centerline is valid? [True, True] Translation: X:25.94, Y:0.14, Z:-0.01 [[ 9.99365427e-01 -3.50646115e-02 -6.26231214e-03 2.59401659e+01] [ 3.50638031e-02 9.99385047e-01 -2.38866996e-04 1.41838293e-01] [ 6.26683689e-03 1.91349377e-05 9.99980363e-01 -1.49870499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430281693 meters 0.017587533989054827 Centerline is valid? [True, True] Translation: X:25.97, Y:0.14, Z:-0.01 [[ 9.99365668e-01 -3.51841270e-02 -5.50800115e-03 2.59668926e+01] [ 3.51835000e-02 9.99380847e-01 -2.10703869e-04 1.42444587e-01] [ 5.51200429e-03 1.67794544e-05 9.99984809e-01 -1.42852074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460281693 meters 0.017662827804789942 Centerline is valid? [True, True] Translation: X:25.99, Y:0.14, Z:-0.01 [[ 9.99376966e-01 -3.49343122e-02 -5.02729971e-03 2.59947172e+01] [ 3.49337832e-02 9.99389610e-01 -1.93033119e-04 1.41615882e-01] [ 5.03097458e-03 1.72902551e-05 9.99987344e-01 -1.28243336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490281693 meters 0.017620911957854216 Centerline is valid? [True, True] Translation: X:26.02, Y:0.14, Z:-0.01 [[ 9.99368513e-01 -3.51228444e-02 -5.38151643e-03 2.60225391e+01] [ 3.51222353e-02 9.99383002e-01 -2.07672004e-04 1.41597767e-01] [ 5.38549008e-03 1.85299754e-05 9.99985498e-01 -1.32652327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520281692999994 meters 0.017791882872316478 Centerline is valid? [True, True] Translation: X:26.05, Y:0.14, Z:-0.02 [[ 9.99349150e-01 -3.54497967e-02 -6.67748175e-03 2.60499407e+01] [ 3.54488573e-02 9.99371458e-01 -2.59021187e-04 1.42443022e-01] [ 6.68246693e-03 2.21435045e-05 9.99977672e-01 -1.56178475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550281692999995 meters 0.017948747151284233 Centerline is valid? [True, True] Translation: X:26.08, Y:0.14, Z:-0.02 [[ 9.99366138e-01 -3.49768433e-02 -6.62886697e-03 2.60779156e+01] [ 3.49758991e-02 9.99388123e-01 -2.58350572e-04 1.44784800e-01] [ 6.63384721e-03 2.63362308e-05 9.99977995e-01 -1.50890566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580281692999996 meters 0.018323286883235174 Centerline is valid? [True, True] Translation: X:26.11, Y:0.15, Z:-0.01 [[ 9.99406107e-01 -3.38751832e-02 -6.31711771e-03 2.61057429e+01] [ 3.38742965e-02 9.99426071e-01 -2.47331281e-04 1.48900415e-01] [ 6.32187053e-03 3.31964738e-05 9.99980016e-01 -1.46499272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610281693 meters 0.019436182191312493 Centerline is valid? [True, True] Translation: X:26.13, Y:0.15, Z:-0.01 [[ 9.99467767e-01 -3.20129532e-02 -6.27316608e-03 2.61340786e+01] [ 3.20120357e-02 9.99487453e-01 -2.46647116e-04 1.54259800e-01] [ 6.27784669e-03 4.56990257e-05 9.99980293e-01 -1.36977316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640281693 meters 0.022237054467150106 Centerline is valid? [True, True] Translation: X:26.16, Y:0.17, Z:-0.01 [[ 9.99605398e-01 -2.72918996e-02 -6.64840435e-03 2.61621053e+01] [ 2.72907606e-02 9.99627503e-01 -2.62007814e-04 1.65039738e-01] [ 6.65307853e-03 8.04644135e-05 9.99977865e-01 -1.37036049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670281693 meters 0.023886091342436654 Centerline is valid? [True, True] Translation: X:26.19, Y:0.17, Z:-0.01 [[ 9.99664420e-01 -2.50333889e-02 -6.66156127e-03 2.61907336e+01] [ 2.50321892e-02 9.99686611e-01 -2.63420161e-04 1.71711903e-01] [ 6.66606791e-03 9.65783011e-05 9.99977777e-01 -1.33815109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700281692999994 meters 0.026637615739844817 Centerline is valid? [True, True] Translation: X:26.22, Y:0.18, Z:-0.01 [[ 9.99757268e-01 -2.12505940e-02 -5.81524621e-03 2.62196407e+01] [ 2.12496133e-02 9.99774175e-01 -2.30380275e-04 1.83108379e-01] [ 5.81882870e-03 1.06752621e-04 9.99983065e-01 -1.13119607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730281692999995 meters 0.029102171517699473 Centerline is valid? [True, True] Translation: X:26.25, Y:0.19, Z:-0.01 [[ 9.99787575e-01 -2.00377575e-02 -4.82638399e-03 2.62468153e+01] [ 2.00370667e-02 9.99799219e-01 -1.91432960e-04 1.92050470e-01] [ 4.82925083e-03 9.46857163e-05 9.99988335e-01 -9.54081098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760281692999996 meters 0.030589299031223496 Centerline is valid? [True, True] Translation: X:26.28, Y:0.20, Z:-0.01 [[ 9.99804132e-01 -1.93982594e-02 -3.92493946e-03 2.62751761e+01] [ 1.93977970e-02 9.99811833e-01 -1.55840453e-04 1.99639721e-01] [ 3.92722395e-03 7.96747495e-05 9.99992285e-01 -7.82898379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790281693 meters 0.03095299502906561 Centerline is valid? [True, True] Translation: X:26.30, Y:0.21, Z:-0.00 [[ 9.99809223e-01 -1.93987532e-02 -2.28171777e-03 2.63036552e+01] [ 1.93985968e-02 9.99811825e-01 -9.06479030e-05 2.10463748e-01] [ 2.28304687e-03 4.63684863e-05 9.99997393e-01 -4.68579050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820281693 meters 0.02916044080407891 Centerline is valid? [True, True] Translation: X:26.33, Y:0.21, Z:-0.00 [[ 9.99811567e-01 -1.93048344e-02 -2.03812762e-03 2.63345414e+01] [ 1.93047093e-02 9.99813643e-01 -8.10456651e-05 2.13351891e-01] [ 2.03931237e-03 4.16849322e-05 9.99997920e-01 -3.96878542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850281693 meters 0.030175464515733358 Centerline is valid? [True, True] Translation: X:26.36, Y:0.23, Z:-0.01 [[ 9.99813955e-01 -1.91487009e-02 -2.32016787e-03 2.63632612e+01] [ 1.91485384e-02 9.99816646e-01 -9.22647675e-05 2.25838209e-01] [ 2.32150920e-03 4.78197787e-05 9.99997304e-01 -5.24341289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88028169299999 meters 0.03266081236776135 Centerline is valid? [True, True] Translation: X:26.39, Y:0.24, Z:-0.01 [[ 9.99814493e-01 -1.90072914e-02 -3.11498898e-03 2.63926101e+01] [ 1.90069976e-02 9.99819343e-01 -1.23915637e-04 2.36087089e-01] [ 3.11678153e-03 6.46860622e-05 9.99995141e-01 -7.35679957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910281692999995 meters 0.030426945961305463 Centerline is valid? [True, True] Translation: X:26.42, Y:0.24, Z:-0.01 [[ 9.99799188e-01 -1.95815470e-02 -4.25978120e-03 2.64231808e+01] [ 1.95810025e-02 9.99808259e-01 -1.69486857e-04 2.38595254e-01] [ 4.26228324e-03 8.60420362e-05 9.99990913e-01 -9.63921763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940281692999996 meters 0.030971008328384297 Centerline is valid? [True, True] Translation: X:26.45, Y:0.24, Z:-0.01 [[ 9.99762039e-01 -2.11166500e-02 -5.47280563e-03 2.64518197e+01] [ 2.11157736e-02 9.99777013e-01 -2.17889946e-04 2.43923627e-01] [ 5.47618637e-03 1.02275572e-04 9.99985000e-01 -1.18327013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970281693 meters 0.023084293174542057 Centerline is valid? [True, True] Translation: X:26.48, Y:0.24, Z:-0.01 [[ 9.99626194e-01 -2.65056254e-02 -6.70254395e-03 2.64817127e+01] [ 2.65044305e-02 9.99648660e-01 -2.67058378e-04 2.37848411e-01] [ 6.70726763e-03 8.93114398e-05 9.99977502e-01 -1.26539434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000281693 meters 0.0210703266404904 Centerline is valid? [True, True] Translation: X:26.51, Y:0.24, Z:-0.01 [[ 9.99525121e-01 -2.99759739e-02 -7.13959140e-03 2.65097392e+01] [ 2.99747041e-02 9.99550617e-01 -2.84823142e-04 2.37688755e-01] [ 7.14492084e-03 7.06807464e-05 9.99974472e-01 -1.34781053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030281693 meters 0.01871978154385037 Centerline is valid? [True, True] Translation: X:26.54, Y:0.24, Z:-0.01 [[ 9.99413042e-01 -3.34693420e-02 -7.30579126e-03 2.65383755e+01] [ 3.34680984e-02 9.99439743e-01 -2.92439311e-04 2.35244818e-01] [ 7.31148589e-03 4.77567203e-05 9.99973270e-01 -1.35074374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060281693 meters 0.017036012840203042 Centerline is valid? [True, True] Translation: X:26.57, Y:0.23, Z:-0.01 [[ 9.99167236e-01 -4.01570219e-02 -7.22831833e-03 2.65679385e+01] [ 4.01559739e-02 9.99193381e-01 -2.90116597e-04 2.28553278e-01] [ 7.23413805e-03 -3.85163785e-07 9.99973833e-01 -1.38180512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090281692999994 meters 0.017036012840203042 Centerline is valid? [True, True] Translation: X:26.60, Y:0.23, Z:-0.01 [[ 9.99159818e-01 -4.03411757e-02 -7.22827249e-03 2.65953797e+01] [ 4.03401243e-02 9.99185963e-01 -2.91255716e-04 2.29848300e-01] [ 7.23413801e-03 -5.78402436e-07 9.99973833e-01 -1.37633723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120281692999995 meters 0.017186648539948328 Centerline is valid? [True, True] Translation: X:26.62, Y:0.23, Z:-0.01 [[ 9.99050574e-01 -4.31263082e-02 -6.17025968e-03 2.66231955e+01] [ 4.31255885e-02 9.99069628e-01 -2.49705712e-04 2.27716516e-01] [ 6.17528793e-03 -1.66274447e-05 9.99980933e-01 -1.20954894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150281693 meters 0.01751381016793018 Centerline is valid? [True, True] Translation: X:26.65, Y:0.23, Z:-0.01 [[ 9.98965174e-01 -4.52351325e-02 -4.72913015e-03 2.66516182e+01] [ 4.52347297e-02 9.98976367e-01 -1.92167029e-04 2.26883141e-01] [ 4.73298195e-03 -2.19527547e-05 9.99988799e-01 -8.68098036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180281693 meters 0.018490631514374915 Centerline is valid? [True, True] Translation: X:26.68, Y:0.23, Z:-0.01 [[ 9.98851399e-01 -4.76845215e-02 -4.69784272e-03 2.66797743e+01] [ 4.76841482e-02 9.98862446e-01 -1.91491705e-04 2.26727877e-01] [ 4.70162986e-03 -3.27408712e-05 9.99988947e-01 -7.96838496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210281693 meters 0.01882788918350679 Centerline is valid? [True, True] Translation: X:26.71, Y:0.23, Z:-0.01 [[ 9.98832589e-01 -4.78566985e-02 -6.57234251e-03 2.67075761e+01] [ 4.78559684e-02 9.98854211e-01 -2.68396558e-04 2.27640271e-01] [ 6.57765657e-03 -4.64425863e-05 9.99978366e-01 -1.14203125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240281693 meters 0.01948848752451944 Centerline is valid? [True, True] Translation: X:26.74, Y:0.23, Z:-0.02 [[ 9.98805298e-01 -4.78448613e-02 -9.94210253e-03 2.67355844e+01] [ 4.78431839e-02 9.98854776e-01 -4.06621931e-04 2.27380129e-01] [ 9.95017137e-03 -6.95257001e-05 9.99950493e-01 -1.73705630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270281692999994 meters 0.018963841795203103 Centerline is valid? [True, True] Translation: X:26.76, Y:0.23, Z:-0.02 [[ 9.98833305e-01 -4.72260406e-02 -1.00861330e-02 2.67634036e+01] [ 4.72242670e-02 9.98884226e-01 -4.14066880e-04 2.30140341e-01] [ 1.00944339e-02 -6.27264466e-05 9.99949048e-01 -1.71532961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300281692999995 meters 0.018057944727319 Centerline is valid? [True, True] Translation: X:26.79, Y:0.23, Z:-0.01 [[ 9.98909379e-01 -4.58975847e-02 -8.57108603e-03 2.67925401e+01] [ 4.58962443e-02 9.98946150e-01 -3.53121187e-04 2.34279122e-01] [ 8.57826080e-03 -4.06445923e-05 9.99963205e-01 -1.42712759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330281692999996 meters 0.017208716767275676 Centerline is valid? [True, True] Translation: X:26.82, Y:0.24, Z:-0.01 [[ 9.99001763e-01 -4.42187423e-02 -6.33886781e-03 2.68205696e+01] [ 4.42179725e-02 9.99021873e-01 -2.61608921e-04 2.38447452e-01] [ 6.34423561e-03 -1.89441091e-05 9.99979875e-01 -1.02639812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360281693 meters 0.01641964544584725 Centerline is valid? [True, True] Translation: X:26.85, Y:0.24, Z:-0.00 [[ 9.99102847e-01 -4.22457262e-02 -2.96639563e-03 2.68489166e+01] [ 4.22455483e-02 9.99107251e-01 -1.22627263e-04 2.42680898e-01] [ 2.96892786e-03 -2.79976219e-06 9.99995593e-01 -3.08734819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390281693 meters 0.016293198250938643 Centerline is valid? [True, True] Translation: X:26.88, Y:0.25, Z:-0.00 [[ 9.99108036e-01 -4.21526550e-02 -2.50727148e-03 2.68775890e+01] [ 4.21525270e-02 9.99111182e-01 -1.03923853e-04 2.45202170e-01] [ 2.50942364e-03 -1.85667147e-06 9.99996851e-01 -2.14340546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420281693 meters 0.01629720066792197 Centerline is valid? [True, True] Translation: X:26.91, Y:0.25, Z:-0.00 [[ 9.99145926e-01 -4.12424133e-02 -2.54588724e-03 2.69075021e+01] [ 4.12422781e-02 9.99149170e-01 -1.05603112e-04 2.50789818e-01] [ 2.54807645e-03 5.14730025e-07 9.99996754e-01 -2.50368283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450281692999994 meters 0.016158951535613003 Centerline is valid? [True, True] Translation: X:26.94, Y:0.25, Z:-0.00 [[ 9.99162311e-01 -4.08465844e-02 -2.49636180e-03 2.69365117e+01] [ 4.08464531e-02 9.99165430e-01 -1.03597012e-04 2.53105457e-01] [ 2.49851000e-03 1.54270487e-06 9.99996879e-01 -2.62530116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480281692999995 meters 0.016401639689151475 Centerline is valid? [True, True] Translation: X:26.97, Y:0.26, Z:-0.00 [[ 9.99174450e-01 -4.05363229e-02 -2.68776922e-03 2.69660511e+01] [ 4.05361694e-02 9.99178065e-01 -1.11578868e-04 2.55080202e-01] [ 2.69008305e-03 2.53488532e-06 9.99996382e-01 -2.84467727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510281692999996 meters 0.01652828543309071 Centerline is valid? [True, True] Translation: X:27.00, Y:0.26, Z:-0.01 [[ 9.99144551e-01 -4.10799380e-02 -4.75445354e-03 2.69958256e+01] [ 4.10794632e-02 9.99155863e-01 -1.97513314e-04 2.56001197e-01] [ 4.75855397e-03 2.03395226e-06 9.99988678e-01 -6.19089560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540281693 meters 0.016611679672509722 Centerline is valid? [True, True] Translation: X:27.02, Y:0.26, Z:-0.01 [[ 9.99102813e-01 -4.19617182e-02 -5.72561230e-03 2.70246057e+01] [ 4.19610431e-02 9.99119219e-01 -2.38037555e-04 2.56346841e-01] [ 5.73055776e-03 -2.42867299e-06 9.99983580e-01 -8.53199007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570281693 meters 0.01676114842950208 Centerline is valid? [True, True] Translation: X:27.05, Y:0.26, Z:-0.01 [[ 9.99042197e-01 -4.33698477e-02 -5.80907819e-03 2.70527453e+01] [ 4.33691744e-02 9.99059085e-01 -2.41883363e-04 2.55640207e-01] [ 5.81410278e-03 -1.02832387e-05 9.99983098e-01 -8.60202979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600281693 meters 0.016998056777706837 Centerline is valid? [True, True] Translation: X:27.08, Y:0.25, Z:-0.01 [[ 9.98965725e-01 -4.52094955e-02 -4.85600645e-03 2.70804742e+01] [ 4.52090438e-02 9.98977528e-01 -2.02820707e-04 2.53499841e-01] [ 4.86021074e-03 -1.69244733e-05 9.99988189e-01 -6.87419409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63028169299999 meters 0.01820645696411058 Centerline is valid? [True, True] Translation: X:27.11, Y:0.25, Z:-0.00 [[ 9.98806612e-01 -4.87105026e-02 -3.55504837e-03 2.71099579e+01] [ 4.87102809e-02 9.98812939e-01 -1.48975710e-04 2.48070782e-01] [ 3.55808499e-03 -2.43694804e-05 9.99993670e-01 -4.22490800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660281692999995 meters 0.019279650757659392 Centerline is valid? [True, True] Translation: X:27.14, Y:0.25, Z:-0.00 [[ 9.98726074e-01 -5.03484036e-02 -3.35675292e-03 2.71381402e+01] [ 5.03482139e-02 9.98731714e-01 -1.41034200e-04 2.45443661e-01] [ 3.35959645e-03 -2.81519809e-05 9.99994356e-01 -4.40544437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690281692999996 meters 0.021764337061849045 Centerline is valid? [True, True] Translation: X:27.17, Y:0.24, Z:-0.00 [[ 9.98547216e-01 -5.37785310e-02 -3.36567558e-03 2.71674893e+01] [ 5.37783587e-02 9.98552887e-01 -1.41730505e-04 2.39683331e-01] [ 3.36842712e-03 -3.94759069e-05 9.99994326e-01 -4.50936102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720281693 meters 0.02263037191394398 Centerline is valid? [True, True] Translation: X:27.20, Y:0.24, Z:-0.00 [[ 9.98480857e-01 -5.50035664e-02 -3.25369399e-03 2.71959924e+01] [ 5.50034107e-02 9.98486157e-01 -1.37379360e-04 2.37155507e-01] [ 3.25632477e-03 -4.17936063e-05 9.99994697e-01 -4.05013167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750281693 meters 0.02327039682460618 Centerline is valid? [True, True] Translation: X:27.23, Y:0.24, Z:-0.00 [[ 9.98436914e-01 -5.57954604e-02 -3.25497871e-03 2.72250175e+01] [ 5.57953078e-02 9.98442219e-01 -1.37736887e-04 2.35148584e-01] [ 3.25759326e-03 -4.40909467e-05 9.99994693e-01 -3.64088504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780281693 meters 0.02301713821337377 Centerline is valid? [True, True] Translation: X:27.25, Y:0.23, Z:-0.00 [[ 9.98365080e-01 -5.70938300e-02 -2.73147487e-03 2.72535194e+01] [ 5.70937264e-02 9.98368816e-01 -1.15960547e-04 2.33224777e-01] [ 2.73363996e-03 -4.01791181e-05 9.99996263e-01 -2.45172769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810281693 meters 0.023728477470056897 Centerline is valid? [True, True] Translation: X:27.28, Y:0.23, Z:-0.00 [[ 9.98357791e-01 -5.72042653e-02 -3.06480936e-03 2.72813879e+01] [ 5.72041340e-02 9.98362494e-01 -1.30562625e-04 2.31870220e-01] [ 3.06725946e-03 -4.49715514e-05 9.99995295e-01 -2.34511582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840281692999994 meters 0.022944051158312856 Centerline is valid? [True, True] Translation: X:27.31, Y:0.23, Z:-0.00 [[ 9.98359827e-01 -5.71259703e-02 -3.77881705e-03 2.73091682e+01] [ 5.71257681e-02 9.98366977e-01 -1.61517058e-04 2.33418084e-01] [ 3.78187297e-03 -5.46156839e-05 9.99992847e-01 -3.01408532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870281692999995 meters 0.02265394790455137 Centerline is valid? [True, True] Translation: X:27.34, Y:0.23, Z:-0.01 [[ 9.98423692e-01 -5.58005883e-02 -6.03535642e-03 2.73372155e+01] [ 5.58000433e-02 9.98441930e-01 -2.58788203e-04 2.34164691e-01] [ 6.04039345e-03 -7.83928768e-05 9.99981754e-01 -7.97852830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900281693 meters 0.0216813660945078 Centerline is valid? [True, True] Translation: X:27.36, Y:0.24, Z:-0.01 [[ 9.98439982e-01 -5.54451777e-02 -6.59054170e-03 2.73646221e+01] [ 5.54445136e-02 9.98461730e-01 -2.83574688e-04 2.37956624e-01] [ 6.59612652e-03 -8.22770730e-05 9.99978242e-01 -8.58493788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930281693 meters 0.021287231662946108 Centerline is valid? [True, True] Translation: X:27.39, Y:0.24, Z:-0.01 [[ 9.98446521e-01 -5.53219797e-02 -6.63503726e-03 2.73921763e+01] [ 5.53212956e-02 9.98468563e-01 -2.86733247e-04 2.39001852e-01] [ 6.64073877e-03 -8.07710447e-05 9.99977947e-01 -8.62288220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960281693 meters 0.0240765594058559 Centerline is valid? [True, True] Translation: X:27.42, Y:0.23, Z:-0.01 [[ 9.98390344e-01 -5.63827400e-02 -6.14063968e-03 2.74201128e+01] [ 5.63821705e-02 9.98409225e-01 -2.65953956e-04 2.33290141e-01] [ 6.14586651e-03 -8.06967316e-05 9.99981111e-01 -8.47377084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990281693 meters 0.02317296685989772 Centerline is valid? [True, True] Translation: X:27.45, Y:0.23, Z:-0.01 [[ 9.98301913e-01 -5.79820309e-02 -5.60127626e-03 2.74486208e+01] [ 5.79815783e-02 9.98317623e-01 -2.43281566e-04 2.33989612e-01] [ 5.60595876e-03 -8.19023858e-05 9.99984283e-01 -6.10970680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020281692999994 meters 0.02613551033185068 Centerline is valid? [True, True] Translation: X:27.48, Y:0.23, Z:-0.01 [[ 9.98122323e-01 -6.09726239e-02 -5.84532714e-03 2.74770697e+01] [ 6.09721791e-02 9.98139433e-01 -2.54436639e-04 2.26485491e-01] [ 5.84996519e-03 -1.02443444e-04 9.99982884e-01 -6.81194925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050281692999995 meters 0.026819213145286607 Centerline is valid? [True, True] Translation: X:27.51, Y:0.22, Z:-0.01 [[ 9.98053377e-01 -6.20347178e-02 -6.41487010e-03 2.75058764e+01] [ 6.20341986e-02 9.98073985e-01 -2.80063382e-04 2.24616999e-01] [ 6.41988862e-03 -1.18423122e-04 9.99979385e-01 -8.36268442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080281692999996 meters 0.027815616987205145 Centerline is valid? [True, True] Translation: X:27.53, Y:0.22, Z:-0.01 [[ 9.98043570e-01 -6.21468350e-02 -6.84125830e-03 2.75338377e+01] [ 6.21462429e-02 9.98067009e-01 -2.99295719e-04 2.21682177e-01] [ 6.84663450e-03 -1.26448332e-04 9.99976554e-01 -9.46211268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110281693 meters 0.02643127931180857 Centerline is valid? [True, True] Translation: X:27.56, Y:0.22, Z:-0.01 [[ 9.98117665e-01 -6.09419045e-02 -6.87101935e-03 2.75624999e+01] [ 6.09412727e-02 9.98141308e-01 -3.01478460e-04 2.19488505e-01] [ 6.87662091e-03 -1.17817688e-04 9.99976349e-01 -9.18902940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140281693 meters 0.025640851678696737 Centerline is valid? [True, True] Translation: X:27.59, Y:0.22, Z:-0.01 [[ 9.98186648e-01 -5.98057929e-02 -6.83244211e-03 2.75905692e+01] [ 5.98051343e-02 9.98210026e-01 -3.00851564e-04 2.19523176e-01] [ 6.83820488e-03 -1.08309104e-04 9.99976613e-01 -8.68398266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170281693 meters 0.022882326590671964 Centerline is valid? [True, True] Translation: X:27.62, Y:0.22, Z:-0.01 [[ 9.98314259e-01 -5.76757066e-02 -6.49249276e-03 2.76197115e+01] [ 5.76750606e-02 9.98335367e-01 -2.86848074e-04 2.23864996e-01] [ 6.49822931e-03 -8.80903902e-05 9.99978882e-01 -7.67717522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200281692999994 meters 0.018769072200567487 Centerline is valid? [True, True] Translation: X:27.65, Y:0.23, Z:-0.01 [[ 9.98661255e-01 -5.13395065e-02 -6.32089919e-03 2.76471027e+01] [ 5.13387638e-02 9.98681257e-01 -2.79801583e-04 2.32034359e-01] [ 6.32692842e-03 -4.50801507e-05 9.99979984e-01 -6.86448070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230281692999995 meters 0.017101439642543306 Centerline is valid? [True, True] Translation: X:27.68, Y:0.24, Z:-0.01 [[ 9.98800797e-01 -4.85646168e-02 -6.20053147e-03 2.76752862e+01] [ 4.85638438e-02 9.98820043e-01 -2.75256075e-04 2.38604251e-01] [ 6.20658281e-03 -2.61956550e-05 9.99980739e-01 -6.36030453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260281692999996 meters 0.016624916413510164 Centerline is valid? [True, True] Translation: X:27.70, Y:0.24, Z:-0.01 [[ 9.98927741e-01 -4.59010732e-02 -6.03825532e-03 2.77026364e+01] [ 4.59002882e-02 9.98945990e-01 -2.68591399e-04 2.44931701e-01] [ 6.04421957e-03 -8.85425984e-06 9.99981733e-01 -6.20414295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290281693 meters 0.01668128265463539 Centerline is valid? [True, True] Translation: X:27.73, Y:0.25, Z:-0.01 [[ 9.99070013e-01 -4.26758037e-02 -6.15499097e-03 2.77304223e+01] [ 4.26749219e-02 9.99088973e-01 -2.74600910e-04 2.53742701e-01] [ 6.16110242e-03 1.16817761e-05 9.99981020e-01 -6.46995355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320281693 meters 0.016950686571165663 Centerline is valid? [True, True] Translation: X:27.76, Y:0.26, Z:-0.01 [[ 9.99079820e-01 -4.23983682e-02 -6.47236508e-03 2.77583126e+01] [ 4.23973833e-02 9.99100785e-01 -2.89363757e-04 2.56385817e-01] [ 6.47881358e-03 1.46861474e-05 9.99979012e-01 -7.78174655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350281693 meters 0.01685356415087099 Centerline is valid? [True, True] Translation: X:27.79, Y:0.26, Z:-0.01 [[ 9.99034236e-01 -4.33994845e-02 -6.86142379e-03 2.77856742e+01] [ 4.33983979e-02 9.99057798e-01 -3.07246474e-04 2.56420130e-01] [ 6.86829328e-03 9.17494673e-06 9.99976413e-01 -8.62465282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38028169299999 meters 0.0170968836164558 Centerline is valid? [True, True] Translation: X:27.81, Y:0.25, Z:-0.01 [[ 9.98837321e-01 -4.77522332e-02 -6.61291327e-03 2.78134929e+01] [ 4.77513130e-02 9.98859211e-01 -2.97064647e-04 2.50386273e-01] [ 6.61955483e-03 -1.90560355e-05 9.99978090e-01 -8.56924998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410281692999995 meters 0.0175759973558355 Centerline is valid? [True, True] Translation: X:27.84, Y:0.25, Z:-0.01 [[ 9.98744522e-01 -4.96857177e-02 -6.38043075e-03 2.78421958e+01] [ 4.96848940e-02 9.98764902e-01 -2.87631370e-04 2.48307917e-01] [ 6.38684146e-03 -2.97407708e-05 9.99979603e-01 -7.66445108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440281692999996 meters 0.01800605725493465 Centerline is valid? [True, True] Translation: X:27.87, Y:0.25, Z:-0.01 [[ 9.98681261e-01 -5.09903732e-02 -5.97673170e-03 2.78705467e+01] [ 5.09896679e-02 9.98699144e-01 -2.70424394e-04 2.47151052e-01] [ 5.98274588e-03 -3.46837902e-05 9.99982103e-01 -6.64483014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470281693 meters 0.018416523410192648 Centerline is valid? [True, True] Translation: X:27.90, Y:0.25, Z:-0.00 [[ 9.98617861e-01 -5.23876089e-02 -4.23162329e-03 2.78983024e+01] [ 5.23872651e-02 9.98626826e-01 -1.92109482e-04 2.47115578e-01] [ 4.23587669e-03 -2.98392107e-05 9.99991028e-01 -3.10490675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500281693 meters 0.019010711656311387 Centerline is valid? [True, True] Translation: X:27.92, Y:0.25, Z:-0.00 [[ 9.98587026e-01 -5.29907682e-02 -3.99133646e-03 2.79248324e+01] [ 5.29904649e-02 9.98595002e-01 -1.81775045e-04 2.48194970e-01] [ 3.99536104e-03 -2.99845728e-05 9.99992018e-01 -2.40840307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530281693 meters 0.018912162959546355 Centerline is valid? [True, True] Translation: X:27.95, Y:0.25, Z:-0.00 [[ 9.98574465e-01 -5.32052673e-02 -4.27041335e-03 2.79529955e+01] [ 5.32049193e-02 9.98583596e-01 -1.95139314e-04 2.51269715e-01] [ 4.27474716e-03 -3.23458611e-05 9.99990863e-01 -3.29557563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560281693 meters 0.019056548892258027 Centerline is valid? [True, True] Translation: X:27.98, Y:0.25, Z:-0.01 [[ 9.98579731e-01 -5.29945662e-02 -5.48613692e-03 2.79797507e+01] [ 5.29939847e-02 9.98594800e-01 -2.51399850e-04 2.53847655e-01] [ 5.49175062e-03 -3.96894612e-05 9.99984919e-01 -6.06463059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590281692999994 meters 0.01930189346728911 Centerline is valid? [True, True] Translation: X:28.01, Y:0.25, Z:-0.01 [[ 9.98558831e-01 -5.33664080e-02 -5.68225705e-03 2.80074874e+01] [ 5.33657861e-02 9.98574997e-01 -2.61133179e-04 2.54933986e-01] [ 5.68809556e-03 -4.24812722e-05 9.99983822e-01 -6.71966433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620281692999995 meters 0.02042167547549288 Centerline is valid? [True, True] Translation: X:28.04, Y:0.25, Z:-0.00 [[ 9.98455064e-01 -5.53490451e-02 -4.89581711e-03 2.80360322e+01] [ 5.53486037e-02 9.98467066e-01 -2.25703439e-04 2.54129891e-01] [ 4.90080461e-03 -4.56218999e-05 9.99987990e-01 -4.27153576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650281693 meters 0.021634688932981674 Centerline is valid? [True, True] Translation: X:28.06, Y:0.25, Z:-0.00 [[ 9.98354088e-01 -5.71215206e-02 -5.12313397e-03 2.80644854e+01] [ 5.71210581e-02 9.98367231e-01 -2.36664718e-04 2.53442576e-01] [ 5.12828773e-03 -5.63636445e-05 9.99986849e-01 -4.28846461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680281693 meters 0.023865574762129086 Centerline is valid? [True, True] Translation: X:28.09, Y:0.25, Z:-0.01 [[ 9.98217824e-01 -5.94252079e-02 -5.46089610e-03 2.80928773e+01] [ 5.94247152e-02 9.98232758e-01 -2.52567273e-04 2.51528467e-01] [ 5.46625424e-03 -7.23950422e-05 9.99985057e-01 -5.11929916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710281693 meters 0.02578081295378989 Centerline is valid? [True, True] Translation: X:28.12, Y:0.25, Z:-0.01 [[ 9.98100152e-01 -6.13757876e-02 -5.39441396e-03 2.81221360e+01] [ 6.13753321e-02 9.98114726e-01 -2.50106729e-04 2.50093341e-01] [ 5.39959451e-03 -8.14523843e-05 9.99985419e-01 -5.05891510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740281693 meters 0.026859499935676136 Centerline is valid? [True, True] Translation: X:28.15, Y:0.25, Z:-0.00 [[ 9.98028582e-01 -6.25976913e-02 -4.52542557e-03 2.81506322e+01] [ 6.25973804e-02 9.98038839e-01 -2.10444074e-04 2.49174852e-01] [ 4.52972379e-03 -7.32505857e-05 9.99989738e-01 -2.77425817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770281692999994 meters 0.028028372863912854 Centerline is valid? [True, True] Translation: X:28.18, Y:0.25, Z:-0.00 [[ 9.98033912e-01 -6.24992957e-02 -4.70618683e-03 2.81773408e+01] [ 6.24989560e-02 9.98045005e-01 -2.19358336e-04 2.49344776e-01] [ 4.71069600e-03 -7.52047045e-05 9.99988902e-01 -3.62319978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800281692999995 meters 0.02676387804364933 Centerline is valid? [True, True] Translation: X:28.21, Y:0.25, Z:-0.00 [[ 9.98036597e-01 -6.23618418e-02 -5.82682243e-03 2.82053010e+01] [ 6.23613139e-02 9.98053602e-01 -2.72418949e-04 2.53489763e-01] [ 5.83246966e-03 -9.14842221e-05 9.99982987e-01 -4.98944604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830281692999996 meters 0.026980650961069053 Centerline is valid? [True, True] Translation: X:28.23, Y:0.25, Z:-0.01 [[ 9.98023405e-01 -6.22784082e-02 -8.40734824e-03 2.82342481e+01] [ 6.22772942e-02 9.98058807e-01 -3.94488784e-04 2.53436889e-01] [ 8.41559610e-03 -1.29877861e-04 9.99964580e-01 -1.14281429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860281693 meters 0.027360396140263612 Centerline is valid? [True, True] Translation: X:28.26, Y:0.25, Z:-0.01 [[ 9.98010548e-01 -6.24275484e-02 -8.81739473e-03 2.82608851e+01] [ 6.24263194e-02 9.98049489e-01 -4.14816133e-04 2.52603146e-01] [ 8.82609226e-03 -1.36446623e-04 9.99961040e-01 -1.24049265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890281693 meters 0.026403078491227087 Centerline is valid? [True, True] Translation: X:28.29, Y:0.25, Z:-0.01 [[ 9.98069695e-01 -6.17532646e-02 -6.58923375e-03 2.82882978e+01] [ 6.17525608e-02 9.98091441e-01 -3.10401542e-04 2.53410558e-01] [ 6.59582612e-03 -9.70996859e-05 9.99978243e-01 -6.30130494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920281693 meters 0.026115893321510184 Centerline is valid? [True, True] Translation: X:28.32, Y:0.26, Z:-0.00 [[ 9.98076826e-01 -6.17261676e-02 -5.70343242e-03 2.83165772e+01] [ 6.17256358e-02 9.98093119e-01 -2.69379489e-04 2.55291927e-01] [ 5.70918442e-03 -8.31865669e-05 9.99983699e-01 -4.26077615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950281692999994 meters 0.025766935977098376 Centerline is valid? [True, True] Translation: X:28.34, Y:0.26, Z:-0.00 [[ 9.98089814e-01 -6.14788847e-02 -6.08854460e-03 2.83445218e+01] [ 6.14782678e-02 9.98108381e-01 -2.88600337e-04 2.56564173e-01] [ 6.09477022e-03 -8.62641196e-05 9.99981423e-01 -4.37879141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980281692999995 meters 0.025766935977098376 Centerline is valid? [True, True] Translation: X:28.37, Y:0.26, Z:-0.00 [[ 9.98079639e-01 -6.16438474e-02 -6.08849679e-03 2.83719651e+01] [ 6.16432275e-02 9.98098206e-01 -2.89606835e-04 2.58083860e-01] [ 6.09477020e-03 -8.62639071e-05 9.99981423e-01 -4.32409432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010281692999996 meters 0.026955366011956475 Centerline is valid? [True, True] Translation: X:28.40, Y:0.26, Z:-0.01 [[ 9.98032000e-01 -6.21969284e-02 -7.97931373e-03 2.84010140e+01] [ 6.21958709e-02 9.98063890e-01 -3.80845563e-04 2.55512670e-01] [ 7.98755232e-03 -1.16184307e-04 9.99968092e-01 -9.79726202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040281693 meters 0.027752017719808085 Centerline is valid? [True, True] Translation: X:28.43, Y:0.25, Z:-0.01 [[ 9.97965535e-01 -6.31639262e-02 -8.66654744e-03 2.84299252e+01] [ 6.31627040e-02 9.98003157e-01 -4.14931426e-04 2.54571828e-01] [ 8.67545040e-03 -1.33315309e-04 9.99962359e-01 -1.17131862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070281693 meters 0.03119093048986735 Centerline is valid? [True, True] Translation: X:28.46, Y:0.25, Z:-0.01 [[ 9.97795202e-01 -6.59012140e-02 -7.85901758e-03 2.84592952e+01] [ 6.59002850e-02 9.97826142e-01 -3.77382224e-04 2.47596301e-01] [ 7.86680314e-03 -1.41361326e-04 9.99969046e-01 -1.10122031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100281693 meters 0.033282770973639624 Centerline is valid? [True, True] Translation: X:28.49, Y:0.24, Z:-0.01 [[ 9.97674214e-01 -6.78262151e-02 -6.76519902e-03 2.84884346e+01] [ 6.78255646e-02 9.97697142e-01 -3.25799392e-04 2.44101238e-01] [ 6.77171746e-03 -1.33811791e-04 9.99977063e-01 -8.36989992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13028169299999 meters 0.034883327060769624 Centerline is valid? [True, True] Translation: X:28.52, Y:0.24, Z:-0.01 [[ 9.97579888e-01 -6.92880053e-02 -5.79135198e-03 2.85178000e+01] [ 6.92875486e-02 9.97596691e-01 -2.79698176e-04 2.41213455e-01] [ 5.79681330e-03 -1.22247307e-04 9.99983191e-01 -5.68196501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160281692999995 meters 0.03893046382318648 Centerline is valid? [True, True] Translation: X:28.55, Y:0.23, Z:-0.00 [[ 9.97386234e-01 -7.20663668e-02 -5.20946454e-03 2.85475172e+01] [ 7.20660333e-02 9.97399831e-01 -2.51954033e-04 2.32076059e-01] [ 5.21407646e-03 -1.24129961e-04 9.99986399e-01 -4.76896005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190281692999996 meters 0.040317789893701016 Centerline is valid? [True, True] Translation: X:28.58, Y:0.23, Z:-0.01 [[ 9.97310718e-01 -7.30938082e-02 -5.35045254e-03 2.85764177e+01] [ 7.30934682e-02 9.97325061e-01 -2.59322202e-04 2.28610233e-01] [ 5.35509525e-03 -1.32458321e-04 9.99985653e-01 -5.58238617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220281693 meters 0.035305419786558385 Centerline is valid? [True, True] Translation: X:28.60, Y:0.23, Z:-0.00 [[ 9.97276198e-01 -7.35790169e-02 -5.12968425e-03 2.86048399e+01] [ 7.35787069e-02 9.97289382e-01 -2.49377465e-04 2.34895754e-01] [ 5.13412858e-03 -1.28737324e-04 9.99986812e-01 -4.15829009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250281693 meters 0.034401486549599875 Centerline is valid? [True, True] Translation: X:28.63, Y:0.23, Z:-0.00 [[ 9.97378323e-01 -7.22165765e-02 -4.60936300e-03 2.86329846e+01] [ 7.22163097e-02 9.97388968e-01 -2.24497088e-04 2.34495333e-01] [ 4.61354022e-03 -1.08962657e-04 9.99989352e-01 -1.76269731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280281693 meters 0.030034764269545697 Centerline is valid? [True, True] Translation: X:28.66, Y:0.24, Z:-0.00 [[ 9.97467684e-01 -7.09524074e-02 -4.89655080e-03 2.86616739e+01] [ 7.09520883e-02 9.97479696e-01 -2.39067204e-04 2.40617313e-01] [ 4.90117240e-03 -1.08958695e-04 9.99987983e-01 -1.58628272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31028169299999 meters 0.026669195360973497 Centerline is valid? [True, True] Translation: X:28.69, Y:0.24, Z:-0.00 [[ 9.97701914e-01 -6.74354805e-02 -6.58384020e-03 2.86904728e+01] [ 6.74348196e-02 9.97723630e-01 -3.22572149e-04 2.43002771e-01] [ 6.59060575e-03 -1.22149226e-04 9.99978274e-01 -4.32902349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340281692999994 meters 0.029984241373896648 Centerline is valid? [True, True] Translation: X:28.72, Y:0.24, Z:-0.01 [[ 9.97851410e-01 -6.51465897e-02 -6.96307896e-03 2.87187989e+01] [ 6.51457905e-02 9.97875698e-01 -3.41759959e-04 2.37910330e-01] [ 6.97055177e-03 -1.12589627e-04 9.99975699e-01 -7.61918412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370281692999995 meters 0.024228483778488782 Centerline is valid? [True, True] Translation: X:28.75, Y:0.25, Z:-0.01 [[ 9.98010410e-01 -6.26694579e-02 -6.91091638e-03 2.87472761e+01] [ 6.26686054e-02 9.98034333e-01 -3.40054470e-04 2.47458708e-01] [ 6.91864285e-03 -9.37195903e-05 9.99976062e-01 -6.02917179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400281693 meters 0.021900209613294048 Centerline is valid? [True, True] Translation: X:28.78, Y:0.25, Z:-0.01 [[ 9.98158857e-01 -6.02102760e-02 -7.32247182e-03 2.87762351e+01] [ 6.02092446e-02 9.98185712e-01 -3.61419896e-04 2.52161597e-01] [ 7.33094795e-03 -8.01260266e-05 9.99973125e-01 -6.57385732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430281693 meters 0.01858548123882596 Centerline is valid? [True, True] Translation: X:28.81, Y:0.26, Z:-0.01 [[ 9.98373235e-01 -5.65035346e-02 -7.63108580e-03 2.88050853e+01] [ 5.65022974e-02 9.98402398e-01 -3.77785036e-04 2.58173354e-01] [ 7.64024055e-03 -5.40034110e-05 9.99970811e-01 -6.68750140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460281693 meters 0.017964411330856765 Centerline is valid? [True, True] Translation: X:28.83, Y:0.26, Z:-0.01 [[ 9.98429276e-01 -5.55234055e-02 -7.49218887e-03 2.88337092e+01] [ 5.55221767e-02 9.98457385e-01 -3.72058648e-04 2.60435139e-01] [ 7.50128927e-03 -4.45083880e-05 9.99971864e-01 -6.04690157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490281693 meters 0.01699760328325289 Centerline is valid? [True, True] Translation: X:28.86, Y:0.26, Z:-0.00 [[ 9.98521412e-01 -5.39990949e-02 -6.25193913e-03 2.88610791e+01] [ 5.39982063e-02 9.98540984e-01 -3.10966225e-04 2.63597880e-01] [ 6.25960935e-03 -2.70870653e-05 9.99980408e-01 -3.75391867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520281692999994 meters 0.016652600056335176 Centerline is valid? [True, True] Translation: X:28.89, Y:0.26, Z:-0.00 [[ 9.98539897e-01 -5.37590262e-02 -5.29537892e-03 2.88895025e+01] [ 5.37583817e-02 9.98553938e-01 -2.64079929e-04 2.64931342e-01] [ 5.30191815e-03 -2.09766561e-05 9.99985945e-01 -2.76288649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550281692999995 meters 0.01657266728531824 Centerline is valid? [True, True] Translation: X:28.92, Y:0.27, Z:-0.00 [[ 9.98546841e-01 -5.36269702e-02 -5.32483675e-03 2.89176169e+01] [ 5.36263114e-02 9.98561039e-01 -2.66536654e-04 2.65662478e-01] [ 5.33146806e-03 -1.94020194e-05 9.99985787e-01 -2.59823311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580281692999996 meters 0.01656577909311906 Centerline is valid? [True, True] Translation: X:28.94, Y:0.27, Z:-0.01 [[ 9.98589131e-01 -5.25758456e-02 -7.45171680e-03 2.89449061e+01] [ 5.25745182e-02 9.98616934e-01 -3.74043224e-04 2.67276052e-01] [ 7.46107622e-03 -1.82549222e-05 9.99972166e-01 -5.46216718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610281693 meters 0.016344162127577628 Centerline is valid? [True, True] Translation: X:28.97, Y:0.27, Z:-0.01 [[ 9.98641381e-01 -5.15245696e-02 -7.78529346e-03 2.89724992e+01] [ 5.15230786e-02 9.98671727e-01 -3.92081004e-04 2.71359014e-01] [ 7.79515427e-03 -9.57397186e-06 9.99969617e-01 -5.82021542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640281693 meters 0.0161570111858411 Centerline is valid? [True, True] Translation: X:29.00, Y:0.28, Z:-0.00 [[ 9.98720796e-01 -5.00491644e-02 -7.20082895e-03 2.89993181e+01] [ 5.00478432e-02 9.98746755e-01 -3.63672975e-04 2.75694250e-01] [ 7.21000608e-03 2.82180455e-06 9.99974008e-01 -4.83244867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670281693 meters 0.015947462635582513 Centerline is valid? [True, True] Translation: X:29.03, Y:0.28, Z:-0.00 [[ 9.98806695e-01 -4.86192931e-02 -4.62055107e-03 2.90283858e+01] [ 4.86187311e-02 9.98817383e-01 -2.33958489e-04 2.75709427e-01] [ 4.62646162e-03 9.03397539e-06 9.99989298e-01 -8.50321690e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700281692999994 meters 0.015997290627299557 Centerline is valid? [True, True] Translation: X:29.06, Y:0.27, Z:-0.00 [[ 9.98791899e-01 -4.89428230e-02 -4.39805258e-03 2.90550838e+01] [ 4.89423141e-02 9.98801582e-01 -2.23317236e-04 2.74271942e-01] [ 4.40371165e-03 7.79657545e-06 9.99990304e-01 -2.18675524e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730281692999995 meters 0.015947466146768674 Centerline is valid? [True, True] Translation: X:29.08, Y:0.27, Z:-0.00 [[ 9.98742782e-01 -4.99151529e-02 -4.61885655e-03 2.90833548e+01] [ 4.99145985e-02 9.98753462e-01 -2.35290923e-04 2.72614142e-01] [ 4.62484355e-03 4.44674123e-06 9.99989305e-01 -3.03639367e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760281692999996 meters 0.01594168904008206 Centerline is valid? [True, True] Translation: X:29.11, Y:0.27, Z:-0.00 [[ 9.98648519e-01 -5.16677768e-02 -5.61920524e-03 2.91116912e+01] [ 5.16669803e-02 9.98664328e-01 -2.86912410e-04 2.69663992e-01] [ 5.62652395e-03 -3.80271285e-06 9.99984171e-01 -2.82347930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790281693 meters 0.016067351901302058 Centerline is valid? [True, True] Translation: X:29.14, Y:0.27, Z:-0.00 [[ 9.98616852e-01 -5.22882695e-02 -5.50627572e-03 2.91392892e+01] [ 5.22875098e-02 9.98632033e-01 -2.81919832e-04 2.69293044e-01] [ 5.51348442e-03 -6.37955082e-06 9.99984801e-01 -1.69699836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820281693 meters 0.015932089750701626 Centerline is valid? [True, True] Translation: X:29.17, Y:0.27, Z:-0.00 [[ 9.98607937e-01 -5.25218167e-02 -4.86287293e-03 2.91665656e+01] [ 5.25212242e-02 9.98619777e-01 -2.49542286e-04 2.67933444e-01] [ 4.86926749e-03 -6.20913224e-06 9.99988145e-01 -5.57366743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850281693 meters 0.015819849867380338 Centerline is valid? [True, True] Translation: X:29.20, Y:0.27, Z:0.00 [[ 9.98586972e-01 -5.29651814e-02 -4.32999692e-03 2.91950356e+01] [ 5.29647134e-02 9.98596360e-01 -2.22773201e-04 2.66531764e-01] [ 4.33571839e-03 -6.87862952e-06 9.99990601e-01 9.59264020e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88028169299999 meters 0.01610491910060767 Centerline is valid? [True, True] Translation: X:29.22, Y:0.26, Z:0.00 [[ 9.98511317e-01 -5.43315964e-02 -4.81956403e-03 2.92230794e+01] [ 5.43310297e-02 9.98522948e-01 -2.48529859e-04 2.61916743e-01] [ 4.82594831e-03 -1.36920000e-05 9.99988355e-01 5.83054521e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910281692999995 meters 0.016393867108141665 Centerline is valid? [True, True] Translation: X:29.25, Y:0.26, Z:-0.00 [[ 9.98462622e-01 -5.51998389e-02 -5.03682683e-03 2.92516059e+01] [ 5.51992276e-02 9.98475326e-01 -2.60419628e-04 2.60869541e-01] [ 5.04352243e-03 -1.80096855e-05 9.99987281e-01 -1.98275137e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940281692999996 meters 0.016619276377344443 Centerline is valid? [True, True] Translation: X:29.28, Y:0.26, Z:-0.00 [[ 9.98420701e-01 -5.59700841e-02 -4.84293239e-03 2.92797829e+01] [ 5.59695254e-02 9.98432446e-01 -2.50915389e-04 2.58551062e-01] [ 4.84938459e-03 -2.05375090e-05 9.99988241e-01 -6.10670403e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970281693 meters 0.016725692328462098 Centerline is valid? [True, True] Translation: X:29.31, Y:0.26, Z:0.00 [[ 9.98389329e-01 -5.65873273e-02 -4.07708632e-03 2.93079908e+01] [ 5.65869345e-02 9.98397653e-01 -2.11720292e-04 2.55785153e-01] [ 4.08253410e-03 -1.93305360e-05 9.99991666e-01 7.77891664e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000281693 meters 0.016656193072386805 Centerline is valid? [True, True] Translation: X:29.34, Y:0.26, Z:0.00 [[ 9.98376617e-01 -5.68230057e-02 -3.90858358e-03 2.93364032e+01] [ 5.68226437e-02 9.98384268e-01 -2.03679446e-04 2.56073987e-01] [ 3.91384204e-03 -1.87472567e-05 9.99992341e-01 1.64835183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030281693 meters 0.016648779247448297 Centerline is valid? [True, True] Translation: X:29.36, Y:0.26, Z:0.00 [[ 9.98392612e-01 -5.64952287e-02 -4.52559979e-03 2.93637408e+01] [ 5.64947373e-02 9.98402869e-01 -2.36463859e-04 2.56109836e-01] [ 4.53173089e-03 -1.95888012e-05 9.99989731e-01 4.51768339e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06028169299999 meters 0.01652856636957283 Centerline is valid? [True, True] Translation: X:29.39, Y:0.26, Z:0.00 [[ 9.98415022e-01 -5.60296956e-02 -5.30256590e-03 2.93912490e+01] [ 5.60290101e-02 9.98429103e-01 -2.77854810e-04 2.57464841e-01] [ 5.30980424e-03 -1.96831023e-05 9.99985903e-01 2.43422248e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090281692999994 meters 0.01599622485726751 Centerline is valid? [True, True] Translation: X:29.42, Y:0.26, Z:-0.00 [[ 9.98560895e-01 -5.33016021e-02 -5.92261866e-03 2.94188939e+01] [ 5.33006952e-02 9.98578459e-01 -3.10976530e-04 2.61384843e-01] [ 5.93077496e-03 -5.15069021e-06 9.99982413e-01 -1.36659286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120281692999995 meters 0.016109294110156838 Centerline is valid? [True, True] Translation: X:29.45, Y:0.27, Z:-0.00 [[ 9.98678730e-01 -5.10210506e-02 -6.13568554e-03 2.94452176e+01] [ 5.10200314e-02 9.98697578e-01 -3.22609477e-04 2.66562256e-01] [ 6.14415416e-03 9.14035371e-06 9.99981124e-01 -1.39605917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150281693 meters 0.018455380816260223 Centerline is valid? [True, True] Translation: X:29.47, Y:0.28, Z:-0.00 [[ 9.98942810e-01 -4.55374365e-02 -6.29313569e-03 2.94734223e+01] [ 4.55362502e-02 9.98962632e-01 -3.31724720e-04 2.78708556e-01] [ 6.30171328e-03 4.48082222e-05 9.99980143e-01 -1.42487848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180281693 meters 0.02001481323863359 Centerline is valid? [True, True] Translation: X:29.50, Y:0.29, Z:-0.00 [[ 9.99041552e-01 -4.33464583e-02 -6.08783030e-03 2.95018448e+01] [ 4.33453018e-02 9.99060099e-01 -3.21847669e-04 2.85695942e-01] [ 6.09605930e-03 5.76603530e-05 9.99981417e-01 -1.09295876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210281693 meters 0.021876000908962932 Centerline is valid? [True, True] Translation: X:29.53, Y:0.29, Z:0.00 [[ 9.99135453e-01 -4.11902086e-02 -5.63146465e-03 2.95302417e+01] [ 4.11891799e-02 9.99151321e-01 -2.98580158e-04 2.93174528e-01] [ 5.63898392e-03 6.63666110e-05 9.99984099e-01 1.99705476e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240281693 meters 0.02694043864278594 Centerline is valid? [True, True] Translation: X:29.56, Y:0.31, Z:0.00 [[ 9.99321522e-01 -3.63264395e-02 -6.07336276e-03 2.95579039e+01] [ 3.63251500e-02 9.99339972e-01 -3.22541237e-04 3.07758134e-01] [ 6.08107094e-03 1.01706586e-04 9.99981505e-01 1.21090642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270281692999994 meters 0.028067844741034662 Centerline is valid? [True, True] Translation: X:29.59, Y:0.31, Z:-0.00 [[ 9.99392011e-01 -3.43248034e-02 -6.11690161e-03 2.95867366e+01] [ 3.43234532e-02 9.99410724e-01 -3.25605716e-04 3.13630941e-01] [ 6.12447341e-03 1.15454565e-04 9.99981239e-01 -2.99395851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300281692999995 meters 0.029756729737864567 Centerline is valid? [True, True] Translation: X:29.61, Y:0.32, Z:-0.00 [[ 9.99426382e-01 -3.33478049e-02 -5.90169311e-03 2.96137836e+01] [ 3.33465277e-02 9.99443800e-01 -3.14720510e-04 3.20141208e-01] [ 5.90890583e-03 1.17739008e-04 9.99982535e-01 -1.09707557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330281692999996 meters 0.02833410655762534 Centerline is valid? [True, True] Translation: X:29.64, Y:0.32, Z:-0.00 [[ 9.99381183e-01 -3.46277341e-02 -6.17835638e-03 2.96422532e+01] [ 3.46263538e-02 9.99400273e-01 -3.30276332e-04 3.23136767e-01] [ 6.18608777e-03 1.16137998e-04 9.99980859e-01 -2.00091645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360281693 meters 0.027756312842284185 Centerline is valid? [True, True] Translation: X:29.67, Y:0.33, Z:-0.00 [[ 9.99320649e-01 -3.62729173e-02 -6.52044146e-03 2.96696475e+01] [ 3.62714110e-02 9.99341915e-01 -3.49148467e-04 3.25351986e-01] [ 6.52881509e-03 1.12405660e-04 9.99978681e-01 -2.74482798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390281693 meters 0.02537538766775803 Centerline is valid? [True, True] Translation: X:29.70, Y:0.32, Z:-0.00 [[ 9.99243331e-01 -3.82770374e-02 -6.90167540e-03 2.96983406e+01] [ 3.82753915e-02 9.99267160e-01 -3.70445260e-04 3.24605168e-01] [ 6.91079712e-03 1.06000627e-04 9.99976115e-01 -2.53344327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420281693 meters 0.021974686539941463 Centerline is valid? [True, True] Translation: X:29.73, Y:0.32, Z:-0.00 [[ 9.99163876e-01 -4.02962519e-02 -6.91091665e-03 2.97273882e+01] [ 4.02946420e-02 9.99187772e-01 -3.72076666e-04 3.21719198e-01] [ 6.92029670e-03 9.32926515e-05 9.99976050e-01 -1.67469763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450281692999994 meters 0.020648929496620814 Centerline is valid? [True, True] Translation: X:29.76, Y:0.32, Z:-0.00 [[ 9.99001086e-01 -4.40573546e-02 -7.46857863e-03 2.97558607e+01] [ 4.40555700e-02 9.99029001e-01 -4.03374584e-04 3.20388564e-01] [ 7.47909826e-03 7.39391586e-05 9.99972028e-01 -3.95729186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480281692999995 meters 0.019551637361816497 Centerline is valid? [True, True] Translation: X:29.78, Y:0.32, Z:-0.00 [[ 9.98914108e-01 -4.59240066e-02 -7.84800513e-03 2.97842377e+01] [ 4.59220838e-02 9.98944934e-01 -4.25125964e-04 3.19758351e-01] [ 7.85924846e-03 6.42675738e-05 9.99969114e-01 -4.65796421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510281692999996 meters 0.018843451133920767 Centerline is valid? [True, True] Translation: X:29.81, Y:0.32, Z:-0.01 [[ 9.98845127e-01 -4.73872076e-02 -7.92873950e-03 2.98120938e+01] [ 4.73852860e-02 9.98876594e-01 -4.30138789e-04 3.20810049e-01] [ 7.94021538e-03 5.39364441e-05 9.99968475e-01 -5.40367789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540281693 meters 0.01805525926789636 Centerline is valid? [True, True] Translation: X:29.84, Y:0.32, Z:-0.01 [[ 9.98773782e-01 -4.86282208e-02 -9.28588925e-03 2.98401837e+01] [ 4.86256252e-02 9.98816947e-01 -5.05214943e-04 3.20528408e-01] [ 9.29947126e-03 5.30632688e-05 9.99956758e-01 -7.10479221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570281693 meters 0.018525693033903824 Centerline is valid? [True, True] Translation: X:29.87, Y:0.32, Z:-0.01 [[ 9.98777732e-01 -4.84296110e-02 -9.88003139e-03 2.98677398e+01] [ 4.84266548e-02 9.98826596e-01 -5.38367068e-04 3.22142914e-01] [ 9.89451103e-03 5.92521694e-05 9.99951046e-01 -8.24121165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600281693 meters 0.018950426177069424 Centerline is valid? [True, True] Translation: X:29.90, Y:0.32, Z:-0.00 [[ 9.98844046e-01 -4.73976325e-02 -8.00220219e-03 2.98957437e+01] [ 4.73956568e-02 9.98876099e-01 -4.36462094e-04 3.24036990e-01] [ 8.01389577e-03 5.66879360e-05 9.99967887e-01 -3.92748724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63028169299999 meters 0.019508263287104637 Centerline is valid? [True, True] Translation: X:29.92, Y:0.33, Z:-0.00 [[ 9.98900848e-01 -4.64256160e-02 -6.46210532e-03 2.99240633e+01] [ 4.64243017e-02 9.98921748e-01 -3.53326069e-04 3.27227245e-01] [ 6.47154093e-03 5.29389828e-05 9.99979058e-01 -5.66421728e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660281692999995 meters 0.021348954105439095 Centerline is valid? [True, True] Translation: X:29.95, Y:0.33, Z:0.00 [[ 9.98997272e-01 -4.43747062e-02 -5.94445459e-03 2.99515294e+01] [ 4.43735545e-02 9.99014956e-01 -3.25553715e-04 3.32557406e-01] [ 5.95304539e-03 6.14506935e-05 9.99982279e-01 4.68671767e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690281692999996 meters 0.023553584818690822 Centerline is valid? [True, True] Translation: X:29.98, Y:0.34, Z:-0.00 [[ 9.99179725e-01 -3.97008227e-02 -7.98255731e-03 2.99807864e+01] [ 3.96985944e-02 9.99211604e-01 -4.37458763e-04 3.39626749e-01] [ 7.99363136e-03 1.20203622e-04 9.99968043e-01 -2.11787586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720281693 meters 0.026417323743517046 Centerline is valid? [True, True] Translation: X:30.01, Y:0.35, Z:-0.00 [[ 9.99237684e-01 -3.80794594e-02 -8.60259570e-03 3.00080706e+01] [ 3.80768076e-02 9.99274704e-01 -4.71880123e-04 3.47556994e-01] [ 8.61432521e-03 1.43961020e-04 9.99962886e-01 -4.21153694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750281693 meters 0.027217982380680916 Centerline is valid? [True, True] Translation: X:30.04, Y:0.35, Z:-0.00 [[ 9.99276668e-01 -3.70884812e-02 -8.40145798e-03 3.00364293e+01] [ 3.70859075e-02 9.99311974e-01 -4.61984034e-04 3.52264930e-01] [ 8.41281185e-03 1.50074173e-04 9.99964600e-01 -3.55345464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780281693 meters 0.026357370823287964 Centerline is valid? [True, True] Translation: X:30.06, Y:0.35, Z:-0.00 [[ 9.99281789e-01 -3.71121552e-02 -7.65474194e-03 3.00645165e+01] [ 3.71100089e-02 9.99311097e-01 -4.22276152e-04 3.54003158e-01] [ 7.66514015e-03 1.37905327e-04 9.99970613e-01 -8.94814852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81028169299999 meters 0.026990580071673244 Centerline is valid? [True, True] Translation: X:30.09, Y:0.36, Z:0.00 [[ 9.99334854e-01 -3.60437935e-02 -5.54025156e-03 3.00930421e+01] [ 3.60426481e-02 9.99350206e-01 -3.06488647e-04 3.60972176e-01] [ 5.54769855e-03 1.06599450e-04 9.99984606e-01 3.63545204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840281692999994 meters 0.02807858427895951 Centerline is valid? [True, True] Translation: X:30.12, Y:0.37, Z:0.00 [[ 9.99403928e-01 -3.41994235e-02 -4.71036735e-03 3.01210721e+01] [ 3.41985725e-02 9.99415024e-01 -2.61113253e-04 3.67139327e-01] [ 4.71654182e-03 9.98697714e-05 9.99988872e-01 4.85471193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870281692999995 meters 0.031211371956649026 Centerline is valid? [True, True] Translation: X:30.15, Y:0.38, Z:0.00 [[ 9.99474185e-01 -3.21342761e-02 -4.32920822e-03 3.01485084e+01] [ 3.21335365e-02 9.99483556e-01 -2.40294265e-04 3.76910757e-01] [ 4.33469411e-03 1.01055144e-04 9.99990600e-01 4.95553133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900281693 meters 0.031211371956649026 Centerline is valid? [True, True] Translation: X:30.18, Y:0.38, Z:0.01 [[ 9.99468935e-01 -3.22971681e-02 -4.32918043e-03 3.01767783e+01] [ 3.22964279e-02 9.99478305e-01 -2.40794140e-04 3.78629463e-01] [ 4.33469889e-03 1.00849199e-04 9.99990600e-01 5.01189467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930281693 meters 0.03410848376946268 Centerline is valid? [True, True] Translation: X:30.21, Y:0.39, Z:0.00 [[ 9.99544671e-01 -2.97831739e-02 -4.83866212e-03 3.02059894e+01] [ 2.97822177e-02 9.99556375e-01 -2.69561427e-04 3.90492655e-01] [ 4.84454396e-03 1.25332599e-04 9.99988257e-01 2.30140753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960281693 meters 0.03448180095305194 Centerline is valid? [True, True] Translation: X:30.23, Y:0.40, Z:0.00 [[ 9.99548565e-01 -2.95422662e-02 -5.46989922e-03 3.02340844e+01] [ 2.95410393e-02 9.99563522e-01 -3.04981468e-04 3.95265889e-01] [ 5.47652157e-03 1.43257281e-04 9.99984993e-01 9.75621681e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990281693 meters 0.03395659261165641 Centerline is valid? [True, True] Translation: X:30.26, Y:0.40, Z:0.00 [[ 9.99518390e-01 -3.03445333e-02 -6.49591154e-03 3.02630007e+01] [ 3.03428142e-02 9.99539485e-01 -3.63055979e-04 3.99224534e-01] [ 6.50393684e-03 1.65776891e-04 9.99978835e-01 6.70126443e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020281692999994 meters 0.032933513377495324 Centerline is valid? [True, True] Translation: X:30.29, Y:0.41, Z:-0.00 [[ 9.99453288e-01 -3.20973142e-02 -7.93022077e-03 3.02906269e+01] [ 3.20948014e-02 9.99484731e-01 -4.43955597e-04 4.05634492e-01] [ 7.94038436e-03 1.89194020e-04 9.99968457e-01 -2.06621370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050281692999995 meters 0.031439322944818035 Centerline is valid? [True, True] Translation: X:30.32, Y:0.41, Z:-0.00 [[ 9.99419532e-01 -3.29682975e-02 -8.58430151e-03 3.03197678e+01] [ 3.29653748e-02 9.99456378e-01 -4.81778086e-04 4.07599864e-01] [ 8.59551830e-03 1.98513713e-04 9.99963038e-01 -3.47035291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080281692999996 meters 0.03107618924954387 Centerline is valid? [True, True] Translation: X:30.35, Y:0.41, Z:-0.00 [[ 9.99379546e-01 -3.40875705e-02 -8.86341932e-03 3.03479126e+01] [ 3.40844857e-02 9.99418831e-01 -4.98899040e-04 4.11008954e-01] [ 8.87527443e-03 1.96484407e-04 9.99960595e-01 -4.94724751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110281693 meters 0.02963904652562231 Centerline is valid? [True, True] Translation: X:30.38, Y:0.41, Z:-0.00 [[ 9.99344099e-01 -3.52271997e-02 -8.39141225e-03 3.03762769e+01] [ 3.52244634e-02 9.99379314e-01 -4.73692858e-04 4.13504467e-01] [ 8.40289069e-03 1.77799169e-04 9.99964679e-01 -3.84583042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140281693 meters 0.027781073879324346 Centerline is valid? [True, True] Translation: X:30.40, Y:0.42, Z:-0.00 [[ 9.99230440e-01 -3.84480952e-02 -7.76355041e-03 3.04044053e+01] [ 3.84458458e-02 9.99260589e-01 -4.38823524e-04 4.20332941e-01] [ 7.77468189e-03 1.40009561e-04 9.99969767e-01 -2.63315161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170281693 meters 0.025906741769549924 Centerline is valid? [True, True] Translation: X:30.43, Y:0.42, Z:-0.00 [[ 9.99158354e-01 -4.02905753e-02 -7.69758720e-03 3.04333632e+01] [ 4.02884109e-02 9.99187997e-01 -4.36101302e-04 4.23394752e-01] [ 7.70890751e-03 1.25610703e-04 9.99970278e-01 -1.73158449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200281692999994 meters 0.02194878798945914 Centerline is valid? [True, True] Translation: X:30.46, Y:0.43, Z:-0.00 [[ 9.98974605e-01 -4.47345867e-02 -6.96820894e-03 3.04612775e+01] [ 4.47329171e-02 9.98998904e-01 -3.95349844e-04 4.25874329e-01] [ 6.97891890e-03 8.32361418e-05 9.99975644e-01 -8.54153787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230281692999995 meters 0.019995143987255312 Centerline is valid? [True, True] Translation: X:30.49, Y:0.43, Z:0.00 [[ 9.98857146e-01 -4.73235611e-02 -6.69941494e-03 3.04906103e+01] [ 4.73220707e-02 9.98879611e-01 -3.80901769e-04 4.26741120e-01] [ 6.70993462e-03 6.34362667e-05 9.99977486e-01 1.47302889e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260281692999996 meters 0.018547596403362825 Centerline is valid? [True, True] Translation: X:30.52, Y:0.43, Z:-0.00 [[ 9.98735962e-01 -4.98329745e-02 -6.56915982e-03 3.05195064e+01] [ 4.98315891e-02 9.98757564e-01 -3.74504318e-04 4.27665964e-01] [ 6.57966073e-03 4.66792575e-05 9.99978353e-01 -1.95201618e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290281693 meters 0.017267422885396556 Centerline is valid? [True, True] Translation: X:30.55, Y:0.43, Z:-0.00 [[ 9.98596193e-01 -5.25184416e-02 -6.88883518e-03 3.05479254e+01] [ 5.25169745e-02 9.98619954e-01 -3.93826169e-04 4.27813184e-01] [ 6.90001140e-03 3.14925322e-05 9.99976194e-01 -1.40630326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320281693 meters 0.01638740521124943 Centerline is valid? [True, True] Translation: X:30.58, Y:0.42, Z:-0.00 [[ 9.98306465e-01 -5.77089170e-02 -7.34044458e-03 3.05773959e+01] [ 5.77073828e-02 9.98333452e-01 -4.20815649e-04 4.24917295e-01] [ 7.35249619e-03 -3.49486161e-06 9.99972970e-01 -2.29576772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350281693 meters 0.016710860516559026 Centerline is valid? [True, True] Translation: X:30.60, Y:0.42, Z:-0.00 [[ 9.98144327e-01 -6.05484259e-02 -6.46460214e-03 3.06048533e+01] [ 6.05472915e-02 9.98165261e-01 -3.71227010e-04 4.23353172e-01] [ 6.47521850e-03 -2.08760164e-05 9.99979035e-01 -1.17907450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38028169299999 meters 0.018576528344607435 Centerline is valid? [True, True] Translation: X:30.63, Y:0.42, Z:-0.00 [[ 9.97892429e-01 -6.45601385e-02 -6.53361453e-03 3.06331586e+01] [ 6.45590630e-02 9.97913817e-01 -3.75595400e-04 4.21771764e-01] [ 6.54423270e-03 -4.70002257e-05 9.99978585e-01 -1.17399253e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410281692999995 meters 0.019553263676867855 Centerline is valid? [True, True] Translation: X:30.66, Y:0.42, Z:-0.00 [[ 9.97799415e-01 -6.58925427e-02 -7.38249047e-03 3.06624011e+01] [ 6.58911991e-02 9.97826723e-01 -4.25340940e-04 4.22664964e-01] [ 7.39447307e-03 -6.20362085e-05 9.99972659e-01 -1.91247539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440281692999996 meters 0.020349675572049395 Centerline is valid? [True, True] Translation: X:30.69, Y:0.42, Z:-0.00 [[ 9.97730469e-01 -6.68312926e-02 -8.21520655e-03 3.06898381e+01] [ 6.68296550e-02 9.97764287e-01 -4.73992703e-04 4.22819799e-01] [ 8.22851725e-03 -7.61024578e-05 9.99966142e-01 -4.07659382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470281693 meters 0.0209681778438818 Centerline is valid? [True, True] Translation: X:30.72, Y:0.42, Z:-0.00 [[ 9.97670752e-01 -6.76707711e-02 -8.58700585e-03 3.07187509e+01] [ 6.76690035e-02 9.97707702e-01 -4.96556275e-04 4.23164413e-01] [ 8.60092423e-03 -8.56744568e-05 9.99963008e-01 -4.80892736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500281693 meters 0.02197176752885704 Centerline is valid? [True, True] Translation: X:30.75, Y:0.42, Z:-0.00 [[ 9.97576720e-01 -6.92369234e-02 -6.85100190e-03 3.07470114e+01] [ 6.92358278e-02 9.97600242e-01 -3.97247971e-04 4.22589651e-01] [ 6.86206538e-03 -7.80494596e-05 9.99976453e-01 -1.69034866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530281693 meters 0.02224769583353855 Centerline is valid? [True, True] Translation: X:30.77, Y:0.42, Z:-0.00 [[ 9.97562062e-01 -6.95059869e-02 -6.23295721e-03 3.07738380e+01] [ 6.95050814e-02 9.97581532e-01 -3.62040933e-04 4.24001968e-01] [ 6.24304701e-03 -7.20638989e-05 9.99980509e-01 -1.02268833e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56028169299999 meters 0.021195345004282596 Centerline is valid? [True, True] Translation: X:30.80, Y:0.43, Z:0.00 [[ 9.97571250e-01 -6.94095177e-02 -5.82409772e-03 3.08021031e+01] [ 6.94087206e-02 9.97588249e-01 -3.39117947e-04 4.27836691e-01] [ 5.83358946e-03 -6.59488569e-05 9.99982982e-01 7.35661359e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590281692999994 meters 0.019739786783989598 Centerline is valid? [True, True] Translation: X:30.83, Y:0.43, Z:-0.00 [[ 9.97680232e-01 -6.77116702e-02 -7.02030010e-03 3.08309181e+01] [ 6.77104614e-02 9.97704929e-01 -4.09998732e-04 4.33073717e-01] [ 7.03194971e-03 -6.63001292e-05 9.99975273e-01 -1.95708145e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620281692999995 meters 0.01895733967447526 Centerline is valid? [True, True] Translation: X:30.86, Y:0.44, Z:-0.00 [[ 9.97771733e-01 -6.61362866e-02 -8.80679976e-03 3.08583106e+01] [ 6.61343085e-02 9.97810597e-01 -5.15968389e-04 4.37357369e-01] [ 8.82164236e-03 -6.76129380e-05 9.99961086e-01 -3.09605668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650281693 meters 0.017751487024932545 Centerline is valid? [True, True] Translation: X:30.89, Y:0.44, Z:-0.00 [[ 9.97961873e-01 -6.30597898e-02 -9.77567442e-03 3.08868837e+01] [ 6.30571897e-02 9.98009750e-01 -5.74272263e-04 4.43621082e-01] [ 9.79243187e-03 -4.33247339e-05 9.99952052e-01 -4.38603100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680281693 meters 0.017242269285920424 Centerline is valid? [True, True] Translation: X:30.92, Y:0.45, Z:-0.00 [[ 9.98024487e-01 -6.22167221e-02 -8.72938291e-03 3.09150585e+01] [ 6.22146050e-02 9.98062663e-01 -5.14129968e-04 4.46549173e-01] [ 8.74445863e-03 -2.99808121e-05 9.99961766e-01 -3.06814975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710281693 meters 0.016921643689614723 Centerline is valid? [True, True] Translation: X:30.94, Y:0.45, Z:-0.00 [[ 9.98063995e-01 -6.17002668e-02 -7.83190579e-03 3.09443033e+01] [ 6.16985379e-02 9.98094723e-01 -4.62402067e-04 4.48768049e-01] [ 7.84551418e-03 -2.17102815e-05 9.99969223e-01 -1.27472586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740281693 meters 0.016596743477163684 Centerline is valid? [True, True] Translation: X:30.97, Y:0.45, Z:0.00 [[ 9.98083140e-01 -6.15053768e-02 -6.86547687e-03 3.09726596e+01] [ 6.15040359e-02 9.98106752e-01 -4.06471448e-04 4.50457897e-01] [ 6.87747900e-03 -1.65622368e-05 9.99976350e-01 1.77680337e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770281692999994 meters 0.016241013523395846 Centerline is valid? [True, True] Translation: X:31.00, Y:0.45, Z:0.01 [[ 9.98093020e-01 -6.15613638e-02 -4.53006016e-03 3.10002743e+01] [ 6.15607786e-02 9.98103300e-01 -2.68641539e-04 4.51278001e-01] [ 4.53800594e-03 -1.07447861e-05 9.99989703e-01 5.25510507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800281692999995 meters 0.016241818801077744 Centerline is valid? [True, True] Translation: X:31.03, Y:0.45, Z:0.01 [[ 9.98093132e-01 -6.15672653e-02 -4.42396436e-03 3.10276729e+01] [ 6.15667046e-02 9.98102936e-01 -2.62935740e-04 4.53457983e-01] [ 4.43176005e-03 -9.93455064e-06 9.99990180e-01 5.98107444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830281692999996 meters 0.01612764625204161 Centerline is valid? [True, True] Translation: X:31.06, Y:0.46, Z:0.01 [[ 9.98122443e-01 -6.10749139e-02 -4.63078517e-03 3.10553262e+01] [ 6.10742904e-02 9.98133185e-01 -2.76061656e-04 4.56855339e-01] [ 4.63900079e-03 -7.27858447e-06 9.99989240e-01 5.89405381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860281693 meters 0.01598000849892968 Centerline is valid? [True, True] Translation: X:31.08, Y:0.47, Z:0.01 [[ 9.98276192e-01 -5.85617672e-02 -3.89406977e-03 3.10831619e+01] [ 5.85613046e-02 9.98283787e-01 -2.32791253e-04 4.65185797e-01] [ 3.90101938e-03 4.34815982e-06 9.99992391e-01 7.45676565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890281693 meters 0.016441286171444882 Centerline is valid? [True, True] Translation: X:31.11, Y:0.47, Z:0.01 [[ 9.98387729e-01 -5.66249116e-02 -3.94478670e-03 3.11103689e+01] [ 5.66244199e-02 9.98395522e-01 -2.36309528e-04 4.72306536e-01] [ 3.95183838e-03 1.25572750e-05 9.99992191e-01 7.67693812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920281693 meters 0.01881765425240812 Centerline is valid? [True, True] Translation: X:31.14, Y:0.49, Z:0.00 [[ 9.98590219e-01 -5.27062968e-02 -6.29453641e-03 3.11375489e+01] [ 5.27049644e-02 9.98610056e-01 -3.77494716e-04 4.85336574e-01] [ 6.30568370e-03 4.52092139e-05 9.99980118e-01 2.27348071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950281692999994 meters 0.019205675206526756 Centerline is valid? [True, True] Translation: X:31.17, Y:0.49, Z:-0.00 [[ 9.98602937e-01 -5.23447127e-02 -7.22536132e-03 3.11663448e+01] [ 5.23429406e-02 9.98629074e-01 -4.34273503e-04 4.90002927e-01] [ 7.23818780e-03 5.54701370e-05 9.99973802e-01 -2.83817921e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980281692999995 meters 0.018325301950093714 Centerline is valid? [True, True] Translation: X:31.19, Y:0.49, Z:0.00 [[ 9.98554292e-01 -5.32960946e-02 -6.98949781e-03 3.11938507e+01] [ 5.32944508e-02 9.98578752e-01 -4.21346015e-04 4.92409636e-01] [ 7.00202009e-03 4.82354242e-05 9.99975484e-01 1.45957271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010281692999996 meters 0.01700862846661527 Centerline is valid? [True, True] Translation: X:31.22, Y:0.50, Z:0.00 [[ 9.98402031e-01 -5.62301854e-02 -5.61700478e-03 3.12217485e+01] [ 5.62291674e-02 9.98417831e-01 -3.39123338e-04 4.96743139e-01] [ 5.62718670e-03 2.27419273e-05 9.99984167e-01 4.12239837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040281693 meters 0.016420967808063108 Centerline is valid? [True, True] Translation: X:31.25, Y:0.50, Z:0.01 [[ 9.98327572e-01 -5.76557734e-02 -4.22737425e-03 3.12499444e+01] [ 5.76552077e-02 9.98336522e-01 -2.55667785e-04 4.99077324e-01] [ 4.23508283e-03 1.15100592e-05 9.99991032e-01 6.57658124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070281693 meters 0.01602244972396581 Centerline is valid? [True, True] Translation: X:31.28, Y:0.50, Z:0.01 [[ 9.98215699e-01 -5.96069192e-02 -3.52603172e-03 3.12786160e+01] [ 5.96065360e-02 9.98221927e-01 -2.13751144e-04 4.99384144e-01] [ 3.53250323e-03 3.19521122e-06 9.99993761e-01 7.44177992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100281693 meters 0.017054859099539105 Centerline is valid? [True, True] Translation: X:31.31, Y:0.49, Z:0.01 [[ 9.97843758e-01 -6.55547596e-02 -3.22621522e-03 3.13073910e+01] [ 6.55544683e-02 9.97848973e-01 -1.96050529e-04 4.93837994e-01] [ 3.23212759e-03 -1.58650265e-05 9.99994777e-01 7.24574160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13028169299999 meters 0.01914443030805837 Centerline is valid? [True, True] Translation: X:31.34, Y:0.49, Z:0.01 [[ 9.97601387e-01 -6.91167319e-02 -3.78821942e-03 3.13353157e+01] [ 6.91163542e-02 9.97608579e-01 -2.30666590e-04 4.91753567e-01] [ 3.79510311e-03 -3.17146051e-05 9.99992798e-01 6.17353462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160281692999995 meters 0.02266208598915141 Centerline is valid? [True, True] Translation: X:31.36, Y:0.49, Z:0.00 [[ 9.97255082e-01 -7.38414837e-02 -5.45314940e-03 3.13645754e+01] [ 7.38407680e-02 9.97269989e-01 -3.32738518e-04 4.91418280e-01] [ 5.46283214e-03 -7.08395620e-05 9.99985076e-01 3.50018862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190281692999996 meters 0.024312552227966827 Centerline is valid? [True, True] Translation: X:31.39, Y:0.49, Z:0.00 [[ 9.97187501e-01 -7.46836428e-02 -6.28031046e-03 3.13928150e+01] [ 7.46827065e-02 9.97207273e-01 -3.83799772e-04 4.91732919e-01] [ 6.29143483e-03 -8.63102473e-05 9.99980205e-01 1.59209126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220281693 meters 0.024562042548542103 Centerline is valid? [True, True] Translation: X:31.42, Y:0.49, Z:0.00 [[ 9.97114467e-01 -7.56091061e-02 -6.78258296e-03 3.14218660e+01] [ 7.56080297e-02 9.97137530e-01 -4.15343309e-04 4.93709875e-01] [ 6.79457176e-03 -9.86729121e-05 9.99976912e-01 2.97329508e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250281693 meters 0.027874227294407625 Centerline is valid? [True, True] Translation: X:31.45, Y:0.49, Z:-0.00 [[ 9.96859773e-01 -7.88405362e-02 -7.40024368e-03 3.14504042e+01] [ 7.88393400e-02 9.96887232e-01 -4.53673041e-04 4.91627719e-01] [ 7.41297626e-03 -1.31181923e-04 9.99972515e-01 -6.84587670e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280281693 meters 0.028598686812629424 Centerline is valid? [True, True] Translation: X:31.48, Y:0.49, Z:-0.00 [[ 9.96686989e-01 -8.09603223e-02 -7.77635176e-03 3.14794761e+01] [ 8.09590584e-02 9.96717313e-01 -4.77703328e-04 4.94256528e-01] [ 7.78949945e-03 -1.53445425e-04 9.99969650e-01 -1.48050746e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31028169299999 meters 0.03190286663232927 Centerline is valid? [True, True] Translation: X:31.51, Y:0.49, Z:-0.00 [[ 9.96547321e-01 -8.26743186e-02 -7.64154279e-03 3.15073334e+01] [ 8.26731438e-02 9.96576605e-01 -4.70040060e-04 4.92031999e-01] [ 7.65424301e-03 -1.63333203e-04 9.99970693e-01 -4.26893795e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340281692999994 meters 0.03140430145229459 Centerline is valid? [True, True] Translation: X:31.54, Y:0.49, Z:0.00 [[ 9.96456605e-01 -8.38047733e-02 -7.14107657e-03 3.15360197e+01] [ 8.38037698e-02 9.96482180e-01 -4.40159802e-04 4.94481263e-01] [ 7.15284304e-03 -1.59848995e-04 9.99974405e-01 5.55398037e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370281692999995 meters 0.03429630273338225 Centerline is valid? [True, True] Translation: X:31.56, Y:0.49, Z:0.00 [[ 9.96396385e-01 -8.45659942e-02 -6.54491408e-03 3.15637651e+01] [ 8.45651642e-02 9.96417869e-01 -4.03949367e-04 4.90595236e-01] [ 6.55562972e-03 -1.50978044e-04 9.99978500e-01 1.51086420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400281693 meters 0.0327092750558614 Centerline is valid? [True, True] Translation: X:31.59, Y:0.49, Z:0.00 [[ 9.96374485e-01 -8.48111632e-02 -6.70468856e-03 3.15913667e+01] [ 8.48102914e-02 9.96397031e-01 -4.14751987e-04 4.94638432e-01] [ 6.71570737e-03 -1.55378294e-04 9.99977437e-01 2.00622989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430281693 meters 0.03402515096767502 Centerline is valid? [True, True] Translation: X:31.62, Y:0.49, Z:0.00 [[ 9.96419514e-01 -8.42491960e-02 -7.08691925e-03 3.16196961e+01] [ 8.42482022e-02 9.96444704e-01 -4.39182486e-04 4.94156177e-01] [ 7.09872393e-03 -1.59450207e-04 9.99974791e-01 6.01895973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460281693 meters 0.030175120590602813 Centerline is valid? [True, True] Translation: X:31.65, Y:0.50, Z:0.00 [[ 9.96576518e-01 -8.24743795e-02 -5.76375814e-03 3.16487057e+01] [ 8.24736886e-02 9.96593178e-01 -3.57853523e-04 4.99864295e-01] [ 5.77363579e-03 -1.18729976e-04 9.99983325e-01 3.24915063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490281693 meters 0.02931372754329712 Centerline is valid? [True, True] Translation: X:31.68, Y:0.50, Z:0.01 [[ 9.96614799e-01 -8.20745882e-02 -4.76495253e-03 3.16772694e+01] [ 8.20741083e-02 9.96626185e-01 -2.96501030e-04 5.01760003e-01] [ 4.77321166e-03 -9.55819162e-05 9.99988604e-01 5.06688413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520281692999994 meters 0.02884801331267436 Centerline is valid? [True, True] Translation: X:31.71, Y:0.50, Z:0.01 [[ 9.96654879e-01 -8.16039334e-02 -4.45537835e-03 3.17065982e+01] [ 8.16035063e-02 9.96664834e-01 -2.77874268e-04 5.02245534e-01] [ 4.46319456e-03 -8.66297503e-05 9.99990036e-01 5.61226139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550281692999995 meters 0.02794562374522584 Centerline is valid? [True, True] Translation: X:31.73, Y:0.50, Z:0.00 [[ 9.96756171e-01 -8.03279551e-02 -4.95531810e-03 3.17345822e+01] [ 8.03274086e-02 9.96768484e-01 -3.09530463e-04 5.01161728e-01] [ 4.96416886e-03 -8.95214632e-05 9.99987674e-01 4.61407641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580281692999996 meters 0.026975614909801573 Centerline is valid? [True, True] Translation: X:31.76, Y:0.50, Z:0.01 [[ 9.96833549e-01 -7.93658576e-02 -4.89240193e-03 3.17630338e+01] [ 7.93653106e-02 9.96845552e-01 -3.06148542e-04 5.02279083e-01] [ 4.90126684e-03 -8.31078615e-05 9.99987985e-01 5.53480552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610281693 meters 0.023089145606418438 Centerline is valid? [True, True] Translation: X:31.79, Y:0.51, Z:0.01 [[ 9.97042242e-01 -7.67625194e-02 -3.77944652e-03 3.17914963e+01] [ 7.67621723e-02 9.97049403e-01 -2.37021289e-04 5.06113009e-01] [ 3.78648925e-03 -5.37982878e-05 9.99992830e-01 8.64722132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640281693 meters 0.022974356757624655 Centerline is valid? [True, True] Translation: X:31.82, Y:0.51, Z:0.01 [[ 9.97154810e-01 -7.52998204e-02 -3.49599061e-03 3.18189756e+01] [ 7.52995131e-02 9.97160937e-01 -2.19620872e-04 5.06583312e-01] [ 3.50260268e-03 -4.42503819e-05 9.99993865e-01 8.74377791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670281693 meters 0.02151587132689279 Centerline is valid? [True, True] Translation: X:31.85, Y:0.51, Z:0.01 [[ 9.97274433e-01 -7.37057663e-02 -3.34152088e-03 3.18479481e+01] [ 7.37054756e-02 9.97280030e-01 -2.10226998e-04 5.10647008e-01] [ 3.34792698e-03 -3.66343753e-05 9.99994395e-01 9.21253175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700281692999994 meters 0.019296684539656928 Centerline is valid? [True, True] Translation: X:31.88, Y:0.52, Z:0.01 [[ 9.97464193e-01 -7.11234302e-02 -2.57727026e-03 3.18765592e+01] [ 7.11232478e-02 9.97467522e-01 -1.62464035e-04 5.16868176e-01] [ 2.58229838e-03 -2.12517740e-05 9.99996666e-01 1.07897903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730281692999995 meters 0.016298118053709516 Centerline is valid? [True, True] Translation: X:31.90, Y:0.53, Z:0.01 [[ 9.97850735e-01 -6.55041265e-02 -1.76658140e-03 3.19048328e+01] [ 6.55040317e-02 9.97852298e-01 -1.11530348e-04 5.29447742e-01] [ 1.77009301e-03 -4.42756476e-06 9.99998433e-01 1.24613642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760281692999996 meters 0.01609921292564351 Centerline is valid? [True, True] Translation: X:31.93, Y:0.53, Z:0.01 [[ 9.97994108e-01 -6.32657695e-02 -2.28097950e-03 3.19337233e+01] [ 6.32656045e-02 9.97996715e-01 -1.44453444e-04 5.34799530e-01] [ 2.28554901e-03 -1.43860866e-07 9.99997388e-01 1.14691472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790281693 meters 0.01609921292564351 Centerline is valid? [True, True] Translation: X:31.96, Y:0.54, Z:0.01 [[ 9.97984143e-01 -6.34227646e-02 -2.28095679e-03 3.19619639e+01] [ 6.34225993e-02 9.97986750e-01 -1.44811284e-04 5.36747242e-01] [ 2.28554898e-03 -1.44843616e-07 9.99997388e-01 1.15255002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820281693 meters 0.016251519955714187 Centerline is valid? [True, True] Translation: X:31.99, Y:0.54, Z:0.01 [[ 9.98073502e-01 -6.19896279e-02 -2.56343806e-03 3.19906078e+01] [ 6.19894133e-02 9.98076794e-01 -1.63188866e-04 5.40497086e-01] [ 2.56862405e-03 3.96846233e-06 9.99996701e-01 1.05360453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850281693 meters 0.01646508001723448 Centerline is valid? [True, True] Translation: X:32.02, Y:0.54, Z:0.01 [[ 9.98134925e-01 -6.09757391e-02 -2.93771454e-03 3.20181564e+01] [ 6.09754516e-02 9.98139248e-01 -1.87427801e-04 5.43090707e-01] [ 2.94367673e-03 7.94976367e-06 9.99995667e-01 1.02924864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88028169299999 meters 0.016590266864428646 Centerline is valid? [True, True] Translation: X:32.05, Y:0.54, Z:0.01 [[ 9.98162992e-01 -6.05423146e-02 -2.29571566e-03 3.20473942e+01] [ 6.05421375e-02 9.98165632e-01 -1.46604360e-04 5.44385685e-01] [ 2.30038024e-03 7.34751340e-06 9.99997354e-01 1.21341211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910281692999995 meters 0.01684203936511359 Centerline is valid? [True, True] Translation: X:32.08, Y:0.55, Z:0.01 [[ 9.98190463e-01 -6.00593079e-02 -2.94602919e-03 3.20755459e+01] [ 6.00590130e-02 9.98194810e-01 -1.88574847e-04 5.46875008e-01] [ 2.95203672e-03 1.12980090e-05 9.99995643e-01 1.09494922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940281692999996 meters 0.017777959381771666 Centerline is valid? [True, True] Translation: X:32.10, Y:0.55, Z:0.01 [[ 9.98271813e-01 -5.85566677e-02 -4.95019399e-03 3.21028484e+01] [ 5.85558150e-02 9.98284086e-01 -3.17138816e-04 5.50932633e-01] [ 4.96027047e-03 2.67280969e-05 9.99987697e-01 6.73614707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970281693 meters 0.01810190858884277 Centerline is valid? [True, True] Translation: X:32.13, Y:0.55, Z:0.01 [[ 9.98287284e-01 -5.82889355e-02 -4.98981102e-03 3.21307083e+01] [ 5.82880625e-02 9.98299754e-01 -3.20326123e-04 5.53421086e-01] [ 4.99999858e-03 2.89310785e-05 9.99987500e-01 6.86971954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000281693 meters 0.01828728376194735 Centerline is valid? [True, True] Translation: X:32.16, Y:0.56, Z:0.01 [[ 9.98311640e-01 -5.79128851e-02 -4.46849166e-03 3.21585506e+01] [ 5.79121792e-02 9.98321640e-01 -2.87317222e-04 5.56688763e-01] [ 4.47763129e-03 2.80520370e-05 9.99989975e-01 7.99677393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030281693 meters 0.01842476631573377 Centerline is valid? [True, True] Translation: X:32.19, Y:0.56, Z:0.01 [[ 9.98362178e-01 -5.71249793e-02 -3.11421273e-03 3.21864459e+01] [ 5.71246317e-02 9.98367035e-01 -2.00517723e-04 5.58410112e-01] [ 3.12058190e-03 2.22910558e-05 9.99995131e-01 1.09447049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06028169299999 meters 0.01893896848108447 Centerline is valid? [True, True] Translation: X:32.22, Y:0.56, Z:0.01 [[ 9.98374128e-01 -5.68434932e-02 -4.23297197e-03 3.22153694e+01] [ 5.68428449e-02 9.98383101e-01 -2.73383696e-04 5.60404322e-01] [ 4.24166777e-03 3.23250394e-05 9.99991004e-01 9.24519832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090281692999994 meters 0.01900617060289805 Centerline is valid? [True, True] Translation: X:32.24, Y:0.56, Z:0.01 [[ 9.98347613e-01 -5.71486934e-02 -6.00586975e-03 3.22428763e+01] [ 5.71473871e-02 9.98365677e-01 -3.89041231e-04 5.61462729e-01] [ 6.01828742e-03 4.51786206e-05 9.99981889e-01 5.78503416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120281692999995 meters 0.019141882863663365 Centerline is valid? [True, True] Translation: X:32.27, Y:0.56, Z:-0.00 [[ 9.98255262e-01 -5.82838351e-02 -9.45652413e-03 3.22710938e+01] [ 5.82806380e-02 9.98300050e-01 -6.13534401e-04 5.59521826e-01] [ 9.47620765e-03 6.13316847e-05 9.99955098e-01 -7.26274743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150281693 meters 0.018625932545016485 Centerline is valid? [True, True] Translation: X:32.30, Y:0.56, Z:-0.00 [[ 9.98202146e-01 -5.92320888e-02 -9.16702927e-03 3.22988880e+01] [ 5.92291119e-02 9.98244237e-01 -5.96121097e-04 5.59105672e-01] [ 9.18624364e-03 5.20943565e-05 9.99957804e-01 -3.77873075e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180281693 meters 0.018252882583510342 Centerline is valid? [True, True] Translation: X:32.33, Y:0.56, Z:0.00 [[ 9.98174215e-01 -5.98044664e-02 -8.46532339e-03 3.23271289e+01] [ 5.98019427e-02 9.98210110e-01 -5.51167659e-04 5.59499448e-01] [ 8.48313368e-03 4.39185620e-05 9.99964017e-01 1.46971169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210281693 meters 0.018228291270631934 Centerline is valid? [True, True] Translation: X:32.36, Y:0.56, Z:0.01 [[ 9.98241310e-01 -5.90216531e-02 -5.54357242e-03 3.23552486e+01] [ 5.90205569e-02 9.98256702e-01 -3.61283667e-04 5.62606952e-01] [ 5.55523188e-03 3.34635500e-05 9.99984569e-01 7.33702864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240281693 meters 0.01893935565030661 Centerline is valid? [True, True] Translation: X:32.38, Y:0.57, Z:0.01 [[ 9.98297391e-01 -5.81107726e-02 -5.04547936e-03 3.23841226e+01] [ 5.81098499e-02 9.98310141e-01 -3.29420605e-04 5.67160462e-01] [ 5.05609610e-03 3.56676828e-05 9.99987217e-01 9.13216924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270281692999994 meters 0.019982429476260218 Centerline is valid? [True, True] Translation: X:32.41, Y:0.57, Z:0.01 [[ 9.98351102e-01 -5.71441973e-02 -5.44214436e-03 3.24130038e+01] [ 5.71431048e-02 9.98365934e-01 -3.56156670e-04 5.71850658e-01] [ 5.45360383e-03 4.45883789e-05 9.99985128e-01 8.40782130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300281692999995 meters 0.021989899951164463 Centerline is valid? [True, True] Translation: X:32.44, Y:0.58, Z:0.01 [[ 9.98460603e-01 -5.50953601e-02 -6.39723934e-03 3.24406396e+01] [ 5.50938047e-02 9.98481095e-01 -4.19246592e-04 5.79275699e-01] [ 6.41062109e-03 6.61529504e-05 9.99979450e-01 6.71969241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330281692999996 meters 0.02308317673022989 Centerline is valid? [True, True] Translation: X:32.47, Y:0.59, Z:0.01 [[ 9.98542077e-01 -5.36698854e-02 -5.76756068e-03 3.24685870e+01] [ 5.36685956e-02 9.98558731e-01 -3.78278305e-04 5.85448318e-01] [ 5.77955023e-03 6.81899225e-05 9.99983296e-01 8.55626981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360281693 meters 0.02534766003440885 Centerline is valid? [True, True] Translation: X:32.50, Y:0.60, Z:0.01 [[ 9.98667266e-01 -5.14550631e-02 -4.00862235e-03 3.24955462e+01] [ 5.14544215e-02 9.98675309e-01 -2.63096260e-04 5.95942291e-01] [ 4.01684980e-03 5.64842786e-05 9.99991931e-01 1.27316517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390281693 meters 0.022995344230988826 Centerline is valid? [True, True] Translation: X:32.52, Y:0.60, Z:0.01 [[ 9.98660271e-01 -5.16387563e-02 -3.33199369e-03 3.25248968e+01] [ 5.16383136e-02 9.98665828e-01 -2.18806465e-04 5.95746459e-01] [ 3.33884713e-03 4.64547884e-05 9.99994425e-01 1.39486180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420281693 meters 0.024122985982264 Centerline is valid? [True, True] Translation: X:32.55, Y:0.60, Z:0.01 [[ 9.98581664e-01 -5.31131910e-02 -3.69438973e-03 3.25529378e+01] [ 5.31126565e-02 9.98588497e-01 -2.42713751e-04 5.99889271e-01] [ 3.70206639e-03 4.61506493e-05 9.99993146e-01 1.25718345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450281692999994 meters 0.01992564771289561 Centerline is valid? [True, True] Translation: X:32.58, Y:0.59, Z:0.01 [[ 9.98453260e-01 -5.54390881e-02 -4.19476512e-03 3.25834466e+01] [ 5.54384189e-02 9.98462070e-01 -2.75716693e-04 5.93537236e-01] [ 4.20359935e-03 4.27390846e-05 9.99991164e-01 1.14088615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480281692999995 meters 0.017522822558546952 Centerline is valid? [True, True] Translation: X:32.61, Y:0.59, Z:0.01 [[ 9.98179241e-01 -6.00840477e-02 -5.30181628e-03 3.26122505e+01] [ 6.00830433e-02 9.98193321e-01 -3.48657202e-04 5.89117328e-01] [ 5.31318634e-03 2.94731238e-05 9.99985884e-01 9.00161517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510281692999996 meters 0.017207205899626106 Centerline is valid? [True, True] Translation: X:32.64, Y:0.59, Z:0.01 [[ 9.98096778e-01 -6.14213707e-02 -5.49880741e-03 3.26398756e+01] [ 6.14203086e-02 9.98111925e-01 -3.61978192e-04 5.90786745e-01] [ 5.51065845e-03 2.35508191e-05 9.99984816e-01 8.93299458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540281693 meters 0.01706128884286691 Centerline is valid? [True, True] Translation: X:32.67, Y:0.59, Z:0.01 [[ 9.98066976e-01 -6.19398195e-02 -5.07648008e-03 3.26665001e+01] [ 6.19389189e-02 9.98079886e-01 -3.34570918e-04 5.94351381e-01] [ 5.08745592e-03 1.94924963e-05 9.99987059e-01 9.96166972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570281693 meters 0.0169599479408873 Centerline is valid? [True, True] Translation: X:32.69, Y:0.60, Z:0.01 [[ 9.98092026e-01 -6.15659552e-02 -4.68420504e-03 3.26940034e+01] [ 6.15651813e-02 9.98103017e-01 -3.09361614e-04 5.96898566e-01] [ 4.69436533e-03 2.03874271e-05 9.99988981e-01 1.09128934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600281693 meters 0.017373669230240533 Centerline is valid? [True, True] Translation: X:32.72, Y:0.60, Z:0.01 [[ 9.98155325e-01 -6.05548961e-02 -4.36479559e-03 3.27223440e+01] [ 6.05542113e-02 9.98164868e-01 -2.88995658e-04 6.01533878e-01] [ 4.37428572e-03 2.41558003e-05 9.99990432e-01 1.12634802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63028169299999 meters 0.018606396387404467 Centerline is valid? [True, True] Translation: X:32.75, Y:0.61, Z:0.01 [[ 9.98254123e-01 -5.87958450e-02 -5.63511646e-03 3.27502340e+01] [ 5.87946726e-02 9.98270027e-01 -3.73645403e-04 6.07867698e-01] [ 5.64733666e-03 4.16782369e-05 9.99984053e-01 8.69014388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660281692999995 meters 0.019053513431185044 Centerline is valid? [True, True] Translation: X:32.78, Y:0.61, Z:0.01 [[ 9.98254001e-01 -5.86422673e-02 -7.07343945e-03 3.27791994e+01] [ 5.86404096e-02 9.98279060e-01 -4.69916928e-04 6.10376627e-01] [ 7.08882348e-03 5.43070668e-05 9.99974873e-01 6.03658950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690281692999996 meters 0.01881940421422417 Centerline is valid? [True, True] Translation: X:32.81, Y:0.61, Z:0.00 [[ 9.98211336e-01 -5.92043802e-02 -8.30481616e-03 3.28067037e+01] [ 5.92018259e-02 9.98245880e-01 -5.53283092e-04 6.11862380e-01] [ 8.32300530e-03 6.06331740e-05 9.99965361e-01 4.77892385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720281693 meters 0.018040678487893605 Centerline is valid? [True, True] Translation: X:32.83, Y:0.61, Z:0.00 [[ 9.98087094e-01 -6.12494981e-02 -8.40541413e-03 3.28340595e+01] [ 6.12469477e-02 9.98122486e-01 -5.60735975e-04 6.14964844e-01] [ 8.42397764e-03 4.48573804e-05 9.99964517e-01 3.77231216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750281693 meters 0.017269992786251277 Centerline is valid? [True, True] Translation: X:32.86, Y:0.62, Z:0.00 [[ 9.97990746e-01 -6.29040994e-02 -7.58589490e-03 3.28617432e+01] [ 6.29020667e-02 9.98019576e-01 -5.06485256e-04 6.16754359e-01] [ 7.60273161e-03 2.82991311e-05 9.99971098e-01 4.90188575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780281693 meters 0.016752139528067107 Centerline is valid? [True, True] Translation: X:32.89, Y:0.62, Z:0.01 [[ 9.97874319e-01 -6.47466030e-02 -7.39738042e-03 3.28893758e+01] [ 6.47447127e-02 9.97901737e-01 -4.94983693e-04 6.17745775e-01] [ 7.41390728e-03 1.49902457e-05 9.99972516e-01 5.41417713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81028169299999 meters 0.016684600938148195 Centerline is valid? [True, True] Translation: X:32.92, Y:0.62, Z:0.01 [[ 9.97682726e-01 -6.75970767e-02 -7.73397883e-03 3.29171552e+01] [ 6.75950850e-02 9.97712702e-01 -5.18934286e-04 6.16996982e-01] [ 7.75136735e-03 -5.04718321e-06 9.99969958e-01 5.75486178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840281692999994 meters 0.01670951600049179 Centerline is valid? [True, True] Translation: X:32.94, Y:0.62, Z:0.01 [[ 9.97618412e-01 -6.85622655e-02 -7.53119149e-03 3.29438066e+01] [ 6.85603983e-02 9.97646839e-01 -5.06121246e-04 6.18480082e-01] [ 7.54817020e-03 -1.14256148e-05 9.99971512e-01 5.89952945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870281692999995 meters 0.01660881973318248 Centerline is valid? [True, True] Translation: X:32.97, Y:0.62, Z:0.01 [[ 9.97571110e-01 -6.93106310e-02 -6.92225108e-03 3.29714574e+01] [ 6.93090642e-02 9.97595126e-01 -4.66258711e-04 6.21402357e-01] [ 6.93792063e-03 -1.46485248e-05 9.99975932e-01 7.86465255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900281693 meters 0.01669997576420856 Centerline is valid? [True, True] Translation: X:33.00, Y:0.62, Z:0.01 [[ 9.97523901e-01 -7.00189637e-02 -6.58870791e-03 3.29985481e+01] [ 7.00175550e-02 9.97545660e-01 -4.44513320e-04 6.23340364e-01] [ 6.60366135e-03 -1.79125581e-05 9.99978195e-01 7.43860480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930281693 meters 0.01692479986719989 Centerline is valid? [True, True] Translation: X:33.03, Y:0.62, Z:0.01 [[ 9.97417499e-01 -7.16375942e-02 -5.13683554e-03 3.30269426e+01] [ 7.16367558e-02 9.97430727e-01 -3.47249826e-04 6.22473561e-01] [ 5.14851375e-03 -2.16331808e-05 9.99986746e-01 9.21278345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960281693 meters 0.017411136985979823 Centerline is valid? [True, True] Translation: X:33.05, Y:0.62, Z:0.01 [[ 9.97362080e-01 -7.24092049e-02 -5.07819288e-03 3.30544872e+01] [ 7.24083930e-02 9.97375008e-01 -3.43807950e-04 6.21347096e-01] [ 5.08975752e-03 -2.48027733e-05 9.99987047e-01 9.49115789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990281693 meters 0.017826899167852447 Centerline is valid? [True, True] Translation: X:33.08, Y:0.62, Z:0.01 [[ 9.97273533e-01 -7.35889610e-02 -5.49233319e-03 3.30831670e+01] [ 7.35880254e-02 9.97288656e-01 -3.72509342e-04 6.22288633e-01] [ 5.50485416e-03 -3.26762469e-05 9.99984848e-01 9.47815839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020281692999994 meters 0.018193870861220745 Centerline is valid? [True, True] Translation: X:33.11, Y:0.62, Z:0.00 [[ 9.97277983e-01 -7.32947432e-02 -8.03149290e-03 3.31112033e+01] [ 7.32927267e-02 9.97310322e-01 -5.45507707e-04 6.24859603e-01] [ 8.04987361e-03 -4.46271885e-05 9.99967598e-01 4.57145030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050281692999995 meters 0.017531118798001847 Centerline is valid? [True, True] Translation: X:33.14, Y:0.63, Z:0.00 [[ 9.97378170e-01 -7.18729531e-02 -8.42996252e-03 3.31393788e+01] [ 7.18706706e-02 9.97413795e-01 -5.73782162e-04 6.29855330e-01] [ 8.44940032e-03 -3.35892561e-05 9.99964303e-01 4.19014591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080281692999996 meters 0.01625578697040993 Centerline is valid? [True, True] Translation: X:33.17, Y:0.64, Z:0.01 [[ 9.97708156e-01 -6.74028844e-02 -5.94028581e-03 3.31677001e+01] [ 6.74016665e-02 9.97725840e-01 -4.05208278e-04 6.42287669e-01] [ 5.95408885e-03 3.89444132e-06 9.99982274e-01 1.03586313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110281693 meters 0.016463644381977522 Centerline is valid? [True, True] Translation: X:33.20, Y:0.65, Z:0.01 [[ 9.97854372e-01 -6.53118215e-02 -4.58448904e-03 3.31952808e+01] [ 6.53110722e-02 9.97864904e-01 -3.13126278e-04 6.49289812e-01] [ 4.59515156e-03 1.30365308e-05 9.99989442e-01 1.28346424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140281693 meters 0.017169434141511123 Centerline is valid? [True, True] Translation: X:33.22, Y:0.66, Z:0.01 [[ 9.97953117e-01 -6.38648999e-02 -3.29398191e-03 3.32224507e+01] [ 6.38645047e-02 9.97958553e-01 -2.25140672e-04 6.55173142e-01] [ 3.30163601e-03 1.43113125e-05 9.99994549e-01 1.43010678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170281693 meters 0.01650421071311747 Centerline is valid? [True, True] Translation: X:33.25, Y:0.65, Z:0.02 [[ 9.97837925e-01 -6.56967437e-02 -1.84755304e-03 3.32518232e+01] [ 6.56966224e-02 9.97839635e-01 -1.26321359e-04 6.53880739e-01] [ 1.85186056e-03 4.67024763e-06 9.99998285e-01 1.69863483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200281692999994 meters 0.01608559432535407 Centerline is valid? [True, True] Translation: X:33.28, Y:0.65, Z:0.02 [[ 9.97654150e-01 -6.84347956e-02 -1.69608146e-03 3.32804573e+01] [ 6.84346969e-02 9.97655591e-01 -1.16196806e-04 6.50902315e-01] [ 1.70005706e-03 -1.46595300e-07 9.99998555e-01 1.67578206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230281692999995 meters 0.01668525404597522 Centerline is valid? [True, True] Translation: X:33.31, Y:0.65, Z:0.02 [[ 9.97398240e-01 -7.20366005e-02 -2.73483985e-03 3.33101721e+01] [ 7.20363562e-02 9.97401989e-01 -1.87860259e-04 6.47565011e-01] [ 2.74126752e-03 -9.63640592e-06 9.99996243e-01 1.52107880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260281692999996 meters 0.019157135097035035 Centerline is valid? [True, True] Translation: X:33.34, Y:0.64, Z:0.01 [[ 9.97139111e-01 -7.54594293e-02 -4.41223004e-03 3.33389431e+01] [ 7.54588259e-02 9.97148872e-01 -3.03300333e-04 6.41202228e-01] [ 4.42253708e-03 -3.05090735e-05 9.99990220e-01 1.10542981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290281693 meters 0.022285416597997723 Centerline is valid? [True, True] Translation: X:33.37, Y:0.63, Z:0.01 [[ 9.96622806e-01 -8.17253522e-02 -7.99679913e-03 3.33694910e+01] [ 8.17235689e-02 9.96654883e-01 -5.50056984e-04 6.32807970e-01] [ 8.01500250e-03 -1.05327630e-04 9.99967874e-01 5.77455262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320281693 meters 0.02516491982885102 Centerline is valid? [True, True] Translation: X:33.40, Y:0.63, Z:0.01 [[ 9.96404196e-01 -8.43379750e-02 -8.11073722e-03 3.33979963e+01] [ 8.43362238e-02 9.96437198e-01 -5.58295856e-04 6.27210155e-01] [ 8.12892582e-03 -1.27740616e-04 9.99966952e-01 5.32505032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350281693 meters 0.0284737682901097 Centerline is valid? [True, True] Translation: X:33.43, Y:0.62, Z:0.01 [[ 9.96003661e-01 -8.91248960e-02 -5.78451745e-03 3.34283373e+01] [ 8.91240850e-02 9.96020451e-01 -3.98341746e-04 6.19412357e-01] [ 5.79699984e-03 -1.18789987e-04 9.99983190e-01 1.01583591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38028169299999 meters 0.031304040115598064 Centerline is valid? [True, True] Translation: X:33.46, Y:0.61, Z:0.01 [[ 9.95771007e-01 -9.16705882e-02 -6.05026239e-03 3.34572428e+01] [ 9.16697464e-02 9.95789377e-01 -4.16883520e-04 6.14740673e-01] [ 6.06300297e-03 -1.39505496e-04 9.99981610e-01 1.01565802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410281692999995 meters 0.03200353779955184 Centerline is valid? [True, True] Translation: X:33.49, Y:0.61, Z:0.01 [[ 9.95550773e-01 -9.39482943e-02 -7.23714137e-03 3.34866818e+01] [ 9.39471479e-02 9.95577061e-01 -4.98961797e-04 6.12503560e-01] [ 7.25200854e-03 -1.83166988e-04 9.99973687e-01 8.54333737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440281692999996 meters 0.03789423123626295 Centerline is valid? [True, True] Translation: X:33.52, Y:0.60, Z:0.00 [[ 9.95239294e-01 -9.69923937e-02 -9.55104221e-03 3.35158651e+01] [ 9.69905327e-02 9.95285086e-01 -6.58938609e-04 5.97139407e-01] [ 9.56992190e-03 -2.70559076e-04 9.99954171e-01 3.42169046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470281693 meters 0.035600186705102614 Centerline is valid? [True, True] Translation: X:33.54, Y:0.60, Z:0.01 [[ 9.95199570e-01 -9.74234447e-02 -9.29992152e-03 3.35441604e+01] [ 9.74216856e-02 9.95242986e-01 -6.43064032e-04 5.98138719e-01] [ 9.31833118e-03 -2.66036983e-04 9.99956548e-01 5.62294383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500281693 meters 0.036658721981965514 Centerline is valid? [True, True] Translation: X:33.57, Y:0.59, Z:0.01 [[ 9.95306001e-01 -9.64543509e-02 -7.90709478e-03 3.35723681e+01] [ 9.64530435e-02 9.95337385e-01 -5.47410863e-04 5.94278850e-01] [ 7.92302720e-03 -2.17822039e-04 9.99968589e-01 8.23875847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530281693 meters 0.031369814324412174 Centerline is valid? [True, True] Translation: X:33.60, Y:0.59, Z:0.01 [[ 9.95477804e-01 -9.48581989e-02 -5.08573883e-03 3.36013275e+01] [ 9.48576361e-02 9.95490786e-01 -3.52310182e-04 5.92904665e-01] [ 5.09622565e-03 -1.31704197e-04 9.99987005e-01 1.36045462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56028169299999 meters 0.03448795669350449 Centerline is valid? [True, True] Translation: X:33.63, Y:0.58, Z:0.01 [[ 9.95535326e-01 -9.42426447e-02 -5.26666497e-03 3.36302371e+01] [ 9.42420310e-02 9.95549249e-01 -3.65138681e-04 5.83975385e-01] [ 5.27763599e-03 -1.32832748e-04 9.99986064e-01 1.24091269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590281692999994 meters 0.03128047397922736 Centerline is valid? [True, True] Translation: X:33.66, Y:0.58, Z:0.01 [[ 9.95871003e-01 -9.06158433e-02 -5.45108649e-03 3.36591263e+01] [ 9.06151302e-02 9.95885915e-01 -3.78163029e-04 5.80066010e-01] [ 5.46292782e-03 -1.17349318e-04 9.99985071e-01 1.26120936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620281692999995 meters 0.02787092602849924 Centerline is valid? [True, True] Translation: X:33.69, Y:0.58, Z:0.01 [[ 9.96176717e-01 -8.71984320e-02 -5.32749272e-03 3.36876837e+01] [ 8.71976991e-02 9.96190958e-01 -3.70133240e-04 5.83778835e-01] [ 5.33947512e-03 -9.58269922e-05 9.99985740e-01 1.34858230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650281693 meters 0.02358468871300429 Centerline is valid? [True, True] Translation: X:33.72, Y:0.59, Z:0.01 [[ 9.96517315e-01 -8.31964670e-02 -5.62044842e-03 3.37164402e+01] [ 8.31955850e-02 9.96533161e-01 -3.90951400e-04 5.89746662e-01] [ 5.63348901e-03 -7.80066556e-05 9.99984129e-01 1.34913791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680281693 meters 0.018082332485655057 Centerline is valid? [True, True] Translation: X:33.75, Y:0.60, Z:0.01 [[ 9.97146079e-01 -7.52613038e-02 -5.95250947e-03 3.37456230e+01] [ 7.52601719e-02 9.97163846e-01 -4.14237099e-04 5.98493933e-01] [ 5.96680326e-03 -3.49319871e-05 9.99982198e-01 1.30292424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710281693 meters 0.018082332485655057 Centerline is valid? [True, True] Translation: X:33.77, Y:0.60, Z:0.01 [[ 9.97131938e-01 -7.54484368e-02 -5.95245436e-03 3.37730264e+01] [ 7.54473035e-02 9.97149704e-01 -4.15027959e-04 6.00592826e-01] [ 5.96680131e-03 -3.52589973e-05 9.99982198e-01 1.30839335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740281693 meters 0.017064224657942308 Centerline is valid? [True, True] Translation: X:33.80, Y:0.61, Z:0.01 [[ 9.97403277e-01 -7.17640060e-02 -6.05230598e-03 3.38006808e+01] [ 7.17627628e-02 9.97421640e-01 -4.22608801e-04 6.05483928e-01] [ 6.06702905e-03 -1.28187952e-05 9.99981595e-01 1.28949785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770281692999994 meters 0.01698064599071712 Centerline is valid? [True, True] Translation: X:33.83, Y:0.61, Z:0.01 [[ 9.97603456e-01 -6.88651751e-02 -6.70315149e-03 3.38283289e+01] [ 6.88635781e-02 9.97625976e-01 -4.69036923e-04 6.11451440e-01] [ 6.71953836e-03 6.30985930e-06 9.99977424e-01 1.28244636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800281692999995 meters 0.018917442073021148 Centerline is valid? [True, True] Translation: X:33.86, Y:0.62, Z:0.01 [[ 9.97929458e-01 -6.38490026e-02 -7.75254118e-03 3.38554577e+01] [ 6.38467092e-02 9.97959570e-01 -5.43205279e-04 6.21826056e-01] [ 7.77140577e-03 4.71063077e-05 9.99969801e-01 1.11536236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830281692999996 meters 0.019828907507082837 Centerline is valid? [True, True] Translation: X:33.88, Y:0.63, Z:0.01 [[ 9.98058155e-01 -6.18348095e-02 -7.50842666e-03 3.38844377e+01] [ 6.18325937e-02 9.98086395e-01 -5.27106540e-04 6.25887478e-01] [ 7.52665203e-03 6.18174850e-05 9.99971672e-01 1.11956510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860281693 meters 0.023001139760117754 Centerline is valid? [True, True] Translation: X:33.91, Y:0.63, Z:0.01 [[ 9.98288769e-01 -5.81485053e-02 -6.18743481e-03 3.39115949e+01] [ 5.81469266e-02 9.98307941e-01 -4.34878863e-04 6.32945227e-01] [ 6.20225286e-03 7.43543673e-05 9.99980763e-01 1.35859259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890281693 meters 0.025016771479890162 Centerline is valid? [True, True] Translation: X:33.94, Y:0.64, Z:0.01 [[ 9.98395193e-01 -5.63119007e-02 -6.00072970e-03 3.39389532e+01] [ 5.63103806e-02 9.98413223e-01 -4.22091196e-04 6.39182741e-01] [ 6.01497663e-03 8.35104480e-05 9.99981906e-01 1.42678654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920281693 meters 0.026345067744682087 Centerline is valid? [True, True] Translation: X:33.97, Y:0.65, Z:0.01 [[ 9.98501045e-01 -5.43647256e-02 -6.33552524e-03 3.39674746e+01] [ 5.43629869e-02 9.98521140e-01 -4.46449215e-04 6.45132713e-01] [ 6.35042697e-03 1.01361932e-04 9.99979831e-01 1.42102812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950281692999994 meters 0.027104838160593864 Centerline is valid? [True, True] Translation: X:34.00, Y:0.65, Z:0.01 [[ 9.98586863e-01 -5.26539890e-02 -7.19962787e-03 3.39962183e+01] [ 5.26516905e-02 9.98612808e-01 -5.08553780e-04 6.51136348e-01] [ 7.21641800e-03 1.28762545e-04 9.99973953e-01 1.31692542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980281692999995 meters 0.02890647545610633 Centerline is valid? [True, True] Translation: X:34.02, Y:0.66, Z:0.01 [[ 9.98688016e-01 -5.04456439e-02 -8.80246080e-03 3.40243251e+01] [ 5.04421088e-02 9.98726792e-01 -6.23299141e-04 6.58783002e-01] [ 8.82269616e-03 1.78466698e-04 9.99961063e-01 1.00800334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010281692999996 meters 0.03113567682764948 Centerline is valid? [True, True] Translation: X:34.05, Y:0.66, Z:0.01 [[ 9.98678172e-01 -5.06047488e-02 -9.00378948e-03 3.40508956e+01] [ 5.06010483e-02 9.98718742e-01 -6.38468657e-04 6.64203818e-01] [ 9.02456285e-03 1.82023525e-04 9.99959261e-01 8.54089189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040281693 meters 0.028067557524032595 Centerline is valid? [True, True] Translation: X:34.08, Y:0.66, Z:0.01 [[ 9.98647030e-01 -5.13219620e-02 -8.37655553e-03 3.40797230e+01] [ 5.13187741e-02 9.98682146e-01 -5.95215816e-04 6.62393200e-01] [ 8.39606409e-03 1.64535946e-04 9.99964739e-01 1.17723851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070281693 meters 0.026515811525176958 Centerline is valid? [True, True] Translation: X:34.11, Y:0.66, Z:0.02 [[ 9.98519644e-01 -5.39830044e-02 -6.66006766e-03 3.41075514e+01] [ 5.39810447e-02 9.98541848e-01 -4.73791016e-04 6.64379704e-01] [ 6.67593293e-03 1.13572227e-04 9.99977709e-01 1.56059275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100281693 meters 0.023238399910904206 Centerline is valid? [True, True] Translation: X:34.14, Y:0.66, Z:0.02 [[ 9.98372764e-01 -5.67533619e-02 -5.55700997e-03 3.41366237e+01] [ 5.67520366e-02 9.98388226e-01 -3.96022453e-04 6.62628405e-01] [ 5.57052893e-03 8.00063981e-05 9.99984481e-01 1.73855467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13028169299999 meters 0.02165294798968486 Centerline is valid? [True, True] Translation: X:34.16, Y:0.66, Z:0.02 [[ 9.98205339e-01 -5.96873662e-02 -4.84968719e-03 3.41647876e+01] [ 5.96863891e-02 9.98217118e-01 -3.46079186e-04 6.62195066e-01] [ 4.86169733e-03 5.59977741e-05 9.99988180e-01 1.76604972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160281692999995 meters 0.019302814582116162 Centerline is valid? [True, True] Translation: X:34.19, Y:0.66, Z:0.02 [[ 9.97951787e-01 -6.37361988e-02 -5.47059200e-03 3.41931706e+01] [ 6.37350145e-02 9.97966781e-01 -3.90725960e-04 6.56750020e-01] [ 5.48437247e-03 4.12574099e-05 9.99984960e-01 1.60288202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190281692999996 meters 0.019279877624824457 Centerline is valid? [True, True] Translation: X:34.22, Y:0.66, Z:0.01 [[ 9.97896444e-01 -6.44482524e-02 -7.00780468e-03 3.42199159e+01] [ 6.44463227e-02 9.97921049e-01 -5.01072788e-04 6.57197577e-01] [ 7.02552906e-03 4.83915120e-05 9.99975319e-01 1.38954820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220281693 meters 0.01985432318055185 Centerline is valid? [True, True] Translation: X:34.25, Y:0.66, Z:0.01 [[ 9.97924189e-01 -6.37879131e-02 -8.85519116e-03 3.42482127e+01] [ 6.37847942e-02 9.97963475e-01 -6.34470157e-04 6.60428639e-01] [ 8.87762887e-03 6.83265704e-05 9.99960591e-01 1.22708383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250281693 meters 0.020274161606251336 Centerline is valid? [True, True] Translation: X:34.28, Y:0.66, Z:0.01 [[ 9.97954962e-01 -6.34238890e-02 -7.95643396e-03 3.42751682e+01] [ 6.34213511e-02 9.97986676e-01 -5.71136480e-04 6.63263159e-01] [ 7.97663878e-03 6.53606923e-05 9.99968184e-01 1.36233027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280281693 meters 0.019987190097957293 Centerline is valid? [True, True] Translation: X:34.30, Y:0.66, Z:0.02 [[ 9.97955583e-01 -6.36213193e-02 -6.08128960e-03 3.43037342e+01] [ 6.36198352e-02 9.97974111e-01 -4.37376901e-04 6.63554455e-01] [ 6.09679608e-03 4.95920784e-05 9.99981413e-01 1.68513688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31028169299999 meters 0.018920886693356027 Centerline is valid? [True, True] Translation: X:34.33, Y:0.66, Z:0.02 [[ 9.97876294e-01 -6.50751613e-02 -2.85064047e-03 3.43334094e+01] [ 6.50748405e-02 9.97880365e-01 -2.05243713e-04 6.59049082e-01] [ 2.85795442e-03 1.93028618e-05 9.99995916e-01 2.23972050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340281692999994 meters 0.01841601178514151 Centerline is valid? [True, True] Translation: X:34.36, Y:0.66, Z:0.02 [[ 9.97784124e-01 -6.64783916e-02 -2.73238290e-03 3.43622890e+01] [ 6.64781013e-02 9.97787865e-01 -1.97008926e-04 6.58204976e-01] [ 2.73943534e-03 1.49287509e-05 9.99996248e-01 2.29637759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370281692999995 meters 0.017661168244567677 Centerline is valid? [True, True] Translation: X:34.39, Y:0.66, Z:0.02 [[ 9.97684205e-01 -6.79335102e-02 -3.35628106e-03 3.43906143e+01] [ 6.79330783e-02 9.97689851e-01 -2.42632947e-04 6.57114039e-01] [ 3.36501045e-03 1.40685553e-05 9.99994338e-01 2.18143513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400281693 meters 0.017597189218285 Centerline is valid? [True, True] Translation: X:34.42, Y:0.66, Z:0.02 [[ 9.97618428e-01 -6.88164019e-02 -4.66625959e-03 3.44177324e+01] [ 6.88155733e-02 9.97629341e-01 -3.38069049e-04 6.57236255e-01] [ 4.67846218e-03 1.61525846e-05 9.99989056e-01 1.94755843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430281693 meters 0.01780761009041867 Centerline is valid? [True, True] Translation: X:34.45, Y:0.66, Z:0.01 [[ 9.97521919e-01 -6.99633472e-02 -7.42637374e-03 3.44454242e+01] [ 6.99612763e-02 9.97549563e-01 -5.38595796e-04 6.55915271e-01] [ 7.44585784e-03 1.77025271e-05 9.99972279e-01 1.48813143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460281693 meters 0.01799007313004696 Centerline is valid? [True, True] Translation: X:34.47, Y:0.66, Z:0.01 [[ 9.97499674e-01 -7.01305166e-02 -8.72411232e-03 3.44738792e+01] [ 7.01276547e-02 9.97537824e-01 -6.33894703e-04 6.59159071e-01] [ 8.74708738e-03 2.05082239e-05 9.99961743e-01 1.26774087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490281693 meters 0.018445936395301593 Centerline is valid? [True, True] Translation: X:34.50, Y:0.67, Z:0.01 [[ 9.97538292e-01 -6.93195151e-02 -1.05906413e-02 3.45024316e+01] [ 6.93152327e-02 9.97594509e-01 -7.71323116e-04 6.65181750e-01] [ 1.06186334e-02 3.53315756e-05 9.99943620e-01 1.03090437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520281692999994 meters 0.01840282670708861 Centerline is valid? [True, True] Translation: X:34.53, Y:0.67, Z:0.01 [[ 9.97549098e-01 -6.92282423e-02 -1.01611153e-02 3.45288813e+01] [ 6.92242853e-02 9.97600847e-01 -7.41032567e-04 6.67894253e-01] [ 1.01880376e-02 3.58204223e-05 9.99948100e-01 1.00499853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550281692999995 meters 0.01824657914861361 Centerline is valid? [True, True] Translation: X:34.56, Y:0.67, Z:0.01 [[ 9.97528577e-01 -6.96847766e-02 -8.98724736e-03 3.45567379e+01] [ 6.96816947e-02 9.97569061e-01 -6.55980826e-04 6.69768223e-01] [ 9.01111178e-03 2.81129935e-05 9.99959399e-01 1.13059057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580281692999996 meters 0.01731982716759954 Centerline is valid? [True, True] Translation: X:34.59, Y:0.67, Z:0.02 [[ 9.97321476e-01 -7.28337678e-02 -6.71680988e-03 3.45856550e+01] [ 7.28321120e-02 9.97344094e-01 -4.91126200e-04 6.67882454e-01] [ 6.73474124e-03 6.11257741e-07 9.99977321e-01 1.68953647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610281693 meters 0.017487469822346502 Centerline is valid? [True, True] Translation: X:34.61, Y:0.67, Z:0.02 [[ 9.97164558e-01 -7.49847539e-02 -6.33487894e-03 3.46122731e+01] [ 7.49833201e-02 9.97184680e-01 -4.63862421e-04 6.67486214e-01] [ 6.35182684e-03 -1.24630897e-05 9.99979827e-01 1.78382219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640281693 meters 0.018014500513674703 Centerline is valid? [True, True] Translation: X:34.64, Y:0.67, Z:0.02 [[ 9.96989700e-01 -7.72631872e-02 -6.47600763e-03 3.46408140e+01] [ 7.72617310e-02 9.97010732e-01 -4.75105984e-04 6.67072840e-01] [ 6.49335731e-03 -2.66717872e-05 9.99978918e-01 1.83168298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670281693 meters 0.019973376233486488 Centerline is valid? [True, True] Translation: X:34.67, Y:0.66, Z:0.01 [[ 9.96668121e-01 -8.11146499e-02 -8.54815943e-03 3.46687276e+01] [ 8.11122473e-02 9.96704775e-01 -6.27947782e-04 6.62513936e-01] [ 8.57092709e-03 -6.75048859e-05 9.99963267e-01 1.48157488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700281692999994 meters 0.02069667429071875 Centerline is valid? [True, True] Translation: X:34.70, Y:0.66, Z:0.01 [[ 9.96570848e-01 -8.22299426e-02 -9.20765982e-03 3.46971338e+01] [ 8.22271975e-02 9.96613380e-01 -6.76942731e-04 6.62544345e-01] [ 9.23214194e-03 -8.24986715e-05 9.99957379e-01 1.33657985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730281692999995 meters 0.020660118834698357 Centerline is valid? [True, True] Translation: X:34.73, Y:0.66, Z:0.01 [[ 9.96645676e-01 -8.13748073e-02 -8.69125900e-03 3.47251319e+01] [ 8.13723247e-02 9.96683569e-01 -6.39477561e-04 6.64891763e-01] [ 8.71447240e-03 -6.98954037e-05 9.99962026e-01 1.30705959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760281692999996 meters 0.018798732965072684 Centerline is valid? [True, True] Translation: X:34.75, Y:0.67, Z:0.02 [[ 9.96796106e-01 -7.96101463e-02 -7.72961928e-03 3.47532516e+01] [ 7.96081215e-02 9.96826074e-01 -5.69761754e-04 6.71223379e-01] [ 7.75044486e-03 -4.74041721e-05 9.99969964e-01 1.63366502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790281693 meters 0.01815535515530354 Centerline is valid? [True, True] Translation: X:34.78, Y:0.68, Z:0.02 [[ 9.96921911e-01 -7.80984954e-02 -6.87952569e-03 3.47819311e+01] [ 7.80968481e-02 9.96945648e-01 -5.08184190e-04 6.75337898e-01] [ 6.89820161e-03 -3.06493187e-05 9.99976207e-01 1.83480857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820281693 meters 0.017458487282038342 Centerline is valid? [True, True] Translation: X:34.81, Y:0.68, Z:0.02 [[ 9.97156748e-01 -7.50870108e-02 -6.35294763e-03 3.48092812e+01] [ 7.50855413e-02 9.97176986e-01 -4.69837099e-04 6.80640347e-01] [ 6.37029184e-03 -8.51327850e-06 9.99979709e-01 1.93776412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850281693 meters 0.017409860184797305 Centerline is valid? [True, True] Translation: X:34.84, Y:0.68, Z:0.02 [[ 9.97231417e-01 -7.41102411e-02 -6.09691938e-03 3.48374775e+01] [ 7.41088640e-02 9.97250055e-01 -4.51781687e-04 6.84472382e-01] [ 6.11363484e-03 -1.30487695e-06 9.99981312e-01 2.00039208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88028169299999 meters 0.01735475907571137 Centerline is valid? [True, True] Translation: X:34.86, Y:0.69, Z:0.02 [[ 9.97278709e-01 -7.35002062e-02 -5.73552431e-03 3.48638926e+01] [ 7.34989738e-02 9.97295202e-01 -4.25656974e-04 6.87737345e-01] [ 5.75129675e-03 2.94348650e-06 9.99983461e-01 1.95131541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910281692999995 meters 0.017344196643122128 Centerline is valid? [True, True] Translation: X:34.89, Y:0.69, Z:0.02 [[ 9.97369414e-01 -7.23332249e-02 -4.70700480e-03 3.48920112e+01] [ 7.23323788e-02 9.97380521e-01 -3.49975814e-04 6.92318917e-01] [ 4.71998978e-03 8.58631863e-06 9.99988861e-01 2.23431449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940281692999996 meters 0.017797436475978905 Centerline is valid? [True, True] Translation: X:34.92, Y:0.70, Z:0.02 [[ 9.97452913e-01 -7.12080601e-02 -4.13501608e-03 3.49190524e+01] [ 7.12073953e-02 9.97461484e-01 -3.07955353e-04 6.96850495e-01] [ 4.14644817e-03 1.27272394e-05 9.99991403e-01 2.38209686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970281693 meters 0.018619418854345305 Centerline is valid? [True, True] Translation: X:34.95, Y:0.70, Z:0.02 [[ 9.97606386e-01 -6.89095779e-02 -5.74191618e-03 3.49470213e+01] [ 6.89082531e-02 9.97622909e-01 -4.28479567e-04 7.03949955e-01] [ 5.75779347e-03 3.17885390e-05 9.99983423e-01 2.15682927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000281693 meters 0.019902034682209756 Centerline is valid? [True, True] Translation: X:34.97, Y:0.71, Z:0.02 [[ 9.97685747e-01 -6.75977883e-02 -7.32723830e-03 3.49742539e+01] [ 6.75955901e-02 9.97712652e-01 -5.47516100e-04 7.11253495e-01] [ 7.34748924e-03 5.09600119e-05 9.99973006e-01 1.77922913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030281693 meters 0.02065216005884147 Centerline is valid? [True, True] Translation: X:35.00, Y:0.72, Z:0.02 [[ 9.97743672e-01 -6.66623304e-02 -7.98115894e-03 3.50029782e+01] [ 6.66596840e-02 9.97775591e-01 -5.97442392e-04 7.17810950e-01] [ 8.00323248e-03 6.40728333e-05 9.99967972e-01 1.64739814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06028169299999 meters 0.0217559139132924 Centerline is valid? [True, True] Translation: X:35.03, Y:0.73, Z:0.02 [[ 9.97920948e-01 -6.39742551e-02 -7.81515499e-03 3.50312145e+01] [ 6.39716251e-02 9.97951546e-01 -5.86295149e-04 7.26681752e-01] [ 7.83665380e-03 8.51280461e-05 9.99969289e-01 1.86538532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090281692999994 meters 0.02297913444258053 Centerline is valid? [True, True] Translation: X:35.06, Y:0.73, Z:0.02 [[ 9.97963652e-01 -6.32822538e-02 -7.99413068e-03 3.50590747e+01] [ 6.32794742e-02 9.97995665e-01 -6.00418167e-04 7.33493856e-01] [ 8.01610358e-03 9.33311210e-05 9.99967866e-01 1.77036646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120281692999995 meters 0.022915601899981732 Centerline is valid? [True, True] Translation: X:35.09, Y:0.74, Z:0.02 [[ 9.97976425e-01 -6.30510586e-02 -8.22303114e-03 3.50873273e+01] [ 6.30481003e-02 9.98010298e-01 -6.18750681e-04 7.37782982e-01] [ 8.24568264e-03 9.90521003e-05 9.99965999e-01 1.73852352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150281693 meters 0.02202962874184694 Centerline is valid? [True, True] Translation: X:35.12, Y:0.74, Z:0.02 [[ 9.97886574e-01 -6.43840669e-02 -8.77932630e-03 3.51159632e+01] [ 6.43807334e-02 9.97925189e-01 -6.62078398e-04 7.42075126e-01] [ 8.80373816e-03 9.54596782e-05 9.99961242e-01 1.55937121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180281693 meters 0.021599359808728732 Centerline is valid? [True, True] Translation: X:35.14, Y:0.74, Z:0.02 [[ 9.97826463e-01 -6.52885973e-02 -8.93017677e-03 3.51436419e+01] [ 6.52851697e-02 9.97866419e-01 -6.75102999e-04 7.44355436e-01] [ 8.95520004e-03 9.06275321e-05 9.99959897e-01 1.57370714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210281693 meters 0.021103192055389252 Centerline is valid? [True, True] Translation: X:35.17, Y:0.75, Z:0.02 [[ 9.97764266e-01 -6.61921684e-02 -9.22311091e-03 3.51715136e+01] [ 6.61885434e-02 9.97806890e-01 -6.98061599e-04 7.48477381e-01] [ 9.24908982e-03 8.60366432e-05 9.99957223e-01 1.66960989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24028169299999 meters 0.020775610448070365 Centerline is valid? [True, True] Translation: X:35.20, Y:0.75, Z:0.02 [[ 9.97717643e-01 -6.67572586e-02 -1.01475897e-02 3.51990617e+01] [ 6.67528826e-02 9.97769242e-01 -7.69705683e-04 7.52651779e-01] [ 1.01763363e-02 9.05680791e-05 9.99948216e-01 1.53927740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270281692999994 meters 0.021163042515240704 Centerline is valid? [True, True] Translation: X:35.23, Y:0.76, Z:0.01 [[ 9.97700437e-01 -6.68749286e-02 -1.10264117e-02 3.52269786e+01] [ 6.68697586e-02 9.97761361e-01 -8.37303461e-04 7.57652238e-01] [ 1.10577222e-02 9.80445390e-05 9.99938857e-01 1.32580754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300281692999995 meters 0.021675399816899872 Centerline is valid? [True, True] Translation: X:35.25, Y:0.76, Z:0.01 [[ 9.97697479e-01 -6.68897036e-02 -1.12030725e-02 3.52534339e+01] [ 6.68843470e-02 9.97760371e-01 -8.52541234e-04 7.62853889e-01] [ 1.12350080e-02 1.01268048e-04 9.99936880e-01 1.26723373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330281692999996 meters 0.021056125577764193 Centerline is valid? [True, True] Translation: X:35.28, Y:0.77, Z:0.02 [[ 9.97779810e-01 -6.61750365e-02 -7.50433922e-03 3.52820378e+01] [ 6.61726041e-02 9.97808027e-01 -5.72231645e-04 7.67833012e-01] [ 7.52575736e-03 7.43795137e-05 9.99971678e-01 2.12793548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360281693 meters 0.02084805114992695 Centerline is valid? [True, True] Translation: X:35.31, Y:0.77, Z:0.02 [[ 9.97786147e-01 -6.62497437e-02 -5.81172558e-03 3.53099815e+01] [ 6.62482833e-02 9.97803071e-01 -4.43643184e-04 7.71946946e-01] [ 5.82834888e-03 5.76441799e-05 9.99983013e-01 2.42237614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390281693 meters 0.019721745740597225 Centerline is valid? [True, True] Translation: X:35.34, Y:0.77, Z:0.03 [[ 9.97707453e-01 -6.75376899e-02 -4.30094666e-03 3.53383157e+01] [ 6.75369001e-02 9.97716723e-01 -3.28784336e-04 7.74798753e-01] [ 4.31333174e-03 3.75579778e-05 9.99990697e-01 2.69909515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420281693 meters 0.017892470671190996 Centerline is valid? [True, True] Translation: X:35.37, Y:0.77, Z:0.03 [[ 9.97445657e-01 -7.13776959e-02 -2.71776484e-03 3.53663106e+01] [ 7.13773941e-02 9.97449359e-01 -2.08007766e-04 7.74622418e-01] [ 2.72567992e-03 1.34894711e-05 9.99996285e-01 2.88455319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450281692999994 meters 0.017438782935833418 Centerline is valid? [True, True] Translation: X:35.39, Y:0.77, Z:0.03 [[ 9.97322950e-01 -7.30725622e-02 -2.70799833e-03 3.53940863e+01] [ 7.30722681e-02 9.97326627e-01 -2.07508440e-04 7.74477172e-01] [ 2.71592202e-03 9.07334937e-06 9.99996312e-01 2.86712432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480281692999995 meters 0.017088008034756734 Centerline is valid? [True, True] Translation: X:35.42, Y:0.77, Z:0.03 [[ 9.97069682e-01 -7.64161709e-02 -3.55207914e-03 3.54223452e+01] [ 7.64156834e-02 9.97076010e-01 -2.72960306e-04 7.73318604e-01] [ 3.56255148e-03 7.25890976e-07 9.99993654e-01 2.70906105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510281692999996 meters 0.017053967449201454 Centerline is valid? [True, True] Translation: X:35.45, Y:0.78, Z:0.03 [[ 9.96950261e-01 -7.79404551e-02 -3.93222398e-03 3.54504732e+01] [ 7.79398665e-02 9.96958016e-01 -3.02944568e-04 7.75235250e-01] [ 3.94387385e-03 -4.45634614e-06 9.99992223e-01 2.64605640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540281693 meters 0.017401311736076085 Centerline is valid? [True, True] Translation: X:35.48, Y:0.78, Z:0.03 [[ 9.96855436e-01 -7.90920805e-02 -4.86639903e-03 3.54774839e+01] [ 7.90911887e-02 9.96867314e-01 -3.75745175e-04 7.76909301e-01] [ 4.88087260e-03 -1.03256633e-05 9.99988088e-01 2.50144782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570281693 meters 0.017869943897709472 Centerline is valid? [True, True] Translation: X:35.51, Y:0.78, Z:0.02 [[ 9.96710261e-01 -8.08272403e-02 -5.96766805e-03 3.55059054e+01] [ 8.08259243e-02 9.96728126e-01 -4.61763584e-04 7.78264462e-01] [ 5.98546567e-03 -2.20977844e-05 9.99982087e-01 2.30727997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600281693 meters 0.017869943897709472 Centerline is valid? [True, True] Translation: X:35.53, Y:0.78, Z:0.02 [[ 9.96694837e-01 -8.10172173e-02 -5.96758347e-03 3.55332841e+01] [ 8.10158982e-02 9.96712702e-01 -4.62854978e-04 7.80567920e-01] [ 5.98546547e-03 -2.21439678e-05 9.99982087e-01 2.31274899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63028169299999 meters 0.018049240083037526 Centerline is valid? [True, True] Translation: X:35.56, Y:0.78, Z:0.02 [[ 9.96694085e-01 -8.09958711e-02 -6.36938551e-03 3.55603707e+01] [ 8.09943615e-02 9.96714437e-01 -4.95028254e-04 7.82329061e-01] [ 6.38855374e-03 -2.24925796e-05 9.99979593e-01 2.17115993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660281692999995 meters 0.017744766358249356 Centerline is valid? [True, True] Translation: X:35.59, Y:0.78, Z:0.02 [[ 9.96701290e-01 -8.09603805e-02 -5.65296943e-03 3.55881622e+01] [ 8.09591856e-02 9.96717320e-01 -4.40264495e-04 7.84616220e-01] [ 5.67005653e-03 -1.88476116e-05 9.99983925e-01 2.31160237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690281692999996 meters 0.017354828931175313 Centerline is valid? [True, True] Translation: X:35.62, Y:0.79, Z:0.03 [[ 9.96685743e-01 -8.12993792e-02 -2.81800374e-03 3.56161167e+01] [ 8.12990827e-02 9.96689726e-01 -2.19813472e-04 7.85157564e-01] [ 2.82654607e-03 -1.00161653e-05 9.99996005e-01 2.82057783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720281693 meters 0.01757799076565737 Centerline is valid? [True, True] Translation: X:35.64, Y:0.79, Z:0.03 [[ 9.96662884e-01 -8.15880780e-02 -2.54599932e-03 3.56434463e+01] [ 8.15878359e-02 9.96666135e-01 -1.98987045e-04 7.85160020e-01] [ 2.55374628e-03 -9.39957276e-06 9.99996739e-01 2.87259427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750281693 meters 0.017597282034623202 Centerline is valid? [True, True] Translation: X:35.67, Y:0.79, Z:0.03 [[ 9.96687383e-01 -8.12374151e-02 -3.83952833e-03 3.56714907e+01] [ 8.12368596e-02 9.96694779e-01 -3.00675550e-04 7.87412904e-01] [ 3.85126394e-03 -1.22316960e-05 9.99992584e-01 2.55787779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780281693 meters 0.017619845224986667 Centerline is valid? [True, True] Translation: X:35.70, Y:0.79, Z:0.02 [[ 9.96777447e-01 -8.00831705e-02 -4.62672045e-03 3.56981514e+01] [ 8.00823477e-02 9.96788185e-01 -3.63109855e-04 7.90633330e-01] [ 4.64093927e-03 -8.57892136e-06 9.99989231e-01 2.32884606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81028169299999 meters 0.01728444303152305 Centerline is valid? [True, True] Translation: X:35.72, Y:0.79, Z:0.02 [[ 9.96889346e-01 -7.86761198e-02 -4.65838815e-03 3.57245491e+01] [ 7.86752682e-02 9.96900230e-01 -3.66070372e-04 7.93713074e-01] [ 4.67274922e-03 -1.56828333e-06 9.99989083e-01 2.23340205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840281692999994 meters 0.017396316688264784 Centerline is valid? [True, True] Translation: X:35.75, Y:0.80, Z:0.02 [[ 9.96968479e-01 -7.76983056e-02 -4.10185668e-03 3.57520160e+01] [ 7.76976348e-02 9.96976917e-01 -3.22854925e-04 7.96654655e-01] [ 4.11454170e-03 3.17162098e-06 9.99991535e-01 2.36327491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870281692999995 meters 0.017626291992782567 Centerline is valid? [True, True] Translation: X:35.78, Y:0.80, Z:0.03 [[ 9.97152301e-01 -7.53483787e-02 -3.14806180e-03 3.57799502e+01] [ 7.53479704e-02 9.97157270e-01 -2.48272255e-04 8.01331772e-01] [ 3.15781962e-03 1.03651837e-05 9.99995014e-01 2.65687264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900281693 meters 0.018218866347604553 Centerline is valid? [True, True] Translation: X:35.81, Y:0.81, Z:0.03 [[ 9.97262123e-01 -7.38603668e-02 -3.59226889e-03 3.58081009e+01] [ 7.38598230e-02 9.97268593e-01 -2.83987699e-04 8.05947602e-01] [ 3.60343238e-03 1.78858312e-05 9.99993507e-01 2.61868080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930281693 meters 0.021238706362752217 Centerline is valid? [True, True] Translation: X:35.84, Y:0.82, Z:0.02 [[ 9.97604213e-01 -6.89965628e-02 -5.03069499e-03 3.58359982e+01] [ 6.89954296e-02 9.97616896e-01 -3.98650556e-04 8.15456679e-01] [ 5.04621184e-03 5.06005125e-05 9.99987267e-01 2.28706352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960281693 meters 0.02388446771950852 Centerline is valid? [True, True] Translation: X:35.86, Y:0.82, Z:0.02 [[ 9.97785716e-01 -6.62746520e-02 -5.59778766e-03 3.58627445e+01] [ 6.62732028e-02 9.97801416e-01 -4.44197948e-04 8.23095107e-01] [ 5.61491951e-03 7.22310512e-05 9.99984234e-01 2.17859769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99028169299999 meters 0.02654404108070872 Centerline is valid? [True, True] Translation: X:35.89, Y:0.83, Z:0.02 [[ 9.98031002e-01 -6.24735303e-02 -5.58358983e-03 3.58909769e+01] [ 6.24720274e-02 9.98046617e-01 -4.43334576e-04 8.34737274e-01] [ 5.60037962e-03 9.36434738e-05 9.99984313e-01 2.18534439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020281692999994 meters 0.02854099405083554 Centerline is valid? [True, True] Translation: X:35.92, Y:0.84, Z:0.02 [[ 9.98097716e-01 -6.14199601e-02 -5.34208439e-03 3.59181158e+01] [ 6.14185680e-02 9.98112007e-01 -4.24420911e-04 8.42466844e-01] [ 5.35806649e-03 9.55103689e-05 9.99985641e-01 2.16090740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050281692999995 meters 0.027640950290076766 Centerline is valid? [True, True] Translation: X:35.95, Y:0.85, Z:0.02 [[ 9.98130773e-01 -6.09066601e-02 -5.03382081e-03 3.59467113e+01] [ 6.09054143e-02 9.98143462e-01 -4.00548687e-04 8.45541320e-01] [ 5.04887141e-03 9.32130287e-05 9.99987250e-01 2.25817483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080281692999996 meters 0.029319433321249054 Centerline is valid? [True, True] Translation: X:35.97, Y:0.85, Z:0.02 [[ 9.98140610e-01 -6.07496873e-02 -4.97968090e-03 3.59736529e+01] [ 6.07484637e-02 9.98153028e-01 -3.96746877e-04 8.52653724e-01] [ 4.99458582e-03 9.35012054e-05 9.99987523e-01 2.24879753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110281693 meters 0.02711452775439306 Centerline is valid? [True, True] Translation: X:36.00, Y:0.86, Z:0.03 [[ 9.98085255e-01 -6.17650221e-02 -3.30242137e-03 3.60020680e+01] [ 6.17644885e-02 9.98090717e-01 -2.63411003e-04 8.57846171e-01] [ 3.31238570e-03 5.89342706e-05 9.99994512e-01 2.54543491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140281693 meters 0.025301015070679875 Centerline is valid? [True, True] Translation: X:36.03, Y:0.86, Z:0.02 [[ 9.97854937e-01 -6.54033614e-02 -2.81498241e-03 3.60302223e+01] [ 6.54029874e-02 9.97858907e-01 -2.24840880e-04 8.62229938e-01] [ 2.82366062e-03 4.02503236e-05 9.99996013e-01 2.48532874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170281693 meters 0.02279960402205747 Centerline is valid? [True, True] Translation: X:36.06, Y:0.86, Z:0.02 [[ 9.97638149e-01 -6.85869878e-02 -3.73468811e-03 3.60596188e+01] [ 6.85863503e-02 9.97645139e-01 -2.98648484e-04 8.60849153e-01] [ 3.74637684e-03 4.17944937e-05 9.99992981e-01 2.31360404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200281692999994 meters 0.020515291980850874 Centerline is valid? [True, True] Translation: X:36.09, Y:0.86, Z:0.02 [[ 9.97401642e-01 -7.19207371e-02 -4.16795850e-03 3.60881336e+01] [ 7.19199695e-02 9.97410350e-01 -3.33959392e-04 8.59462886e-01] [ 4.18118356e-03 3.33321977e-05 9.99991258e-01 2.23620221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230281692999995 meters 0.01919056147511985 Centerline is valid? [True, True] Translation: X:36.12, Y:0.86, Z:0.02 [[ 9.97191822e-01 -7.47483293e-02 -4.59975718e-03 3.61169300e+01] [ 7.47474210e-02 9.97202430e-01 -3.69309928e-04 8.59134589e-01] [ 4.61449434e-03 2.44528532e-05 9.99989353e-01 2.21914049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260281692999996 meters 0.018141205328056804 Centerline is valid? [True, True] Translation: X:36.15, Y:0.86, Z:0.02 [[ 9.96901838e-01 -7.85453520e-02 -4.16573374e-03 3.61457545e+01] [ 7.85446375e-02 9.96910541e-01 -3.35103437e-04 8.58626035e-01] [ 4.17918470e-03 6.86918565e-06 9.99991267e-01 2.32414544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290281693 meters 0.01790353368192086 Centerline is valid? [True, True] Translation: X:36.17, Y:0.86, Z:0.02 [[ 9.96832332e-01 -7.94247508e-02 -4.12432023e-03 3.61730927e+01] [ 7.94240558e-02 9.96840864e-01 -3.32269012e-04 8.60889805e-01] [ 4.13768133e-03 3.64625427e-06 9.99991440e-01 2.24509064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320281693 meters 0.017998982782759118 Centerline is valid? [True, True] Translation: X:36.20, Y:0.86, Z:0.02 [[ 9.96738968e-01 -8.05960374e-02 -3.96347846e-03 3.62013231e+01] [ 8.05954029e-02 9.96746848e-01 -3.19822295e-04 8.61858427e-01] [ 3.97636107e-03 -6.58798672e-07 9.99992094e-01 2.26244548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350281693 meters 0.017945483095951845 Centerline is valid? [True, True] Translation: X:36.23, Y:0.86, Z:0.02 [[ 9.96690965e-01 -8.11984810e-02 -3.73175381e-03 3.62289463e+01] [ 8.11979203e-02 9.96697952e-01 -3.01775016e-04 8.63514086e-01] [ 3.74393505e-03 -2.23421592e-06 9.99992991e-01 2.33991525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38028169299999 meters 0.01792622832125441 Centerline is valid? [True, True] Translation: X:36.26, Y:0.87, Z:0.02 [[ 9.96658841e-01 -8.16052005e-02 -3.42737392e-03 3.62569500e+01] [ 8.16047279e-02 9.96664734e-01 -2.77758850e-04 8.65968702e-01] [ 3.43860928e-03 -2.85910310e-06 9.99994088e-01 2.41099922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410281692999995 meters 0.01807442451738811 Centerline is valid? [True, True] Translation: X:36.28, Y:0.87, Z:0.02 [[ 9.96677268e-01 -8.13712105e-02 -3.62612465e-03 3.62843368e+01] [ 8.13706780e-02 9.96683865e-01 -2.94390665e-04 8.67869858e-01] [ 3.63805485e-03 -1.64773748e-06 9.99993382e-01 2.37355160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440281692999996 meters 0.018040457775800895 Centerline is valid? [True, True] Translation: X:36.31, Y:0.87, Z:0.02 [[ 9.96660734e-01 -8.15590167e-02 -3.93805492e-03 3.63110587e+01] [ 8.15583884e-02 9.96668514e-01 -3.20148949e-04 8.69586676e-01] [ 3.95104638e-03 -2.10152600e-06 9.99992195e-01 2.31955095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470281693 meters 0.018177457150842267 Centerline is valid? [True, True] Translation: X:36.34, Y:0.87, Z:0.02 [[ 9.96606144e-01 -8.21881770e-02 -4.61499421e-03 3.63388674e+01] [ 8.21873173e-02 9.96616829e-01 -3.75954972e-04 8.70311643e-01] [ 4.63027995e-03 -4.61495842e-06 9.99989280e-01 2.22881508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500281693 meters 0.01897517816639087 Centerline is valid? [True, True] Translation: X:36.37, Y:0.87, Z:0.02 [[ 9.96368536e-01 -8.50184891e-02 -4.64720692e-03 3.63679920e+01] [ 8.50176445e-02 9.96379374e-01 -3.79348277e-04 8.65860867e-01] [ 4.66263274e-03 -1.71238990e-05 9.99989130e-01 2.35871318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530281693 meters 0.019489912035455605 Centerline is valid? [True, True] Translation: X:36.40, Y:0.86, Z:0.02 [[ 9.96196726e-01 -8.70217450e-02 -4.39302919e-03 3.63971350e+01] [ 8.70210068e-02 9.96206412e-01 -3.59275591e-04 8.63920694e-01] [ 4.40762864e-03 -2.43766556e-05 9.99990286e-01 2.39041019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56028169299999 meters 0.020259223294894914 Centerline is valid? [True, True] Translation: X:36.43, Y:0.86, Z:0.03 [[ 9.96004885e-01 -8.92243219e-02 -3.64536282e-03 3.64264825e+01] [ 8.92238263e-02 9.96011556e-01 -2.98655219e-04 8.61832920e-01] [ 3.65747080e-03 -2.77911621e-05 9.99993311e-01 2.54708352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590281692999994 meters 0.021295540333590327 Centerline is valid? [True, True] Translation: X:36.45, Y:0.86, Z:0.03 [[ 9.95838972e-01 -9.10861006e-02 -2.83976542e-03 3.64543282e+01] [ 9.10858066e-02 9.95843021e-01 -2.32959096e-04 8.56426077e-01] [ 2.84917991e-03 -2.66725774e-05 9.99995941e-01 2.57398208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620281692999995 meters 0.021850172570041116 Centerline is valid? [True, True] Translation: X:36.48, Y:0.85, Z:0.02 [[ 9.95800859e-01 -9.14629672e-02 -3.89558800e-03 3.64821166e+01] [ 9.14624157e-02 9.95808478e-01 -3.19865233e-04 8.54758107e-01] [ 3.90851538e-03 -3.77778146e-05 9.99992361e-01 2.32828380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650281693 meters 0.02258154097761205 Centerline is valid? [True, True] Translation: X:36.51, Y:0.85, Z:0.02 [[ 9.95714246e-01 -9.22861497e-02 -6.03381912e-03 3.65117255e+01] [ 9.22848368e-02 9.95732526e-01 -4.96237217e-04 8.50296780e-01] [ 6.05386577e-03 -6.27195466e-05 9.99981673e-01 1.98167118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680281693 meters 0.02298966802857329 Centerline is valid? [True, True] Translation: X:36.54, Y:0.85, Z:0.02 [[ 9.95645250e-01 -9.30072990e-02 -6.33862031e-03 3.65405746e+01] [ 9.30058583e-02 9.95665424e-01 -5.22308048e-04 8.49329383e-01] [ 6.35972355e-03 -6.94952955e-05 9.99979774e-01 2.00016593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710281693 meters 0.022794608672796132 Centerline is valid? [True, True] Translation: X:36.57, Y:0.85, Z:0.02 [[ 9.95596234e-01 -9.35332396e-02 -6.29851157e-03 3.65681894e+01] [ 9.35318206e-02 9.95616155e-01 -5.20112397e-04 8.49656111e-01] [ 6.31954766e-03 -7.12893098e-05 9.99980029e-01 2.12662565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74028169299999 meters 0.023164196843650425 Centerline is valid? [True, True] Translation: X:36.60, Y:0.84, Z:0.02 [[ 9.95632436e-01 -9.32017649e-02 -5.42979201e-03 3.65966693e+01] [ 9.32007020e-02 9.95647241e-01 -4.48994136e-04 8.43456851e-01] [ 5.44800448e-03 -5.90273023e-05 9.99985158e-01 2.18842652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770281692999994 meters 0.02250214698105138 Centerline is valid? [True, True] Translation: X:36.62, Y:0.84, Z:0.02 [[ 9.95721047e-01 -9.22598769e-02 -5.26424699e-03 3.66249469e+01] [ 9.22588629e-02 9.95734961e-01 -4.35652573e-04 8.44031012e-01] [ 5.28198803e-03 -5.18850063e-05 9.99986049e-01 2.27598866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800281692999995 meters 0.02115447132315198 Centerline is valid? [True, True] Translation: X:36.65, Y:0.85, Z:0.02 [[ 9.95801406e-01 -9.13982314e-02 -5.09145137e-03 3.66537156e+01] [ 9.13972685e-02 9.95814421e-01 -4.21958414e-04 8.47343418e-01] [ 5.10870695e-03 -4.51579651e-05 9.99986949e-01 2.33967342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830281692999996 meters 0.020328883502132643 Centerline is valid? [True, True] Translation: X:36.68, Y:0.85, Z:0.02 [[ 9.95967630e-01 -8.95627850e-02 -5.19489216e-03 3.66814326e+01] [ 8.95617549e-02 9.95981178e-01 -4.31040406e-04 8.48121104e-01] [ 5.21261999e-03 -3.59613674e-05 9.99986414e-01 2.25974569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860281693 meters 0.020155696314166274 Centerline is valid? [True, True] Translation: X:36.71, Y:0.85, Z:0.02 [[ 9.96047694e-01 -8.86993537e-02 -4.62777880e-03 3.67091855e+01] [ 8.86985258e-02 9.96058444e-01 -3.84235231e-04 8.48586571e-01] [ 4.64361957e-03 -2.77605417e-05 9.99989218e-01 2.32231751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890281693 meters 0.01894667082517894 Centerline is valid? [True, True] Translation: X:36.74, Y:0.85, Z:0.03 [[ 9.96288571e-01 -8.59995808e-02 -3.62709335e-03 3.67368505e+01] [ 8.59990537e-02 9.96295173e-01 -3.01326875e-04 8.52240042e-01] [ 3.63956958e-03 -1.17180745e-05 9.99993377e-01 2.61506960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920281693 meters 0.018475394468109606 Centerline is valid? [True, True] Translation: X:36.76, Y:0.86, Z:0.03 [[ 9.96487313e-01 -8.36531600e-02 -3.89660693e-03 3.67645531e+01] [ 8.36525319e-02 9.96494932e-01 -3.24161356e-04 8.58410998e-01] [ 3.91006618e-03 -2.93835682e-06 9.99992356e-01 2.55603225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950281692999994 meters 0.018868935171366178 Centerline is valid? [True, True] Translation: X:36.79, Y:0.87, Z:0.02 [[ 9.96703506e-01 -8.09775043e-02 -4.97647551e-03 3.67923637e+01] [ 8.09764432e-02 9.96715929e-01 -4.14676466e-04 8.65792434e-01] [ 4.99371187e-03 1.03322015e-05 9.99987531e-01 2.44048512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980281692999995 meters 0.020245397868215137 Centerline is valid? [True, True] Translation: X:36.82, Y:0.87, Z:0.02 [[ 9.96928185e-01 -7.80753686e-02 -6.19923020e-03 3.68205267e+01] [ 7.80736606e-02 9.96947459e-01 -5.17401293e-04 8.74258141e-01] [ 6.22070309e-03 3.18153376e-05 9.99980651e-01 2.20195849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010281692999996 meters 0.022160005430089613 Centerline is valid? [True, True] Translation: X:36.85, Y:0.88, Z:0.02 [[ 9.97260051e-01 -7.37445919e-02 -5.84167385e-03 3.68480804e+01] [ 7.37429981e-02 9.97277159e-01 -4.88060063e-04 8.84366527e-01] [ 5.86175970e-03 5.59402594e-05 9.99982818e-01 2.25247805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040281693 meters 0.022567208516858242 Centerline is valid? [True, True] Translation: X:36.88, Y:0.89, Z:0.02 [[ 9.97304624e-01 -7.31910148e-02 -5.15390849e-03 3.68761592e+01] [ 7.31897632e-02 9.97317940e-01 -4.31277735e-04 8.89462372e-01] [ 5.17165106e-03 5.29019365e-05 9.99986626e-01 2.41670868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070281693 meters 0.021394612554512898 Centerline is valid? [True, True] Translation: X:36.91, Y:0.89, Z:0.03 [[ 9.97243614e-01 -7.40874138e-02 -4.02846137e-03 3.69051598e+01] [ 7.40866540e-02 9.97251750e-01 -3.37723885e-04 8.91953380e-01] [ 4.04241124e-03 3.83377637e-05 9.99991829e-01 2.62159524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100281693 meters 0.021650529299771168 Centerline is valid? [True, True] Translation: X:36.93, Y:0.90, Z:0.02 [[ 9.97198146e-01 -7.46744344e-02 -4.42566131e-03 3.69329152e+01] [ 7.46735209e-02 9.97207966e-01 -3.71529265e-04 8.95104316e-01] [ 4.44104845e-03 4.00085819e-05 9.99990138e-01 2.49698321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13028169299999 meters 0.021170804086114006 Centerline is valid? [True, True] Translation: X:36.96, Y:0.90, Z:0.03 [[ 9.97121547e-01 -7.56939168e-02 -4.36481307e-03 3.69622260e+01] [ 7.56930360e-02 9.97131100e-01 -3.66887122e-04 8.96314268e-01] [ 4.38006198e-03 3.54451019e-05 9.99990407e-01 2.51060281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160281692999995 meters 0.020111531722661714 Centerline is valid? [True, True] Translation: X:36.99, Y:0.90, Z:0.03 [[ 9.96969111e-01 -7.76816988e-02 -4.25979074e-03 3.69897862e+01] [ 7.76808762e-02 9.96978211e-01 -3.58472466e-04 8.96445901e-01] [ 4.27476530e-03 2.64816989e-05 9.99990863e-01 2.54286543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190281692999996 meters 0.019455946590065717 Centerline is valid? [True, True] Translation: X:37.02, Y:0.90, Z:0.02 [[ 9.96876851e-01 -7.88309791e-02 -4.71395917e-03 3.70174226e+01] [ 7.88299816e-02 9.96887996e-01 -3.97327575e-04 8.97340506e-01] [ 4.73061103e-03 2.44853469e-05 9.99988810e-01 2.46650387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220281693 meters 0.01924235199249715 Centerline is valid? [True, True] Translation: X:37.05, Y:0.90, Z:0.02 [[ 9.96794581e-01 -7.98274867e-02 -5.30430371e-03 3.70455316e+01] [ 7.98262323e-02 9.96808694e-01 -4.48132481e-04 8.99256363e-01] [ 5.32314934e-03 2.32734483e-05 9.99985832e-01 2.39910875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250281693 meters 0.019383597325179552 Centerline is valid? [True, True] Translation: X:37.07, Y:0.90, Z:0.02 [[ 9.96761250e-01 -8.01805246e-02 -6.17203001e-03 3.70724789e+01] [ 8.01788280e-02 9.96780358e-01 -5.22223402e-04 9.02794462e-01] [ 6.19403044e-03 2.56659175e-05 9.99980816e-01 2.20314627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280281693 meters 0.019434825332582197 Centerline is valid? [True, True] Translation: X:37.10, Y:0.91, Z:0.02 [[ 9.96798014e-01 -7.97608966e-02 -5.64968672e-03 3.71001960e+01] [ 7.97594637e-02 9.96814024e-01 -4.78845699e-04 9.06974538e-01] [ 5.66988012e-03 2.66964591e-05 9.99983926e-01 2.36701252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31028169299999 meters 0.020823744698602136 Centerline is valid? [True, True] Translation: X:37.13, Y:0.92, Z:0.03 [[ 9.97017722e-01 -7.70310993e-02 -4.67666623e-03 3.71276019e+01] [ 7.70300850e-02 9.97028690e-01 -3.96901067e-04 9.15246317e-01] [ 4.69334413e-03 3.54734008e-05 9.99988986e-01 2.64952937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340281692999994 meters 0.02135230638240621 Centerline is valid? [True, True] Translation: X:37.16, Y:0.92, Z:0.03 [[ 9.97155062e-01 -7.52420434e-02 -4.51856864e-03 3.71564028e+01] [ 7.52410754e-02 9.97165299e-01 -3.84068204e-04 9.19591160e-01] [ 4.53465792e-03 4.29935906e-05 9.99989717e-01 2.68031093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370281692999995 meters 0.023295251367168385 Centerline is valid? [True, True] Translation: X:37.18, Y:0.93, Z:0.03 [[ 9.97299673e-01 -7.33131682e-02 -4.30589536e-03 3.71840439e+01] [ 7.33122693e-02 9.97308968e-01 -3.66445825e-04 9.26956393e-01] [ 4.32117336e-03 4.97813415e-05 9.99990662e-01 2.64521840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400281693 meters 0.025807174909524708 Centerline is valid? [True, True] Translation: X:37.21, Y:0.93, Z:0.03 [[ 9.97493361e-01 -7.06960655e-02 -3.01018659e-03 3.72109329e+01] [ 7.06956139e-02 9.97497902e-01 -2.56317433e-04 9.34872463e-01] [ 3.02077544e-03 4.28679487e-05 9.99995437e-01 2.86506839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430281693 meters 0.02629325874544445 Centerline is valid? [True, True] Translation: X:37.24, Y:0.94, Z:0.03 [[ 9.97604706e-01 -6.91203978e-02 -2.68729624e-03 3.72393551e+01] [ 6.91200316e-02 9.97608324e-01 -2.29038924e-04 9.38569033e-01] [ 2.69670036e-03 4.27443068e-05 9.99996363e-01 3.00222096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460281693 meters 0.032138622684867495 Centerline is valid? [True, True] Translation: X:37.27, Y:0.95, Z:0.03 [[ 9.98006429e-01 -6.29083274e-02 -5.07053746e-03 3.72679118e+01] [ 6.29069400e-02 9.98019303e-01 -4.32811643e-04 9.53680911e-01] [ 5.08772171e-03 1.12976806e-04 9.99987051e-01 2.65882241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49028169299999 meters 0.035768523640767866 Centerline is valid? [True, True] Translation: X:37.30, Y:0.96, Z:0.03 [[ 9.98239877e-01 -5.90232881e-02 -5.77923792e-03 3.72961023e+01] [ 5.90214197e-02 9.98256595e-01 -4.93464864e-04 9.64221342e-01] [ 5.79828828e-03 1.51497478e-04 9.99983178e-01 2.53908020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520281692999994 meters 0.035768523640767866 Centerline is valid? [True, True] Translation: X:37.32, Y:0.97, Z:0.03 [[ 9.98230289e-01 -5.91852357e-02 -5.77917937e-03 3.73243024e+01] [ 5.91833660e-02 9.98247006e-01 -4.94149950e-04 9.66780856e-01] [ 5.79829488e-03 1.51244160e-04 9.99983178e-01 2.54471552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550281692999995 meters 0.04470073858555514 Centerline is valid? [True, True] Translation: X:37.35, Y:0.99, Z:0.03 [[ 9.98688467e-01 -5.09738685e-02 -4.79698249e-03 3.73520204e+01] [ 5.09724843e-02 9.98699974e-01 -4.10452382e-04 9.86996313e-01] [ 4.81166863e-03 1.65399945e-04 9.99988410e-01 2.66002683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580281692999996 meters 0.04844722165506515 Centerline is valid? [True, True] Translation: X:37.38, Y:1.00, Z:0.03 [[ 9.98861492e-01 -4.75079990e-02 -4.32540508e-03 3.73811086e+01] [ 4.75068410e-02 9.98870844e-01 -3.70139361e-04 9.97409625e-01] [ 4.33810560e-03 1.64231623e-04 9.99990577e-01 2.79723855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610281693 meters 0.05198701626882467 Centerline is valid? [True, True] Translation: X:37.41, Y:1.01, Z:0.03 [[ 9.98985909e-01 -4.48201745e-02 -4.27853016e-03 3.74097591e+01] [ 4.48190166e-02 9.98995056e-01 -3.66176914e-04 1.00755157e+00] [ 4.29064259e-03 1.74046063e-04 9.99990780e-01 2.84415048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640281693 meters 0.05441568440338474 Centerline is valid? [True, True] Translation: X:37.44, Y:1.02, Z:0.03 [[ 9.99066695e-01 -4.29935029e-02 -4.15906555e-03 3.74392064e+01] [ 4.29923928e-02 9.99075336e-01 -3.55999283e-04 1.01705129e+00] [ 4.17052547e-03 1.76858847e-04 9.99991288e-01 2.82002857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670281693 meters 0.05376768632856569 Centerline is valid? [True, True] Translation: X:37.47, Y:1.02, Z:0.03 [[ 9.99035114e-01 -4.36848339e-02 -4.52502866e-03 3.74699577e+01] [ 4.36835268e-02 9.99045344e-01 -3.87348707e-04 1.02000682e+00] [ 4.53763007e-03 1.89305749e-04 9.99989687e-01 2.77968375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700281692999994 meters 0.053369686644108696 Centerline is valid? [True, True] Translation: X:37.50, Y:1.02, Z:0.03 [[ 9.98996264e-01 -4.45658935e-02 -4.51059944e-03 3.75004751e+01] [ 4.45646036e-02 9.99006430e-01 -3.86113546e-04 1.02371919e+00] [ 4.52332534e-03 1.84712914e-04 9.99989753e-01 2.77477609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730281692999995 meters 0.051161292612424955 Centerline is valid? [True, True] Translation: X:37.53, Y:1.03, Z:0.03 [[ 9.98882071e-01 -4.69997262e-02 -5.06297430e-03 3.75294819e+01] [ 4.69981319e-02 9.98894883e-01 -4.33466446e-04 1.02705020e+00] [ 5.07775192e-03 1.95031527e-04 9.99987089e-01 2.67234421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760281692999996 meters 0.050434848323521665 Centerline is valid? [True, True] Translation: X:37.56, Y:1.03, Z:0.03 [[ 9.98813974e-01 -4.83767062e-02 -5.50806651e-03 3.75584867e+01] [ 4.83748395e-02 9.98829141e-01 -4.71699335e-04 1.02979333e+00] [ 5.52443660e-03 2.04688054e-04 9.99984719e-01 2.55305521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790281693 meters 0.0492346153747073 Centerline is valid? [True, True] Translation: X:37.59, Y:1.03, Z:0.03 [[ 9.98761076e-01 -4.94475882e-02 -5.59006521e-03 3.75882295e+01] [ 4.94456816e-02 9.98776699e-01 -4.78846437e-04 1.03103949e+00] [ 5.60690468e-03 2.01848598e-04 9.99984261e-01 2.56755354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820281693 meters 0.04792102244047573 Centerline is valid? [True, True] Translation: X:37.62, Y:1.03, Z:0.03 [[ 9.98707476e-01 -5.06801255e-02 -3.86043410e-03 3.76173694e+01] [ 5.06792251e-02 9.98714928e-01 -3.30757926e-04 1.03424269e+00] [ 3.87223602e-03 1.34686604e-04 9.99992494e-01 2.92470174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850281693 meters 0.048326742220035676 Centerline is valid? [True, True] Translation: X:37.65, Y:1.04, Z:0.03 [[ 9.98701274e-01 -5.08435547e-02 -3.27096805e-03 3.76453308e+01] [ 5.08429089e-02 9.98706624e-01 -2.80333037e-04 1.03929406e+00] [ 3.28099059e-03 1.13663430e-04 9.99994611e-01 3.06612473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88028169299999 meters 0.04319787682202318 Centerline is valid? [True, True] Translation: X:37.68, Y:1.04, Z:0.03 [[ 9.98702390e-01 -5.07557710e-02 -4.16993229e-03 3.76754703e+01] [ 5.07547203e-02 9.98711085e-01 -3.57461046e-04 1.04024999e+00] [ 4.18270081e-03 1.45353453e-04 9.99991242e-01 3.09255974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910281692999995 meters 0.04705882986026178 Centerline is valid? [True, True] Translation: X:37.70, Y:1.05, Z:0.03 [[ 9.98688526e-01 -5.10638714e-02 -3.70262174e-03 3.77040776e+01] [ 5.10630451e-02 9.98695381e-01 -3.17421879e-04 1.05007934e+00] [ 3.71400002e-03 1.27938447e-04 9.99993095e-01 3.10959269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940281692999996 meters 0.04288642777139878 Centerline is valid? [True, True] Translation: X:37.74, Y:1.05, Z:0.03 [[ 9.98627646e-01 -5.22735417e-02 -3.20973945e-03 3.77353282e+01] [ 5.22729270e-02 9.98632798e-01 -2.75173660e-04 1.04881983e+00] [ 3.21973539e-03 1.07013548e-04 9.99994811e-01 3.27191803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970281693 meters 0.03671082838017228 Centerline is valid? [True, True] Translation: X:37.77, Y:1.04, Z:0.03 [[ 9.98320123e-01 -5.78917274e-02 -2.34105520e-03 3.77658167e+01] [ 5.78914159e-02 9.98322865e-01 -2.00680438e-04 1.04482615e+00] [ 2.34874667e-03 6.48163191e-05 9.99997240e-01 3.31211948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000281693 meters 0.03291061581809696 Centerline is valid? [True, True] Translation: X:37.80, Y:1.04, Z:0.03 [[ 9.98063009e-01 -6.21559346e-02 -2.62110117e-03 3.77959097e+01] [ 6.21555588e-02 9.98066449e-01 -2.24665456e-04 1.04259512e+00] [ 2.62999743e-03 6.13142735e-05 9.99996540e-01 3.22020791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030281693 meters 0.02868290790066905 Centerline is valid? [True, True] Translation: X:37.83, Y:1.04, Z:0.03 [[ 9.97769050e-01 -6.66991676e-02 -2.85363711e-03 3.78262781e+01] [ 6.66987407e-02 9.97773130e-01 -2.44627985e-04 1.03925182e+00] [ 2.86359891e-03 5.37482311e-05 9.99995898e-01 3.16543773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06028169299999 meters 0.021894191679573363 Centerline is valid? [True, True] Translation: X:37.86, Y:1.03, Z:0.03 [[ 9.97176573e-01 -7.50582628e-02 -2.26698261e-03 3.78569589e+01] [ 7.50580148e-02 9.97179150e-01 -1.94399592e-04 1.02850958e+00] [ 2.27517909e-03 2.36955042e-05 9.99997411e-01 3.21496643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090281692999994 meters 0.020174368917450187 Centerline is valid? [True, True] Translation: X:37.89, Y:1.03, Z:0.03 [[ 9.96935343e-01 -7.82021308e-02 -2.08548835e-03 3.78862788e+01] [ 7.82019277e-02 9.96937524e-01 -1.78895401e-04 1.02587989e+00] [ 2.09309159e-03 1.52579387e-05 9.99997809e-01 3.22868766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120281692999995 meters 0.018521372434273282 Centerline is valid? [True, True] Translation: X:37.92, Y:1.02, Z:0.03 [[ 9.96553565e-01 -8.29173860e-02 -2.38732072e-03 3.79151542e+01] [ 8.29171324e-02 9.96556424e-01 -2.05179776e-04 1.01839074e+00] [ 2.39611277e-03 6.52284959e-06 9.99997129e-01 3.06776197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150281693 meters 0.018372255514578533 Centerline is valid? [True, True] Translation: X:37.94, Y:1.02, Z:0.03 [[ 9.96382012e-01 -8.49025308e-02 -3.80075533e-03 3.79433674e+01] [ 8.49019004e-02 9.96389261e-01 -3.27175068e-04 1.01593232e+00] [ 3.81480978e-03 3.30000229e-06 9.99992724e-01 2.84668559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180281693 meters 0.018535620713801722 Centerline is valid? [True, True] Translation: X:37.97, Y:1.01, Z:0.03 [[ 9.96256192e-01 -8.62887979e-02 -5.27672676e-03 3.79717025e+01] [ 8.62875987e-02 9.96270166e-01 -4.54923659e-04 1.01377294e+00] [ 5.29630026e-03 -2.09556973e-06 9.99985975e-01 2.63500934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210281693 meters 0.01840805745591296 Centerline is valid? [True, True] Translation: X:38.00, Y:1.01, Z:0.03 [[ 9.96120649e-01 -8.78979775e-02 -4.19498182e-03 3.79990911e+01] [ 8.78972322e-02 9.96129482e-01 -3.62045566e-04 1.01028983e+00] [ 4.21056814e-03 -8.08622667e-06 9.99991135e-01 3.06564350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24028169299999 meters 0.01822264530000682 Centerline is valid? [True, True] Translation: X:38.03, Y:1.01, Z:0.03 [[ 9.96121980e-01 -8.79551291e-02 -2.21275643e-03 3.80265811e+01] [ 8.79549215e-02 9.96124438e-01 -1.91150562e-04 1.01210075e+00] [ 2.22099343e-03 -4.21354213e-06 9.99997534e-01 3.39179778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270281692999994 meters 0.018163199281763964 Centerline is valid? [True, True] Translation: X:38.05, Y:1.01, Z:0.04 [[ 9.96171621e-01 -8.74044743e-02 -1.59956535e-03 3.80533425e+01] [ 8.74043648e-02 9.96172906e-01 -1.38390748e-04 1.01430643e+00] [ 1.60553963e-03 -1.94805680e-06 9.99998711e-01 3.51007563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300281692999995 meters 0.01817708683417341 Centerline is valid? [True, True] Translation: X:38.08, Y:1.02, Z:0.03 [[ 9.96364921e-01 -8.51266901e-02 -3.22341188e-03 3.80817376e+01] [ 8.51262313e-02 9.96370135e-01 -2.79524014e-04 1.01605723e+00] [ 3.23550628e-03 4.11101710e-06 9.99994766e-01 3.09900048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330281692999996 meters 0.018470091323104308 Centerline is valid? [True, True] Translation: X:38.11, Y:1.02, Z:0.03 [[ 9.96453571e-01 -8.40539541e-02 -3.90037057e-03 3.81084803e+01] [ 8.40532720e-02 9.96461205e-01 -3.38768705e-04 1.02015359e+00] [ 3.91504280e-03 9.72837797e-06 9.99992336e-01 2.95739836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360281693 meters 0.019469681729084608 Centerline is valid? [True, True] Translation: X:38.14, Y:1.03, Z:0.03 [[ 9.96682361e-01 -8.13191244e-02 -3.38688741e-03 3.81359285e+01] [ 8.13185932e-02 9.96688116e-01 -2.94481386e-04 1.03172467e+00] [ 3.39961740e-03 1.80874832e-05 9.99994221e-01 3.18117224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390281693 meters 0.019981802252843878 Centerline is valid? [True, True] Translation: X:38.16, Y:1.04, Z:0.03 [[ 9.96817830e-01 -7.96707198e-02 -2.60565752e-03 3.81646567e+01] [ 7.96703993e-02 9.96821236e-01 -2.26742045e-04 1.03857381e+00] [ 2.61543945e-03 1.84267382e-05 9.99996580e-01 3.34519556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420281693 meters 0.020664081192278777 Centerline is valid? [True, True] Translation: X:38.19, Y:1.04, Z:0.03 [[ 9.96919958e-01 -7.83974496e-02 -2.10658676e-03 3.81924267e+01] [ 7.83972366e-02 9.96922183e-01 -1.83585626e-04 1.04476833e+00] [ 2.11449572e-03 1.78695939e-05 9.99997764e-01 3.46026996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450281692999994 meters 0.022377778203322943 Centerline is valid? [True, True] Translation: X:38.22, Y:1.06, Z:0.03 [[ 9.97096038e-01 -7.61262129e-02 -2.07130329e-03 3.82197089e+01] [ 7.61260018e-02 9.97098189e-01 -1.80682868e-04 1.05565319e+00] [ 2.07904746e-03 2.24781340e-05 9.99997839e-01 3.48152511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480281692999995 meters 0.02337510824964062 Centerline is valid? [True, True] Translation: X:38.25, Y:1.06, Z:0.03 [[ 9.97170101e-01 -7.51329925e-02 -2.61195862e-03 3.82480174e+01] [ 7.51326528e-02 9.97173522e-01 -2.28087886e-04 1.06393981e+00] [ 2.62171290e-03 3.11990406e-05 9.99996563e-01 3.40531666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510281692999996 meters 0.025383469746118718 Centerline is valid? [True, True] Translation: X:38.28, Y:1.08, Z:0.03 [[ 9.97311713e-01 -7.31408866e-02 -4.44494057e-03 3.82759087e+01] [ 7.31398800e-02 9.97321617e-01 -3.88798852e-04 1.07728239e+00] [ 4.46147241e-03 6.26512295e-05 9.99990046e-01 3.07644287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540281693 meters 0.02652356483798012 Centerline is valid? [True, True] Translation: X:38.30, Y:1.08, Z:0.03 [[ 9.97398922e-01 -7.18799884e-02 -5.35337254e-03 3.83036990e+01] [ 7.18785086e-02 9.97413285e-01 -4.68558363e-04 1.08460358e+00] [ 5.37320486e-03 8.25471720e-05 9.99985561e-01 2.91438229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570281693 meters 0.026622016580934552 Centerline is valid? [True, True] Translation: X:38.33, Y:1.09, Z:0.03 [[ 9.97453735e-01 -7.10909387e-02 -5.66792188e-03 3.83319472e+01] [ 7.10892630e-02 9.97469834e-01 -4.96816874e-04 1.09020958e+00] [ 5.68890027e-03 9.26234578e-05 9.99983814e-01 2.89219647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600281693 meters 0.029730830356183714 Centerline is valid? [True, True] Translation: X:38.36, Y:1.10, Z:0.03 [[ 9.97504027e-01 -7.03801385e-02 -5.68795917e-03 3.83599638e+01] [ 7.03784368e-02 9.97520239e-01 -4.99032252e-04 1.10200081e+00] [ 5.70897635e-03 9.74770054e-05 9.99983699e-01 2.87005752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63028169299999 meters 0.027770867243918737 Centerline is valid? [True, True] Translation: X:38.39, Y:1.11, Z:0.03 [[ 9.97584989e-01 -6.93817714e-02 -3.21846986e-03 3.83892082e+01] [ 6.93812211e-02 9.97590180e-01 -2.82440545e-04 1.11109516e+00] [ 3.23031016e-03 5.84570789e-05 9.99994781e-01 3.40621004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660281692999995 meters 0.028417426297710824 Centerline is valid? [True, True] Translation: X:38.42, Y:1.12, Z:0.03 [[ 9.97535279e-01 -7.01240459e-02 -2.44639170e-03 3.84175081e+01] [ 7.01237301e-02 9.97538278e-01 -2.14719058e-04 1.12081735e+00] [ 2.45542634e-03 4.26397235e-05 9.99996985e-01 3.48612747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690281692999996 meters 0.027417573855644355 Centerline is valid? [True, True] Translation: X:38.45, Y:1.12, Z:0.03 [[ 9.97431353e-01 -7.15622801e-02 -3.08812862e-03 3.84472953e+01] [ 7.15617839e-02 9.97436132e-01 -2.71031773e-04 1.12378815e+00] [ 3.09960672e-03 4.93435949e-05 9.99995195e-01 3.30301886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720281693 meters 0.02470053895159692 Centerline is valid? [True, True] Translation: X:38.48, Y:1.12, Z:0.03 [[ 9.97268021e-01 -7.37656058e-02 -3.88957451e-03 3.84776141e+01] [ 7.37648353e-02 9.97275605e-01 -3.41371233e-04 1.12356967e+00] [ 3.90415923e-03 5.35247910e-05 9.99992377e-01 3.10487485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750281693 meters 0.020188836645832358 Centerline is valid? [True, True] Translation: X:38.51, Y:1.12, Z:0.03 [[ 9.96830398e-01 -7.94037066e-02 -4.92027780e-03 3.85080111e+01] [ 7.94025421e-02 9.96842540e-01 -4.31866220e-04 1.12129510e+00] [ 4.93903400e-03 3.98148104e-05 9.99987802e-01 2.98076149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780281693 meters 0.019399007702227487 Centerline is valid? [True, True] Translation: X:38.54, Y:1.12, Z:0.03 [[ 9.96646147e-01 -8.16985322e-02 -4.66985295e-03 3.85364973e+01] [ 8.16975078e-02 9.96657087e-01 -4.10020094e-04 1.12384634e+00] [ 4.68774008e-03 2.71295991e-05 9.99989012e-01 2.99806805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81028169299999 meters 0.018235091128710742 Centerline is valid? [True, True] Translation: X:38.57, Y:1.12, Z:0.03 [[ 9.96382444e-01 -8.48804731e-02 -4.16304672e-03 3.85671042e+01] [ 8.48796865e-02 9.96391141e-01 -3.65595523e-04 1.12476723e+00] [ 4.17905479e-03 1.09148604e-05 9.99991268e-01 3.17815106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840281692999994 meters 0.01822463048128586 Centerline is valid? [True, True] Translation: X:38.60, Y:1.13, Z:0.03 [[ 9.96314896e-01 -8.56281919e-02 -4.94381125e-03 3.85965365e+01] [ 8.56270917e-02 9.96327161e-01 -4.34157857e-04 1.12807978e+00] [ 4.96282959e-03 9.23376060e-06 9.99987685e-01 3.01126306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870281692999995 meters 0.018226385049641802 Centerline is valid? [True, True] Translation: X:38.63, Y:1.13, Z:0.03 [[ 9.96253074e-01 -8.63005301e-02 -5.65957464e-03 3.86263971e+01] [ 8.62990987e-02 9.96269150e-01 -4.97097242e-04 1.13177700e+00] [ 5.68135937e-03 6.81846547e-06 9.99983861e-01 2.81257033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900281693 meters 0.01840265641182048 Centerline is valid? [True, True] Translation: X:38.65, Y:1.14, Z:0.03 [[ 9.96071160e-01 -8.83158135e-02 -6.52386460e-03 3.86547572e+01] [ 8.83139496e-02 9.96092524e-01 -5.73802242e-04 1.13631578e+00] [ 6.54904857e-03 -4.60038391e-06 9.99978555e-01 2.64027745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930281693 meters 0.018262273305738576 Centerline is valid? [True, True] Translation: X:38.68, Y:1.14, Z:0.03 [[ 9.95996724e-01 -8.91489993e-02 -6.55603220e-03 3.86836855e+01] [ 8.91471279e-02 9.96018301e-01 -5.77706649e-04 1.13969424e+00] [ 6.58143003e-03 -9.05751152e-06 9.99978342e-01 2.64372015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960281693 meters 0.018165227616678915 Centerline is valid? [True, True] Translation: X:38.71, Y:1.14, Z:0.03 [[ 9.95937926e-01 -8.98340923e-02 -6.12235208e-03 3.87124638e+01] [ 8.98324671e-02 9.95956744e-01 -5.40483169e-04 1.14247799e+00] [ 6.14615166e-03 -1.16983053e-05 9.99981112e-01 2.73328959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99028169299999 meters 0.01844454209051777 Centerline is valid? [True, True] Translation: X:38.74, Y:1.14, Z:0.03 [[ 9.95843442e-01 -9.08658976e-02 -6.26327894e-03 3.87411471e+01] [ 9.08642139e-02 9.95863137e-01 -5.53453069e-04 1.14415931e+00] [ 6.28765862e-03 -1.79553081e-05 9.99980232e-01 2.72502886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020281692999994 meters 0.018400798842273497 Centerline is valid? [True, True] Translation: X:38.77, Y:1.15, Z:0.03 [[ 9.95833982e-01 -9.09701106e-02 -6.25461154e-03 3.87693863e+01] [ 9.09684321e-02 9.95853623e-01 -5.52925558e-04 1.14627607e+00] [ 6.27897726e-03 -1.83501455e-05 9.99980287e-01 2.73901865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050281692999995 meters 0.018224207670860817 Centerline is valid? [True, True] Translation: X:38.80, Y:1.15, Z:0.03 [[ 9.95780001e-01 -9.16958570e-02 -3.74958862e-03 3.87977843e+01] [ 9.16952576e-02 9.95787060e-01 -3.31803670e-04 1.14848429e+00] [ 3.76421685e-03 -1.34160356e-05 9.99992915e-01 3.17112868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080281692999996 meters 0.018234177675517223 Centerline is valid? [True, True] Translation: X:38.83, Y:1.15, Z:0.04 [[ 9.95715090e-01 -9.24610306e-02 -1.55461174e-03 3.88261180e+01] [ 9.24609283e-02 9.95716304e-01 -1.37687600e-04 1.15048809e+00] [ 1.56068299e-03 -6.64322393e-06 9.99998782e-01 3.53030218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110281693 meters 0.018724190726518132 Centerline is valid? [True, True] Translation: X:38.86, Y:1.15, Z:0.04 [[ 9.95627316e-01 -9.34139908e-02 -2.70337721e-04 3.88553174e+01] [ 9.34139877e-02 9.95627353e-01 -2.39354511e-05 1.15114438e+00] [ 2.71391536e-04 -1.42253566e-06 9.99999963e-01 3.80947985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140281693 meters 0.019213032257660967 Centerline is valid? [True, True] Translation: X:38.88, Y:1.15, Z:0.04 [[ 9.95563778e-01 -9.40891229e-02 -2.77930818e-05 3.88846353e+01] [ 9.40891229e-02 9.95563778e-01 -2.46092909e-06 1.14972089e+00] [ 2.79013322e-05 -1.65014831e-07 1.00000000e+00 3.87583594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170281693 meters 0.019645243469328035 Centerline is valid? [True, True] Translation: X:38.92, Y:1.15, Z:0.03 [[ 9.95387800e-01 -9.58816924e-02 -3.13496773e-03 3.89150702e+01] [ 9.58812928e-02 9.95392737e-01 -2.77835079e-04 1.14661603e+00] [ 3.14716340e-03 -2.40311103e-05 9.99995047e-01 3.29548268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200281692999994 meters 0.020274233011619444 Centerline is valid? [True, True] Translation: X:38.94, Y:1.15, Z:0.03 [[ 9.95253624e-01 -9.72037902e-02 -4.65273075e-03 3.89441892e+01] [ 9.72029225e-02 9.95264498e-01 -4.12786822e-04 1.14698506e+00] [ 4.67082218e-03 -4.14314459e-05 9.99989091e-01 3.02861615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230281692999995 meters 0.0214086170600846 Centerline is valid? [True, True] Translation: X:38.97, Y:1.14, Z:0.03 [[ 9.95059123e-01 -9.92206130e-02 -3.55127754e-03 3.89720419e+01] [ 9.92201190e-02 9.95065459e-01 -3.15457237e-04 1.14286412e+00] [ 3.56505348e-03 -3.84595785e-05 9.99993644e-01 3.16855565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260281692999996 meters 0.021973391960941464 Centerline is valid? [True, True] Translation: X:39.00, Y:1.14, Z:0.03 [[ 9.94952313e-01 -1.00321260e-01 -2.35366794e-03 3.90009252e+01] [ 1.00321046e-01 9.94955096e-01 -2.09254333e-04 1.14088993e+00] [ 2.36278657e-03 -2.79243470e-05 9.99997208e-01 3.37080979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290281693 meters 0.023600509832565907 Centerline is valid? [True, True] Translation: X:39.03, Y:1.14, Z:0.03 [[ 9.94786059e-01 -1.01960409e-01 -2.18432323e-03 3.90288061e+01] [ 1.01960228e-01 9.94788457e-01 -1.94514972e-04 1.13596415e+00] [ 2.19277236e-03 -2.92133105e-05 9.99997595e-01 3.39755006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320281693 meters 0.023504451925275175 Centerline is valid? [True, True] Translation: X:39.06, Y:1.14, Z:0.03 [[ 9.94868273e-01 -1.01133846e-01 -3.01071291e-03 3.90562004e+01] [ 1.01133497e-01 9.94872828e-01 -2.68433893e-04 1.13691590e+00] [ 3.02242422e-03 -3.74275601e-05 9.99995432e-01 3.19399041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350281693 meters 0.02189978389927299 Centerline is valid? [True, True] Translation: X:39.08, Y:1.14, Z:0.03 [[ 9.95069027e-01 -9.91029714e-02 -4.02892420e-03 3.90846897e+01] [ 9.91023273e-02 9.95077183e-01 -3.59677762e-04 1.14024756e+00] [ 4.04473568e-03 -4.13715648e-05 9.99991819e-01 2.99211006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38028169299999 meters 0.01843906939271562 Centerline is valid? [True, True] Translation: X:39.11, Y:1.15, Z:0.03 [[ 9.95632768e-01 -9.32431634e-02 -4.59392115e-03 3.91134373e+01] [ 9.32422610e-02 9.95643366e-01 -4.10681129e-04 1.14783511e+00] [ 4.61220033e-03 -1.94600059e-05 9.99989364e-01 2.96705176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410281692999995 meters 0.01843906939271562 Centerline is valid? [True, True] Translation: X:39.14, Y:1.15, Z:0.03 [[ 9.95616080e-01 -9.34211789e-02 -4.59386468e-03 3.91407767e+01] [ 9.34202755e-02 9.95626679e-01 -4.11312159e-04 1.15047521e+00] [ 4.61219950e-03 -1.96511041e-05 9.99989364e-01 2.97251905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440281692999996 meters 0.017651351257854307 Centerline is valid? [True, True] Translation: X:39.17, Y:1.16, Z:0.03 [[ 9.95903895e-01 -9.03384092e-02 -3.79529290e-03 3.91692083e+01] [ 9.03377680e-02 9.95911126e-01 -3.40391485e-04 1.15711851e+00] [ 3.81052486e-03 -3.86108372e-06 9.99992740e-01 3.13593884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470281693 meters 0.019248777585206565 Centerline is valid? [True, True] Translation: X:39.20, Y:1.17, Z:0.03 [[ 9.96499707e-01 -8.35175736e-02 -3.62623478e-03 3.91966349e+01] [ 8.35169410e-02 9.96506304e-01 -3.25783493e-04 1.17077938e+00] [ 3.64077447e-03 2.17911188e-05 9.99993372e-01 3.22124814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500281693 meters 0.021886160746276348 Centerline is valid? [True, True] Translation: X:39.23, Y:1.18, Z:0.03 [[ 9.96828889e-01 -7.94823869e-02 -3.83611499e-03 3.92250944e+01] [ 7.94816475e-02 9.96836270e-01 -3.45051055e-04 1.17982365e+00] [ 3.85140404e-03 3.90561209e-05 9.99992583e-01 3.10588104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530281693 meters 0.025210827663872375 Centerline is valid? [True, True] Translation: X:39.25, Y:1.19, Z:0.03 [[ 9.97132287e-01 -7.55431357e-02 -4.52081137e-03 3.92529696e+01] [ 7.55420675e-02 9.97142533e-01 -4.06828297e-04 1.18863057e+00] [ 4.53862638e-03 6.41501926e-05 9.99989698e-01 2.97931048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56028169299999 meters 0.02789791773831942 Centerline is valid? [True, True] Translation: X:39.28, Y:1.20, Z:0.03 [[ 9.97368468e-01 -7.23519107e-02 -4.61947854e-03 3.92823279e+01] [ 7.23507605e-02 9.97379163e-01 -4.15834784e-04 1.19609188e+00] [ 4.63745809e-03 8.05177157e-05 9.99989244e-01 2.91097934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590281692999994 meters 0.03217752072712568 Centerline is valid? [True, True] Translation: X:39.31, Y:1.21, Z:0.03 [[ 9.97646706e-01 -6.84497571e-02 -3.95981640e-03 3.93108883e+01] [ 6.84488810e-02 9.97654561e-01 -3.56514305e-04 1.20811238e+00] [ 3.97493221e-03 8.46303201e-05 9.99992096e-01 3.01537519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620281692999995 meters 0.03344986986421676 Centerline is valid? [True, True] Translation: X:39.34, Y:1.21, Z:0.03 [[ 9.97685734e-01 -6.79035759e-02 -3.50447934e-03 3.93396418e+01] [ 6.79028862e-02 9.97691886e-01 -3.15555814e-04 1.21365745e+00] [ 3.51781797e-03 7.68612722e-05 9.99993810e-01 3.11931344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650281693 meters 0.03387489610340739 Centerline is valid? [True, True] Translation: X:39.37, Y:1.22, Z:0.03 [[ 9.97699776e-01 -6.76444503e-02 -4.40293634e-03 3.93695376e+01] [ 6.76433590e-02 9.97709486e-01 -3.96483992e-04 1.21715289e+00] [ 4.41967129e-03 9.77425866e-05 9.99990228e-01 2.93213914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680281693 meters 0.03424411554027076 Centerline is valid? [True, True] Translation: X:39.40, Y:1.22, Z:0.03 [[ 9.97682996e-01 -6.78557586e-02 -4.92289640e-03 3.93988412e+01] [ 6.78543966e-02 9.97695136e-01 -4.43338504e-04 1.22098765e+00] [ 4.94163287e-03 1.08271122e-04 9.99987784e-01 2.77519364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710281693 meters 0.0335357894414219 Centerline is valid? [True, True] Translation: X:39.43, Y:1.22, Z:0.03 [[ 9.97639696e-01 -6.85160434e-02 -4.53756316e-03 3.94279872e+01] [ 6.85148928e-02 9.97650010e-01 -4.08712413e-04 1.22495654e+00] [ 4.55490329e-03 9.68570736e-05 9.99989622e-01 2.88721882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74028169299999 meters 0.03267021961390186 Centerline is valid? [True, True] Translation: X:39.46, Y:1.23, Z:0.03 [[ 9.97588154e-01 -6.93665967e-02 -2.48005272e-03 3.94585347e+01] [ 6.93662556e-02 9.97591235e-01 -2.23409652e-04 1.23015933e+00] [ 2.48957602e-03 5.08388515e-05 9.99996900e-01 3.29862658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770281692999994 meters 0.0320440698400158 Centerline is valid? [True, True] Translation: X:39.49, Y:1.23, Z:0.03 [[ 9.97547360e-01 -6.99812280e-02 -1.37575211e-03 3.94893310e+01] [ 6.99811236e-02 9.97548308e-01 -1.23931357e-04 1.23293038e+00] [ 1.38105206e-03 2.73507200e-05 9.99999046e-01 3.45402371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800281692999995 meters 0.028268147906528318 Centerline is valid? [True, True] Translation: X:39.52, Y:1.23, Z:0.03 [[ 9.97436970e-01 -7.15161993e-02 -2.21893719e-03 3.95209916e+01] [ 7.15159316e-02 9.97439438e-01 -1.99882296e-04 1.23154356e+00] [ 2.22755029e-03 4.06806309e-05 9.99997518e-01 3.20289762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830281692999996 meters 0.027196839250521725 Centerline is valid? [True, True] Translation: X:39.55, Y:1.23, Z:0.03 [[ 9.97335653e-01 -7.28586428e-02 -3.63506768e-03 3.95520148e+01] [ 7.28579335e-02 9.97342275e-01 -3.27336529e-04 1.23370205e+00] [ 3.64925596e-03 6.16208715e-05 9.99993340e-01 2.91028295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860281693 meters 0.024248242389439536 Centerline is valid? [True, True] Translation: X:39.58, Y:1.23, Z:0.03 [[ 9.97040716e-01 -7.66946811e-02 -5.26661033e-03 3.95818051e+01] [ 7.66932463e-02 9.97054623e-01 -4.74148288e-04 1.23170425e+00] [ 5.28746283e-03 6.88317054e-05 9.99986019e-01 2.60226617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890281693 meters 0.022920813485965946 Centerline is valid? [True, True] Translation: X:39.61, Y:1.23, Z:0.02 [[ 9.96849398e-01 -7.91211809e-02 -5.57814955e-03 3.96103638e+01] [ 7.91196088e-02 9.96865004e-01 -5.02287754e-04 1.23092898e+00] [ 5.60040367e-03 5.93642354e-05 9.99984316e-01 2.48825279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920281693 meters 0.020891099833033614 Centerline is valid? [True, True] Translation: X:39.64, Y:1.23, Z:0.03 [[ 9.96648799e-01 -8.16459142e-02 -5.01167427e-03 3.96393131e+01] [ 8.16446745e-02 9.96661398e-01 -4.51790423e-04 1.22809771e+00] [ 5.03182912e-03 4.10998678e-05 9.99987339e-01 2.56155832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950281692999994 meters 0.019560049017711162 Centerline is valid? [True, True] Translation: X:39.67, Y:1.23, Z:0.03 [[ 9.96484114e-01 -8.36783489e-02 -4.16459333e-03 3.96684889e+01] [ 8.36775082e-02 9.96492816e-01 -3.75998858e-04 1.22676118e+00] [ 4.18145030e-03 2.61940968e-05 9.99991257e-01 2.71073033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980281692999995 meters 0.018347300913454653 Centerline is valid? [True, True] Translation: X:39.70, Y:1.23, Z:0.03 [[ 9.96321453e-01 -8.56505451e-02 -2.74698540e-03 3.96974884e+01] [ 8.56501859e-02 9.96325240e-01 -2.48322505e-04 1.22623614e+00] [ 2.75815985e-03 1.21292289e-05 9.99996196e-01 3.10793939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010281692999996 meters 0.018306791177109427 Centerline is valid? [True, True] Translation: X:39.72, Y:1.23, Z:0.03 [[ 9.96312102e-01 -8.57657849e-02 -2.53500327e-03 3.97248422e+01] [ 8.57654786e-02 9.96315327e-01 -2.29485393e-04 1.22989508e+00] [ 2.54534460e-03 1.12233055e-05 9.99996761e-01 3.23973906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040281693 meters 0.017909440599047057 Centerline is valid? [True, True] Translation: X:39.76, Y:1.23, Z:0.03 [[ 9.96278168e-01 -8.61752357e-02 -1.90782126e-03 3.97552992e+01] [ 8.61750627e-02 9.96279995e-01 -1.72831239e-04 1.23191472e+00] [ 1.91561793e-03 7.78137314e-06 9.99998165e-01 3.34789798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070281693 meters 0.018053175279430678 Centerline is valid? [True, True] Translation: X:39.78, Y:1.24, Z:0.03 [[ 9.96258822e-01 -8.64093437e-02 -1.33573050e-03 3.97844649e+01] [ 8.64092592e-02 9.96259718e-01 -1.21005253e-04 1.23568976e+00] [ 1.34119047e-03 5.13306794e-06 9.99999101e-01 3.41902008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100281693 meters 0.017829992541588267 Centerline is valid? [True, True] Translation: X:39.82, Y:1.24, Z:0.03 [[ 9.96234069e-01 -8.67000818e-02 -8.81184895e-04 3.98161515e+01] [ 8.67000451e-02 9.96234458e-01 -7.98534494e-05 1.23793880e+00] [ 8.84790057e-04 3.15395667e-06 9.99999609e-01 3.44310510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13028169299999 meters 0.01776267388600189 Centerline is valid? [True, True] Translation: X:39.85, Y:1.24, Z:0.03 [[ 9.96242322e-01 -8.66041050e-02 -9.82710305e-04 3.98462614e+01] [ 8.66040594e-02 9.96242806e-01 -8.90125971e-05 1.24228120e+00] [ 9.86726928e-04 3.57141481e-06 9.99999513e-01 3.39487881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160281692999995 meters 0.0173577378619807 Centerline is valid? [True, True] Translation: X:39.88, Y:1.24, Z:0.03 [[ 9.96037498e-01 -8.88678850e-02 -3.43546096e-03 3.98765215e+01] [ 8.88673406e-02 9.96043422e-01 -3.11096723e-04 1.24196293e+00] [ 3.44951480e-03 4.56372280e-06 9.99994050e-01 2.99044042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190281692999996 meters 0.01736385216336136 Centerline is valid? [True, True] Translation: X:39.91, Y:1.24, Z:0.03 [[ 9.95892922e-01 -9.04571752e-02 -3.84534905e-03 3.99051934e+01] [ 9.04565048e-02 9.95900346e-01 -3.48278697e-04 1.24354419e+00] [ 3.86108875e-03 -9.88544960e-07 9.99992546e-01 2.95223628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220281693 meters 0.0173466640593663 Centerline is valid? [True, True] Translation: X:39.93, Y:1.25, Z:0.03 [[ 9.95766538e-01 -9.18506871e-02 -3.52878396e-03 3.99335612e+01] [ 9.18501308e-02 9.95772791e-01 -3.19737476e-04 1.24616106e+00] [ 3.54323516e-03 -5.73538861e-06 9.99993723e-01 2.96450942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250281693 meters 0.017635704525634434 Centerline is valid? [True, True] Translation: X:39.96, Y:1.25, Z:0.03 [[ 9.95638508e-01 -9.32186460e-02 -3.77433984e-03 3.99626793e+01] [ 9.32180189e-02 9.95645662e-01 -3.42120654e-04 1.24953717e+00] [ 3.78979711e-03 -1.12079846e-05 9.99992819e-01 2.93333787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280281693 meters 0.01796386230148007 Centerline is valid? [True, True] Translation: X:39.99, Y:1.26, Z:0.03 [[ 9.95491315e-01 -9.47808880e-02 -3.69120037e-03 3.99916610e+01] [ 9.47802986e-02 9.95498158e-01 -3.34670179e-04 1.25533622e+00] [ 3.70630351e-03 -1.66918174e-05 9.99993131e-01 2.86433161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31028169299999 meters 0.01827843209376795 Centerline is valid? [True, True] Translation: X:40.02, Y:1.26, Z:0.03 [[ 9.95420252e-01 -9.55229455e-02 -3.72684122e-03 4.00215537e+01] [ 9.55223497e-02 9.95427228e-01 -3.37949360e-04 1.25943765e+00] [ 3.74208115e-03 -1.95949941e-05 9.99992998e-01 2.87873379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340281692999994 meters 0.019110379843440304 Centerline is valid? [True, True] Translation: X:40.05, Y:1.26, Z:0.03 [[ 9.95249313e-01 -9.72863548e-02 -3.76437235e-03 4.00503910e+01] [ 9.72857594e-02 9.95256432e-01 -3.41373754e-04 1.26441838e+00] [ 3.77972680e-03 -2.64678287e-05 9.99992856e-01 2.85980114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370281692999995 meters 0.01972826524382642 Centerline is valid? [True, True] Translation: X:40.08, Y:1.27, Z:0.03 [[ 9.95121516e-01 -9.86209864e-02 -2.65897308e-03 4.00786597e+01] [ 9.86206938e-02 9.95125068e-01 -2.41254783e-04 1.26745139e+00] [ 2.66980355e-03 -2.21519446e-05 9.99996436e-01 3.01506399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400281693 meters 0.02177762171251959 Centerline is valid? [True, True] Translation: X:40.11, Y:1.27, Z:0.03 [[ 9.94692016e-01 -1.02896393e-01 3.54129710e-04 4.01092095e+01] [ 1.02896388e-01 9.94692079e-01 3.21731437e-05 1.26640739e+00] [-3.55560518e-04 4.43629882e-06 9.99999937e-01 3.45186958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430281693 meters 0.0246957871569271 Centerline is valid? [True, True] Translation: X:40.14, Y:1.26, Z:0.04 [[ 9.94404719e-01 -1.05634332e-01 8.02198821e-04 4.01386327e+01] [ 1.05634307e-01 9.94405042e-01 7.29460218e-05 1.26264289e+00] [-8.05416157e-04 1.22018485e-05 9.99999676e-01 3.53674908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460281693 meters 0.026627443276577147 Centerline is valid? [True, True] Translation: X:40.17, Y:1.26, Z:0.03 [[ 9.94084616e-01 -1.08607582e-01 4.12679768e-04 4.01683217e+01] [ 1.08607576e-01 9.94084701e-01 3.75570472e-05 1.26085880e+00] [-4.14317624e-04 7.48526625e-06 9.99999914e-01 3.43997636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49028169299999 meters 0.03187010886532917 Centerline is valid? [True, True] Translation: X:40.20, Y:1.25, Z:0.03 [[ 9.93794392e-01 -1.11231090e-01 -5.92179735e-04 4.01967153e+01] [ 1.11231078e-01 9.93794569e-01 -5.37482413e-05 1.25384892e+00] [ 5.94483480e-04 -1.24540894e-05 9.99999823e-01 3.28398210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520281692999994 meters 0.03187445569001057 Centerline is valid? [True, True] Translation: X:40.23, Y:1.25, Z:0.03 [[ 9.93403137e-01 -1.14651717e-01 -2.27822540e-03 4.02261694e+01] [ 1.14651543e-01 9.93405748e-01 -2.07225885e-04 1.25271908e+00] [ 2.28696101e-03 -5.53432121e-05 9.99997383e-01 2.94932107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550281692999995 meters 0.03274823498721704 Centerline is valid? [True, True] Translation: X:40.26, Y:1.25, Z:0.03 [[ 9.93305951e-01 -1.15481047e-01 -2.72307092e-03 4.02550008e+01] [ 1.15480801e-01 9.93309681e-01 -2.47889088e-04 1.25205266e+00] [ 2.73347920e-03 -6.82327043e-05 9.99996262e-01 2.87773615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580281692999996 meters 0.03579778905651671 Centerline is valid? [True, True] Translation: X:40.28, Y:1.25, Z:0.03 [[ 9.93291669e-01 -1.15612789e-01 -2.31150414e-03 4.02828093e+01] [ 1.15612612e-01 9.93294357e-01 -2.10718540e-04 1.24574885e+00] [ 2.32036578e-03 -5.79340605e-05 9.99997306e-01 2.99463306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610281693 meters 0.03269044747455809 Centerline is valid? [True, True] Translation: X:40.31, Y:1.25, Z:0.03 [[ 9.93304359e-01 -1.15516440e-01 -1.54988146e-03 4.03100765e+01] [ 1.15516360e-01 9.93305568e-01 -1.41315740e-04 1.25054979e+00] [ 1.55583018e-03 -3.86671240e-05 9.99998789e-01 3.16512677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640281693 meters 0.030796116552637472 Centerline is valid? [True, True] Translation: X:40.34, Y:1.25, Z:0.03 [[ 9.93316936e-01 -1.15415329e-01 -8.75237557e-04 4.03377478e+01] [ 1.15415303e-01 9.93317322e-01 -7.97971995e-05 1.25412236e+00] [ 8.78598446e-04 -2.17518985e-05 9.99999614e-01 3.34672932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670281693 meters 0.03204725358527738 Centerline is valid? [True, True] Translation: X:40.37, Y:1.25, Z:0.03 [[ 9.93361378e-01 -1.15025376e-01 -1.52801629e-03 4.03660320e+01] [ 1.15025297e-01 9.93362553e-01 -1.39938517e-04 1.25131284e+00] [ 1.53397064e-03 -3.67510087e-05 9.99998823e-01 3.26130476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700281692999994 meters 0.032642651582735535 Centerline is valid? [True, True] Translation: X:40.40, Y:1.25, Z:0.03 [[ 9.93290051e-01 -1.15600324e-01 -3.38241536e-03 4.03950079e+01] [ 1.15599937e-01 9.93295806e-01 -3.10247468e-04 1.25264251e+00] [ 3.39560370e-03 -8.28412793e-05 9.99994231e-01 2.92589253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730281692999995 meters 0.03377160008210951 Centerline is valid? [True, True] Translation: X:40.42, Y:1.25, Z:0.03 [[ 9.93252364e-01 -1.15865692e-01 -4.98819209e-03 4.04223785e+01] [ 1.15864851e-01 9.93264882e-01 -4.58203154e-04 1.25320091e+00] [ 5.00768606e-03 -1.22844768e-04 9.99987454e-01 2.60541130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760281692999996 meters 0.03384506655931718 Centerline is valid? [True, True] Translation: X:40.45, Y:1.25, Z:0.03 [[ 9.93207668e-01 -1.16265924e-01 -4.55675505e-03 4.04502001e+01] [ 1.16265223e-01 9.93218114e-01 -4.19156309e-04 1.25378134e+00] [ 4.57458526e-03 -1.13482885e-04 9.99989530e-01 2.69314123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790281693 meters 0.03361571875490726 Centerline is valid? [True, True] Translation: X:40.48, Y:1.26, Z:0.03 [[ 9.93279771e-01 -1.15716327e-01 -2.24260183e-03 4.04779967e+01] [ 1.15716155e-01 9.93282301e-01 -2.06483645e-04 1.25571841e+00] [ 2.25143023e-03 -5.44092330e-05 9.99997464e-01 3.17243990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820281693 meters 0.029489268835367375 Centerline is valid? [True, True] Translation: X:40.51, Y:1.27, Z:0.04 [[ 9.93720209e-01 -1.11892398e-01 -4.86785636e-04 4.05069505e+01] [ 1.11892390e-01 9.93720328e-01 -4.48223277e-05 1.26533020e+00] [ 4.88744059e-04 -9.92675519e-06 9.99999881e-01 3.65969008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850281693 meters 0.025913380415022072 Centerline is valid? [True, True] Translation: X:40.53, Y:1.27, Z:0.04 [[ 9.94016442e-01 -1.09227645e-01 -7.97026073e-04 4.05347449e+01] [ 1.09227622e-01 9.94016761e-01 -7.34064858e-05 1.27378946e+00] [ 8.00275294e-04 -1.40900085e-05 9.99999680e-01 3.51526530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88028169299999 meters 0.02452409618481627 Centerline is valid? [True, True] Translation: X:40.56, Y:1.28, Z:0.03 [[ 9.94204744e-01 -1.07487683e-01 -1.82367978e-03 4.05636580e+01] [ 1.07487555e-01 9.94206416e-01 -1.68147143e-04 1.27891898e+00] [ 1.83118789e-03 -2.88501952e-05 9.99998323e-01 3.29808867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910281692999995 meters 0.024990184115604823 Centerline is valid? [True, True] Translation: X:40.59, Y:1.28, Z:0.03 [[ 9.94278528e-01 -1.06754335e-01 -3.70408938e-03 4.05916172e+01] [ 1.06753800e-01 9.94285426e-01 -3.42226917e-04 1.27963909e+00] [ 3.71945630e-03 -5.51567436e-05 9.99993081e-01 2.89203924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940281692999996 meters 0.02561013123894823 Centerline is valid? [True, True] Translation: X:40.62, Y:1.28, Z:0.03 [[ 9.94198330e-01 -1.07523568e-01 -2.89177061e-03 4.06199042e+01] [ 1.07523245e-01 9.94202535e-01 -2.67314265e-04 1.28157241e+00] [ 2.90374825e-03 -4.51691633e-05 9.99995783e-01 3.01322245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970281693 meters 0.027455631819095987 Centerline is valid? [True, True] Translation: X:40.65, Y:1.28, Z:0.04 [[ 9.94009187e-01 -1.09296544e-01 4.99454210e-05 4.06473219e+01] [ 1.09296544e-01 9.94009188e-01 4.81744827e-06 1.28135721e+00] [-5.01727378e-05 6.70274052e-07 9.99999999e-01 3.65212442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000281693 meters 0.027123497854345778 Centerline is valid? [True, True] Translation: X:40.68, Y:1.28, Z:0.04 [[ 9.93892260e-01 -1.10351849e-01 8.03024714e-04 4.06758286e+01] [ 1.10351825e-01 9.93892584e-01 7.47797877e-05 1.28419746e+00] [-8.06372396e-04 1.42921904e-05 9.99999675e-01 3.74214771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030281693 meters 0.029888039957356127 Centerline is valid? [True, True] Translation: X:40.70, Y:1.28, Z:0.04 [[ 9.93748906e-01 -1.11635485e-01 7.94326609e-04 4.07037625e+01] [ 1.11635462e-01 9.93749223e-01 7.38928467e-05 1.28178158e+00] [-7.97610515e-04 1.52440825e-05 9.99999682e-01 3.73363922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06028169299999 meters 0.02889593443607311 Centerline is valid? [True, True] Translation: X:40.73, Y:1.28, Z:0.03 [[ 9.93528467e-01 -1.13583038e-01 -2.81276631e-04 4.07321636e+01] [ 1.13583036e-01 9.93528507e-01 -2.58327595e-05 1.28429659e+00] [ 2.82390514e-04 -6.28267161e-06 9.99999960e-01 3.44311377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090281692999994 meters 0.03250250231679762 Centerline is valid? [True, True] Translation: X:40.76, Y:1.28, Z:0.03 [[ 9.93483037e-01 -1.13967395e-01 -1.69960451e-03 4.07605358e+01] [ 1.13967291e-01 9.93484490e-01 -1.58010084e-04 1.28117674e+00] [ 1.70653871e-03 -3.67189836e-05 9.99998543e-01 3.22807706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120281692999995 meters 0.029686237330679714 Centerline is valid? [True, True] Translation: X:40.79, Y:1.29, Z:0.03 [[ 9.93428996e-01 -1.14421179e-01 -2.57383224e-03 4.07887086e+01] [ 1.14420942e-01 9.93432328e-01 -2.39553041e-04 1.28811381e+00] [ 2.58433810e-03 -5.65213730e-05 9.99996659e-01 3.11074856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150281693 meters 0.03131887624361146 Centerline is valid? [True, True] Translation: X:40.82, Y:1.29, Z:0.03 [[ 9.93453258e-01 -1.14204308e-01 -2.82847037e-03 4.08168234e+01] [ 1.14204020e-01 9.93457283e-01 -2.63676643e-04 1.28661411e+00] [ 2.84007750e-03 -6.10722661e-05 9.99995965e-01 3.00402638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180281693 meters 0.03057885425859639 Centerline is valid? [True, True] Translation: X:40.85, Y:1.29, Z:0.03 [[ 9.93492329e-01 -1.13864983e-01 -2.78539203e-03 4.08458763e+01] [ 1.13864701e-01 9.93496232e-01 -2.59953391e-04 1.28878667e+00] [ 2.79687608e-03 -5.88961315e-05 9.99996087e-01 3.01163843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210281693 meters 0.02846493610669887 Centerline is valid? [True, True] Translation: X:40.87, Y:1.29, Z:0.03 [[ 9.93654672e-01 -1.12424674e-01 -3.32951580e-03 4.08744132e+01] [ 1.12424261e-01 9.93660248e-01 -3.11312779e-04 1.29239669e+00] [ 3.34340673e-03 -6.49809565e-05 9.99994409e-01 2.91725845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24028169299999 meters 0.029035727652724195 Centerline is valid? [True, True] Translation: X:40.90, Y:1.29, Z:0.03 [[ 9.93723791e-01 -1.11786526e-01 -4.09874671e-03 4.09019592e+01] [ 1.11785894e-01 9.93732241e-01 -3.83737270e-04 1.29317012e+00] [ 4.11595341e-03 -7.68532100e-05 9.99991526e-01 2.78535263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270281692999994 meters 0.02632295802446608 Centerline is valid? [True, True] Translation: X:40.93, Y:1.30, Z:0.03 [[ 9.93729810e-01 -1.11705909e-01 -4.78073286e-03 4.09294348e+01] [ 1.11705045e-01 9.93741305e-01 -4.48241227e-04 1.29877369e+00] [ 4.80088290e-03 -8.86013100e-05 9.99988472e-01 2.63372795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300281692999995 meters 0.02630467784931841 Centerline is valid? [True, True] Translation: X:40.96, Y:1.30, Z:0.03 [[ 9.93788217e-01 -1.11155701e-01 -5.42130264e-03 4.09575922e+01] [ 1.11154577e-01 9.93802999e-01 -5.09012884e-04 1.29749996e+00] [ 5.44428650e-03 -9.67515964e-05 9.99985175e-01 2.57693025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330281692999996 meters 0.02630467784931841 Centerline is valid? [True, True] Translation: X:40.98, Y:1.30, Z:0.03 [[ 9.93767580e-01 -1.11340055e-01 -5.42122709e-03 4.09849286e+01] [ 1.11338930e-01 9.93782362e-01 -5.09816624e-04 1.30025111e+00] [ 5.44428287e-03 -9.69543902e-05 9.99985175e-01 2.58239876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360281693 meters 0.025628539326821072 Centerline is valid? [True, True] Translation: X:41.01, Y:1.30, Z:0.03 [[ 9.93853124e-01 -1.10621123e-01 -4.35155537e-03 4.10123043e+01] [ 1.10620389e-01 9.93862647e-01 -4.09659202e-04 1.30167362e+00] [ 4.37016530e-03 -7.42296714e-05 9.99990448e-01 2.78479917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390281693 meters 0.023502197939240087 Centerline is valid? [True, True] Translation: X:41.04, Y:1.31, Z:0.03 [[ 9.94053452e-01 -1.08858042e-01 -2.76797275e-03 4.10413918e+01] [ 1.08857737e-01 9.94057305e-01 -2.60772587e-04 1.30601201e+00] [ 2.77991073e-03 -4.20933612e-05 9.99996135e-01 3.12193356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420281693 meters 0.024283905193032883 Centerline is valid? [True, True] Translation: X:41.07, Y:1.31, Z:0.03 [[ 9.94151502e-01 -1.07967750e-01 -2.39912020e-03 4.10692021e+01] [ 1.07967518e-01 9.94154396e-01 -2.26309046e-04 1.30591525e+00] [ 2.40952997e-03 -3.40415751e-05 9.99997096e-01 3.20364825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450281692999994 meters 0.022968625136771288 Centerline is valid? [True, True] Translation: X:41.10, Y:1.31, Z:0.03 [[ 9.94167110e-01 -1.07838034e-01 -1.64801202e-03 4.10972108e+01] [ 1.07837924e-01 9.94168476e-01 -1.55474958e-04 1.30893645e+00] [ 1.65516771e-03 -2.31501054e-05 9.99998630e-01 3.29346781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480281692999995 meters 0.023356864474131468 Centerline is valid? [True, True] Translation: X:41.13, Y:1.31, Z:0.04 [[ 9.94045375e-01 -1.08966390e-01 3.43743305e-04 4.11259976e+01] [ 1.08966385e-01 9.94045435e-01 3.28873721e-05 1.30787536e+00] [-3.45280082e-04 4.76492518e-06 9.99999940e-01 3.62302132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510281692999996 meters 0.02408076853280361 Centerline is valid? [True, True] Translation: X:41.15, Y:1.31, Z:0.04 [[ 9.93929454e-01 -1.10008921e-01 1.50903775e-03 4.11545486e+01] [ 1.10008830e-01 9.93930600e-01 1.43516669e-04 1.30864166e+00] [-1.51566691e-03 2.33620333e-05 9.99998851e-01 3.81962932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540281693 meters 0.025237830526453404 Centerline is valid? [True, True] Translation: X:41.18, Y:1.31, Z:0.04 [[ 9.93847329e-01 -1.10754794e-01 9.28931947e-04 4.11824179e+01] [ 1.10754760e-01 9.93847763e-01 8.83153921e-05 1.30736892e+00] [-9.32998290e-04 1.51116181e-05 9.99999565e-01 3.73182934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570281693 meters 0.024596117563005723 Centerline is valid? [True, True] Translation: X:41.21, Y:1.31, Z:0.03 [[ 9.93840214e-01 -1.10819172e-01 -8.60128941e-04 4.12098943e+01] [ 1.10819143e-01 9.93840586e-01 -8.14580859e-05 1.30971831e+00] [ 8.63858169e-04 -1.43624302e-05 9.99999627e-01 3.41990278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600281693 meters 0.024515085751873472 Centerline is valid? [True, True] Translation: X:41.24, Y:1.31, Z:0.03 [[ 9.93812660e-01 -1.11044542e-01 -2.34649605e-03 4.12382259e+01] [ 1.11044324e-01 9.93815430e-01 -2.23304323e-04 1.31246509e+00] [ 2.35678071e-03 -3.86424052e-05 9.99997222e-01 3.13340456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63028169299999 meters 0.02647083027150473 Centerline is valid? [True, True] Translation: X:41.27, Y:1.31, Z:0.03 [[ 9.93698252e-01 -1.12067375e-01 -2.16523144e-03 4.12656618e+01] [ 1.12067191e-01 9.93700610e-01 -2.06409888e-04 1.31404635e+00] [ 2.17472362e-03 -3.75422609e-05 9.99997635e-01 3.18168834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660281692999995 meters 0.02612757367392009 Centerline is valid? [True, True] Translation: X:41.29, Y:1.32, Z:0.03 [[ 9.93533323e-01 -1.13532943e-01 -1.34449973e-03 4.12943499e+01] [ 1.13532873e-01 9.93534232e-01 -1.28137016e-04 1.31738262e+00] [ 1.35035428e-03 -2.53365224e-05 9.99999088e-01 3.25159880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690281692999996 meters 0.029553967678676206 Centerline is valid? [True, True] Translation: X:41.32, Y:1.31, Z:0.03 [[ 9.93007803e-01 -1.18045105e-01 -9.25829045e-04 4.13242968e+01] [ 1.18045074e-01 9.93008234e-01 -8.84045922e-05 1.31151562e+00] [ 9.29791594e-04 -2.15031085e-05 9.99999568e-01 3.25236703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720281693 meters 0.03308015002428482 Centerline is valid? [True, True] Translation: X:41.35, Y:1.31, Z:0.03 [[ 9.92719251e-01 -1.20445789e-01 -1.14072208e-03 4.13529777e+01] [ 1.20445743e-01 9.92719906e-01 -1.09013774e-04 1.30769021e+00] [ 1.14554776e-03 -2.91750465e-05 9.99999343e-01 3.25270027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750281693 meters 0.036980668383065046 Centerline is valid? [True, True] Translation: X:41.38, Y:1.30, Z:0.03 [[ 9.92461013e-01 -1.22545007e-01 -1.96454431e-03 4.13815922e+01] [ 1.22544875e-01 9.92462956e-01 -1.87902533e-04 1.30442407e+00] [ 1.97276397e-03 -5.42588991e-05 9.99998053e-01 3.21088512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780281693 meters 0.03730207398691629 Centerline is valid? [True, True] Translation: X:41.41, Y:1.31, Z:0.03 [[ 9.92093990e-01 -1.25472978e-01 -2.45914768e-03 4.14111947e+01] [ 1.25472780e-01 9.92097035e-01 -2.35331537e-04 1.30512375e+00] [ 2.46924087e-03 -7.50850921e-05 9.99996949e-01 3.13711121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81028169299999 meters 0.04062129359408228 Centerline is valid? [True, True] Translation: X:41.44, Y:1.30, Z:0.03 [[ 9.92013999e-01 -1.26108185e-01 -2.22528484e-03 4.14395292e+01] [ 1.26108024e-01 9.92016492e-01 -2.13007181e-04 1.30175346e+00] [ 2.23438121e-03 -6.93201697e-05 9.99997501e-01 3.18843169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840281692999994 meters 0.03790771945361732 Centerline is valid? [True, True] Translation: X:41.47, Y:1.31, Z:0.03 [[ 9.92031805e-01 -1.25976015e-01 -1.71506970e-03 4.14680219e+01] [ 1.25975919e-01 9.92033286e-01 -1.64213736e-04 1.30750842e+00] [ 1.72209322e-03 -5.31522323e-05 9.99998516e-01 3.23475504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870281692999995 meters 0.03997306632960158 Centerline is valid? [True, True] Translation: X:41.50, Y:1.31, Z:0.03 [[ 9.92283517e-01 -1.23957836e-01 -2.80637754e-03 4.14959608e+01] [ 1.23957570e-01 9.92287483e-01 -2.69272929e-04 1.30865004e+00] [ 2.81811179e-03 -8.06766507e-05 9.99996026e-01 3.20272196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900281693 meters 0.036489955196938505 Centerline is valid? [True, True] Translation: X:41.52, Y:1.32, Z:0.03 [[ 9.92476131e-01 -1.22395790e-01 -3.22476102e-03 4.15246693e+01] [ 1.22395430e-01 9.92481367e-01 -3.09644338e-04 1.31702099e+00] [ 3.23841439e-03 -8.73813966e-05 9.99994753e-01 3.19288133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930281693 meters 0.03014067607539398 Centerline is valid? [True, True] Translation: X:41.55, Y:1.33, Z:0.03 [[ 9.92890559e-01 -1.19022682e-01 -1.39229105e-03 4.15537754e+01] [ 1.19022611e-01 9.92891535e-01 -1.33748971e-04 1.32807111e+00] [ 1.39831316e-03 -3.29160261e-05 9.99999022e-01 3.49723367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960281693 meters 0.029710486654064255 Centerline is valid? [True, True] Translation: X:41.58, Y:1.33, Z:0.04 [[ 9.93084562e-01 -1.17399123e-01 -7.05595124e-04 4.15813868e+01] [ 1.17399104e-01 9.93084813e-01 -6.77193104e-05 1.33014655e+00] [ 7.08665990e-04 -1.55852340e-05 9.99999749e-01 3.61789131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99028169299999 meters 0.02982910464427111 Centerline is valid? [True, True] Translation: X:41.61, Y:1.33, Z:0.03 [[ 9.93274538e-01 -1.15770367e-01 -1.70710842e-03 4.16088550e+01] [ 1.15770256e-01 9.93276004e-01 -1.64098410e-04 1.33235360e+00] [ 1.71462756e-03 -3.46376068e-05 9.99998529e-01 3.47190706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020281692999994 meters 0.0261137685851821 Centerline is valid? [True, True] Translation: X:41.64, Y:1.34, Z:0.03 [[ 9.93421416e-01 -1.14465745e-01 -3.38860995e-03 4.16372153e+01] [ 1.14465297e-01 9.93427194e-01 -3.26284161e-04 1.34196907e+00] [ 3.40368563e-03 -6.37405728e-05 9.99994205e-01 3.21815140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050281692999995 meters 0.02432058898129699 Centerline is valid? [True, True] Translation: X:41.66, Y:1.35, Z:0.03 [[ 9.93879915e-01 -1.10375756e-01 -4.46171856e-03 4.16645571e+01] [ 1.10374937e-01 9.93889928e-01 -4.30160076e-04 1.34922235e+00] [ 4.48193638e-03 -6.49344454e-05 9.99989954e-01 3.03990739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080281692999996 meters 0.021315930743868727 Centerline is valid? [True, True] Translation: X:41.69, Y:1.36, Z:0.03 [[ 9.94124248e-01 -1.08186041e-01 -3.57220982e-03 4.16924990e+01] [ 1.08185501e-01 9.94130665e-01 -3.44740716e-04 1.35825835e+00] [ 3.58853946e-03 -4.37462023e-05 9.99993560e-01 3.24351377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110281693 meters 0.018754049895041675 Centerline is valid? [True, True] Translation: X:41.72, Y:1.37, Z:0.04 [[ 9.94620946e-01 -1.03564544e-01 -1.88659985e-03 4.17195955e+01] [ 1.03564385e-01 9.94622735e-01 -1.82227320e-04 1.36765685e+00] [ 1.89532739e-03 -1.41374436e-05 9.99998204e-01 3.57287514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140281693 meters 0.01780179233384902 Centerline is valid? [True, True] Translation: X:41.75, Y:1.37, Z:0.04 [[ 9.94791906e-01 -1.01905813e-01 -2.06635469e-03 4.17475053e+01] [ 1.01905617e-01 9.94794052e-01 -1.99961049e-04 1.37475075e+00] [ 2.07597455e-03 -1.16535178e-05 9.99997845e-01 3.54945602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170281693 meters 0.016850939094788665 Centerline is valid? [True, True] Translation: X:41.78, Y:1.38, Z:0.04 [[ 9.95107346e-01 -9.87768969e-02 -2.12015349e-03 4.17757175e+01] [ 9.87766833e-02 9.95109604e-01 -2.05521862e-04 1.38433347e+00] [ 2.13008591e-03 -4.90541528e-06 9.99997731e-01 3.57963168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200281692999994 meters 0.01671847685040877 Centerline is valid? [True, True] Translation: X:41.80, Y:1.39, Z:0.04 [[ 9.95200742e-01 -9.78472440e-02 -1.18316898e-03 4.18024373e+01] [ 9.78471766e-02 9.95201445e-01 -1.14799139e-04 1.38749478e+00] [ 1.18872426e-03 -1.52155554e-06 9.99999293e-01 3.73811908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230281692999995 meters 0.016604072593806682 Centerline is valid? [True, True] Translation: X:41.83, Y:1.39, Z:0.04 [[ 9.95204984e-01 -9.78110717e-02 -1.83488354e-04 4.18305162e+01] [ 9.78110701e-02 9.95205001e-01 -1.74930272e-05 1.38971612e+00] [ 1.84319539e-04 -5.38044399e-07 9.99999983e-01 3.89685096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260281692999996 meters 0.016602346951678823 Centerline is valid? [True, True] Translation: X:41.86, Y:1.39, Z:0.04 [[ 9.95193970e-01 -9.79219566e-02 5.01594185e-04 4.18578031e+01] [ 9.79219443e-02 9.95194097e-01 4.90354221e-05 1.39243880e+00] [-5.03985216e-04 3.17321382e-07 9.99999873e-01 4.08416543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290281693 meters 0.016732395048045384 Centerline is valid? [True, True] Translation: X:41.88, Y:1.40, Z:0.04 [[ 9.95184967e-01 -9.80133455e-02 -5.15027091e-04 4.18843469e+01] [ 9.80133327e-02 9.95185100e-01 -5.00650569e-05 1.39542988e+00] [ 5.17454331e-04 -6.55529659e-07 9.99999866e-01 3.85953806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320281693 meters 0.01724774328251329 Centerline is valid? [True, True] Translation: X:41.91, Y:1.40, Z:0.03 [[ 9.95176741e-01 -9.80239642e-02 -3.81533191e-03 4.19127134e+01] [ 9.80232569e-02 9.95184055e-01 -3.72395106e-04 1.39730811e+00] [ 3.83346113e-03 -3.39231273e-06 9.99992652e-01 3.27581749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350281693 meters 0.017107042399868155 Centerline is valid? [True, True] Translation: X:41.94, Y:1.40, Z:0.03 [[ 9.95246049e-01 -9.73066896e-02 -4.08786454e-03 4.19389874e+01] [ 9.73058693e-02 9.95254444e-01 -3.99551119e-04 1.40137071e+00] [ 4.10734435e-03 -1.21540524e-07 9.99991565e-01 3.13093117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38028169299999 meters 0.017139661965979092 Centerline is valid? [True, True] Translation: X:41.97, Y:1.41, Z:0.03 [[ 9.95317864e-01 -9.65808262e-02 -3.80699219e-03 4.19667121e+01] [ 9.65801076e-02 9.95325145e-01 -3.72579581e-04 1.40693852e+00] [ 3.82517910e-03 3.15539771e-06 9.99992684e-01 3.26964296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410281692999995 meters 0.017168095398540896 Centerline is valid? [True, True] Translation: X:41.99, Y:1.41, Z:0.03 [[ 9.95447504e-01 -9.52644426e-02 -2.99223344e-03 4.19945981e+01] [ 9.52639913e-02 9.95452001e-01 -2.93318254e-04 1.41205786e+00] [ 3.00656757e-03 6.93082287e-06 9.99995480e-01 3.33666109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440281692999996 meters 0.017232345458998922 Centerline is valid? [True, True] Translation: X:42.02, Y:1.41, Z:0.03 [[ 9.95429034e-01 -9.54460600e-02 -3.32976285e-03 4.20227371e+01] [ 9.54454999e-02 9.95434603e-01 -3.27079928e-04 1.41358424e+00] [ 3.34577966e-03 7.77397699e-06 9.99994403e-01 3.24086220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470281693 meters 0.017242614167309028 Centerline is valid? [True, True] Translation: X:42.05, Y:1.41, Z:0.03 [[ 9.95385879e-01 -9.58579900e-02 -4.26576248e-03 4.20497209e+01] [ 9.58570717e-02 9.95395020e-01 -4.19695757e-04 1.41488549e+00] [ 4.28634992e-03 8.85572987e-06 9.99990814e-01 3.12521780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500281693 meters 0.017271067073107885 Centerline is valid? [True, True] Translation: X:42.08, Y:1.42, Z:0.03 [[ 9.95302956e-01 -9.66831879e-02 -4.93839494e-03 4.20780870e+01] [ 9.66819635e-02 9.95315207e-01 -4.86629284e-04 1.41676069e+00] [ 4.96230845e-03 6.88984567e-06 9.99987688e-01 3.11675964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530281693 meters 0.01724315701797999 Centerline is valid? [True, True] Translation: X:42.11, Y:1.42, Z:0.03 [[ 9.95290740e-01 -9.68529403e-02 -3.98128820e-03 4.21053461e+01] [ 9.68521432e-02 9.95298703e-01 -3.93000630e-04 1.42015932e+00] [ 4.00063425e-03 5.55359335e-06 9.99991997e-01 3.30445521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56028169299999 meters 0.01693119892017074 Centerline is valid? [True, True] Translation: X:42.13, Y:1.42, Z:0.04 [[ 9.95212363e-01 -9.77087950e-02 -2.31171397e-03 4.21337299e+01] [ 9.77085279e-02 9.95215048e-01 -2.28474813e-04 1.42074014e+00] [ 2.32297653e-03 1.50678912e-06 9.99997302e-01 3.52067797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590281692999994 meters 0.01699238951912427 Centerline is valid? [True, True] Translation: X:42.16, Y:1.42, Z:0.04 [[ 9.95008120e-01 -9.97703306e-02 -2.17304657e-03 4.21610218e+01] [ 9.97700987e-02 9.95010493e-01 -2.15147687e-04 1.42005322e+00] [ 2.18366950e-03 -2.73137501e-06 9.99997616e-01 3.55436581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620281692999995 meters 0.017376984590748316 Centerline is valid? [True, True] Translation: X:42.19, Y:1.42, Z:0.04 [[ 9.94729597e-01 -1.02512358e-01 -2.06035256e-03 4.21900644e+01] [ 1.02512155e-01 9.94731731e-01 -2.04244579e-04 1.41848011e+00] [ 2.07043567e-03 -8.04305357e-06 9.99997857e-01 3.56682535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650281693 meters 0.021616144863313303 Centerline is valid? [True, True] Translation: X:42.22, Y:1.41, Z:0.03 [[ 9.93915363e-01 -1.10107709e-01 -2.92285101e-03 4.22197240e+01] [ 1.10107332e-01 9.93919660e-01 -2.90249599e-04 1.40693413e+00] [ 2.93703780e-03 -3.33437904e-05 9.99995686e-01 3.47863374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680281693 meters 0.02470558446920272 Centerline is valid? [True, True] Translation: X:42.25, Y:1.40, Z:0.03 [[ 9.93440485e-01 -1.14285949e-01 -3.83733837e-03 4.22494473e+01] [ 1.14285329e-01 9.93447894e-01 -3.81251629e-04 1.40199760e+00] [ 3.85576743e-03 -5.98006740e-05 9.99992565e-01 3.30301717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710281693 meters 0.029312814022915502 Centerline is valid? [True, True] Translation: X:42.28, Y:1.39, Z:0.03 [[ 9.92814377e-01 -1.19592155e-01 -4.16278314e-03 4.22797564e+01] [ 1.19591471e-01 9.92823101e-01 -4.13735071e-04 1.39157262e+00] [ 4.18238673e-03 -8.70712310e-05 9.99991250e-01 3.19345167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74028169299999 meters 0.0314291774506308 Centerline is valid? [True, True] Translation: X:42.31, Y:1.39, Z:0.03 [[ 9.92633489e-01 -1.21125253e-01 -2.72566825e-03 4.23084232e+01] [ 1.21124965e-01 9.92637230e-01 -2.70988994e-04 1.38796966e+00] [ 2.73842339e-03 -6.11537216e-05 9.99996249e-01 3.42220246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770281692999994 meters 0.03163323281757442 Centerline is valid? [True, True] Translation: X:42.34, Y:1.39, Z:0.04 [[ 9.92589661e-01 -1.21507281e-01 -1.32128402e-03 4.23370824e+01] [ 1.21507214e-01 9.92590540e-01 -1.31313953e-04 1.38753313e+00] [ 1.32744962e-03 -3.02046680e-05 9.99999118e-01 3.74505168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800281692999995 meters 0.03001183056872535 Centerline is valid? [True, True] Translation: X:42.36, Y:1.39, Z:0.04 [[ 9.92832352e-01 -1.19512638e-01 8.06119236e-04 4.23648779e+01] [ 1.19512612e-01 9.92832679e-01 8.04636171e-05 1.38675515e+00] [-8.09957940e-04 1.64545334e-05 9.99999672e-01 4.24417766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830281692999996 meters 0.02859414716290011 Centerline is valid? [True, True] Translation: X:42.39, Y:1.39, Z:0.04 [[ 9.92961410e-01 -1.18437932e-01 3.06866725e-04 4.23935165e+01] [ 1.18437928e-01 9.92961458e-01 3.09442429e-05 1.38804780e+00] [-3.08371803e-04 5.61822000e-06 9.99999952e-01 4.12841386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860281693 meters 0.027300183675966844 Centerline is valid? [True, True] Translation: X:42.42, Y:1.39, Z:0.04 [[ 9.93136785e-01 -1.16956201e-01 -7.56497773e-04 4.24221272e+01] [ 1.16956178e-01 9.93137074e-01 -7.53329348e-05 1.38553297e+00] [ 7.60116638e-04 -1.36611794e-05 9.99999711e-01 3.82531215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890281693 meters 0.026308732649499032 Centerline is valid? [True, True] Translation: X:42.45, Y:1.39, Z:0.04 [[ 9.93233227e-01 -1.16113243e-01 -2.33891847e-03 4.24506819e+01] [ 1.16113014e-01 9.93235981e-01 -2.33922668e-04 1.38697780e+00] [ 2.35025950e-03 -3.92391079e-05 9.99997237e-01 3.53598433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920281693 meters 0.025559371070122537 Centerline is valid? [True, True] Translation: X:42.48, Y:1.39, Z:0.03 [[ 9.93380851e-01 -1.14804536e-01 -3.79524844e-03 4.24785814e+01] [ 1.14803921e-01 9.93388099e-01 -3.80360753e-04 1.38795327e+00] [ 3.81382177e-03 -5.78663127e-05 9.99992726e-01 3.32787443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950281692999994 meters 0.022288110150871655 Centerline is valid? [True, True] Translation: X:42.51, Y:1.39, Z:0.03 [[ 9.93630347e-01 -1.12609396e-01 -4.22572427e-03 4.25080646e+01] [ 1.12608611e-01 9.93639331e-01 -4.24041221e-04 1.38795092e+00] [ 4.24659686e-03 -5.45127149e-05 9.99990982e-01 3.38188592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980281692999995 meters 0.022877753558536787 Centerline is valid? [True, True] Translation: X:42.54, Y:1.39, Z:0.03 [[ 9.93711987e-01 -1.11893929e-01 -4.02926501e-03 4.25361548e+01] [ 1.11893208e-01 9.93720155e-01 -4.04610653e-04 1.38574151e+00] [ 4.04923532e-03 -4.87809321e-05 9.99991801e-01 3.37924531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010281692999996 meters 0.021264331638719228 Centerline is valid? [True, True] Translation: X:42.57, Y:1.39, Z:0.03 [[ 9.93822627e-01 -1.10899259e-01 -4.23558243e-03 4.25650547e+01] [ 1.10898451e-01 9.93831652e-01 -4.25814756e-04 1.38883198e+00] [ 4.25667843e-03 -4.65351908e-05 9.99990939e-01 3.44620205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040281693 meters 0.01854684590770488 Centerline is valid? [True, True] Translation: X:42.59, Y:1.39, Z:0.03 [[ 9.94375381e-01 -1.05830477e-01 -4.18469918e-03 4.25925983e+01] [ 1.05829641e-01 9.94384186e-01 -4.21200326e-04 1.39459042e+00] [ 4.20577452e-03 -2.40339780e-05 9.99991155e-01 3.37564069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070281693 meters 0.017045897254329888 Centerline is valid? [True, True] Translation: X:42.62, Y:1.40, Z:0.04 [[ 9.94795989e-01 -1.01792805e-01 -4.37777088e-03 4.26201289e+01] [ 1.01791849e-01 9.94805622e-01 -4.41197213e-04 1.40425624e+00] [ 4.39994178e-03 -6.72017527e-06 9.99990320e-01 3.52009222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100281693 meters 0.02077887856192188 Centerline is valid? [True, True] Translation: X:42.65, Y:1.42, Z:0.04 [[ 9.95799107e-01 -9.14930602e-02 -3.62752054e-03 4.26462066e+01] [ 9.14923341e-02 9.95805713e-01 -3.65947996e-04 1.42499316e+00] [ 3.64578738e-03 3.25203660e-05 9.99993354e-01 3.70458041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13028169299999 meters 0.02306631591184397 Centerline is valid? [True, True] Translation: X:42.68, Y:1.43, Z:0.04 [[ 9.96284460e-01 -8.60938750e-02 -2.26243855e-03 4.26753730e+01] [ 8.60935784e-02 9.96287029e-01 -2.28315421e-04 1.43402746e+00] [ 2.27369474e-03 3.26856750e-05 9.99997415e-01 3.95188927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160281692999995 meters 0.031385715713132006 Centerline is valid? [True, True] Translation: X:42.70, Y:1.45, Z:0.04 [[ 9.96711870e-01 -8.10132824e-02 -1.51558824e-03 4.27025567e+01] [ 8.10131435e-02 9.96713021e-01 -1.52961930e-04 1.45217059e+00] [ 1.52299849e-03 2.96764034e-05 9.99998840e-01 4.09374084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190281692999996 meters 0.03677728333496087 Centerline is valid? [True, True] Translation: X:42.73, Y:1.46, Z:0.04 [[ 9.97058175e-01 -7.66304805e-02 -1.66286858e-03 4.27311085e+01] [ 7.66303070e-02 9.97059561e-01 -1.67898331e-04 1.46480563e+00] [ 1.67084514e-03 3.99782738e-05 9.99998603e-01 4.01487311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220281693 meters 0.03677728333496087 Centerline is valid? [True, True] Translation: X:42.76, Y:1.47, Z:0.04 [[ 9.97045144e-01 -7.67998379e-02 -1.66286993e-03 4.27584284e+01] [ 7.67996647e-02 9.97046530e-01 -1.67884991e-04 1.46778158e+00] [ 1.67085223e-03 3.96810619e-05 9.99998603e-01 4.02034197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250281693 meters 0.03714156968969574 Centerline is valid? [True, True] Translation: X:42.79, Y:1.47, Z:0.03 [[ 9.97482758e-01 -7.07915177e-02 -4.08760494e-03 4.27877148e+01] [ 7.07904169e-02 9.97491126e-01 -4.13547428e-04 1.47492156e+00] [ 4.10662530e-03 1.23143171e-04 9.99991560e-01 3.47480674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280281693 meters 0.04727399981247635 Centerline is valid? [True, True] Translation: X:42.81, Y:1.49, Z:0.03 [[ 9.97597625e-01 -6.91240207e-02 -4.56608649e-03 4.28133555e+01] [ 6.91226286e-02 9.97608064e-01 -4.62164917e-04 1.49433663e+00] [ 4.58711140e-03 1.45434723e-04 9.99989469e-01 3.29626062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31028169299999 meters 0.043500622826274815 Centerline is valid? [True, True] Translation: X:42.84, Y:1.50, Z:0.04 [[ 9.97747595e-01 -6.69494458e-02 -4.18437919e-03 4.28429157e+01] [ 6.69482569e-02 9.97756359e-01 -4.23709778e-04 1.49944812e+00] [ 4.20335808e-03 1.42618518e-04 9.99991156e-01 3.53027166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340281692999994 meters 0.05180762974362675 Centerline is valid? [True, True] Translation: X:42.87, Y:1.52, Z:0.03 [[ 9.97786884e-01 -6.63610764e-02 -4.18833588e-03 4.28695092e+01] [ 6.63598791e-02 9.97795664e-01 -4.24348142e-04 1.51706334e+00] [ 4.20726357e-03 1.45471548e-04 9.99991139e-01 3.43452948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370281692999995 meters 0.04679381453272789 Centerline is valid? [True, True] Translation: X:42.90, Y:1.52, Z:0.03 [[ 9.97828869e-01 -6.57176267e-02 -4.32910360e-03 4.28984139e+01] [ 6.57163391e-02 9.97838248e-01 -4.39161515e-04 1.51644681e+00] [ 4.34860580e-03 1.53715198e-04 9.99990533e-01 3.46072580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400281693 meters 0.045052629382942785 Centerline is valid? [True, True] Translation: X:42.93, Y:1.52, Z:0.03 [[ 9.97929663e-01 -6.41627885e-02 -4.41873180e-03 4.29274336e+01] [ 6.41614301e-02 9.97939432e-01 -4.48632562e-04 1.52485162e+00] [ 4.43841221e-03 1.64191590e-04 9.99990137e-01 3.45332920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430281693 meters 0.05120494136101171 Centerline is valid? [True, True] Translation: X:42.95, Y:1.54, Z:0.03 [[ 9.98031785e-01 -6.25714877e-02 -4.16709177e-03 4.29544071e+01] [ 6.25702651e-02 9.98040472e-01 -4.23243315e-04 1.54025363e+00] [ 4.18540920e-03 1.61674244e-04 9.99991228e-01 3.45491513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460281693 meters 0.04849970488988719 Centerline is valid? [True, True] Translation: X:42.98, Y:1.54, Z:0.03 [[ 9.98110366e-01 -6.13005283e-02 -4.23583330e-03 4.29841654e+01] [ 6.12992531e-02 9.98119340e-01 -4.30358021e-04 1.54388757e+00] [ 4.25424831e-03 1.69891384e-04 9.99990936e-01 3.48974514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49028169299999 meters 0.062023052119409276 Centerline is valid? [True, True] Translation: X:43.01, Y:1.57, Z:0.03 [[ 9.98172660e-01 -6.02243111e-02 -4.93699497e-03 4.30117243e+01] [ 6.02225656e-02 9.98184848e-01 -5.01588105e-04 1.57422210e+00] [ 4.95824137e-03 2.03353029e-04 9.99987687e-01 3.22997068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520281692999994 meters 0.05177405589338361 Centerline is valid? [True, True] Translation: X:43.04, Y:1.57, Z:0.03 [[ 9.98185650e-01 -5.99961884e-02 -5.08589697e-03 4.30425286e+01] [ 5.99943332e-02 9.98198584e-01 -5.16692408e-04 1.56860407e+00] [ 5.10773473e-03 2.10629949e-04 9.99986933e-01 3.30594231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550281692999995 meters 0.045899837150761055 Centerline is valid? [True, True] Translation: X:43.07, Y:1.57, Z:0.03 [[ 9.98102430e-01 -6.13734805e-02 -4.98342803e-03 4.30728617e+01] [ 6.13717164e-02 9.98114851e-01 -5.06282263e-04 1.57183463e+00] [ 5.00510583e-03 1.99480025e-04 9.99987454e-01 3.29384188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580281692999996 meters 0.045230475251002766 Centerline is valid? [True, True] Translation: X:43.10, Y:1.58, Z:0.03 [[ 9.97956069e-01 -6.37169184e-02 -4.88250597e-03 4.31018583e+01] [ 6.37152529e-02 9.97967996e-01 -4.96064282e-04 1.57737967e+00] [ 4.90419239e-03 1.83960258e-04 9.99987957e-01 3.35193875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610281693 meters 0.042158411834461666 Centerline is valid? [True, True] Translation: X:43.13, Y:1.58, Z:0.03 [[ 9.97527855e-01 -7.01685418e-02 -3.81494200e-03 4.31315415e+01] [ 7.01675720e-02 9.97535143e-01 -3.87624552e-04 1.58180462e+00] [ 3.83273776e-03 1.18981071e-04 9.99992648e-01 3.46588364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640281693 meters 0.03749429605296791 Centerline is valid? [True, True] Translation: X:43.16, Y:1.58, Z:0.04 [[ 9.97284705e-01 -7.35776214e-02 -3.09030335e-03 4.31624357e+01] [ 7.35770013e-02 9.97289490e-01 -3.14001904e-04 1.58075917e+00] [ 3.10503057e-03 8.57740421e-05 9.99995176e-01 3.57466309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67028169299999 meters 0.032710671683330514 Centerline is valid? [True, True] Translation: X:43.19, Y:1.58, Z:0.04 [[ 9.97055084e-01 -7.66325829e-02 -2.93388034e-03 4.31934505e+01] [ 7.66320372e-02 9.97059397e-01 -2.98107955e-04 1.57920209e+00] [ 2.94809775e-03 7.24008245e-05 9.99995652e-01 3.57718021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700281692999994 meters 0.02986898088536559 Centerline is valid? [True, True] Translation: X:43.22, Y:1.58, Z:0.03 [[ 9.96851607e-01 -7.92044927e-02 -3.67723912e-03 4.32242903e+01] [ 7.92036530e-02 9.96858386e-01 -3.73639722e-04 1.57966583e+00] [ 3.69528060e-03 8.12125856e-05 9.99993169e-01 3.46459883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730281692999995 meters 0.027560334787992923 Centerline is valid? [True, True] Translation: X:43.25, Y:1.58, Z:0.03 [[ 9.96534445e-01 -8.28610968e-02 -7.28967926e-03 4.32536656e+01] [ 8.28578942e-02 9.96561097e-01 -7.40759309e-04 1.58169476e+00] [ 7.32599089e-03 1.34184693e-04 9.99973156e-01 2.86942274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760281692999996 meters 0.02664149001547597 Centerline is valid? [True, True] Translation: X:43.28, Y:1.58, Z:0.03 [[ 9.96393336e-01 -8.44022740e-02 -8.75077074e-03 4.32827921e+01] [ 8.43977083e-02 9.96431751e-01 -8.90386438e-04 1.58440928e+00] [ 8.79469645e-03 1.48630117e-04 9.99961315e-01 2.65859112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790281693 meters 0.025839833154165843 Centerline is valid? [True, True] Translation: X:43.31, Y:1.59, Z:0.03 [[ 9.96282341e-01 -8.58621156e-02 -7.01383480e-03 4.33101414e+01] [ 8.58592147e-02 9.96307024e-01 -7.14215519e-04 1.58937043e+00] [ 7.04925693e-03 1.09357961e-04 9.99975148e-01 3.01076016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820281693 meters 0.025815563678192592 Centerline is valid? [True, True] Translation: X:43.34, Y:1.59, Z:0.03 [[ 9.96305340e-01 -8.57286483e-02 -5.12517539e-03 4.33376461e+01] [ 8.57270942e-02 9.96318519e-01 -5.22559434e-04 1.59477060e+00] [ 5.15110547e-03 8.12623613e-05 9.99986730e-01 3.42437401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850281693 meters 0.025077425124068024 Centerline is valid? [True, True] Translation: X:43.37, Y:1.60, Z:0.04 [[ 9.96357035e-01 -8.52091749e-02 -3.47195910e-03 4.33665808e+01] [ 8.52084576e-02 9.96363083e-01 -3.54281495e-04 1.59886383e+00] [ 3.48951990e-03 5.71505805e-05 9.99993910e-01 3.73600191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88028169299999 meters 0.029502492087486364 Centerline is valid? [True, True] Translation: X:43.40, Y:1.61, Z:0.04 [[ 9.96517988e-01 -8.33283369e-02 -2.87887257e-03 4.33952835e+01] [ 8.33278357e-02 9.96522145e-01 -2.93812494e-04 1.61128298e+00] [ 2.89334317e-03 5.28992151e-05 9.99995813e-01 3.86129170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910281692999995 meters 0.0281205126382812 Centerline is valid? [True, True] Translation: X:43.43, Y:1.61, Z:0.04 [[ 9.96566672e-01 -8.27386594e-02 -3.03024695e-03 4.34260187e+01] [ 8.27381013e-02 9.96571277e-01 -3.09286389e-04 1.61285387e+00] [ 3.04544701e-03 5.75076287e-05 9.99995361e-01 3.85613522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940281692999996 meters 0.02693234635661493 Centerline is valid? [True, True] Translation: X:43.46, Y:1.61, Z:0.04 [[ 9.96573826e-01 -8.26565083e-02 -2.91744009e-03 4.34577721e+01] [ 8.26559907e-02 9.96578095e-01 -2.97749969e-04 1.61440601e+00] [ 2.93206786e-03 5.55859249e-05 9.99995700e-01 3.88873237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970281693 meters 0.02623733067060776 Centerline is valid? [True, True] Translation: X:43.49, Y:1.62, Z:0.04 [[ 9.96449392e-01 -8.41594806e-02 -2.40642846e-03 4.34877054e+01] [ 8.41591329e-02 9.96452297e-01 -2.45557409e-04 1.61577799e+00] [ 2.41855715e-03 4.21625986e-05 9.99997074e-01 4.01214005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000281693 meters 0.025727327077183584 Centerline is valid? [True, True] Translation: X:43.52, Y:1.62, Z:0.04 [[ 9.96399171e-01 -8.47603254e-02 -2.09243709e-03 4.35182877e+01] [ 8.47600639e-02 9.96401368e-01 -2.13517019e-04 1.61774533e+00] [ 2.10300495e-03 3.53930793e-05 9.99997788e-01 4.12555537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030281693 meters 0.025548130659253463 Centerline is valid? [True, True] Translation: X:43.55, Y:1.62, Z:0.04 [[ 9.96388325e-01 -8.48664631e-02 -2.82645396e-03 4.35484450e+01] [ 8.48659863e-02 9.96392333e-01 -2.88417763e-04 1.62104982e+00] [ 2.84073405e-03 4.75062882e-05 9.99995964e-01 4.00417564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06028169299999 meters 0.025213127572160522 Centerline is valid? [True, True] Translation: X:43.58, Y:1.62, Z:0.04 [[ 9.96448473e-01 -8.41430136e-02 -3.22401833e-03 4.35792440e+01] [ 8.41423896e-02 9.96453687e-01 -3.28955657e-04 1.62337749e+00] [ 3.24026427e-03 5.65107558e-05 9.99994749e-01 3.91786843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090281692999994 meters 0.028310166112356157 Centerline is valid? [True, True] Translation: X:43.61, Y:1.63, Z:0.04 [[ 9.96561579e-01 -8.27876708e-02 -3.34976316e-03 4.36077784e+01] [ 8.27869896e-02 9.96567207e-01 -3.41752167e-04 1.63151075e+00] [ 3.36655698e-03 6.32602715e-05 9.99994331e-01 3.89648393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120281692999995 meters 0.028762705877510068 Centerline is valid? [True, True] Translation: X:43.64, Y:1.64, Z:0.04 [[ 9.96822791e-01 -7.95736311e-02 -3.51590012e-03 4.36375480e+01] [ 7.95728604e-02 9.96828988e-01 -3.58746304e-04 1.63600857e+00] [ 3.53329790e-03 7.78362622e-05 9.99993755e-01 4.00845869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150281693 meters 0.03191731233125327 Centerline is valid? [True, True] Translation: X:43.67, Y:1.64, Z:0.04 [[ 9.96921675e-01 -7.83076726e-02 -3.88348050e-03 4.36669023e+01] [ 7.83067230e-02 9.96929235e-01 -3.96212961e-04 1.64437389e+00] [ 3.90258176e-03 9.08906572e-05 9.99992381e-01 3.89974838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180281693 meters 0.03351188586563585 Centerline is valid? [True, True] Translation: X:43.70, Y:1.65, Z:0.04 [[ 9.96975793e-01 -7.76160165e-02 -3.87590983e-03 4.36964230e+01] [ 7.76150658e-02 9.96983322e-01 -3.95305349e-04 1.65058979e+00] [ 3.89489949e-03 9.32808666e-05 9.99992411e-01 3.88253034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210281693 meters 0.03281604428773284 Centerline is valid? [True, True] Translation: X:43.73, Y:1.65, Z:0.04 [[ 9.96917077e-01 -7.83568337e-02 -4.06787744e-03 4.37272580e+01] [ 7.83557930e-02 9.96925372e-01 -4.14825209e-04 1.65360636e+00] [ 4.08787462e-03 9.48045723e-05 9.99991640e-01 3.76219778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24028169299999 meters 0.03183689334309859 Centerline is valid? [True, True] Translation: X:43.76, Y:1.66, Z:0.04 [[ 9.96802112e-01 -7.97586110e-02 -4.91060428e-03 4.37564128e+01] [ 7.97571111e-02 9.96814202e-01 -5.00812067e-04 1.65581134e+00] [ 4.93490416e-03 1.07554914e-04 9.99987818e-01 3.62878042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270281692999994 meters 0.02717202760573117 Centerline is valid? [True, True] Translation: X:43.79, Y:1.65, Z:0.03 [[ 9.96390857e-01 -8.46389820e-02 -6.44231349e-03 4.37865848e+01] [ 8.46365017e-02 9.96411677e-01 -6.57155905e-04 1.65125607e+00] [ 6.47481740e-03 1.09529259e-04 9.99979032e-01 3.31971465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300281692999995 meters 0.023815908700457383 Centerline is valid? [True, True] Translation: X:43.82, Y:1.65, Z:0.03 [[ 9.96145059e-01 -8.74925582e-02 -6.33032983e-03 4.38156238e+01] [ 8.74902161e-02 9.96165169e-01 -6.46495789e-04 1.64858462e+00] [ 6.36261766e-03 9.01616611e-05 9.99979754e-01 3.42644777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330281692999996 meters 0.021841289058520463 Centerline is valid? [True, True] Translation: X:43.84, Y:1.65, Z:0.04 [[ 9.95915335e-01 -9.01299836e-02 -5.40661392e-03 4.38445523e+01] [ 9.01283094e-02 9.95930009e-01 -5.53005059e-04 1.64749016e+00] [ 5.43445139e-03 6.34572460e-05 9.99985231e-01 3.59550412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360281693 meters 0.019551242727755734 Centerline is valid? [True, True] Translation: X:43.87, Y:1.64, Z:0.04 [[ 9.95562461e-01 -9.40186113e-02 -3.98593400e-03 4.38727083e+01] [ 9.40177311e-02 9.95570439e-01 -4.08052558e-04 1.64459485e+00] [ 4.00664260e-03 3.14933379e-05 9.99991973e-01 3.91256118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390281693 meters 0.01863091853876934 Centerline is valid? [True, True] Translation: X:43.90, Y:1.64, Z:0.04 [[ 9.95446909e-01 -9.52172025e-02 -4.37446695e-03 4.39025783e+01] [ 9.52161531e-02 9.95456520e-01 -4.48012486e-04 1.64372103e+00] [ 4.39725014e-03 2.94527293e-05 9.99990332e-01 3.84631974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42028169299999 meters 0.01902803661467976 Centerline is valid? [True, True] Translation: X:43.93, Y:1.65, Z:0.04 [[ 9.95472292e-01 -9.48753219e-02 -5.79563048e-03 4.39309377e+01] [ 9.48734700e-02 9.95489162e-01 -5.94257433e-04 1.64631880e+00] [ 5.82586769e-03 4.17152348e-05 9.99983029e-01 3.57537625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450281692999994 meters 0.02002790146736046 Centerline is valid? [True, True] Translation: X:43.96, Y:1.65, Z:0.03 [[ 9.95599096e-01 -9.34343523e-02 -7.24311805e-03 4.39581055e+01] [ 9.34314164e-02 9.95625441e-01 -7.43396745e-04 1.65200400e+00] [ 7.28089139e-03 6.33903484e-05 9.99973492e-01 3.42350802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480281692999995 meters 0.0220180732167288 Centerline is valid? [True, True] Translation: X:43.99, Y:1.66, Z:0.03 [[ 9.95723550e-01 -9.20031611e-02 -8.36842373e-03 4.39854021e+01] [ 9.19991872e-02 9.95758711e-01 -8.59402415e-04 1.65936273e+00] [ 8.41199856e-03 8.58390421e-05 9.99964615e-01 3.16393558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510281692999996 meters 0.0224180373014374 Centerline is valid? [True, True] Translation: X:44.01, Y:1.66, Z:0.03 [[ 9.95836195e-01 -9.07087099e-02 -9.06653857e-03 4.40134731e+01] [ 9.07039798e-02 9.95877462e-01 -9.32391607e-04 1.66386385e+00] [ 9.11373746e-03 1.06138179e-04 9.99958463e-01 3.19172634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540281693 meters 0.022623931705461266 Centerline is valid? [True, True] Translation: X:44.04, Y:1.67, Z:0.03 [[ 9.95881989e-01 -9.02956924e-02 -8.10876365e-03 4.40404429e+01] [ 9.02918887e-02 9.95914995e-01 -8.34689632e-04 1.66996905e+00] [ 8.15100819e-03 9.90967858e-05 9.99966775e-01 3.42210903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570281693 meters 0.022009872247347902 Centerline is valid? [True, True] Translation: X:44.07, Y:1.67, Z:0.04 [[ 9.95811179e-01 -9.11859393e-02 -6.72465337e-03 4.40690101e+01] [ 9.11833375e-02 9.95833881e-01 -6.93118275e-04 1.67353843e+00] [ 6.75984030e-03 7.70385883e-05 9.99977149e-01 3.59467056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600281693 meters 0.020171341813170676 Centerline is valid? [True, True] Translation: X:44.10, Y:1.67, Z:0.04 [[ 9.95531205e-01 -9.42719724e-02 -5.51489823e-03 4.40969250e+01] [ 9.42702673e-02 9.95546480e-01 -5.68894655e-04 1.67387212e+00] [ 5.54396834e-03 4.64614507e-05 9.99984631e-01 3.71458363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63028169299999 meters 0.018776912556037677 Centerline is valid? [True, True] Translation: X:44.13, Y:1.67, Z:0.04 [[ 9.95339824e-01 -9.62735257e-02 -5.48116688e-03 4.41260330e+01] [ 9.62718680e-02 9.95354915e-01 -5.66102943e-04 1.67341389e+00] [ 5.51020712e-03 3.57826298e-05 9.99984818e-01 3.77726355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660281692999995 meters 0.017891891435143463 Centerline is valid? [True, True] Translation: X:44.15, Y:1.67, Z:0.04 [[ 9.95164995e-01 -9.80791245e-02 -5.20740841e-03 4.41540195e+01] [ 9.80776503e-02 9.95178620e-01 -5.38325253e-04 1.67358037e+00] [ 5.23509998e-03 2.49920671e-05 9.99986296e-01 3.85402786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690281692999996 meters 0.01717651197699217 Centerline is valid? [True, True] Translation: X:44.18, Y:1.67, Z:0.04 [[ 9.94894604e-01 -1.00819950e-01 -4.47935154e-03 4.41817421e+01] [ 1.00818886e-01 9.94904688e-01 -4.63304509e-04 1.67227409e+00] [ 4.50323818e-03 9.33592395e-06 9.99989860e-01 4.07040659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720281693 meters 0.017018695167364026 Centerline is valid? [True, True] Translation: X:44.21, Y:1.67, Z:0.04 [[ 9.94815794e-01 -1.01602180e-01 -4.30490000e-03 4.42097856e+01] [ 1.01601202e-01 9.94825109e-01 -4.45796111e-04 1.67381582e+00] [ 4.32791647e-03 6.10199815e-06 9.99990635e-01 4.11578299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750281693 meters 0.016985066708755055 Centerline is valid? [True, True] Translation: X:44.24, Y:1.68, Z:0.04 [[ 9.94786327e-01 -1.01893157e-01 -4.23645502e-03 4.42370788e+01] [ 1.01892210e-01 9.94795348e-01 -4.39244068e-04 1.67616161e+00] [ 4.25916171e-03 5.29222733e-06 9.99990930e-01 4.08622656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780281693 meters 0.017037298996779075 Centerline is valid? [True, True] Translation: X:44.26, Y:1.68, Z:0.04 [[ 9.94834281e-01 -1.01450718e-01 -3.53616052e-03 4.42638624e+01] [ 1.01450054e-01 9.94840566e-01 -3.66888904e-04 1.68112423e+00] [ 3.55513707e-03 6.24998198e-06 9.99993680e-01 4.28219464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81028169299999 meters 0.01706070369141258 Centerline is valid? [True, True] Translation: X:44.29, Y:1.69, Z:0.04 [[ 9.94869741e-01 -1.01130483e-01 -2.61227922e-03 4.42918599e+01] [ 1.01130120e-01 9.94873170e-01 -2.71262830e-04 1.68547276e+00] [ 2.62631945e-03 5.69107111e-06 9.99996551e-01 4.47398628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840281692999994 meters 0.0173781492676676 Centerline is valid? [True, True] Translation: X:44.32, Y:1.69, Z:0.04 [[ 9.94980250e-01 -1.00017919e-01 -3.27377614e-03 4.43190515e+01] [ 1.00017340e-01 9.94985636e-01 -3.40480779e-04 1.68978178e+00] [ 3.29141441e-03 1.13372701e-05 9.99994583e-01 4.32037325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870281692999995 meters 0.01763795314985002 Centerline is valid? [True, True] Translation: X:44.35, Y:1.69, Z:0.04 [[ 9.95003282e-01 -9.97374199e-02 -4.57343604e-03 4.43479715e+01] [ 9.97362845e-02 9.95013792e-01 -4.76232198e-04 1.69392535e+00] [ 4.59813010e-03 1.77150822e-05 9.99989428e-01 4.18373931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900281693 meters 0.017826624647194107 Centerline is valid? [True, True] Translation: X:44.38, Y:1.70, Z:0.04 [[ 9.95033118e-01 -9.94065147e-02 -5.23817454e-03 4.43752418e+01] [ 9.94050177e-02 9.95046906e-01 -5.46014664e-04 1.69905536e+00] [ 5.26650678e-03 2.26018413e-05 9.99986132e-01 4.07680679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930281693 meters 0.01811608168213925 Centerline is valid? [True, True] Translation: X:44.40, Y:1.71, Z:0.04 [[ 9.95029270e-01 -9.94623925e-02 -4.89736383e-03 4.44021106e+01] [ 9.94610833e-02 9.95041322e-01 -5.10766561e-04 1.70533708e+00] [ 4.92388145e-03 2.11305658e-05 9.99987877e-01 4.03525523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960281693 meters 0.01779582060580199 Centerline is valid? [True, True] Translation: X:44.43, Y:1.71, Z:0.04 [[ 9.94930918e-01 -1.00438480e-01 -4.95783619e-03 4.44298792e+01] [ 1.00437147e-01 9.94943270e-01 -5.17710307e-04 1.70747908e+00] [ 4.98476379e-03 1.71350700e-05 9.99987576e-01 4.05629995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99028169299999 meters 0.017229322643816984 Centerline is valid? [True, True] Translation: X:44.46, Y:1.71, Z:0.04 [[ 9.94625168e-01 -1.03401169e-01 -5.38278042e-03 4.44586526e+01] [ 1.03399636e-01 9.94639733e-01 -5.63027863e-04 1.70658633e+00] [ 5.41214502e-03 3.42414553e-06 9.99985354e-01 4.03788928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020281692999994 meters 0.017387439482747232 Centerline is valid? [True, True] Translation: X:44.49, Y:1.71, Z:0.04 [[ 9.94443048e-01 -1.05108031e-01 -5.94354441e-03 4.44869529e+01] [ 1.05106189e-01 9.94460810e-01 -6.22400732e-04 1.70712184e+00] [ 5.97604130e-03 -5.76121948e-06 9.99982143e-01 3.89004097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050281692999995 meters 0.017625204821799734 Centerline is valid? [True, True] Translation: X:44.52, Y:1.71, Z:0.04 [[ 9.94241923e-01 -1.06958287e-01 -6.55160656e-03 4.45156159e+01] [ 1.06956082e-01 9.94263509e-01 -6.87022571e-04 1.70686584e+00] [ 6.58750609e-03 -1.76675277e-05 9.99978302e-01 3.89803364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080281692999996 meters 0.018895656111489464 Centerline is valid? [True, True] Translation: X:44.54, Y:1.70, Z:0.04 [[ 9.93803755e-01 -1.10942659e-01 -6.76920124e-03 4.45446307e+01] [ 1.10940393e-01 9.93826808e-01 -7.10455971e-04 1.70023170e+00] [ 6.80623353e-03 -4.49240358e-05 9.99976836e-01 3.76743909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110281693 meters 0.01977250253397179 Centerline is valid? [True, True] Translation: X:44.57, Y:1.70, Z:0.04 [[ 9.93527972e-01 -1.13394731e-01 -6.61848453e-03 4.45733458e+01] [ 1.13392614e-01 9.93550015e-01 -6.95526959e-04 1.69881344e+00] [ 6.65466449e-03 -5.94617709e-05 9.99977856e-01 3.85871092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140281693 meters 0.01977250253397179 Centerline is valid? [True, True] Translation: X:44.60, Y:1.70, Z:0.04 [[ 9.93506501e-01 -1.13582702e-01 -6.61835772e-03 4.46006417e+01] [ 1.13580581e-01 9.93528543e-01 -6.96732283e-04 1.70186497e+00] [ 6.65466404e-03 -5.95088590e-05 9.99977856e-01 3.86417985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17028169299999 meters 0.02114159557030551 Centerline is valid? [True, True] Translation: X:44.63, Y:1.70, Z:0.04 [[ 9.93275164e-01 -1.15600099e-01 -6.40821481e-03 4.46291709e+01] [ 1.15598148e-01 9.93295833e-01 -6.75239603e-04 1.69886687e+00] [ 6.44331084e-03 -7.00790371e-05 9.99979239e-01 3.83385422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200281692999994 meters 0.024852151575113078 Centerline is valid? [True, True] Translation: X:44.66, Y:1.69, Z:0.04 [[ 9.92714350e-01 -1.20313629e-01 -6.54598930e-03 4.46592523e+01] [ 1.20311693e-01 9.92735927e-01 -6.90095888e-04 1.68552071e+00] [ 6.58146669e-03 -1.02490967e-04 9.99978337e-01 3.77109277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230281692999995 meters 0.033030058295342626 Centerline is valid? [True, True] Translation: X:44.69, Y:1.68, Z:0.05 [[ 9.92448555e-01 -1.22460403e-01 -7.02244863e-03 4.46882336e+01] [ 1.22458226e-01 9.92473392e-01 -7.40719981e-04 1.68101859e+00] [ 7.06030228e-03 -1.24830130e-04 9.99975068e-01 4.65351870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260281692999996 meters 0.030545412685495155 Centerline is valid? [True, True] Translation: X:44.72, Y:1.67, Z:0.04 [[ 9.92009393e-01 -1.26033054e-01 -5.74746030e-03 4.47182742e+01] [ 1.26031655e-01 9.92026035e-01 -6.06460488e-04 1.66719177e+00] [ 5.77806432e-03 -1.22747434e-04 9.99983299e-01 4.00495268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290281693 meters 0.029712721440628354 Centerline is valid? [True, True] Translation: X:44.75, Y:1.67, Z:0.04 [[ 9.91872319e-01 -1.27098208e-01 -5.94549010e-03 4.47471990e+01] [ 1.27096725e-01 9.91890129e-01 -6.28077454e-04 1.66666191e+00] [ 5.97710046e-03 -1.32679681e-04 9.99982128e-01 4.05015327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320281693 meters 0.030757858389978705 Centerline is valid? [True, True] Translation: X:44.77, Y:1.66, Z:0.04 [[ 9.91853339e-01 -1.27258075e-01 -5.68655899e-03 4.47743090e+01] [ 1.27256718e-01 9.91869632e-01 -6.01336437e-04 1.66261989e+00] [ 5.71685009e-03 -1.27215283e-04 9.99983651e-01 4.07041858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350281693 meters 0.02919822256387547 Centerline is valid? [True, True] Translation: X:44.80, Y:1.66, Z:0.04 [[ 9.91878578e-01 -1.27084549e-01 -5.13845614e-03 4.48035048e+01] [ 1.27083435e-01 9.91891882e-01 -5.44045219e-04 1.66244988e+00] [ 5.16593267e-03 -1.13385857e-04 9.99986650e-01 4.19011462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38028169299999 meters 0.03152159253882565 Centerline is valid? [True, True] Translation: X:44.83, Y:1.65, Z:0.04 [[ 9.92223686e-01 -1.24420012e-01 -3.43757698e-03 4.48326368e+01] [ 1.24419497e-01 9.92229639e-01 -3.64265854e-04 1.65075134e+00] [ 3.45618773e-03 -6.62683894e-05 9.99994025e-01 4.49935058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410281692999995 meters 0.02961965017823965 Centerline is valid? [True, True] Translation: X:44.86, Y:1.65, Z:0.05 [[ 9.92432286e-01 -1.22755513e-01 -3.03998167e-03 4.48614262e+01] [ 1.22755101e-01 9.92436941e-01 -3.22390901e-04 1.65269410e+00] [ 3.05656536e-03 -5.32221187e-05 9.99995327e-01 4.60273763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440281692999996 meters 0.02304265195207984 Centerline is valid? [True, True] Translation: X:44.89, Y:1.66, Z:0.04 [[ 9.92831500e-01 -1.19460189e-01 -3.85691197e-03 4.48899343e+01] [ 1.19459500e-01 9.92838990e-01 -4.09478174e-04 1.65976832e+00] [ 3.87820893e-03 -5.42019445e-05 9.99992478e-01 4.44788790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470281693 meters 0.022319127274438307 Centerline is valid? [True, True] Translation: X:44.92, Y:1.66, Z:0.04 [[ 9.93011411e-01 -1.17930879e-01 -4.54368443e-03 4.49175690e+01] [ 1.17929905e-01 9.93021805e-01 -4.82648748e-04 1.66090389e+00] [ 4.56889690e-03 -5.65605580e-05 9.99989561e-01 4.34338839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500281693 meters 0.020190272448717766 Centerline is valid? [True, True] Translation: X:44.95, Y:1.66, Z:0.04 [[ 9.93330127e-01 -1.15134799e-01 -6.26391073e-03 4.49461095e+01] [ 1.15132887e-01 9.93349875e-01 -6.66236721e-04 1.66394912e+00] [ 6.29896197e-03 -5.93891173e-05 9.99980160e-01 4.28145183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530281693 meters 0.019602645252209186 Centerline is valid? [True, True] Translation: X:44.97, Y:1.67, Z:0.04 [[ 9.93491441e-01 -1.13755282e-01 -5.87304888e-03 4.49734086e+01] [ 1.13753574e-01 9.93508799e-01 -6.25193148e-04 1.66729608e+00] [ 5.90604477e-03 -4.69562601e-05 9.99982558e-01 4.28866207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56028169299999 meters 0.01854041207947583 Centerline is valid? [True, True] Translation: X:45.00, Y:1.67, Z:0.05 [[ 9.93646855e-01 -1.12449647e-01 -4.58296504e-03 4.50022859e+01] [ 1.12448591e-01 9.93657424e-01 -4.88345953e-04 1.67323057e+00] [ 4.60881157e-03 -3.01045409e-05 9.99989379e-01 4.54499185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590281692999994 meters 0.01755801312645582 Centerline is valid? [True, True] Translation: X:45.03, Y:1.68, Z:0.05 [[ 9.93863070e-01 -1.10562169e-01 -3.49351811e-03 4.50303118e+01] [ 1.10561541e-01 9.93869210e-01 -3.72739028e-04 1.67923029e+00] [ 3.51331092e-03 -1.57971917e-05 9.99993828e-01 4.72433865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620281692999995 meters 0.016908482695046856 Centerline is valid? [True, True] Translation: X:45.06, Y:1.69, Z:0.05 [[ 9.94275031e-01 -1.06797621e-01 -3.38082736e-03 4.50570464e+01] [ 1.06797011e-01 9.94280779e-01 -3.61118316e-04 1.68644592e+00] [ 3.40005824e-03 -2.01133101e-06 9.99994220e-01 4.73168960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650281693 meters 0.01704042461248307 Centerline is valid? [True, True] Translation: X:45.08, Y:1.69, Z:0.05 [[ 9.94420367e-01 -1.05414479e-01 -3.99004771e-03 4.50846680e+01] [ 1.05413616e-01 9.94428372e-01 -4.26731629e-04 1.69299781e+00] [ 4.01280034e-03 3.74526757e-06 9.99991949e-01 4.72164542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680281693 meters 0.01793218831168798 Centerline is valid? [True, True] Translation: X:45.11, Y:1.71, Z:0.05 [[ 9.94812185e-01 -1.01647961e-01 -4.05066267e-03 4.51109944e+01] [ 1.01647038e-01 9.94820432e-01 -4.33743865e-04 1.70718176e+00] [ 4.07377116e-03 1.97558201e-05 9.99991702e-01 4.68612051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710281693 meters 0.018700125165571818 Centerline is valid? [True, True] Translation: X:45.14, Y:1.72, Z:0.05 [[ 9.94974190e-01 -1.00035861e-01 -4.38027367e-03 4.51392071e+01] [ 1.00034764e-01 9.94983832e-01 -4.69569406e-04 1.71515300e+00] [ 4.40527526e-03 2.90297987e-05 9.99990296e-01 4.65529252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74028169299999 meters 0.01962858515109939 Centerline is valid? [True, True] Translation: X:45.17, Y:1.72, Z:0.04 [[ 9.95083655e-01 -9.88886748e-02 -5.43592782e-03 4.51665186e+01] [ 9.88869635e-02 9.95098502e-01 -5.83347400e-04 1.72141268e+00] [ 5.46697008e-03 4.29370668e-05 9.99985055e-01 4.44445701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770281692999994 meters 0.019126635900335514 Centerline is valid? [True, True] Translation: X:45.19, Y:1.72, Z:0.04 [[ 9.94978362e-01 -9.98325432e-02 -7.17796354e-03 4.51943898e+01] [ 9.98295756e-02 9.95004252e-01 -7.71431881e-04 1.72458219e+00] [ 7.21911824e-03 5.09849757e-05 9.99973941e-01 4.19214199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800281692999995 meters 0.018605234566931556 Centerline is valid? [True, True] Translation: X:45.22, Y:1.73, Z:0.04 [[ 9.94801942e-01 -1.01606692e-01 -6.72133096e-03 4.52222020e+01] [ 1.01604126e-01 9.94824647e-01 -7.22987699e-04 1.72738110e+00] [ 6.76000609e-03 3.63146066e-05 9.99977150e-01 4.20735494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830281692999996 meters 0.017149582903175507 Centerline is valid? [True, True] Translation: X:45.25, Y:1.73, Z:0.05 [[ 9.94405979e-01 -1.05563303e-01 -3.62457292e-03 4.52516227e+01] [ 1.05562581e-01 9.94412585e-01 -3.90206849e-04 1.72664711e+00] [ 3.64551245e-03 5.40474895e-06 9.99993355e-01 4.79670766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860281693 meters 0.016812825109477316 Centerline is valid? [True, True] Translation: X:45.28, Y:1.73, Z:0.05 [[ 9.94198377e-01 -1.07538470e-01 -2.25035520e-03 4.52798746e+01] [ 1.07538196e-01 9.94200924e-01 -2.42509758e-04 1.72858512e+00] [ 2.26338434e-03 -8.96330098e-07 9.99997439e-01 5.07286921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890281693 meters 0.016913742860815525 Centerline is valid? [True, True] Translation: X:45.31, Y:1.73, Z:0.05 [[ 9.93993534e-01 -1.09428636e-01 -1.49255796e-03 4.53077134e+01] [ 1.09428518e-01 9.93994655e-01 -1.60992951e-04 1.73103572e+00] [ 1.50121187e-03 -3.30245344e-06 9.99998873e-01 5.27138429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92028169299999 meters 0.018489576178043816 Centerline is valid? [True, True] Translation: X:45.34, Y:1.73, Z:0.05 [[ 9.93553986e-01 -1.13352730e-01 -1.27889550e-03 4.53356344e+01] [ 1.13352646e-01 9.93554809e-01 -1.38227575e-04 1.73199235e+00] [ 1.28632125e-03 -7.62963187e-06 9.99999173e-01 5.33924211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950281692999994 meters 0.019043619705868577 Centerline is valid? [True, True] Translation: X:45.36, Y:1.74, Z:0.05 [[ 9.93309224e-01 -1.15476362e-01 -1.41274067e-03 4.53646149e+01] [ 1.15476261e-01 9.93310228e-01 -1.52730675e-04 1.73619881e+00] [ 1.42092654e-03 -1.14292231e-05 9.99998990e-01 5.28453735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980281692999995 meters 0.020737917964002407 Centerline is valid? [True, True] Translation: X:45.39, Y:1.74, Z:0.05 [[ 9.93051732e-01 -1.17663276e-01 -1.90044804e-03 4.53925187e+01] [ 1.17663097e-01 9.93053550e-01 -2.05884228e-04 1.74060744e+00] [ 1.91147169e-03 -1.91589142e-05 9.99998173e-01 5.21295366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010281692999996 meters 0.020964167492388937 Centerline is valid? [True, True] Translation: X:45.42, Y:1.75, Z:0.05 [[ 9.92944466e-01 -1.18552149e-01 -2.58356070e-03 4.54211611e+01] [ 1.18551821e-01 9.92947827e-01 -2.80140299e-04 1.74657325e+00] [ 2.59855221e-03 -2.81220664e-05 9.99996623e-01 5.11244057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040281693 meters 0.02162718176220478 Centerline is valid? [True, True] Translation: X:45.45, Y:1.75, Z:0.05 [[ 9.92802551e-01 -1.19709878e-01 -3.55536567e-03 4.54497145e+01] [ 1.19709262e-01 9.92808916e-01 -3.86203597e-04 1.75110326e+00] [ 3.57603112e-03 -4.21862841e-05 9.99993605e-01 4.98788503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070281693 meters 0.023809679627301922 Centerline is valid? [True, True] Translation: X:45.48, Y:1.76, Z:0.05 [[ 9.92373037e-01 -1.23194239e-01 -4.35148216e-03 4.54786055e+01] [ 1.23193347e-01 9.92382575e-01 -4.73459632e-04 1.75535464e+00] [ 4.37666257e-03 -6.62250792e-05 9.99990420e-01 4.92253773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100281693 meters 0.02532882139371069 Centerline is valid? [True, True] Translation: X:45.51, Y:1.76, Z:0.05 [[ 9.92162015e-01 -1.24858831e-01 -4.98086639e-03 4.55061568e+01] [ 1.24857681e-01 9.92174514e-01 -5.42483984e-04 1.75810911e+00] [ 5.00962260e-03 -8.36674225e-05 9.99987448e-01 4.77803443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13028169299999 meters 0.027512462194226997 Centerline is valid? [True, True] Translation: X:45.54, Y:1.76, Z:0.05 [[ 9.91824267e-01 -1.27487119e-01 -5.62647991e-03 4.55351736e+01] [ 1.27485689e-01 9.91840220e-01 -6.13518775e-04 1.76069752e+00] [ 5.65878482e-03 -1.08792859e-04 9.99983983e-01 4.67272226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160281692999995 meters 0.028362531194491877 Centerline is valid? [True, True] Translation: X:45.56, Y:1.76, Z:0.05 [[ 9.91745502e-01 -1.28093426e-01 -5.73884295e-03 4.55624409e+01] [ 1.28091946e-01 9.91762099e-01 -6.26312886e-04 1.76329973e+00] [ 5.77179349e-03 -1.13956572e-04 9.99983337e-01 4.63657967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190281692999996 meters 0.028864258894050462 Centerline is valid? [True, True] Translation: X:45.59, Y:1.77, Z:0.05 [[ 9.91678457e-01 -1.28572532e-01 -6.55306683e-03 4.55914922e+01] [ 1.28570606e-01 9.91700099e-01 -7.16032970e-04 1.76699532e+00] [ 6.59073920e-03 -1.32457302e-04 9.99978272e-01 4.52301356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220281693 meters 0.030807225161051294 Centerline is valid? [True, True] Translation: X:45.62, Y:1.77, Z:0.04 [[ 9.91599077e-01 -1.29163902e-01 -6.92507400e-03 4.56194842e+01] [ 1.29161761e-01 9.91623248e-01 -7.57294738e-04 1.76832672e+00] [ 6.96487952e-03 -1.43521993e-04 9.99975735e-01 4.37665735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250281693 meters 0.030764527818084253 Centerline is valid? [True, True] Translation: X:45.65, Y:1.77, Z:0.05 [[ 9.91422179e-01 -1.30561003e-01 -5.99065535e-03 4.56483279e+01] [ 1.30559422e-01 9.91440269e-01 -6.55842989e-04 1.77346466e+00] [ 6.02500447e-03 -1.31919217e-04 9.99981841e-01 4.58758237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280281693 meters 0.03337168326899938 Centerline is valid? [True, True] Translation: X:45.68, Y:1.77, Z:0.05 [[ 9.91082721e-01 -1.33127328e-01 -5.67047442e-03 4.56779232e+01] [ 1.33125949e-01 9.91098933e-01 -6.21665267e-04 1.77137144e+00] [ 5.70276178e-03 -1.38765583e-04 9.99983729e-01 4.58868509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31028169299999 meters 0.036081818075411755 Centerline is valid? [True, True] Translation: X:45.71, Y:1.77, Z:0.05 [[ 9.90789657e-01 -1.35286706e-01 -5.77612005e-03 4.57067728e+01] [ 1.35285309e-01 9.90806481e-01 -6.33690343e-04 1.76921676e+00] [ 5.80874706e-03 -1.53570348e-04 9.99983117e-01 4.52572078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340281692999994 meters 0.03861946119827301 Centerline is valid? [True, True] Translation: X:45.74, Y:1.77, Z:0.05 [[ 9.90457774e-01 -1.37712265e-01 -5.36001506e-03 4.57366550e+01] [ 1.37711097e-01 9.90472265e-01 -5.88176549e-04 1.76699177e+00] [ 5.38994538e-03 -1.55569517e-04 9.99985462e-01 4.55588087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370281692999995 meters 0.04040853430910281 Centerline is valid? [True, True] Translation: X:45.77, Y:1.77, Z:0.05 [[ 9.90099974e-01 -1.40281232e-01 -4.81846164e-03 4.57660024e+01] [ 1.40280318e-01 9.90111687e-01 -5.28884937e-04 1.76541576e+00] [ 4.84500781e-03 -1.52286368e-04 9.99988251e-01 4.67754243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400281693 meters 0.0447682595389708 Centerline is valid? [True, True] Translation: X:45.80, Y:1.76, Z:0.05 [[ 9.89654300e-01 -1.43394643e-01 -4.72678294e-03 4.57961382e+01] [ 1.43393798e-01 9.89665575e-01 -5.18949091e-04 1.75718101e+00] [ 4.75234888e-03 -1.64211159e-04 9.99988694e-01 4.75054290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430281693 meters 0.0445716616707376 Centerline is valid? [True, True] Translation: X:45.82, Y:1.76, Z:0.05 [[ 9.89599053e-01 -1.43759236e-01 -5.19580666e-03 4.58249126e+01] [ 1.43758217e-01 9.89612676e-01 -5.70995743e-04 1.75837996e+00] [ 5.22392204e-03 -1.81883056e-04 9.99986339e-01 4.67623107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460281693 meters 0.042810393355190386 Centerline is valid? [True, True] Translation: X:45.85, Y:1.76, Z:0.05 [[ 9.89851414e-01 -1.42025373e-01 -4.79295544e-03 4.58526836e+01] [ 1.42024483e-01 9.89863005e-01 -5.27167115e-04 1.75928855e+00] [ 4.81924038e-03 -1.58899905e-04 9.99988375e-01 4.71609846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49028169299999 meters 0.03837897041671335 Centerline is valid? [True, True] Translation: X:45.88, Y:1.77, Z:0.05 [[ 9.90055996e-01 -1.40624788e-01 -3.71409075e-03 4.58809586e+01] [ 1.40624244e-01 9.90062955e-01 -4.08670988e-04 1.76599595e+00] [ 3.73465294e-03 -1.17684041e-04 9.99993019e-01 4.93628259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520281692999994 meters 0.04040122505491338 Centerline is valid? [True, True] Translation: X:45.91, Y:1.76, Z:0.05 [[ 9.90191392e-01 -1.39690699e-01 -2.74133976e-03 4.59093637e+01] [ 1.39690399e-01 9.90195184e-01 -3.01748372e-04 1.76361867e+00] [ 2.75661287e-03 -8.41502035e-05 9.99996197e-01 5.12019300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550281692999995 meters 0.04001853240427407 Centerline is valid? [True, True] Translation: X:45.94, Y:1.76, Z:0.05 [[ 9.90289890e-01 -1.38971807e-01 -3.57360422e-03 4.59377573e+01] [ 1.38971290e-01 9.90296332e-01 -3.93595060e-04 1.76137515e+00] [ 3.59362577e-03 -1.06855181e-04 9.99993537e-01 5.00337603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580281692999996 meters 0.037064368407223665 Centerline is valid? [True, True] Translation: X:45.97, Y:1.77, Z:0.05 [[ 9.90323887e-01 -1.38687172e-01 -4.94648357e-03 4.59666211e+01] [ 1.38686176e-01 9.90336229e-01 -5.45432537e-04 1.76596285e+00] [ 4.97432638e-03 -1.45854020e-04 9.99987617e-01 4.72965285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610281693 meters 0.03531127129608509 Centerline is valid? [True, True] Translation: X:46.00, Y:1.76, Z:0.04 [[ 9.90549986e-01 -1.36986323e-01 -6.74332973e-03 4.59957388e+01] [ 1.36984425e-01 9.90572921e-01 -7.44769632e-04 1.76437683e+00] [ 6.78178308e-03 -1.85999596e-04 9.99976986e-01 4.39334540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640281693 meters 0.03450372751259051 Centerline is valid? [True, True] Translation: X:46.02, Y:1.77, Z:0.05 [[ 9.90731082e-01 -1.35714606e-01 -5.78518506e-03 4.60234460e+01] [ 1.35713184e-01 9.90747961e-01 -6.39439795e-04 1.76585845e+00] [ 5.81844163e-03 -1.51613007e-04 9.99983061e-01 4.53894585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67028169299999 meters 0.031305349622248395 Centerline is valid? [True, True] Translation: X:46.05, Y:1.77, Z:0.05 [[ 9.90975514e-01 -1.33952988e-01 -4.91203427e-03 4.60521130e+01] [ 1.33951938e-01 9.90987680e-01 -5.43474906e-04 1.77196987e+00] [ 4.94056553e-03 -1.19406188e-04 9.99987788e-01 4.82664092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700281692999994 meters 0.0273737710968413 Centerline is valid? [True, True] Translation: X:46.08, Y:1.78, Z:0.05 [[ 9.91584311e-01 -1.29347572e-01 -5.45531472e-03 4.60815589e+01] [ 1.29346206e-01 9.91599311e-01 -6.03961000e-04 1.77785515e+00] [ 5.48760721e-03 -1.06746009e-04 9.99984937e-01 4.59207753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730281692999995 meters 0.026795839984961003 Centerline is valid? [True, True] Translation: X:46.11, Y:1.78, Z:0.04 [[ 9.91849221e-01 -1.27243320e-01 -6.65288403e-03 4.61094890e+01] [ 1.27241240e-01 9.91871526e-01 -7.36847026e-04 1.77979230e+00] [ 6.69256509e-03 -1.15680062e-04 9.99977598e-01 4.30016476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760281692999996 meters 0.024462889554789036 Centerline is valid? [True, True] Translation: X:46.14, Y:1.78, Z:0.04 [[ 9.92067636e-01 -1.25527945e-01 -6.67392716e-03 4.61378986e+01] [ 1.25525806e-01 9.92090079e-01 -7.40063740e-04 1.78488060e+00] [ 6.71403560e-03 -1.03556803e-04 9.99977455e-01 4.30667027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790281693 meters 0.021231818942045625 Centerline is valid? [True, True] Translation: X:46.17, Y:1.79, Z:0.05 [[ 9.92513779e-01 -1.22050480e-01 -4.48099651e-03 4.61666233e+01] [ 1.22049478e-01 9.92523893e-01 -4.97497850e-04 1.79044594e+00] [ 4.50821595e-03 -5.31298123e-05 9.99989837e-01 4.80577249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820281693 meters 0.020009401484041237 Centerline is valid? [True, True] Translation: X:46.19, Y:1.79, Z:0.05 [[ 9.92775089e-01 -1.19908765e-01 -4.41714817e-03 4.61939097e+01] [ 1.19907767e-01 9.92784914e-01 -4.90855904e-04 1.79437737e+00] [ 4.44413600e-03 -4.23408616e-05 9.99990124e-01 4.79899102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850281693 meters 0.01822040856681419 Centerline is valid? [True, True] Translation: X:46.22, Y:1.80, Z:0.05 [[ 9.93176337e-01 -1.16462028e-01 -6.11231526e-03 4.62226469e+01] [ 1.16460050e-01 9.93195144e-01 -6.79761470e-04 1.80011736e+00] [ 6.14988823e-03 -3.67175330e-05 9.99981089e-01 4.61891449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88028169299999 meters 0.017850847110230827 Centerline is valid? [True, True] Translation: X:46.25, Y:1.81, Z:0.05 [[ 9.93316027e-01 -1.15240965e-01 -6.54139306e-03 4.62505107e+01] [ 1.15238666e-01 9.93337566e-01 -7.28541262e-04 1.80609530e+00] [ 6.58176926e-03 -3.01496963e-05 9.99978339e-01 4.54131065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910281692999995 meters 0.017361081898019635 Centerline is valid? [True, True] Translation: X:46.28, Y:1.81, Z:0.05 [[ 9.93448732e-01 -1.14103539e-01 -6.32451419e-03 4.62770900e+01] [ 1.14101360e-01 9.93468863e-01 -7.05579033e-04 1.81237148e+00] [ 6.36371699e-03 -2.06790739e-05 9.99979751e-01 4.60876706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940281692999996 meters 0.016863411503901304 Centerline is valid? [True, True] Translation: X:46.30, Y:1.82, Z:0.05 [[ 9.93734802e-01 -1.11682135e-01 -4.27123278e-03 4.63045671e+01] [ 1.11681117e-01 9.93743981e-01 -4.76899456e-04 1.82033701e+00] [ 4.29777302e-03 -3.10446014e-06 9.99990765e-01 4.96177649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970281693 meters 0.016718405216326872 Centerline is valid? [True, True] Translation: X:46.33, Y:1.82, Z:0.05 [[ 9.93732369e-01 -1.11746767e-01 -2.93933760e-03 4.63326033e+01] [ 1.11746284e-01 9.93736716e-01 -3.28460605e-04 1.82417996e+00] [ 2.95763210e-03 -2.05811985e-06 9.99995626e-01 5.18496886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000281693 meters 0.016558094975995055 Centerline is valid? [True, True] Translation: X:46.36, Y:1.83, Z:0.05 [[ 9.93696621e-01 -1.12087864e-01 -1.82667018e-03 4.63597001e+01] [ 1.12087677e-01 9.93698300e-01 -2.04355951e-04 1.82727434e+00] [ 1.83806487e-03 -1.67939960e-06 9.99998311e-01 5.34663482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030281693 meters 0.016558094975995055 Centerline is valid? [True, True] Translation: X:46.39, Y:1.83, Z:0.05 [[ 9.93675681e-01 -1.12273349e-01 -1.82665437e-03 4.63869860e+01] [ 1.12273162e-01 9.93677360e-01 -2.04497106e-04 1.83052211e+00] [ 1.83806467e-03 -1.88046252e-06 9.99998311e-01 5.35210336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06028169299999 meters 0.017192326964584278 Centerline is valid? [True, True] Translation: X:46.42, Y:1.83, Z:0.05 [[ 9.93283883e-01 -1.15694105e-01 -1.41464890e-03 4.64156372e+01] [ 1.15693997e-01 9.93284891e-01 -1.58568041e-04 1.83185363e+00] [ 1.42349476e-03 -6.16330483e-06 9.99998987e-01 5.48381954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090281692999994 meters 0.01824910125751956 Centerline is valid? [True, True] Translation: X:46.44, Y:1.83, Z:0.05 [[ 9.92997365e-01 -1.18115017e-01 -2.25318495e-03 4.64434251e+01] [ 1.18114747e-01 9.92999921e-01 -2.53100812e-04 1.83169659e+00] [ 2.26730748e-03 -1.48059296e-05 9.99997430e-01 5.37601701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120281692999995 meters 0.01990677406026422 Centerline is valid? [True, True] Translation: X:46.47, Y:1.83, Z:0.05 [[ 9.92604884e-01 -1.21356716e-01 -2.84446273e-03 4.64722407e+01] [ 1.21356298e-01 9.92608960e-01 -3.19808710e-04 1.82973904e+00] [ 2.86225012e-03 -2.77497787e-05 9.99995903e-01 5.26264007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150281693 meters 0.023048578029377063 Centerline is valid? [True, True] Translation: X:46.50, Y:1.83, Z:0.05 [[ 9.92158758e-01 -1.24939680e-01 -3.32785995e-03 4.65008843e+01] [ 1.24939126e-01 9.92164338e-01 -3.74615520e-04 1.82530332e+00] [ 3.34858831e-03 -4.41018450e-05 9.99994392e-01 5.09067758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180281693 meters 0.026858386869552185 Centerline is valid? [True, True] Translation: X:46.53, Y:1.82, Z:0.05 [[ 9.91331443e-01 -1.31347996e-01 -3.11039845e-03 4.65314274e+01] [ 1.31347543e-01 9.91336320e-01 -3.50270730e-04 1.81949206e+00] [ 3.12945831e-03 -6.13088062e-05 9.99995101e-01 5.10721979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210281693 meters 0.02890394992770413 Centerline is valid? [True, True] Translation: X:46.56, Y:1.82, Z:0.05 [[ 9.91031148e-01 -1.33604475e-01 -2.66611950e-03 4.65589487e+01] [ 1.33604150e-01 9.91034732e-01 -3.00329193e-04 1.81868884e+00] [ 2.68234235e-03 -5.85690463e-05 9.99996401e-01 5.18898521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24028169299999 meters 0.03281075261436854 Centerline is valid? [True, True] Translation: X:46.59, Y:1.81, Z:0.05 [[ 9.90711828e-01 -1.35962030e-01 -2.09778262e-03 4.65879591e+01] [ 1.35961834e-01 9.90714047e-01 -2.36426354e-04 1.81261851e+00] [ 2.11044772e-03 -5.09879879e-05 9.99997772e-01 5.26901896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270281692999994 meters 0.033309396816508206 Centerline is valid? [True, True] Translation: X:46.62, Y:1.81, Z:0.05 [[ 9.90645742e-01 -1.36447954e-01 -1.72347382e-03 4.66169442e+01] [ 1.36447822e-01 9.90647240e-01 -1.94295270e-04 1.81282146e+00] [ 1.73386578e-03 -4.26864677e-05 9.99998496e-01 5.37542883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300281692999995 meters 0.031633588492356216 Centerline is valid? [True, True] Translation: X:46.64, Y:1.81, Z:0.06 [[ 9.90646530e-01 -1.36453065e-01 -1.13330632e-04 4.66445889e+01] [ 1.36453064e-01 9.90646537e-01 -1.24473353e-05 1.81468202e+00] [ 1.13969076e-04 -3.13340257e-06 9.99999994e-01 5.66602673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330281692999996 meters 0.03064545754670852 Centerline is valid? [True, True] Translation: X:46.67, Y:1.82, Z:0.06 [[ 9.90658914e-01 -1.36362917e-01 -2.64631510e-04 4.66725438e+01] [ 1.36362914e-01 9.90658950e-01 -2.96050357e-05 1.81834943e+00] [ 2.66196603e-04 -6.75743129e-06 9.99999965e-01 5.65130453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360281693 meters 0.032502448649953275 Centerline is valid? [True, True] Translation: X:46.70, Y:1.82, Z:0.05 [[ 9.90739757e-01 -1.35766902e-01 -1.44296047e-03 4.67010490e+01] [ 1.35766808e-01 9.90740807e-01 -1.63449045e-04 1.81746474e+00] [ 1.45179079e-03 -3.39706697e-05 9.99998946e-01 5.49245421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390281693 meters 0.030455843667057687 Centerline is valid? [True, True] Translation: X:46.73, Y:1.82, Z:0.05 [[ 9.90808336e-01 -1.35234092e-01 -3.25297515e-03 4.67293546e+01] [ 1.35233609e-01 9.90813673e-01 -3.68946227e-04 1.82125827e+00] [ 3.27298637e-03 -7.43565714e-05 9.99994641e-01 5.15727848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42028169299999 meters 0.02985498780176211 Centerline is valid? [True, True] Translation: X:46.76, Y:1.82, Z:0.04 [[ 9.90876527e-01 -1.34586280e-01 -7.08809736e-03 4.67578306e+01] [ 1.34583959e-01 9.90901866e-01 -8.05577846e-04 1.82055088e+00] [ 7.13202863e-03 -1.55716027e-04 9.99974555e-01 4.47524786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450281692999994 meters 0.029627198194114992 Centerline is valid? [True, True] Translation: X:46.79, Y:1.82, Z:0.04 [[ 9.90999513e-01 -1.33661948e-01 -7.37894887e-03 4.67857748e+01] [ 1.33659401e-01 9.91026972e-01 -8.39334838e-04 1.82220325e+00] [ 7.42492449e-03 -1.54485474e-04 9.99972423e-01 4.40778765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480281692999995 meters 0.025072576082944484 Centerline is valid? [True, True] Translation: X:46.81, Y:1.83, Z:0.05 [[ 9.91725180e-01 -1.28166153e-01 -7.38946546e-03 4.68137651e+01] [ 1.28163445e-01 9.91752703e-01 -8.40771068e-04 1.83028907e+00] [ 7.43628074e-03 -1.13245510e-04 9.99972344e-01 4.55543212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510281692999996 meters 0.022112667116493033 Centerline is valid? [True, True] Translation: X:46.84, Y:1.84, Z:0.05 [[ 9.92130150e-01 -1.24993374e-01 -7.37704944e-03 4.68417043e+01] [ 1.24990581e-01 9.92157572e-01 -8.40284631e-04 1.83815907e+00] [ 7.42422547e-03 -8.83899791e-05 9.99972436e-01 4.57946247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540281693 meters 0.020158570928415765 Centerline is valid? [True, True] Translation: X:46.87, Y:1.84, Z:0.05 [[ 9.92494390e-01 -1.22046455e-01 -7.71674473e-03 4.68695028e+01] [ 1.22043300e-01 9.92524387e-01 -8.80248032e-04 1.84446098e+00] [ 7.76648849e-03 -6.81357558e-05 9.99969838e-01 4.54236550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570281693 meters 0.01863761726277666 Centerline is valid? [True, True] Translation: X:46.90, Y:1.85, Z:0.05 [[ 9.92796352e-01 -1.19583983e-01 -7.42126614e-03 4.68975025e+01] [ 1.19580987e-01 9.92824088e-01 -8.47734898e-04 1.84979521e+00] [ 7.46938730e-03 -4.58142185e-05 9.99972103e-01 4.55214012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600281693 meters 0.017313289803655638 Centerline is valid? [True, True] Translation: X:46.93, Y:1.85, Z:0.05 [[ 9.93147210e-01 -1.16734561e-01 -5.62681068e-03 4.69265033e+01] [ 1.16732788e-01 9.93163150e-01 -6.43546479e-04 1.85392438e+00] [ 5.66346514e-03 -1.76969080e-05 9.99983962e-01 4.85851290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63028169299999 meters 0.017035589214387987 Centerline is valid? [True, True] Translation: X:46.95, Y:1.86, Z:0.05 [[ 9.93222008e-01 -1.16137598e-01 -4.70127733e-03 4.69538430e+01] [ 1.16136351e-01 9.93233134e-01 -5.38444084e-04 1.85680152e+00] [ 4.73199802e-03 -1.11946784e-05 9.99988804e-01 5.04274510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660281692999995 meters 0.01671298884820099 Centerline is valid? [True, True] Translation: X:46.98, Y:1.86, Z:0.05 [[ 9.93331590e-01 -1.15267992e-01 -2.37548187e-03 4.69819632e+01] [ 1.15267671e-01 9.93334430e-01 -2.72326400e-04 1.85708729e+00] [ 2.39103844e-03 -3.30584515e-06 9.99997141e-01 5.40609851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690281692999996 meters 0.016525149969951025 Centerline is valid? [True, True] Translation: X:47.01, Y:1.86, Z:0.06 [[ 9.93341876e-01 -1.15196727e-01 -1.27691742e-03 4.70098516e+01] [ 1.15196634e-01 9.93342697e-01 -1.46451589e-04 1.85821798e+00] [ 1.28528734e-03 -1.62009206e-06 9.99999174e-01 5.56930121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720281693 meters 0.016522228930872105 Centerline is valid? [True, True] Translation: X:47.04, Y:1.86, Z:0.06 [[ 9.93299922e-01 -1.15560758e-01 9.88422567e-04 4.70383058e+01] [ 1.15560702e-01 9.93300413e-01 1.14228325e-04 1.85825166e+00] [-9.95000856e-04 7.59819118e-07 9.99999505e-01 5.94099408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750281693 meters 0.016530497843875332 Centerline is valid? [True, True] Translation: X:47.06, Y:1.86, Z:0.06 [[ 9.93404993e-01 -1.14650828e-01 1.30704261e-03 4.70645901e+01] [ 1.14650729e-01 9.93405852e-01 1.50978760e-04 1.86202762e+00] [-1.31573362e-03 -1.29666308e-07 9.99999134e-01 6.05193293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780281693 meters 0.016712673012434023 Centerline is valid? [True, True] Translation: X:47.09, Y:1.87, Z:0.06 [[ 9.93610212e-01 -1.12853026e-01 1.71486814e-03 4.70915339e+01] [ 1.12852852e-01 9.93611692e-01 1.97964801e-04 1.86757456e+00] [-1.72625396e-03 -3.17208692e-06 9.99998510e-01 6.13202262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81028169299999 meters 0.019015100842254173 Centerline is valid? [True, True] Translation: X:47.12, Y:1.88, Z:0.06 [[ 9.94266593e-01 -1.06928382e-01 -5.12117563e-04 4.71187042e+01] [ 1.06928366e-01 9.94266725e-01 -5.88426524e-05 1.88061721e+00] [ 5.15473402e-04 3.74538950e-06 9.99999867e-01 5.71981382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840281692999994 meters 0.022312567816929568 Centerline is valid? [True, True] Translation: X:47.15, Y:1.89, Z:0.05 [[ 9.94613518e-01 -1.03627152e-01 -2.31593146e-03 4.71456104e+01] [ 1.03626810e-01 9.94616214e-01 -2.67593738e-04 1.89231312e+00] [ 2.33119296e-03 2.61597604e-05 9.99997282e-01 5.43378505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870281692999995 meters 0.024316310981129286 Centerline is valid? [True, True] Translation: X:47.17, Y:1.90, Z:0.05 [[ 9.94923786e-01 -1.00575678e-01 -3.34553108e-03 4.71736591e+01] [ 1.00574945e-01 9.94929410e-01 -3.86947142e-04 1.90107435e+00] [ 3.36748473e-03 4.85063119e-05 9.99994329e-01 5.31697160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900281693 meters 0.02903347295942192 Centerline is valid? [True, True] Translation: X:47.20, Y:1.92, Z:0.05 [[ 9.95512148e-01 -9.45945748e-02 -2.72581185e-03 4.72010831e+01] [ 9.45940652e-02 9.95515878e-01 -3.15556924e-04 1.91683216e+00] [ 2.74343895e-03 5.62951267e-05 9.99996235e-01 5.47132779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930281693 meters 0.032681732043098044 Centerline is valid? [True, True] Translation: X:47.23, Y:1.93, Z:0.06 [[ 9.95754299e-01 -9.20326620e-02 -1.83426581e-03 4.72280943e+01] [ 9.20324268e-02 9.95755988e-01 -2.12385813e-04 1.92868594e+00] [ 1.84602760e-03 4.26721520e-05 9.99998295e-01 5.62511385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960281693 meters 0.03398908909864568 Centerline is valid? [True, True] Translation: X:47.26, Y:1.94, Z:0.06 [[ 9.95918810e-01 -9.02475178e-02 -1.05344806e-03 4.72561536e+01] [ 9.02474393e-02 9.95919367e-01 -1.21879742e-04 1.93743726e+00] [ 1.06014866e-03 2.63113385e-05 9.99999438e-01 5.69984729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99028169299999 meters 0.036811451524076014 Centerline is valid? [True, True] Translation: X:47.28, Y:1.95, Z:0.06 [[ 9.96119238e-01 -8.80060723e-02 -1.18113115e-03 4.72828907e+01] [ 8.80059717e-02 9.96119938e-01 -1.36972714e-04 1.95037338e+00] [ 1.18860272e-03 3.24945610e-05 9.99999293e-01 5.67936317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020281692999994 meters 0.03858132902972652 Centerline is valid? [True, True] Translation: X:47.31, Y:1.96, Z:0.06 [[ 9.96125046e-01 -8.79246293e-02 -2.03764478e-03 4.73094377e+01] [ 8.79243294e-02 9.96127129e-01 -2.36472010e-04 1.95956793e+00] [ 2.05054496e-03 5.63971409e-05 9.99997896e-01 5.54060943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050281692999995 meters 0.037267687567308756 Centerline is valid? [True, True] Translation: X:47.34, Y:1.97, Z:0.05 [[ 9.96091368e-01 -8.82527067e-02 -3.66701343e-03 4.73373688e+01] [ 8.82517358e-02 9.96098112e-01 -4.26074636e-04 1.96507844e+00] [ 3.69030740e-03 1.00788967e-04 9.99993186e-01 5.28370170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080281692999996 meters 0.036515554065220376 Centerline is valid? [True, True] Translation: X:47.36, Y:1.97, Z:0.05 [[ 9.95930548e-01 -8.98633573e-02 -6.84991050e-03 4.73643510e+01] [ 8.98600007e-02 9.95954088e-01 -7.96850244e-04 1.97454878e+00] [ 6.89380401e-03 1.78074537e-04 9.99976222e-01 4.60155701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110281693 meters 0.03532295588940117 Centerline is valid? [True, True] Translation: X:47.39, Y:1.98, Z:0.05 [[ 9.95784114e-01 -9.14687121e-02 -6.88999747e-03 4.73929545e+01] [ 9.14653483e-02 9.95807936e-01 -8.02403201e-04 1.97930792e+00] [ 6.93450895e-03 1.68824343e-04 9.99975942e-01 4.51668138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140281693 meters 0.033991300118350935 Centerline is valid? [True, True] Translation: X:47.42, Y:1.98, Z:0.05 [[ 9.95653581e-01 -9.29117632e-02 -6.43046576e-03 4.74217365e+01] [ 9.29088568e-02 9.95674335e-01 -7.49883791e-04 1.98392228e+00] [ 6.47232275e-03 1.49177259e-04 9.99979043e-01 4.69276758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17028169299999 meters 0.03125627384892423 Centerline is valid? [True, True] Translation: X:47.45, Y:1.99, Z:0.05 [[ 9.95422589e-01 -9.53847337e-02 -5.96838159e-03 4.74498308e+01] [ 9.53822716e-02 9.95440474e-01 -6.96468778e-04 1.98964572e+00] [ 6.00760108e-03 1.24002961e-04 9.99981947e-01 4.76081615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200281692999994 meters 0.02962115717533347 Centerline is valid? [True, True] Translation: X:47.48, Y:1.99, Z:0.05 [[ 9.95233037e-01 -9.73348964e-02 -6.09261391e-03 4.74782386e+01] [ 9.73323627e-02 9.95251679e-01 -7.11702121e-04 1.99268531e+00] [ 6.13295767e-03 1.15300957e-04 9.99981187e-01 4.70644147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230281692999995 meters 0.024712897853772058 Centerline is valid? [True, True] Translation: X:47.51, Y:1.99, Z:0.05 [[ 9.94738009e-01 -1.02325540e-01 -5.07717955e-03 4.75075780e+01] [ 1.02323843e-01 9.94750963e-01 -5.93412793e-04 1.99113537e+00] [ 5.11125054e-03 7.07737356e-05 9.99986935e-01 4.87429861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260281692999996 meters 0.021381600964357605 Centerline is valid? [True, True] Translation: X:47.54, Y:1.99, Z:0.05 [[ 9.94353991e-01 -1.06043750e-01 -3.85525477e-03 4.75362150e+01] [ 1.06042800e-01 9.94361464e-01 -4.50713135e-04 1.99052976e+00] [ 3.88131209e-03 3.93463941e-05 9.99992467e-01 5.09433190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290281693 meters 0.01854248719045538 Centerline is valid? [True, True] Translation: X:47.57, Y:1.99, Z:0.05 [[ 9.93920795e-01 -1.10062209e-01 -2.78615985e-03 4.75651143e+01] [ 1.10061728e-01 9.93924700e-01 -3.25915765e-04 1.98898814e+00] [ 2.80510410e-03 1.72848894e-05 9.99996066e-01 5.32346891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320281693 meters 0.016667822996958445 Centerline is valid? [True, True] Translation: X:47.59, Y:1.98, Z:0.05 [[ 9.93022795e-01 -1.17894481e-01 -2.57306631e-03 4.75949066e+01] [ 1.17894096e-01 9.93026128e-01 -3.01305167e-04 1.97749625e+00] [ 2.59064430e-03 -4.14642863e-06 9.99996644e-01 5.28977361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350281693 meters 0.018451205900584938 Centerline is valid? [True, True] Translation: X:47.62, Y:1.97, Z:0.05 [[ 9.92464711e-01 -1.22489452e-01 -3.18315045e-03 4.76234461e+01] [ 1.22488886e-01 9.92469815e-01 -3.72945847e-04 1.96993483e+00] [ 3.20486267e-03 -1.97649600e-05 9.99994864e-01 5.15439812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38028169299999 meters 0.02233465366086576 Centerline is valid? [True, True] Translation: X:47.65, Y:1.96, Z:0.05 [[ 9.91807421e-01 -1.27686573e-01 -3.76554883e-03 4.76532048e+01] [ 1.27685816e-01 9.91814568e-01 -4.41579639e-04 1.96197070e+00] [ 3.79110998e-03 -4.28452134e-05 9.99992813e-01 5.04551675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410281692999995 meters 0.027298911088674598 Centerline is valid? [True, True] Translation: X:47.68, Y:1.95, Z:0.05 [[ 9.91158722e-01 -1.32625009e-01 -3.87231790e-03 4.76827984e+01] [ 1.32624246e-01 9.91166284e-01 -4.54470367e-04 1.95409204e+00] [ 3.89838508e-03 -6.31109722e-05 9.99992399e-01 5.03073587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440281692999996 meters 0.03457340439886498 Centerline is valid? [True, True] Translation: X:47.72, Y:1.94, Z:0.05 [[ 9.89972908e-01 -1.41224851e-01 -3.03026790e-03 4.77150802e+01] [ 1.41224423e-01 9.89977543e-01 -3.55697096e-04 1.93978334e+00] [ 3.05013044e-03 -7.58173479e-05 9.99995345e-01 5.17522504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470281693 meters 0.035597812855126316 Centerline is valid? [True, True] Translation: X:47.74, Y:1.94, Z:0.05 [[ 9.89617724e-01 -1.43685649e-01 -3.34587015e-03 4.77449435e+01] [ 1.43685141e-01 9.89623376e-01 -3.92780736e-04 1.93793494e+00] [ 3.36758827e-03 -9.20490468e-05 9.99994325e-01 5.13267098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500281693 meters 0.04141864769712531 Centerline is valid? [True, True] Translation: X:47.77, Y:1.93, Z:0.05 [[ 9.89522993e-01 -1.44315075e-01 -4.17196771e-03 4.77737415e+01] [ 1.44314290e-01 9.89531781e-01 -4.90003791e-04 1.92794855e+00] [ 4.19900957e-03 -1.17204541e-04 9.99991177e-01 5.02713335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530281693 meters 0.03334625302667122 Centerline is valid? [True, True] Translation: X:47.80, Y:1.94, Z:0.05 [[ 9.89821784e-01 -1.42241731e-01 -4.48625262e-03 4.78011927e+01] [ 1.42240801e-01 9.89831944e-01 -5.27216971e-04 1.94076032e+00] [ 4.51562841e-03 -1.16277323e-04 9.99989798e-01 5.15437396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56028169299999 meters 0.03552085924034 Centerline is valid? [True, True] Translation: X:47.83, Y:1.94, Z:0.05 [[ 9.90280357e-01 -1.39016354e-01 -4.38950394e-03 4.78300760e+01] [ 1.39015432e-01 9.90290080e-01 -5.16022410e-04 1.93910720e+00] [ 4.41861776e-03 -9.92019280e-05 9.99990233e-01 5.15010608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590281692999994 meters 0.024137981239041907 Centerline is valid? [True, True] Translation: X:47.86, Y:1.96, Z:0.05 [[ 9.91390158e-01 -1.30899843e-01 -3.28417378e-03 4.78585615e+01] [ 1.30899282e-01 9.91395597e-01 -3.86141525e-04 1.95650518e+00] [ 3.30646129e-03 -4.70790804e-05 9.99994533e-01 5.43648964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620281692999995 meters 0.02085966679301235 Centerline is valid? [True, True] Translation: X:47.89, Y:1.97, Z:0.05 [[ 9.91844130e-01 -1.27423706e-01 -2.90190012e-03 4.78869524e+01] [ 1.27423253e-01 9.91848375e-01 -3.41342917e-04 1.96577778e+00] [ 2.92174010e-03 -3.12105839e-05 9.99995731e-01 5.43356687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650281693 meters 0.01831321308055114 Centerline is valid? [True, True] Translation: X:47.91, Y:1.98, Z:0.05 [[ 9.92357173e-01 -1.23372753e-01 -2.53076106e-03 4.79139655e+01] [ 1.23372394e-01 9.92360400e-01 -2.97973500e-04 1.97642183e+00] [ 2.54818886e-03 -1.65299091e-05 9.99996753e-01 5.44080191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680281693 meters 0.017698240162095955 Centerline is valid? [True, True] Translation: X:47.94, Y:1.98, Z:0.05 [[ 9.92435540e-01 -1.22740236e-01 -2.55601796e-03 4.79410513e+01] [ 1.22739868e-01 9.92438831e-01 -3.01170184e-04 1.98242828e+00] [ 2.57365718e-03 -1.48333129e-05 9.99996688e-01 5.42961535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710281693 meters 0.017853731916428927 Centerline is valid? [True, True] Translation: X:47.97, Y:1.99, Z:0.05 [[ 9.92464705e-01 -1.22503031e-01 -2.61087087e-03 4.79680758e+01] [ 1.22502645e-01 9.92468139e-01 -3.08067244e-04 1.98571114e+00] [ 2.62894533e-03 -1.40927213e-05 9.99996544e-01 5.39205621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74028169299999 meters 0.017538472628526355 Centerline is valid? [True, True] Translation: X:48.00, Y:1.99, Z:0.05 [[ 9.92460019e-01 -1.22531743e-01 -3.01385395e-03 4.79950034e+01] [ 1.22531227e-01 9.92464595e-01 -3.56001497e-04 1.99310504e+00] [ 3.03476482e-03 -1.59739692e-05 9.99995395e-01 5.30025158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770281692999994 meters 0.01737737573459712 Centerline is valid? [True, True] Translation: X:48.02, Y:2.00, Z:0.05 [[ 9.92529682e-01 -1.21946364e-01 -3.73028395e-03 4.80214493e+01] [ 1.21945567e-01 9.92536692e-01 -4.41238481e-04 1.99871358e+00] [ 3.75625112e-03 -1.69493019e-05 9.99992945e-01 5.20518878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800281692999995 meters 0.017200633827389327 Centerline is valid? [True, True] Translation: X:48.05, Y:2.00, Z:0.05 [[ 9.92578288e-01 -1.21555947e-01 -3.53479452e-03 4.80488150e+01] [ 1.21555227e-01 9.92584582e-01 -4.18566023e-04 2.00401916e+00] [ 3.55946173e-03 -1.42132033e-05 9.99993665e-01 5.15821112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830281692999996 meters 0.0168037873847607 Centerline is valid? [True, True] Translation: X:48.08, Y:2.01, Z:0.06 [[ 9.92717817e-01 -1.20445505e-01 -2.05311528e-03 4.80763776e+01] [ 1.20445260e-01 9.92719940e-01 -2.43338636e-04 2.00988714e+00] [ 2.06747752e-03 -5.72140330e-06 9.99997863e-01 5.50483845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860281693 meters 0.016497061687338638 Centerline is valid? [True, True] Translation: X:48.10, Y:2.02, Z:0.06 [[ 9.92793168e-01 -1.19837875e-01 -7.81017578e-04 4.81033386e+01] [ 1.19837840e-01 9.92793475e-01 -9.23874578e-05 2.01623270e+00] [ 7.86460672e-04 -1.87382258e-06 9.99999691e-01 5.79257374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890281693 meters 0.016446613092729708 Centerline is valid? [True, True] Translation: X:48.13, Y:2.02, Z:0.06 [[ 9.92892066e-01 -1.19016908e-01 -5.67284547e-04 4.81296290e+01] [ 1.19016889e-01 9.92892228e-01 -6.71923656e-05 2.02264110e+00] [ 5.71249445e-04 -8.01675506e-07 9.99999837e-01 5.85727107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92028169299999 meters 0.01682923150139329 Centerline is valid? [True, True] Translation: X:48.16, Y:2.03, Z:0.05 [[ 9.93290390e-01 -1.15615896e-01 -2.67675869e-03 4.81558829e+01] [ 1.15615458e-01 9.93293997e-01 -3.18310416e-04 2.03286847e+00] [ 2.69561008e-03 6.69999535e-06 9.99996367e-01 5.43257857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950281692999994 meters 0.01682923150139329 Centerline is valid? [True, True] Translation: X:48.18, Y:2.04, Z:0.05 [[ 9.93269288e-01 -1.15797048e-01 -2.67672481e-03 4.81831464e+01] [ 1.15796610e-01 9.93272895e-01 -3.18595101e-04 2.03631494e+00] [ 2.69561057e-03 6.49506982e-06 9.99996367e-01 5.43804729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980281692999995 meters 0.017190335710583798 Centerline is valid? [True, True] Translation: X:48.21, Y:2.04, Z:0.05 [[ 9.93391251e-01 -1.14723682e-01 -3.50714228e-03 4.82107351e+01] [ 1.14722920e-01 9.93397441e-01 -4.18197248e-04 2.04265938e+00] [ 3.53196330e-03 1.30838823e-05 9.99993763e-01 5.20078501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010281692999996 meters 0.0177927246274074 Centerline is valid? [True, True] Translation: X:48.24, Y:2.05, Z:0.05 [[ 9.93549297e-01 -1.13325296e-01 -4.14388346e-03 4.82377410e+01] [ 1.13324218e-01 9.93557938e-01 -4.94680546e-04 2.05199724e+00] [ 4.17324813e-03 2.18871551e-05 9.99991292e-01 5.04789579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040281693 meters 0.017672176951454344 Centerline is valid? [True, True] Translation: X:48.27, Y:2.06, Z:0.05 [[ 9.93496564e-01 -1.13812519e-01 -3.35971990e-03 4.82653226e+01] [ 1.13811812e-01 9.93502245e-01 -4.01415715e-04 2.05737132e+00] [ 3.38357540e-03 1.64293223e-05 9.99994276e-01 5.24741098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070281693 meters 0.017368230728484747 Centerline is valid? [True, True] Translation: X:48.29, Y:2.06, Z:0.05 [[ 9.93417686e-01 -1.14527841e-01 -2.16229088e-03 4.82928484e+01] [ 1.14527549e-01 9.93420039e-01 -2.58615316e-04 2.06175404e+00] [ 2.17768175e-03 9.27115381e-06 9.99997629e-01 5.48701571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100281693 meters 0.01710793612920301 Centerline is valid? [True, True] Translation: X:48.32, Y:2.07, Z:0.06 [[ 9.93314640e-01 -1.15422038e-01 -1.94420147e-03 4.83207666e+01] [ 1.15421803e-01 9.93316542e-01 -2.32854167e-04 2.06540205e+00] [ 1.95808399e-03 6.89421331e-06 9.99998083e-01 5.52442916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13028169299999 meters 0.016780357285419316 Centerline is valid? [True, True] Translation: X:48.35, Y:2.07, Z:0.05 [[ 9.93078312e-01 -1.17397038e-01 -3.66072608e-03 4.83485027e+01] [ 1.17396216e-01 9.93085059e-01 -4.39434095e-04 2.06877136e+00] [ 3.68700064e-03 6.63707960e-06 9.99993203e-01 5.16653427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160281692999995 meters 0.016804509713815145 Centerline is valid? [True, True] Translation: X:48.38, Y:2.07, Z:0.05 [[ 9.92944871e-01 -1.18474466e-01 -4.92779285e-03 4.83763210e+01] [ 1.18472984e-01 9.92957099e-01 -5.92585044e-04 2.07286765e+00] [ 4.96329309e-03 4.59395568e-06 9.99987683e-01 4.93141399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190281692999996 meters 0.0168661313910934 Centerline is valid? [True, True] Translation: X:48.40, Y:2.08, Z:0.05 [[ 9.92698518e-01 -1.20525310e-01 -4.82719598e-03 4.84029993e+01] [ 1.20523910e-01 9.92710255e-01 -5.81093543e-04 2.07827825e+00] [ 4.86204343e-03 -4.94183273e-06 9.99988180e-01 4.86945563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220281693 meters 0.016860504146034305 Centerline is valid? [True, True] Translation: X:48.43, Y:2.08, Z:0.05 [[ 9.92543958e-01 -1.21836863e-01 -3.50286598e-03 4.84301391e+01] [ 1.21836133e-01 9.92550139e-01 -4.21912291e-04 2.08161186e+00] [ 3.52817458e-03 -8.00914975e-06 9.99993776e-01 5.16931344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250281693 meters 0.01736915276719883 Centerline is valid? [True, True] Translation: X:48.46, Y:2.08, Z:0.05 [[ 9.92293347e-01 -1.23897162e-01 -1.84592864e-03 4.84581263e+01] [ 1.23896962e-01 9.92295064e-01 -2.22413590e-04 2.08297689e+00] [ 1.85926229e-03 -8.00542520e-06 9.99998272e-01 5.47749613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280281693 meters 0.021637764199492288 Centerline is valid? [True, True] Translation: X:48.49, Y:2.08, Z:0.06 [[ 9.91398374e-01 -1.30878391e-01 -3.33615722e-04 4.84885318e+01] [ 1.30878385e-01 9.91398430e-01 -4.01799700e-05 2.07627593e+00] [ 3.36004793e-04 -3.82872987e-06 9.99999944e-01 5.71767660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31028169299999 meters 0.023935661539594286 Centerline is valid? [True, True] Translation: X:48.52, Y:2.08, Z:0.06 [[ 9.91027444e-01 -1.33649933e-01 -1.51666174e-03 4.85175940e+01] [ 1.33649809e-01 9.91028605e-01 -1.82793694e-04 2.07510358e+00] [ 1.52748554e-03 -2.15479854e-05 9.99998833e-01 5.50853941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340281692999994 meters 0.027158368709460808 Centerline is valid? [True, True] Translation: X:48.55, Y:2.07, Z:0.05 [[ 9.90550360e-01 -1.37094711e-01 -3.87621723e-03 4.85471390e+01] [ 1.37093928e-01 9.90557942e-01 -4.68259501e-04 2.07372735e+00] [ 3.90381366e-03 -6.75712298e-05 9.99992378e-01 5.08006184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370281692999995 meters 0.026188420237715056 Centerline is valid? [True, True] Translation: X:48.58, Y:2.08, Z:0.05 [[ 9.90427470e-01 -1.37975086e-01 -4.03769405e-03 4.85750307e+01] [ 1.37974242e-01 9.90435697e-01 -4.88206904e-04 2.07938313e+00] [ 4.06643671e-03 -7.35642469e-05 9.99991729e-01 5.10107438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400281693 meters 0.02932746215771851 Centerline is valid? [True, True] Translation: X:48.60, Y:2.08, Z:0.05 [[ 9.90347181e-01 -1.38559483e-01 -3.70546004e-03 4.86030510e+01] [ 1.38558775e-01 9.90354111e-01 -4.48293996e-04 2.07798355e+00] [ 3.73183297e-03 -6.94573082e-05 9.99993034e-01 5.10856309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430281693 meters 0.02953202087964804 Centerline is valid? [True, True] Translation: X:48.63, Y:2.08, Z:0.05 [[ 9.90374376e-01 -1.38371521e-01 -3.45217135e-03 4.86306396e+01] [ 1.38370905e-01 9.90380391e-01 -4.17891818e-04 2.08246139e+00] [ 3.47678714e-03 -6.38107259e-05 9.99993954e-01 5.09807599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460281693 meters 0.027176456387432175 Centerline is valid? [True, True] Translation: X:48.66, Y:2.09, Z:0.05 [[ 9.90455268e-01 -1.37780201e-01 -3.87007264e-03 4.86591334e+01] [ 1.37779420e-01 9.90462827e-01 -4.68898017e-04 2.09057231e+00] [ 3.89776795e-03 -6.87938537e-05 9.99992401e-01 5.06745521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49028169299999 meters 0.028163841668174466 Centerline is valid? [True, True] Translation: X:48.69, Y:2.09, Z:0.05 [[ 9.90556738e-01 -1.37037365e-01 -4.25550768e-03 4.86873846e+01] [ 1.37036412e-01 9.90565876e-01 -5.16296652e-04 2.09258903e+00] [ 4.28611263e-03 -7.17383758e-05 9.99990812e-01 4.96524507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520281692999994 meters 0.026826376235450578 Centerline is valid? [True, True] Translation: X:48.72, Y:2.09, Z:0.05 [[ 9.90534644e-01 -1.37229051e-01 -3.05061107e-03 4.87153789e+01] [ 1.37228560e-01 9.90539340e-01 -3.70526172e-04 2.09442966e+00] [ 3.07259723e-03 -5.16119540e-05 9.99995278e-01 5.18825652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550281692999995 meters 0.024828251679421907 Centerline is valid? [True, True] Translation: X:48.74, Y:2.10, Z:0.06 [[ 9.90465451e-01 -1.37750533e-01 -1.72653391e-03 4.87431118e+01] [ 1.37750376e-01 9.90466955e-01 -2.09861452e-04 2.10108997e+00] [ 1.73898331e-03 -2.99701772e-05 9.99998488e-01 5.56137986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580281692999996 meters 0.025539465508909308 Centerline is valid? [True, True] Translation: X:48.77, Y:2.11, Z:0.06 [[ 9.90512121e-01 -1.37423227e-01 -7.71900816e-04 4.87710450e+01] [ 1.37423195e-01 9.90512421e-01 -9.37729840e-05 2.10579413e+00] [ 7.77463932e-04 -1.31937992e-05 9.99999698e-01 5.77468484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610281693 meters 0.022174105366782167 Centerline is valid? [True, True] Translation: X:48.80, Y:2.12, Z:0.06 [[ 9.91148323e-01 -1.32757173e-01 -7.31458695e-04 4.87974493e+01] [ 1.32757143e-01 9.91148593e-01 -8.91007594e-05 2.12006786e+00] [ 7.36813021e-04 -8.79429858e-06 9.99999729e-01 5.76074499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640281693 meters 0.019584909207746956 Centerline is valid? [True, True] Translation: X:48.83, Y:2.13, Z:0.05 [[ 9.91510463e-01 -1.30009665e-01 -2.11854729e-03 4.88254879e+01] [ 1.30009410e-01 9.91512726e-01 -2.58412546e-04 2.13015929e+00] [ 2.13416273e-03 -1.92123395e-05 9.99997722e-01 5.49707686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67028169299999 meters 0.01813933165082822 Centerline is valid? [True, True] Translation: X:48.85, Y:2.14, Z:0.05 [[ 9.91794650e-01 -1.27783386e-01 -3.84424376e-03 4.88529358e+01] [ 1.27782525e-01 9.91802100e-01 -4.69771983e-04 2.14141523e+00] [ 3.87275809e-03 -2.53098371e-05 9.99992501e-01 5.23391708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700281692999994 meters 0.01821913521683674 Centerline is valid? [True, True] Translation: X:48.88, Y:2.15, Z:0.05 [[ 9.91718071e-01 -1.28371413e-01 -4.00603830e-03 4.88808117e+01] [ 1.28370480e-01 9.91726162e-01 -4.90257116e-04 2.14791461e+00] [ 4.03582798e-03 -2.80602157e-05 9.99991856e-01 5.23093037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730281692999995 meters 0.019279536247182132 Centerline is valid? [True, True] Translation: X:48.91, Y:2.15, Z:0.05 [[ 9.91618190e-01 -1.29146218e-01 -3.82366939e-03 4.89082764e+01] [ 1.29145372e-01 9.91625561e-01 -4.68420272e-04 2.14981917e+00] [ 3.85214301e-03 -2.93151424e-05 9.99992580e-01 5.12567680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760281692999996 meters 0.020435863630054715 Centerline is valid? [True, True] Translation: X:48.94, Y:2.15, Z:0.05 [[ 9.91209706e-01 -1.32282650e-01 -2.14946400e-03 4.89369858e+01] [ 1.32282389e-01 9.91212036e-01 -2.63417034e-04 2.14979233e+00] [ 2.16542009e-03 -2.32347137e-05 9.99997655e-01 5.32369585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790281693 meters 0.021751197717734663 Centerline is valid? [True, True] Translation: X:48.97, Y:2.15, Z:0.05 [[ 9.90885932e-01 -1.34681568e-01 -2.43823606e-03 4.89659393e+01] [ 1.34681240e-01 9.90888931e-01 -2.99252431e-04 2.15080675e+00] [ 2.45632491e-03 -3.18596311e-05 9.99996983e-01 5.34739382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820281693 meters 0.024068765863269424 Centerline is valid? [True, True] Translation: X:48.99, Y:2.15, Z:0.05 [[ 9.90516995e-01 -1.37343806e-01 -3.57246201e-03 4.89940330e+01] [ 1.37343116e-01 9.90523435e-01 -4.39037579e-04 2.15057230e+00] [ 3.59890644e-03 -5.57788797e-05 9.99993522e-01 5.14796535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850281693 meters 0.029531224020768288 Centerline is valid? [True, True] Translation: X:49.02, Y:2.14, Z:0.05 [[ 9.89820686e-01 -1.42227584e-01 -5.13064011e-03 4.90238622e+01] [ 1.42226224e-01 9.89833978e-01 -6.30809515e-04 2.14254762e+00] [ 5.16820042e-03 -1.05323262e-04 9.99986639e-01 4.80868747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88028169299999 meters 0.032354835091286574 Centerline is valid? [True, True] Translation: X:49.05, Y:2.14, Z:0.05 [[ 9.89651320e-01 -1.43419808e-01 -4.58504698e-03 4.90521889e+01] [ 1.43418734e-01 9.89661937e-01 -5.63939411e-04 2.13923716e+00] [ 4.61852655e-03 -9.94782482e-05 9.99989330e-01 4.86972797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910281692999995 meters 0.030777005394241472 Centerline is valid? [True, True] Translation: X:49.08, Y:2.14, Z:0.05 [[ 9.89673963e-01 -1.43301136e-01 -3.19874665e-03 4.90815063e+01] [ 1.43300612e-01 9.89679130e-01 -3.93687569e-04 2.14093994e+00] [ 3.22214867e-03 -6.87600161e-05 9.99994807e-01 5.15510304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940281692999996 meters 0.027393092097379047 Centerline is valid? [True, True] Translation: X:49.11, Y:2.15, Z:0.05 [[ 9.89865249e-01 -1.41975489e-01 -3.12235569e-03 4.91101169e+01] [ 1.41974981e-01 9.89870172e-01 -3.84743551e-04 2.14805557e+00] [ 3.14535092e-03 -6.24521202e-05 9.99995051e-01 5.23213239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970281693 meters 0.025745334218677845 Centerline is valid? [True, True] Translation: X:49.14, Y:2.15, Z:0.05 [[ 9.90148507e-01 -1.39975798e-01 -3.56501229e-03 4.91391596e+01] [ 1.39975121e-01 9.90154923e-01 -4.39879761e-04 2.15266475e+00] [ 3.59148699e-03 -6.34667391e-05 9.99993549e-01 5.18339539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000281693 meters 0.023225922198596174 Centerline is valid? [True, True] Translation: X:49.17, Y:2.16, Z:0.05 [[ 9.90675880e-01 -1.36172120e-01 -4.29590383e-03 4.91665781e+01] [ 1.36171099e-01 9.90685192e-01 -5.30564867e-04 2.15695579e+00] [ 4.32813645e-03 -5.93601297e-05 9.99990632e-01 5.00618027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030281693 meters 0.022045147764554626 Centerline is valid? [True, True] Translation: X:49.19, Y:2.16, Z:0.05 [[ 9.90806153e-01 -1.35242471e-01 -3.55549139e-03 4.91949799e+01] [ 1.35241765e-01 9.90812531e-01 -4.39475750e-04 2.16164968e+00] [ 3.58226121e-03 -4.54156530e-05 9.99993583e-01 5.16887172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06028169299999 meters 0.021426520772548956 Centerline is valid? [True, True] Translation: X:49.22, Y:2.17, Z:0.05 [[ 9.90985051e-01 -1.33952111e-01 -2.33679868e-03 4.92228275e+01] [ 1.33951802e-01 9.90987806e-01 -2.89073657e-04 2.16533043e+00] [ 2.35446102e-03 -2.65507205e-05 9.99997228e-01 5.40899053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090281692999994 meters 0.01986931480783866 Centerline is valid? [True, True] Translation: X:49.25, Y:2.17, Z:0.06 [[ 9.91186095e-01 -1.32470945e-01 -1.25451224e-03 4.92507717e+01] [ 1.32470855e-01 9.91186889e-01 -1.55131533e-04 2.17137962e+00] [ 1.26400651e-03 -1.24220909e-05 9.99999201e-01 5.60960334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120281692999995 meters 0.01763649684961959 Centerline is valid? [True, True] Translation: X:49.28, Y:2.18, Z:0.06 [[ 9.91782577e-01 -1.27929642e-01 -1.15181506e-03 4.92772159e+01] [ 1.27929562e-01 9.91783246e-01 -1.42662500e-04 2.18269007e+00] [ 1.16060164e-03 -5.86101465e-06 9.99999326e-01 5.57316883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150281693 meters 0.01704415927624322 Centerline is valid? [True, True] Translation: X:49.30, Y:2.19, Z:0.05 [[ 9.92090920e-01 -1.25506814e-01 -1.90944545e-03 4.93037826e+01] [ 1.25506590e-01 9.92092758e-01 -2.36774498e-04 2.19127690e+00] [ 1.92406381e-03 -4.74615780e-06 9.99998149e-01 5.45965128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180281693 meters 0.01714934763621023 Centerline is valid? [True, True] Translation: X:49.33, Y:2.20, Z:0.05 [[ 9.92483253e-01 -1.22314152e-01 -4.02993454e-03 4.93298408e+01] [ 1.22313128e-01 9.92491435e-01 -5.00567254e-04 2.20230071e+00] [ 4.06090198e-03 3.89071845e-06 9.99991754e-01 5.03841128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210281693 meters 0.017160823390081917 Centerline is valid? [True, True] Translation: X:49.36, Y:2.21, Z:0.05 [[ 9.92479376e-01 -1.22309185e-01 -5.01505784e-03 4.93578180e+01] [ 1.22307595e-01 9.92492047e-01 -6.23678088e-04 2.20745033e+00] [ 5.05368658e-03 5.60797508e-06 9.99987230e-01 4.86965510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24028169299999 meters 0.017081899041119435 Centerline is valid? [True, True] Translation: X:49.39, Y:2.21, Z:0.05 [[ 9.92427132e-01 -1.22740853e-01 -4.80325397e-03 4.93852409e+01] [ 1.22739395e-01 9.92438755e-01 -5.98221143e-04 2.21250721e+00] [ 4.84036156e-03 4.14240596e-06 9.99988285e-01 5.01839919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270281692999994 meters 0.01690552368316692 Centerline is valid? [True, True] Translation: X:49.41, Y:2.22, Z:0.05 [[ 9.92179000e-01 -1.24798334e-01 -2.49136267e-03 4.94127697e+01] [ 1.24797948e-01 9.92182128e-01 -3.10512870e-04 2.21715599e+00] [ 2.51063700e-03 -2.83259987e-06 9.99996848e-01 5.34575190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300281692999995 meters 0.017108978174783792 Centerline is valid? [True, True] Translation: X:49.44, Y:2.22, Z:0.05 [[ 9.91975966e-01 -1.26415184e-01 -1.69839680e-03 4.94403180e+01] [ 1.26415007e-01 9.91977420e-01 -2.11744578e-04 2.21945974e+00] [ 1.71153900e-03 -4.65731125e-06 9.99998535e-01 5.42788954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330281692999996 meters 0.017860550448044205 Centerline is valid? [True, True] Translation: X:49.47, Y:2.22, Z:0.05 [[ 9.91624089e-01 -1.29131215e-01 -2.60697227e-03 4.94693828e+01] [ 1.29130806e-01 9.91627515e-01 -3.25301502e-04 2.22165586e+00] [ 2.62715201e-03 -1.40636252e-05 9.99996549e-01 5.18839430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360281693 meters 0.01844242477286389 Centerline is valid? [True, True] Translation: X:49.50, Y:2.22, Z:0.05 [[ 9.91503551e-01 -1.30020817e-01 -3.91102505e-03 4.94975326e+01] [ 1.30019901e-01 9.91511264e-01 -4.88631599e-04 2.22451285e+00] [ 3.94135767e-03 -2.40311238e-05 9.99992233e-01 4.94891250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390281693 meters 0.01972856579370803 Centerline is valid? [True, True] Translation: X:49.53, Y:2.23, Z:0.05 [[ 9.91218624e-01 -1.32141971e-01 -4.91320906e-03 4.95254540e+01] [ 1.32140550e-01 9.91230799e-01 -6.14158636e-04 2.22556784e+00] [ 4.95128027e-03 -4.04686693e-05 9.99987742e-01 4.86848314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42028169299999 meters 0.02027557403914984 Centerline is valid? [True, True] Translation: X:49.55, Y:2.23, Z:0.05 [[ 9.91070321e-01 -1.33266466e-01 -4.43475323e-03 4.95543946e+01] [ 1.33265317e-01 9.91080243e-01 -5.54845688e-04 2.22789272e+00] [ 4.46913864e-03 -4.11077007e-05 9.99990013e-01 4.99342261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450281692999994 meters 0.02003261589763026 Centerline is valid? [True, True] Translation: X:49.58, Y:2.23, Z:0.05 [[ 9.90996311e-01 -1.33826877e-01 -4.08400178e-03 4.95824507e+01] [ 1.33825904e-01 9.91004725e-01 -5.11651479e-04 2.23169673e+00] [ 4.11573778e-03 -3.95005037e-05 9.99991530e-01 5.10163748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480281692999995 meters 0.02072766250294674 Centerline is valid? [True, True] Translation: X:49.61, Y:2.23, Z:0.05 [[ 9.91033211e-01 -1.33529309e-01 -4.80603743e-03 4.96092324e+01] [ 1.33527954e-01 9.91044864e-01 -6.03084680e-04 2.23201908e+00] [ 4.84352819e-03 -4.40633976e-05 9.99988269e-01 4.98351512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510281692999996 meters 0.019874683908466768 Centerline is valid? [True, True] Translation: X:49.64, Y:2.24, Z:0.05 [[ 9.91042470e-01 -1.33436477e-01 -5.43417195e-03 4.96366123e+01] [ 1.33434737e-01 9.91057367e-01 -6.82981217e-04 2.23747034e+00] [ 5.47671075e-03 -4.82439148e-05 9.99985002e-01 4.94473697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540281693 meters 0.020294865152439306 Centerline is valid? [True, True] Translation: X:49.66, Y:2.24, Z:0.05 [[ 9.91005615e-01 -1.33769787e-01 -3.67623383e-03 4.96637869e+01] [ 1.33768992e-01 9.91012433e-01 -4.62430666e-04 2.23925556e+00] [ 3.70505269e-03 -3.34947079e-05 9.99993136e-01 5.19049996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570281693 meters 0.020729905316157073 Centerline is valid? [True, True] Translation: X:49.69, Y:2.24, Z:0.06 [[ 9.90940683e-01 -1.34289240e-01 -1.72107750e-03 4.96919438e+01] [ 1.34289067e-01 9.90942178e-01 -2.16554429e-04 2.24079299e+00] [ 1.73456921e-03 -1.65292968e-05 9.99998495e-01 5.54479162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60028169299999 meters 0.020723062144468913 Centerline is valid? [True, True] Translation: X:49.72, Y:2.24, Z:0.06 [[ 9.90861553e-01 -1.34882822e-01 8.91071696e-05 4.97206344e+01] [ 1.34882822e-01 9.90861557e-01 1.15454236e-05 2.24355202e+00] [-8.98501480e-05 5.79110130e-07 9.99999996e-01 5.92699557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63028169299999 meters 0.02009166662016372 Centerline is valid? [True, True] Translation: X:49.75, Y:2.25, Z:0.06 [[ 9.90886939e-01 -1.34695861e-01 3.13363506e-04 4.97485916e+01] [ 1.34695855e-01 9.90886989e-01 3.99298455e-05 2.24853875e+00] [-3.15886206e-04 2.64280308e-06 9.99999950e-01 6.05283040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660281692999995 meters 0.020082805295251766 Centerline is valid? [True, True] Translation: X:49.77, Y:2.25, Z:0.06 [[ 9.90898617e-01 -1.34609834e-01 -3.50480787e-04 4.97749933e+01] [ 1.34609827e-01 9.90898679e-01 -4.41104325e-05 2.25264891e+00] [ 3.53228647e-04 -3.46919158e-06 9.99999938e-01 5.89023003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690281692999996 meters 0.020784134989795363 Centerline is valid? [True, True] Translation: X:49.80, Y:2.25, Z:0.06 [[ 9.90772213e-01 -1.35535711e-01 -7.02131073e-04 4.98030680e+01] [ 1.35535682e-01 9.90772462e-01 -8.86182907e-05 2.25308354e+00] [ 7.07663075e-04 -7.36327384e-06 9.99999750e-01 5.73152141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720281693 meters 0.021365413108611755 Centerline is valid? [True, True] Translation: X:49.83, Y:2.25, Z:0.06 [[ 9.90595944e-01 -1.36815357e-01 -1.11083283e-03 4.98324324e+01] [ 1.36815285e-01 9.90596567e-01 -1.40241097e-04 2.25373029e+00] [ 1.11957432e-03 -1.30566483e-05 9.99999373e-01 5.68721827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750281693 meters 0.02268768983604918 Centerline is valid? [True, True] Translation: X:49.86, Y:2.25, Z:0.06 [[ 9.90315320e-01 -1.38831077e-01 -1.22438916e-03 4.98612656e+01] [ 1.38830992e-01 9.90316077e-01 -1.54813195e-04 2.25277389e+00] [ 1.23402516e-03 -1.66692827e-05 9.99999238e-01 5.68334790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780281693 meters 0.024274929891638413 Centerline is valid? [True, True] Translation: X:49.89, Y:2.25, Z:0.06 [[ 9.90032430e-01 -1.40835933e-01 -1.01369184e-03 4.98898258e+01] [ 1.40835875e-01 9.90032949e-01 -1.28386319e-04 2.25294607e+00] [ 1.02166973e-03 -1.56575573e-05 9.99999478e-01 5.78133234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81028169299999 meters 0.02519563291592467 Centerline is valid? [True, True] Translation: X:49.92, Y:2.25, Z:0.06 [[ 9.89770918e-01 -1.42659676e-01 -1.32198723e-03 4.99189700e+01] [ 1.42659579e-01 9.89771800e-01 -1.67475881e-04 2.25294646e+00] [ 1.33235774e-03 -2.28313852e-05 9.99999112e-01 5.78847826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840281692999994 meters 0.02519563291592467 Centerline is valid? [True, True] Translation: X:49.95, Y:2.26, Z:0.06 [[ 9.89744171e-01 -1.42845119e-01 -1.32196171e-03 4.99462130e+01] [ 1.42845022e-01 9.89745054e-01 -1.67677056e-04 2.25658738e+00] [ 1.33235691e-03 -2.28782606e-05 9.99999112e-01 5.79394811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870281692999995 meters 0.02566432926844241 Centerline is valid? [True, True] Translation: X:49.97, Y:2.26, Z:0.06 [[ 9.89687205e-01 -1.43237536e-01 -1.49799012e-03 4.99743473e+01] [ 1.43237411e-01 9.89688339e-01 -1.90387839e-04 2.25705291e+00] [ 1.50981404e-03 -2.61438194e-05 9.99998860e-01 5.71264238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900281693 meters 0.02630960120189236 Centerline is valid? [True, True] Translation: X:50.00, Y:2.25, Z:0.06 [[ 9.89648205e-01 -1.43504801e-01 -1.67406884e-03 5.00031471e+01] [ 1.43504646e-01 9.89649620e-01 -2.12945926e-04 2.25413706e+00] [ 1.68730036e-03 -2.94951038e-05 9.99998576e-01 5.67038654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930281693 meters 0.02769798389349539 Centerline is valid? [True, True] Translation: X:50.03, Y:2.25, Z:0.06 [[ 9.89586345e-01 -1.43928263e-01 -1.87652834e-03 5.00311350e+01] [ 1.43928069e-01 9.89588123e-01 -2.38823290e-04 2.25346544e+00] [ 1.89136358e-03 -3.37488323e-05 9.99998211e-01 5.67277030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960281693 meters 0.026543662301500168 Centerline is valid? [True, True] Translation: X:50.06, Y:2.25, Z:0.06 [[ 9.89519209e-01 -1.44383906e-01 -2.24136096e-03 5.00603975e+01] [ 1.44383630e-01 9.89521746e-01 -2.85435358e-04 2.25459085e+00] [ 2.25908768e-03 -4.11720611e-05 9.99997447e-01 5.63140540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99028169299999 meters 0.02671967454380014 Centerline is valid? [True, True] Translation: X:50.09, Y:2.26, Z:0.06 [[ 9.89539400e-01 -1.44232286e-01 -2.97060618e-03 5.00870853e+01] [ 1.44231798e-01 9.89543857e-01 -3.78924545e-04 2.25522298e+00] [ 2.99419825e-03 -5.34951026e-05 9.99995516e-01 5.56970423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020281692999994 meters 0.026586943917575486 Centerline is valid? [True, True] Translation: X:50.12, Y:2.26, Z:0.05 [[ 9.89617936e-01 -1.43670781e-01 -3.87918327e-03 5.01152132e+01] [ 1.43669942e-01 9.89625536e-01 -4.95416730e-04 2.25709929e+00] [ 3.91011573e-03 -6.70487555e-05 9.99992353e-01 5.41696735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050281692999995 meters 0.025488584270474467 Centerline is valid? [True, True] Translation: X:50.14, Y:2.26, Z:0.05 [[ 9.89756789e-01 -1.42691961e-01 -4.52798847e-03 5.01439059e+01] [ 1.42690806e-01 9.89767144e-01 -5.78826501e-04 2.26164805e+00] [ 4.56424810e-03 -7.32048656e-05 9.99989581e-01 5.29646887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080281692999996 meters 0.024288768715512443 Centerline is valid? [True, True] Translation: X:50.17, Y:2.26, Z:0.05 [[ 9.89968199e-01 -1.41203523e-01 -4.95281637e-03 5.01730071e+01] [ 1.41202118e-01 9.89980586e-01 -6.33970082e-04 2.26443573e+00] [ 4.99271086e-03 -7.17379431e-05 9.99987534e-01 5.16843341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110281693 meters 0.02415205836352071 Centerline is valid? [True, True] Translation: X:50.20, Y:2.27, Z:0.05 [[ 9.89970656e-01 -1.41197393e-01 -4.62571192e-03 5.02014152e+01] [ 1.41196163e-01 9.89981460e-01 -5.92894462e-04 2.26562097e+00] [ 4.66308419e-03 -6.61846553e-05 9.99989126e-01 5.27906378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140281693 meters 0.02356671055545662 Centerline is valid? [True, True] Translation: X:50.23, Y:2.27, Z:0.05 [[ 9.90180840e-01 -1.39741322e-01 -3.77717605e-03 5.02294044e+01] [ 1.39740490e-01 9.90188043e-01 -4.84538722e-04 2.26591931e+00] [ 3.80782464e-03 -4.80434723e-05 9.99992749e-01 5.49064054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17028169299999 meters 0.0222263419154854 Centerline is valid? [True, True] Translation: X:50.26, Y:2.27, Z:0.05 [[ 9.90390384e-01 -1.38242706e-01 -3.98016919e-03 5.02575067e+01] [ 1.38241768e-01 9.90398381e-01 -5.11017419e-04 2.27167197e+00] [ 4.01259755e-03 -4.41188894e-05 9.99991949e-01 5.48354080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200281692999994 meters 0.020722197721600406 Centerline is valid? [True, True] Translation: X:50.29, Y:2.28, Z:0.05 [[ 9.90678354e-01 -1.36162669e-01 -4.01574385e-03 5.02856866e+01] [ 1.36161696e-01 9.90686492e-01 -5.16225276e-04 2.27871566e+00] [ 4.04863380e-03 -3.53772853e-05 9.99991804e-01 5.43468063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230281692999995 meters 0.018335460570736296 Centerline is valid? [True, True] Translation: X:50.31, Y:2.29, Z:0.05 [[ 9.91340106e-01 -1.31211898e-01 -5.31345186e-03 5.03132517e+01] [ 1.31210116e-01 9.91354345e-01 -6.84024146e-04 2.29219583e+00] [ 5.35726570e-03 -1.90780675e-05 9.99985650e-01 5.27433794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260281692999996 meters 0.01794627721171463 Centerline is valid? [True, True] Translation: X:50.34, Y:2.30, Z:0.05 [[ 9.91619949e-01 -1.29062892e-01 -5.71378411e-03 5.03398325e+01] [ 1.29060793e-01 9.91636410e-01 -7.36142851e-04 2.30102710e+00] [ 5.76100509e-03 -7.45157184e-06 9.99983405e-01 5.19977362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290281693 meters 0.018009540142802996 Centerline is valid? [True, True] Translation: X:50.37, Y:2.31, Z:0.05 [[ 9.91895311e-01 -1.26918957e-01 -5.93882152e-03 5.03655483e+01] [ 1.26916649e-01 9.91913090e-01 -7.65583240e-04 2.31089446e+00] [ 5.98796183e-03 5.64310190e-06 9.99982072e-01 5.24129172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320281693 meters 0.018757880472261332 Centerline is valid? [True, True] Translation: X:50.39, Y:2.33, Z:0.05 [[ 9.92380353e-01 -1.23127235e-01 -4.57366816e-03 5.03925730e+01] [ 1.23125823e-01 9.92390892e-01 -5.90141242e-04 2.32596709e+00] [ 4.61152909e-03 2.25079178e-05 9.99989367e-01 5.38950925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35028169299999 meters 0.018864851071622973 Centerline is valid? [True, True] Translation: X:50.42, Y:2.33, Z:0.05 [[ 9.92445593e-01 -1.22628304e-01 -3.74765349e-03 5.04200856e+01] [ 1.22627350e-01 9.92452668e-01 -4.84137165e-04 2.33164377e+00] [ 3.77873763e-03 2.09149788e-05 9.99992860e-01 5.48952879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38028169299999 meters 0.018681607571957134 Centerline is valid? [True, True] Translation: X:50.45, Y:2.34, Z:0.06 [[ 9.92323245e-01 -1.23641623e-01 -2.70667125e-03 5.04475711e+01] [ 1.23641128e-01 9.92326937e-01 -3.49957032e-04 2.33666839e+00] [ 2.72917204e-03 1.26146110e-05 9.99996276e-01 5.64267603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410281692999995 meters 0.01809782524119242 Centerline is valid? [True, True] Translation: X:50.48, Y:2.34, Z:0.06 [[ 9.92090548e-01 -1.25493036e-01 -2.80053826e-03 5.04759105e+01] [ 1.25492513e-01 9.92094500e-01 -3.62372606e-04 2.33921176e+00] [ 2.82387385e-03 8.05985324e-06 9.99996013e-01 5.75645532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440281692999996 meters 0.017777511633018078 Centerline is valid? [True, True] Translation: X:50.50, Y:2.34, Z:0.06 [[ 9.91789176e-01 -1.27860403e-01 -2.43892658e-03 5.05041308e+01] [ 1.27860013e-01 9.91792174e-01 -3.15937493e-04 2.34106768e+00] [ 2.45930419e-03 1.50220285e-06 9.99996976e-01 5.85297412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470281693 meters 0.01808695113846549 Centerline is valid? [True, True] Translation: X:50.53, Y:2.34, Z:0.06 [[ 9.91292590e-01 -1.31673475e-01 -1.04754983e-03 5.05325703e+01] [ 1.31673405e-01 9.91293143e-01 -1.35576442e-04 2.34170219e+00] [ 1.05628078e-03 -3.53853127e-06 9.99999442e-01 6.11414025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500281693 meters 0.018380893535119812 Centerline is valid? [True, True] Translation: X:50.56, Y:2.35, Z:0.06 [[ 9.91175639e-01 -1.32549796e-01 -1.18497149e-03 5.05600743e+01] [ 1.32549707e-01 9.91176347e-01 -1.53732955e-04 2.34551290e+00] [ 1.19489298e-03 -4.69126265e-06 9.99999286e-01 6.09386642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530281693 meters 0.018695234684427013 Centerline is valid? [True, True] Translation: X:50.59, Y:2.35, Z:0.05 [[ 9.91129126e-01 -1.32821393e-01 -4.64032447e-03 5.05869780e+01] [ 1.32820026e-01 9.91139989e-01 -6.02952075e-04 2.35455307e+00] [ 4.67929608e-03 -1.87246525e-05 9.99989052e-01 5.42320471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56028169299999 meters 0.018874134896352437 Centerline is valid? [True, True] Translation: X:50.62, Y:2.36, Z:0.05 [[ 9.91147308e-01 -1.32604031e-01 -6.57146121e-03 5.06154441e+01] [ 1.32601275e-01 9.91169093e-01 -8.55130158e-04 2.36140128e+00] [ 6.62682295e-03 -2.38241826e-05 9.99978042e-01 5.11614336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590281692999994 meters 0.019138270426586175 Centerline is valid? [True, True] Translation: X:50.64, Y:2.37, Z:0.05 [[ 9.91088934e-01 -1.33002563e-01 -7.28301445e-03 5.06433857e+01] [ 1.32999180e-01 9.91115693e-01 -9.49045399e-04 2.36717073e+00] [ 7.34453538e-03 -2.80465570e-05 9.99973028e-01 5.01159132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620281692999995 meters 0.019716123529179393 Centerline is valid? [True, True] Translation: X:50.67, Y:2.37, Z:0.05 [[ 9.90778985e-01 -1.35398668e-01 -4.91966750e-03 5.06704989e+01] [ 1.35397150e-01 9.90791199e-01 -6.41859167e-04 2.37227730e+00] [ 4.96127014e-03 -3.01683865e-05 9.99987692e-01 5.37628379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650281693 meters 0.02085339200212891 Centerline is valid? [True, True] Translation: X:50.70, Y:2.37, Z:0.06 [[ 9.90551444e-01 -1.37102742e-01 -3.26730990e-03 5.06986302e+01] [ 1.37102081e-01 9.90556832e-01 -4.26591019e-04 2.37428812e+00] [ 3.29494294e-03 -2.53946370e-05 9.99994571e-01 5.63533283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680281693 meters 0.02302840796610288 Centerline is valid? [True, True] Translation: X:50.73, Y:2.38, Z:0.06 [[ 9.89921811e-01 -1.41597835e-01 -2.20466904e-03 5.07271378e+01] [ 1.41597545e-01 9.89924266e-01 -2.87961646e-04 2.37608790e+00] [ 2.22323012e-03 -2.71162092e-05 9.99997528e-01 5.86772701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710281693 meters 0.024416770568097285 Centerline is valid? [True, True] Translation: X:50.76, Y:2.38, Z:0.06 [[ 9.89590621e-01 -1.43879237e-01 -3.02775530e-03 5.07557269e+01] [ 1.43878698e-01 9.89595252e-01 -3.96079402e-04 2.37963486e+00] [ 3.05323987e-03 -4.36730300e-05 9.99995338e-01 5.79881978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74028169299999 meters 0.02600788113847091 Centerline is valid? [True, True] Translation: X:50.78, Y:2.38, Z:0.06 [[ 9.89323798e-01 -1.45689203e-01 -3.61658662e-03 5.07836994e+01] [ 1.45688445e-01 9.89330406e-01 -4.73590131e-04 2.38350759e+00] [ 3.64699608e-03 -5.83608944e-05 9.99993348e-01 5.73893638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770281692999994 meters 0.029412242520057575 Centerline is valid? [True, True] Translation: X:50.81, Y:2.39, Z:0.06 [[ 9.89057266e-01 -1.47458554e-01 -4.65818212e-03 5.08114884e+01] [ 1.47457314e-01 9.89068232e-01 -6.10289275e-04 2.38638577e+00] [ 4.69725233e-03 -8.32719819e-05 9.99988964e-01 5.53735942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800281692999995 meters 0.028832555906224057 Centerline is valid? [True, True] Translation: X:50.84, Y:2.39, Z:0.05 [[ 9.88840773e-01 -1.48874357e-01 -5.50918583e-03 5.08397056e+01] [ 1.48872641e-01 9.88856114e-01 -7.22489116e-04 2.39244951e+00] [ 5.55535219e-03 -1.05740348e-04 9.99984563e-01 5.40058967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830281692999996 meters 0.033885588908879286 Centerline is valid? [True, True] Translation: X:50.87, Y:2.39, Z:0.05 [[ 9.88468058e-01 -1.51323068e-01 -5.67686552e-03 5.08685810e+01] [ 1.51321284e-01 9.88484352e-01 -7.45020268e-04 2.38867457e+00] [ 5.72423148e-03 -1.22601842e-04 9.99983609e-01 5.25612330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860281693 meters 0.03206161366605278 Centerline is valid? [True, True] Translation: X:50.90, Y:2.40, Z:0.06 [[ 9.88331686e-01 -1.52248451e-01 -4.57028073e-03 5.08967358e+01] [ 1.52247302e-01 9.88342248e-01 -6.00299660e-04 2.39531203e+00] [ 4.60839622e-03 -1.02517733e-04 9.99989376e-01 5.54174372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890281693 meters 0.03183181904117013 Centerline is valid? [True, True] Translation: X:50.92, Y:2.40, Z:0.06 [[ 9.88244382e-01 -1.52842911e-01 -3.47641488e-03 5.09249141e+01] [ 1.52842248e-01 9.88250494e-01 -4.57104009e-04 2.39979664e+00] [ 3.50543383e-03 -7.96125977e-05 9.99993853e-01 5.78200712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92028169299999 meters 0.031520371599665746 Centerline is valid? [True, True] Translation: X:50.95, Y:2.40, Z:0.06 [[ 9.88442158e-01 -1.51545744e-01 -3.99851500e-03 5.09526687e+01] [ 1.51544855e-01 9.88450242e-01 -5.26235901e-04 2.40397817e+00] [ 4.03208193e-03 -8.58006259e-05 9.99991867e-01 5.71451758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950281692999994 meters 0.030268730673197415 Centerline is valid? [True, True] Translation: X:50.98, Y:2.41, Z:0.06 [[ 9.88621672e-01 -1.50345484e-01 -4.84002699e-03 5.09814501e+01] [ 1.50344165e-01 9.88633515e-01 -6.37187345e-04 2.40993755e+00] [ 4.88081114e-03 -9.77325990e-05 9.99988084e-01 5.56657769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980281692999995 meters 0.02753485809155199 Centerline is valid? [True, True] Translation: X:51.01, Y:2.42, Z:0.05 [[ 9.88805575e-01 -1.49083681e-01 -6.13110925e-03 5.10089374e+01] [ 1.49081536e-01 9.88824576e-01 -8.07909233e-04 2.41852406e+00] [ 6.18303759e-03 -1.15170031e-04 9.99980878e-01 5.43826954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010281692999996 meters 0.026881139065413288 Centerline is valid? [True, True] Translation: X:51.04, Y:2.42, Z:0.06 [[ 9.88898766e-01 -1.48494887e-01 -5.33844514e-03 5.10373232e+01] [ 1.48493248e-01 9.88913171e-01 -7.04308815e-04 2.42278311e+00] [ 5.38384497e-03 -9.62329398e-05 9.99985502e-01 5.61296296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040281693 meters 0.025510949286254817 Centerline is valid? [True, True] Translation: X:51.06, Y:2.43, Z:0.06 [[ 9.89403555e-01 -1.45146826e-01 -3.60624754e-03 5.10646366e+01] [ 1.45146054e-01 9.89410125e-01 -4.76098124e-04 2.42632507e+00] [ 3.63716196e-03 -5.23794260e-05 9.99993384e-01 6.01400910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070281693 meters 0.023628668617232496 Centerline is valid? [True, True] Translation: X:51.09, Y:2.43, Z:0.06 [[ 9.89724086e-01 -1.42919027e-01 -4.51494723e-03 5.10925317e+01] [ 1.42917792e-01 9.89734383e-01 -5.96588358e-04 2.43391585e+00] [ 4.55386233e-03 -5.48084210e-05 9.99989630e-01 5.87236054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10028169299999 meters 0.021141314108945958 Centerline is valid? [True, True] Translation: X:51.12, Y:2.44, Z:0.06 [[ 9.90163356e-01 -1.39794752e-01 -5.82724712e-03 5.11206724e+01] [ 1.39792635e-01 9.90180501e-01 -7.70961558e-04 2.44435034e+00] [ 5.87780285e-03 -5.12283469e-05 9.99982724e-01 5.63205104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13028169299999 meters 0.019743112680791416 Centerline is valid? [True, True] Translation: X:51.15, Y:2.45, Z:0.05 [[ 9.90652065e-01 -1.36244826e-01 -6.77002104e-03 5.11471946e+01] [ 1.36241882e-01 9.90675197e-01 -8.96329873e-04 2.45459020e+00] [ 6.82901224e-03 -3.44093701e-05 9.99976681e-01 5.48715677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160281692999995 meters 0.018979033088012395 Centerline is valid? [True, True] Translation: X:51.17, Y:2.47, Z:0.06 [[ 9.91595276e-01 -1.29258491e-01 -5.57232337e-03 5.11739922e+01] [ 1.29256382e-01 9.91610933e-01 -7.38453365e-04 2.47260347e+00] [ 5.62102814e-03 1.19885095e-05 9.99984202e-01 5.71352945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190281692999996 meters 0.01988876409956278 Centerline is valid? [True, True] Translation: X:51.20, Y:2.48, Z:0.06 [[ 9.92039785e-01 -1.25831067e-01 -4.85870387e-03 5.12005143e+01] [ 1.25829420e-01 9.92051683e-01 -6.44340560e-04 2.48362731e+00] [ 4.90116341e-03 2.78435813e-05 9.99987989e-01 5.84030562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220281693 meters 0.023146833114362088 Centerline is valid? [True, True] Translation: X:51.23, Y:2.50, Z:0.06 [[ 9.92714369e-01 -1.20378118e-01 -5.22405276e-03 5.12274023e+01] [ 1.20376135e-01 9.92728112e-01 -6.93454201e-04 2.49948700e+00] [ 5.26954074e-03 5.95506679e-05 9.99986114e-01 5.70753980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250281693 meters 0.024871073816045253 Centerline is valid? [True, True] Translation: X:51.25, Y:2.51, Z:0.06 [[ 9.92949388e-01 -1.18364151e-01 -6.43740284e-03 5.12538298e+01] [ 1.18361094e-01 9.92970251e-01 -8.55233104e-04 2.50838912e+00] [ 6.49337845e-03 8.72651481e-05 9.99978914e-01 5.54718652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280281693 meters 0.02651195694349972 Centerline is valid? [True, True] Translation: X:51.28, Y:2.52, Z:0.05 [[ 9.93141291e-01 -1.16714182e-01 -6.94089780e-03 5.12812862e+01] [ 1.16710580e-01 9.93165539e-01 -9.23087637e-04 2.51784137e+00] [ 7.00119793e-03 1.06680237e-04 9.99975486e-01 5.48829941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31028169299999 meters 0.030234171929042025 Centerline is valid? [True, True] Translation: X:51.31, Y:2.53, Z:0.06 [[ 9.93588176e-01 -1.12866726e-01 -6.60587606e-03 5.13075783e+01] [ 1.12863375e-01 9.93610128e-01 -8.79067498e-04 2.53434061e+00] [ 6.66288283e-03 1.27869602e-04 9.99977795e-01 5.62373809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340281692999994 meters 0.03225799989515756 Centerline is valid? [True, True] Translation: X:51.34, Y:2.54, Z:0.06 [[ 9.93803803e-01 -1.10991060e-01 -5.91493048e-03 5.13353959e+01] [ 1.10988336e-01 9.93821397e-01 -7.87849473e-04 2.54476991e+00] [ 5.96582871e-03 1.26479510e-04 9.99982196e-01 5.75141136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370281692999995 meters 0.034364723231189866 Centerline is valid? [True, True] Translation: X:51.36, Y:2.55, Z:0.06 [[ 9.94053690e-01 -1.08765494e-01 -5.22764744e-03 5.13626427e+01] [ 1.08763332e-01 9.94067428e-01 -6.96879980e-04 2.55485806e+00] [ 5.27243055e-03 1.24159760e-04 9.99986093e-01 5.85397110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400281693 meters 0.03907319681893093 Centerline is valid? [True, True] Translation: X:51.39, Y:2.57, Z:0.06 [[ 9.94420158e-01 -1.05411844e-01 -4.11010224e-03 5.13888485e+01] [ 1.05410478e-01 9.94428645e-01 -5.48141248e-04 2.57253512e+00] [ 4.14498398e-03 1.11834865e-04 9.99991403e-01 6.05042697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430281693 meters 0.040364501992101974 Centerline is valid? [True, True] Translation: X:51.42, Y:2.58, Z:0.06 [[ 9.94490371e-01 -1.04773414e-01 -3.38130386e-03 5.14155131e+01] [ 1.04772485e-01 9.94496115e-01 -4.51138586e-04 2.58276860e+00] [ 3.40996088e-03 9.43853705e-05 9.99994182e-01 6.17568602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460281693 meters 0.03592065184768705 Centerline is valid? [True, True] Translation: X:51.44, Y:2.59, Z:0.06 [[ 9.94343941e-01 -1.06158561e-01 -3.23838345e-03 5.14442383e+01] [ 1.06157716e-01 9.94349210e-01 -4.32424773e-04 2.58849261e+00] [ 3.26598962e-03 8.61995638e-05 9.99994663e-01 6.16802293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49028169299999 meters 0.03659460365384129 Centerline is valid? [True, True] Translation: X:51.47, Y:2.60, Z:0.06 [[ 9.94125259e-01 -1.08169244e-01 -3.79263982e-03 5.14721359e+01] [ 1.08168097e-01 9.94132489e-01 -5.06858952e-04 2.59663638e+00] [ 3.82521301e-03 9.36386566e-05 9.99992679e-01 6.05625974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520281692999994 meters 0.032755372387367955 Centerline is valid? [True, True] Translation: X:51.50, Y:2.60, Z:0.06 [[ 9.93814988e-01 -1.10981320e-01 -3.86212361e-03 5.15011149e+01] [ 1.10980151e-01 9.93822489e-01 -5.16303247e-04 2.59743925e+00] [ 3.89556532e-03 8.44908451e-05 9.99992409e-01 6.09707420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550281692999995 meters 0.025515889958446364 Centerline is valid? [True, True] Translation: X:51.53, Y:2.60, Z:0.06 [[ 9.93004256e-01 -1.18039325e-01 -3.04385092e-03 5.15317513e+01] [ 1.18038632e-01 9.93008920e-01 -4.07012652e-04 2.59539589e+00] [ 3.07061462e-03 4.48732966e-05 9.99995285e-01 6.26549139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580281692999996 meters 0.023934024206199517 Centerline is valid? [True, True] Translation: X:51.56, Y:2.60, Z:0.06 [[ 9.92651991e-01 -1.20976262e-01 -2.60184996e-03 5.15594366e+01] [ 1.20975765e-01 9.92655400e-01 -3.47989827e-04 2.59898510e+00] [ 2.62483892e-03 3.06720045e-05 9.99996555e-01 6.41846805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610281693 meters 0.020729193293598305 Centerline is valid? [True, True] Translation: X:51.59, Y:2.60, Z:0.06 [[ 9.92177179e-01 -1.24793684e-01 -3.31389379e-03 5.15887992e+01] [ 1.24792898e-01 9.92182713e-01 -4.43594320e-04 2.59930816e+00] [ 3.34334590e-03 2.65737513e-05 9.99994411e-01 6.28202052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640281693 meters 0.020958594330062783 Centerline is valid? [True, True] Translation: X:51.62, Y:2.60, Z:0.06 [[ 9.92021298e-01 -1.25986929e-01 -4.58663912e-03 5.16166234e+01] [ 1.25985434e-01 9.92031901e-01 -6.14579405e-04 2.60458181e+00] [ 4.62752130e-03 3.18261376e-05 9.99989292e-01 6.01515933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67028169299999 meters 0.02036795306447635 Centerline is valid? [True, True] Translation: X:51.64, Y:2.61, Z:0.06 [[ 9.91888534e-01 -1.26993804e-01 -5.45067305e-03 5.16446924e+01] [ 1.26991704e-01 9.91903510e-01 -7.31131636e-04 2.60702360e+00] [ 5.49939092e-03 3.30108297e-05 9.99984878e-01 5.91285933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700281692999994 meters 0.019850256670662186 Centerline is valid? [True, True] Translation: X:51.67, Y:2.61, Z:0.06 [[ 9.91748246e-01 -1.28092219e-01 -5.27266890e-03 5.16724903e+01] [ 1.28090264e-01 9.91762261e-01 -7.08231453e-04 2.61052648e+00] [ 5.31995297e-03 2.70097518e-05 9.99985849e-01 6.09118633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730281692999995 meters 0.01973976679776503 Centerline is valid? [True, True] Translation: X:51.70, Y:2.62, Z:0.06 [[ 9.91743808e-01 -1.28147768e-01 -4.72949148e-03 5.17001194e+01] [ 1.28146191e-01 9.91755085e-01 -6.36128892e-04 2.61615176e+00] [ 4.77201572e-03 2.48105712e-05 9.99988614e-01 6.18875730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760281692999996 meters 0.01973976679776503 Centerline is valid? [True, True] Translation: X:51.73, Y:2.62, Z:0.06 [[ 9.91720006e-01 -1.28331845e-01 -4.72937324e-03 5.17273079e+01] [ 1.28330267e-01 9.91731283e-01 -6.37007103e-04 2.61999814e+00] [ 4.77201568e-03 2.48109589e-05 9.99988614e-01 6.19422649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790281693 meters 0.02106074492092004 Centerline is valid? [True, True] Translation: X:51.75, Y:2.63, Z:0.06 [[ 9.92015655e-01 -1.26025955e-01 -4.73277605e-03 5.17540853e+01] [ 1.26024345e-01 9.92026944e-01 -6.38000375e-04 2.63145276e+00] [ 4.77544597e-03 3.64613582e-05 9.99988597e-01 6.11774232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820281693 meters 0.021160694738803026 Centerline is valid? [True, True] Translation: X:51.78, Y:2.64, Z:0.06 [[ 9.92078957e-01 -1.25501549e-01 -5.35760514e-03 5.17821290e+01] [ 1.25499475e-01 9.92093423e-01 -7.22925475e-04 2.63672359e+00] [ 5.40597309e-03 4.48225172e-05 9.99985387e-01 6.04904599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85028169299999 meters 0.021474533206240105 Centerline is valid? [True, True] Translation: X:51.81, Y:2.64, Z:0.06 [[ 9.92089036e-01 -1.25397185e-01 -5.90688907e-03 5.18093835e+01] [ 1.25394659e-01 9.92106619e-01 -7.97638372e-04 2.64170657e+00] [ 5.96028535e-03 5.06359436e-05 9.99982236e-01 5.88377586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88028169299999 meters 0.02092099519058226 Centerline is valid? [True, True] Translation: X:51.84, Y:2.64, Z:0.06 [[ 9.91914458e-01 -1.26759663e-01 -6.13970244e-03 5.18385137e+01] [ 1.26756954e-01 9.91933458e-01 -8.29879706e-04 2.64454100e+00] [ 6.19537155e-03 4.49196965e-05 9.99980807e-01 5.77104693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910281692999995 meters 0.0201897858392461 Centerline is valid? [True, True] Translation: X:51.87, Y:2.65, Z:0.06 [[ 9.91749839e-01 -1.28094987e-01 -4.89185520e-03 5.18659113e+01] [ 1.28093282e-01 9.91761904e-01 -6.61639842e-04 2.64796575e+00] [ 4.93630837e-03 2.95674199e-05 9.99987816e-01 5.94961934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940281692999996 meters 0.01889884684475166 Centerline is valid? [True, True] Translation: X:51.90, Y:2.65, Z:0.06 [[ 9.91278634e-01 -1.31744535e-01 -3.16983813e-03 5.18951613e+01] [ 1.31743837e-01 9.91283702e-01 -4.29003363e-04 2.64765666e+00] [ 3.19872773e-03 7.65522968e-06 9.99994884e-01 6.30685156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970281693 meters 0.01876595213280154 Centerline is valid? [True, True] Translation: X:51.92, Y:2.65, Z:0.06 [[ 9.90987560e-01 -1.33892706e-01 -4.04968975e-03 5.19221686e+01] [ 1.33891582e-01 9.90995834e-01 -5.48668321e-04 2.64661617e+00] [ 4.08668836e-03 1.50411215e-06 9.99991649e-01 6.18801092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000281693 meters 0.019981056919082116 Centerline is valid? [True, True] Translation: X:51.95, Y:2.64, Z:0.06 [[ 9.90223149e-01 -1.39375742e-01 -5.70245226e-03 5.19520183e+01] [ 1.39373599e-01 9.90239568e-01 -7.73422049e-04 2.63798975e+00] [ 5.75459014e-03 -2.89108778e-05 9.99983442e-01 5.85323619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030281693 meters 0.02064209378128989 Centerline is valid? [True, True] Translation: X:51.98, Y:2.64, Z:0.06 [[ 9.89922250e-01 -1.41482932e-01 -6.04312753e-03 5.19805983e+01] [ 1.41480558e-01 9.89940694e-01 -8.20633746e-04 2.63821667e+00] [ 6.09844353e-03 -4.26214511e-05 9.99981403e-01 5.80086772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06028169299999 meters 0.021418566401218555 Centerline is valid? [True, True] Translation: X:52.01, Y:2.64, Z:0.06 [[ 9.89722539e-01 -1.42850779e-01 -6.55370137e-03 5.20080873e+01] [ 1.42848013e-01 9.89744236e-01 -8.90638507e-04 2.63870016e+00] [ 6.61371655e-03 -5.46982163e-05 9.99978128e-01 5.67675867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090281692999994 meters 0.02227139973930861 Centerline is valid? [True, True] Translation: X:52.04, Y:2.64, Z:0.05 [[ 9.89491747e-01 -1.44418428e-01 -7.02857738e-03 5.20380727e+01] [ 1.44415279e-01 9.89516707e-01 -9.56134632e-04 2.63524419e+00] [ 7.09297820e-03 -6.89466371e-05 9.99974842e-01 5.41365093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120281692999995 meters 0.022177176248049445 Centerline is valid? [True, True] Translation: X:52.07, Y:2.64, Z:0.05 [[ 9.89484752e-01 -1.44450972e-01 -7.33768954e-03 5.20658831e+01] [ 1.44447532e-01 9.89511956e-01 -9.99514109e-04 2.63581660e+00] [ 7.40511231e-03 -7.09071720e-05 9.99972579e-01 5.42358673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150281693 meters 0.02041460122255958 Centerline is valid? [True, True] Translation: X:52.09, Y:2.64, Z:0.06 [[ 9.89995800e-01 -1.40895843e-01 -7.52843214e-03 5.20937167e+01] [ 1.40892108e-01 9.90024424e-01 -1.02676859e-03 2.64094252e+00] [ 7.59799912e-03 -4.42000859e-05 9.99971134e-01 5.54402671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180281693 meters 0.019439868824935192 Centerline is valid? [True, True] Translation: X:52.12, Y:2.65, Z:0.06 [[ 9.90431246e-01 -1.37844339e-01 -6.69966907e-03 5.21217032e+01] [ 1.37841305e-01 9.90453905e-01 -9.14777564e-04 2.64892763e+00] [ 6.76181030e-03 -1.74668447e-05 9.99977139e-01 5.69100971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210281693 meters 0.0191733787805502 Centerline is valid? [True, True] Translation: X:52.15, Y:2.66, Z:0.06 [[ 9.90910587e-01 -1.34369843e-01 -6.39960017e-03 5.21488222e+01] [ 1.34366998e-01 9.90931252e-01 -8.74360632e-04 2.65681270e+00] [ 6.45905151e-03 6.51814350e-06 9.99979140e-01 5.79508230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24028169299999 meters 0.02112159683422382 Centerline is valid? [True, True] Translation: X:52.18, Y:2.67, Z:0.06 [[ 9.91752949e-01 -1.28069997e-01 -4.91563961e-03 5.21758159e+01] [ 1.28068240e-01 9.91765131e-01 -6.71864745e-04 2.66524911e+00] [ 4.96120567e-03 3.67865279e-05 9.99987692e-01 5.99095812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270281692999994 meters 0.02229346482863057 Centerline is valid? [True, True] Translation: X:52.20, Y:2.67, Z:0.06 [[ 9.91992632e-01 -1.26234540e-01 -3.93183846e-03 5.22040152e+01] [ 1.26233400e-01 9.92000423e-01 -5.37800904e-04 2.67046775e+00] [ 3.96827446e-03 3.71651983e-05 9.99992126e-01 6.21887631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300281692999995 meters 0.023361872666058582 Centerline is valid? [True, True] Translation: X:52.23, Y:2.67, Z:0.07 [[ 9.92182108e-01 -1.24786634e-01 -1.72074746e-03 5.22317704e+01] [ 1.24786414e-01 9.92183600e-01 -2.35488561e-04 2.67302238e+00] [ 1.73668323e-03 1.89216327e-05 9.99998492e-01 6.53490274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330281692999996 meters 0.02314690949209321 Centerline is valid? [True, True] Translation: X:52.26, Y:2.67, Z:0.06 [[ 9.92092482e-01 -1.25494962e-01 -1.87652357e-03 5.22601528e+01] [ 1.25494700e-01 9.92094257e-01 -2.56911304e-04 2.67332032e+00] [ 1.89392934e-03 1.93860098e-05 9.99998206e-01 6.42353137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360281693 meters 0.021312003518514165 Centerline is valid? [True, True] Translation: X:52.29, Y:2.67, Z:0.06 [[ 9.91907850e-01 -1.26941554e-01 -2.15860682e-03 5.22894541e+01] [ 1.26941210e-01 9.91910198e-01 -2.95973236e-04 2.66957783e+00] [ 2.17871542e-03 1.95620139e-05 9.99997626e-01 6.35061310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390281693 meters 0.021759435412661107 Centerline is valid? [True, True] Translation: X:52.32, Y:2.67, Z:0.06 [[ 9.91784968e-01 -1.27858501e-01 -3.84451273e-03 5.23172908e+01] [ 1.27857415e-01 9.91792419e-01 -5.27853387e-04 2.67060854e+00] [ 3.88044912e-03 3.19675950e-05 9.99992471e-01 6.27748201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42028169299999 meters 0.020916539119354358 Centerline is valid? [True, True] Translation: X:52.34, Y:2.67, Z:0.06 [[ 9.91728777e-01 -1.28296851e-01 -3.73519622e-03 5.23449519e+01] [ 1.28295827e-01 9.91735810e-01 -5.13299433e-04 2.67244439e+00] [ 3.77018255e-03 2.98437291e-05 9.99992892e-01 6.39558854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450281692999994 meters 0.020666212218336952 Centerline is valid? [True, True] Translation: X:52.37, Y:2.67, Z:0.06 [[ 9.91714349e-01 -1.28421710e-01 -3.24260530e-03 5.23735607e+01] [ 1.28420937e-01 9.91719650e-01 -4.46187543e-04 2.67285858e+00] [ 3.27305556e-03 2.60721771e-05 9.99994643e-01 6.48100019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480281692999995 meters 0.0211775802749046 Centerline is valid? [True, True] Translation: X:52.40, Y:2.67, Z:0.06 [[ 9.91725099e-01 -1.28350460e-01 -2.73640576e-03 5.24008696e+01] [ 1.28349909e-01 9.91728874e-01 -3.76930538e-04 2.67441442e+00] [ 2.76215181e-03 2.25940453e-05 9.99996185e-01 6.44422387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510281692999996 meters 0.021174785662861007 Centerline is valid? [True, True] Translation: X:52.43, Y:2.67, Z:0.06 [[ 9.91654371e-01 -1.28910360e-01 -1.93089731e-03 5.24276893e+01] [ 1.28910086e-01 9.91656250e-01 -2.66089324e-04 2.67486653e+00] [ 1.94908806e-03 1.49565029e-05 9.99998100e-01 6.47690794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540281693 meters 0.02189155121889448 Centerline is valid? [True, True] Translation: X:52.46, Y:2.68, Z:0.06 [[ 9.91707935e-01 -1.28479850e-01 -2.88079646e-03 5.24559991e+01] [ 1.28479238e-01 9.91712119e-01 -3.97430387e-04 2.67510062e+00] [ 2.90798256e-03 2.40123360e-05 9.99995772e-01 6.39916473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570281693 meters 0.022577952740592495 Centerline is valid? [True, True] Translation: X:52.48, Y:2.68, Z:0.06 [[ 9.91787188e-01 -1.27829307e-01 -4.22405486e-03 5.24849389e+01] [ 1.27827982e-01 9.91796182e-01 -5.83253183e-04 2.67736091e+00] [ 4.26395833e-03 3.85106240e-05 9.99990909e-01 6.17189148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60028169299999 meters 0.02234379972462534 Centerline is valid? [True, True] Translation: X:52.51, Y:2.68, Z:0.06 [[ 9.91920569e-01 -1.26764395e-01 -4.93692208e-03 5.25141945e+01] [ 1.26762567e-01 9.91932853e-01 -6.82536645e-04 2.67640064e+00] [ 4.98361655e-03 5.12052182e-05 9.99987580e-01 6.16993014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63028169299999 meters 0.02422302532361534 Centerline is valid? [True, True] Translation: X:52.54, Y:2.68, Z:0.06 [[ 9.92299122e-01 -1.23806700e-01 -3.78867316e-03 5.25424759e+01] [ 1.23805601e-01 9.92306353e-01 -5.24154903e-04 2.67840482e+00] [ 3.82441834e-03 5.10594921e-05 9.99992686e-01 6.35638161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660281692999995 meters 0.025568029656008535 Centerline is valid? [True, True] Translation: X:52.57, Y:2.68, Z:0.06 [[ 9.92615329e-01 -1.21257658e-01 -3.37468295e-03 5.25705077e+01] [ 1.21256771e-01 9.92621064e-01 -4.67231609e-04 2.68354946e+00] [ 3.40643679e-03 5.45781007e-05 9.99994197e-01 6.36642819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690281692999996 meters 0.033137326581689254 Centerline is valid? [True, True] Translation: X:52.60, Y:2.70, Z:0.06 [[ 9.93471882e-01 -1.14021867e-01 -3.55424216e-03 5.25976032e+01] [ 1.14020834e-01 9.93478237e-01 -4.92493785e-04 2.69740895e+00] [ 3.58721730e-03 8.40210715e-05 9.99993562e-01 6.26067608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720281693 meters 0.043184720922658 Centerline is valid? [True, True] Translation: X:52.62, Y:2.71, Z:0.06 [[ 9.93887194e-01 -1.10351840e-01 -3.27358577e-03 5.26240262e+01] [ 1.10350944e-01 9.93892581e-01 -4.53718131e-04 2.71493572e+00] [ 3.30366124e-03 8.97013615e-05 9.99994539e-01 6.30926410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750281693 meters 0.03879691039936806 Centerline is valid? [True, True] Translation: X:52.65, Y:2.71, Z:0.06 [[ 9.94167822e-01 -1.07804006e-01 -2.93908538e-03 5.26544354e+01] [ 1.07803272e-01 9.94172162e-01 -4.07472632e-04 2.71249268e+00] [ 2.96588405e-03 8.82531599e-05 9.99995598e-01 6.48838052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780281693 meters 0.040401653459639336 Centerline is valid? [True, True] Translation: X:52.68, Y:2.72, Z:0.06 [[ 9.94322909e-01 -1.06350205e-01 -3.40403947e-03 5.26824324e+01] [ 1.06349211e-01 9.94328730e-01 -4.72228378e-04 2.71826202e+00] [ 3.43495583e-03 1.07530583e-04 9.99994095e-01 6.45767552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81028169299999 meters 0.04156178156888234 Centerline is valid? [True, True] Translation: X:52.71, Y:2.72, Z:0.06 [[ 9.94291371e-01 -1.06568045e-01 -5.28400694e-03 5.27096233e+01] [ 1.06565648e-01 9.94305398e-01 -7.33815715e-04 2.72187382e+00] [ 5.33211792e-03 1.66533008e-04 9.99985770e-01 6.03821883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840281692999994 meters 0.03711717668699721 Centerline is valid? [True, True] Translation: X:52.74, Y:2.72, Z:0.06 [[ 9.93845343e-01 -1.10684622e-01 -4.51094908e-03 5.27399543e+01] [ 1.10682917e-01 9.93855573e-01 -6.26656496e-04 2.71874474e+00] [ 4.55259311e-03 1.23514638e-04 9.99989629e-01 6.11540008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870281692999995 meters 0.03349597343208034 Centerline is valid? [True, True] Translation: X:52.77, Y:2.72, Z:0.06 [[ 9.93523097e-01 -1.13583353e-01 -3.26758660e-03 5.27693234e+01] [ 1.13582474e-01 9.93528467e-01 -4.54024734e-04 2.71786360e+00] [ 3.29800996e-03 7.99434887e-05 9.99994558e-01 6.38549294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900281693 meters 0.03160605573427745 Centerline is valid? [True, True] Translation: X:52.80, Y:2.72, Z:0.07 [[ 9.93239514e-01 -1.16055527e-01 -2.52631278e-03 5.27972614e+01] [ 1.16055009e-01 9.93242725e-01 -3.51131175e-04 2.71902757e+00] [ 2.54999251e-03 5.55661043e-05 9.99996747e-01 6.55836022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930281693 meters 0.029418883856151556 Centerline is valid? [True, True] Translation: X:52.83, Y:2.72, Z:0.07 [[ 9.92999815e-01 -1.18091510e-01 -2.40054923e-03 5.28262475e+01] [ 1.18091048e-01 9.93002715e-01 -3.33834545e-04 2.71857740e+00] [ 2.42317493e-03 4.80142671e-05 9.99997063e-01 6.56995026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960281693 meters 0.029692865671631225 Centerline is valid? [True, True] Translation: X:52.85, Y:2.72, Z:0.06 [[ 9.92814749e-01 -1.19540715e-01 -5.37516968e-03 5.28541663e+01] [ 1.19538413e-01 9.92829294e-01 -7.48549705e-04 2.72058415e+00] [ 5.42610808e-03 1.00631932e-04 9.99985274e-01 6.04687738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99028169299999 meters 0.029553972121689705 Centerline is valid? [True, True] Translation: X:52.88, Y:2.73, Z:0.06 [[ 9.92877374e-01 -1.18970377e-01 -6.36938893e-03 5.28822473e+01] [ 1.18967128e-01 9.92897796e-01 -8.87942944e-04 2.72572643e+00] [ 6.42979114e-03 1.23870553e-04 9.99979321e-01 5.95316269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020281692999994 meters 0.030912795843815625 Centerline is valid? [True, True] Translation: X:52.91, Y:2.73, Z:0.06 [[ 9.92990911e-01 -1.18029046e-01 -6.18018613e-03 5.29095139e+01] [ 1.18025966e-01 9.93010135e-01 -8.62130780e-04 2.73261085e+00] [ 6.23874394e-03 1.26665594e-04 9.99980531e-01 6.00646651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050281692999995 meters 0.03130883702498666 Centerline is valid? [True, True] Translation: X:52.94, Y:2.74, Z:0.06 [[ 9.93113222e-01 -1.17051188e-01 -5.01466071e-03 5.29377138e+01] [ 1.17049144e-01 9.93125877e-01 -7.00140920e-04 2.73779239e+00] [ 5.06214164e-03 1.08357461e-04 9.99987181e-01 6.22963786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080281692999996 meters 0.03547863142974936 Centerline is valid? [True, True] Translation: X:52.96, Y:2.75, Z:0.07 [[ 9.93478280e-01 -1.13994696e-01 -2.47308532e-03 5.29645305e+01] [ 1.13994189e-01 9.93481356e-01 -3.45468574e-04 2.75161147e+00] [ 2.49634574e-03 6.12981692e-05 9.99996882e-01 6.92005107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110281693 meters 0.036426316673630374 Centerline is valid? [True, True] Translation: X:52.99, Y:2.76, Z:0.07 [[ 9.93707398e-01 -1.11998305e-01 -1.40959915e-03 5.29920136e+01] [ 1.11998139e-01 9.93708397e-01 -1.96915851e-04 2.75971080e+00] [ 1.42278475e-03 3.78042571e-05 9.99998987e-01 7.15989640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140281693 meters 0.04021022150167545 Centerline is valid? [True, True] Translation: X:53.02, Y:2.77, Z:0.07 [[ 9.94205464e-01 -1.07496485e-01 -3.08536166e-05 5.30205435e+01] [ 1.07496485e-01 9.94205465e-01 -4.28979997e-06 2.77497874e+00] [ 3.11359726e-05 9.48287246e-07 1.00000000e+00 7.35563006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17028169299999 meters 0.04209862157724863 Centerline is valid? [True, True] Translation: X:53.05, Y:2.78, Z:0.07 [[ 9.94365392e-01 -1.06006102e-01 4.15951518e-04 5.30481353e+01] [ 1.06006086e-01 9.94365479e-01 5.85382478e-05 2.78389756e+00] [-4.19813242e-04 -1.41150152e-05 9.99999912e-01 7.41984299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200281692999994 meters 0.04566387303382917 Centerline is valid? [True, True] Translation: X:53.08, Y:2.80, Z:0.08 [[ 9.94467392e-01 -1.05040242e-01 1.07439891e-03 5.30752702e+01] [ 1.05040141e-01 9.94467971e-01 1.50473003e-04 2.79545804e+00] [-1.08426103e-03 -3.67854814e-05 9.99999412e-01 7.53003978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230281692999995 meters 0.04359777192585513 Centerline is valid? [True, True] Translation: X:53.10, Y:2.80, Z:0.08 [[ 9.94531507e-01 -1.04424522e-01 1.61277742e-03 5.31046441e+01] [ 1.04424293e-01 9.94532813e-01 2.25813274e-04 2.80207760e+00] [-1.62754051e-03 -5.61652732e-05 9.99998674e-01 7.57471435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260281692999996 meters 0.04199694475518859 Centerline is valid? [True, True] Translation: X:53.13, Y:2.81, Z:0.07 [[ 9.94517019e-01 -1.04570500e-01 9.53603332e-04 5.31343318e+01] [ 1.04570420e-01 9.94517476e-01 1.33505202e-04 2.80662126e+00] [-9.62335885e-04 -3.30544948e-05 9.99999536e-01 7.41066964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290281693 meters 0.04287048227148487 Centerline is valid? [True, True] Translation: X:53.16, Y:2.82, Z:0.07 [[ 9.94428667e-01 -1.05406649e-01 -1.03145377e-03 5.31628820e+01] [ 1.05406556e-01 9.94429202e-01 -1.44412618e-04 2.81588523e+00] [ 1.04092980e-03 3.48860580e-05 9.99999458e-01 7.10470236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320281693 meters 0.04157374879483637 Centerline is valid? [True, True] Translation: X:53.19, Y:2.82, Z:0.07 [[ 9.94402504e-01 -1.05632465e-01 -2.33288740e-03 5.31918661e+01] [ 1.05631989e-01 9.94405237e-01 -3.26594124e-04 2.81995395e+00] [ 2.35433439e-03 7.83384786e-05 9.99997225e-01 6.90166028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35028169299999 meters 0.044466643879492014 Centerline is valid? [True, True] Translation: X:53.22, Y:2.83, Z:0.07 [[ 9.94399033e-01 -1.05639713e-01 -3.28854790e-03 5.32194637e+01] [ 1.05638767e-01 9.94404464e-01 -4.60496231e-04 2.83025474e+00] [ 3.31879340e-03 1.10518863e-04 9.99994487e-01 6.74179122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38028169299999 meters 0.04325245710531238 Centerline is valid? [True, True] Translation: X:53.25, Y:2.84, Z:0.07 [[ 9.94428300e-01 -1.05360255e-01 -3.40179675e-03 5.32473908e+01] [ 1.05359240e-01 9.94434112e-01 -4.76663293e-04 2.83806071e+00] [ 3.43308410e-03 1.15596747e-04 9.99994100e-01 6.67800414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410281692999995 meters 0.04481190168652605 Centerline is valid? [True, True] Translation: X:53.27, Y:2.85, Z:0.07 [[ 9.94393073e-01 -1.05704213e-01 -3.00608820e-03 5.32747151e+01] [ 1.05703421e-01 9.94397611e-01 -4.21548404e-04 2.84668126e+00] [ 3.03380636e-03 1.01431005e-04 9.99995393e-01 6.78722034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440281692999996 meters 0.04226141772741923 Centerline is valid? [True, True] Translation: X:53.30, Y:2.85, Z:0.07 [[ 9.94323290e-01 -1.06358072e-01 -3.02579759e-03 5.33042560e+01] [ 1.06357272e-01 9.94327889e-01 -4.24423476e-04 2.84976663e+00] [ 3.05377579e-03 1.00198570e-04 9.99995332e-01 6.82182173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470281693 meters 0.03947936931936773 Centerline is valid? [True, True] Translation: X:53.33, Y:2.85, Z:0.07 [[ 9.94085781e-01 -1.08520982e-01 -4.08113792e-03 5.33341753e+01] [ 1.08519545e-01 9.94094151e-01 -5.72541746e-04 2.85378441e+00] [ 4.11916813e-03 1.26272379e-04 9.99991508e-01 6.60546686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500281693 meters 0.0351656432055092 Centerline is valid? [True, True] Translation: X:53.36, Y:2.85, Z:0.07 [[ 9.93629938e-01 -1.12634259e-01 -3.61529147e-03 5.33647182e+01] [ 1.12633158e-01 9.93636510e-01 -5.07228683e-04 2.85486233e+00] [ 3.64941693e-03 9.67959079e-05 9.99993336e-01 6.59348847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530281693 meters 0.03374779276152574 Centerline is valid? [True, True] Translation: X:53.39, Y:2.86, Z:0.07 [[ 9.93324964e-01 -1.15309514e-01 -3.03841149e-03 5.33920181e+01] [ 1.15308749e-01 9.93329608e-01 -4.26375519e-04 2.85819705e+00] [ 3.06730925e-03 7.31740182e-05 9.99995293e-01 6.64077727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56028169299999 meters 0.029737780160834996 Centerline is valid? [True, True] Translation: X:53.42, Y:2.86, Z:0.07 [[ 9.92920925e-01 -1.18743580e-01 -2.82830795e-03 5.34218702e+01] [ 1.18742930e-01 9.92924951e-01 -3.97134590e-04 2.85721769e+00] [ 2.85545471e-03 5.84816702e-05 9.99995921e-01 6.70367743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590281692999994 meters 0.027376852250712572 Centerline is valid? [True, True] Translation: X:53.45, Y:2.86, Z:0.07 [[ 9.92459572e-01 -1.22548850e-01 -2.40355261e-03 5.34497924e+01] [ 1.22548391e-01 9.92462482e-01 -3.37778191e-04 2.85719685e+00] [ 2.42683012e-03 4.06796926e-05 9.99997054e-01 6.82281314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620281692999995 meters 0.020856272857750824 Centerline is valid? [True, True] Translation: X:53.48, Y:2.85, Z:0.07 [[ 9.91504498e-01 -1.30070971e-01 -6.10382912e-04 5.34811304e+01] [ 1.30070943e-01 9.91504686e-01 -8.57774384e-05 2.84804806e+00] [ 6.16354672e-04 5.65563502e-06 9.99999810e-01 7.18494540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650281693 meters 0.020856272857750824 Centerline is valid? [True, True] Translation: X:53.51, Y:2.85, Z:0.07 [[ 9.91481334e-01 -1.30247425e-01 -6.10410768e-04 5.35082992e+01] [ 1.30247397e-01 9.91481522e-01 -8.55794798e-05 2.85207068e+00] [ 6.16357504e-04 5.34604324e-06 9.99999810e-01 7.19041125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680281693 meters 0.018707449684819313 Centerline is valid? [True, True] Translation: X:53.54, Y:2.85, Z:0.07 [[ 9.91116406e-01 -1.32996761e-01 -3.62671698e-04 5.35377061e+01] [ 1.32996751e-01 9.91116472e-01 -5.07807396e-05 2.85034044e+00] [ 3.66203567e-04 2.09546653e-06 9.99999933e-01 7.23331458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710281693 meters 0.01837599947358995 Centerline is valid? [True, True] Translation: X:53.57, Y:2.85, Z:0.07 [[ 9.90823505e-01 -1.35155222e-01 -1.35968445e-03 5.35653594e+01] [ 1.35155087e-01 9.90824437e-01 -1.91622017e-04 2.85300875e+00] [ 1.37310730e-03 6.09532828e-06 9.99999057e-01 7.00355293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74028169299999 meters 0.0182623808342261 Centerline is valid? [True, True] Translation: X:53.59, Y:2.86, Z:0.07 [[ 9.90812753e-01 -1.35230791e-01 -1.64963208e-03 5.35933748e+01] [ 1.35230592e-01 9.90814126e-01 -2.32569906e-04 2.85624903e+00] [ 1.66592938e-03 7.35250695e-06 9.99998612e-01 6.95181252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770281692999994 meters 0.01841656975341062 Centerline is valid? [True, True] Translation: X:53.62, Y:2.86, Z:0.07 [[ 9.90807766e-01 -1.35262048e-01 -2.03684261e-03 5.36213732e+01] [ 1.35261743e-01 9.90809860e-01 -2.87638312e-04 2.85998576e+00] [ 2.05703029e-03 9.48739220e-06 9.99997884e-01 6.88122390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800281692999995 meters 0.01909314558256914 Centerline is valid? [True, True] Translation: X:53.65, Y:2.87, Z:0.07 [[ 9.90925093e-01 -1.34363395e-01 -3.73337537e-03 5.36489714e+01] [ 1.34362359e-01 9.90932126e-01 -5.28015953e-04 2.86537154e+00] [ 3.77046761e-03 2.15991358e-05 9.99992892e-01 6.63853638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830281692999996 meters 0.01897682937824816 Centerline is valid? [True, True] Translation: X:53.68, Y:2.87, Z:0.07 [[ 9.90921389e-01 -1.34388329e-01 -3.81805897e-03 5.36767617e+01] [ 1.34387244e-01 9.90928744e-01 -5.40458998e-04 2.86899373e+00] [ 3.85605576e-03 2.24539597e-05 9.99992565e-01 6.62575007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860281693 meters 0.019175561739867023 Centerline is valid? [True, True] Translation: X:53.70, Y:2.87, Z:0.07 [[ 9.90944299e-01 -1.34247355e-01 -2.65390605e-03 5.37032593e+01] [ 1.34246830e-01 9.90947853e-01 -3.76016676e-04 2.87333986e+00] [ 2.68036175e-03 1.63331076e-05 9.99996408e-01 6.75826265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890281693 meters 0.01896637582685921 Centerline is valid? [True, True] Translation: X:53.73, Y:2.88, Z:0.07 [[ 9.90914124e-01 -1.34495715e-01 3.18849057e-04 5.37303067e+01] [ 1.34495707e-01 9.90914175e-01 4.53873997e-05 2.87502254e+00] [-3.22056461e-04 -2.09118611e-06 9.99999948e-01 7.34170126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92028169299999 meters 0.018832755898228824 Centerline is valid? [True, True] Translation: X:53.76, Y:2.88, Z:0.08 [[ 9.90907965e-01 -1.34536261e-01 1.18338998e-03 5.37579392e+01] [ 1.34536155e-01 9.90908671e-01 1.68464503e-04 2.87889718e+00] [-1.19529598e-03 -7.72407964e-06 9.99999286e-01 7.51042731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950281692999994 meters 0.01955162105864869 Centerline is valid? [True, True] Translation: X:53.79, Y:2.89, Z:0.07 [[ 9.91135824e-01 -1.32849830e-01 -8.37184082e-04 5.37862773e+01] [ 1.32849777e-01 9.91136178e-01 -1.18729706e-04 2.88726268e+00] [ 8.45536652e-04 6.45754642e-06 9.99999643e-01 7.22471802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980281692999995 meters 0.021140116319639416 Centerline is valid? [True, True] Translation: X:53.81, Y:2.90, Z:0.07 [[ 9.91375523e-01 -1.31034656e-01 -2.11944479e-03 5.38131772e+01] [ 1.31034311e-01 9.91377788e-01 -3.01426614e-04 2.89626301e+00] [ 2.14066782e-03 2.11069790e-05 9.99997709e-01 6.98012637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010281692999996 meters 0.02378823987907421 Centerline is valid? [True, True] Translation: X:53.84, Y:2.91, Z:0.07 [[ 9.91685455e-01 -1.28659446e-01 -2.58935183e-03 5.38401598e+01] [ 1.28658923e-01 9.91688835e-01 -3.68435549e-04 2.90657616e+00] [ 2.61523401e-03 3.22289571e-05 9.99996580e-01 6.90725980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040281693 meters 0.025036261199367638 Centerline is valid? [True, True] Translation: X:53.87, Y:2.91, Z:0.07 [[ 9.92025646e-01 -1.26005842e-01 -2.76500151e-03 5.38682217e+01] [ 1.26005234e-01 9.92029499e-01 -3.93679183e-04 2.91455125e+00] [ 2.79256894e-03 4.21351842e-05 9.99996100e-01 6.90095848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070281693 meters 0.030708595228945406 Centerline is valid? [True, True] Translation: X:53.90, Y:2.93, Z:0.07 [[ 9.92817514e-01 -1.19542958e-01 -4.78174971e-03 5.38961956e+01] [ 1.19541062e-01 9.92829024e-01 -6.81415504e-04 2.93238961e+00] [ 4.82891833e-03 1.04905808e-04 9.99988335e-01 6.58465511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10028169299999 meters 0.03576652464299256 Centerline is valid? [True, True] Translation: X:53.92, Y:2.95, Z:0.07 [[ 9.93356755e-01 -1.14942010e-01 -5.54004016e-03 5.39232344e+01] [ 1.14939392e-01 9.93372192e-01 -7.89586940e-04 2.94845195e+00] [ 5.59407855e-03 1.47572671e-04 9.99984342e-01 6.50515324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13028169299999 meters 0.04053523129362397 Centerline is valid? [True, True] Translation: X:53.95, Y:2.96, Z:0.07 [[ 9.93520027e-01 -1.13560559e-01 -4.68572465e-03 5.39504925e+01] [ 1.13558670e-01 9.93531068e-01 -6.67962524e-04 2.96080292e+00] [ 4.73126721e-03 1.31529484e-04 9.99988799e-01 6.66612618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160281692999995 meters 0.039269763659409526 Centerline is valid? [True, True] Translation: X:53.98, Y:2.96, Z:0.07 [[ 9.93537092e-01 -1.13462677e-01 -3.20442013e-03 5.39785669e+01] [ 1.13461793e-01 9.93542255e-01 -4.57044065e-04 2.96498333e+00] [ 3.23558425e-03 9.05109789e-05 9.99994761e-01 6.92675130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190281692999996 meters 0.037366546219163486 Centerline is valid? [True, True] Translation: X:54.01, Y:2.97, Z:0.07 [[ 9.93336725e-01 -1.15246315e-01 -6.61556739e-04 5.40073148e+01] [ 1.15246277e-01 9.93336945e-01 -9.42277046e-05 2.96999943e+00] [ 6.68008146e-04 1.73578880e-05 9.99999777e-01 7.41209824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220281693 meters 0.03548718466058456 Centerline is valid? [True, True] Translation: X:54.04, Y:2.97, Z:0.07 [[ 9.93133486e-01 -1.16985342e-01 -5.54888787e-04 5.40368208e+01] [ 1.16985316e-01 9.93133641e-01 -7.92483725e-05 2.97346684e+00] [ 5.60349620e-04 1.37903722e-05 9.99999843e-01 7.39941888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250281693 meters 0.03398992725574677 Centerline is valid? [True, True] Translation: X:54.07, Y:2.98, Z:0.07 [[ 9.92962705e-01 -1.18421356e-01 -1.20392717e-03 5.40668619e+01] [ 1.18421235e-01 9.92963434e-01 -1.72005155e-04 2.97658171e+00] [ 1.21582474e-03 2.82241629e-05 9.99999260e-01 7.24460950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280281693 meters 0.02988163547438792 Centerline is valid? [True, True] Translation: X:54.10, Y:2.98, Z:0.07 [[ 9.92713475e-01 -1.20476740e-01 -2.30448137e-03 5.40973777e+01] [ 1.20476300e-01 9.92716149e-01 -3.29419830e-04 2.97579335e+00] [ 2.32738330e-03 4.93841157e-05 9.99997290e-01 7.03957496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31028169299999 meters 0.028467439452262003 Centerline is valid? [True, True] Translation: X:54.13, Y:2.98, Z:0.07 [[ 9.92593525e-01 -1.21454208e-01 -2.63995327e-03 5.41269450e+01] [ 1.21453634e-01 9.92597034e-01 -3.77417766e-04 2.97829652e+00] [ 2.66624876e-03 5.39905133e-05 9.99996444e-01 6.93727621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340281692999994 meters 0.02649947986889083 Centerline is valid? [True, True] Translation: X:54.16, Y:2.98, Z:0.07 [[ 9.92208501e-01 -1.24509848e-01 -4.42584774e-03 5.41558342e+01] [ 1.24508263e-01 9.92218369e-01 -6.32904384e-04 2.97993168e+00] [ 4.47021025e-03 7.69184939e-05 9.99990006e-01 6.63653445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370281692999995 meters 0.025411823876231147 Centerline is valid? [True, True] Translation: X:54.18, Y:2.98, Z:0.07 [[ 9.91932968e-01 -1.26667634e-01 -4.92917050e-03 5.41833291e+01] [ 1.26665694e-01 9.91945213e-01 -7.05134025e-04 2.98154353e+00] [ 4.97878474e-03 7.50888847e-05 9.99987603e-01 6.50965654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400281693 meters 0.02338216626036891 Centerline is valid? [True, True] Translation: X:54.21, Y:2.98, Z:0.07 [[ 9.91620538e-01 -1.29125172e-01 -3.92420877e-03 5.42120392e+01] [ 1.29123960e-01 9.91628301e-01 -5.61777780e-04 2.98184229e+00] [ 3.96389613e-03 5.03610070e-05 9.99992142e-01 6.66061724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430281693 meters 0.019738690876248154 Centerline is valid? [True, True] Translation: X:54.24, Y:2.98, Z:0.07 [[ 9.90959695e-01 -1.34152040e-01 -1.45356746e-03 5.42421624e+01] [ 1.34151879e-01 9.90960761e-01 -2.08128769e-04 2.97845672e+00] [ 1.46834922e-03 1.12484153e-05 9.99998922e-01 7.16774657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460281693 meters 0.018255053093504132 Centerline is valid? [True, True] Translation: X:54.27, Y:2.98, Z:0.07 [[ 9.90582730e-01 -1.36906949e-01 -1.53035661e-03 5.42714072e+01] [ 1.36906773e-01 9.90583912e-01 -2.19360599e-04 2.97813100e+00] [ 1.54597863e-03 7.77863519e-06 9.99998805e-01 7.16090163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49028169299999 meters 0.017577932388029748 Centerline is valid? [True, True] Translation: X:54.30, Y:2.97, Z:0.07 [[ 9.89958581e-01 -1.41308229e-01 -3.74057219e-03 5.43004625e+01] [ 1.41307209e-01 9.89965648e-01 -5.37064765e-04 2.97395482e+00] [ 3.77892964e-03 3.10205720e-06 9.99992860e-01 6.70432400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520281692999994 meters 0.017470231160643307 Centerline is valid? [True, True] Translation: X:54.33, Y:2.97, Z:0.07 [[ 9.89702342e-01 -1.43084308e-01 -4.01941424e-03 5.43283592e+01] [ 1.43083142e-01 9.89710504e-01 -5.77606402e-04 2.97467057e+00] [ 4.06070290e-03 -3.45201061e-06 9.99991755e-01 6.65068144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550281692999995 meters 0.017646156192076077 Centerline is valid? [True, True] Translation: X:54.36, Y:2.98, Z:0.07 [[ 9.89430929e-01 -1.44948883e-01 -4.03209121e-03 5.43566694e+01] [ 1.44947723e-01 9.89439145e-01 -5.80179161e-04 2.97595823e+00] [ 4.07360520e-03 -1.03952316e-05 9.99991703e-01 6.67297562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580281692999996 meters 0.018189458067454575 Centerline is valid? [True, True] Translation: X:54.39, Y:2.98, Z:0.07 [[ 9.89037172e-01 -1.47609852e-01 -4.09920846e-03 5.43862850e+01] [ 1.47608673e-01 9.89045667e-01 -5.90558576e-04 2.97553556e+00] [ 4.14147663e-03 -2.09943358e-05 9.99991424e-01 6.72555398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610281693 meters 0.019049467869170156 Centerline is valid? [True, True] Translation: X:54.41, Y:2.98, Z:0.07 [[ 9.88844028e-01 -1.48881047e-01 -4.68207316e-03 5.44148392e+01] [ 1.48879519e-01 9.88855112e-01 -6.75148608e-04 2.97531045e+00] [ 4.73040881e-03 -2.94481308e-05 9.99988811e-01 6.57298635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640281693 meters 0.019515722250775518 Centerline is valid? [True, True] Translation: X:54.44, Y:2.97, Z:0.07 [[ 9.88617095e-01 -1.50387791e-01 -4.44428549e-03 5.44439061e+01] [ 1.50386427e-01 9.88627084e-01 -6.41432862e-04 2.97231457e+00] [ 4.49020467e-03 -3.42287205e-05 9.99989918e-01 6.65846321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67028169299999 meters 0.019941445505868287 Centerline is valid? [True, True] Translation: X:54.47, Y:2.97, Z:0.07 [[ 9.88556830e-01 -1.50781281e-01 -4.51651398e-03 5.44713068e+01] [ 1.50779873e-01 9.88567147e-01 -6.52507799e-04 2.97352162e+00] [ 4.56326330e-03 -3.59583639e-05 9.99989588e-01 6.63843947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700281692999994 meters 0.01996034598453958 Centerline is valid? [True, True] Translation: X:54.50, Y:2.98, Z:0.06 [[ 9.88560393e-01 -1.50732424e-01 -5.29959111e-03 5.44986444e+01] [ 1.50730480e-01 9.88574597e-01 -7.66534842e-04 2.97682026e+00] [ 5.35458280e-03 -4.10439282e-05 9.99985663e-01 6.48754760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730281692999995 meters 0.019821207354806757 Centerline is valid? [True, True] Translation: X:54.53, Y:2.98, Z:0.06 [[ 9.88571927e-01 -1.50603048e-01 -6.65340870e-03 5.45262689e+01] [ 1.50599973e-01 9.88594315e-01 -9.63659722e-04 2.97835170e+00] [ 6.72265211e-03 -4.93562228e-05 9.99977402e-01 6.23326624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760281692999996 meters 0.02027324741549153 Centerline is valid? [True, True] Translation: X:54.55, Y:2.98, Z:0.06 [[ 9.88497715e-01 -1.51102638e-01 -6.34501763e-03 5.45535522e+01] [ 1.51099847e-01 9.88518078e-01 -9.19690393e-04 2.97888197e+00] [ 6.41113227e-03 -4.96193427e-05 9.99979447e-01 6.32136802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790281693 meters 0.019274504084422998 Centerline is valid? [True, True] Translation: X:54.58, Y:2.98, Z:0.07 [[ 9.88602376e-01 -1.50446713e-01 -5.57931657e-03 5.45824129e+01] [ 1.50444540e-01 9.88618119e-01 -8.09438528e-04 2.98272226e+00] [ 5.63759082e-03 -3.91648639e-05 9.99984108e-01 6.72460597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820281693 meters 0.01878388273648599 Centerline is valid? [True, True] Translation: X:54.61, Y:2.99, Z:0.07 [[ 9.88844537e-01 -1.48840435e-01 -5.74514180e-03 5.46099605e+01] [ 1.48838100e-01 9.88861226e-01 -8.34162923e-04 2.98734818e+00] [ 5.80530514e-03 -3.02385432e-05 9.99983149e-01 6.67002228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85028169299999 meters 0.018145230995379683 Centerline is valid? [True, True] Translation: X:54.64, Y:2.99, Z:0.07 [[ 9.89116302e-01 -1.47023032e-01 -5.75933633e-03 5.46385479e+01] [ 1.47020651e-01 9.89133069e-01 -8.37002417e-04 2.99353407e+00] [ 5.81980865e-03 -1.88486414e-05 9.99983065e-01 6.64579939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88028169299999 meters 0.017593812086741767 Centerline is valid? [True, True] Translation: X:54.67, Y:3.00, Z:0.07 [[ 9.89799934e-01 -1.42424688e-01 -3.36150248e-03 5.46666275e+01] [ 1.42423849e-01 9.89805642e-01 -4.88930200e-04 3.00375820e+00] [ 3.39686985e-03 5.18495671e-06 9.99994231e-01 6.97176894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910281692999995 meters 0.017933827791713763 Centerline is valid? [True, True] Translation: X:54.69, Y:3.01, Z:0.07 [[ 9.90069130e-01 -1.40564755e-01 -2.16042746e-03 5.46931088e+01] [ 1.40564403e-01 9.90071487e-01 -3.14451139e-04 3.01208527e+00] [ 2.18317837e-03 7.64916921e-06 9.99997617e-01 7.25304317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940281692999996 meters 0.019176947467412706 Centerline is valid? [True, True] Translation: X:54.72, Y:3.03, Z:0.08 [[ 9.90492920e-01 -1.37556712e-01 -1.38781605e-03 5.47199450e+01] [ 1.37556564e-01 9.90493892e-01 -2.02014747e-04 3.02553196e+00] [ 1.40241181e-03 9.19096906e-06 9.99999017e-01 7.54735902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970281693 meters 0.020079884106647346 Centerline is valid? [True, True] Translation: X:54.75, Y:3.03, Z:0.08 [[ 9.90679284e-01 -1.36203052e-01 -1.81258861e-03 5.47473614e+01] [ 1.36202796e-01 9.90680942e-01 -2.64226179e-04 3.03400965e+00] [ 1.83168540e-03 1.48837637e-05 9.99998322e-01 7.52829731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000281693 meters 0.020445512070043033 Centerline is valid? [True, True] Translation: X:54.78, Y:3.04, Z:0.07 [[ 9.90772013e-01 -1.35516955e-01 -2.44412669e-03 5.47758927e+01] [ 1.35516487e-01 9.90775027e-01 -3.56781291e-04 3.04108113e+00] [ 2.46992960e-03 2.22694560e-05 9.99996949e-01 7.38768316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030281693 meters 0.021391700217481796 Centerline is valid? [True, True] Translation: X:54.80, Y:3.05, Z:0.07 [[ 9.90907172e-01 -1.34518501e-01 -2.78377468e-03 5.48022931e+01] [ 1.34517889e-01 9.90911082e-01 -4.06770749e-04 3.04987999e+00] [ 2.81319137e-03 2.86045589e-05 9.99996043e-01 7.36783549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06028169299999 meters 0.021068626978219113 Centerline is valid? [True, True] Translation: X:54.83, Y:3.05, Z:0.07 [[ 9.90919555e-01 -1.34432929e-01 -2.49446696e-03 5.48293543e+01] [ 1.34432436e-01 9.90922695e-01 -3.64697170e-04 3.05492859e+00] [ 2.52085124e-03 2.60482855e-05 9.99996822e-01 7.47821526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090281692999994 meters 0.020308592794984277 Centerline is valid? [True, True] Translation: X:54.86, Y:3.06, Z:0.08 [[ 9.90726637e-01 -1.35866753e-01 -9.77529002e-04 5.48561973e+01] [ 1.35866678e-01 9.90727120e-01 -1.43004656e-04 3.06145667e+00] [ 9.87894071e-04 8.86490438e-06 9.99999512e-01 7.78845901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120281692999995 meters 0.019250516015627966 Centerline is valid? [True, True] Translation: X:54.88, Y:3.07, Z:0.08 [[ 9.90535374e-01 -1.37257605e-01 -1.48042913e-04 5.48847980e+01] [ 1.37257603e-01 9.90535385e-01 -2.13776264e-05 3.06531395e+00] [ 1.49575986e-04 8.55279734e-07 9.99999989e-01 7.88663227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150281693 meters 0.018272881591170194 Centerline is valid? [True, True] Translation: X:54.91, Y:3.07, Z:0.08 [[ 9.90317435e-01 -1.38820982e-01 -3.35764529e-04 5.49134618e+01] [ 1.38820973e-01 9.90317492e-01 -4.89379939e-05 3.06839171e+00] [ 3.39307106e-04 1.85298995e-06 9.99999942e-01 7.78271745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180281693 meters 0.017717798285466147 Centerline is valid? [True, True] Translation: X:54.94, Y:3.07, Z:0.07 [[ 9.89835225e-01 -1.42164452e-01 -3.93644923e-03 5.49417106e+01] [ 1.42163278e-01 9.89843052e-01 -5.77766117e-04 3.07014355e+00] [ 3.97860472e-03 1.22747275e-05 9.99992085e-01 7.10126264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210281693 meters 0.017543606710967045 Centerline is valid? [True, True] Translation: X:54.97, Y:3.07, Z:0.07 [[ 9.89580057e-01 -1.43854129e-01 -6.10736680e-03 5.49690530e+01] [ 1.43851330e-01 9.89598903e-01 -8.97370924e-04 3.07341334e+00] [ 6.17293400e-03 9.46753176e-06 9.99980947e-01 6.78523933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24028169299999 meters 0.01840333314624249 Centerline is valid? [True, True] Translation: X:55.00, Y:3.07, Z:0.07 [[ 9.88710225e-01 -1.49678983e-01 -6.94938966e-03 5.49971975e+01] [ 1.49675497e-01 9.88734646e-01 -1.02194655e-03 3.07024996e+00] [ 7.02406625e-03 -2.97443531e-05 9.99975331e-01 6.58189826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270281692999994 meters 0.020032020366573172 Centerline is valid? [True, True] Translation: X:55.03, Y:3.07, Z:0.07 [[ 9.88072284e-01 -1.53857803e-01 -6.39828208e-03 5.50261244e+01] [ 1.53854933e-01 9.88092998e-01 -9.41318800e-04 3.06801778e+00] [ 6.46692697e-03 -5.43162443e-05 9.99979088e-01 6.72096004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300281692999995 meters 0.023361807026720784 Centerline is valid? [True, True] Translation: X:55.06, Y:3.06, Z:0.07 [[ 9.87355810e-01 -1.58407616e-01 -5.96083670e-03 5.50553633e+01] [ 1.58405205e-01 9.87373800e-01 -8.77420764e-04 3.06253375e+00] [ 6.02456411e-03 -7.79010704e-05 9.99981849e-01 6.74745404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330281692999996 meters 0.031052726909773083 Centerline is valid? [True, True] Translation: X:55.09, Y:3.05, Z:0.07 [[ 9.85874088e-01 -1.67359082e-01 -6.57414546e-03 5.50876852e+01] [ 1.67356347e-01 9.85895997e-01 -9.67916564e-04 3.04807445e+00] [ 6.64341332e-03 -1.45981106e-04 9.99977922e-01 6.58978165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360281693 meters 0.03422638615806246 Centerline is valid? [True, True] Translation: X:55.12, Y:3.04, Z:0.07 [[ 9.85296589e-01 -1.70723959e-01 -6.63032848e-03 5.51176466e+01] [ 1.70721252e-01 9.85318883e-01 -9.76360643e-04 3.04417588e+00] [ 6.69967601e-03 -1.69933165e-04 9.99977542e-01 6.58598192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390281693 meters 0.03592905644948655 Centerline is valid? [True, True] Translation: X:55.15, Y:3.04, Z:0.07 [[ 9.84901502e-01 -1.72999502e-01 -6.34063892e-03 5.51472062e+01] [ 1.72997068e-01 9.84921896e-01 -9.34470620e-04 3.04270291e+00] [ 6.40669706e-03 -1.76550427e-04 9.99979461e-01 6.69919003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42028169299999 meters 0.03774477151573699 Centerline is valid? [True, True] Translation: X:55.18, Y:3.04, Z:0.07 [[ 9.84683353e-01 -1.74299374e-01 -4.29213143e-03 5.51760130e+01] [ 1.74298269e-01 9.84692700e-01 -6.32980023e-04 3.03698418e+00] [ 4.33675851e-03 -1.24826189e-04 9.99990588e-01 7.06486076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450281692999994 meters 0.03796337645289248 Centerline is valid? [True, True] Translation: X:55.20, Y:3.04, Z:0.07 [[ 9.84666949e-01 -1.74414156e-01 -3.27137569e-03 5.52034935e+01] [ 1.74413514e-01 9.84672379e-01 -4.82677187e-04 3.03690631e+00] [ 3.30541902e-03 -9.52958567e-05 9.99994533e-01 7.26348360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480281692999995 meters 0.03519262378687997 Centerline is valid? [True, True] Translation: X:55.23, Y:3.04, Z:0.07 [[ 9.85105820e-01 -1.71927183e-01 -2.75095768e-03 5.52325446e+01] [ 1.71926719e-01 9.85109658e-01 -4.06058777e-04 3.03831435e+00] [ 2.77980752e-03 -7.29522636e-05 9.99996134e-01 7.42261893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510281692999996 meters 0.0325478009480319 Centerline is valid? [True, True] Translation: X:55.26, Y:3.04, Z:0.07 [[ 9.85403930e-01 -1.70206590e-01 -2.96832350e-03 5.52605188e+01] [ 1.70206042e-01 9.85408398e-01 -4.38398252e-04 3.04389579e+00] [ 2.99962918e-03 -7.32272324e-05 9.99995498e-01 7.48622601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540281693 meters 0.03110697813524077 Centerline is valid? [True, True] Translation: X:55.29, Y:3.05, Z:0.07 [[ 9.85704367e-01 -1.68458919e-01 -2.91432546e-03 5.52885745e+01] [ 1.68458381e-01 9.85708673e-01 -4.30883604e-04 3.04800167e+00] [ 2.94526207e-03 -6.62186995e-05 9.99995661e-01 7.45561071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570281693 meters 0.03110697813524077 Centerline is valid? [True, True] Translation: X:55.32, Y:3.05, Z:0.07 [[ 9.85673888e-01 -1.68637164e-01 -2.91425403e-03 5.53157331e+01] [ 1.68636625e-01 9.85678194e-01 -4.31366255e-04 3.05220861e+00] [ 2.94526103e-03 -6.62635101e-05 9.99995661e-01 7.46108097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60028169299999 meters 0.027340804407645202 Centerline is valid? [True, True] Translation: X:55.34, Y:3.06, Z:0.07 [[ 9.86216913e-01 -1.65425908e-01 -3.23571130e-03 5.53442571e+01] [ 1.65425225e-01 9.86222219e-01 -4.79411821e-04 3.05811299e+00] [ 3.27043751e-03 -6.24642230e-05 9.99994650e-01 7.43720006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63028169299999 meters 0.028336393715498148 Centerline is valid? [True, True] Translation: X:55.37, Y:3.06, Z:0.07 [[ 9.86384901e-01 -1.64419480e-01 -3.32591614e-03 5.53717688e+01] [ 1.64418752e-01 9.86390506e-01 -4.92951859e-04 3.05942365e+00] [ 3.36170300e-03 -6.06027116e-05 9.99994348e-01 7.45222526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660281692999995 meters 0.025827753099783936 Centerline is valid? [True, True] Translation: X:55.40, Y:3.07, Z:0.07 [[ 9.86751071e-01 -1.62197087e-01 -3.79853782e-03 5.53997925e+01] [ 1.62196120e-01 9.86758380e-01 -5.63423581e-04 3.06756768e+00] [ 3.83962469e-03 -6.01492722e-05 9.99992627e-01 7.36749136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690281692999996 meters 0.024258182707755933 Centerline is valid? [True, True] Translation: X:55.43, Y:3.07, Z:0.07 [[ 9.87036430e-01 -1.60441458e-01 -4.19806130e-03 5.54279742e+01] [ 1.60440257e-01 9.87045356e-01 -6.23380883e-04 3.07474152e+00] [ 4.24369305e-03 -5.82383928e-05 9.99990994e-01 7.33233199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720281693 meters 0.020409336744021657 Centerline is valid? [True, True] Translation: X:55.45, Y:3.09, Z:0.07 [[ 9.87675409e-01 -1.56440846e-01 -4.85261004e-03 5.54547971e+01] [ 1.56439190e-01 9.87687329e-01 -7.21416576e-04 3.08802866e+00] [ 4.90572046e-03 -4.66129713e-05 9.99987966e-01 7.21966167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750281693 meters 0.019352473060937462 Centerline is valid? [True, True] Translation: X:55.48, Y:3.10, Z:0.07 [[ 9.88035259e-01 -1.54156868e-01 -4.68895631e-03 5.54814869e+01] [ 1.54155293e-01 9.88046385e-01 -6.97564101e-04 3.09639603e+00] [ 4.74044063e-03 -3.36095074e-05 9.99988763e-01 7.17235791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780281693 meters 0.01856755613278715 Centerline is valid? [True, True] Translation: X:55.51, Y:3.10, Z:0.07 [[ 9.88391097e-01 -1.51871196e-01 -4.26376191e-03 5.55084491e+01] [ 1.51869872e-01 9.88400293e-01 -6.34548095e-04 3.10386109e+00] [ 4.31067310e-03 -2.03552878e-05 9.99990709e-01 7.16915580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81028169299999 meters 0.017488966654089645 Centerline is valid? [True, True] Translation: X:55.54, Y:3.12, Z:0.07 [[ 9.88935499e-01 -1.48309086e-01 -3.31580534e-03 5.55362839e+01] [ 1.48308264e-01 9.88941057e-01 -4.93780241e-04 3.11557768e+00] [ 3.35236814e-03 -3.44452583e-06 9.99994381e-01 7.37439902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840281692999994 meters 0.017509450324992158 Centerline is valid? [True, True] Translation: X:55.56, Y:3.12, Z:0.07 [[ 9.89008669e-01 -1.47804345e-01 -3.96580017e-03 5.55637289e+01] [ 1.47803162e-01 9.89016620e-01 -5.91337034e-04 3.12161063e+00] [ 4.00964446e-03 -1.32035291e-06 9.99991961e-01 7.26999167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870281692999995 meters 0.017803814400087957 Centerline is valid? [True, True] Translation: X:55.59, Y:3.12, Z:0.07 [[ 9.88764654e-01 -1.49372683e-01 -5.67981375e-03 5.55909665e+01] [ 1.49370277e-01 9.88780967e-01 -8.47789780e-04 3.12427054e+00] [ 5.74272837e-03 -1.01307853e-05 9.99983510e-01 6.91144675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900281693 meters 0.01799471074015392 Centerline is valid? [True, True] Translation: X:55.62, Y:3.13, Z:0.07 [[ 9.88542554e-01 -1.50833823e-01 -5.72509456e-03 5.56188465e+01] [ 1.50831398e-01 9.88559132e-01 -8.55431925e-04 3.12523497e+00] [ 5.78862257e-03 -1.78931549e-05 9.99983246e-01 6.88325427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930281693 meters 0.018904314144094242 Centerline is valid? [True, True] Translation: X:55.65, Y:3.12, Z:0.07 [[ 9.88169961e-01 -1.53259475e-01 -5.62679410e-03 5.56471531e+01] [ 1.53257169e-01 9.88185981e-01 -8.41314249e-04 3.12212540e+00] [ 5.68925842e-03 -3.09850671e-05 9.99983816e-01 7.03932219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960281693 meters 0.019042962953158285 Centerline is valid? [True, True] Translation: X:55.68, Y:3.13, Z:0.07 [[ 9.88076433e-01 -1.53857724e-01 -5.72397445e-03 5.56752659e+01] [ 1.53855343e-01 9.88093012e-01 -8.56645671e-04 3.12552023e+00] [ 5.78762071e-03 -3.42326543e-05 9.99983251e-01 7.11507939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99028169299999 meters 0.0185768795238694 Centerline is valid? [True, True] Translation: X:55.70, Y:3.13, Z:0.07 [[ 9.88106729e-01 -1.53677672e-01 -5.31654176e-03 5.57023789e+01] [ 1.53675611e-01 9.88121031e-01 -7.96645126e-04 3.13172514e+00] [ 5.37581329e-03 -2.98523918e-05 9.99985550e-01 7.21888422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020281693 meters 0.01787062131061335 Centerline is valid? [True, True] Translation: X:55.73, Y:3.14, Z:0.07 [[ 9.88527789e-01 -1.50971072e-01 -4.53280583e-03 5.57303363e+01] [ 1.50969541e-01 9.88538181e-01 -6.79957649e-04 3.14211695e+00] [ 4.58350557e-03 -1.21585866e-05 9.99989496e-01 7.35776036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050281693 meters 0.01765690359845216 Centerline is valid? [True, True] Translation: X:55.76, Y:3.15, Z:0.07 [[ 9.88800441e-01 -1.49141752e-01 -5.51592873e-03 5.57561601e+01] [ 1.49139453e-01 9.88815826e-01 -8.28127568e-04 3.14977152e+00] [ 5.57774602e-03 -3.78969091e-06 9.99984444e-01 7.20605021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080281693 meters 0.018078809190584758 Centerline is valid? [True, True] Translation: X:55.78, Y:3.16, Z:0.07 [[ 9.89238441e-01 -1.46124126e-01 -7.41930456e-03 5.57821676e+01] [ 1.46119873e-01 9.89266263e-01 -1.11500925e-03 3.16197494e+00] [ 7.50259745e-03 1.89021707e-05 9.99971855e-01 6.85951091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110281693 meters 0.018010263422883373 Centerline is valid? [True, True] Translation: X:55.81, Y:3.17, Z:0.07 [[ 9.89252651e-01 -1.46047958e-01 -7.01326423e-03 5.58099246e+01] [ 1.46044147e-01 9.89277511e-01 -1.05524952e-03 3.16867048e+00] [ 7.09218161e-03 1.96621990e-05 9.99974850e-01 6.94574397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140281693 meters 0.01776193350948569 Centerline is valid? [True, True] Translation: X:55.84, Y:3.17, Z:0.07 [[ 9.89173088e-01 -1.46625289e-01 -6.13408975e-03 5.58377651e+01] [ 1.46622381e-01 9.89192107e-01 -9.23534231e-04 3.17338095e+00] [ 6.20320664e-03 1.41403610e-05 9.99980760e-01 7.09222549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170281693 meters 0.017413834524794045 Centerline is valid? [True, True] Translation: X:55.87, Y:3.17, Z:0.07 [[ 9.88724078e-01 -1.49680854e-01 -4.51003630e-03 5.58667823e+01] [ 1.49679311e-01 9.88734364e-01 -6.79520247e-04 3.17454504e+00] [ 4.56093905e-03 -3.20109958e-06 9.99989599e-01 7.41573449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20028169300001 meters 0.017651800225480088 Centerline is valid? [True, True] Translation: X:55.89, Y:3.18, Z:0.07 [[ 9.88396525e-01 -1.51822380e-01 -4.71946097e-03 5.58947271e+01] [ 1.51820713e-01 9.88407793e-01 -7.11652929e-04 3.17711635e+00] [ 4.77279684e-03 -1.31166457e-05 9.99988610e-01 7.43511134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23028169300001 meters 0.018960419321239035 Centerline is valid? [True, True] Translation: X:55.92, Y:3.18, Z:0.08 [[ 9.87754690e-01 -1.55962590e-01 -4.04275207e-03 5.59231743e+01] [ 1.55961399e-01 9.87762962e-01 -6.10100863e-04 3.17955325e+00] [ 4.08843367e-03 -2.78832787e-05 9.99991642e-01 7.60880159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260281693 meters 0.019506504157086265 Centerline is valid? [True, True] Translation: X:55.95, Y:3.18, Z:0.08 [[ 9.87534926e-01 -1.57353899e-01 -3.81045098e-03 5.59521202e+01] [ 1.57352849e-01 9.87542277e-01 -5.75653699e-04 3.18386918e+00] [ 3.85356279e-03 -3.11071839e-05 9.99992575e-01 7.70036101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290281693 meters 0.020542291750739784 Centerline is valid? [True, True] Translation: X:55.98, Y:3.19, Z:0.08 [[ 9.87370156e-01 -1.58387675e-01 -3.67700013e-03 5.59795000e+01] [ 1.58386703e-01 9.87377002e-01 -5.55908531e-04 3.18609206e+00] [ 3.71863442e-03 -3.35004334e-05 9.99993085e-01 7.70423114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320281693 meters 0.021394839738377983 Centerline is valid? [True, True] Translation: X:56.01, Y:3.19, Z:0.07 [[ 9.87169624e-01 -1.59610971e-01 -4.52454028e-03 5.60066302e+01] [ 1.59609510e-01 9.87179992e-01 -6.84403193e-04 3.18987945e+00] [ 4.57577390e-03 -4.65376163e-05 9.99989530e-01 7.47732289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350281693 meters 0.021229418873910427 Centerline is valid? [True, True] Translation: X:56.03, Y:3.20, Z:0.07 [[ 9.87025750e-01 -1.60473653e-01 -5.32685920e-03 5.60346230e+01] [ 1.60471637e-01 9.87040122e-01 -8.06516563e-04 3.19575678e+00] [ 5.38724842e-03 -5.87572029e-05 9.99985487e-01 7.37743887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380281693 meters 0.021883023241411403 Centerline is valid? [True, True] Translation: X:56.06, Y:3.20, Z:0.07 [[ 9.86877706e-01 -1.61378746e-01 -5.41231063e-03 5.60629837e+01] [ 1.61376673e-01 9.86892545e-01 -8.20351256e-04 3.19824159e+00] [ 5.47375627e-03 -6.38343188e-05 9.99985017e-01 7.35517763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410281693 meters 0.021614038636188864 Centerline is valid? [True, True] Translation: X:56.09, Y:3.20, Z:0.07 [[ 9.86745203e-01 -1.62196033e-01 -5.13340784e-03 5.60919208e+01] [ 1.62194175e-01 9.86758553e-01 -7.78926504e-04 3.20207640e+00] [ 5.19177288e-03 -6.40068590e-05 9.99986521e-01 7.42559176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440281693 meters 0.02251703404456403 Centerline is valid? [True, True] Translation: X:56.12, Y:3.20, Z:0.07 [[ 9.86634671e-01 -1.62871617e-01 -4.98620171e-03 5.61202669e+01] [ 1.62869870e-01 9.86647268e-01 -7.57100656e-04 3.20356191e+00] [ 5.04293251e-03 -6.51202698e-05 9.99987282e-01 7.49049965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470281693 meters 0.022840497583434514 Centerline is valid? [True, True] Translation: X:56.15, Y:3.21, Z:0.08 [[ 9.86492774e-01 -1.63733032e-01 -4.84787789e-03 5.61489696e+01] [ 1.63731388e-01 9.86504683e-01 -7.36693263e-04 3.20620555e+00] [ 4.90307527e-03 -6.70071977e-05 9.99987978e-01 7.59808466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500281693 meters 0.0221739382867906 Centerline is valid? [True, True] Translation: X:56.18, Y:3.21, Z:0.07 [[ 9.86600488e-01 -1.63068886e-01 -5.29305769e-03 5.61771995e+01] [ 1.63066912e-01 9.86614684e-01 -8.05223609e-04 3.21159122e+00] [ 5.35351535e-03 -6.86885675e-05 9.99985667e-01 7.48726659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530281693 meters 0.021020753464602963 Centerline is valid? [True, True] Translation: X:56.21, Y:3.22, Z:0.07 [[ 9.87061486e-01 -1.60245344e-01 -5.57251018e-03 5.62051774e+01] [ 1.60243106e-01 9.87077214e-01 -8.48671692e-04 3.21622858e+00] [ 5.63649352e-03 -5.52652007e-05 9.99984113e-01 7.41844822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56028169300001 meters 0.02026611125418441 Centerline is valid? [True, True] Translation: X:56.23, Y:3.22, Z:0.07 [[ 9.87178679e-01 -1.59520477e-01 -5.61002465e-03 5.62337640e+01] [ 1.59518192e-01 9.87194619e-01 -8.55318399e-04 3.22118857e+00] [ 5.67462694e-03 -5.05489017e-05 9.99983898e-01 7.45550445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59028169300001 meters 0.019862496857641257 Centerline is valid? [True, True] Translation: X:56.26, Y:3.23, Z:0.08 [[ 9.87179908e-01 -1.59518295e-01 -5.45366172e-03 5.62610151e+01] [ 1.59516130e-01 9.87194971e-01 -8.32460517e-04 3.22511005e+00] [ 5.51662011e-03 -4.81587166e-05 9.99984782e-01 7.52035522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62028169300001 meters 0.019968394081385163 Centerline is valid? [True, True] Translation: X:56.29, Y:3.23, Z:0.07 [[ 9.87071509e-01 -1.60188479e-01 -5.43014878e-03 5.62890442e+01] [ 1.60186337e-01 9.87086444e-01 -8.29911528e-04 3.22553240e+00] [ 5.49296852e-03 -5.06536181e-05 9.99984912e-01 7.49507297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650281693 meters 0.02059683319259253 Centerline is valid? [True, True] Translation: X:56.32, Y:3.23, Z:0.07 [[ 9.87092377e-01 -1.60048838e-01 -5.74534326e-03 5.63162105e+01] [ 1.60046434e-01 9.87109096e-01 -8.78798330e-04 3.22594353e+00] [ 5.81193124e-03 -5.20665703e-05 9.99983109e-01 7.32096671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680281693 meters 0.019465696292390103 Centerline is valid? [True, True] Translation: X:56.34, Y:3.23, Z:0.07 [[ 9.87324383e-01 -1.58627927e-01 -5.26712550e-03 5.63448421e+01] [ 1.58625883e-01 9.87338432e-01 -8.06330125e-04 3.22867290e+00] [ 5.32834191e-03 -3.93930382e-05 9.99985804e-01 7.47704680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710281693 meters 0.018765571483344148 Centerline is valid? [True, True] Translation: X:56.37, Y:3.23, Z:0.08 [[ 9.87389875e-01 -1.58236257e-01 -4.74577198e-03 5.63727443e+01] [ 1.58234588e-01 9.87401279e-01 -7.27341565e-04 3.23335644e+00] [ 4.80107313e-03 -3.27755794e-05 9.99988474e-01 7.68277108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740281693 meters 0.019210841995404546 Centerline is valid? [True, True] Translation: X:56.40, Y:3.24, Z:0.08 [[ 9.87338526e-01 -1.58560988e-01 -4.58786041e-03 5.63998695e+01] [ 1.58559430e-01 9.87349184e-01 -7.03731393e-04 3.23514871e+00] [ 4.64140458e-03 -3.26274150e-05 9.99989228e-01 7.67202813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770281693 meters 0.02078935286466599 Centerline is valid? [True, True] Translation: X:56.43, Y:3.23, Z:0.08 [[ 9.86868833e-01 -1.61462220e-01 -4.45627156e-03 5.64290214e+01] [ 1.61460778e-01 9.86878893e-01 -6.83854846e-04 3.23210486e+00] [ 4.50821706e-03 -4.46380370e-05 9.99989837e-01 7.56744265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800281693 meters 0.021931613842223398 Centerline is valid? [True, True] Translation: X:56.46, Y:3.23, Z:0.08 [[ 9.86494316e-01 -1.63738965e-01 -4.30294379e-03 5.64584784e+01] [ 1.63737640e-01 9.86503699e-01 -6.60828276e-04 3.23184040e+00] [ 4.35307330e-03 -5.26505225e-05 9.99990524e-01 7.51152685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830281693 meters 0.024348361844248354 Centerline is valid? [True, True] Translation: X:56.49, Y:3.23, Z:0.07 [[ 9.85944908e-01 -1.66994308e-01 -5.05364738e-03 5.64879639e+01] [ 1.66992519e-01 9.85957857e-01 -7.77021694e-04 3.22801329e+00] [ 5.11244154e-03 -7.78207202e-05 9.99986928e-01 7.36704778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860281693 meters 0.024818862900396536 Centerline is valid? [True, True] Translation: X:56.52, Y:3.23, Z:0.07 [[ 9.85814256e-01 -1.67751101e-01 -5.46084396e-03 5.65166679e+01] [ 1.67749018e-01 9.85829377e-01 -8.40566904e-04 3.23102473e+00] [ 5.52446642e-03 -8.74083736e-05 9.99984736e-01 7.38382340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890281693 meters 0.023804882971041743 Centerline is valid? [True, True] Translation: X:56.55, Y:3.24, Z:0.08 [[ 9.85981984e-01 -1.66790109e-01 -4.53734403e-03 5.65450501e+01] [ 1.66788657e-01 9.85992421e-01 -6.99114108e-04 3.23617188e+00] [ 4.59039214e-03 -6.74636013e-05 9.99989462e-01 7.69025480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920281693 meters 0.022702874135789017 Centerline is valid? [True, True] Translation: X:56.57, Y:3.24, Z:0.08 [[ 9.86188597e-01 -1.65577241e-01 -4.02848817e-03 5.65734658e+01] [ 1.65576084e-01 9.86196823e-01 -6.21341785e-04 3.24242890e+00] [ 4.07576230e-03 -5.42611150e-05 9.99991693e-01 7.77183425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95028169300001 meters 0.020483895277671315 Centerline is valid? [True, True] Translation: X:56.60, Y:3.25, Z:0.08 [[ 9.86827889e-01 -1.61711889e-01 -4.47021750e-03 5.66005331e+01] [ 1.61710422e-01 9.86838013e-01 -6.89984011e-04 3.25172435e+00] [ 4.52295917e-03 -4.19852931e-05 9.99989770e-01 7.65742205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98028169300001 meters 0.019487419614307337 Centerline is valid? [True, True] Translation: X:56.63, Y:3.26, Z:0.07 [[ 9.87171108e-01 -1.59580502e-01 -5.22182941e-03 5.66276986e+01] [ 1.59578469e-01 9.87184918e-01 -8.06321848e-04 3.25854384e+00] [ 5.28358448e-03 -3.73139128e-05 9.99986041e-01 7.45673201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010281693 meters 0.018527270407036434 Centerline is valid? [True, True] Translation: X:56.66, Y:3.27, Z:0.07 [[ 9.87447263e-01 -1.57851108e-01 -5.56154762e-03 5.66559386e+01] [ 1.57848771e-01 9.87462924e-01 -8.59470202e-04 3.26721424e+00] [ 5.62749040e-03 -2.92019601e-05 9.99984165e-01 7.41770232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040281693 meters 0.018007441963468967 Centerline is valid? [True, True] Translation: X:56.68, Y:3.28, Z:0.07 [[ 9.87758122e-01 -1.55884022e-01 -5.83642850e-03 5.66829395e+01] [ 1.55881410e-01 9.87775365e-01 -9.02512218e-04 3.27639266e+00] [ 5.90576752e-03 -1.83269298e-05 9.99982561e-01 7.38851714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070281693 meters 0.017963437935351677 Centerline is valid? [True, True] Translation: X:56.71, Y:3.28, Z:0.08 [[ 9.87589743e-01 -1.56986013e-01 -4.67878528e-03 5.67102787e+01] [ 1.56984344e-01 9.87600826e-01 -7.24135457e-04 3.28158726e+00] [ 4.73445134e-03 -1.93472854e-05 9.99988792e-01 7.64959186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100281693 meters 0.019693778423605604 Centerline is valid? [True, True] Translation: X:56.74, Y:3.28, Z:0.08 [[ 9.86893346e-01 -1.61319857e-01 -4.17461516e-03 5.67387316e+01] [ 1.61318565e-01 9.86902175e-01 -6.46589589e-04 3.27999430e+00] [ 4.22424452e-03 -3.53279646e-05 9.99991077e-01 7.63093487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130281693 meters 0.02210809879284771 Centerline is valid? [True, True] Translation: X:56.77, Y:3.28, Z:0.07 [[ 9.86514567e-01 -1.63584827e-01 -5.38637729e-03 5.67667295e+01] [ 1.63582708e-01 9.86529270e-01 -8.34635755e-04 3.27890620e+00] [ 5.45035260e-03 -5.77378522e-05 9.99985145e-01 7.38361072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160281693 meters 0.02353246364466515 Centerline is valid? [True, True] Translation: X:56.80, Y:3.28, Z:0.07 [[ 9.86194460e-01 -1.65470742e-01 -6.31833689e-03 5.67956191e+01] [ 1.65467860e-01 9.86214696e-01 -9.79874000e-04 3.28044743e+00] [ 6.39337718e-03 -7.91353740e-05 9.99979559e-01 7.23282696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190281693 meters 0.023637805582623215 Centerline is valid? [True, True] Translation: X:56.82, Y:3.28, Z:0.07 [[ 9.85938263e-01 -1.66972442e-01 -6.77825765e-03 5.68244066e+01] [ 1.66969153e-01 9.85961558e-01 -1.05233205e-03 3.28495550e+00] [ 6.85881192e-03 -9.42255079e-05 9.99976474e-01 7.24355587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220281693 meters 0.023127255817036584 Centerline is valid? [True, True] Translation: X:56.85, Y:3.29, Z:0.07 [[ 9.85939190e-01 -1.67002127e-01 -5.84839939e-03 5.68518922e+01] [ 1.66999673e-01 9.85956532e-01 -9.08998484e-04 3.29035828e+00] [ 5.91807227e-03 -8.04635559e-05 9.99982485e-01 7.42340219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250281693 meters 0.022881287672162815 Centerline is valid? [True, True] Translation: X:56.88, Y:3.30, Z:0.08 [[ 9.86079907e-01 -1.66233734e-01 -3.57242420e-03 5.68791826e+01] [ 1.66232812e-01 9.86086377e-01 -5.55577721e-04 3.29500259e+00] [ 3.61507460e-03 -4.60100944e-05 9.99993465e-01 7.79068781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280281693 meters 0.022358026374710387 Centerline is valid? [True, True] Translation: X:56.91, Y:3.30, Z:0.08 [[ 9.86123791e-01 -1.65980083e-01 -3.23748750e-03 5.69065393e+01] [ 1.65979323e-01 9.86129104e-01 -5.03834754e-04 3.30029388e+00] [ 3.27620718e-03 -4.05125447e-05 9.99994632e-01 7.87796630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31028169300001 meters 0.02160813072106645 Centerline is valid? [True, True] Translation: X:56.93, Y:3.31, Z:0.08 [[ 9.86280054e-01 -1.65015965e-01 -4.62463261e-03 5.69347030e+01] [ 1.65014399e-01 9.86290895e-01 -7.20679184e-04 3.30583244e+00] [ 4.68015661e-03 -5.23394671e-05 9.99989047e-01 7.61701882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34028169300001 meters 0.021056971236772398 Centerline is valid? [True, True] Translation: X:56.96, Y:3.31, Z:0.07 [[ 9.86537236e-01 -1.63439391e-01 -5.64328016e-03 5.69620166e+01] [ 1.63437030e-01 9.86553375e-01 -8.80140016e-04 3.31122478e+00] [ 5.71124664e-03 -5.40300499e-05 9.99983689e-01 7.44920011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37028169300001 meters 0.019766103780799467 Centerline is valid? [True, True] Translation: X:56.99, Y:3.32, Z:0.07 [[ 9.86869456e-01 -1.61419107e-01 -5.70509665e-03 5.69898664e+01] [ 1.61416656e-01 9.86885946e-01 -8.90514401e-04 3.31927182e+00] [ 5.77402574e-03 -4.20761605e-05 9.99983329e-01 7.43915200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400281693 meters 0.017472890305796913 Centerline is valid? [True, True] Translation: X:57.02, Y:3.34, Z:0.08 [[ 9.87879960e-01 -1.55151802e-01 -4.59380352e-03 5.70157388e+01] [ 1.55150143e-01 9.87890641e-01 -7.17439256e-04 3.33571030e+00] [ 4.64948750e-03 -3.98541031e-06 9.99989191e-01 7.76056960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430281693 meters 0.017772931413415915 Centerline is valid? [True, True] Translation: X:57.04, Y:3.35, Z:0.08 [[ 9.88446845e-01 -1.51519085e-01 -3.84735209e-03 5.70427451e+01] [ 1.51517892e-01 9.88454332e-01 -6.01308001e-04 3.34708077e+00] [ 3.89404148e-03 1.14183172e-05 9.99992418e-01 7.99551068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460281693 meters 0.017772931413415915 Centerline is valid? [True, True] Translation: X:57.07, Y:3.35, Z:0.08 [[ 9.88419162e-01 -1.51699569e-01 -3.84724226e-03 5.70698555e+01] [ 1.51698375e-01 9.88426649e-01 -6.02010065e-04 3.35152098e+00] [ 3.89404144e-03 1.14178846e-05 9.99992418e-01 8.00097982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490281693 meters 0.0207893047267393 Centerline is valid? [True, True] Translation: X:57.10, Y:3.37, Z:0.08 [[ 9.89332847e-01 -1.45627810e-01 -3.61373774e-03 5.70953039e+01] [ 1.45626714e-01 9.89339446e-01 -5.65912860e-04 3.36679343e+00] [ 3.65762594e-03 3.36194278e-05 9.99993310e-01 8.14652487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520281693 meters 0.022634858976166763 Centerline is valid? [True, True] Translation: X:57.12, Y:3.38, Z:0.08 [[ 9.89688510e-01 -1.43187642e-01 -3.73516253e-03 5.71218061e+01] [ 1.43186454e-01 9.89695558e-01 -5.85148740e-04 3.37660026e+00] [ 3.78045984e-03 4.42903077e-05 9.99992853e-01 8.19424686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550281693 meters 0.025205823160109796 Centerline is valid? [True, True] Translation: X:57.15, Y:3.39, Z:0.08 [[ 9.90073615e-01 -1.40519335e-01 -2.92477896e-03 5.71481520e+01] [ 1.40518594e-01 9.90077934e-01 -4.58367181e-04 3.38895769e+00] [ 2.96016856e-03 4.28314253e-05 9.99995618e-01 8.30533663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580281693 meters 0.025644380699043196 Centerline is valid? [True, True] Translation: X:57.18, Y:3.40, Z:0.08 [[ 9.90124280e-01 -1.40169687e-01 -2.52360088e-03 5.71761495e+01] [ 1.40169134e-01 9.90127495e-01 -3.95732221e-04 3.39527487e+00] [ 2.55415628e-03 3.80931312e-05 9.99996737e-01 8.31566159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610281693 meters 0.02585575876710233 Centerline is valid? [True, True] Translation: X:57.20, Y:3.40, Z:0.08 [[ 9.90107159e-01 -1.40292036e-01 -2.44099620e-03 5.72034309e+01] [ 1.40291518e-01 9.90110167e-01 -3.83170792e-04 3.40111839e+00] [ 2.47061096e-03 3.69290832e-05 9.99996947e-01 8.37470936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640281693 meters 0.023967449001989886 Centerline is valid? [True, True] Translation: X:57.23, Y:3.41, Z:0.08 [[ 9.89930822e-01 -1.41509481e-01 -3.46908254e-03 5.72318477e+01] [ 1.41508439e-01 9.89936899e-01 -5.45314302e-04 3.40512918e+00] [ 3.51133996e-03 4.89189817e-05 9.99993834e-01 8.16331111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670281693 meters 0.023622495308817822 Centerline is valid? [True, True] Translation: X:57.26, Y:3.41, Z:0.08 [[ 9.89808117e-01 -1.42352575e-01 -3.95434439e-03 5.72601697e+01] [ 1.42351225e-01 9.89816014e-01 -6.22299005e-04 3.41027925e+00] [ 4.00265927e-03 5.30508393e-05 9.99991988e-01 8.05946658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70028169300001 meters 0.02333684107672208 Centerline is valid? [True, True] Translation: X:57.29, Y:3.42, Z:0.08 [[ 9.89741313e-01 -1.42798762e-01 -4.54381534e-03 5.72877310e+01] [ 1.42796980e-01 9.89751742e-01 -7.15930543e-04 3.41765861e+00] [ 4.59948314e-03 5.97429289e-05 9.99989421e-01 7.97048828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73028169300001 meters 0.024036366909856745 Centerline is valid? [True, True] Translation: X:57.32, Y:3.43, Z:0.08 [[ 9.89819812e-01 -1.42244581e-01 -4.81854506e-03 5.73150902e+01] [ 1.42242567e-01 9.89831539e-01 -7.59867912e-04 3.42521124e+00] [ 4.87763496e-03 6.67300946e-05 9.99988102e-01 7.95057250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760281693 meters 0.02663819364908746 Centerline is valid? [True, True] Translation: X:57.34, Y:3.44, Z:0.08 [[ 9.89988299e-01 -1.41042749e-01 -5.48727304e-03 5.73410605e+01] [ 1.41040116e-01 9.90003503e-01 -8.65843172e-04 3.43576427e+00] [ 5.55454044e-03 8.32489824e-05 9.99984570e-01 7.76012061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790281693 meters 0.029450844239718773 Centerline is valid? [True, True] Translation: X:57.37, Y:3.45, Z:0.08 [[ 9.90515445e-01 -1.37266156e-01 -6.09558274e-03 5.73691861e+01] [ 1.37262833e-01 9.90534194e-01 -9.62123299e-04 3.44811700e+00] [ 6.16995010e-03 1.16301031e-04 9.99980959e-01 7.73358134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820281693 meters 0.03314097070136239 Centerline is valid? [True, True] Translation: X:57.39, Y:3.46, Z:0.08 [[ 9.90777876e-01 -1.35392117e-01 -5.30799156e-03 5.73947973e+01] [ 1.35389569e-01 9.90792088e-01 -8.38198130e-04 3.46056155e+00] [ 5.37260146e-03 1.11821476e-04 9.99985561e-01 7.82652607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850281693 meters 0.03510124928423571 Centerline is valid? [True, True] Translation: X:57.42, Y:3.48, Z:0.08 [[ 9.91313695e-01 -1.31478787e-01 -3.23823395e-03 5.74221385e+01] [ 1.31477817e-01 9.91318981e-01 -5.11527084e-04 3.47512483e+00] [ 3.27737774e-03 8.13278722e-05 9.99994626e-01 8.23587549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880281693 meters 0.03752446052171671 Centerline is valid? [True, True] Translation: X:57.45, Y:3.49, Z:0.08 [[ 9.91528292e-01 -1.29855153e-01 -3.04712025e-03 5.74484088e+01] [ 1.29854286e-01 9.91532971e-01 -4.81465569e-04 3.48554613e+00] [ 3.08384098e-03 8.17051086e-05 9.99995242e-01 8.23574631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910281693 meters 0.03814612568972591 Centerline is valid? [True, True] Translation: X:57.48, Y:3.49, Z:0.08 [[ 9.91642829e-01 -1.28978017e-01 -3.02820797e-03 5.74760825e+01] [ 1.28977156e-01 9.91647449e-01 -4.78763881e-04 3.49317802e+00] [ 3.06466473e-03 8.41931167e-05 9.99995300e-01 8.21478806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940281693 meters 0.04023652577424248 Centerline is valid? [True, True] Translation: X:57.50, Y:3.50, Z:0.08 [[ 9.91526424e-01 -1.29869338e-01 -3.05037354e-03 5.75023193e+01] [ 1.29868467e-01 9.91531113e-01 -4.82653449e-04 3.50389526e+00] [ 3.08722216e-03 8.24163138e-05 9.99995231e-01 8.27863925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970281693 meters 0.03575564910487287 Centerline is valid? [True, True] Translation: X:57.53, Y:3.50, Z:0.08 [[ 9.91306512e-01 -1.31543411e-01 -2.78018852e-03 5.75316811e+01] [ 1.31542694e-01 9.91310408e-01 -4.40138460e-04 3.50368487e+00] [ 2.81392713e-03 7.05986332e-05 9.99996038e-01 8.31272777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000281693 meters 0.0316277152864304 Centerline is valid? [True, True] Translation: X:57.56, Y:3.50, Z:0.08 [[ 9.90814061e-01 -1.35180226e-01 -3.71509587e-03 5.75616454e+01] [ 1.35178969e-01 9.90821023e-01 -5.88613363e-04 3.50299312e+00] [ 3.76056397e-03 8.10035672e-05 9.99992926e-01 8.00527341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030281693 meters 0.029988513841017358 Centerline is valid? [True, True] Translation: X:57.59, Y:3.51, Z:0.08 [[ 9.90563996e-01 -1.36989413e-01 -4.10747144e-03 5.75906562e+01] [ 1.36987891e-01 9.90572508e-01 -6.51013676e-04 3.50654650e+00] [ 4.15793027e-03 8.21968594e-05 9.99991352e-01 7.87318049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06028169300001 meters 0.028789254924932294 Centerline is valid? [True, True] Translation: X:57.62, Y:3.51, Z:0.08 [[ 9.90373721e-01 -1.38347190e-01 -4.46632993e-03 5.76193437e+01] [ 1.38345401e-01 9.90383788e-01 -7.08478468e-04 3.51133420e+00] [ 4.52139676e-03 8.37622497e-05 9.99989775e-01 7.87226038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09028169300001 meters 0.027767490902161004 Centerline is valid? [True, True] Translation: X:57.65, Y:3.52, Z:0.08 [[ 9.90031529e-01 -1.40745611e-01 -5.31457119e-03 5.76465629e+01] [ 1.40743110e-01 9.90045790e-01 -8.43604141e-04 3.51723183e+00] [ 5.38040241e-03 8.72054205e-05 9.99985522e-01 7.85953393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12028169300001 meters 0.025207890534110586 Centerline is valid? [True, True] Translation: X:57.68, Y:3.52, Z:0.08 [[ 9.89667479e-01 -1.43276872e-01 -5.47897687e-03 5.76755210e+01] [ 1.43274249e-01 9.89682642e-01 -8.70368738e-04 3.51894668e+00] [ 5.54715202e-03 7.63793389e-05 9.99984612e-01 7.99275806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150281693 meters 0.024110977532203124 Centerline is valid? [True, True] Translation: X:57.70, Y:3.52, Z:0.08 [[ 9.89491627e-01 -1.44484311e-01 -5.53214324e-03 5.77039230e+01] [ 1.44481651e-01 9.89507089e-01 -8.79688616e-04 3.52317749e+00] [ 5.60119615e-03 7.11513326e-05 9.99984311e-01 8.01756616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180281693 meters 0.023243827809781185 Centerline is valid? [True, True] Translation: X:57.73, Y:3.53, Z:0.08 [[ 9.89353107e-01 -1.45445568e-01 -5.10053192e-03 5.77320505e+01] [ 1.45443315e-01 9.89366253e-01 -8.11836638e-04 3.52771614e+00] [ 5.16437219e-03 6.13548289e-05 9.99986663e-01 8.03891823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210281693 meters 0.021819781031752368 Centerline is valid? [True, True] Translation: X:57.76, Y:3.53, Z:0.08 [[ 9.89019438e-01 -1.47702070e-01 -4.96476400e-03 5.77602420e+01] [ 1.47699960e-01 9.89031898e-01 -7.90998291e-04 3.53014127e+00] [ 5.02714205e-03 4.90172417e-05 9.99987363e-01 8.00402521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240281693 meters 0.020325905863833274 Centerline is valid? [True, True] Translation: X:57.79, Y:3.53, Z:0.08 [[ 9.88781719e-01 -1.49295803e-01 -4.63422665e-03 5.77896101e+01] [ 1.49293979e-01 9.88792578e-01 -7.39018262e-04 3.53183201e+00] [ 4.69262124e-03 3.88656105e-05 9.99988989e-01 8.08003743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270281693 meters 0.01898957049020753 Centerline is valid? [True, True] Translation: X:57.82, Y:3.53, Z:0.08 [[ 9.88451161e-01 -1.51491991e-01 -3.80502423e-03 5.78183063e+01] [ 1.51490775e-01 9.88458485e-01 -6.07315840e-04 3.53444451e+00] [ 3.85311197e-03 2.38759779e-05 9.99992576e-01 8.28474341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300281693 meters 0.018760615774058235 Centerline is valid? [True, True] Translation: X:57.85, Y:3.54, Z:0.08 [[ 9.88351045e-01 -1.52156839e-01 -3.24165863e-03 5.78462226e+01] [ 1.52155959e-01 9.88356361e-01 -5.17734765e-04 3.53806639e+00] [ 3.28269081e-03 1.84660190e-05 9.99994612e-01 8.42375917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330281693 meters 0.01806358262578567 Centerline is valid? [True, True] Translation: X:57.87, Y:3.54, Z:0.08 [[ 9.88097675e-01 -1.53787764e-01 -3.50835749e-03 5.78748683e+01] [ 1.53786743e-01 9.88103903e-01 -5.60687280e-04 3.53826707e+00] [ 3.55284857e-03 1.44749279e-05 9.99993689e-01 8.23078517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360281693 meters 0.01778403101093377 Centerline is valid? [True, True] Translation: X:57.90, Y:3.54, Z:0.08 [[ 9.87918278e-01 -1.54915361e-01 -4.32518950e-03 5.79029225e+01] [ 1.54913816e-01 9.87927746e-01 -6.92017103e-04 3.54015139e+00] [ 4.38017879e-03 1.36247343e-05 9.99990407e-01 8.14507332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390281693 meters 0.01789435873675182 Centerline is valid? [True, True] Translation: X:57.93, Y:3.54, Z:0.08 [[ 9.87859540e-01 -1.55255182e-01 -5.41834283e-03 5.79302225e+01] [ 1.55252758e-01 9.87874399e-01 -8.67779933e-04 3.54348030e+00] [ 5.48736950e-03 1.60320171e-05 9.99984944e-01 7.99670292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420281693 meters 0.018425691437446753 Centerline is valid? [True, True] Translation: X:57.96, Y:3.55, Z:0.08 [[ 9.88100283e-01 -1.53683146e-01 -6.27064255e-03 5.79584406e+01] [ 1.53679861e-01 9.88120180e-01 -1.00528831e-03 3.54883947e+00] [ 6.35064431e-03 2.96541894e-05 9.99979834e-01 8.02875143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45028169300001 meters 0.019276702939054816 Centerline is valid? [True, True] Translation: X:57.99, Y:3.56, Z:0.08 [[ 9.88299710e-01 -1.52417122e-01 -5.71882548e-03 5.79850743e+01] [ 1.52414366e-01 9.88316255e-01 -9.17349913e-04 3.55589146e+00] [ 5.79182801e-03 3.49854935e-05 9.99983227e-01 8.04581875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48028169300001 meters 0.01977933994733354 Centerline is valid? [True, True] Translation: X:58.01, Y:3.56, Z:0.09 [[ 9.88635653e-01 -1.50292978e-01 -3.40099543e-03 5.80134134e+01] [ 1.50291989e-01 9.88641502e-01 -5.45857851e-04 3.56320948e+00] [ 3.44440384e-03 2.85121641e-05 9.99994068e-01 8.55187356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510281693 meters 0.020334636102257865 Centerline is valid? [True, True] Translation: X:58.04, Y:3.57, Z:0.09 [[ 9.88812427e-01 -1.49148152e-01 -2.19365650e-03 5.80409882e+01] [ 1.49147737e-01 9.88814860e-01 -3.52328980e-04 3.57020573e+00] [ 2.22166936e-03 2.12083711e-05 9.99997532e-01 8.73822959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540281693 meters 0.021640991841865888 Centerline is valid? [True, True] Translation: X:58.07, Y:3.58, Z:0.09 [[ 9.89074126e-01 -1.47401567e-01 -2.26988209e-03 5.80682236e+01] [ 1.47401117e-01 9.89076730e-01 -3.64929155e-04 3.57834800e+00] [ 2.29887868e-03 2.63588292e-05 9.99997357e-01 8.72508589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570281693 meters 0.02450838528449883 Centerline is valid? [True, True] Translation: X:58.09, Y:3.59, Z:0.09 [[ 9.89560870e-01 -1.44098678e-01 -2.20350446e-03 5.80948491e+01] [ 1.44098246e-01 9.89563323e-01 -3.54384796e-04 3.59127675e+00] [ 2.23157357e-03 3.31641988e-05 9.99997509e-01 8.74808596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600281693 meters 0.025733551560804015 Centerline is valid? [True, True] Translation: X:58.12, Y:3.60, Z:0.09 [[ 9.89773989e-01 -1.42629586e-01 -2.06198793e-03 5.81226816e+01] [ 1.42629205e-01 9.89776136e-01 -3.31750001e-04 3.59904143e+00] [ 2.08822381e-03 3.42578238e-05 9.99997819e-01 8.75027549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630281693 meters 0.02725684628829512 Centerline is valid? [True, True] Translation: X:58.15, Y:3.61, Z:0.08 [[ 9.89948601e-01 -1.41386532e-01 -3.40835239e-03 5.81495955e+01] [ 1.41385480e-01 9.89954466e-01 -5.49035495e-04 3.60751220e+00] [ 3.45173989e-03 6.16253826e-05 9.99994041e-01 8.48509089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660281693 meters 0.031621344880358226 Centerline is valid? [True, True] Translation: X:58.18, Y:3.62, Z:0.08 [[ 9.89933368e-01 -1.41429565e-01 -5.44111921e-03 5.81756752e+01] [ 1.41426881e-01 9.89948316e-01 -8.76970338e-04 3.61910608e+00] [ 5.51045634e-03 9.86216821e-05 9.99984812e-01 7.97133364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690281693 meters 0.02815938328390823 Centerline is valid? [True, True] Translation: X:58.20, Y:3.62, Z:0.08 [[ 9.89846488e-01 -1.41971960e-01 -6.92041547e-03 5.82043717e+01] [ 1.41967623e-01 9.89870672e-01 -1.11645605e-03 3.61928437e+00] [ 7.00882177e-03 1.22645172e-04 9.99975430e-01 7.76325436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720281693 meters 0.025960589365150152 Centerline is valid? [True, True] Translation: X:58.23, Y:3.62, Z:0.08 [[ 9.89625976e-01 -1.43479840e-01 -7.34597421e-03 5.82327546e+01] [ 1.43474985e-01 9.89653233e-01 -1.18639412e-03 3.62157241e+00] [ 7.44019076e-03 1.20122904e-04 9.99972314e-01 7.77953349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750281693 meters 0.023401912856428262 Centerline is valid? [True, True] Translation: X:58.26, Y:3.62, Z:0.08 [[ 9.89187544e-01 -1.46592474e-01 -4.31856419e-03 5.82608464e+01] [ 1.46590825e-01 9.89196969e-01 -6.97792039e-04 3.62133667e+00] [ 4.37420167e-03 5.71853066e-05 9.99990431e-01 8.30318009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780281693 meters 0.022967789219565764 Centerline is valid? [True, True] Translation: X:58.29, Y:3.62, Z:0.08 [[ 9.88932946e-01 -1.48317174e-01 -3.69372680e-03 5.82890264e+01] [ 1.48315978e-01 9.88939843e-01 -5.97215814e-04 3.62448870e+00] [ 3.74145097e-03 4.27676914e-05 9.99993000e-01 8.41043575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81028169300001 meters 0.021053647686782976 Centerline is valid? [True, True] Translation: X:58.32, Y:3.62, Z:0.09 [[ 9.88685460e-01 -1.49972974e-01 -3.02787136e-03 5.83179934e+01] [ 1.49972177e-01 9.88690096e-01 -4.89998551e-04 3.62429208e+00] [ 3.06711297e-03 3.03579830e-05 9.99995296e-01 8.50832590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84028169300001 meters 0.020124704307470043 Centerline is valid? [True, True] Translation: X:58.35, Y:3.63, Z:0.09 [[ 9.88456701e-01 -1.51470180e-01 -3.18348440e-03 5.83473346e+01] [ 1.51469305e-01 9.88461827e-01 -5.15723465e-04 3.62531624e+00] [ 3.22486953e-03 2.75701455e-05 9.99994800e-01 8.50594503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87028169300001 meters 0.018964604969610162 Centerline is valid? [True, True] Translation: X:58.38, Y:3.62, Z:0.08 [[ 9.88034520e-01 -1.54169620e-01 -4.41776254e-03 5.83759442e+01] [ 1.54167958e-01 9.88044396e-01 -7.16336265e-04 3.62293703e+00] [ 4.47538280e-03 2.66875293e-05 9.99989985e-01 8.36019684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900281693 meters 0.01875666356528067 Centerline is valid? [True, True] Translation: X:58.40, Y:3.62, Z:0.08 [[ 9.87845234e-01 -1.55333078e-01 -5.78167861e-03 5.84034534e+01] [ 1.55330248e-01 9.87862153e-01 -9.38021416e-04 3.62181180e+00] [ 5.85720723e-03 2.85504131e-05 9.99982846e-01 8.22940692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930281693 meters 0.018784562777168112 Centerline is valid? [True, True] Translation: X:58.43, Y:3.62, Z:0.08 [[ 9.87941055e-01 -1.54752268e-01 -4.92006518e-03 5.84309847e+01] [ 1.54750209e-01 9.87953306e-01 -7.98919028e-04 3.62460880e+00] [ 4.98442919e-03 2.79037948e-05 9.99987577e-01 8.39795190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960281693 meters 0.01927399861448444 Centerline is valid? [True, True] Translation: X:58.46, Y:3.63, Z:0.09 [[ 9.88149480e-01 -1.53460287e-01 -3.24748406e-03 5.84596596e+01] [ 1.53459381e-01 9.88154816e-01 -5.27764741e-04 3.62906221e+00] [ 3.29000794e-03 2.31535605e-05 9.99994588e-01 8.65251527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990281693 meters 0.023337357205059483 Centerline is valid? [True, True] Translation: X:58.49, Y:3.64, Z:0.09 [[ 9.88905595e-01 -1.48521670e-01 -2.65275879e-03 5.84857125e+01] [ 1.48521047e-01 9.88909153e-01 -4.31408577e-04 3.63959473e+00] [ 2.68741097e-03 3.26318416e-05 9.99996388e-01 8.81973001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020281693 meters 0.025349759691218963 Centerline is valid? [True, True] Translation: X:58.51, Y:3.65, Z:0.09 [[ 9.89335798e-01 -1.45607791e-01 -3.61258411e-03 5.85134252e+01] [ 1.45606615e-01 9.89342392e-01 -5.87964406e-04 3.64666962e+00] [ 3.65969480e-03 5.56780910e-05 9.99993302e-01 8.62633179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050281693 meters 0.03299909847171202 Centerline is valid? [True, True] Translation: X:58.54, Y:3.66, Z:0.08 [[ 9.90104525e-01 -1.40176114e-01 -6.60954811e-03 5.85411443e+01] [ 1.40172050e-01 9.90126577e-01 -1.07638387e-03 3.66121662e+00] [ 6.69517255e-03 1.39258631e-04 9.99977577e-01 8.02016580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080281693 meters 0.03475356103379001 Centerline is valid? [True, True] Translation: X:58.57, Y:3.67, Z:0.08 [[ 9.90383052e-01 -1.38214795e-01 -6.17096125e-03 5.85691099e+01] [ 1.38211210e-01 9.90402267e-01 -1.00564736e-03 3.66897562e+00] [ 6.25072936e-03 1.43080078e-04 9.99980454e-01 8.08623247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110281693 meters 0.036713045218189654 Centerline is valid? [True, True] Translation: X:58.60, Y:3.68, Z:0.08 [[ 9.90594068e-01 -1.36722917e-01 -5.49876752e-03 5.85967681e+01] [ 1.36720043e-01 9.90609320e-01 -8.96941043e-04 3.67838830e+00] [ 5.56976275e-03 1.36712744e-04 9.99984479e-01 8.22299891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140281693 meters 0.041128949803083514 Centerline is valid? [True, True] Translation: X:58.62, Y:3.70, Z:0.09 [[ 9.91120708e-01 -1.32897918e-01 -4.22914854e-03 5.86236788e+01] [ 1.32896182e-01 9.91129723e-01 -6.90160660e-04 3.69550181e+00] [ 4.28335574e-03 1.21994828e-04 9.99990819e-01 8.50616578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170281693 meters 0.043435973076447795 Centerline is valid? [True, True] Translation: X:58.65, Y:3.71, Z:0.09 [[ 9.91377777e-01 -1.30970865e-01 -4.09095299e-03 5.86517326e+01] [ 1.30969224e-01 9.91386210e-01 -6.67720667e-04 3.70716280e+00] [ 4.14316633e-03 1.26174493e-04 9.99991409e-01 8.57091345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20028169300001 meters 0.04433956009577803 Centerline is valid? [True, True] Translation: X:58.68, Y:3.72, Z:0.09 [[ 9.91693503e-01 -1.28555783e-01 -4.17220396e-03 5.86791922e+01] [ 1.28554054e-01 9.91702269e-01 -6.81079030e-04 3.72242683e+00] [ 4.22514078e-03 1.39067916e-04 9.99991064e-01 8.56758989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23028169300001 meters 0.044449645962080675 Centerline is valid? [True, True] Translation: X:58.71, Y:3.73, Z:0.08 [[ 9.91716382e-01 -1.28374529e-01 -4.31264017e-03 5.87071626e+01] [ 1.28372679e-01 9.91725748e-01 -7.04105967e-04 3.73255002e+00] [ 4.36734557e-03 1.44648248e-04 9.99990453e-01 8.46031911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260281693 meters 0.043401419727930796 Centerline is valid? [True, True] Translation: X:58.73, Y:3.75, Z:0.08 [[ 9.91491617e-01 -1.30093523e-01 -4.47751085e-03 5.87340904e+01] [ 1.30091546e-01 9.91501717e-01 -7.31158545e-04 3.74502225e+00] [ 4.53457868e-03 1.42451261e-04 9.99989709e-01 8.41468440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290281693 meters 0.041527409928012245 Centerline is valid? [True, True] Translation: X:58.76, Y:3.75, Z:0.08 [[ 9.91232887e-01 -1.32046660e-01 -4.58730941e-03 5.87622756e+01] [ 1.32044605e-01 9.91243492e-01 -7.49240974e-04 3.75122138e+00] [ 4.64607537e-03 1.36942833e-04 9.99989198e-01 8.45697118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320281693 meters 0.03672692605134469 Centerline is valid? [True, True] Translation: X:58.79, Y:3.75, Z:0.09 [[ 9.90932833e-01 -1.34269745e-01 -4.87411243e-03 5.87923214e+01] [ 1.34267452e-01 9.90944811e-01 -7.96184620e-04 3.75360256e+00] [ 4.93687993e-03 1.34530824e-04 9.99987804e-01 8.54855173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350281693 meters 0.031616537868362916 Centerline is valid? [True, True] Translation: X:58.82, Y:3.76, Z:0.08 [[ 9.89947316e-01 -1.41289563e-01 -6.44758326e-03 5.88217647e+01] [ 1.41285699e-01 9.89968304e-01 -1.05330707e-03 3.75850904e+00] [ 6.53172436e-03 1.31767201e-04 9.99978659e-01 8.23685963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380281693 meters 0.031616537868362916 Centerline is valid? [True, True] Translation: X:58.85, Y:3.76, Z:0.08 [[ 9.89922525e-01 -1.41463154e-01 -6.44745017e-03 5.88488287e+01] [ 1.41459288e-01 9.89943513e-01 -1.05412133e-03 3.76313925e+00] [ 6.53173080e-03 1.31446738e-04 9.99978659e-01 8.24232392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410281693 meters 0.026430431099786527 Centerline is valid? [True, True] Translation: X:58.88, Y:3.76, Z:0.08 [[ 9.89331162e-01 -1.45530639e-01 -6.68462295e-03 5.88786728e+01] [ 1.45526569e-01 9.89353739e-01 -1.09398425e-03 3.76200113e+00] [ 6.77266494e-03 1.09522464e-04 9.99977059e-01 8.27101968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440281693 meters 0.02527723988891724 Centerline is valid? [True, True] Translation: X:58.91, Y:3.77, Z:0.08 [[ 9.88771768e-01 -1.49320727e-01 -5.80614577e-03 5.89059529e+01] [ 1.49317718e-01 9.88788812e-01 -9.50699391e-04 3.76547570e+00] [ 5.88301111e-03 7.30642794e-05 9.99982692e-01 8.29024980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470281693 meters 0.018658138916184883 Centerline is valid? [True, True] Translation: X:58.94, Y:3.76, Z:0.09 [[ 9.87548551e-01 -1.57262181e-01 -4.05789744e-03 5.89369211e+01] [ 1.57260777e-01 9.87556888e-01 -6.64822042e-04 3.75734892e+00] [ 4.11195593e-03 1.83959418e-05 9.99991546e-01 8.69910843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500281693 meters 0.017778477916876062 Centerline is valid? [True, True] Translation: X:58.97, Y:3.76, Z:0.09 [[ 9.87015849e-01 -1.60570561e-01 -4.09981992e-03 5.89663834e+01] [ 1.60569154e-01 9.87024364e-01 -6.72304508e-04 3.75633203e+00] [ 4.15457446e-03 5.27059130e-06 9.99991370e-01 8.60569620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530281693 meters 0.019019782780115256 Centerline is valid? [True, True] Translation: X:59.00, Y:3.75, Z:0.08 [[ 9.85899812e-01 -1.67263832e-01 -4.93669918e-03 5.89967558e+01] [ 1.67261872e-01 9.85912172e-01 -8.10071479e-04 3.74601237e+00] [ 5.00264747e-03 -2.70722289e-05 9.99987486e-01 8.42247124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56028169300001 meters 0.020258577153256338 Centerline is valid? [True, True] Translation: X:59.03, Y:3.74, Z:0.09 [[ 9.85398650e-01 -1.70202381e-01 -4.54426877e-03 5.90266881e+01] [ 1.70200749e-01 9.85409127e-01 -7.46189731e-04 3.74409547e+00] [ 4.60496720e-03 -3.81435966e-05 9.99989396e-01 8.55429805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59028169300001 meters 0.021825777368752113 Centerline is valid? [True, True] Translation: X:59.06, Y:3.74, Z:0.09 [[ 9.84840845e-01 -1.73411536e-01 -4.11694142e-03 5.90569245e+01] [ 1.73410223e-01 9.84849449e-01 -6.76506058e-04 3.73992591e+00] [ 4.17188144e-03 -4.76689305e-05 9.99991297e-01 8.88277330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62028169300001 meters 0.02214061986473967 Centerline is valid? [True, True] Translation: X:59.08, Y:3.74, Z:0.09 [[ 9.84790478e-01 -1.73700641e-01 -3.97501704e-03 5.90842996e+01] [ 1.73699418e-01 9.84798500e-01 -6.53625667e-04 3.74094222e+00] [ 4.02812602e-03 -4.67738134e-05 9.99991886e-01 8.93348948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650281693 meters 0.022110133097852556 Centerline is valid? [True, True] Translation: X:59.11, Y:3.74, Z:0.09 [[ 9.85030367e-01 -1.72337103e-01 -3.88565475e-03 5.91127351e+01] [ 1.72335922e-01 9.85038030e-01 -6.39292572e-04 3.73951385e+00] [ 3.93769153e-03 -3.99152971e-05 9.99992246e-01 8.88067826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680281693 meters 0.019721440271153256 Centerline is valid? [True, True] Translation: X:59.14, Y:3.75, Z:0.09 [[ 9.85310887e-01 -1.70722386e-01 -4.04019909e-03 5.91405811e+01] [ 1.70721094e-01 9.85319169e-01 -6.65191206e-04 3.74707613e+00] [ 4.09444864e-03 -3.43270713e-05 9.99991617e-01 8.92007581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710281693 meters 0.019095724383799074 Centerline is valid? [True, True] Translation: X:59.17, Y:3.75, Z:0.09 [[ 9.85707973e-01 -1.68416563e-01 -3.95630897e-03 5.91681952e+01] [ 1.68415302e-01 9.85715913e-01 -6.52047657e-04 3.75138425e+00] [ 4.00961233e-03 -2.35743964e-05 9.99991961e-01 8.87054682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740281693 meters 0.017859393473193787 Centerline is valid? [True, True] Translation: X:59.19, Y:3.76, Z:0.09 [[ 9.86905930e-01 -1.61259621e-01 -3.46698582e-03 5.91943409e+01] [ 1.61258608e-01 9.86912020e-01 -5.71824744e-04 3.76158390e+00] [ 3.51382222e-03 5.25592510e-06 9.99993826e-01 9.07019833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770281693 meters 0.019051157233373972 Centerline is valid? [True, True] Translation: X:59.22, Y:3.77, Z:0.09 [[ 9.87540781e-01 -1.57320575e-01 -3.66646263e-03 5.92223937e+01] [ 1.57319412e-01 9.87547587e-01 -6.05157808e-04 3.77101460e+00] [ 3.71601010e-03 2.08122687e-05 9.99993095e-01 9.04125148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800281693 meters 0.022697865121305685 Centerline is valid? [True, True] Translation: X:59.25, Y:3.78, Z:0.09 [[ 9.88664536e-01 -1.50071920e-01 -4.56659744e-03 5.92501979e+01] [ 1.50070038e-01 9.88675081e-01 -7.54154037e-04 3.78368090e+00] [ 4.62805843e-03 6.02959016e-05 9.99989289e-01 8.91698818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830281693 meters 0.02678431600236179 Centerline is valid? [True, True] Translation: X:59.28, Y:3.79, Z:0.09 [[ 9.89061448e-01 -1.47442067e-01 -4.27657987e-03 5.92768506e+01] [ 1.47440390e-01 9.89070691e-01 -7.06445612e-04 3.79488203e+00] [ 4.33399961e-03 6.81775161e-05 9.99990606e-01 8.95412220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860281693 meters 0.026574169079304294 Centerline is valid? [True, True] Translation: X:59.31, Y:3.80, Z:0.09 [[ 9.89293820e-01 -1.45902240e-01 -3.20518692e-03 5.93059069e+01] [ 1.45901289e-01 9.89299011e-01 -5.29761905e-04 3.79801595e+00] [ 3.24818170e-03 5.64492746e-05 9.99994723e-01 9.19887886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890281693 meters 0.02795534862082041 Centerline is valid? [True, True] Translation: X:59.33, Y:3.80, Z:0.10 [[ 9.89471050e-01 -1.44722323e-01 -1.57832848e-03 5.93329333e+01] [ 1.44722091e-01 9.89472308e-01 -2.60993191e-04 3.80178770e+00] [ 1.59948386e-03 2.98262089e-05 9.99998720e-01 9.50473427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920281693 meters 0.02780229746312123 Centerline is valid? [True, True] Translation: X:59.36, Y:3.81, Z:0.09 [[ 9.89464671e-01 -1.44767344e-01 -1.44283537e-03 5.93603921e+01] [ 1.44767150e-01 9.89465722e-01 -2.38673376e-04 3.80608800e+00] [ 1.46218825e-03 2.72837098e-05 9.99998931e-01 9.47886268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95028169300001 meters 0.03110854771425159 Centerline is valid? [True, True] Translation: X:59.39, Y:3.82, Z:0.09 [[ 9.89756169e-01 -1.42737036e-01 -2.97746017e-03 5.93866116e+01] [ 1.42736197e-01 9.89760645e-01 -4.93371916e-04 3.81706024e+00] [ 3.01739534e-03 6.33265566e-05 9.99995446e-01 9.19114946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98028169300001 meters 0.03294147727060202 Centerline is valid? [True, True] Translation: X:59.41, Y:3.83, Z:0.09 [[ 9.90081445e-01 -1.40428757e-01 -4.30063554e-03 5.94146594e+01] [ 1.40426985e-01 9.90090781e-01 -7.12878159e-04 3.82541801e+00] [ 4.35812819e-03 1.01882157e-04 9.99990498e-01 9.02872994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010281693 meters 0.03675693247842597 Centerline is valid? [True, True] Translation: X:59.44, Y:3.84, Z:0.09 [[ 9.90442657e-01 -1.37838124e-01 -4.89852073e-03 5.94417760e+01] [ 1.37835792e-01 9.90454762e-01 -8.12167840e-04 3.83727159e+00] [ 4.96371088e-03 1.29214187e-04 9.99987672e-01 8.94717795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040281693 meters 0.039448774775747465 Centerline is valid? [True, True] Translation: X:59.47, Y:3.85, Z:0.10 [[ 9.90896315e-01 -1.34601202e-01 -2.64739383e-03 5.94689409e+01] [ 1.34600509e-01 9.90899849e-01 -4.38988311e-04 3.85075176e+00] [ 2.68239050e-03 7.86513438e-05 9.99996399e-01 9.64516088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070281693 meters 0.038907630949938196 Centerline is valid? [True, True] Translation: X:59.50, Y:3.86, Z:0.10 [[ 9.90983652e-01 -1.33981724e-01 -5.46977052e-04 5.94962386e+01] [ 1.33981694e-01 9.90983803e-01 -9.06576502e-05 3.85919954e+00] [ 5.54191867e-04 1.65553372e-05 9.99999846e-01 9.70791843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100281693 meters 0.03826669989492711 Centerline is valid? [True, True] Translation: X:59.53, Y:3.87, Z:0.10 [[ 9.90923294e-01 -1.34428496e-01 7.68080333e-05 5.95255003e+01] [ 1.34428495e-01 9.90923297e-01 1.27895143e-05 3.86536509e+00] [-7.78301447e-05 -2.34823931e-06 9.99999997e-01 9.80657602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130281693 meters 0.038087303755977214 Centerline is valid? [True, True] Translation: X:59.55, Y:3.87, Z:0.09 [[ 9.90583685e-01 -1.36853541e-01 -3.88218853e-03 5.95540354e+01] [ 1.36852068e-01 9.90591286e-01 -6.44067563e-04 3.87266464e+00] [ 3.93380506e-03 1.06717292e-04 9.99992257e-01 9.03109007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160281693 meters 0.036863135135789676 Centerline is valid? [True, True] Translation: X:59.58, Y:3.88, Z:0.09 [[ 9.90350217e-01 -1.38430852e-01 -6.58390228e-03 5.95828821e+01] [ 1.38426643e-01 9.90372087e-01 -1.09302553e-03 3.87817999e+00] [ 6.67182149e-03 1.71090582e-04 9.99977729e-01 8.55239851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190281693 meters 0.03330883888627628 Centerline is valid? [True, True] Translation: X:59.61, Y:3.88, Z:0.09 [[ 9.89979371e-01 -1.41036850e-01 -7.03227215e-03 5.96111765e+01] [ 1.41032110e-01 9.90004333e-01 -1.16801601e-03 3.88446054e+00] [ 7.12671320e-03 1.64535577e-04 9.99974591e-01 8.60307949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220281693 meters 0.03257393396916102 Centerline is valid? [True, True] Translation: X:59.64, Y:3.89, Z:0.09 [[ 9.89736861e-01 -1.42804286e-01 -5.28032221e-03 5.96388117e+01] [ 1.42801635e-01 9.89750940e-01 -8.77642335e-04 3.89109656e+00] [ 5.35153496e-03 1.14596322e-04 9.99985674e-01 8.87597521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250281693 meters 0.030306539676173014 Centerline is valid? [True, True] Translation: X:59.67, Y:3.89, Z:0.09 [[ 9.89417067e-01 -1.45033523e-01 -4.37541630e-03 5.96674312e+01] [ 1.45031721e-01 9.89426738e-01 -7.27888927e-04 3.89489706e+00] [ 4.43472218e-03 8.56115689e-05 9.99990163e-01 9.10953288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280281693 meters 0.026424488286415956 Centerline is valid? [True, True] Translation: X:59.70, Y:3.90, Z:0.09 [[ 9.88821822e-01 -1.49038065e-01 -4.36579462e-03 5.96966838e+01] [ 1.49036308e-01 9.88831457e-01 -7.26787652e-04 3.89785981e+00] [ 4.42535408e-03 6.80015761e-05 9.99990206e-01 9.05532747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31028169300001 meters 0.024131079761483782 Centerline is valid? [True, True] Translation: X:59.72, Y:3.90, Z:0.09 [[ 9.88431064e-01 -1.51609047e-01 -4.32773578e-03 5.97244984e+01] [ 1.51607345e-01 9.88440536e-01 -7.20737175e-04 3.90106463e+00] [ 4.38697976e-03 5.62824816e-05 9.99990376e-01 9.02895546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34028169300001 meters 0.019096991130871478 Centerline is valid? [True, True] Translation: X:59.75, Y:3.90, Z:0.09 [[ 9.87497373e-01 -1.57606892e-01 -3.00088366e-03 5.97541223e+01] [ 1.57606100e-01 9.87501933e-01 -4.99890286e-04 3.89884084e+00] [ 3.04216457e-03 2.06827730e-05 9.99995372e-01 9.27739262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37028169300001 meters 0.017861287884658742 Centerline is valid? [True, True] Translation: X:59.78, Y:3.90, Z:0.09 [[ 9.86948571e-01 -1.61015797e-01 -2.53593628e-03 5.97829862e+01] [ 1.61015242e-01 9.86951829e-01 -4.22612227e-04 3.89948784e+00] [ 2.57089419e-03 8.77213994e-06 9.99996695e-01 9.36067742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400281693 meters 0.017439432905485934 Centerline is valid? [True, True] Translation: X:59.81, Y:3.90, Z:0.09 [[ 9.86356484e-01 -1.64588207e-01 -3.40719614e-03 5.98108013e+01] [ 1.64587225e-01 9.86362369e-01 -5.68514250e-04 3.89956132e+00] [ 3.45430079e-03 -2.32404821e-08 9.99994034e-01 9.25794934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430281693 meters 0.018270606274918243 Centerline is valid? [True, True] Translation: X:59.84, Y:3.90, Z:0.09 [[ 9.85404484e-01 -1.70142382e-01 -5.43799846e-03 5.98403041e+01] [ 1.70139959e-01 9.85419489e-01 -9.08549751e-04 3.89637992e+00] [ 5.51329248e-03 -2.99318341e-05 9.99984801e-01 8.97620774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460281693 meters 0.019212253747408675 Centerline is valid? [True, True] Translation: X:59.87, Y:3.90, Z:0.09 [[ 9.85126725e-01 -1.71733757e-01 -5.73172370e-03 5.98685778e+01] [ 1.71731089e-01 9.85143398e-01 -9.58207412e-04 3.89748249e+00] [ 5.81112632e-03 -4.03594202e-05 9.99983114e-01 8.90959000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490281693 meters 0.019544677529722356 Centerline is valid? [True, True] Translation: X:59.90, Y:3.90, Z:0.09 [[ 9.84896203e-01 -1.73112941e-01 -3.37320164e-03 5.98970151e+01] [ 1.73112024e-01 9.84901979e-01 -5.64253069e-04 3.89914050e+00] [ 3.41995248e-03 -2.82110578e-05 9.99994152e-01 9.30437638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520281693 meters 0.02055289768995187 Centerline is valid? [True, True] Translation: X:59.93, Y:3.90, Z:0.10 [[ 9.84827776e-01 -1.73530257e-01 -1.22565364e-03 5.99251374e+01] [ 1.73530136e-01 9.84828538e-01 -2.05112291e-04 3.90037351e+00] [ 1.24265187e-03 -1.06875607e-05 9.99999228e-01 9.74100811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550281693 meters 0.020152707435254106 Centerline is valid? [True, True] Translation: X:59.95, Y:3.90, Z:0.10 [[ 9.84879831e-01 -1.73238748e-01 2.35299348e-04 5.99527927e+01] [ 1.73238743e-01 9.84879859e-01 3.97761428e-05 3.90456654e+00] [-2.38632358e-04 1.58824256e-06 9.99999972e-01 1.00391767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580281693 meters 0.018043813524844327 Centerline is valid? [True, True] Translation: X:59.98, Y:3.91, Z:0.10 [[ 9.85246118e-01 -1.71141353e-01 -8.51632894e-04 5.99806041e+01] [ 1.71141293e-01 9.85246486e-01 -1.42559798e-04 3.91136315e+00] [ 8.63466193e-04 -5.29306707e-06 9.99999627e-01 9.87607530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610281693 meters 0.017573488549963247 Centerline is valid? [True, True] Translation: X:60.01, Y:3.92, Z:0.10 [[ 9.85498454e-01 -1.69669441e-01 -2.25327590e-03 6.00087232e+01] [ 1.69669020e-01 9.85501030e-01 -3.78104543e-04 3.91672959e+00] [ 2.28475851e-03 -9.68967091e-06 9.99997390e-01 9.65486806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640281693 meters 0.01725128577556918 Centerline is valid? [True, True] Translation: X:60.04, Y:3.92, Z:0.10 [[ 9.85774007e-01 -1.68047642e-01 -3.09781505e-03 6.00359598e+01] [ 1.68046836e-01 9.85778875e-01 -5.20488431e-04 3.92242415e+00] [ 3.14122748e-03 -7.49405083e-06 9.99995066e-01 9.51104356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670281693 meters 0.01695059735523756 Centerline is valid? [True, True] Translation: X:60.06, Y:3.93, Z:0.10 [[ 9.86268178e-01 -1.65142815e-01 -1.71231718e-03 6.00625178e+01] [ 1.65142564e-01 9.86269664e-01 -2.87886247e-04 3.92768442e+00] [ 1.73634884e-03 1.15659373e-06 9.99998493e-01 9.69513442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70028169300001 meters 0.016843052384073808 Centerline is valid? [True, True] Translation: X:60.09, Y:3.93, Z:0.10 [[ 9.86355717e-01 -1.64625665e-01 -8.88721065e-04 6.00903339e+01] [ 1.64625598e-01 9.86356117e-01 -1.49298518e-04 3.93157367e+00] [ 9.01173827e-04 9.55210533e-07 9.99999594e-01 9.89028994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73028169300001 meters 0.016836033229821957 Centerline is valid? [True, True] Translation: X:60.12, Y:3.93, Z:0.10 [[ 9.86299250e-01 -1.64963630e-01 -8.88982626e-04 6.01172019e+01] [ 1.64963562e-01 9.86299651e-01 -1.49627039e-04 3.93161271e+00] [ 9.01486272e-04 9.27295694e-07 9.99999594e-01 9.85603113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760281693 meters 0.01690736859529751 Centerline is valid? [True, True] Translation: X:60.15, Y:3.93, Z:0.10 [[ 9.86132513e-01 -1.65948332e-01 -1.95412916e-03 6.01454553e+01] [ 1.65948005e-01 9.86134449e-01 -3.29258331e-04 3.93207290e+00] [ 1.98167395e-03 4.08509739e-07 9.99998036e-01 9.62014746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790281693 meters 0.016865614077630608 Centerline is valid? [True, True] Translation: X:60.17, Y:3.93, Z:0.10 [[ 9.85713816e-01 -1.68411576e-01 -2.41140299e-03 6.01745199e+01] [ 1.68411085e-01 9.85716765e-01 -4.06842488e-04 3.92661886e+00] [ 2.44547734e-03 -5.07673151e-06 9.99997010e-01 9.50237978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820281693 meters 0.01691659882343343 Centerline is valid? [True, True] Translation: X:60.20, Y:3.93, Z:0.10 [[ 9.85558046e-01 -1.69329116e-01 -1.72853318e-03 6.02023891e+01] [ 1.69328865e-01 9.85559562e-01 -2.91847844e-04 3.92654599e+00] [ 1.75299074e-03 -5.05756996e-06 9.99998463e-01 9.66257502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850281693 meters 0.01709777530153174 Centerline is valid? [True, True] Translation: X:60.23, Y:3.93, Z:0.10 [[ 9.85514618e-01 -1.69584748e-01 -1.39677877e-03 6.02295505e+01] [ 1.69584583e-01 9.85515608e-01 -2.36095117e-04 3.92703840e+00] [ 1.41658541e-03 -4.19695624e-06 9.99998997e-01 9.79512702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880281693 meters 0.016870233110740793 Centerline is valid? [True, True] Translation: X:60.26, Y:3.93, Z:0.10 [[ 9.85773720e-01 -1.68037847e-01 -3.66818921e-03 6.02571432e+01] [ 1.68036700e-01 9.85780545e-01 -6.20794269e-04 3.92953033e+00] [ 3.72034649e-03 -4.42773467e-06 9.99993079e-01 9.52183248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910281693 meters 0.016992320588938105 Centerline is valid? [True, True] Translation: X:60.28, Y:3.94, Z:0.09 [[ 9.86047181e-01 -1.66394624e-01 -4.87715668e-03 6.02840234e+01] [ 1.66392572e-01 9.86059242e-01 -8.26285631e-04 3.93514163e+00] [ 4.94665491e-03 3.23397158e-06 9.99987765e-01 9.33362000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940281693 meters 0.01822184156218201 Centerline is valid? [True, True] Translation: X:60.31, Y:3.94, Z:0.09 [[ 9.86901745e-01 -1.61251451e-01 -4.78708997e-03 6.03109694e+01] [ 1.61249412e-01 9.86913354e-01 -8.11451396e-04 3.94349328e+00] [ 4.85529073e-03 2.89073579e-05 9.99988213e-01 9.25548110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970281693 meters 0.01956343034335253 Centerline is valid? [True, True] Translation: X:60.34, Y:3.95, Z:0.09 [[ 9.87296001e-01 -1.58849261e-01 -3.67678138e-03 6.03386348e+01] [ 1.58848040e-01 9.87302847e-01 -6.23620674e-04 3.94999968e+00] [ 3.72915841e-03 3.16486797e-05 9.99993046e-01 9.38425705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000281693 meters 0.02062347863732861 Centerline is valid? [True, True] Translation: X:60.37, Y:3.96, Z:0.09 [[ 9.87575160e-01 -1.57117304e-01 -3.07503304e-03 6.03665615e+01] [ 1.57116441e-01 9.87579947e-01 -5.22017823e-04 3.95585557e+00] [ 3.11885900e-03 3.23935891e-05 9.99995136e-01 9.43557559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030281693 meters 0.02194519361414 Centerline is valid? [True, True] Translation: X:60.39, Y:3.96, Z:0.09 [[ 9.87775293e-01 -1.55840656e-01 -3.69595524e-03 6.03935259e+01] [ 1.55839397e-01 9.87782207e-01 -6.27924214e-04 3.96073236e+00] [ 3.74865494e-03 4.42725880e-05 9.99992973e-01 9.25569523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06028169300001 meters 0.0204155351430453 Centerline is valid? [True, True] Translation: X:60.42, Y:3.96, Z:0.09 [[ 9.87396389e-01 -1.58195399e-01 -4.75260463e-03 6.04231563e+01] [ 1.58193342e-01 9.87407825e-01 -8.08055591e-04 3.95653586e+00] [ 4.82058967e-03 4.60407640e-05 9.99988380e-01 8.98725806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09028169300001 meters 0.01880198918011005 Centerline is valid? [True, True] Translation: X:60.45, Y:3.95, Z:0.09 [[ 9.86940643e-01 -1.61006025e-01 -5.02267594e-03 6.04516522e+01] [ 1.61003761e-01 9.86953423e-01 -8.54584493e-04 3.95308343e+00] [ 5.09474046e-03 3.47544521e-05 9.99987021e-01 8.92900508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12028169300001 meters 0.01750688680405464 Centerline is valid? [True, True] Translation: X:60.48, Y:3.95, Z:0.09 [[ 9.86461640e-01 -1.63934938e-01 -4.33227761e-03 6.04813354e+01] [ 1.63933280e-01 9.86471153e-01 -7.37651959e-04 3.94965703e+00] [ 4.39459382e-03 1.74608845e-05 9.99990344e-01 9.05132187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150281693 meters 0.016707149700927917 Centerline is valid? [True, True] Translation: X:60.51, Y:3.95, Z:0.09 [[ 9.86059782e-01 -1.66358799e-01 -3.29494891e-03 6.05098505e+01] [ 1.66357852e-01 9.86065287e-01 -5.61348640e-04 3.94701058e+00] [ 3.34242003e-03 5.38269474e-06 9.99994414e-01 9.28097375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180281693 meters 0.016624309301418793 Centerline is valid? [True, True] Translation: X:60.54, Y:3.94, Z:0.09 [[ 9.85645839e-01 -1.68808192e-01 -2.46479676e-03 6.05386635e+01] [ 1.68807670e-01 9.85648920e-01 -4.20044262e-04 3.93999636e+00] [ 2.50033118e-03 -2.06171869e-06 9.99996874e-01 9.49134066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210281693 meters 0.016792172338123697 Centerline is valid? [True, True] Translation: X:60.57, Y:3.94, Z:0.09 [[ 9.85636920e-01 -1.68844126e-01 -3.39462207e-03 6.05670758e+01] [ 1.68843133e-01 9.85642765e-01 -5.78983013e-04 3.93941712e+00] [ 3.44364256e-03 -2.49159273e-06 9.99994071e-01 9.35324983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240281693 meters 0.016800060016146152 Centerline is valid? [True, True] Translation: X:60.60, Y:3.93, Z:0.09 [[ 9.85806957e-01 -1.67811482e-01 -4.89381673e-03 6.05950625e+01] [ 1.67809401e-01 9.85819104e-01 -8.35738178e-04 3.93460269e+00] [ 4.96466449e-03 2.64805726e-06 9.99987676e-01 9.09932852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270281693 meters 0.016800060016146152 Centerline is valid? [True, True] Translation: X:60.62, Y:3.94, Z:0.09 [[ 9.85777128e-01 -1.67986626e-01 -4.89366828e-03 6.06221079e+01] [ 1.67984543e-01 9.85789274e-01 -8.36606820e-04 3.93943460e+00] [ 4.96466446e-03 2.64723910e-06 9.99987676e-01 9.10479765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300281693 meters 0.016845035359885015 Centerline is valid? [True, True] Translation: X:60.65, Y:3.94, Z:0.09 [[ 9.85944141e-01 -1.67001460e-01 -4.96610763e-03 6.06495443e+01] [ 1.66999298e-01 9.85956648e-01 -8.49904279e-04 3.94221457e+00] [ 5.03830209e-03 8.62165885e-06 9.99987308e-01 9.12301890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330281693 meters 0.018149960010922 Centerline is valid? [True, True] Translation: X:60.68, Y:3.95, Z:0.09 [[ 9.86524366e-01 -1.63548131e-01 -4.65664164e-03 6.06779956e+01] [ 1.63546187e-01 9.86535356e-01 -7.97710423e-04 3.94564882e+00] [ 4.72440567e-03 2.53847827e-05 9.99988840e-01 9.17340190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360281693 meters 0.018861995078697257 Centerline is valid? [True, True] Translation: X:60.71, Y:3.95, Z:0.09 [[ 9.86739169e-01 -1.62266389e-01 -3.92838246e-03 6.07054854e+01] [ 1.62264994e-01 9.86746988e-01 -6.73332774e-04 3.94873571e+00] [ 3.98557883e-03 2.69648668e-05 9.99992057e-01 9.29667409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390281693 meters 0.0188218101366158 Centerline is valid? [True, True] Translation: X:60.73, Y:3.95, Z:0.09 [[ 9.86852015e-01 -1.61593428e-01 -3.26578672e-03 6.07341208e+01] [ 1.61592460e-01 9.86857418e-01 -5.60107710e-04 3.94974764e+00] [ 3.31337558e-03 2.50169131e-05 9.99994510e-01 9.44256248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420281693 meters 0.020063531923664744 Centerline is valid? [True, True] Translation: X:60.76, Y:3.95, Z:0.10 [[ 9.87017711e-01 -1.60593796e-01 -2.38137573e-03 6.07621792e+01] [ 1.60593277e-01 9.87020584e-01 -4.08738672e-04 3.95226220e+00] [ 2.41610776e-03 2.09993761e-05 9.99997081e-01 9.61475227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45028169300001 meters 0.02074611769151072 Centerline is valid? [True, True] Translation: X:60.79, Y:3.96, Z:0.10 [[ 9.87122519e-01 -1.59950080e-01 -2.25929423e-03 6.07904717e+01] [ 1.59949611e-01 9.87125104e-01 -3.87998708e-04 3.95649894e+00] [ 2.29226647e-03 2.16290298e-05 9.99997373e-01 9.70977527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48028169300001 meters 0.021234655363783453 Centerline is valid? [True, True] Translation: X:60.82, Y:3.96, Z:0.10 [[ 9.87390479e-01 -1.58278323e-01 -2.83110131e-03 6.08190201e+01] [ 1.58277578e-01 9.87394537e-01 -4.86729189e-04 3.96032599e+00] [ 2.87245265e-03 3.24919091e-05 9.99995874e-01 9.56120879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510281693 meters 0.02292726419383402 Centerline is valid? [True, True] Translation: X:60.85, Y:3.97, Z:0.09 [[ 9.87560089e-01 -1.57209611e-01 -3.19510353e-03 6.08454410e+01] [ 1.57208655e-01 9.87565257e-01 -5.49793309e-04 3.96905294e+00] [ 3.24180603e-03 4.06560001e-05 9.99994745e-01 9.49290439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540281693 meters 0.023357021118036482 Centerline is valid? [True, True] Translation: X:60.87, Y:3.98, Z:0.10 [[ 9.87742155e-01 -1.56067647e-01 -2.88540375e-03 6.08731918e+01] [ 1.56066861e-01 9.87746368e-01 -4.96815181e-04 3.97610829e+00] [ 2.92758385e-03 4.04093905e-05 9.99995714e-01 9.63934578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570281693 meters 0.025815309769075374 Centerline is valid? [True, True] Translation: X:60.90, Y:3.99, Z:0.10 [[ 9.88205840e-01 -1.53123174e-01 -1.58471946e-03 6.09006112e+01] [ 1.53122933e-01 9.88207110e-01 -2.72976492e-04 3.98620153e+00] [ 1.60783006e-03 2.71000732e-05 9.99998707e-01 9.92350266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600281693 meters 0.027867384536223665 Centerline is valid? [True, True] Translation: X:60.93, Y:3.99, Z:0.10 [[ 9.88443906e-01 -1.51579809e-01 -1.48536701e-03 6.09276034e+01] [ 1.51579595e-01 9.88445022e-01 -2.56143966e-04 3.99498457e+00] [ 1.50702988e-03 2.80326115e-05 9.99998864e-01 9.92373850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630281693 meters 0.03102330240776105 Centerline is valid? [True, True] Translation: X:60.95, Y:4.01, Z:0.10 [[ 9.88855354e-01 -1.48842631e-01 -3.31061403e-03 6.09537227e+01] [ 1.48841552e-01 9.88860893e-01 -5.71222478e-04 4.00855774e+00] [ 3.35875900e-03 7.20994760e-05 9.99994357e-01 9.60383203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660281693 meters 0.031301878498010166 Centerline is valid? [True, True] Translation: X:60.98, Y:4.02, Z:0.10 [[ 9.88968497e-01 -1.48081221e-01 -3.64206775e-03 6.09814760e+01] [ 1.48079909e-01 9.88975199e-01 -6.28792667e-04 4.01729477e+00] [ 3.69502707e-03 8.25390766e-05 9.99993170e-01 9.54233192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690281693 meters 0.033352406750622066 Centerline is valid? [True, True] Translation: X:61.01, Y:4.03, Z:0.09 [[ 9.89001105e-01 -1.47856681e-01 -3.90071844e-03 6.10075746e+01] [ 1.47855172e-01 9.89008794e-01 -6.73969126e-04 4.02704533e+00] [ 3.95749567e-03 8.98148137e-05 9.99992165e-01 9.49010336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720281693 meters 0.02794287055906217 Centerline is valid? [True, True] Translation: X:61.04, Y:4.03, Z:0.10 [[ 9.88585561e-01 -1.50627091e-01 -3.17299206e-03 6.10370226e+01] [ 1.50626106e-01 9.88590651e-01 -5.48432657e-04 4.02651908e+00] [ 3.21939911e-03 6.42371661e-05 9.99994816e-01 9.65030917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750281693 meters 0.028116927818304657 Centerline is valid? [True, True] Translation: X:61.06, Y:4.03, Z:0.10 [[ 9.88259100e-01 -1.52755756e-01 -3.10324724e-03 6.10641099e+01] [ 1.52754824e-01 9.88263971e-01 -5.36540385e-04 4.03225709e+00] [ 3.14878707e-03 5.62049321e-05 9.99995041e-01 9.59657734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780281693 meters 0.024681111487650564 Centerline is valid? [True, True] Translation: X:61.09, Y:4.03, Z:0.09 [[ 9.87805417e-01 -1.55639845e-01 -4.08623822e-03 6.10929296e+01] [ 1.55638251e-01 9.87813866e-01 -7.07003076e-04 4.03475423e+00] [ 4.14648062e-03 6.24064967e-05 9.99991401e-01 9.37833253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81028169300001 meters 0.024371578685612523 Centerline is valid? [True, True] Translation: X:61.12, Y:4.04, Z:0.09 [[ 9.87671919e-01 -1.56467720e-01 -4.69394682e-03 6.11204806e+01] [ 1.56465624e-01 9.87683071e-01 -8.12680706e-04 4.04069538e+00] [ 4.76329011e-03 6.82205937e-05 9.99988653e-01 9.24374510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84028169300001 meters 0.02390951129271342 Centerline is valid? [True, True] Translation: X:61.15, Y:4.05, Z:0.09 [[ 9.87540707e-01 -1.57267444e-01 -5.50481419e-03 6.11483098e+01] [ 1.57264570e-01 9.87556047e-01 -9.53862979e-04 4.04619349e+00] [ 5.58632413e-03 7.62662850e-05 9.99984393e-01 9.12426747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.870281693 meters 0.02196944751025708 Centerline is valid? [True, True] Translation: X:61.18, Y:4.05, Z:0.09 [[ 9.87290477e-01 -1.58852091e-01 -4.85051040e-03 6.11766035e+01] [ 1.58849874e-01 9.87302390e-01 -8.41294019e-04 4.05164458e+00] [ 4.92256183e-03 6.00986069e-05 9.99987882e-01 9.27344217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900281693 meters 0.021155026494684103 Centerline is valid? [True, True] Translation: X:61.20, Y:4.06, Z:0.09 [[ 9.87135220e-01 -1.59840457e-01 -3.88401613e-03 6.12041879e+01] [ 1.59839042e-01 9.87142860e-01 -6.74039773e-04 4.05665331e+00] [ 3.94181762e-03 4.45509841e-05 9.99992230e-01 9.47302314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930281693 meters 0.018946860548417373 Centerline is valid? [True, True] Translation: X:61.23, Y:4.06, Z:0.10 [[ 9.86601720e-01 -1.63131621e-01 -2.26262145e-03 6.12316496e+01] [ 1.63131149e-01 9.86604315e-01 -3.92754037e-04 4.05866071e+00] [ 2.29638269e-03 1.83877706e-05 9.99997363e-01 9.66041742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960281693 meters 0.017924988054767464 Centerline is valid? [True, True] Translation: X:61.26, Y:4.06, Z:0.09 [[ 9.86291902e-01 -1.64982774e-01 -2.99455958e-03 6.12590741e+01] [ 1.64981955e-01 9.86296448e-01 -5.20091547e-04 4.06098053e+00] [ 3.03932962e-03 1.89137866e-05 9.99995381e-01 9.43780367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990281693 meters 0.01718312704196456 Centerline is valid? [True, True] Translation: X:61.29, Y:4.06, Z:0.09 [[ 9.85920379e-01 -1.67160911e-01 -4.27043081e-03 6.12882554e+01] [ 1.67159264e-01 9.85929627e-01 -7.42220356e-04 4.06258192e+00] [ 4.33441448e-03 1.79281033e-05 9.99990606e-01 9.20068729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020281693 meters 0.01647857024295253 Centerline is valid? [True, True] Translation: X:61.32, Y:4.06, Z:0.09 [[ 9.85012372e-01 -1.72381330e-01 -5.94174113e-03 6.13175235e+01] [ 1.72378230e-01 9.85030292e-01 -1.03388414e-03 4.05877989e+00] [ 6.03101733e-03 -5.83815370e-06 9.99981813e-01 8.88845127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050281693 meters 0.018029471169672517 Centerline is valid? [True, True] Translation: X:61.35, Y:4.05, Z:0.09 [[ 9.84036382e-01 -1.77912000e-01 -4.44069377e-03 6.13465903e+01] [ 1.77910323e-01 9.84046401e-01 -7.73111310e-04 4.05339127e+00] [ 4.50739450e-03 -2.92756053e-05 9.99989841e-01 9.20641971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080281693 meters 0.019304428598140667 Centerline is valid? [True, True] Translation: X:61.37, Y:4.05, Z:0.09 [[ 9.83673024e-01 -1.79932875e-01 -3.39727587e-03 6.13749790e+01] [ 1.79931905e-01 9.83678891e-01 -5.91664244e-04 4.05422768e+00] [ 3.44828841e-03 -2.92741618e-05 9.99994054e-01 9.41305757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110281693 meters 0.02002482142033134 Centerline is valid? [True, True] Translation: X:61.40, Y:4.06, Z:0.09 [[ 9.83426566e-01 -1.81273378e-01 -3.48604540e-03 6.14034273e+01] [ 1.81272363e-01 9.83432744e-01 -6.07538809e-04 4.05685463e+00] [ 3.53842181e-03 -3.44538820e-05 9.99993739e-01 9.40571068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140281693 meters 0.020117411525265583 Centerline is valid? [True, True] Translation: X:61.43, Y:4.06, Z:0.09 [[ 9.83475242e-01 -1.80946803e-01 -5.89094012e-03 6.14308554e+01] [ 1.80943895e-01 9.83492883e-01 -1.02740694e-03 4.05952796e+00] [ 5.97960368e-03 -5.55003602e-05 9.99982120e-01 8.97397508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170281693 meters 0.019421046315507097 Centerline is valid? [True, True] Translation: X:61.46, Y:4.07, Z:0.09 [[ 9.83610204e-01 -1.80197340e-01 -6.31550001e-03 6.14579383e+01] [ 1.80193976e-01 9.83630477e-01 -1.10235849e-03 4.06563281e+00] [ 6.41076035e-03 -5.37240036e-05 9.99979449e-01 8.89848970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20028169300001 meters 0.018794584767273068 Centerline is valid? [True, True] Translation: X:61.49, Y:4.07, Z:0.09 [[ 9.83762038e-01 -1.79363501e-01 -6.40210480e-03 6.14858218e+01] [ 1.79360020e-01 9.83782868e-01 -1.11853554e-03 4.07261092e+00] [ 6.49890548e-03 -4.79088437e-05 9.99978881e-01 8.95113979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23028169300001 meters 0.018295824658129577 Centerline is valid? [True, True] Translation: X:61.51, Y:4.08, Z:0.09 [[ 9.83900920e-01 -1.78624514e-01 -5.67994860e-03 6.15132146e+01] [ 1.78621759e-01 9.83917314e-01 -9.92847975e-04 4.07921070e+00] [ 5.76594676e-03 -3.76983730e-05 9.99983376e-01 9.09664876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260281693 meters 0.017755078633287135 Centerline is valid? [True, True] Translation: X:61.54, Y:4.08, Z:0.09 [[ 9.83998149e-01 -1.78118447e-01 -4.63265305e-03 6.15418401e+01] [ 1.78116606e-01 9.84009054e-01 -8.10288641e-04 4.08426175e+00] [ 4.70289990e-03 -2.78299137e-05 9.99988941e-01 9.38540902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290281693 meters 0.017487126934144802 Centerline is valid? [True, True] Translation: X:61.57, Y:4.09, Z:0.09 [[ 9.84038934e-01 -1.77908670e-01 -3.98511978e-03 6.15679180e+01] [ 1.77907305e-01 9.84047003e-01 -6.97449130e-04 4.08926269e+00] [ 4.04562742e-03 -2.26648208e-05 9.99991816e-01 9.48909563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320281693 meters 0.02436727033898769 Centerline is valid? [True, True] Translation: X:61.60, Y:4.10, Z:0.10 [[ 9.84153444e-01 -1.77277738e-01 -3.82138641e-03 6.15951028e+01] [ 1.77276475e-01 9.84160863e-01 -6.69268960e-04 4.09638992e+00] [ 3.87950543e-03 -1.87785608e-05 9.99992475e-01 1.03710171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350281693 meters 0.01637350770774246 Centerline is valid? [True, True] Translation: X:61.62, Y:4.10, Z:0.10 [[ 9.84316999e-01 -1.76408440e-01 3.28948267e-04 6.16211962e+01] [ 1.76408430e-01 9.84317054e-01 5.79179648e-05 4.10347906e+00] [-3.34006607e-04 1.01961002e-06 9.99999944e-01 1.04831979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380281693 meters 0.015999178958580516 Centerline is valid? [True, True] Translation: X:61.65, Y:4.11, Z:0.11 [[ 9.84406294e-01 -1.75905318e-01 1.25195827e-03 6.16487538e+01] [ 1.75905181e-01 9.84407090e-01 2.20118220e-04 4.11004876e+00] [-1.27115656e-03 3.54018328e-06 9.99999192e-01 1.06246951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410281693 meters 0.015880806100194832 Centerline is valid? [True, True] Translation: X:61.68, Y:4.12, Z:0.10 [[ 9.84595328e-01 -1.74848486e-01 -2.15747152e-04 6.16758780e+01] [ 1.74848482e-01 9.84595352e-01 -3.77215104e-05 4.11831425e+00] [ 2.19019192e-04 -5.82638966e-07 9.99999976e-01 1.02327852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440281693 meters 0.01588706304098836 Centerline is valid? [True, True] Translation: X:61.70, Y:4.13, Z:0.10 [[ 9.84605928e-01 -1.74781654e-01 -1.59345705e-03 6.17033336e+01] [ 1.74781430e-01 9.84607218e-01 -2.79773615e-04 4.12552543e+00] [ 1.61782860e-03 -3.03994076e-06 9.99998691e-01 9.94043657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470281693 meters 0.015882414648226505 Centerline is valid? [True, True] Translation: X:61.73, Y:4.13, Z:0.10 [[ 9.84587661e-01 -1.74874847e-01 -2.43444439e-03 6.17303737e+01] [ 1.74874323e-01 9.84590670e-01 -4.28054086e-04 4.13224530e+00] [ 2.47178713e-03 -4.26504280e-06 9.99996945e-01 9.81645126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500281693 meters 0.01595243721667511 Centerline is valid? [True, True] Translation: X:61.76, Y:4.14, Z:0.10 [[ 9.84397701e-01 -1.75940728e-01 -2.45501243e-03 6.17575993e+01] [ 1.75940198e-01 9.84400762e-01 -4.32101005e-04 4.13659129e+00] [ 2.49274027e-03 -6.57613640e-06 9.99996893e-01 9.90958432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530281693 meters 0.016464597080287847 Centerline is valid? [True, True] Translation: X:61.79, Y:4.14, Z:0.10 [[ 9.84207328e-01 -1.76996330e-01 -2.86972171e-03 6.17859141e+01] [ 1.76995609e-01 9.84211511e-01 -5.05591641e-04 4.13808753e+00] [ 2.91390101e-03 -1.03211434e-05 9.99995755e-01 9.81774449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56028169300001 meters 0.017591793905602796 Centerline is valid? [True, True] Translation: X:61.82, Y:4.14, Z:0.10 [[ 9.83720909e-01 -1.79672645e-01 -3.30352634e-03 6.18156818e+01] [ 1.79671703e-01 9.83726456e-01 -5.82364892e-04 4.13637311e+00] [ 3.35440130e-03 -2.06656825e-05 9.99994374e-01 9.65679744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59028169300001 meters 0.01812880311971638 Centerline is valid? [True, True] Translation: X:61.84, Y:4.14, Z:0.10 [[ 9.83459771e-01 -1.81100735e-01 -3.06651198e-03 6.18442833e+01] [ 1.81099928e-01 9.83464551e-01 -5.41043474e-04 4.13828137e+00] [ 3.11378920e-03 -2.32506090e-05 9.99995152e-01 9.70078458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.620281693 meters 0.01866893336013248 Centerline is valid? [True, True] Translation: X:61.87, Y:4.14, Z:0.10 [[ 9.83181589e-01 -1.82608880e-01 -2.82129806e-03 6.18733928e+01] [ 1.82608202e-01 9.83185637e-01 -4.98209838e-04 4.13998917e+00] [ 2.86483727e-03 -2.53614268e-05 9.99995896e-01 9.73553020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650281693 meters 0.020011615471905882 Centerline is valid? [True, True] Translation: X:61.90, Y:4.14, Z:0.10 [[ 9.82776180e-01 -1.84759236e-01 -3.87367966e-03 6.19035526e+01] [ 1.84757972e-01 9.82783813e-01 -6.84813298e-04 4.13663298e+00] [ 3.93351525e-03 -4.26750016e-05 9.99992263e-01 9.59480407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680281693 meters 0.020415137694352957 Centerline is valid? [True, True] Translation: X:61.93, Y:4.14, Z:0.09 [[ 9.82678311e-01 -1.85250802e-01 -5.04751148e-03 6.19314807e+01] [ 1.85248658e-01 9.82691273e-01 -8.93028088e-04 4.13907520e+00] [ 5.12557965e-03 -5.74853971e-05 9.99986862e-01 9.45926461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710281693 meters 0.018863242481832704 Centerline is valid? [True, True] Translation: X:61.96, Y:4.14, Z:0.09 [[ 9.82996507e-01 -1.83524247e-01 -6.05959864e-03 6.19595850e+01] [ 1.83521119e-01 9.83015182e-01 -1.07294616e-03 4.14443433e+00] [ 6.15358909e-03 -5.73620019e-05 9.99981065e-01 9.35586379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740281693 meters 0.018239905251527615 Centerline is valid? [True, True] Translation: X:61.99, Y:4.15, Z:0.09 [[ 9.83320355e-01 -1.81785286e-01 -5.93204340e-03 6.19872416e+01] [ 1.81782254e-01 9.83338247e-01 -1.05090436e-03 4.14854289e+00] [ 6.02424411e-03 -4.49645696e-05 9.99981853e-01 9.31823537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770281693 meters 0.01632432475573083 Centerline is valid? [True, True] Translation: X:62.02, Y:4.16, Z:0.09 [[ 9.84091056e-01 -1.77599954e-01 -4.80093753e-03 6.20156840e+01] [ 1.77597918e-01 9.84102767e-01 -8.50682283e-04 4.15644431e+00] [ 4.87569704e-03 -1.54876809e-05 9.99988114e-01 9.44188359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800281693 meters 0.015740376867772722 Centerline is valid? [True, True] Translation: X:62.04, Y:4.16, Z:0.10 [[ 9.84448461e-01 -1.75624374e-01 -4.16004169e-03 6.20427743e+01] [ 1.75622825e-01 9.84457251e-01 -7.37568950e-04 4.16483135e+00] [ 4.22491829e-03 -4.49965710e-06 9.99991075e-01 9.58353704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830281693 meters 0.015696998327026354 Centerline is valid? [True, True] Translation: X:62.07, Y:4.17, Z:0.10 [[ 9.84773841e-01 -1.73803955e-01 -3.55907361e-03 6.20701166e+01] [ 1.73802808e-01 9.84780272e-01 -6.31637928e-04 4.17313605e+00] [ 3.61468665e-03 3.44352219e-06 9.99993467e-01 9.75411590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860281693 meters 0.016525270048043404 Centerline is valid? [True, True] Translation: X:62.10, Y:4.18, Z:0.09 [[ 9.85282010e-01 -1.70865764e-01 -4.92459754e-03 6.20977159e+01] [ 1.70863525e-01 9.85294317e-01 -8.75011526e-04 4.18133784e+00] [ 5.00168748e-03 2.06990214e-05 9.99987491e-01 9.46795103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890281693 meters 0.01700528770690969 Centerline is valid? [True, True] Translation: X:62.13, Y:4.19, Z:0.09 [[ 9.85448707e-01 -1.69872208e-01 -5.85485558e-03 6.21254954e+01] [ 1.69869019e-01 9.85466099e-01 -1.04136511e-03 4.18692185e+00] [ 5.94666068e-03 3.16533262e-05 9.99982318e-01 9.27924544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920281693 meters 0.017414867256637368 Centerline is valid? [True, True] Translation: X:62.15, Y:4.19, Z:0.09 [[ 9.85648185e-01 -1.68735541e-01 -5.09635107e-03 6.21527908e+01] [ 1.68733105e-01 9.85661360e-01 -9.07368778e-04 4.19134799e+00] [ 5.17638168e-03 3.44232514e-05 9.99986602e-01 9.41396279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95028169300001 meters 0.017500570475948368 Centerline is valid? [True, True] Translation: X:62.18, Y:4.20, Z:0.10 [[ 9.85691452e-01 -1.68514063e-01 -3.92064137e-03 6.21808895e+01] [ 1.68512617e-01 9.85699249e-01 -6.98729523e-04 4.19546538e+00] [ 3.98231900e-03 2.80541826e-05 9.99992070e-01 9.60731068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98028169300001 meters 0.017473354579039844 Centerline is valid? [True, True] Translation: X:62.21, Y:4.20, Z:0.10 [[ 9.85666243e-01 -1.68684634e-01 -2.74794797e-03 6.22081124e+01] [ 1.68683923e-01 9.85670074e-01 -4.90074020e-04 4.19555985e+00] [ 2.79123803e-03 1.95147744e-05 9.99996104e-01 9.73798797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010281693 meters 0.017791760105225245 Centerline is valid? [True, True] Translation: X:62.23, Y:4.20, Z:0.10 [[ 9.85661303e-01 -1.68712524e-01 -2.80717469e-03 6.22347190e+01] [ 1.68711781e-01 9.85665300e-01 -5.00880008e-04 4.19897954e+00] [ 2.85143941e-03 2.00945997e-05 9.99995934e-01 9.82830996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040281693 meters 0.017797752453971596 Centerline is valid? [True, True] Translation: X:62.26, Y:4.20, Z:0.10 [[ 9.85726427e-01 -1.68324223e-01 -3.21964116e-03 6.22621069e+01] [ 1.68323243e-01 9.85731685e-01 -5.74907929e-04 4.20227413e+00] [ 3.27047324e-03 2.47614962e-05 9.99994652e-01 9.81998036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070281693 meters 0.019953042281592 Centerline is valid? [True, True] Translation: X:62.29, Y:4.21, Z:0.10 [[ 9.86162252e-01 -1.65709528e-01 -4.93606423e-03 6.22894155e+01] [ 1.65707188e-01 9.86174604e-01 -8.82159524e-04 4.20873077e+00] [ 5.01400343e-03 5.20110983e-05 9.99987428e-01 9.51807759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100281693 meters 0.020390659106222304 Centerline is valid? [True, True] Translation: X:62.32, Y:4.21, Z:0.09 [[ 9.86290136e-01 -1.64936106e-01 -5.27722500e-03 6.23178869e+01] [ 1.64933417e-01 9.86304252e-01 -9.43816692e-04 4.21365780e+00] [ 5.36061891e-03 6.04863411e-05 9.99985630e-01 9.49947978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130281693 meters 0.021702639418489683 Centerline is valid? [True, True] Translation: X:62.35, Y:4.22, Z:0.10 [[ 9.86401745e-01 -1.64309156e-01 -3.75474870e-03 6.23453935e+01] [ 1.64307788e-01 9.86408891e-01 -6.71868519e-04 4.21849679e+00] [ 3.81411165e-03 4.57978238e-05 9.99992725e-01 9.75246970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160281693 meters 0.021176747249373722 Centerline is valid? [True, True] Translation: X:62.37, Y:4.22, Z:0.10 [[ 9.86472318e-01 -1.63906485e-01 -2.65155726e-03 6.23736244e+01] [ 1.63905801e-01 9.86475881e-01 -4.74589425e-04 4.22154257e+00] [ 2.69348557e-03 3.35637134e-05 9.99996372e-01 9.97717042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190281693 meters 0.021176747249373722 Centerline is valid? [True, True] Translation: X:62.40, Y:4.23, Z:0.10 [[ 9.86441836e-01 -1.64089833e-01 -2.65151385e-03 6.24006398e+01] [ 1.64089150e-01 9.86445399e-01 -4.74831816e-04 4.22658099e+00] [ 2.69348871e-03 3.33093143e-05 9.99996372e-01 9.98263930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220281693 meters 0.023108257218156302 Centerline is valid? [True, True] Translation: X:62.43, Y:4.23, Z:0.10 [[ 9.86820127e-01 -1.61804236e-01 -2.32945098e-03 6.24281644e+01] [ 1.61803701e-01 9.86822876e-01 -4.17549558e-04 4.23459771e+00] [ 2.36631681e-03 3.51325170e-05 9.99997200e-01 1.00988477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250281693 meters 0.02552185981217118 Centerline is valid? [True, True] Translation: X:62.46, Y:4.24, Z:0.10 [[ 9.87060494e-01 -1.60337833e-01 -1.83301405e-03 6.24550533e+01] [ 1.60337499e-01 9.87062196e-01 -3.28816500e-04 4.24451823e+00] [ 1.86202060e-03 3.06608879e-05 9.99998266e-01 1.01002815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280281693 meters 0.026107368735239302 Centerline is valid? [True, True] Translation: X:62.48, Y:4.25, Z:0.10 [[ 9.87326183e-01 -1.58691556e-01 -1.99981258e-03 6.24828155e+01] [ 1.58691155e-01 9.87328207e-01 -3.58872565e-04 4.25173604e+00] [ 2.03142141e-03 3.69717132e-05 9.99997936e-01 1.00417815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31028169300001 meters 0.030087614645502043 Centerline is valid? [True, True] Translation: X:62.51, Y:4.27, Z:0.10 [[ 9.87761965e-01 -1.55926154e-01 -3.65164078e-03 6.25095223e+01] [ 1.55924794e-01 9.87768712e-01 -6.55962260e-04 4.26547122e+00] [ 3.70925818e-03 7.85532352e-05 9.99993118e-01 9.64440374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34028169300001 meters 0.031021826457579504 Centerline is valid? [True, True] Translation: X:62.54, Y:4.27, Z:0.10 [[ 9.87892284e-01 -1.55092196e-01 -3.90463503e-03 6.25369440e+01] [ 1.55090634e-01 9.87899996e-01 -7.01597460e-04 4.27306412e+00] [ 3.96620123e-03 8.75303942e-05 9.99992131e-01 9.62193211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.370281693 meters 0.03238372436029579 Centerline is valid? [True, True] Translation: X:62.56, Y:4.28, Z:0.10 [[ 9.87932968e-01 -1.54841271e-01 -3.55408798e-03 6.25641337e+01] [ 1.54839974e-01 9.87939358e-01 -6.38806055e-04 4.28067746e+00] [ 3.61013694e-03 8.07826700e-05 9.99993480e-01 9.72195909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400281693 meters 0.030365203464442034 Centerline is valid? [True, True] Translation: X:62.59, Y:4.28, Z:0.10 [[ 9.87683866e-01 -1.56438827e-01 -2.73380016e-03 6.25931313e+01] [ 1.56438066e-01 9.87687648e-01 -4.91581081e-04 4.28292750e+00] [ 2.77704302e-03 5.78562943e-05 9.99996142e-01 9.92549100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430281693 meters 0.027899233980132918 Centerline is valid? [True, True] Translation: X:62.62, Y:4.28, Z:0.10 [[ 9.87267177e-01 -1.59033615e-01 -3.43963887e-03 6.26211343e+01] [ 1.59032424e-01 9.87273166e-01 -6.18985081e-04 4.28427649e+00] [ 3.49430259e-03 6.40895476e-05 9.99993893e-01 9.78625603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460281693 meters 0.02513540536662975 Centerline is valid? [True, True] Translation: X:62.65, Y:4.29, Z:0.10 [[ 9.87065794e-01 -1.60260699e-01 -4.19848753e-03 6.26503420e+01] [ 1.60258932e-01 9.87074720e-01 -7.56060100e-04 4.28631247e+00] [ 4.26538763e-03 7.34359320e-05 9.99990900e-01 9.66041771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490281693 meters 0.024978010579312447 Centerline is valid? [True, True] Translation: X:62.68, Y:4.29, Z:0.09 [[ 9.86914859e-01 -1.61166475e-01 -4.94243829e-03 6.26774956e+01] [ 1.61164036e-01 9.86927232e-01 -8.90598004e-04 4.29150467e+00] [ 5.02136148e-03 8.24011033e-05 9.99987389e-01 9.47599058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520281693 meters 0.022377646468785654 Centerline is valid? [True, True] Translation: X:62.71, Y:4.29, Z:0.10 [[ 9.86677138e-01 -1.62638379e-01 -4.12102180e-03 6.27068288e+01] [ 1.62636694e-01 9.86685742e-01 -7.43060625e-04 4.29236072e+00] [ 4.18700363e-03 6.29315712e-05 9.99991232e-01 9.60136827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550281693 meters 0.022523946639392334 Centerline is valid? [True, True] Translation: X:62.73, Y:4.30, Z:0.10 [[ 9.86563997e-01 -1.63336584e-01 -3.55522564e-03 6.27343195e+01] [ 1.63335333e-01 9.86570402e-01 -6.41437676e-04 4.29725942e+00] [ 3.61225063e-03 5.21253526e-05 9.99993474e-01 9.67196655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580281693 meters 0.020816090025804132 Centerline is valid? [True, True] Translation: X:62.76, Y:4.30, Z:0.10 [[ 9.86211318e-01 -1.65425245e-01 -4.66105184e-03 6.27637326e+01] [ 1.65423115e-01 9.86222330e-01 -8.41576263e-04 4.29889327e+00] [ 4.73605137e-03 5.89263192e-05 9.99988783e-01 9.55510457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610281693 meters 0.030020070559722976 Centerline is valid? [True, True] Translation: X:62.79, Y:4.30, Z:0.10 [[ 9.86002227e-01 -1.66624672e-01 -5.98553610e-03 6.27925911e+01] [ 1.66621174e-01 9.86020392e-01 -1.08184425e-03 4.30174986e+00] [ 6.08212260e-03 6.93837859e-05 9.99981501e-01 1.01253377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640281693 meters 0.017815160285980073 Centerline is valid? [True, True] Translation: X:62.82, Y:4.30, Z:0.10 [[ 9.85415958e-01 -1.70105142e-01 -4.43072100e-03 6.28216522e+01] [ 1.70103258e-01 9.85425918e-01 -8.01496839e-04 4.30044234e+00] [ 4.50248604e-03 3.61277000e-05 9.99989863e-01 9.50773888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670281693 meters 0.01665784668056133 Centerline is valid? [True, True] Translation: X:62.85, Y:4.30, Z:0.10 [[ 9.85083848e-01 -1.72048141e-01 -3.04118218e-03 6.28501433e+01] [ 1.72047261e-01 9.85088543e-01 -5.50549932e-04 4.30252179e+00] [ 3.09055481e-03 1.91107813e-05 9.99995224e-01 9.73287497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70028169300001 meters 0.015644343749929613 Centerline is valid? [True, True] Translation: X:62.88, Y:4.30, Z:0.10 [[ 9.84617646e-01 -1.74710799e-01 -2.05610062e-03 6.28791264e+01] [ 1.74710402e-01 9.84619793e-01 -3.72459597e-04 4.30242510e+00] [ 2.08955008e-03 7.50812498e-06 9.99997817e-01 1.00118630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73028169300001 meters 0.015587203881163894 Centerline is valid? [True, True] Translation: X:62.91, Y:4.31, Z:0.10 [[ 9.84463914e-01 -1.75543146e-01 -3.92515740e-03 6.29072729e+01] [ 1.75541702e-01 9.84471738e-01 -7.12047675e-04 4.30612787e+00] [ 3.98920162e-03 1.19564296e-05 9.99992043e-01 9.67898296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760281693 meters 0.015647863185060826 Centerline is valid? [True, True] Translation: X:62.93, Y:4.31, Z:0.09 [[ 9.84389380e-01 -1.75916129e-01 -5.57361487e-03 6.29348208e+01] [ 1.75913217e-01 9.84405158e-01 -1.01232265e-03 4.31097726e+00] [ 5.66477911e-03 1.60471445e-05 9.99983955e-01 9.31907067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790281693 meters 0.015877969805637115 Centerline is valid? [True, True] Translation: X:62.96, Y:4.32, Z:0.09 [[ 9.84365080e-01 -1.76018387e-01 -6.55103272e-03 6.29620323e+01] [ 1.76014361e-01 9.84386879e-01 -1.19071336e-03 4.31669534e+00] [ 6.65833810e-03 1.90208135e-05 9.99977833e-01 9.11012186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820281693 meters 0.015396456998711365 Centerline is valid? [True, True] Translation: X:62.99, Y:4.32, Z:0.09 [[ 9.84253733e-01 -1.76697536e-01 -4.75076458e-03 6.29899424e+01] [ 1.76695423e-01 9.84265198e-01 -8.64099724e-04 4.32204637e+00] [ 4.82869654e-03 1.10550207e-05 9.99988342e-01 9.32942749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850281693 meters 0.015025939001481277 Centerline is valid? [True, True] Translation: X:63.02, Y:4.32, Z:0.10 [[ 9.83907479e-01 -1.78635579e-01 -3.92472941e-03 6.30184565e+01] [ 1.78634150e-01 9.83915306e-01 -7.14507272e-04 4.32408029e+00] [ 3.98923776e-03 1.91834564e-06 9.99992043e-01 9.56754529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880281693 meters 0.01509558238629259 Centerline is valid? [True, True] Translation: X:63.05, Y:4.33, Z:0.09 [[ 9.83654775e-01 -1.80003813e-01 -4.68085105e-03 6.30462737e+01] [ 1.80001792e-01 9.83665912e-01 -8.53136799e-04 4.32709407e+00] [ 4.75796150e-03 -3.36948952e-06 9.99988681e-01 9.43954901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910281693 meters 0.02110618257197898 Centerline is valid? [True, True] Translation: X:63.07, Y:4.33, Z:0.10 [[ 9.83400427e-01 -1.81371438e-01 -5.29173487e-03 6.30738086e+01] [ 1.81368871e-01 9.83414664e-01 -9.65105551e-04 4.32931004e+00] [ 5.37901225e-03 -1.06707662e-05 9.99985533e-01 9.95491352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940281693 meters 0.01569616546636703 Centerline is valid? [True, True] Translation: X:63.10, Y:4.33, Z:0.09 [[ 9.83019079e-01 -1.83450113e-01 -4.42120642e-03 6.31022503e+01] [ 1.83448340e-01 9.83029021e-01 -8.06907281e-04 4.33070451e+00] [ 4.49420145e-03 -1.78577237e-05 9.99989901e-01 9.45274097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970281693 meters 0.017591971050638956 Centerline is valid? [True, True] Translation: X:63.13, Y:4.33, Z:0.10 [[ 9.82287332e-01 -1.87367058e-01 -2.27679339e-03 6.31309146e+01] [ 1.87366597e-01 9.82289970e-01 -4.15745259e-04 4.32619788e+00] [ 2.31436828e-03 -1.82137285e-05 9.99997322e-01 9.89749053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000281693 meters 0.01872115489432259 Centerline is valid? [True, True] Translation: X:63.16, Y:4.33, Z:0.10 [[ 9.81911138e-01 -1.89338380e-01 -1.22257922e-03 6.31601721e+01] [ 1.89338249e-01 9.81911899e-01 -2.23186198e-04 4.32783088e+00] [ 1.24272280e-03 -1.23319946e-05 9.99999228e-01 1.01159289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030281693 meters 0.01983085835692974 Centerline is valid? [True, True] Translation: X:63.19, Y:4.33, Z:0.10 [[ 9.81659597e-01 -1.90636978e-01 -1.40638439e-03 6.31885857e+01] [ 1.90636806e-01 9.81660604e-01 -2.57078234e-04 4.32921839e+00] [ 1.42960077e-03 -1.57453125e-05 9.99998978e-01 1.01535517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06028169300001 meters 0.019521417747646118 Centerline is valid? [True, True] Translation: X:63.22, Y:4.33, Z:0.10 [[ 9.81706784e-01 -1.90388180e-01 -2.03243773e-03 6.32160070e+01] [ 1.90387818e-01 9.81708888e-01 -3.71695497e-04 4.33379545e+00] [ 2.06602862e-03 -2.20553948e-05 9.99997866e-01 1.00273948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09028169300001 meters 0.01833272548240669 Centerline is valid? [True, True] Translation: X:63.24, Y:4.34, Z:0.10 [[ 9.82046718e-01 -1.88604707e-01 -3.53678113e-03 6.32437514e+01] [ 1.88603597e-01 9.82053086e-01 -6.47702302e-04 4.33956008e+00] [ 3.59546653e-03 -3.09757241e-05 9.99993536e-01 9.74838450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.120281693 meters 0.01734220807058104 Centerline is valid? [True, True] Translation: X:63.27, Y:4.35, Z:0.10 [[ 9.82279786e-01 -1.87383665e-01 -3.71258250e-03 6.32715765e+01] [ 1.87382432e-01 9.82286802e-01 -6.80513712e-04 4.34684470e+00] [ 3.77433794e-03 -2.72178718e-05 9.99992877e-01 9.76965348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150281693 meters 0.01651911968520828 Centerline is valid? [True, True] Translation: X:63.30, Y:4.35, Z:0.10 [[ 9.82476285e-01 -1.86363132e-01 -3.02191262e-03 6.32991722e+01] [ 1.86362308e-01 9.82480933e-01 -5.54343427e-04 4.35452707e+00] [ 3.07228070e-03 -1.85413390e-05 9.99995280e-01 9.94059379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180281693 meters 0.014931781698816015 Centerline is valid? [True, True] Translation: X:63.32, Y:4.37, Z:0.10 [[ 9.83160341e-01 -1.82725649e-01 -2.66114088e-03 6.33249611e+01] [ 1.82724996e-01 9.83163942e-01 -4.88554488e-04 4.36612364e+00] [ 2.70560919e-03 -5.92956012e-06 9.99996340e-01 1.00861694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210281693 meters 0.014699287947879237 Centerline is valid? [True, True] Translation: X:63.35, Y:4.38, Z:0.10 [[ 9.83601042e-01 -1.80332351e-01 -3.03858845e-03 6.33516111e+01] [ 1.80331486e-01 9.83605736e-01 -5.58420992e-04 4.37505964e+00] [ 3.08947439e-03 1.31029885e-06 9.99995228e-01 1.00035053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240281693 meters 0.028143617945447993 Centerline is valid? [True, True] Translation: X:63.38, Y:4.39, Z:0.10 [[ 9.84462755e-01 -1.75530531e-01 -4.70290916e-03 6.33780362e+01] [ 1.75528401e-01 9.84473988e-01 -8.65046611e-04 4.38769910e+00] [ 4.78173383e-03 2.61120443e-05 9.99988567e-01 1.04681589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270281693 meters 0.017181903071923573 Centerline is valid? [True, True] Translation: X:63.41, Y:4.40, Z:0.10 [[ 9.84785887e-01 -1.73721080e-01 -4.21214772e-03 6.34057666e+01] [ 1.73719353e-01 9.84794895e-01 -7.75266260e-04 4.39717618e+00] [ 4.28278166e-03 3.17396949e-05 9.99990828e-01 9.76937261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300281693 meters 0.019431287936334113 Centerline is valid? [True, True] Translation: X:63.43, Y:4.41, Z:0.10 [[ 9.85162799e-01 -1.71587472e-01 -3.46392915e-03 6.34315897e+01] [ 1.71586289e-01 9.85168888e-01 -6.37917262e-04 4.40864057e+00] [ 3.52201384e-03 3.40896051e-05 9.99993797e-01 9.83232134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330281693 meters 0.023483447776683368 Centerline is valid? [True, True] Translation: X:63.46, Y:4.42, Z:0.10 [[ 9.85842642e-01 -1.67665571e-01 -1.59395277e-03 6.34568182e+01] [ 1.67665316e-01 9.85843931e-01 -2.93576034e-04 4.42455889e+00] [ 1.62061126e-03 2.21691789e-05 9.99998687e-01 1.02424003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360281693 meters 0.02282364494062304 Centerline is valid? [True, True] Translation: X:63.48, Y:4.43, Z:0.10 [[ 9.86003628e-01 -1.66717852e-01 -1.41547371e-03 6.34848466e+01] [ 1.66717650e-01 9.86004644e-01 -2.60711724e-04 4.43137904e+00] [ 1.43912895e-03 2.10782560e-05 9.99998964e-01 1.02611697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390281693 meters 0.023982423973002674 Centerline is valid? [True, True] Translation: X:63.51, Y:4.44, Z:0.10 [[ 9.86158616e-01 -1.65772953e-01 -3.24228480e-03 6.35118840e+01] [ 1.65771882e-01 9.86163944e-01 -5.98153699e-04 4.44230107e+00] [ 3.29658207e-03 5.23947719e-05 9.99994565e-01 9.87485126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420281693 meters 0.024778265465621757 Centerline is valid? [True, True] Translation: X:63.54, Y:4.45, Z:0.10 [[ 9.86183801e-01 -1.65605314e-01 -4.04854675e-03 6.35392227e+01] [ 1.65603641e-01 9.86192109e-01 -7.47431546e-04 4.44976576e+00] [ 4.11642350e-03 6.66507995e-05 9.99991525e-01 9.67026783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45028169300001 meters 0.024806106027787874 Centerline is valid? [True, True] Translation: X:63.57, Y:4.46, Z:0.10 [[ 9.86140394e-01 -1.65862919e-01 -4.07624976e-03 6.35666644e+01] [ 1.65861223e-01 9.86148816e-01 -7.53059642e-04 4.45600414e+00] [ 4.14469354e-03 6.65307622e-05 9.99991409e-01 9.63794663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48028169300001 meters 0.02592898066192344 Centerline is valid? [True, True] Translation: X:63.59, Y:4.47, Z:0.10 [[ 9.86298459e-01 -1.64947635e-01 -2.76176166e-03 6.35945689e+01] [ 1.64946851e-01 9.86302325e-01 -5.10595705e-04 4.46530292e+00] [ 2.80815350e-03 4.80558670e-05 9.99996056e-01 1.00451829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510281693 meters 0.02846965883797302 Centerline is valid? [True, True] Translation: X:63.62, Y:4.48, Z:0.10 [[ 9.86408629e-01 -1.64296080e-01 -2.19433075e-03 6.36209377e+01] [ 1.64295583e-01 9.86411069e-01 -4.05955551e-04 4.47528684e+00] [ 2.23120905e-03 3.99192079e-05 9.99997510e-01 1.01505923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540281693 meters 0.028153423700198407 Centerline is valid? [True, True] Translation: X:63.65, Y:4.48, Z:0.10 [[ 9.86585984e-01 -1.63212625e-01 -3.12005397e-03 6.36490333e+01] [ 1.63211614e-01 9.86590916e-01 -5.77566176e-04 4.48309188e+00] [ 3.17248299e-03 6.05896503e-05 9.99994966e-01 9.99044137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570281693 meters 0.028423514597699578 Centerline is valid? [True, True] Translation: X:63.68, Y:4.49, Z:0.10 [[ 9.86555093e-01 -1.63361660e-01 -4.69207136e-03 6.36764251e+01] [ 1.63359372e-01 9.86566247e-01 -8.69553618e-04 4.48996040e+00] [ 4.77109095e-03 9.13687222e-05 9.99988614e-01 9.65278868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600281693 meters 0.028223920333023456 Centerline is valid? [True, True] Translation: X:63.70, Y:4.50, Z:0.09 [[ 9.86462466e-01 -1.63861178e-01 -6.42783778e-03 6.37041819e+01] [ 1.63856885e-01 9.86483400e-01 -1.19255612e-03 4.49581529e+00] [ 6.53636893e-03 1.23166373e-04 9.99978630e-01 9.38072935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630281693 meters 0.02444880230384557 Centerline is valid? [True, True] Translation: X:63.73, Y:4.50, Z:0.09 [[ 9.86266835e-01 -1.65027143e-01 -6.61600258e-03 6.37329704e+01] [ 1.65022612e-01 9.86289018e-01 -1.22865912e-03 4.49662401e+00] [ 6.72805280e-03 1.19995714e-04 9.99977359e-01 9.47432471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660281693 meters 0.027204997130743903 Centerline is valid? [True, True] Translation: X:63.76, Y:4.51, Z:0.10 [[ 9.86197045e-01 -1.65470750e-01 -5.90079754e-03 6.37595309e+01] [ 1.65467150e-01 9.86214693e-01 -1.09651708e-03 4.50616207e+00] [ 6.00089474e-03 1.04993757e-04 9.99981989e-01 9.50512816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690281693 meters 0.02550085447021302 Centerline is valid? [True, True] Translation: X:63.79, Y:4.51, Z:0.10 [[ 9.85907328e-01 -1.67230397e-01 -4.55364555e-03 6.37872325e+01] [ 1.67228271e-01 9.85917841e-01 -8.46473177e-04 4.51079284e+00] [ 4.63107644e-03 7.30458373e-05 9.99989274e-01 9.73570643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720281693 meters 0.024449895981176993 Centerline is valid? [True, True] Translation: X:63.82, Y:4.52, Z:0.10 [[ 9.85692478e-01 -1.68499635e-01 -4.26755319e-03 6.38158302e+01] [ 1.68497778e-01 9.85701714e-01 -7.93761803e-04 4.51557277e+00] [ 4.34028307e-03 6.33318100e-05 9.99990579e-01 9.75673616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750281693 meters 0.021224234886670724 Centerline is valid? [True, True] Translation: X:63.85, Y:4.52, Z:0.10 [[ 9.85440387e-01 -1.69960565e-01 -4.54431615e-03 6.38453051e+01] [ 1.69958471e-01 9.85450863e-01 -8.45981792e-04 4.51722465e+00] [ 4.62198382e-03 6.13195991e-05 9.99989317e-01 9.86739603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780281693 meters 0.02100021411155663 Centerline is valid? [True, True] Translation: X:63.87, Y:4.52, Z:0.10 [[ 9.85321388e-01 -1.70661953e-01 -4.03249980e-03 6.38727135e+01] [ 1.70660308e-01 9.85329638e-01 -7.51104868e-04 4.52270586e+00] [ 4.10152659e-03 5.18920340e-05 9.99991587e-01 9.94351568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81028169300001 meters 0.02042820667432409 Centerline is valid? [True, True] Translation: X:63.90, Y:4.53, Z:0.10 [[ 9.85169157e-01 -1.71555455e-01 -3.23387522e-03 6.39004527e+01] [ 1.71554402e-01 9.85174464e-01 -6.02523336e-04 4.52786058e+00] [ 3.28929745e-03 3.88018784e-05 9.99994589e-01 1.00997918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84028169300001 meters 0.021086205772746468 Centerline is valid? [True, True] Translation: X:63.93, Y:4.54, Z:0.11 [[ 9.85043137e-01 -1.72303423e-01 -1.24425829e-03 6.39275336e+01] [ 1.72303268e-01 9.85043923e-01 -2.31828556e-04 4.53511220e+00] [ 1.26559393e-03 1.39713582e-05 9.99999199e-01 1.05110402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.870281693 meters 0.021163407878283105 Centerline is valid? [True, True] Translation: X:63.95, Y:4.54, Z:0.10 [[ 9.85000129e-01 -1.72548981e-01 -1.26257214e-03 6.39548297e+01] [ 1.72548822e-01 9.85000939e-01 -2.35235958e-04 4.54055098e+00] [ 1.28422447e-03 1.38521131e-05 9.99999175e-01 1.04869149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900281693 meters 0.02092053454881701 Centerline is valid? [True, True] Translation: X:63.98, Y:4.55, Z:0.10 [[ 9.84922446e-01 -1.72968393e-01 -3.11627501e-03 6.39823812e+01] [ 1.72967419e-01 9.84927375e-01 -5.81521109e-04 4.54591776e+00] [ 3.16988934e-03 3.37391483e-05 9.99994975e-01 1.00436331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930281693 meters 0.018813859566380983 Centerline is valid? [True, True] Translation: X:64.01, Y:4.55, Z:0.10 [[ 9.84765846e-01 -1.73854705e-01 -3.28169905e-03 6.40105126e+01] [ 1.73853628e-01 9.84771314e-01 -6.12758069e-04 4.54704926e+00] [ 3.33825396e-03 3.28879325e-05 9.99994427e-01 1.00408350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960281693 meters 0.01819688093457127 Centerline is valid? [True, True] Translation: X:64.04, Y:4.55, Z:0.10 [[ 9.84339618e-01 -1.76270702e-01 -2.03846399e-03 6.40388730e+01] [ 1.76270291e-01 9.84341729e-01 -3.80859984e-04 4.54838049e+00] [ 2.07367962e-03 1.55749311e-05 9.99997850e-01 1.02350897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990281693 meters 0.015822693605931113 Centerline is valid? [True, True] Translation: X:64.07, Y:4.55, Z:0.10 [[ 9.83981083e-01 -1.78259772e-01 -2.16368034e-03 6.40684096e+01] [ 1.78259314e-01 9.83983462e-01 -4.04414803e-04 4.54661755e+00] [ 2.20111656e-03 1.22403446e-05 9.99997577e-01 1.02217888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020281693 meters 0.015486633677883766 Centerline is valid? [True, True] Translation: X:64.10, Y:4.55, Z:0.10 [[ 9.83695680e-01 -1.79815513e-01 -3.03162725e-03 6.40965407e+01] [ 1.79814618e-01 9.83700351e-01 -5.67181756e-04 4.54926653e+00] [ 3.08420087e-03 1.28033463e-05 9.99995244e-01 1.00823219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050281693 meters 0.01566089111326797 Centerline is valid? [True, True] Translation: X:64.12, Y:4.56, Z:0.10 [[ 9.83767963e-01 -1.79383200e-01 -4.71842128e-03 6.41246717e+01] [ 1.79381026e-01 9.83779278e-01 -8.83425966e-04 4.55539736e+00] [ 4.80035685e-03 2.26909127e-05 9.99988478e-01 9.82644682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080281693 meters 0.016632049572413432 Centerline is valid? [True, True] Translation: X:64.15, Y:4.56, Z:0.10 [[ 9.84056422e-01 -1.77767135e-01 -5.63944866e-03 6.41519658e+01] [ 1.77763999e-01 9.84072581e-01 -1.05650111e-03 4.56356245e+00] [ 5.73743798e-03 3.71657602e-05 9.99983540e-01 9.73964039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110281693 meters 0.016632049572413432 Centerline is valid? [True, True] Translation: X:64.18, Y:4.57, Z:0.10 [[ 9.84022373e-01 -1.77955523e-01 -5.63929465e-03 6.41789379e+01] [ 1.77952386e-01 9.84038531e-01 -1.05732275e-03 4.56881287e+00] [ 5.73743965e-03 3.69033058e-05 9.99983540e-01 9.74510878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140281693 meters 0.031106480570530958 Centerline is valid? [True, True] Translation: X:64.21, Y:4.58, Z:0.10 [[ 9.84829894e-01 -1.73380199e-01 -7.02750165e-03 6.42054942e+01] [ 1.73375201e-01 9.84854964e-01 -1.31896951e-03 4.58417511e+00] [ 7.14975308e-03 8.05660975e-05 9.99974437e-01 1.02853221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170281693 meters 0.02195001988739704 Centerline is valid? [True, True] Translation: X:64.23, Y:4.60, Z:0.10 [[ 9.85284813e-01 -1.70794428e-01 -6.56515468e-03 6.42317019e+01] [ 1.70790003e-01 9.85306680e-01 -1.23294154e-03 4.59735140e+00] [ 6.67927031e-03 9.35357808e-05 9.99977689e-01 9.60624760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20028169300001 meters 0.026758581523301992 Centerline is valid? [True, True] Translation: X:64.26, Y:4.61, Z:0.10 [[ 9.85834668e-01 -1.67603340e-01 -6.25523111e-03 6.42572721e+01] [ 1.67599257e-01 9.85854507e-01 -1.17517409e-03 4.61382523e+00] [ 6.36371088e-03 1.10155270e-04 9.99979745e-01 9.55526732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23028169300001 meters 0.028972842877620312 Centerline is valid? [True, True] Translation: X:64.28, Y:4.63, Z:0.10 [[ 9.86525730e-01 -1.63493330e-01 -6.07585925e-03 6.42844946e+01] [ 1.63489398e-01 9.86544431e-01 -1.14169226e-03 4.62898182e+00] [ 6.18076417e-03 1.32970222e-04 9.99980890e-01 9.62595919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260281693 meters 0.02923608504855832 Centerline is valid? [True, True] Translation: X:64.31, Y:4.64, Z:0.10 [[ 9.86487815e-01 -1.63729393e-01 -5.87164228e-03 6.43103067e+01] [ 1.63725721e-01 9.86505281e-01 -1.10388592e-03 4.63871650e+00] [ 5.97314469e-03 1.27631147e-04 9.99982152e-01 9.60839178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290281693 meters 0.025298420266094596 Centerline is valid? [True, True] Translation: X:64.34, Y:4.65, Z:0.10 [[ 9.85843606e-01 -1.67588177e-01 -5.15620798e-03 6.43385454e+01] [ 1.67585397e-01 9.85857086e-01 -9.69687750e-04 4.64864501e+00] [ 5.24579238e-03 9.18553048e-05 9.99986237e-01 9.67665494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320281693 meters 0.02227023180728924 Centerline is valid? [True, True] Translation: X:64.37, Y:4.65, Z:0.10 [[ 9.85187098e-01 -1.71430952e-01 -4.22022749e-03 6.43658126e+01] [ 1.71429124e-01 9.85196135e-01 -7.93894963e-04 4.65322494e+00] [ 4.29384998e-03 5.86651740e-05 9.99990780e-01 9.77324519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350281693 meters 0.01831913346441486 Centerline is valid? [True, True] Translation: X:64.39, Y:4.65, Z:0.10 [[ 9.84427296e-01 -1.75764045e-01 -3.14630226e-03 6.43948920e+01] [ 1.75763050e-01 9.84432324e-01 -5.92052112e-04 4.65359264e+00] [ 3.20138312e-03 2.98285765e-05 9.99994875e-01 9.92758719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380281693 meters 0.014697417022199153 Centerline is valid? [True, True] Translation: X:64.42, Y:4.65, Z:0.10 [[ 9.82709452e-01 -1.85125171e-01 -3.28689052e-03 6.44246087e+01] [ 1.85124137e-01 9.82714949e-01 -6.18684510e-04 4.64637232e+00] [ 3.34461053e-03 -4.95654531e-07 9.99994407e-01 1.00316549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410281693 meters 0.01540405747750736 Centerline is valid? [True, True] Translation: X:64.45, Y:4.65, Z:0.10 [[ 9.81940314e-01 -1.89153687e-01 -3.75526278e-03 6.44535062e+01] [ 1.89152366e-01 9.81947495e-01 -7.07271732e-04 4.64629086e+00] [ 3.82125393e-03 -1.58182114e-05 9.99992699e-01 9.99848948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440281693 meters 0.01854509597248107 Centerline is valid? [True, True] Translation: X:64.48, Y:4.64, Z:0.10 [[ 9.80963809e-01 -1.94153413e-01 -3.80229206e-03 6.44819768e+01] [ 1.94152094e-01 9.80971177e-01 -7.16559070e-04 4.64381456e+00] [ 3.86906131e-03 -3.53044520e-05 9.99992515e-01 1.00112998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470281693 meters 0.019060444802884102 Centerline is valid? [True, True] Translation: X:64.51, Y:4.65, Z:0.10 [[ 9.80699598e-01 -1.95480808e-01 -3.94350738e-03 6.45102709e+01] [ 1.95479398e-01 9.80707526e-01 -7.43618880e-04 4.64719414e+00] [ 4.01279059e-03 -4.16077117e-05 9.99991948e-01 9.99786555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500281693 meters 0.019575893232195288 Centerline is valid? [True, True] Translation: X:64.54, Y:4.65, Z:0.10 [[ 9.80586429e-01 -1.96038528e-01 -4.37610671e-03 6.45382057e+01] [ 1.96036795e-01 9.80596193e-01 -8.25696331e-04 4.64941265e+00] [ 4.45306188e-03 -4.82113193e-05 9.99990084e-01 9.89623411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530281693 meters 0.02032712533302643 Centerline is valid? [True, True] Translation: X:64.57, Y:4.65, Z:0.10 [[ 9.80344487e-01 -1.97248060e-01 -4.22969643e-03 6.45679222e+01] [ 1.97246450e-01 9.80353610e-01 -7.98556288e-04 4.64973080e+00] [ 4.30411184e-03 -5.14323505e-05 9.99990736e-01 1.00180539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56028169300001 meters 0.020813356436606534 Centerline is valid? [True, True] Translation: X:64.60, Y:4.65, Z:0.10 [[ 9.80231088e-01 -1.97827748e-01 -3.34605965e-03 6.45952758e+01] [ 1.97826742e-01 9.80236798e-01 -6.32062972e-04 4.65236938e+00] [ 3.40497039e-03 -4.23723058e-05 9.99994202e-01 1.02282085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59028169300001 meters 0.02128877353675662 Centerline is valid? [True, True] Translation: X:64.62, Y:4.65, Z:0.11 [[ 9.80167784e-01 -1.98158931e-01 -2.03801224e-03 6.46234536e+01] [ 1.98158559e-01 9.80169902e-01 -3.85050078e-04 4.65142691e+00] [ 2.07389937e-03 -2.64358868e-05 9.99997849e-01 1.05320778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.620281693 meters 0.02081549832421453 Centerline is valid? [True, True] Translation: X:64.65, Y:4.66, Z:0.11 [[ 9.80197195e-01 -1.98012783e-01 -2.09689136e-03 6.46515884e+01] [ 1.98012388e-01 9.80199437e-01 -3.96317114e-04 4.65525640e+00] [ 2.13384758e-03 -2.67415415e-05 9.99997723e-01 1.05472861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650281693 meters 0.01978473916430828 Centerline is valid? [True, True] Translation: X:64.68, Y:4.66, Z:0.11 [[ 9.80341479e-01 -1.97296163e-01 -2.19276403e-03 6.46799149e+01] [ 1.97295729e-01 9.80343931e-01 -4.14855635e-04 4.66184564e+00] [ 2.23151233e-03 -2.59227894e-05 9.99997510e-01 1.05414716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680281693 meters 0.017489655919770045 Centerline is valid? [True, True] Translation: X:64.71, Y:4.67, Z:0.10 [[ 9.81064544e-01 -1.93666372e-01 -2.38677080e-03 6.47061685e+01] [ 1.93665845e-01 9.81067447e-01 -4.51936994e-04 4.67201746e+00] [ 2.42910813e-03 -1.88566232e-05 9.99997050e-01 1.04943747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710281693 meters 0.015047481680643834 Centerline is valid? [True, True] Translation: X:64.73, Y:4.68, Z:0.11 [[ 9.81926758e-01 -1.89247840e-01 -2.25784403e-03 6.47321369e+01] [ 1.89247357e-01 9.81929353e-01 -4.27650104e-04 4.68209562e+00] [ 2.29797519e-03 -7.36993636e-06 9.99997360e-01 1.05100735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740281693 meters 0.014470893316888401 Centerline is valid? [True, True] Translation: X:64.76, Y:4.69, Z:0.11 [[ 9.82316428e-01 -1.87214865e-01 -2.24278508e-03 6.47594375e+01] [ 1.87214382e-01 9.82318988e-01 -4.24961066e-04 4.69094055e+00] [ 2.28268940e-03 -2.43538711e-06 9.99997395e-01 1.05322301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770281693 meters 0.014586779255226714 Centerline is valid? [True, True] Translation: X:64.79, Y:4.70, Z:0.11 [[ 9.82737191e-01 -1.84991350e-01 -2.41116702e-03 6.47859610e+01] [ 1.84990784e-01 9.82740149e-01 -4.57340429e-04 4.70055572e+00] [ 2.45415466e-03 3.40177096e-06 9.99996989e-01 1.05200464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800281693 meters 0.016245421464349225 Centerline is valid? [True, True] Translation: X:64.81, Y:4.72, Z:0.10 [[ 9.83560786e-01 -1.80546250e-01 -3.35138613e-03 6.48111482e+01] [ 1.80545130e-01 9.83566496e-01 -6.36292567e-04 4.71541387e+00] [ 3.41119134e-03 2.07559743e-05 9.99994182e-01 1.02864501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830281693 meters 0.01707478536555233 Centerline is valid? [True, True] Translation: X:64.84, Y:4.72, Z:0.10 [[ 9.83797315e-01 -1.79234083e-01 -4.24096129e-03 6.48389130e+01] [ 1.79232275e-01 9.83806456e-01 -8.05725773e-04 4.72416911e+00] [ 4.31669862e-03 3.25537128e-05 9.99990682e-01 1.00895822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860281693 meters 0.018851790612708988 Centerline is valid? [True, True] Translation: X:64.86, Y:4.73, Z:0.10 [[ 9.84141870e-01 -1.77297728e-01 -5.50410515e-03 6.48648691e+01] [ 1.77294649e-01 9.84157260e-01 -1.04635244e-03 4.73479961e+00] [ 5.60242095e-03 5.39108606e-05 9.99984305e-01 9.83445476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890281693 meters 0.019168112383885508 Centerline is valid? [True, True] Translation: X:64.89, Y:4.74, Z:0.10 [[ 9.84213801e-01 -1.76878219e-01 -6.10651882e-03 6.48924645e+01] [ 1.76874416e-01 9.84232743e-01 -1.16170506e-03 4.74263930e+00] [ 6.21571608e-03 6.32792088e-05 9.99980680e-01 9.83974465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920281693 meters 0.021083445804488208 Centerline is valid? [True, True] Translation: X:64.92, Y:4.75, Z:0.10 [[ 9.84321494e-01 -1.76280762e-01 -6.02409022e-03 6.49183350e+01] [ 1.76277046e-01 9.84339925e-01 -1.14659337e-03 4.75346879e+00] [ 6.13187487e-03 6.67076717e-05 9.99981198e-01 9.75444407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95028169300001 meters 0.02136434822235646 Centerline is valid? [True, True] Translation: X:64.95, Y:4.76, Z:0.10 [[ 9.84672755e-01 -1.74307464e-01 -6.03933502e-03 6.49458192e+01] [ 1.74303686e-01 9.84691272e-01 -1.15030416e-03 4.76293523e+00] [ 6.14738708e-03 7.99948074e-05 9.99981101e-01 9.80059141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98028169300001 meters 0.022540545467384633 Centerline is valid? [True, True] Translation: X:64.97, Y:4.77, Z:0.10 [[ 9.84815410e-01 -1.73487733e-01 -6.37300698e-03 6.49725497e+01] [ 1.73483506e-01 9.84836026e-01 -1.21447361e-03 4.77192802e+00] [ 6.48706314e-03 9.04207271e-05 9.99978955e-01 9.72709020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010281693 meters 0.022586908959828837 Centerline is valid? [True, True] Translation: X:65.00, Y:4.78, Z:0.10 [[ 9.84747680e-01 -1.73859666e-01 -6.69501498e-03 6.49978427e+01] [ 1.73855004e-01 9.84770434e-01 -1.27657434e-03 4.78166987e+00] [ 6.81499760e-03 9.31417650e-05 9.99976773e-01 9.67225315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040281693 meters 0.020620548821705796 Centerline is valid? [True, True] Translation: X:65.03, Y:4.79, Z:0.10 [[ 9.84506590e-01 -1.75219725e-01 -6.69494804e-03 6.50266918e+01] [ 1.75215088e-01 9.84529350e-01 -1.27763098e-03 4.78527077e+00] [ 6.81523899e-03 8.47802116e-05 9.99976772e-01 9.70558242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070281693 meters 0.02195149755327289 Centerline is valid? [True, True] Translation: X:65.05, Y:4.79, Z:0.09 [[ 9.84254288e-01 -1.76615394e-01 -7.10627326e-03 6.50537536e+01] [ 1.76610199e-01 9.84279938e-01 -1.35695273e-03 4.79237301e+00] [ 7.23422094e-03 8.05462071e-05 9.99973829e-01 9.47181327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100281693 meters 0.0192034193345619 Centerline is valid? [True, True] Translation: X:65.08, Y:4.79, Z:0.09 [[ 9.83719075e-01 -1.79580100e-01 -6.91148125e-03 6.50825117e+01] [ 1.79575256e-01 9.83743353e-01 -1.32019895e-03 4.78975321e+00] [ 7.03620520e-03 5.75738743e-05 9.99975244e-01 9.47270855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130281693 meters 0.01670020556053906 Centerline is valid? [True, True] Translation: X:65.11, Y:4.79, Z:0.10 [[ 9.83432643e-01 -1.81166598e-01 -6.23706876e-03 6.51121903e+01] [ 1.81162680e-01 9.83452420e-01 -1.19220639e-03 4.78940953e+00] [ 6.34984834e-03 4.25305838e-05 9.99979839e-01 9.78288179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160281693 meters 0.016017743405138004 Centerline is valid? [True, True] Translation: X:65.14, Y:4.79, Z:0.10 [[ 9.83091252e-01 -1.83071569e-01 -4.04855538e-03 6.51396317e+01] [ 1.83069933e-01 9.83099588e-01 -7.74282384e-04 4.79323566e+00] [ 4.12188222e-03 2.00214762e-05 9.99991505e-01 1.01988266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190281693 meters 0.015634821984087978 Centerline is valid? [True, True] Translation: X:65.17, Y:4.80, Z:0.10 [[ 9.83085995e-01 -1.83125289e-01 -2.65614544e-03 6.51677756e+01] [ 1.83124585e-01 9.83089583e-01 -5.08236751e-04 4.79699641e+00] [ 2.70429991e-03 1.32349025e-05 9.99996343e-01 1.04882974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220281693 meters 0.016735222162599234 Centerline is valid? [True, True] Translation: X:65.19, Y:4.80, Z:0.11 [[ 9.83442428e-01 -1.81216340e-01 -1.27614103e-03 6.51944822e+01] [ 1.81216176e-01 9.83443256e-01 -2.44322347e-04 4.80436722e+00] [ 1.29928749e-03 9.01956519e-06 9.99999156e-01 1.07640747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250281693 meters 0.017709721973020832 Centerline is valid? [True, True] Translation: X:65.22, Y:4.81, Z:0.11 [[ 9.83677758e-01 -1.79935580e-01 -1.12078972e-03 6.52227005e+01] [ 1.79935452e-01 9.83678396e-01 -2.14544273e-04 4.81229249e+00] [ 1.14110079e-03 9.37262292e-06 9.99999349e-01 1.07608714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280281693 meters 0.01896676840667797 Centerline is valid? [True, True] Translation: X:65.25, Y:4.82, Z:0.11 [[ 9.83905514e-01 -1.78681341e-01 -1.70844625e-03 6.52494303e+01] [ 1.78681041e-01 9.83906997e-01 -3.27514108e-04 4.81983989e+00] [ 1.73947288e-03 1.69759812e-05 9.99998487e-01 1.06683789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31028169300001 meters 0.019560667290151042 Centerline is valid? [True, True] Translation: X:65.28, Y:4.82, Z:0.11 [[ 9.84009152e-01 -1.78106067e-01 -2.05351964e-03 6.52775932e+01] [ 1.78105633e-01 9.84011295e-01 -3.93819895e-04 4.82443037e+00] [ 2.09082823e-03 2.17789655e-05 9.99997814e-01 1.05509749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34028169300001 meters 0.01993918481932882 Centerline is valid? [True, True] Translation: X:65.31, Y:4.83, Z:0.11 [[ 9.83890279e-01 -1.78763535e-01 -1.87574027e-03 6.53052966e+01] [ 1.78763173e-01 9.83892066e-01 -3.60015360e-04 4.82942600e+00] [ 1.90988359e-03 1.89023298e-05 9.99998176e-01 1.06165826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.370281693 meters 0.017809040614551398 Centerline is valid? [True, True] Translation: X:65.33, Y:4.83, Z:0.11 [[ 9.83560261e-01 -1.80566704e-01 -2.20879224e-03 6.53343455e+01] [ 1.80566207e-01 9.83562741e-01 -4.24115369e-04 4.83023923e+00] [ 2.24906686e-03 1.83097870e-05 9.99997471e-01 1.06150940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400281693 meters 0.017614702443856683 Centerline is valid? [True, True] Translation: X:65.36, Y:4.83, Z:0.11 [[ 9.83509733e-01 -1.80841541e-01 -2.22314343e-03 6.53617536e+01] [ 1.80841037e-01 9.83512245e-01 -4.27245202e-04 4.83462587e+00] [ 2.26375247e-03 1.81642508e-05 9.99997438e-01 1.05971431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430281693 meters 0.018169884153396248 Centerline is valid? [True, True] Translation: X:65.39, Y:4.84, Z:0.11 [[ 9.83560474e-01 -1.80562868e-01 -2.41775440e-03 6.53883169e+01] [ 1.80562270e-01 9.83563445e-01 -4.65109574e-04 4.83970856e+00] [ 2.46199637e-03 2.09081693e-05 9.99996969e-01 1.05766761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460281693 meters 0.01932719551806159 Centerline is valid? [True, True] Translation: X:65.42, Y:4.85, Z:0.10 [[ 9.83803063e-01 -1.79212905e-01 -3.77737333e-03 6.54165697e+01] [ 1.79211433e-01 9.83810314e-01 -7.27357359e-04 4.84519296e+00] [ 3.84657067e-03 3.86279085e-05 9.99992601e-01 1.02838495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490281693 meters 0.020048454151702286 Centerline is valid? [True, True] Translation: X:65.44, Y:4.85, Z:0.10 [[ 9.83904050e-01 -1.78642252e-01 -4.44590017e-03 6.54448168e+01] [ 1.78640204e-01 9.83914093e-01 -8.56868307e-04 4.85098799e+00] [ 4.52745672e-03 4.88596839e-05 9.99989750e-01 1.01507531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520281693 meters 0.02235690193749362 Centerline is valid? [True, True] Translation: X:65.47, Y:4.86, Z:0.10 [[ 9.84279850e-01 -1.76553548e-01 -4.69276689e-03 6.54715218e+01] [ 1.76551239e-01 9.84291035e-01 -9.05021849e-04 4.85817691e+00] [ 4.77883320e-03 6.22809598e-05 9.99988579e-01 1.01732544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550281693 meters 0.02445773088930166 Centerline is valid? [True, True] Translation: X:65.50, Y:4.87, Z:0.10 [[ 9.84517994e-01 -1.75226154e-01 -4.48494554e-03 6.54979709e+01] [ 1.75224030e-01 9.84528207e-01 -8.65250943e-04 4.86587058e+00] [ 4.56716999e-03 6.59848912e-05 9.99989568e-01 1.02497320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580281693 meters 0.02544487875321147 Centerline is valid? [True, True] Translation: X:65.53, Y:4.87, Z:0.10 [[ 9.84788116e-01 -1.73704503e-01 -4.37173298e-03 6.55256462e+01] [ 1.73702469e-01 9.84797817e-01 -8.43658426e-04 4.87162679e+00] [ 4.45182036e-03 7.14439820e-05 9.99990088e-01 1.03257624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610281693 meters 0.025475510899639866 Centerline is valid? [True, True] Translation: X:65.55, Y:4.88, Z:0.10 [[ 9.84739951e-01 -1.73954604e-01 -5.19849309e-03 6.55530801e+01] [ 1.73951727e-01 9.84753669e-01 -1.00393655e-03 4.87669665e+00] [ 5.29387453e-03 8.43295810e-05 9.99985984e-01 1.01507349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640281693 meters 0.025103251323830816 Centerline is valid? [True, True] Translation: X:65.58, Y:4.88, Z:0.10 [[ 9.84674787e-01 -1.74300756e-01 -5.90000207e-03 6.55804355e+01] [ 1.74297050e-01 9.84692458e-01 -1.14055292e-03 4.88077270e+00] [ 6.00848678e-03 9.47207450e-05 9.99981944e-01 9.92538218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670281693 meters 0.02482227224773222 Centerline is valid? [True, True] Translation: X:65.61, Y:4.88, Z:0.10 [[ 9.84518297e-01 -1.75184698e-01 -5.83475247e-03 6.56076900e+01] [ 1.75181086e-01 9.84535583e-01 -1.12852191e-03 4.88478002e+00] [ 5.94222120e-03 8.89121923e-05 9.99982341e-01 9.92205808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70028169300001 meters 0.024094486629800294 Centerline is valid? [True, True] Translation: X:65.64, Y:4.89, Z:0.10 [[ 9.84423476e-01 -1.75756404e-01 -4.48398818e-03 6.56358633e+01] [ 1.75754274e-01 9.84433686e-01 -8.67758744e-04 4.88839384e+00] [ 4.56670317e-03 6.61619929e-05 9.99989570e-01 1.01673525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73028169300001 meters 0.022408792350873948 Centerline is valid? [True, True] Translation: X:65.66, Y:4.89, Z:0.10 [[ 9.84052296e-01 -1.77858298e-01 -2.73949477e-03 6.56640163e+01] [ 1.77857510e-01 9.84056109e-01 -5.30394320e-04 4.88981881e+00] [ 2.79015159e-03 3.46960302e-05 9.99996107e-01 1.04786537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760281693 meters 0.021191317381755323 Centerline is valid? [True, True] Translation: X:65.69, Y:4.89, Z:0.10 [[ 9.83764943e-01 -1.79434820e-01 -3.11156313e-03 6.56920407e+01] [ 1.79433811e-01 9.83769864e-01 -6.02652594e-04 4.89189999e+00] [ 3.16919889e-03 3.45488657e-05 9.99994977e-01 1.04027415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790281693 meters 0.019204990344786885 Centerline is valid? [True, True] Translation: X:65.72, Y:4.89, Z:0.10 [[ 9.83442945e-01 -1.81172311e-01 -4.07037300e-03 6.57211804e+01] [ 1.81170597e-01 9.83451368e-01 -7.88910783e-04 4.89197417e+00] [ 4.14594268e-03 3.84168375e-05 9.99991405e-01 1.01703365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820281693 meters 0.017385423433910103 Centerline is valid? [True, True] Translation: X:65.75, Y:4.89, Z:0.10 [[ 9.83105674e-01 -1.82969070e-01 -5.05490866e-03 6.57503483e+01] [ 1.82966447e-01 9.83118669e-01 -9.80663675e-04 4.89155992e+00] [ 5.14900619e-03 3.92173491e-05 9.99986743e-01 1.00277602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850281693 meters 0.016374757859030323 Centerline is valid? [True, True] Translation: X:65.78, Y:4.89, Z:0.10 [[ 9.82439541e-01 -1.86494396e-01 -5.69105946e-03 6.57791323e+01] [ 1.86491126e-01 9.82456024e-01 -1.10469066e-03 4.88899411e+00] [ 5.79723427e-03 2.39597011e-05 9.99983196e-01 9.79858873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880281693 meters 0.016064879836134763 Centerline is valid? [True, True] Translation: X:65.81, Y:4.89, Z:0.10 [[ 9.82369508e-01 -1.86902638e-01 -4.18962812e-03 6.58074244e+01] [ 1.86900867e-01 9.82378442e-01 -8.13734001e-04 4.89191376e+00] [ 4.26788938e-03 1.63423407e-05 9.99990892e-01 1.02025491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910281693 meters 0.016327664493617135 Centerline is valid? [True, True] Translation: X:65.83, Y:4.90, Z:0.10 [[ 9.82536596e-01 -1.86034562e-01 -3.60260175e-03 6.58344627e+01] [ 1.86033245e-01 9.82543201e-01 -7.00322742e-04 4.89822838e+00] [ 3.66999609e-03 1.78890297e-05 9.99993265e-01 1.03973362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940281693 meters 0.016938103169580145 Centerline is valid? [True, True] Translation: X:65.86, Y:4.91, Z:0.10 [[ 9.82808894e-01 -1.84584166e-01 -3.91964001e-03 6.58620667e+01] [ 1.84582592e-01 9.82816710e-01 -7.62678617e-04 4.90558661e+00] [ 3.99306609e-03 2.60700148e-05 9.99992027e-01 1.03392870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970281693 meters 0.019530739869667968 Centerline is valid? [True, True] Translation: X:65.89, Y:4.92, Z:0.10 [[ 9.83487415e-01 -1.80898616e-01 -5.30986657e-03 6.58887970e+01] [ 1.80895670e-01 9.83501748e-01 -1.03383546e-03 4.91697891e+00] [ 5.40928245e-03 5.62322891e-05 9.99985368e-01 1.01395312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000281693 meters 0.021141106211698533 Centerline is valid? [True, True] Translation: X:65.91, Y:4.93, Z:0.10 [[ 9.83794112e-01 -1.79233404e-01 -4.95290491e-03 6.59149669e+01] [ 1.79230819e-01 9.83806578e-01 -9.64661514e-04 4.92581251e+00] [ 5.04559999e-03 6.13151165e-05 9.99987269e-01 1.01563326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030281693 meters 0.021141106211698533 Centerline is valid? [True, True] Translation: X:65.94, Y:4.93, Z:0.10 [[ 9.83760980e-01 -1.79415170e-01 -4.95277038e-03 6.59418969e+01] [ 1.79412584e-01 9.83773446e-01 -9.65351827e-04 4.93126614e+00] [ 5.04560275e-03 6.10861291e-05 9.99987269e-01 1.01618009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06028169300001 meters 0.021364337591874942 Centerline is valid? [True, True] Translation: X:65.97, Y:4.94, Z:0.10 [[ 9.84168724e-01 -1.77204521e-01 -3.23747245e-03 6.59691625e+01] [ 1.77203403e-01 9.84174047e-01 -6.31348041e-04 4.93921428e+00] [ 3.29811409e-03 4.76618611e-05 9.99994560e-01 1.04633243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09028169300001 meters 0.023696986858585994 Centerline is valid? [True, True] Translation: X:65.99, Y:4.95, Z:0.10 [[ 9.84416912e-01 -1.75822372e-01 -3.13624874e-03 6.59948956e+01] [ 1.75821315e-01 9.84421907e-01 -6.11862026e-04 4.95006719e+00] [ 3.19497100e-03 5.09079492e-05 9.99994895e-01 1.04701055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.120281693 meters 0.029078336321935926 Centerline is valid? [True, True] Translation: X:66.02, Y:4.97, Z:0.10 [[ 9.85071746e-01 -1.72090841e-01 -4.28926888e-03 6.60198774e+01] [ 1.72088826e-01 9.85081080e-01 -8.37221182e-04 4.96849777e+00] [ 4.36935572e-03 8.65876845e-05 9.99990451e-01 1.02680649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150281693 meters 0.03084966906743028 Centerline is valid? [True, True] Translation: X:66.05, Y:4.98, Z:0.10 [[ 9.85337818e-01 -1.70550603e-01 -4.67712266e-03 6.60468077e+01] [ 1.70548188e-01 9.85348913e-01 -9.13477712e-04 4.98063241e+00] [ 4.76439191e-03 1.02409342e-04 9.99988645e-01 1.02110907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180281693 meters 0.034985932630027215 Centerline is valid? [True, True] Translation: X:66.07, Y:5.00, Z:0.10 [[ 9.85909214e-01 -1.67208106e-01 -4.94691596e-03 6.60721950e+01] [ 1.67205359e-01 9.85921616e-01 -9.66659790e-04 5.00006668e+00] [ 5.03890473e-03 1.25887934e-04 9.99987297e-01 1.01972612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210281693 meters 0.03327558719652341 Centerline is valid? [True, True] Translation: X:66.10, Y:5.01, Z:0.10 [[ 9.86039415e-01 -1.66431579e-01 -5.17706521e-03 6.61002143e+01] [ 1.66428557e-01 9.86052996e-01 -1.01228707e-03 5.00641754e+00] [ 5.27333720e-03 1.36543459e-04 9.99986087e-01 1.01306335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240281693 meters 0.037150282903328745 Centerline is valid? [True, True] Translation: X:66.13, Y:5.02, Z:0.10 [[ 9.86144844e-01 -1.65777209e-01 -6.02197861e-03 6.61256885e+01] [ 1.65773103e-01 9.86163217e-01 -1.17813194e-03 5.02011910e+00] [ 6.13396123e-03 1.63526654e-04 9.99981174e-01 9.90375862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270281693 meters 0.03642357516228361 Centerline is valid? [True, True] Translation: X:66.15, Y:5.03, Z:0.10 [[ 9.86154026e-01 -1.65697398e-01 -6.67902765e-03 6.61535781e+01] [ 1.65692340e-01 9.86176627e-01 -1.30758710e-03 5.02817737e+00] [ 6.80336474e-03 1.82818561e-04 9.99976840e-01 9.79790233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300281693 meters 0.03596381503759694 Centerline is valid? [True, True] Translation: X:66.18, Y:5.04, Z:0.10 [[ 9.86063453e-01 -1.66281981e-01 -5.40088265e-03 6.61800109e+01] [ 1.66278677e-01 9.86078233e-01 -1.05818783e-03 5.04233537e+00] [ 5.50165038e-03 1.45388721e-04 9.99984855e-01 1.01347075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330281693 meters 0.03289829586265764 Centerline is valid? [True, True] Translation: X:66.21, Y:5.05, Z:0.11 [[ 9.85986247e-01 -1.66805844e-01 -2.63282435e-03 6.62075205e+01] [ 1.66805060e-01 9.85989759e-01 -5.16120753e-04 5.05249505e+00] [ 2.68202981e-03 6.97195403e-05 9.99996401e-01 1.07094797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360281693 meters 0.03370829175259897 Centerline is valid? [True, True] Translation: X:66.24, Y:5.06, Z:0.11 [[ 9.86049847e-01 -1.66437179e-01 -2.08897245e-03 6.62351250e+01] [ 1.66436684e-01 9.86052059e-01 -4.09799537e-04 5.06297607e+00] [ 2.12804146e-03 5.64011246e-05 9.99997734e-01 1.07653939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390281693 meters 0.03476277670655947 Centerline is valid? [True, True] Translation: X:66.26, Y:5.07, Z:0.11 [[ 9.86160405e-01 -1.65780632e-01 -2.10666049e-03 6.62624668e+01] [ 1.65780126e-01 9.86162653e-01 -4.13634216e-04 5.07382480e+00] [ 2.14608244e-03 5.86672434e-05 9.99997695e-01 1.07571893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420281693 meters 0.03824587676569045 Centerline is valid? [True, True] Translation: X:66.29, Y:5.09, Z:0.11 [[ 9.86223905e-01 -1.65401210e-01 -2.20205240e-03 6.62877014e+01] [ 1.65400656e-01 9.86226361e-01 -4.32728342e-04 5.08743100e+00] [ 2.24329592e-03 6.25461244e-05 9.99997482e-01 1.07074911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45028169300001 meters 0.03580367420603397 Centerline is valid? [True, True] Translation: X:66.31, Y:5.10, Z:0.11 [[ 9.86169794e-01 -1.65710228e-01 -3.04254278e-03 6.63145168e+01] [ 1.65709170e-01 9.86174484e-01 -5.98270626e-04 5.09569600e+00] [ 3.09961762e-03 8.58191807e-05 9.99995192e-01 1.05814931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48028169300001 meters 0.03385151864786229 Centerline is valid? [True, True] Translation: X:66.34, Y:5.10, Z:0.11 [[ 9.85839408e-01 -1.67663431e-01 -3.10403309e-03 6.63428350e+01] [ 1.67662339e-01 9.85844292e-01 -6.10806103e-04 5.10267405e+00] [ 3.16250315e-03 8.17272797e-05 9.99994996e-01 1.05661090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510281693 meters 0.031335382783106464 Centerline is valid? [True, True] Translation: X:66.37, Y:5.11, Z:0.11 [[ 9.85472084e-01 -1.69821102e-01 -2.35884680e-03 6.63711853e+01] [ 1.69820477e-01 9.85474906e-01 -4.64261554e-04 5.10730217e+00] [ 2.40342574e-03 5.69363130e-05 9.99997110e-01 1.07071191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540281693 meters 0.029215415762981506 Centerline is valid? [True, True] Translation: X:66.40, Y:5.11, Z:0.11 [[ 9.84993886e-01 -1.72582800e-01 -1.49058625e-03 6.63987789e+01] [ 1.72582554e-01 9.84995013e-01 -2.93405133e-04 5.11208489e+00] [ 1.51885670e-03 3.17530804e-05 9.99998846e-01 1.08339104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570281693 meters 0.023267611468596683 Centerline is valid? [True, True] Translation: X:66.43, Y:5.11, Z:0.11 [[ 9.83878532e-01 -1.78836362e-01 -7.68233219e-04 6.64289926e+01] [ 1.78836298e-01 9.83878832e-01 -1.51250567e-04 5.11043662e+00] [ 7.82897503e-04 1.14242010e-05 9.99999693e-01 1.09434862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600281693 meters 0.02071112261037219 Centerline is valid? [True, True] Translation: X:66.46, Y:5.11, Z:0.11 [[ 9.83336864e-01 -1.81789806e-01 -1.03870796e-03 6.64582751e+01] [ 1.81789691e-01 9.83337412e-01 -2.04413169e-04 5.11155245e+00] [ 1.05856063e-03 1.21806058e-05 9.99999440e-01 1.09058154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630281693 meters 0.01806674467883865 Centerline is valid? [True, True] Translation: X:66.49, Y:5.11, Z:0.11 [[ 9.82641376e-01 -1.85510679e-01 -1.30927543e-03 6.64872372e+01] [ 1.85510500e-01 9.82642248e-01 -2.57961730e-04 5.11344405e+00] [ 1.33440400e-03 1.05995294e-05 9.99999110e-01 1.08744942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660281693 meters 0.017939001470640138 Centerline is valid? [True, True] Translation: X:66.51, Y:5.12, Z:0.11 [[ 9.82553728e-01 -1.85971196e-01 -1.69870733e-03 6.65137735e+01] [ 1.85970895e-01 9.82555196e-01 -3.35089053e-04 5.11979261e+00] [ 1.73139062e-03 1.33328759e-05 9.99998501e-01 1.08395251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690281693 meters 0.01808144396694455 Centerline is valid? [True, True] Translation: X:66.54, Y:5.13, Z:0.11 [[ 9.82538969e-01 -1.86043248e-01 -2.25475542e-03 6.65404348e+01] [ 1.86042717e-01 9.82541556e-01 -4.45045760e-04 5.12669694e+00] [ 2.29818865e-03 1.77939785e-05 9.99997359e-01 1.06924461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720281693 meters 0.01854641090787986 Centerline is valid? [True, True] Translation: X:66.57, Y:5.14, Z:0.10 [[ 9.82581152e-01 -1.85779620e-01 -4.49573432e-03 6.65678368e+01] [ 1.85777499e-01 9.82591437e-01 -8.88515952e-04 5.13527216e+00] [ 4.58253821e-03 3.78327498e-05 9.99989499e-01 1.02834658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750281693 meters 0.01838346384859588 Centerline is valid? [True, True] Translation: X:66.59, Y:5.14, Z:0.10 [[ 9.82483778e-01 -1.86279383e-01 -5.06125977e-03 6.65940425e+01] [ 1.86276699e-01 9.82496814e-01 -1.00089460e-03 5.14047457e+00] [ 5.15911763e-03 4.05679424e-05 9.99986691e-01 1.01562430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780281693 meters 0.017027438476172864 Centerline is valid? [True, True] Translation: X:66.62, Y:5.14, Z:0.10 [[ 9.82013626e-01 -1.88748665e-01 -4.81447638e-03 6.66235486e+01] [ 1.88746263e-01 9.82025428e-01 -9.52703832e-04 5.14097423e+00] [ 4.90775981e-03 2.68537210e-05 9.99987957e-01 1.02275446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81028169300001 meters 0.016090802794216173 Centerline is valid? [True, True] Translation: X:66.65, Y:5.14, Z:0.10 [[ 9.81588076e-01 -1.90962809e-01 -4.24901573e-03 6.66517080e+01] [ 1.90960957e-01 9.81597272e-01 -8.41218254e-04 5.14166614e+00] [ 4.33146365e-03 1.43336987e-05 9.99990619e-01 1.03379858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84028169300001 meters 0.015425935528618142 Centerline is valid? [True, True] Translation: X:66.68, Y:5.14, Z:0.11 [[ 9.80799088e-01 -1.94994376e-01 -3.21596686e-03 6.66809568e+01] [ 1.94993336e-01 9.80804360e-01 -6.36852394e-04 5.13921665e+00] [ 3.27841695e-03 -2.46786067e-06 9.99994626e-01 1.05611211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.870281693 meters 0.01564050029334058 Centerline is valid? [True, True] Translation: X:66.71, Y:5.14, Z:0.11 [[ 9.80502574e-01 -1.96480219e-01 -3.19768288e-03 6.67092796e+01] [ 1.96479197e-01 9.80507789e-01 -6.33567518e-04 5.14262231e+00] [ 3.25983645e-03 -7.06358295e-06 9.99994687e-01 1.05768146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900281693 meters 0.01588976907395164 Centerline is valid? [True, True] Translation: X:66.74, Y:5.15, Z:0.10 [[ 9.80341104e-01 -1.97272675e-01 -3.84856480e-03 6.67366889e+01] [ 1.97271200e-01 9.80348658e-01 -7.63060720e-04 5.14654226e+00] [ 3.92346637e-03 -1.11512072e-05 9.99992303e-01 1.04140959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930281693 meters 0.016391167531689 Centerline is valid? [True, True] Translation: X:66.77, Y:5.15, Z:0.10 [[ 9.80150239e-01 -1.98198405e-01 -4.78544416e-03 6.67652740e+01] [ 1.98196132e-01 9.80161921e-01 -9.49397736e-04 5.15002489e+00] [ 4.87867926e-03 -1.79041035e-05 9.99988099e-01 1.02528831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960281693 meters 0.01616368494046671 Centerline is valid? [True, True] Translation: X:66.79, Y:5.16, Z:0.10 [[ 9.80215123e-01 -1.97880810e-01 -4.63658554e-03 6.67924053e+01] [ 1.97878669e-01 9.80226089e-01 -9.20639671e-04 5.15643387e+00] [ 4.72707903e-03 -1.50564471e-05 9.99988827e-01 1.03334345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990281693 meters 0.015834689326926023 Centerline is valid? [True, True] Translation: X:66.82, Y:5.16, Z:0.11 [[ 9.80388616e-01 -1.97036344e-01 -3.85243128e-03 6.68190495e+01] [ 1.97034856e-01 9.80396185e-01 -7.65565790e-04 5.16368809e+00] [ 3.92775321e-03 -8.51125922e-06 9.99992286e-01 1.05383807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020281693 meters 0.01543043586618375 Centerline is valid? [True, True] Translation: X:66.85, Y:5.17, Z:0.11 [[ 9.80892700e-01 -1.94530170e-01 -2.74297603e-03 6.68455128e+01] [ 1.94529405e-01 9.80896535e-01 -5.45383471e-04 5.17231806e+00] [ 2.79666923e-03 1.37316975e-06 9.99996089e-01 1.07419353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050281693 meters 0.015560245897897935 Centerline is valid? [True, True] Translation: X:66.87, Y:5.18, Z:0.11 [[ 9.81086250e-01 -1.93543426e-01 -3.27300479e-03 6.68717657e+01] [ 1.93542331e-01 9.81091709e-01 -6.50999906e-04 5.17933373e+00] [ 3.33711462e-03 5.22207860e-06 9.99994432e-01 1.06094460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080281693 meters 0.016268123427210533 Centerline is valid? [True, True] Translation: X:66.90, Y:5.19, Z:0.10 [[ 9.81405442e-01 -1.91893456e-01 -4.50108167e-03 6.68985820e+01] [ 1.91891366e-01 9.81415764e-01 -8.95863950e-04 5.19025567e+00] [ 4.58934293e-03 1.54870484e-05 9.99989469e-01 1.03249225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110281693 meters 0.01665063687836691 Centerline is valid? [True, True] Translation: X:66.93, Y:5.20, Z:0.10 [[ 9.81547851e-01 -1.91158444e-01 -4.71852040e-03 6.69251907e+01] [ 1.91156136e-01 9.81559193e-01 -9.39686249e-04 5.19892017e+00] [ 4.81113604e-03 2.03728924e-05 9.99988426e-01 1.03150474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140281693 meters 0.017530752485094978 Centerline is valid? [True, True] Translation: X:66.95, Y:5.21, Z:0.10 [[ 9.81779670e-01 -1.89954052e-01 -5.11247579e-03 6.69511769e+01] [ 1.89951323e-01 9.81792981e-01 -1.01848929e-03 5.20877396e+00] [ 5.21285901e-03 2.88105335e-05 9.99986413e-01 1.02483630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170281693 meters 0.017759998774857157 Centerline is valid? [True, True] Translation: X:66.98, Y:5.22, Z:0.10 [[ 9.81813909e-01 -1.89771943e-01 -5.29700200e-03 6.69783507e+01] [ 1.89769008e-01 9.81828197e-01 -1.05594097e-03 5.21612704e+00] [ 5.40113389e-03 3.15307183e-05 9.99985413e-01 1.01880981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20028169300001 meters 0.01800706873450751 Centerline is valid? [True, True] Translation: X:67.01, Y:5.23, Z:0.11 [[ 9.81878679e-01 -1.89472508e-01 -3.79855917e-03 6.70052899e+01] [ 1.89470994e-01 9.81886026e-01 -7.57794081e-04 5.22604452e+00] [ 3.87333331e-03 2.43450705e-05 9.99992498e-01 1.05144679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23028169300001 meters 0.017976233815883088 Centerline is valid? [True, True] Translation: X:67.03, Y:5.23, Z:0.11 [[ 9.81900394e-01 -1.89386128e-01 -2.12363170e-03 6.70326906e+01] [ 1.89385654e-01 9.81902691e-01 -4.23872930e-04 5.23324396e+00] [ 2.16547534e-03 1.40156172e-05 9.99997655e-01 1.08567029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260281693 meters 0.01753305697565718 Centerline is valid? [True, True] Translation: X:67.06, Y:5.24, Z:0.11 [[ 9.81745261e-01 -1.90193262e-01 -1.66288474e-03 6.70598322e+01] [ 1.90192972e-01 9.81746669e-01 -3.32123141e-04 5.23957716e+00] [ 1.69569914e-03 9.79132937e-06 9.99998562e-01 1.09885922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290281693 meters 0.017215059848466524 Centerline is valid? [True, True] Translation: X:67.09, Y:5.25, Z:0.11 [[ 9.81580280e-01 -1.91031627e-01 -2.65912387e-03 6.70873512e+01] [ 1.91030888e-01 9.81583882e-01 -5.31756617e-04 5.24649426e+00] [ 2.71173546e-03 1.39870156e-05 9.99996323e-01 1.07815222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320281693 meters 0.016746064518174755 Centerline is valid? [True, True] Translation: X:67.11, Y:5.25, Z:0.11 [[ 9.81555626e-01 -1.91141952e-01 -3.64791308e-03 6.71141537e+01] [ 1.91140559e-01 9.81562404e-01 -7.30091246e-04 5.25262453e+00] [ 3.72020540e-03 1.93610254e-05 9.99993080e-01 1.06078620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350281693 meters 0.017751596874908803 Centerline is valid? [True, True] Translation: X:67.14, Y:5.27, Z:0.11 [[ 9.81828331e-01 -1.89719507e-01 -4.43134195e-03 6.71399703e+01] [ 1.89717435e-01 9.81838331e-01 -8.87307586e-04 5.26658934e+00] [ 4.51920094e-03 3.04809004e-05 9.99989788e-01 1.05513486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380281693 meters 0.01788252609232595 Centerline is valid? [True, True] Translation: X:67.17, Y:5.28, Z:0.11 [[ 9.81971297e-01 -1.88974561e-01 -4.58123368e-03 6.71675409e+01] [ 1.88972335e-01 9.81981983e-01 -9.17950635e-04 5.27624904e+00] [ 4.67215825e-03 3.56747492e-05 9.99989085e-01 1.05779074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410281693 meters 0.020511301893974442 Centerline is valid? [True, True] Translation: X:67.19, Y:5.29, Z:0.11 [[ 9.82186109e-01 -1.87853637e-01 -4.63227164e-03 6.71919763e+01] [ 1.87851346e-01 9.82197032e-01 -9.28676677e-04 5.29359515e+00] [ 4.72425874e-03 4.19548715e-05 9.99988840e-01 1.05150670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440281693 meters 0.01865273582076522 Centerline is valid? [True, True] Translation: X:67.22, Y:5.30, Z:0.11 [[ 9.82123816e-01 -1.88195944e-01 -3.88554275e-03 6.72196981e+01] [ 1.88194333e-01 9.82131501e-01 -7.79441283e-04 5.29877048e+00] [ 3.96280162e-03 3.42707186e-05 9.99992147e-01 1.07259498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470281693 meters 0.017389910064895833 Centerline is valid? [True, True] Translation: X:67.25, Y:5.31, Z:0.11 [[ 9.81814756e-01 -1.89820042e-01 -2.85250561e-03 6.72471260e+01] [ 1.89819179e-01 9.81818899e-01 -5.72644724e-04 5.30658557e+00] [ 2.90934336e-03 2.07707679e-05 9.99995768e-01 1.08205071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500281693 meters 0.01703955460856375 Centerline is valid? [True, True] Translation: X:67.27, Y:5.31, Z:0.11 [[ 9.81589553e-01 -1.90983845e-01 -2.66848323e-03 6.72739175e+01] [ 1.90983093e-01 9.81593180e-01 -5.36065653e-04 5.31283778e+00] [ 2.72174482e-03 1.65612628e-05 9.99996296e-01 1.08184013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530281693 meters 0.01636894741939134 Centerline is valid? [True, True] Translation: X:67.30, Y:5.32, Z:0.11 [[ 9.81279942e-01 -1.92570473e-01 -2.50766303e-03 6.73009771e+01] [ 1.92569814e-01 9.81283146e-01 -5.03905761e-04 5.31764954e+00] [ 2.55776484e-03 1.15724128e-05 9.99996729e-01 1.08165144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56028169300001 meters 0.015573712091717741 Centerline is valid? [True, True] Translation: X:67.33, Y:5.32, Z:0.11 [[ 9.80351880e-01 -1.97240815e-01 -2.50063881e-03 6.73292071e+01] [ 1.97240174e-01 9.80355069e-01 -5.02659222e-04 5.31864274e+00] [ 2.55065885e-03 -4.43521483e-07 9.99996747e-01 1.08220172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59028169300001 meters 0.017295561710607855 Centerline is valid? [True, True] Translation: X:67.36, Y:5.32, Z:0.11 [[ 9.79209949e-01 -2.02826264e-01 -3.06317115e-03 6.73579898e+01] [ 2.02825330e-01 9.79214740e-01 -6.16011797e-04 5.31594346e+00] [ 3.12444571e-03 -1.80838191e-05 9.99995119e-01 1.07381692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.620281693 meters 0.017949366371205547 Centerline is valid? [True, True] Translation: X:67.39, Y:5.32, Z:0.11 [[ 9.78823058e-01 -2.04684012e-01 -3.14284862e-03 6.73865287e+01] [ 2.04683036e-01 9.78828103e-01 -6.32347549e-04 5.31901027e+00] [ 3.20573998e-03 -2.43314359e-05 9.99994861e-01 1.07464238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650281693 meters 0.018394507921101807 Centerline is valid? [True, True] Translation: X:67.41, Y:5.32, Z:0.11 [[ 9.78600427e-01 -2.05754808e-01 -2.48256632e-03 6.74146990e+01] [ 2.05754202e-01 9.78603576e-01 -4.99839262e-04 5.32264671e+00] [ 2.53229260e-03 -2.16555370e-05 9.99996794e-01 1.08646836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680281693 meters 0.018424276617780268 Centerline is valid? [True, True] Translation: X:67.44, Y:5.33, Z:0.11 [[ 9.78482404e-01 -2.06324310e-01 -1.56955918e-03 6.74417694e+01] [ 2.06324069e-01 9.78483663e-01 -3.16146201e-04 5.32811525e+00] [ 1.60101667e-03 -1.44943421e-05 9.99998718e-01 1.11601799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710281693 meters 0.018566851129839232 Centerline is valid? [True, True] Translation: X:67.47, Y:5.33, Z:0.11 [[ 9.78483079e-01 -2.06319875e-01 -1.72403105e-03 6.74681914e+01] [ 2.06319583e-01 9.78484598e-01 -3.47650313e-04 5.33436972e+00] [ 1.75866499e-03 -1.55314171e-05 9.99998453e-01 1.11998281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740281693 meters 0.01942737398664189 Centerline is valid? [True, True] Translation: X:67.50, Y:5.34, Z:0.11 [[ 9.78163147e-01 -2.07832317e-01 -1.60800182e-03 6.74964600e+01] [ 2.07832064e-01 9.78164469e-01 -3.24383772e-04 5.33735353e+00] [ 1.64030767e-03 -1.68940852e-05 9.99998655e-01 1.12137302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770281693 meters 0.020550250894566992 Centerline is valid? [True, True] Translation: X:67.53, Y:5.34, Z:0.11 [[ 9.77811914e-01 -2.09480425e-01 -1.34605680e-03 6.75250908e+01] [ 2.09480250e-01 9.77812841e-01 -2.71537457e-04 5.33940186e+00] [ 1.37307341e-03 -1.64597552e-05 9.99999057e-01 1.12194274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800281693 meters 0.02151587523050417 Centerline is valid? [True, True] Translation: X:67.55, Y:5.34, Z:0.11 [[ 9.77539069e-01 -2.10751706e-01 -1.04230127e-03 6.75527177e+01] [ 2.10751601e-01 9.77539625e-01 -2.10458328e-04 5.34152998e+00] [ 1.06324525e-03 -1.39354240e-05 9.99999435e-01 1.12457553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830281693 meters 0.02192178034642302 Centerline is valid? [True, True] Translation: X:67.58, Y:5.35, Z:0.11 [[ 9.77408833e-01 -2.11356989e-01 -4.43622709e-04 6.75812446e+01] [ 2.11356970e-01 9.77408933e-01 -8.93759273e-05 5.34570842e+00] [ 4.52491025e-04 -6.40593077e-06 9.99999898e-01 1.14436468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860281693 meters 0.022124739442452784 Centerline is valid? [True, True] Translation: X:67.61, Y:5.35, Z:0.11 [[ 9.77570756e-01 -2.10605491e-01 -8.63194321e-04 6.76086641e+01] [ 2.10605419e-01 9.77571137e-01 -1.74467258e-04 5.34991924e+00] [ 8.80577616e-04 -1.12393121e-05 9.99999612e-01 1.14507113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890281693 meters 0.019267754684328967 Centerline is valid? [True, True] Translation: X:67.64, Y:5.36, Z:0.11 [[ 9.78068132e-01 -2.08257499e-01 -3.39758028e-03 6.76361281e+01] [ 2.08256367e-01 9.78074032e-01 -6.87405124e-04 5.36072307e+00] [ 3.46624232e-03 -3.52386810e-05 9.99993992e-01 1.09870784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920281693 meters 0.019267754684328967 Centerline is valid? [True, True] Translation: X:67.66, Y:5.37, Z:0.11 [[ 9.78029693e-01 -2.08437946e-01 -3.39746266e-03 6.76630066e+01] [ 2.08436813e-01 9.78035593e-01 -6.87986067e-04 5.36634778e+00] [ 3.46624181e-03 -3.52854882e-05 9.99993992e-01 1.09925471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95028169300001 meters 0.018185334062083 Centerline is valid? [True, True] Translation: X:67.69, Y:5.38, Z:0.11 [[ 9.78368744e-01 -2.06806778e-01 -5.05534158e-03 6.76908289e+01] [ 2.06804243e-01 9.78381804e-01 -1.02478955e-03 5.37525010e+00] [ 5.15798764e-03 -4.28440220e-05 9.99986697e-01 1.07558535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98028169300001 meters 0.017271125048249788 Centerline is valid? [True, True] Translation: X:67.72, Y:5.38, Z:0.11 [[ 9.78882733e-01 -2.04335320e-01 -5.97267814e-03 6.77173450e+01] [ 2.04331732e-01 9.78900953e-01 -1.21137942e-03 5.38483498e+00] [ 6.09418792e-03 -3.46092761e-05 9.99981430e-01 1.06050337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010281693 meters 0.015803592231845704 Centerline is valid? [True, True] Translation: X:67.74, Y:5.40, Z:0.11 [[ 9.80074514e-01 -1.98580782e-01 -4.42943496e-03 6.77433109e+01] [ 1.98578747e-01 9.80084523e-01 -8.98859091e-04 5.40067515e+00] [ 4.51971680e-03 1.35724114e-06 9.99989786e-01 1.07834524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040281693 meters 0.015899258281622045 Centerline is valid? [True, True] Translation: X:67.77, Y:5.41, Z:0.11 [[ 9.80687280e-01 -1.95579136e-01 -1.12254070e-03 6.77694067e+01] [ 1.95579003e-01 9.80687923e-01 -2.27823561e-04 5.41126631e+00] [ 1.14541964e-03 3.87827776e-06 9.99999344e-01 1.13264326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070281693 meters 0.015880522130159648 Centerline is valid? [True, True] Translation: X:67.80, Y:5.42, Z:0.12 [[ 9.80584966e-01 -1.96094418e-01 -3.20697181e-04 6.77971287e+01] [ 1.96094407e-01 9.80585019e-01 -6.48080449e-05 5.41726341e+00] [ 3.27179347e-04 6.62871082e-07 9.99999946e-01 1.15186593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100281693 meters 0.015717810466190123 Centerline is valid? [True, True] Translation: X:67.82, Y:5.42, Z:0.11 [[ 9.80377689e-01 -1.97127062e-01 -7.12627265e-04 6.78235746e+01] [ 1.97127009e-01 9.80377948e-01 -1.44739160e-04 5.42184199e+00] [ 7.27176061e-04 1.42096161e-06 9.99999736e-01 1.14313763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130281693 meters 0.015749010556605197 Centerline is valid? [True, True] Translation: X:67.85, Y:5.42, Z:0.11 [[ 9.79800631e-01 -1.99946607e-01 -3.47530069e-03 6.78522995e+01] [ 1.99945358e-01 9.79806794e-01 -7.06941981e-04 5.42166347e+00] [ 3.54647388e-03 -2.20804053e-06 9.99993711e-01 1.08246033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160281693 meters 0.016006827240172092 Centerline is valid? [True, True] Translation: X:67.88, Y:5.42, Z:0.11 [[ 9.79412394e-01 -2.01833231e-01 -3.83523363e-03 6.78808270e+01] [ 2.01831720e-01 9.79419903e-01 -7.80934434e-04 5.42345260e+00] [ 3.91392267e-03 -9.21493717e-06 9.99992341e-01 1.07714417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190281693 meters 0.016711939555377944 Centerline is valid? [True, True] Translation: X:67.91, Y:5.42, Z:0.11 [[ 9.78764892e-01 -2.04981333e-01 -1.39255238e-03 6.79105074e+01] [ 2.04981137e-01 9.78765883e-01 -2.83596206e-04 5.42186728e+00] [ 1.42111468e-03 -7.87295910e-06 9.99998990e-01 1.12948701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220281693 meters 0.017346806602182834 Centerline is valid? [True, True] Translation: X:67.94, Y:5.42, Z:0.11 [[ 9.78623806e-01 -2.05657884e-01 -5.29942309e-04 6.79380846e+01] [ 2.05657856e-01 9.78623950e-01 -1.07779135e-04 5.42326188e+00] [ 5.40779864e-04 -3.51157144e-06 9.99999854e-01 1.14809971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250281693 meters 0.017097151946263326 Centerline is valid? [True, True] Translation: X:67.97, Y:5.43, Z:0.11 [[ 9.78585877e-01 -2.05837819e-01 -6.87877749e-04 6.79662816e+01] [ 2.05837772e-01 9.78586119e-01 -1.40142303e-04 5.42715877e+00] [ 7.01994203e-04 -4.44994452e-06 9.99999754e-01 1.13988912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280281693 meters 0.015996431837613817 Centerline is valid? [True, True] Translation: X:67.99, Y:5.43, Z:0.11 [[ 9.79130180e-01 -2.03205007e-01 -3.43747978e-03 6.79945575e+01] [ 2.03203793e-01 9.79136214e-01 -7.02391319e-04 5.43154704e+00] [ 3.50849037e-03 -1.07763914e-05 9.99993845e-01 1.09296437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31028169300001 meters 0.01632292696468818 Centerline is valid? [True, True] Translation: X:68.02, Y:5.44, Z:0.11 [[ 9.80261046e-01 -1.97660080e-01 -4.33304314e-03 6.80199608e+01] [ 1.97658094e-01 9.80270622e-01 -8.86253969e-04 5.44324781e+00] [ 4.42273193e-03 1.22991949e-05 9.99990220e-01 1.07731344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34028169300001 meters 0.01725013681522962 Centerline is valid? [True, True] Translation: X:68.05, Y:5.45, Z:0.11 [[ 9.80802023e-01 -1.94968450e-01 -3.83348928e-03 6.80480903e+01] [ 1.94966872e-01 9.80809514e-01 -7.84717361e-04 5.45142914e+00] [ 3.91291789e-03 2.22489595e-05 9.99992344e-01 1.08990846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.370281693 meters 0.018591922973722957 Centerline is valid? [True, True] Translation: X:68.08, Y:5.46, Z:0.11 [[ 9.81231950e-01 -1.92804924e-01 -3.18144170e-03 6.80761269e+01] [ 1.92803824e-01 9.81237107e-01 -6.51708851e-04 5.45898941e+00] [ 3.24740133e-03 2.60834211e-05 9.99994727e-01 1.09655129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400281693 meters 0.02083858394225059 Centerline is valid? [True, True] Translation: X:68.10, Y:5.47, Z:0.11 [[ 9.81765122e-01 -1.90070511e-01 -3.23210723e-03 6.81032680e+01] [ 1.90069360e-01 9.81770441e-01 -6.62522379e-04 5.46540960e+00] [ 3.29911331e-03 3.61168123e-05 9.99994557e-01 1.09856278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430281693 meters 0.021610009922233952 Centerline is valid? [True, True] Translation: X:68.13, Y:5.47, Z:0.11 [[ 9.81901491e-01 -1.89372211e-01 -2.76166729e-03 6.81306845e+01] [ 1.89371367e-01 9.81905375e-01 -5.66306721e-04 5.47197029e+00] [ 2.81893871e-03 3.30767041e-05 9.99996026e-01 1.11073403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460281693 meters 0.022609329177465966 Centerline is valid? [True, True] Translation: X:68.16, Y:5.48, Z:0.11 [[ 9.82062546e-01 -1.88546828e-01 -1.80266017e-03 6.81588411e+01] [ 1.88546467e-01 9.82064200e-01 -3.69739568e-04 5.47765061e+00] [ 1.84004124e-03 2.32221754e-05 9.99998307e-01 1.12725323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490281693 meters 0.02249305134316242 Centerline is valid? [True, True] Translation: X:68.19, Y:5.48, Z:0.11 [[ 9.82061859e-01 -1.88548233e-01 -2.01726711e-03 6.81862040e+01] [ 1.88547780e-01 9.82063930e-01 -4.14117983e-04 5.48262846e+00] [ 2.05916648e-03 2.63382402e-05 9.99997880e-01 1.12019883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520281693 meters 0.022474956963218332 Centerline is valid? [True, True] Translation: X:68.21, Y:5.49, Z:0.11 [[ 9.81977699e-01 -1.88963592e-01 -3.54395249e-03 6.82133573e+01] [ 1.88962194e-01 9.81984093e-01 -7.28287516e-04 5.48672768e+00] [ 3.61772480e-03 4.54890589e-05 9.99993455e-01 1.08955847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550281693 meters 0.021875981272531233 Centerline is valid? [True, True] Translation: X:68.24, Y:5.49, Z:0.11 [[ 9.81780955e-01 -1.89974332e-01 -3.98862847e-03 6.82416660e+01] [ 1.89972567e-01 9.81789056e-01 -8.20172172e-04 5.49064263e+00] [ 4.07180344e-03 4.74994275e-05 9.99991709e-01 1.08173660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580281693 meters 0.021031715875557692 Centerline is valid? [True, True] Translation: X:68.27, Y:5.49, Z:0.11 [[ 9.81564990e-01 -1.91088520e-01 -3.91771599e-03 6.82691424e+01] [ 1.91086825e-01 9.81572807e-01 -8.06010224e-04 5.49345294e+00] [ 3.99954279e-03 4.25275072e-05 9.99992001e-01 1.08073027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610281693 meters 0.018315427028306817 Centerline is valid? [True, True] Translation: X:68.30, Y:5.49, Z:0.11 [[ 9.81000466e-01 -1.93977227e-01 -3.30484265e-03 6.82994987e+01] [ 1.93976036e-01 9.81006032e-01 -6.80223422e-04 5.49157464e+00] [ 3.37401843e-03 2.62392161e-05 9.99994308e-01 1.09614098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640281693 meters 0.017925695669086333 Centerline is valid? [True, True] Translation: X:68.33, Y:5.50, Z:0.11 [[ 9.80743794e-01 -1.95274307e-01 -3.09118085e-03 6.83270818e+01] [ 1.95273270e-01 9.80748665e-01 -6.36627067e-04 5.49586407e+00] [ 3.15598841e-03 2.07430515e-05 9.99995020e-01 1.09875510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670281693 meters 0.01668863587976354 Centerline is valid? [True, True] Translation: X:68.36, Y:5.50, Z:0.11 [[ 9.80313023e-01 -1.97424145e-01 -3.17543169e-03 6.83565667e+01] [ 1.97423062e-01 9.80318166e-01 -6.54360117e-04 5.49570955e+00] [ 3.24211985e-03 1.45742992e-05 9.99994744e-01 1.09524460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70028169300001 meters 0.016705678236608894 Centerline is valid? [True, True] Translation: X:68.38, Y:5.50, Z:0.11 [[ 9.80174022e-01 -1.98104755e-01 -3.65955990e-03 6.83828376e+01] [ 1.98103318e-01 9.80180854e-01 -7.54643678e-04 5.49975332e+00] [ 3.73652904e-03 1.47111720e-05 9.99993019e-01 1.08719918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73028169300001 meters 0.016540736102701868 Centerline is valid? [True, True] Translation: X:68.41, Y:5.50, Z:0.11 [[ 9.80064207e-01 -1.98638892e-01 -4.09145985e-03 6.84093380e+01] [ 1.98637099e-01 9.80072748e-01 -8.44055020e-04 5.50348869e+00] [ 4.17759045e-03 1.45123986e-05 9.99991274e-01 1.08136087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760281693 meters 0.016356597535617134 Centerline is valid? [True, True] Translation: X:68.44, Y:5.51, Z:0.11 [[ 9.79977482e-01 -1.99072822e-01 -3.76122061e-03 6.84364835e+01] [ 1.99071309e-01 9.79984700e-01 -7.76206974e-04 5.50788479e+00] [ 3.84046036e-03 1.19142464e-05 9.99992625e-01 1.09086080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790281693 meters 0.016092742613617237 Centerline is valid? [True, True] Translation: X:68.46, Y:5.51, Z:0.11 [[ 9.79860471e-01 -1.99663612e-01 -2.81072416e-03 6.84641469e+01] [ 1.99662769e-01 9.79864502e-01 -5.80330265e-04 5.51260206e+00] [ 2.86999967e-03 7.44571869e-06 9.99995882e-01 1.10777670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820281693 meters 0.016139190992810852 Centerline is valid? [True, True] Translation: X:68.49, Y:5.52, Z:0.11 [[ 9.79876162e-01 -1.99593476e-01 -2.26980991e-03 6.84905535e+01] [ 1.99592925e-01 9.79878791e-01 -4.68977631e-04 5.51896925e+00] [ 2.31774347e-03 6.50199996e-06 9.99997314e-01 1.12012165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850281693 meters 0.016143534905052378 Centerline is valid? [True, True] Translation: X:68.52, Y:5.52, Z:0.11 [[ 9.79839651e-01 -1.99767432e-01 -2.68908299e-03 6.85176663e+01] [ 1.99766658e-01 9.79843341e-01 -5.55941681e-04 5.52491181e+00] [ 2.74593910e-03 7.54458107e-06 9.99996230e-01 1.10527856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880281693 meters 0.01626754607071536 Centerline is valid? [True, True] Translation: X:68.54, Y:5.53, Z:0.11 [[ 9.79814937e-01 -1.99872731e-01 -3.68512708e-03 6.85440318e+01] [ 1.99871277e-01 9.79821867e-01 -7.62521447e-04 5.53112853e+00] [ 3.76317534e-03 1.05788497e-05 9.99992919e-01 1.08763118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910281693 meters 0.016465682917234645 Centerline is valid? [True, True] Translation: X:68.57, Y:5.54, Z:0.11 [[ 9.79808338e-01 -1.99884322e-01 -4.67743543e-03 6.85714664e+01] [ 1.99881978e-01 9.79819503e-01 -9.68212407e-04 5.53798113e+00] [ 4.77657294e-03 1.37275435e-05 9.99988592e-01 1.06905486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940281693 meters 0.016002499288965834 Centerline is valid? [True, True] Translation: X:68.60, Y:5.54, Z:0.11 [[ 9.79603709e-01 -2.00903818e-01 -3.77207561e-03 6.85987814e+01] [ 2.00902299e-01 9.79610972e-01 -7.81237511e-04 5.54194143e+00] [ 3.85212025e-03 7.48450142e-06 9.99992581e-01 1.09352007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970281693 meters 0.01578678035081802 Centerline is valid? [True, True] Translation: X:68.63, Y:5.55, Z:0.11 [[ 9.79423062e-01 -2.01792812e-01 -3.18212089e-03 6.86268249e+01] [ 2.01791734e-01 9.79428232e-01 -6.59589050e-04 5.54582093e+00] [ 3.24975937e-03 3.89103409e-06 9.99994720e-01 1.10571002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000281693 meters 0.01566995451434331 Centerline is valid? [True, True] Translation: X:68.65, Y:5.55, Z:0.11 [[ 9.79159195e-01 -2.03074863e-01 -2.80535195e-03 6.86543792e+01] [ 2.03074029e-01 9.79163214e-01 -5.81972919e-04 5.54943177e+00] [ 2.86508150e-03 1.50012038e-07 9.99995896e-01 1.11400977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030281693 meters 0.01562594542705704 Centerline is valid? [True, True] Translation: X:68.68, Y:5.55, Z:0.11 [[ 9.78911888e-01 -2.04267488e-01 -2.51182226e-03 6.86816016e+01] [ 2.04266823e-01 9.78915110e-01 -5.21508450e-04 5.55343777e+00] [ 2.56538798e-03 -2.57112983e-06 9.99996709e-01 1.12495589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06028169300001 meters 0.015822745186596397 Centerline is valid? [True, True] Translation: X:68.71, Y:5.56, Z:0.11 [[ 9.78601647e-01 -2.05749082e-01 -2.47609844e-03 6.87089766e+01] [ 2.05748439e-01 9.78604780e-01 -5.14546027e-04 5.55703333e+00] [ 2.52898915e-03 -5.91779950e-06 9.99996802e-01 1.12760014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09028169300001 meters 0.015640130710683656 Centerline is valid? [True, True] Translation: X:68.74, Y:5.56, Z:0.11 [[ 9.78750730e-01 -2.05022550e-01 -3.57239510e-03 6.87370134e+01] [ 2.05021203e-01 9.78757250e-01 -7.43199293e-04 5.56190931e+00] [ 3.64888021e-03 -5.00989150e-06 9.99993343e-01 1.11087410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.120281693 meters 0.015624134277367299 Centerline is valid? [True, True] Translation: X:68.76, Y:5.57, Z:0.11 [[ 9.79125720e-01 -2.03216980e-01 -3.96024964e-03 6.87628677e+01] [ 2.03215308e-01 9.79133729e-01 -8.24463751e-04 5.56925723e+00] [ 4.04515903e-03 2.47031364e-06 9.99991818e-01 1.10358428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150281693 meters 0.01609075476629293 Centerline is valid? [True, True] Translation: X:68.79, Y:5.58, Z:0.11 [[ 9.79562583e-01 -2.01101653e-01 -3.90792835e-03 6.87891201e+01] [ 2.01100006e-01 9.79570378e-01 -8.14100427e-04 5.57794279e+00] [ 3.99180779e-03 1.15779026e-05 9.99992033e-01 1.10323191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180281693 meters 0.01883434958894274 Centerline is valid? [True, True] Translation: X:68.81, Y:5.59, Z:0.11 [[ 9.80686293e-01 -1.95558960e-01 -3.32977726e-03 6.88146599e+01] [ 1.95557731e-01 9.80691946e-01 -6.94054996e-04 5.59134867e+00] [ 3.40121442e-03 2.94865361e-05 9.99994215e-01 1.11596382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210281693 meters 0.02070513631378437 Centerline is valid? [True, True] Translation: X:68.84, Y:5.60, Z:0.11 [[ 9.81137339e-01 -1.93287996e-01 -3.04509915e-03 6.88420651e+01] [ 1.93286956e-01 9.81142064e-01 -6.35002746e-04 5.60091171e+00] [ 3.11041327e-03 3.44469603e-05 9.99995162e-01 1.11817602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240281693 meters 0.02369206306170035 Centerline is valid? [True, True] Translation: X:68.87, Y:5.61, Z:0.11 [[ 9.81966699e-01 -1.89021868e-01 -3.48357476e-03 6.88706918e+01] [ 1.89020479e-01 9.81972877e-01 -7.26843684e-04 5.61061579e+00] [ 3.55816528e-03 5.52693238e-05 9.99993668e-01 1.11414840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270281693 meters 0.027045302616490813 Centerline is valid? [True, True] Translation: X:68.90, Y:5.62, Z:0.11 [[ 9.82301883e-01 -1.87280339e-01 -3.01428594e-03 6.88970319e+01] [ 1.87279290e-01 9.82306506e-01 -6.29032931e-04 5.62103253e+00] [ 3.07875819e-03 5.33869015e-05 9.99995259e-01 1.11744598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300281693 meters 0.028548156284740202 Centerline is valid? [True, True] Translation: X:68.92, Y:5.63, Z:0.11 [[ 9.82609391e-01 -1.85667671e-01 -2.51018290e-03 6.89244141e+01] [ 1.85666938e-01 9.82612596e-01 -5.23966108e-04 5.62894305e+00] [ 2.56382090e-03 4.87960445e-05 9.99996712e-01 1.13102636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330281693 meters 0.03242005073114086 Centerline is valid? [True, True] Translation: X:68.95, Y:5.64, Z:0.11 [[ 9.83149661e-01 -1.82780818e-01 -2.81382691e-03 6.89506033e+01] [ 1.82779885e-01 9.83153685e-01 -5.87516277e-04 5.64093815e+00] [ 2.87381100e-03 6.33054710e-05 9.99995869e-01 1.12740143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360281693 meters 0.035202917604339495 Centerline is valid? [True, True] Translation: X:68.98, Y:5.65, Z:0.11 [[ 9.83430809e-01 -1.81251424e-01 -3.43019819e-03 6.89765398e+01] [ 1.81250027e-01 9.83436787e-01 -7.16454037e-04 5.65181674e+00] [ 3.50324140e-03 8.28594596e-05 9.99993860e-01 1.11538249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390281693 meters 0.03429016032538147 Centerline is valid? [True, True] Translation: X:69.01, Y:5.66, Z:0.11 [[ 9.83929279e-01 -1.78535460e-01 -2.87462526e-03 6.90051918e+01] [ 1.78534467e-01 9.83933475e-01 -6.00578448e-04 5.66034043e+00] [ 2.93566457e-03 7.77070309e-05 9.99995688e-01 1.12262713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420281693 meters 0.03433611310596774 Centerline is valid? [True, True] Translation: X:69.03, Y:5.67, Z:0.11 [[ 9.84028585e-01 -1.77994870e-01 -2.35993007e-03 6.90327683e+01] [ 1.77994199e-01 9.84031413e-01 -4.93157366e-04 5.66837261e+00] [ 2.41002480e-03 6.52270836e-05 9.99997094e-01 1.13449639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45028169300001 meters 0.034581461244602436 Centerline is valid? [True, True] Translation: X:69.06, Y:5.68, Z:0.11 [[ 9.84039115e-01 -1.77935706e-01 -2.42982657e-03 6.90602585e+01] [ 1.77934993e-01 9.84042113e-01 -5.08197378e-04 5.67677483e+00] [ 2.48147813e-03 6.77349243e-05 9.99996919e-01 1.13749163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48028169300001 meters 0.03587636979065222 Centerline is valid? [True, True] Translation: X:69.09, Y:5.69, Z:0.11 [[ 9.84026654e-01 -1.77960582e-01 -4.64499985e-03 6.90862904e+01] [ 1.77957973e-01 9.84037608e-01 -9.72316500e-04 5.68805625e+00] [ 4.74388855e-03 1.30170594e-04 9.99988739e-01 1.09103475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510281693 meters 0.03604409969623675 Centerline is valid? [True, True] Translation: X:69.11, Y:5.70, Z:0.11 [[ 9.84001500e-01 -1.78060654e-01 -5.95418120e-03 6.91137576e+01] [ 1.78056364e-01 9.84019500e-01 -1.24720287e-03 5.69535610e+00] [ 6.08110816e-03 1.67069635e-04 9.99981496e-01 1.06555294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540281693 meters 0.03691738137438479 Centerline is valid? [True, True] Translation: X:69.14, Y:5.70, Z:0.10 [[ 9.83988260e-01 -1.78099511e-01 -6.90423826e-03 6.91400517e+01] [ 1.78093739e-01 9.84012463e-01 -1.44689602e-03 5.70327359e+00] [ 7.05154797e-03 1.94127083e-04 9.99975119e-01 1.04297642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570281693 meters 0.036719250572374414 Centerline is valid? [True, True] Translation: X:69.17, Y:5.71, Z:0.11 [[ 9.83909693e-01 -1.78564180e-01 -6.04567044e-03 6.91675689e+01] [ 1.78559759e-01 9.83928252e-01 -1.26776157e-03 5.71212833e+00] [ 6.17488275e-03 1.67849444e-04 9.99980921e-01 1.06685101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600281693 meters 0.0384255770742676 Centerline is valid? [True, True] Translation: X:69.19, Y:5.72, Z:0.11 [[ 9.83874156e-01 -1.78811800e-01 -4.24101235e-03 6.91936420e+01] [ 1.78809624e-01 9.83883289e-01 -8.89696272e-04 5.72306839e+00] [ 4.33174937e-03 1.17015343e-04 9.99990611e-01 1.10406625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630281693 meters 0.03594505345974393 Centerline is valid? [True, True] Translation: X:69.22, Y:5.73, Z:0.11 [[ 9.83808965e-01 -1.79204635e-01 -2.37026651e-03 6.92214101e+01] [ 1.79203957e-01 9.83811819e-01 -4.97379883e-04 5.72884147e+00] [ 2.42102899e-03 6.45656511e-05 9.99997067e-01 1.13351453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660281693 meters 0.034927037558186436 Centerline is valid? [True, True] Translation: X:69.25, Y:5.73, Z:0.11 [[ 9.83738629e-01 -1.79584161e-01 -2.79981510e-03 6.92487395e+01] [ 1.79583214e-01 9.83742610e-01 -5.88069118e-04 5.73419145e+00] [ 2.85990531e-03 7.57065130e-05 9.99995908e-01 1.12210193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690281693 meters 0.033526866475346695 Centerline is valid? [True, True] Translation: X:69.28, Y:5.74, Z:0.11 [[ 9.83670776e-01 -1.79940405e-01 -3.64070170e-03 6.92760953e+01] [ 1.79938804e-01 9.83677509e-01 -7.65520159e-04 5.73910427e+00] [ 3.71902439e-03 9.79163000e-05 9.99993080e-01 1.10583658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720281693 meters 0.034078679367836644 Centerline is valid? [True, True] Translation: X:69.30, Y:5.75, Z:0.11 [[ 9.83658521e-01 -1.79971139e-01 -5.12873728e-03 6.93018872e+01] [ 1.79967956e-01 9.83671881e-01 -1.07919180e-03 5.74918191e+00] [ 5.23921803e-03 1.38547837e-04 9.99986266e-01 1.08651288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750281693 meters 0.03408344184142669 Centerline is valid? [True, True] Translation: X:69.33, Y:5.76, Z:0.11 [[ 9.83586167e-01 -1.80396053e-01 -3.93917118e-03 6.93279914e+01] [ 1.80394178e-01 9.83594049e-01 -8.29175703e-04 5.76104650e+00] [ 4.02412536e-03 1.04962204e-04 9.99991898e-01 1.12190990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780281693 meters 0.03564572925126698 Centerline is valid? [True, True] Translation: X:69.35, Y:5.77, Z:0.11 [[ 9.83466582e-01 -1.81062571e-01 -3.13505011e-03 6.93540428e+01] [ 1.81061386e-01 9.83471575e-01 -6.60125690e-04 5.77255327e+00] [ 3.20275672e-03 8.15750391e-05 9.99994868e-01 1.13459628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81028169300001 meters 0.03281697761834481 Centerline is valid? [True, True] Translation: X:69.38, Y:5.78, Z:0.11 [[ 9.83264869e-01 -1.82161773e-01 -2.69912117e-03 6.93827496e+01] [ 1.82160898e-01 9.83268572e-01 -5.68555338e-04 5.77862336e+00] [ 2.75753006e-03 6.73661537e-05 9.99996196e-01 1.14282879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84028169300001 meters 0.03281697761834481 Centerline is valid? [True, True] Translation: X:69.41, Y:5.78, Z:0.11 [[ 9.83231145e-01 -1.82343718e-01 -2.69903009e-03 6.94095771e+01] [ 1.82342843e-01 9.83234847e-01 -5.68987431e-04 5.78447919e+00] [ 2.75753172e-03 6.72973430e-05 9.99996196e-01 1.14337574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.870281693 meters 0.0304646575058895 Centerline is valid? [True, True] Translation: X:69.44, Y:5.79, Z:0.11 [[ 9.82761002e-01 -1.84859960e-01 -2.75826972e-03 6.94373778e+01] [ 1.84859054e-01 9.82764871e-01 -5.81899444e-04 5.79351180e+00] [ 2.81830050e-03 6.19769489e-05 9.99996027e-01 1.13957460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900281693 meters 0.031210555629649847 Centerline is valid? [True, True] Translation: X:69.46, Y:5.80, Z:0.11 [[ 9.82487936e-01 -1.86307888e-01 -2.61291061e-03 6.94638728e+01] [ 1.86307080e-01 9.82491409e-01 -5.51380536e-04 5.80314499e+00] [ 2.66988877e-03 5.49209791e-05 9.99996434e-01 1.14001188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930281693 meters 0.02547823174646944 Centerline is valid? [True, True] Translation: X:69.49, Y:5.80, Z:0.11 [[ 9.81789079e-01 -1.89952376e-01 -2.88088411e-03 6.94928245e+01] [ 1.89951409e-01 9.81793304e-01 -6.08161162e-04 5.80478025e+00] [ 2.94395439e-03 4.98579923e-05 9.99995665e-01 1.14300034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960281693 meters 0.022611022826708467 Centerline is valid? [True, True] Translation: X:69.52, Y:5.81, Z:0.11 [[ 9.81197136e-01 -1.92975005e-01 -3.58163799e-03 6.95216758e+01] [ 1.92973529e-01 9.81203671e-01 -7.56487077e-04 5.80828624e+00] [ 3.66029945e-03 5.11016311e-05 9.99993300e-01 1.12981352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990281693 meters 0.018461581381916132 Centerline is valid? [True, True] Translation: X:69.55, Y:5.81, Z:0.11 [[ 9.79720858e-01 -2.00290729e-01 -5.53763556e-03 6.95498011e+01] [ 2.00287313e-01 9.79736507e-01 -1.17034922e-03 5.80841226e+00] [ 5.65983382e-03 3.74973985e-05 9.99983982e-01 1.08616634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020281693 meters 0.016527522801051638 Centerline is valid? [True, True] Translation: X:69.58, Y:5.81, Z:0.11 [[ 9.78845949e-01 -2.04510452e-01 -6.00696310e-03 6.95797719e+01] [ 2.04506507e-01 9.78864380e-01 -1.27034545e-03 5.80756257e+00] [ 6.13980114e-03 1.50094614e-05 9.99981151e-01 1.08463650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050281693 meters 0.0164230630914289 Centerline is valid? [True, True] Translation: X:69.61, Y:5.81, Z:0.11 [[ 9.77879778e-01 -2.09084419e-01 -5.90302907e-03 6.96078028e+01] [ 2.09080689e-01 9.77897595e-01 -1.24901195e-03 5.80649100e+00] [ 6.03370687e-03 -1.28258576e-05 9.99981797e-01 1.08650444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080281693 meters 0.020367932645574266 Centerline is valid? [True, True] Translation: X:69.64, Y:5.80, Z:0.11 [[ 9.76006541e-01 -2.17704539e-01 -3.99566945e-03 6.96389939e+01] [ 2.17702900e-01 9.76014719e-01 -8.45885272e-04 5.79775534e+00] [ 4.08398526e-03 -4.42792681e-05 9.99991660e-01 1.12331939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110281693 meters 0.02446651152149981 Centerline is valid? [True, True] Translation: X:69.67, Y:5.79, Z:0.11 [[ 9.75059815e-01 -2.21923285e-01 -2.90061283e-03 6.96677167e+01] [ 2.21922439e-01 9.75064128e-01 -6.14393909e-04 5.79394801e+00] [ 2.96463183e-03 -4.46402624e-05 9.99995604e-01 1.14436026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140281693 meters 0.0313820223231609 Centerline is valid? [True, True] Translation: X:69.70, Y:5.78, Z:0.11 [[ 9.73478236e-01 -2.28753668e-01 -3.44710044e-03 6.97013540e+01] [ 2.28752515e-01 9.73484336e-01 -7.30387179e-04 5.78293713e+00] [ 3.52277703e-03 -7.75168731e-05 9.99993792e-01 1.13936563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170281693 meters 0.03458334958042975 Centerline is valid? [True, True] Translation: X:69.73, Y:5.78, Z:0.11 [[ 9.72738763e-01 -2.31859760e-01 -4.51122971e-03 6.97321764e+01] [ 2.31857818e-01 9.72749217e-01 -9.55918152e-04 5.78039728e+00] [ 4.60993412e-03 -1.16105236e-04 9.99989367e-01 1.11901863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20028169300001 meters 0.03734316426363029 Centerline is valid? [True, True] Translation: X:69.76, Y:5.77, Z:0.11 [[ 9.71888910e-01 -2.35376302e-01 -5.47196666e-03 6.97634471e+01] [ 2.35373499e-01 9.71904301e-01 -1.15972792e-03 5.77470808e+00] [ 5.59120041e-03 -1.60829234e-04 9.99984356e-01 1.11242592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23028169300001 meters 0.03679824649687695 Centerline is valid? [True, True] Translation: X:69.79, Y:5.78, Z:0.11 [[ 9.71839370e-01 -2.35607106e-01 -4.18687171e-03 6.97917840e+01] [ 2.35605466e-01 9.71848381e-01 -8.87858838e-04 5.77817600e+00] [ 4.27819035e-03 -1.23593685e-04 9.99990841e-01 1.13828096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260281693 meters 0.03575806862729952 Centerline is valid? [True, True] Translation: X:69.82, Y:5.78, Z:0.12 [[ 9.72071407e-01 -2.34661561e-01 -3.33631847e-03 6.98200958e+01] [ 2.34660512e-01 9.72077128e-01 -7.08007878e-04 5.78195955e+00] [ 3.40930111e-03 -9.46679857e-05 9.99994184e-01 1.15721135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290281693 meters 0.0325612134598666 Centerline is valid? [True, True] Translation: X:69.85, Y:5.79, Z:0.11 [[ 9.72924140e-01 -2.31078902e-01 -4.59980854e-03 6.98482760e+01] [ 2.31076866e-01 9.72935007e-01 -9.76633144e-04 5.78619004e+00] [ 4.70099407e-03 -1.12719378e-04 9.99988944e-01 1.13779809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320281693 meters 0.030844469535011156 Centerline is valid? [True, True] Translation: X:69.88, Y:5.79, Z:0.11 [[ 9.73340245e-01 -2.29296659e-01 -5.64010615e-03 6.98759020e+01] [ 2.29293563e-01 9.73356577e-01 -1.19816075e-03 5.79311876e+00] [ 5.76456867e-03 -1.27021958e-04 9.99983377e-01 1.12160566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350281693 meters 0.029468596477546623 Centerline is valid? [True, True] Translation: X:69.90, Y:5.80, Z:0.11 [[ 9.74044344e-01 -2.26294148e-01 -5.34542434e-03 6.99035394e+01] [ 2.26291320e-01 9.74059006e-01 -1.13601395e-03 5.79883771e+00] [ 5.46383203e-03 -1.03095166e-04 9.99985068e-01 1.12460476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380281693 meters 0.02675236987884026 Centerline is valid? [True, True] Translation: X:69.93, Y:5.81, Z:0.12 [[ 9.74161526e-01 -2.25814633e-01 -4.13187434e-03 6.99314096e+01] [ 2.25812937e-01 9.74170286e-01 -8.78533660e-04 5.80702095e+00] [ 4.22353496e-03 -7.71969890e-05 9.99991078e-01 1.15495001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410281693 meters 0.02737939160547887 Centerline is valid? [True, True] Translation: X:69.96, Y:5.81, Z:0.12 [[ 9.74172336e-01 -2.25798810e-01 -1.77671601e-03 6.99598826e+01] [ 2.25798496e-01 9.74173956e-01 -3.77897827e-04 5.80737941e+00] [ 1.81615934e-03 -3.30421947e-05 9.99998350e-01 1.20149808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440281693 meters 0.02758291335431539 Centerline is valid? [True, True] Translation: X:69.99, Y:5.81, Z:0.12 [[ 9.74091304e-01 -2.26148358e-01 -1.74696271e-03 6.99872063e+01] [ 2.26148055e-01 9.74092870e-01 -3.71643650e-04 5.81177116e+00] [ 1.78575052e-03 -3.30573731e-05 9.99998405e-01 1.20591849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470281693 meters 0.026922236931848573 Centerline is valid? [True, True] Translation: X:70.02, Y:5.82, Z:0.12 [[ 9.74145362e-01 -2.25911612e-01 -2.18103020e-03 7.00154595e+01] [ 2.25911138e-01 9.74147803e-01 -4.64464338e-04 5.81798283e+00] [ 2.22957367e-03 -4.02632338e-05 9.99997514e-01 1.19627979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500281693 meters 0.024830532615325494 Centerline is valid? [True, True] Translation: X:70.04, Y:5.83, Z:0.12 [[ 9.74807420e-01 -2.23031570e-01 -2.72269551e-03 7.00420879e+01] [ 2.23030819e-01 9.74811221e-01 -5.80247366e-04 5.82513775e+00] [ 2.78352762e-03 -4.16155719e-05 9.99996125e-01 1.18499096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530281693 meters 0.022506991317541622 Centerline is valid? [True, True] Translation: X:70.07, Y:5.83, Z:0.12 [[ 9.75193799e-01 -2.21335377e-01 -2.77569036e-03 7.00692641e+01] [ 2.21334589e-01 9.75197749e-01 -5.91784895e-04 5.83416022e+00] [ 2.83782993e-03 -3.72513257e-05 9.99995973e-01 1.18761819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56028169300001 meters 0.020628476546450388 Centerline is valid? [True, True] Translation: X:70.10, Y:5.84, Z:0.12 [[ 9.75689272e-01 -2.19149135e-01 -2.02501679e-03 7.00955423e+01] [ 2.19148711e-01 9.75691373e-01 -4.31968170e-04 5.84331420e+00] [ 2.07045686e-03 -2.23131094e-05 9.99997856e-01 1.20513363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59028169300001 meters 0.02049944968734688 Centerline is valid? [True, True] Translation: X:70.12, Y:5.85, Z:0.12 [[ 9.75667949e-01 -2.19245976e-01 -1.80412858e-03 7.01226835e+01] [ 2.19245639e-01 9.75669617e-01 -3.84921190e-04 5.84927431e+00] [ 1.84462586e-03 -1.99920561e-05 9.99998298e-01 1.21432680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.620281693 meters 0.021011477065250753 Centerline is valid? [True, True] Translation: X:70.15, Y:5.85, Z:0.12 [[ 9.75547760e-01 -2.19783018e-01 -1.41203618e-03 7.01501459e+01] [ 2.19782812e-01 9.75548781e-01 -3.01496126e-04 5.85337467e+00] [ 1.44377390e-03 -1.62174106e-05 9.99998958e-01 1.21973136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650281693 meters 0.021521372728192992 Centerline is valid? [True, True] Translation: X:70.18, Y:5.85, Z:0.12 [[ 9.74918072e-01 -2.22562100e-01 -9.30062799e-04 7.01799173e+01] [ 2.22562012e-01 9.74918515e-01 -1.98521152e-04 5.85388940e+00] [ 9.50918728e-04 -1.34547897e-05 9.99999548e-01 1.22598894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680281693 meters 0.025728636022439504 Centerline is valid? [True, True] Translation: X:70.21, Y:5.85, Z:0.12 [[ 9.74421727e-01 -2.24726291e-01 -6.26783264e-04 7.02091427e+01] [ 2.24726251e-01 9.74421928e-01 -1.33930479e-04 5.84868566e+00] [ 6.40849056e-04 -1.03498850e-05 9.99999795e-01 1.22621399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710281693 meters 0.028758468012902848 Centerline is valid? [True, True] Translation: X:70.24, Y:5.84, Z:0.12 [[ 9.73181861e-01 -2.30037096e-01 -2.76711381e-05 7.02407164e+01] [ 2.30037096e-01 9.73181861e-01 -5.85052853e-06 5.84076762e+00] [ 2.82748882e-05 -6.71759999e-07 1.00000000e+00 1.23064017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740281693 meters 0.0310889379996598 Centerline is valid? [True, True] Translation: X:70.27, Y:5.84, Z:0.12 [[ 9.72584701e-01 -2.32548772e-01 2.60254116e-04 7.02705863e+01] [ 2.32548766e-01 9.72584736e-01 5.60341808e-05 5.83883161e+00] [-2.66149861e-04 6.02378660e-06 9.99999965e-01 1.23250605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770281693 meters 0.03482388785993671 Centerline is valid? [True, True] Translation: X:70.30, Y:5.83, Z:0.12 [[ 9.71985913e-01 -2.35038935e-01 -2.90422611e-04 7.03008959e+01] [ 2.35038927e-01 9.71985956e-01 -6.20894593e-05 5.83193340e+00] [ 2.96880140e-04 -7.91053929e-06 9.99999956e-01 1.23365531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800281693 meters 0.033163339021781146 Centerline is valid? [True, True] Translation: X:70.33, Y:5.84, Z:0.12 [[ 9.72028910e-01 -2.34859585e-01 -8.79633204e-04 7.03291480e+01] [ 2.34859511e-01 9.72029308e-01 -1.88165863e-04 5.83611862e+00] [ 8.99221811e-04 -2.36875656e-05 9.99999595e-01 1.22212601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830281693 meters 0.030029465140854854 Centerline is valid? [True, True] Translation: X:70.36, Y:5.84, Z:0.12 [[ 9.72394982e-01 -2.33329516e-01 -2.30989404e-03 7.03570355e+01] [ 2.33328998e-01 9.72397724e-01 -4.95029975e-04 5.84208096e+00] [ 2.36164081e-03 -5.76005973e-05 9.99997210e-01 1.20110346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860281693 meters 0.0276140102773416 Centerline is valid? [True, True] Translation: X:70.39, Y:5.84, Z:0.12 [[ 9.73631957e-01 -2.28079613e-01 -4.52786549e-03 7.03864131e+01] [ 2.28077563e-01 9.73642482e-01 -9.71078902e-04 5.84410976e+00] [ 4.63000550e-03 -8.72310734e-05 9.99989278e-01 1.16532403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890281693 meters 0.024745285248539087 Centerline is valid? [True, True] Translation: X:70.41, Y:5.85, Z:0.12 [[ 9.74264627e-01 -2.25365797e-01 -4.32363432e-03 7.04139923e+01] [ 2.25363900e-01 9.74274218e-01 -9.27434755e-04 5.85181197e+00] [ 4.42141752e-03 -7.08242141e-05 9.99990223e-01 1.16901525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920281693 meters 0.019770241780010248 Centerline is valid? [True, True] Translation: X:70.44, Y:5.86, Z:0.12 [[ 9.75363366e-01 -2.20583128e-01 -3.06388235e-03 7.04416529e+01] [ 2.20582151e-01 9.75368178e-01 -6.57332435e-04 5.86070347e+00] [ 3.13340979e-03 -3.46997830e-05 9.99995090e-01 1.19613149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95028169300001 meters 0.0187092759004774 Centerline is valid? [True, True] Translation: X:70.47, Y:5.87, Z:0.12 [[ 9.75728764e-01 -2.18970001e-01 -2.34883733e-03 7.04690546e+01] [ 2.18969422e-01 9.75731591e-01 -5.04022080e-04 5.86524526e+00] [ 2.40220050e-03 -2.25347100e-05 9.99997114e-01 1.20287698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98028169300001 meters 0.018565340087161267 Centerline is valid? [True, True] Translation: X:70.50, Y:5.87, Z:0.12 [[ 9.75906860e-01 -2.18176539e-01 -2.19049563e-03 7.04971370e+01] [ 2.18176033e-01 9.75909318e-01 -4.70169318e-04 5.86852396e+00] [ 2.24030501e-03 -1.90721843e-05 9.99997490e-01 1.20456834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010281693 meters 0.018270667493583203 Centerline is valid? [True, True] Translation: X:70.53, Y:5.87, Z:0.12 [[ 9.75887809e-01 -2.18263674e-01 -1.98841071e-03 7.05255419e+01] [ 2.18263257e-01 9.75889834e-01 -4.26907829e-04 5.86981801e+00] [ 2.03364827e-03 -1.73828516e-05 9.99997932e-01 1.20812702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040281693 meters 0.018787677686016926 Centerline is valid? [True, True] Translation: X:70.55, Y:5.87, Z:0.12 [[ 9.75798016e-01 -2.18665252e-01 -1.93406037e-03 7.05546505e+01] [ 2.18664857e-01 9.75799932e-01 -4.15599988e-04 5.86794683e+00] [ 1.97813325e-03 -1.73693910e-05 9.99998043e-01 1.20698727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070281693 meters 0.01809343419651498 Centerline is valid? [True, True] Translation: X:70.58, Y:5.87, Z:0.12 [[ 9.75838961e-01 -2.18483874e-01 -1.76610868e-03 7.05826242e+01] [ 2.18483545e-01 9.75840559e-01 -3.79580397e-04 5.87252497e+00] [ 1.80637268e-03 -1.54563462e-05 9.99998368e-01 1.20768949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100281693 meters 0.017625017152213207 Centerline is valid? [True, True] Translation: X:70.61, Y:5.88, Z:0.12 [[ 9.76059838e-01 -2.17492978e-01 -1.99937921e-03 7.06101659e+01] [ 2.17492553e-01 9.76061885e-01 -4.30152792e-04 5.87675656e+00] [ 2.04507306e-03 -1.49952256e-05 9.99997909e-01 1.20199129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130281693 meters 0.015721908328425502 Centerline is valid? [True, True] Translation: X:70.64, Y:5.88, Z:0.12 [[ 9.76955732e-01 -2.13431727e-01 -2.09658511e-03 7.06375520e+01] [ 2.13431250e-01 9.76957982e-01 -4.51434770e-04 5.88473757e+00] [ 2.14462606e-03 -6.44499379e-06 9.99997700e-01 1.20471531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160281693 meters 0.01537828785812183 Centerline is valid? [True, True] Translation: X:70.66, Y:5.89, Z:0.12 [[ 9.77394682e-01 -2.11415501e-01 -1.76650861e-03 7.06635358e+01] [ 2.11415159e-01 9.77396279e-01 -3.80612912e-04 5.89222908e+00] [ 1.80704641e-03 -1.45766139e-06 9.99998367e-01 1.21481709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190281693 meters 0.015785965964964652 Centerline is valid? [True, True] Translation: X:70.69, Y:5.90, Z:0.12 [[ 9.78140139e-01 -2.07945585e-01 -7.08364880e-04 7.06902805e+01] [ 2.07945529e-01 9.78140396e-01 -1.52523103e-04 5.90047030e+00] [ 7.24596810e-04 1.88765942e-06 9.99999737e-01 1.23329587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220281693 meters 0.016007204229580716 Centerline is valid? [True, True] Translation: X:70.72, Y:5.91, Z:0.12 [[ 9.78365414e-01 -2.06884241e-01 1.65764329e-04 7.07187760e+01] [ 2.06884238e-01 9.78365428e-01 3.61328810e-05 5.90561012e+00] [-1.69653412e-04 -1.05713417e-06 9.99999986e-01 1.24496686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250281693 meters 0.016626034013786914 Centerline is valid? [True, True] Translation: X:70.75, Y:5.91, Z:0.13 [[ 9.78567101e-01 -2.05927273e-01 6.21749366e-04 7.07464818e+01] [ 2.05927229e-01 9.78567299e-01 1.34418691e-04 5.91136549e+00] [-6.36104072e-04 -3.50258462e-06 9.99999798e-01 1.25268382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280281693 meters 0.017149589159113007 Centerline is valid? [True, True] Translation: X:70.78, Y:5.91, Z:0.12 [[ 9.78827036e-01 -2.04688830e-01 -3.42362721e-04 7.07752613e+01] [ 2.04688817e-01 9.78827095e-01 -7.36716479e-05 5.91340005e+00] [ 3.50193671e-04 2.03398042e-06 9.99999939e-01 1.23975627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31028169300001 meters 0.017578071566788343 Centerline is valid? [True, True] Translation: X:70.80, Y:5.92, Z:0.12 [[ 9.78896964e-01 -2.04351517e-01 -1.09180225e-03 7.08019136e+01] [ 2.04351381e-01 9.78897573e-01 -2.35948123e-04 5.91866350e+00] [ 1.11697893e-03 7.85760312e-06 9.99999376e-01 1.22736799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34028169300001 meters 0.01843240231696089 Centerline is valid? [True, True] Translation: X:70.83, Y:5.92, Z:0.12 [[ 9.79168894e-01 -2.03033255e-01 -2.40288033e-03 7.08304600e+01] [ 2.03032591e-01 9.79171842e-01 -5.19733654e-04 5.92414714e+00] [ 2.45835598e-03 2.10440071e-05 9.99996978e-01 1.20292505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.370281693 meters 0.01945677259698113 Centerline is valid? [True, True] Translation: X:70.86, Y:5.93, Z:0.12 [[ 9.79452091e-01 -2.01661216e-01 -2.52102555e-03 7.08579540e+01] [ 2.01660479e-01 9.79455335e-01 -5.45739392e-04 5.93168865e+00] [ 2.57928639e-03 2.61343695e-05 9.99996673e-01 1.20485728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400281693 meters 0.02293102082286984 Centerline is valid? [True, True] Translation: X:70.88, Y:5.94, Z:0.12 [[ 9.80321514e-01 -1.97403570e-01 -1.24925939e-03 7.08847669e+01] [ 1.97403385e-01 9.80322309e-01 -2.70480137e-04 5.94475051e+00] [ 1.27807059e-03 1.85494656e-05 9.99999183e-01 1.22876892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430281693 meters 0.025386238908011626 Centerline is valid? [True, True] Translation: X:70.91, Y:5.96, Z:0.13 [[ 9.80851303e-01 -1.94757913e-01 -2.78035137e-04 7.09113734e+01] [ 1.94757904e-01 9.80851342e-01 -5.99864908e-05 5.95639716e+00] [ 2.84393981e-04 4.68828717e-06 9.99999960e-01 1.25318597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460281693 meters 0.028203903628385145 Centerline is valid? [True, True] Translation: X:70.94, Y:5.97, Z:0.13 [[ 9.81395935e-01 -1.91994842e-01 8.89915134e-06 7.09383965e+01] [ 1.91994842e-01 9.81395935e-01 2.00212620e-06 5.96857181e+00] [-9.11798885e-06 -2.56287353e-07 1.00000000e+00 1.26512406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490281693 meters 0.033013544196812294 Centerline is valid? [True, True] Translation: X:70.97, Y:5.99, Z:0.12 [[ 9.82291018e-01 -1.87359187e-01 -9.43535255e-04 7.09654808e+01] [ 1.87359077e-01 9.82291471e-01 -2.04723008e-04 5.98574886e+00] [ 9.65183370e-04 2.43176771e-05 9.99999534e-01 1.24534150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520281693 meters 0.03437925044485772 Centerline is valid? [True, True] Translation: X:70.99, Y:6.00, Z:0.12 [[ 9.82545092e-01 -1.86022548e-01 -8.68361375e-04 7.09921975e+01] [ 1.86022454e-01 9.82545475e-01 -1.88337961e-04 5.99647287e+00] [ 8.88239648e-04 2.35158255e-05 9.99999605e-01 1.24011663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550281693 meters 0.03550528917992402 Centerline is valid? [True, True] Translation: X:71.02, Y:6.01, Z:0.12 [[ 9.82665675e-01 -1.85384330e-01 -9.06823924e-04 7.10171767e+01] [ 1.85384227e-01 9.82666093e-01 -1.96755399e-04 6.01010551e+00] [ 9.27580490e-04 2.52339251e-05 9.99999569e-01 1.23774891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580281693 meters 0.035912045449705804 Centerline is valid? [True, True] Translation: X:71.04, Y:6.02, Z:0.12 [[ 9.82519518e-01 -1.86154110e-01 -1.42999308e-03 7.10434442e+01] [ 1.86153855e-01 9.82520557e-01 -3.10562161e-04 6.02040048e+00] [ 1.46281002e-03 3.89346602e-05 9.99998929e-01 1.23213972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610281693 meters 0.03351283141991933 Centerline is valid? [True, True] Translation: X:71.07, Y:6.03, Z:0.13 [[ 9.82198428e-01 -1.87846317e-01 1.00468282e-04 7.10706409e+01] [ 1.87846316e-01 9.82198433e-01 2.21701259e-05 6.03150621e+00] [-1.02844366e-04 -2.90286618e-06 9.99999995e-01 1.26063040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640281693 meters 0.03263072389888231 Centerline is valid? [True, True] Translation: X:71.10, Y:6.04, Z:0.13 [[ 9.81928653e-01 -1.89247109e-01 1.28549053e-03 7.10971926e+01] [ 1.89246904e-01 9.81929494e-01 2.79783008e-04 6.04028273e+00] [-1.31520919e-03 -3.14518489e-05 9.99999135e-01 1.28919571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670281693 meters 0.0302566144768807 Centerline is valid? [True, True] Translation: X:71.13, Y:6.05, Z:0.13 [[ 9.81534413e-01 -1.91273409e-01 2.16308962e-03 7.11252544e+01] [ 1.91272835e-01 9.81536795e-01 4.71190480e-04 6.04618380e+00] [-2.21327826e-03 -4.87493875e-05 9.99997550e-01 1.30209545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70028169300001 meters 0.022277525778750674 Centerline is valid? [True, True] Translation: X:71.16, Y:6.05, Z:0.13 [[ 9.80260684e-01 -1.97707464e-01 8.66288258e-04 7.11562293e+01] [ 1.97707374e-01 9.80261067e-01 1.88610807e-04 6.04507115e+00] [-8.86478416e-04 -1.36161815e-05 9.99999607e-01 1.27200495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73028169300001 meters 0.022277525778750674 Centerline is valid? [True, True] Translation: X:71.18, Y:6.05, Z:0.13 [[ 9.80221996e-01 -1.97899185e-01 8.66173674e-04 7.11830356e+01] [ 1.97899095e-01 9.80222379e-01 1.89136900e-04 6.05109813e+00] [-8.86472858e-04 -1.39811638e-05 9.99999607e-01 1.27255170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760281693 meters 0.020407755962157565 Centerline is valid? [True, True] Translation: X:71.21, Y:6.06, Z:0.13 [[ 9.79296135e-01 -2.02432184e-01 -5.38564085e-04 7.12110547e+01] [ 2.02432151e-01 9.79296283e-01 -1.17281178e-04 6.05602657e+00] [ 5.51155292e-04 5.83031899e-06 9.99999848e-01 1.25390803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790281693 meters 0.015324537215701354 Centerline is valid? [True, True] Translation: X:71.24, Y:6.05, Z:0.12 [[ 9.76995217e-01 -2.13255402e-01 -1.57444768e-03 7.12429902e+01] [ 2.13255126e-01 9.76996486e-01 -3.43133666e-04 6.04613184e+00] [ 1.61140495e-03 -5.19087156e-07 9.99998702e-01 1.22852127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820281693 meters 0.01716762292898707 Centerline is valid? [True, True] Translation: X:71.27, Y:6.04, Z:0.12 [[ 9.75658788e-01 -2.19285987e-01 -1.89372844e-03 7.12738446e+01] [ 2.19285599e-01 9.75660625e-01 -4.12818698e-04 6.04196729e+00] [ 1.93816163e-03 -1.24971837e-05 9.99998122e-01 1.22878301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850281693 meters 0.021196237225784065 Centerline is valid? [True, True] Translation: X:71.30, Y:6.04, Z:0.12 [[ 9.74379974e-01 -2.24903514e-01 -1.44084417e-03 7.13039867e+01] [ 2.24903296e-01 9.74381039e-01 -3.14291370e-04 6.03705532e+00] [ 1.47461647e-03 -1.78113855e-05 9.99998913e-01 1.23729927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880281693 meters 0.026339081433283514 Centerline is valid? [True, True] Translation: X:71.33, Y:6.03, Z:0.12 [[ 9.73209017e-01 -2.29920110e-01 -9.76100403e-04 7.13337752e+01] [ 2.29920012e-01 9.73209506e-01 -2.12979715e-04 6.03189837e+00] [ 9.98918511e-04 -1.71512370e-05 9.99999501e-01 1.24229530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910281693 meters 0.036066580534525744 Centerline is valid? [True, True] Translation: X:71.37, Y:6.02, Z:0.13 [[ 9.71131750e-01 -2.38542995e-01 -6.02600269e-04 7.13669036e+01] [ 2.38542960e-01 9.71131937e-01 -1.31522347e-04 6.01707551e+00] [ 6.16578101e-04 -1.60205250e-05 9.99999810e-01 1.25433427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940281693 meters 0.0433272228997768 Centerline is valid? [True, True] Translation: X:71.40, Y:6.00, Z:0.12 [[ 9.69479791e-01 -2.45166978e-01 -1.44466651e-03 7.14009488e+01] [ 2.45166780e-01 9.69480866e-01 -3.15390822e-04 6.00305491e+00] [ 1.47789995e-03 -4.84192082e-05 9.99998907e-01 1.23497637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970281693 meters 0.045728209077749896 Centerline is valid? [True, True] Translation: X:71.43, Y:6.00, Z:0.12 [[ 9.69005325e-01 -2.47034051e-01 -1.69034534e-03 7.14316927e+01] [ 2.47033783e-01 9.69006798e-01 -3.69067835e-04 6.00004617e+00] [ 1.72912845e-03 -5.99437054e-05 9.99998503e-01 1.23051223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000281693 meters 0.04339143942036347 Centerline is valid? [True, True] Translation: X:71.46, Y:6.00, Z:0.12 [[ 9.68818609e-01 -2.47766284e-01 -1.54021720e-03 7.14608365e+01] [ 2.47766062e-01 9.68819831e-01 -3.36262336e-04 6.00348696e+00] [ 1.57550744e-03 -5.58363425e-05 9.99998757e-01 1.23285770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030281693 meters 0.037646974077223685 Centerline is valid? [True, True] Translation: X:71.49, Y:6.00, Z:0.12 [[ 9.69537309e-01 -2.44940256e-01 -1.29551663e-03 7.14915880e+01] [ 2.44940096e-01 9.69538173e-01 -2.83102213e-04 6.00395561e+00] [ 1.32539595e-03 -4.28458089e-05 9.99999121e-01 1.24551072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06028169300001 meters 0.04155961097514622 Centerline is valid? [True, True] Translation: X:71.52, Y:6.00, Z:0.12 [[ 9.70185174e-01 -2.42357520e-01 -1.88707892e-03 7.15229066e+01] [ 2.42357176e-01 9.70187007e-01 -4.12406581e-04 5.99795187e+00] [ 1.93076928e-03 -5.72363667e-05 9.99998134e-01 1.24135273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09028169300001 meters 0.029486671921908087 Centerline is valid? [True, True] Translation: X:71.55, Y:6.01, Z:0.12 [[ 9.71854831e-01 -2.35570837e-01 -2.13750747e-03 7.15507013e+01] [ 2.35570379e-01 9.71857180e-01 -4.67193714e-04 6.01157017e+00] [ 2.18740920e-03 -4.94889767e-05 9.99997606e-01 1.24387436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.120281693 meters 0.025104139151890106 Centerline is valid? [True, True] Translation: X:71.58, Y:6.02, Z:0.12 [[ 9.72822545e-01 -2.31544839e-01 -1.81211767e-03 7.15797244e+01] [ 2.31544503e-01 9.72824232e-01 -3.96104587e-04 6.02046985e+00] [ 1.85458795e-03 -3.42464129e-05 9.99998280e-01 1.24566581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150281693 meters 0.022311123930330908 Centerline is valid? [True, True] Translation: X:71.61, Y:6.03, Z:0.12 [[ 9.73675803e-01 -2.27927717e-01 -2.09456216e-03 7.16070124e+01] [ 2.27927259e-01 9.73678055e-01 -4.57880248e-04 6.02662171e+00] [ 2.14379281e-03 -3.15808942e-05 9.99997702e-01 1.23621919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180281693 meters 0.017619972923960885 Centerline is valid? [True, True] Translation: X:71.63, Y:6.03, Z:0.12 [[ 9.75183107e-01 -2.21378296e-01 -3.09166660e-03 7.16337385e+01] [ 2.21377265e-01 9.75188007e-01 -6.76083852e-04 6.03379477e+00] [ 3.16462648e-03 -2.51191440e-05 9.99994992e-01 1.21850157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210281693 meters 0.016113849785113318 Centerline is valid? [True, True] Translation: X:71.66, Y:6.04, Z:0.12 [[ 9.75769801e-01 -2.18776965e-01 -3.15204554e-03 7.16619311e+01] [ 2.18775878e-01 9.75774892e-01 -6.89593852e-04 6.04161479e+00] [ 3.22655415e-03 -1.67066762e-05 9.99994795e-01 1.21907681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240281693 meters 0.015117468879606437 Centerline is valid? [True, True] Translation: X:71.69, Y:6.05, Z:0.12 [[ 9.77000875e-01 -2.13207997e-01 -3.41189311e-03 7.16882593e+01] [ 2.13206688e-01 9.77006832e-01 -7.46898287e-04 6.05186964e+00] [ 3.49268757e-03 2.28184882e-06 9.99993901e-01 1.21614716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270281693 meters 0.015589982686445755 Centerline is valid? [True, True] Translation: X:71.72, Y:6.06, Z:0.12 [[ 9.77560443e-01 -2.10619714e-01 -3.86215216e-03 7.17163420e+01] [ 2.10618015e-01 9.77568072e-01 -8.45928780e-04 6.06058106e+00] [ 3.95368592e-03 1.35076907e-05 9.99992184e-01 1.20560001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300281693 meters 0.018227203553534292 Centerline is valid? [True, True] Translation: X:71.74, Y:6.07, Z:0.12 [[ 9.78590917e-01 -2.05758998e-01 -4.80120161e-03 7.17430648e+01] [ 2.05756310e-01 9.78602694e-01 -1.05251168e-03 6.07213077e+00] [ 4.91503258e-03 4.21008428e-05 9.99987920e-01 1.18532859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330281693 meters 0.01978636382423841 Centerline is valid? [True, True] Translation: X:71.77, Y:6.08, Z:0.12 [[ 9.79138101e-01 -2.03152607e-01 -4.19486170e-03 7.17702300e+01] [ 2.03150529e-01 9.79147086e-01 -9.20020852e-04 6.08082266e+00] [ 4.29429125e-03 4.86390949e-05 9.99990778e-01 1.19615260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360281693 meters 0.025789840701250285 Centerline is valid? [True, True] Translation: X:71.80, Y:6.10, Z:0.12 [[ 9.80388126e-01 -1.97062724e-01 -2.32480218e-03 7.17963449e+01] [ 1.97062069e-01 9.80390882e-01 -5.09958787e-04 6.09513170e+00] [ 2.37970872e-03 4.18272134e-05 9.99997168e-01 1.23274248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390281693 meters 0.028347880840316107 Centerline is valid? [True, True] Translation: X:71.82, Y:6.10, Z:0.12 [[ 9.80906216e-01 -1.94468209e-01 -2.26091039e-03 7.18233895e+01] [ 1.94467582e-01 9.80908820e-01 -4.96032634e-04 6.10371243e+00] [ 2.31420952e-03 4.68877169e-05 9.99997321e-01 1.23452669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420281693 meters 0.0334442463530397 Centerline is valid? [True, True] Translation: X:71.85, Y:6.12, Z:0.12 [[ 9.81727054e-01 -1.90251960e-01 -4.02277599e-03 7.18495261e+01] [ 1.90249939e-01 9.81735291e-01 -8.82902954e-04 6.11623879e+00] [ 4.11727517e-03 1.01436833e-04 9.99991519e-01 1.19908940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45028169300001 meters 0.03506712071224271 Centerline is valid? [True, True] Translation: X:71.88, Y:6.12, Z:0.12 [[ 9.82011246e-01 -1.88767953e-01 -4.53575560e-03 7.18772632e+01] [ 1.88765364e-01 9.82021713e-01 -9.96044087e-04 6.12488372e+00] [ 4.64223169e-03 1.21932937e-04 9.99989217e-01 1.18924548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48028169300001 meters 0.03539788045155666 Centerline is valid? [True, True] Translation: X:71.91, Y:6.13, Z:0.12 [[ 9.82257883e-01 -1.87478641e-01 -4.60549713e-03 7.19055953e+01] [ 1.87475954e-01 9.82268671e-01 -1.01213620e-03 6.13139761e+00] [ 4.71358946e-03 1.30758790e-04 9.99988882e-01 1.19298136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510281693 meters 0.038340961662504294 Centerline is valid? [True, True] Translation: X:71.93, Y:6.14, Z:0.12 [[ 9.82423767e-01 -1.86616249e-01 -4.23282648e-03 7.19318218e+01] [ 1.86613970e-01 9.82432878e-01 -9.30674848e-04 6.14002508e+00] [ 4.33214695e-03 1.24412538e-04 9.99990608e-01 1.20478373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540281693 meters 0.037332442823343845 Centerline is valid? [True, True] Translation: X:71.96, Y:6.14, Z:0.12 [[ 9.82283168e-01 -1.87366783e-01 -3.66962477e-03 7.19606514e+01] [ 1.87365073e-01 9.82290017e-01 -8.07226832e-04 6.14458614e+00] [ 3.75588327e-03 1.05365817e-04 9.99992941e-01 1.21252517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570281693 meters 0.033318424497952 Centerline is valid? [True, True] Translation: X:71.99, Y:6.14, Z:0.12 [[ 9.81889747e-01 -1.89439779e-01 -2.25707624e-03 7.19910986e+01] [ 1.89439137e-01 9.81892340e-01 -4.96746269e-04 6.14240159e+00] [ 2.31030937e-03 6.01714931e-05 9.99997329e-01 1.22597137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600281693 meters 0.032088445957612635 Centerline is valid? [True, True] Translation: X:72.02, Y:6.14, Z:0.12 [[ 9.81714620e-01 -1.90347723e-01 -2.03679266e-03 7.20203710e+01] [ 1.90347201e-01 9.81716732e-01 -4.48558599e-04 6.14470095e+00] [ 2.08493554e-03 5.26587526e-05 9.99997825e-01 1.22934416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630281693 meters 0.034091450324303774 Centerline is valid? [True, True] Translation: X:72.05, Y:6.15, Z:0.12 [[ 9.81626516e-01 -1.90797752e-01 -2.36654986e-03 7.20478007e+01] [ 1.90797049e-01 9.81629367e-01 -5.21593577e-04 6.15160159e+00] [ 2.42259372e-03 6.04793576e-05 9.99997064e-01 1.22188078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660281693 meters 0.03113557508794989 Centerline is valid? [True, True] Translation: X:72.08, Y:6.15, Z:0.12 [[ 9.81557910e-01 -1.91124196e-01 -3.95107669e-03 7.20762415e+01] [ 1.91122235e-01 9.81565857e-01 -8.71421174e-04 6.15252656e+00] [ 4.04479165e-03 1.00211738e-04 9.99991815e-01 1.19619841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690281693 meters 0.031931030390223776 Centerline is valid? [True, True] Translation: X:72.10, Y:6.16, Z:0.12 [[ 9.81517249e-01 -1.91325093e-01 -4.31259463e-03 7.21028404e+01] [ 1.91322757e-01 9.81526717e-01 -9.51777857e-04 6.15911843e+00] [ 4.41502584e-03 1.09088889e-04 9.99990248e-01 1.18730337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720281693 meters 0.030252122682363845 Centerline is valid? [True, True] Translation: X:72.13, Y:6.16, Z:0.12 [[ 9.81280320e-01 -1.92531448e-01 -4.53596122e-03 7.21323243e+01] [ 1.92528874e-01 9.81290798e-01 -1.00169693e-03 6.16050077e+00] [ 4.64395516e-03 1.09641978e-04 9.99989211e-01 1.18696450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750281693 meters 0.03198799726014713 Centerline is valid? [True, True] Translation: X:72.16, Y:6.17, Z:0.12 [[ 9.81077704e-01 -1.93571490e-01 -4.07643782e-03 7.21596809e+01] [ 1.93569418e-01 9.81086168e-01 -9.00650099e-04 6.16758391e+00] [ 4.17367694e-03 9.45340362e-05 9.99991286e-01 1.19633771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780281693 meters 0.030385189528148924 Centerline is valid? [True, True] Translation: X:72.19, Y:6.17, Z:0.12 [[ 9.80817323e-01 -1.94902966e-01 -3.19576039e-03 7.21884322e+01] [ 1.94901699e-01 9.80822527e-01 -7.06370947e-04 6.17106584e+00] [ 3.27214757e-03 6.99617326e-05 9.99994644e-01 1.21618996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81028169300001 meters 0.02723626933808806 Centerline is valid? [True, True] Translation: X:72.22, Y:6.17, Z:0.13 [[ 9.80200037e-01 -1.98005658e-01 -1.28359333e-03 7.22177224e+01] [ 1.98005456e-01 9.80200877e-01 -2.83814484e-04 6.17211985e+00] [ 1.31437618e-03 2.40364848e-05 9.99999136e-01 1.25724238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84028169300001 meters 0.02476911102862184 Centerline is valid? [True, True] Translation: X:72.25, Y:6.17, Z:0.13 [[ 9.79849048e-01 -1.99734869e-01 -1.35109414e-03 7.22465234e+01] [ 1.99734647e-01 9.79849979e-01 -2.98735400e-04 6.17418179e+00] [ 1.38353744e-03 2.28552855e-05 9.99999043e-01 1.25716139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.870281693 meters 0.02275745848053293 Centerline is valid? [True, True] Translation: X:72.28, Y:6.18, Z:0.13 [[ 9.79552751e-01 -2.01176158e-01 -2.13555813e-03 7.22752266e+01] [ 2.01175605e-01 9.79555079e-01 -4.72732080e-04 6.17703292e+00] [ 2.18699924e-03 3.34438094e-05 9.99997608e-01 1.25372955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900281693 meters 0.024187870172637686 Centerline is valid? [True, True] Translation: X:72.30, Y:6.19, Z:0.12 [[ 9.79796344e-01 -1.99978735e-01 -2.76221861e-03 7.23018092e+01] [ 1.99977804e-01 9.79800236e-01 -6.11962259e-04 6.18634119e+00] [ 2.82880188e-03 4.72159723e-05 9.99995998e-01 1.24991544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930281693 meters 0.02612816739066854 Centerline is valid? [True, True] Translation: X:72.33, Y:6.20, Z:0.13 [[ 9.80273316e-01 -1.97626247e-01 -2.84472258e-03 7.23286465e+01] [ 1.97625250e-01 9.80277442e-01 -6.30481104e-04 6.19684305e+00] [ 2.91321699e-03 5.58547935e-05 9.99995755e-01 1.25556159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960281693 meters 0.03447467804644523 Centerline is valid? [True, True] Translation: X:72.35, Y:6.22, Z:0.12 [[ 9.81634017e-01 -1.90745361e-01 -3.29609755e-03 7.23537966e+01] [ 1.90743982e-01 9.81639547e-01 -7.30689250e-04 6.21792639e+00] [ 3.37495529e-03 8.85586493e-05 9.99994301e-01 1.24844376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990281693 meters 0.038006898950837205 Centerline is valid? [True, True] Translation: X:72.38, Y:6.23, Z:0.12 [[ 9.82342471e-01 -1.87066068e-01 -3.09121741e-03 7.23817723e+01] [ 1.87064836e-01 9.82347330e-01 -6.85315142e-04 6.23160757e+00] [ 3.16484838e-03 9.49560907e-05 9.99994987e-01 1.24606443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020281693 meters 0.044808333767214714 Centerline is valid? [True, True] Translation: X:72.41, Y:6.25, Z:0.13 [[ 9.83677808e-01 -1.79929052e-01 -1.87260487e-03 7.24080617e+01] [ 1.79928587e-01 9.83679588e-01 -4.15154858e-04 6.25377015e+00] [ 1.91674161e-03 7.14434720e-05 9.99998160e-01 1.27365768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050281693 meters 0.050086933641000794 Centerline is valid? [True, True] Translation: X:72.43, Y:6.27, Z:0.13 [[ 9.84253825e-01 -1.76756107e-01 -1.29902359e-03 7.24343367e+01] [ 1.76755881e-01 9.84254680e-01 -2.87977497e-04 6.27090303e+00] [ 1.32947183e-03 5.38328934e-05 9.99999115e-01 1.28475672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080281693 meters 0.05688431929557791 Centerline is valid? [True, True] Translation: X:72.46, Y:6.29, Z:0.13 [[ 9.85204071e-01 -1.71376352e-01 -1.75611021e-03 7.24606111e+01] [ 1.71375930e-01 9.85205633e-01 -3.89371008e-04 6.29259240e+00] [ 1.79685865e-03 8.26548824e-05 9.99998382e-01 1.27589526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110281693 meters 0.059068015117267524 Centerline is valid? [True, True] Translation: X:72.49, Y:6.30, Z:0.13 [[ 9.85472545e-01 -1.69817423e-01 -2.43015052e-03 7.24873775e+01] [ 1.69816609e-01 9.85475534e-01 -5.38837504e-04 6.30480009e+00] [ 2.48635788e-03 1.18329645e-04 9.99996902e-01 1.25890724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140281693 meters 0.059818972319840666 Centerline is valid? [True, True] Translation: X:72.51, Y:6.32, Z:0.13 [[ 9.85590851e-01 -1.69120522e-01 -2.98712974e-03 7.25139873e+01] [ 1.69119289e-01 9.85595367e-01 -6.62510533e-04 6.31550681e+00] [ 3.05614535e-03 1.47783063e-04 9.99995319e-01 1.25016638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170281693 meters 0.06047979101302768 Centerline is valid? [True, True] Translation: X:72.54, Y:6.33, Z:0.12 [[ 9.85664300e-01 -1.68684286e-01 -3.39097282e-03 7.25396922e+01] [ 1.68682693e-01 9.85670119e-01 -7.52505797e-04 6.33159972e+00] [ 3.46931649e-03 1.69719673e-04 9.99993968e-01 1.24021619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20028169300001 meters 0.060320654146668755 Centerline is valid? [True, True] Translation: X:72.57, Y:6.34, Z:0.12 [[ 9.85660475e-01 -1.68703392e-01 -3.54863175e-03 7.25670715e+01] [ 1.68701645e-01 9.85666847e-01 -7.88085551e-04 6.34216878e+00] [ 3.63072137e-03 1.78124764e-04 9.99993393e-01 1.23871756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23028169300001 meters 0.059731979078867174 Centerline is valid? [True, True] Translation: X:72.59, Y:6.36, Z:0.12 [[ 9.85352626e-01 -1.70497495e-01 -3.28745396e-03 7.25931463e+01] [ 1.70496005e-01 9.85358097e-01 -7.30423636e-04 6.35686135e+00] [ 3.36385478e-03 1.59227082e-04 9.99994330e-01 1.23955485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260281693 meters 0.05293024990697291 Centerline is valid? [True, True] Translation: X:72.62, Y:6.36, Z:0.12 [[ 9.85034303e-01 -1.72328838e-01 -3.19255936e-03 7.26228031e+01] [ 1.72327442e-01 9.85039466e-01 -7.09435420e-04 6.35900256e+00] [ 3.26705315e-03 1.48652637e-04 9.99994652e-01 1.23997823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290281693 meters 0.05510888400571283 Centerline is valid? [True, True] Translation: X:72.65, Y:6.37, Z:0.12 [[ 9.84702540e-01 -1.74208197e-01 -3.52310602e-03 7.26495275e+01] [ 1.74206509e-01 9.84708830e-01 -7.82977829e-04 6.37236291e+00] [ 3.60563476e-03 1.57252258e-04 9.99993487e-01 1.23226352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320281693 meters 0.0530831987421402 Centerline is valid? [True, True] Translation: X:72.68, Y:6.38, Z:0.12 [[ 9.84224759e-01 -1.76864806e-01 -4.52379937e-03 7.26762213e+01] [ 1.76862050e-01 9.84235137e-01 -1.00552207e-03 6.38338634e+00] [ 4.63032376e-03 1.89571292e-04 9.99989262e-01 1.21479519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350281693 meters 0.04824863678995363 Centerline is valid? [True, True] Translation: X:72.71, Y:6.39, Z:0.12 [[ 9.83971374e-01 -1.78271181e-01 -4.44081980e-03 7.27051520e+01] [ 1.78268538e-01 9.83981379e-01 -9.87263694e-04 6.38726101e+00] [ 4.54568466e-03 1.79780759e-04 9.99989652e-01 1.22400457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380281693 meters 0.04296128695889977 Centerline is valid? [True, True] Translation: X:72.73, Y:6.40, Z:0.13 [[ 9.83414566e-01 -1.81344437e-01 -3.16028304e-03 7.27340106e+01] [ 1.81343114e-01 9.83419636e-01 -7.02661591e-04 6.39602130e+00] [ 3.23530817e-03 1.17912075e-04 9.99994759e-01 1.25489856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410281693 meters 0.042191785681372954 Centerline is valid? [True, True] Translation: X:72.76, Y:6.41, Z:0.13 [[ 9.83144035e-01 -1.82804681e-01 -3.20243379e-03 7.27608659e+01] [ 1.82803330e-01 9.83149244e-01 -7.12119195e-04 6.40576644e+00] [ 3.27864909e-03 1.14700177e-04 9.99994619e-01 1.25662345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440281693 meters 0.03881082092963849 Centerline is valid? [True, True] Translation: X:72.79, Y:6.42, Z:0.12 [[ 9.82468748e-01 -1.86379634e-01 -4.21791237e-03 7.27887523e+01] [ 1.86377323e-01 9.82477793e-01 -9.38109710e-04 6.41631093e+00] [ 4.31884978e-03 1.35540257e-04 9.99990665e-01 1.23942089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470281693 meters 0.03981769416069321 Centerline is valid? [True, True] Translation: X:72.82, Y:6.43, Z:0.12 [[ 9.82123654e-01 -1.88186578e-01 -4.35210749e-03 7.28151619e+01] [ 1.88184134e-01 9.82133287e-01 -9.68122178e-04 6.42800841e+00] [ 4.45653723e-03 1.31818111e-04 9.99990061e-01 1.22984905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500281693 meters 0.031909738362011476 Centerline is valid? [True, True] Translation: X:72.84, Y:6.43, Z:0.12 [[ 9.81063914e-01 -1.93638721e-01 -4.20037848e-03 7.28449763e+01] [ 1.93636494e-01 9.81072900e-01 -9.34480221e-04 6.43123664e+00] [ 4.30182905e-03 1.03438262e-04 9.99990742e-01 1.22457914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530281693 meters 0.028715482270236906 Centerline is valid? [True, True] Translation: X:72.87, Y:6.44, Z:0.12 [[ 9.80420405e-01 -1.96867500e-01 -4.36089184e-03 7.28734790e+01] [ 1.96865131e-01 9.80430099e-01 -9.70324336e-04 6.43539271e+00] [ 4.46657495e-03 9.28182344e-05 9.99990020e-01 1.22331857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56028169300001 meters 0.024766433864235677 Centerline is valid? [True, True] Translation: X:72.90, Y:6.44, Z:0.12 [[ 9.79689342e-01 -2.00472505e-01 -4.42358016e-03 7.29028396e+01] [ 2.00470103e-01 9.79699326e-01 -9.84490127e-04 6.43731700e+00] [ 4.53114170e-03 7.76989152e-05 9.99989731e-01 1.22866433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59028169300001 meters 0.01901107179451784 Centerline is valid? [True, True] Translation: X:72.93, Y:6.44, Z:0.13 [[ 9.78228280e-01 -2.07514322e-01 -2.69022269e-03 7.29323578e+01] [ 2.07513460e-01 9.78231979e-01 -5.98808171e-04 6.43556634e+00] [ 2.75592313e-03 2.75136692e-05 9.99996202e-01 1.26220402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.620281693 meters 0.01901107179451784 Centerline is valid? [True, True] Translation: X:72.96, Y:6.44, Z:0.13 [[ 9.78190484e-01 -2.07692416e-01 -2.69017724e-03 7.29591316e+01] [ 2.07691554e-01 9.78194183e-01 -5.99012266e-04 6.44173562e+00] [ 2.75592603e-03 2.72210086e-05 9.99996202e-01 1.26275080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650281693 meters 0.016692171452910097 Centerline is valid? [True, True] Translation: X:72.99, Y:6.44, Z:0.13 [[ 9.77516198e-01 -2.10852823e-01 -1.78022627e-03 7.29882233e+01] [ 2.10852451e-01 9.77517819e-01 -3.96615139e-04 6.44464400e+00] [ 1.82383032e-03 1.23326508e-05 9.99998337e-01 1.28226045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680281693 meters 0.01483212593778083 Centerline is valid? [True, True] Translation: X:73.02, Y:6.45, Z:0.13 [[ 9.76603563e-01 -2.15039124e-01 -1.91209850e-03 7.30160376e+01] [ 2.15038701e-01 9.76605435e-01 -4.26342895e-04 6.44704996e+00] [ 1.95904619e-03 5.19281255e-06 9.99998081e-01 1.28459139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710281693 meters 0.014701457683783822 Centerline is valid? [True, True] Translation: X:73.04, Y:6.45, Z:0.13 [[ 9.76361999e-01 -2.16129345e-01 -2.31382165e-03 7.30425848e+01] [ 2.16128728e-01 9.76364740e-01 -5.16085940e-04 6.45187074e+00] [ 2.37067519e-03 3.80336986e-06 9.99997190e-01 1.27178534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740281693 meters 0.01475927763516768 Centerline is valid? [True, True] Translation: X:73.07, Y:6.46, Z:0.12 [[ 9.76149972e-01 -2.17059493e-01 -4.05081513e-03 7.30693452e+01] [ 2.17057610e-01 9.76158377e-01 -9.03966076e-04 6.45697741e+00] [ 4.15045154e-03 3.14620704e-06 9.99991387e-01 1.23954557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770281693 meters 0.014701381704118843 Centerline is valid? [True, True] Translation: X:73.10, Y:6.46, Z:0.12 [[ 9.76106444e-01 -2.17247923e-01 -4.42157937e-03 7.30960704e+01] [ 2.17245680e-01 9.76116458e-01 -9.87341794e-04 6.46343128e+00] [ 4.53047435e-03 3.18167176e-06 9.99989737e-01 1.23700224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800281693 meters 0.014769744184034702 Centerline is valid? [True, True] Translation: X:73.12, Y:6.47, Z:0.12 [[ 9.76089667e-01 -2.17317786e-01 -4.68430114e-03 7.31229654e+01] [ 2.17315264e-01 9.76100907e-01 -1.04690234e-03 6.47032499e+00] [ 4.79986109e-03 3.90041752e-06 9.99988481e-01 1.22731427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830281693 meters 0.014848095510846778 Centerline is valid? [True, True] Translation: X:73.15, Y:6.48, Z:0.12 [[ 9.76247376e-01 -2.16609616e-01 -4.61906866e-03 7.31503016e+01] [ 2.16607152e-01 9.76258303e-01 -1.03318685e-03 6.47812893e+00] [ 4.73320234e-03 8.12265017e-06 9.99988798e-01 1.23207700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860281693 meters 0.015040878631574838 Centerline is valid? [True, True] Translation: X:73.18, Y:6.49, Z:0.12 [[ 9.76458967e-01 -2.15658347e-01 -4.40040656e-03 7.31766008e+01] [ 2.15656098e-01 9.76468882e-01 -9.84945707e-04 6.48632576e+00] [ 4.50927183e-03 1.27845615e-05 9.99989833e-01 1.24305123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890281693 meters 0.015385038728868468 Centerline is valid? [True, True] Translation: X:73.20, Y:6.50, Z:0.13 [[ 9.76830581e-01 -2.13999431e-01 -2.50176776e-03 7.32028987e+01] [ 2.13998698e-01 9.76833785e-01 -5.60225132e-04 6.49816072e+00] [ 2.56369913e-03 1.18699994e-05 9.99996714e-01 1.28666390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920281693 meters 0.015877454650446862 Centerline is valid? [True, True] Translation: X:73.23, Y:6.51, Z:0.13 [[ 9.76932491e-01 -2.13542832e-01 -1.53831008e-03 7.32292783e+01] [ 2.13542554e-01 9.76933702e-01 -3.44686290e-04 6.50681894e+00] [ 1.57643225e-03 8.24057101e-06 9.99998757e-01 1.29698664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95028169300001 meters 0.015856217585830844 Centerline is valid? [True, True] Translation: X:73.26, Y:6.51, Z:0.13 [[ 9.76866416e-01 -2.13842623e-01 -1.82722494e-03 7.32558328e+01] [ 2.13842231e-01 9.76868124e-01 -4.09554141e-04 6.51235804e+00] [ 1.87253793e-03 9.34182755e-06 9.99998247e-01 1.28178851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98028169300001 meters 0.01551339781245821 Centerline is valid? [True, True] Translation: X:73.28, Y:6.52, Z:0.13 [[ 9.76854339e-01 -2.13889899e-01 -2.59060513e-03 7.32833990e+01] [ 2.13889110e-01 9.76857774e-01 -5.81009854e-04 6.51701883e+00] [ 2.65492490e-03 1.34597708e-05 9.99996476e-01 1.27138347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010281693 meters 0.015796223571953177 Centerline is valid? [True, True] Translation: X:73.31, Y:6.52, Z:0.13 [[ 9.76924727e-01 -2.13560299e-01 -3.17422327e-03 7.33097547e+01] [ 2.13559111e-01 9.76929884e-01 -7.12458869e-04 6.52450600e+00] [ 3.25314650e-03 1.81343869e-05 9.99994708e-01 1.26641819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040281693 meters 0.019390588238856213 Centerline is valid? [True, True] Translation: X:73.33, Y:6.54, Z:0.13 [[ 9.77737201e-01 -2.09814849e-01 -2.77414954e-03 7.33349237e+01] [ 2.09813926e-01 9.77741136e-01 -6.22844444e-04 6.54123693e+00] [ 2.84308214e-03 2.69229766e-05 9.99995958e-01 1.28206430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070281693 meters 0.022549587437443164 Centerline is valid? [True, True] Translation: X:73.36, Y:6.56, Z:0.13 [[ 9.79042075e-01 -2.03629826e-01 -3.39244807e-03 7.33612163e+01] [ 2.03628408e-01 9.79047951e-01 -7.61935917e-04 6.55720396e+00] [ 3.47652221e-03 5.51685227e-05 9.99993955e-01 1.27260560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100281693 meters 0.026266302807324268 Centerline is valid? [True, True] Translation: X:73.39, Y:6.57, Z:0.13 [[ 9.79668461e-01 -2.00580320e-01 -4.15243361e-03 7.33876381e+01] [ 2.00578167e-01 9.79677257e-01 -9.32801421e-04 6.57170387e+00] [ 4.25514637e-03 8.09486104e-05 9.99990944e-01 1.25626378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130281693 meters 0.033142828210232594 Centerline is valid? [True, True] Translation: X:73.41, Y:6.59, Z:0.12 [[ 9.80191222e-01 -1.98002458e-01 -4.49391889e-03 7.34124082e+01] [ 1.97999908e-01 9.80201518e-01 -1.00968678e-03 6.59084530e+00] [ 4.60486659e-03 9.98905872e-05 9.99989393e-01 1.24287404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160281693 meters 0.03211775734515232 Centerline is valid? [True, True] Translation: X:73.44, Y:6.60, Z:0.13 [[ 9.80851884e-01 -1.94731577e-01 -3.03216242e-03 7.34399768e+01] [ 1.94730401e-01 9.80856568e-01 -6.81367699e-04 6.60123943e+00] [ 3.10680023e-03 7.78665880e-05 9.99995171e-01 1.27024236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190281693 meters 0.035076703415127426 Centerline is valid? [True, True] Translation: X:73.46, Y:6.61, Z:0.13 [[ 9.80858728e-01 -1.94716948e-01 -1.21053402e-03 7.34649908e+01] [ 1.94716761e-01 9.80859475e-01 -2.72001620e-04 6.61337516e+00] [ 1.24032709e-03 3.10838990e-05 9.99999230e-01 1.30208320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220281693 meters 0.03133062712291643 Centerline is valid? [True, True] Translation: X:73.49, Y:6.62, Z:0.13 [[ 9.80630215e-01 -1.95867651e-01 4.95524048e-04 7.34938083e+01] [ 1.95867620e-01 9.80630340e-01 1.11831733e-04 6.61784146e+00] [-5.07830135e-04 -1.26084601e-05 9.99999871e-01 1.33182540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250281693 meters 0.02831897800575262 Centerline is valid? [True, True] Translation: X:73.52, Y:6.63, Z:0.13 [[ 9.79997891e-01 -1.99007864e-01 5.44726293e-05 7.35216809e+01] [ 1.99007864e-01 9.79997893e-01 1.23546333e-05 6.62635262e+00] [-5.58417311e-05 -1.26703298e-06 9.99999998e-01 1.33258412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280281693 meters 0.0315712812467494 Centerline is valid? [True, True] Translation: X:73.55, Y:6.64, Z:0.13 [[ 9.79584136e-01 -2.01027383e-01 -1.70651230e-03 7.35476069e+01] [ 2.01027019e-01 9.79585622e-01 -3.84019220e-04 6.63958845e+00] [ 1.74887329e-03 3.31240547e-05 9.99998470e-01 1.29919458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31028169300001 meters 0.022791902043143214 Centerline is valid? [True, True] Translation: X:73.58, Y:6.64, Z:0.12 [[ 9.78668808e-01 -2.05380736e-01 -5.11046497e-03 7.35786012e+01] [ 2.05377524e-01 9.78682148e-01 -1.15126734e-03 6.63606655e+00] [ 5.23796896e-03 7.71347940e-05 9.99986279e-01 1.23482046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34028169300001 meters 0.020927989987443472 Centerline is valid? [True, True] Translation: X:73.61, Y:6.64, Z:0.12 [[ 9.78142529e-01 -2.07851998e-01 -5.89398547e-03 7.36069741e+01] [ 2.07847765e-01 9.78160284e-01 -1.32863108e-03 6.64042518e+00] [ 6.04142113e-03 7.45388658e-05 9.99981748e-01 1.22191319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.370281693 meters 0.01721671709599266 Centerline is valid? [True, True] Translation: X:73.63, Y:6.64, Z:0.13 [[ 9.77106681e-01 -2.12720238e-01 -3.55455098e-03 7.36349065e+01] [ 2.12718729e-01 9.77113146e-01 -8.01569489e-04 6.64153560e+00] [ 3.64370855e-03 2.70993343e-05 9.99993361e-01 1.26949883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400281693 meters 0.015503102800208078 Centerline is valid? [True, True] Translation: X:73.66, Y:6.64, Z:0.13 [[ 9.76570380e-01 -2.15191731e-01 -1.67698707e-03 7.36633954e+01] [ 2.15191399e-01 9.76571820e-01 -3.78180339e-04 6.64466416e+00] [ 1.71907960e-03 8.44652313e-06 9.99998522e-01 1.31206204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430281693 meters 0.014818199598581112 Centerline is valid? [True, True] Translation: X:73.69, Y:6.65, Z:0.13 [[ 9.76188534e-01 -2.16922463e-01 -7.69284904e-04 7.36908511e+01] [ 2.16922394e-01 9.76188837e-01 -1.73527077e-04 6.64915544e+00] [ 7.88609257e-04 2.52001983e-06 9.99999689e-01 1.32804608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460281693 meters 0.014520794624581545 Centerline is valid? [True, True] Translation: X:73.72, Y:6.65, Z:0.13 [[ 9.75717861e-01 -2.19022153e-01 -1.98797384e-03 7.37182192e+01] [ 2.19021693e-01 9.75719886e-01 -4.48878976e-04 6.65373222e+00] [ 2.03802005e-03 2.56983729e-06 9.99997923e-01 1.29835125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490281693 meters 0.014321143179902228 Centerline is valid? [True, True] Translation: X:73.75, Y:6.66, Z:0.13 [[ 9.75502864e-01 -2.19977620e-01 -2.00222508e-03 7.37454451e+01] [ 2.19977156e-01 9.75504919e-01 -4.52219762e-04 6.65890713e+00] [ 2.05265864e-03 6.97895336e-07 9.99997893e-01 1.28899790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520281693 meters 0.01429044101503508 Centerline is valid? [True, True] Translation: X:73.77, Y:6.66, Z:0.13 [[ 9.75388939e-01 -2.20482114e-01 -2.01391134e-03 7.37716201e+01] [ 2.20481644e-01 9.75391018e-01 -4.55097844e-04 6.66376579e+00] [ 2.06469196e-03 -1.33079107e-07 9.99997869e-01 1.29692749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550281693 meters 0.014303271519856385 Centerline is valid? [True, True] Translation: X:73.80, Y:6.67, Z:0.13 [[ 9.75350925e-01 -2.20650238e-01 -2.01116888e-03 7.37981352e+01] [ 2.20649770e-01 9.75352999e-01 -4.54741007e-04 6.66945006e+00] [ 2.06193831e-03 -2.31886918e-07 9.99997874e-01 1.30426787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580281693 meters 0.014276956193962237 Centerline is valid? [True, True] Translation: X:73.83, Y:6.68, Z:0.13 [[ 9.75272824e-01 -2.20996967e-01 -1.80528811e-03 7.38252573e+01] [ 2.20996590e-01 9.75274495e-01 -4.08484694e-04 6.67506788e+00] [ 1.85092533e-03 -5.78494776e-07 9.99998287e-01 1.31426440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610281693 meters 0.01430234051515037 Centerline is valid? [True, True] Translation: X:73.85, Y:6.68, Z:0.13 [[ 9.75033138e-01 -2.22058268e-01 -7.10310941e-04 7.38522731e+01] [ 2.22058210e-01 9.75033397e-01 -1.60768893e-04 6.67750498e+00] [ 7.28276951e-04 -9.75377979e-07 9.99999735e-01 1.33325477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640281693 meters 0.01427520344931406 Centerline is valid? [True, True] Translation: X:73.88, Y:6.68, Z:0.13 [[ 9.74774891e-01 -2.23189727e-01 -5.07382848e-04 7.38797829e+01] [ 2.23189697e-01 9.74775023e-01 -1.14675504e-04 6.68182552e+00] [ 5.20178522e-04 -1.45982270e-06 9.99999865e-01 1.33229093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670281693 meters 0.014553768061340983 Centerline is valid? [True, True] Translation: X:73.91, Y:6.69, Z:0.13 [[ 9.74523222e-01 -2.24286405e-01 -3.14331444e-04 7.39077649e+01] [ 2.24286394e-01 9.74523272e-01 -7.09584169e-05 6.68557330e+00] [ 3.22238315e-04 -1.34964093e-06 9.99999948e-01 1.32788597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70028169300001 meters 0.014907015278850664 Centerline is valid? [True, True] Translation: X:73.94, Y:6.69, Z:0.13 [[ 9.74318135e-01 -2.25168020e-01 -1.87988423e-03 7.39358395e+01] [ 2.25167616e-01 9.74319949e-01 -4.26675313e-04 6.68589097e+00] [ 1.92768234e-03 -7.57155429e-06 9.99998142e-01 1.29781771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73028169300001 meters 0.0150277287055595 Centerline is valid? [True, True] Translation: X:73.96, Y:6.69, Z:0.13 [[ 9.74295769e-01 -2.25248421e-01 -3.30209793e-03 7.39632715e+01] [ 2.25247173e-01 9.74301364e-01 -7.49885047e-04 6.68903900e+00] [ 3.38614894e-03 -1.31783948e-05 9.99994267e-01 1.28243520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760281693 meters 0.014749857625833508 Centerline is valid? [True, True] Translation: X:73.99, Y:6.69, Z:0.13 [[ 9.74525843e-01 -2.24226577e-01 -4.67154955e-03 7.39915485e+01] [ 2.24224064e-01 9.74537040e-01 -1.06164167e-03 6.69220556e+00] [ 4.79064634e-03 -1.28765803e-05 9.99988525e-01 1.27117580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790281693 meters 0.01434602779828467 Centerline is valid? [True, True] Translation: X:74.02, Y:6.70, Z:0.13 [[ 9.74860695e-01 -2.22777488e-01 -4.10070397e-03 7.40184496e+01] [ 2.22775537e-01 9.74869320e-01 -9.32373592e-04 6.69919381e+00] [ 4.20536233e-03 -4.60216163e-06 9.99991157e-01 1.28263305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820281693 meters 0.014440413473146658 Centerline is valid? [True, True] Translation: X:74.05, Y:6.71, Z:0.13 [[ 9.75343070e-01 -2.20666510e-01 -3.49089056e-03 7.40450083e+01] [ 2.20665082e-01 9.75349318e-01 -7.94118864e-04 6.70814935e+00] [ 3.58007317e-03 4.22068075e-06 9.99993592e-01 1.29886695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850281693 meters 0.01668303595505837 Centerline is valid? [True, True] Translation: X:74.07, Y:6.72, Z:0.13 [[ 9.76644596e-01 -2.14844649e-01 -2.66648162e-03 7.40714039e+01] [ 2.14843792e-01 9.76648236e-01 -6.06987554e-04 6.72215955e+00] [ 2.73462260e-03 1.99340895e-05 9.99996261e-01 1.31325147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880281693 meters 0.018788007319507305 Centerline is valid? [True, True] Translation: X:74.10, Y:6.73, Z:0.13 [[ 9.77190775e-01 -2.12346423e-01 -2.68064459e-03 7.40975326e+01] [ 2.12345547e-01 9.77194451e-01 -6.10585130e-04 6.73196574e+00] [ 2.74916658e-03 2.74352157e-05 9.99996221e-01 1.30829300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910281693 meters 0.020027980910300166 Centerline is valid? [True, True] Translation: X:74.12, Y:6.74, Z:0.13 [[ 9.77472756e-01 -2.11048460e-01 -2.35786504e-03 7.41247099e+01] [ 2.11047778e-01 9.77475599e-01 -5.37235713e-04 6.74065024e+00] [ 2.41813832e-03 2.75110952e-05 9.99997076e-01 1.30960585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940281693 meters 0.019732259345199038 Centerline is valid? [True, True] Translation: X:74.15, Y:6.75, Z:0.13 [[ 9.77318411e-01 -2.11772691e-01 -1.02487257e-03 7.41524863e+01] [ 2.11772563e-01 9.77318949e-01 -2.33482229e-04 6.74676228e+00] [ 1.05107254e-03 1.11465916e-05 9.99999448e-01 1.31661315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970281693 meters 0.018525264748319982 Centerline is valid? [True, True] Translation: X:74.18, Y:6.75, Z:0.13 [[ 9.76967425e-01 -2.13383997e-01 -1.38576884e-03 7.41799457e+01] [ 2.13383763e-01 9.76968408e-01 -3.16165665e-04 6.75045215e+00] [ 1.42131707e-03 1.31829866e-05 9.99998990e-01 1.30953833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000281693 meters 0.015088576725498494 Centerline is valid? [True, True] Translation: X:74.21, Y:6.75, Z:0.13 [[ 9.75615441e-01 -2.19468281e-01 -2.86101682e-03 7.42104698e+01] [ 2.19467310e-01 9.75619636e-01 -6.53134640e-04 6.74702361e+00] [ 2.93460653e-03 9.30857504e-06 9.99995694e-01 1.28230468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030281693 meters 0.014603772194784606 Centerline is valid? [True, True] Translation: X:74.24, Y:6.75, Z:0.13 [[ 9.74962974e-01 -2.22341722e-01 -3.37017100e-03 7.42388120e+01] [ 2.22340390e-01 9.74968799e-01 -7.69826936e-04 6.74789160e+00] [ 3.45697621e-03 1.22762596e-06 9.99994025e-01 1.27360800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06028169300001 meters 0.01500988855890206 Centerline is valid? [True, True] Translation: X:74.27, Y:6.75, Z:0.13 [[ 9.74279700e-01 -2.25318204e-01 -3.28229762e-03 7.42677287e+01] [ 2.25316956e-01 9.74285229e-01 -7.49942775e-04 6.74849785e+00] [ 3.36686985e-03 -8.90328645e-06 9.99994332e-01 1.27257016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09028169300001 meters 0.016177828699757105 Centerline is valid? [True, True] Translation: X:74.30, Y:6.75, Z:0.13 [[ 9.73721915e-01 -2.27710099e-01 -3.70724409e-03 7.42958454e+01] [ 2.27708524e-01 9.73728972e-01 -8.47264771e-04 6.74888949e+00] [ 3.80278172e-03 -1.91708037e-05 9.99992769e-01 1.25983490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.120281693 meters 0.018680641445172775 Centerline is valid? [True, True] Translation: X:74.33, Y:6.75, Z:0.13 [[ 9.72814268e-01 -2.31552267e-01 -3.99345855e-03 7.43257228e+01] [ 2.31550470e-01 9.72822464e-01 -9.13126216e-04 6.74736786e+00] [ 4.09636263e-03 -3.63849912e-05 9.99991609e-01 1.25644124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150281693 meters 0.01961877311992943 Centerline is valid? [True, True] Translation: X:74.35, Y:6.75, Z:0.13 [[ 9.72446272e-01 -2.33098477e-01 -3.65337169e-03 7.43542406e+01] [ 2.33096981e-01 9.72453134e-01 -8.35922210e-04 6.75061297e+00] [ 3.74758494e-03 -3.87004758e-05 9.99992977e-01 1.27264803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180281693 meters 0.02113918234012458 Centerline is valid? [True, True] Translation: X:74.38, Y:6.75, Z:0.13 [[ 9.72130148e-01 -2.34434733e-01 -1.82507629e-03 7.43831151e+01] [ 2.34434362e-01 9.72131861e-01 -4.17738589e-04 6.74959941e+00] [ 1.87214725e-03 -2.17643195e-05 9.99998247e-01 1.31700756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210281693 meters 0.021656531349523715 Centerline is valid? [True, True] Translation: X:74.41, Y:6.75, Z:0.13 [[ 9.71987662e-01 -2.35030405e-01 -8.32616938e-04 7.44108842e+01] [ 2.35030328e-01 9.71988019e-01 -1.90589605e-04 6.75240758e+00] [ 8.54088040e-04 -1.04394870e-05 9.99999635e-01 1.33696645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240281693 meters 0.02065874364582789 Centerline is valid? [True, True] Translation: X:74.44, Y:6.76, Z:0.13 [[ 9.71868371e-01 -2.35523675e-01 -6.83887221e-04 7.44378508e+01] [ 2.35523623e-01 9.71868612e-01 -1.56394366e-04 6.75790599e+00] [ 7.01483100e-04 -9.07685829e-06 9.99999754e-01 1.33777510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270281693 meters 0.023255015559082028 Centerline is valid? [True, True] Translation: X:74.47, Y:6.75, Z:0.13 [[ 9.71584352e-01 -2.36682288e-01 -2.31123809e-03 7.44670975e+01] [ 2.36681697e-01 9.71587100e-01 -5.29857932e-04 6.75399479e+00] [ 2.37097710e-03 -3.22260786e-05 9.99997189e-01 1.30145603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300281693 meters 0.024307407783618 Centerline is valid? [True, True] Translation: X:74.50, Y:6.76, Z:0.13 [[ 9.71344761e-01 -2.37654555e-01 -3.10916991e-03 7.44968053e+01] [ 2.37653488e-01 9.71349736e-01 -7.13402458e-04 6.75531016e+00] [ 3.18963471e-03 -4.59453347e-05 9.99994912e-01 1.28705625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330281693 meters 0.022519978667897945 Centerline is valid? [True, True] Translation: X:74.52, Y:6.76, Z:0.13 [[ 9.71098422e-01 -2.38660055e-01 -3.03859271e-03 7.45248243e+01] [ 2.38659040e-01 9.71103175e-01 -6.97693483e-04 6.76074175e+00] [ 3.11729859e-03 -4.76585781e-05 9.99995140e-01 1.29071439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360281693 meters 0.02477981991938064 Centerline is valid? [True, True] Translation: X:74.55, Y:6.76, Z:0.13 [[ 9.71241347e-01 -2.38091414e-01 -1.65034463e-03 7.45547729e+01] [ 2.38091114e-01 9.71242749e-01 -3.79100207e-04 6.75617968e+00] [ 1.69314576e-03 -2.47345955e-05 9.99998566e-01 1.31670322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390281693 meters 0.02139798155183513 Centerline is valid? [True, True] Translation: X:74.58, Y:6.76, Z:0.13 [[ 9.71517610e-01 -2.36963479e-01 -1.35734102e-03 7.45819929e+01] [ 2.36963274e-01 9.71518558e-01 -3.11793438e-04 6.76461698e+00] [ 1.39256565e-03 -1.87271562e-05 9.99999030e-01 1.32379815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420281693 meters 0.01990057638740503 Centerline is valid? [True, True] Translation: X:74.61, Y:6.77, Z:0.13 [[ 9.72073622e-01 -2.34670434e-01 -1.63111110e-03 7.46092434e+01] [ 2.34670135e-01 9.72074990e-01 -3.75055202e-04 6.76989670e+00] [ 1.67357667e-03 -1.81917933e-05 9.99998599e-01 1.31217699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45028169300001 meters 0.01638486721616511 Centerline is valid? [True, True] Translation: X:74.64, Y:6.78, Z:0.13 [[ 9.73241825e-01 -2.29749725e-01 -3.92601408e-03 7.46363972e+01] [ 2.29747950e-01 9.73249744e-01 -9.03346394e-04 6.77781826e+00] [ 4.02853579e-03 -2.28191928e-05 9.99991885e-01 1.27300482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.480281693 meters 0.015427959962234545 Centerline is valid? [True, True] Translation: X:74.66, Y:6.79, Z:0.13 [[ 9.73709440e-01 -2.27746439e-01 -4.63528570e-03 7.46644914e+01] [ 2.27743939e-01 9.73720473e-01 -1.06737151e-03 6.78522632e+00] [ 4.75656264e-03 -1.63485064e-05 9.99988687e-01 1.26702801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510281693 meters 0.015427959962234545 Centerline is valid? [True, True] Translation: X:74.69, Y:6.79, Z:0.13 [[ 9.73667823e-01 -2.27924301e-01 -4.63510098e-03 7.46912273e+01] [ 2.27921799e-01 9.73678855e-01 -1.06817323e-03 6.79159213e+00] [ 4.75656245e-03 -1.63946484e-05 9.99988687e-01 1.26757492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540281693 meters 0.014917201452208468 Centerline is valid? [True, True] Translation: X:74.72, Y:6.80, Z:0.13 [[ 9.74389787e-01 -2.24842920e-01 -3.19444013e-03 7.47193576e+01] [ 2.24841713e-01 9.74395023e-01 -7.36635726e-04 6.79548450e+00] [ 3.27827389e-03 -4.73063249e-07 9.99994626e-01 1.29239074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570281693 meters 0.014941379511699451 Centerline is valid? [True, True] Translation: X:74.75, Y:6.80, Z:0.13 [[ 9.74604886e-01 -2.23917544e-01 -2.50011249e-03 7.47468216e+01] [ 2.23916801e-01 9.74608092e-01 -5.76885531e-04 6.79905267e+00] [ 2.56580466e-03 2.41826643e-06 9.99996708e-01 1.30934520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600281693 meters 0.014920528491770101 Centerline is valid? [True, True] Translation: X:74.77, Y:6.80, Z:0.13 [[ 9.74833643e-01 -2.22922590e-01 -2.21083026e-03 7.47747541e+01] [ 2.22922005e-01 9.74836150e-01 -5.10515628e-04 6.80318056e+00] [ 2.26900273e-03 4.82509397e-06 9.99997426e-01 1.32087153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630281693 meters 0.015875075740675218 Centerline is valid? [True, True] Translation: X:74.80, Y:6.81, Z:0.13 [[ 9.75435454e-01 -2.20267485e-01 -2.81245642e-03 7.48040516e+01] [ 2.20266526e-01 9.75439509e-01 -6.50068199e-04 6.80599734e+00] [ 2.88657000e-03 1.46095632e-05 9.99995834e-01 1.30948507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660281693 meters 0.016800602952637658 Centerline is valid? [True, True] Translation: X:74.83, Y:6.81, Z:0.13 [[ 9.75703544e-01 -2.19072114e-01 -3.16265000e-03 7.48316831e+01] [ 2.19070894e-01 9.75708670e-01 -7.31506260e-04 6.81053544e+00] [ 3.24607765e-03 2.08886892e-05 9.99994731e-01 1.30240264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690281693 meters 0.017651269945597455 Centerline is valid? [True, True] Translation: X:74.86, Y:6.81, Z:0.13 [[ 9.75936374e-01 -2.18033760e-01 -3.07782859e-03 7.48597733e+01] [ 2.18032598e-01 9.75941227e-01 -7.12131579e-04 6.81425578e+00] [ 3.15904853e-03 2.39281482e-05 9.99995010e-01 1.29978803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720281693 meters 0.019454836061478357 Centerline is valid? [True, True] Translation: X:74.89, Y:6.82, Z:0.13 [[ 9.76439108e-01 -2.15770227e-01 -3.14297503e-03 7.48882234e+01] [ 2.15769003e-01 9.76444165e-01 -7.27522681e-04 6.81768461e+00] [ 3.22591736e-03 3.22250105e-05 9.99994796e-01 1.30046744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750281693 meters 0.020222700553469326 Centerline is valid? [True, True] Translation: X:74.92, Y:6.82, Z:0.13 [[ 9.76780957e-01 -2.14205989e-01 -3.84136465e-03 7.49170520e+01] [ 2.14204146e-01 9.76788509e-01 -8.89903253e-04 6.82253212e+00] [ 3.94282346e-03 4.64043166e-05 9.99992226e-01 1.29337455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780281693 meters 0.025572222675502906 Centerline is valid? [True, True] Translation: X:74.95, Y:6.83, Z:0.13 [[ 9.77745357e-01 -2.09720286e-01 -5.60515925e-03 7.49451638e+01] [ 2.09716284e-01 9.77761419e-01 -1.29913199e-03 6.82959806e+00] [ 5.75296279e-03 9.47271067e-05 9.99983447e-01 1.26337535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81028169300001 meters 0.028166621589904746 Centerline is valid? [True, True] Translation: X:74.97, Y:6.84, Z:0.13 [[ 9.78278198e-01 -2.07230292e-01 -5.23198136e-03 7.49730427e+01] [ 2.07226766e-01 9.78292183e-01 -1.21324721e-03 6.83660972e+00] [ 5.36982804e-03 1.02686710e-04 9.99985577e-01 1.27471288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84028169300001 meters 0.02960396371800004 Centerline is valid? [True, True] Translation: X:75.00, Y:6.84, Z:0.13 [[ 9.78772623e-01 -2.04903784e-01 -4.31187523e-03 7.50006687e+01] [ 2.04901365e-01 9.78782116e-01 -1.00036114e-03 6.84265198e+00] [ 4.42536414e-03 9.56169796e-05 9.99990203e-01 1.29959644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.870281693 meters 0.03165565468493022 Centerline is valid? [True, True] Translation: X:75.03, Y:6.85, Z:0.13 [[ 9.79560410e-01 -2.01131154e-01 -2.76787842e-03 7.50298980e+01] [ 2.01130141e-01 9.79564318e-01 -6.42285096e-04 6.84847155e+00] [ 2.84049848e-03 7.24532728e-05 9.99995963e-01 1.32433592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900281693 meters 0.03418440514034377 Centerline is valid? [True, True] Translation: X:75.06, Y:6.86, Z:0.13 [[ 9.79837814e-01 -1.99775422e-01 -2.76397742e-03 7.50568294e+01] [ 1.99774406e-01 9.79841709e-01 -6.41479107e-04 6.85610379e+00] [ 2.83641211e-03 7.63735384e-05 9.99995974e-01 1.32309117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930281693 meters 0.03865306952006425 Centerline is valid? [True, True] Translation: X:75.08, Y:6.87, Z:0.13 [[ 9.80355827e-01 -1.97198669e-01 -3.89080482e-03 7.50843666e+01] [ 1.97196635e-01 9.80363540e-01 -9.03269188e-04 6.86506550e+00] [ 3.99252667e-03 1.18271593e-04 9.99992023e-01 1.30147676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960281693 meters 0.04253950778390332 Centerline is valid? [True, True] Translation: X:75.11, Y:6.88, Z:0.13 [[ 9.80564536e-01 -1.96156076e-01 -3.99806886e-03 7.51104455e+01] [ 1.96153919e-01 9.80572679e-01 -9.28394918e-04 6.87601356e+00] [ 4.10250740e-03 1.26114256e-04 9.99991577e-01 1.29537961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990281693 meters 0.04118761000500282 Centerline is valid? [True, True] Translation: X:75.14, Y:6.88, Z:0.13 [[ 9.80739671e-01 -1.95287709e-01 -3.52250897e-03 7.51392065e+01] [ 1.95286028e-01 9.80745990e-01 -8.18325494e-04 6.88015940e+00] [ 3.61449546e-03 1.14667489e-04 9.99993461e-01 1.30365511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020281693 meters 0.039570679624656414 Centerline is valid? [True, True] Translation: X:75.17, Y:6.88, Z:0.13 [[ 9.81052951e-01 -1.93721492e-01 -2.66285025e-03 7.51683507e+01] [ 1.93720525e-01 9.81056561e-01 -6.18981559e-04 6.88228012e+00] [ 2.73231674e-03 9.14049369e-05 9.99996263e-01 1.31385581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050281693 meters 0.048279204878857736 Centerline is valid? [True, True] Translation: X:75.19, Y:6.90, Z:0.13 [[ 9.81115737e-01 -1.93397813e-01 -3.03264085e-03 7.51932455e+01] [ 1.93396555e-01 9.81120418e-01 -7.05387540e-04 6.89919292e+00] [ 3.11180627e-03 1.05564521e-04 9.99995153e-01 1.29763037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080281693 meters 0.043794333931358564 Centerline is valid? [True, True] Translation: X:75.22, Y:6.90, Z:0.13 [[ 9.81202037e-01 -1.92920450e-01 -4.92560698e-03 7.52220139e+01] [ 1.92917125e-01 9.81214385e-01 -1.14605690e-03 6.90054995e+00] [ 5.05417424e-03 1.74279430e-04 9.99987212e-01 1.26935443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110281693 meters 0.04226621706376195 Centerline is valid? [True, True] Translation: X:75.25, Y:6.91, Z:0.13 [[ 9.81290027e-01 -1.92445043e-01 -5.89822175e-03 7.52502771e+01] [ 1.92440261e-01 9.81307730e-01 -1.37316830e-03 6.90607816e+00] [ 6.05223003e-03 2.12421025e-04 9.99981663e-01 1.26207448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140281693 meters 0.046692325419916976 Centerline is valid? [True, True] Translation: X:75.28, Y:6.92, Z:0.13 [[ 9.81415455e-01 -1.91802820e-01 -5.94838429e-03 7.52759581e+01] [ 1.91797941e-01 9.81433457e-01 -1.38542158e-03 6.91936196e+00] [ 6.10367113e-03 2.18786291e-04 9.99981348e-01 1.26158392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170281693 meters 0.04457620378271667 Centerline is valid? [True, True] Translation: X:75.30, Y:6.93, Z:0.13 [[ 9.81568395e-01 -1.91074181e-01 -3.76065483e-03 7.53033852e+01] [ 1.91072225e-01 9.81575589e-01 -8.76265263e-04 6.92686234e+00] [ 3.85879864e-03 1.41557605e-04 9.99992545e-01 1.30134155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20028169300001 meters 0.04607561926995069 Centerline is valid? [True, True] Translation: X:75.33, Y:6.94, Z:0.13 [[ 9.81710121e-01 -1.90358925e-01 -2.95264485e-03 7.53294418e+01] [ 1.90357714e-01 9.81714555e-01 -6.88309134e-04 6.93770847e+00] [ 3.02968021e-03 1.13661320e-04 9.99995404e-01 1.31562948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.230281693 meters 0.04566398811116297 Centerline is valid? [True, True] Translation: X:75.36, Y:6.95, Z:0.13 [[ 9.81922531e-01 -1.89255577e-01 -3.23571406e-03 7.53566601e+01] [ 1.89254116e-01 9.81927854e-01 -7.54645271e-04 6.94895119e+00] [ 3.32005859e-03 1.28630990e-04 9.99994480e-01 1.31137126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260281693 meters 0.04684252051309459 Centerline is valid? [True, True] Translation: X:75.38, Y:6.96, Z:0.13 [[ 9.81925207e-01 -1.89213711e-01 -4.58902481e-03 7.53830663e+01] [ 1.89210769e-01 9.81935913e-01 -1.07089946e-03 6.95940822e+00] [ 4.70875713e-03 1.83250255e-04 9.99988897e-01 1.28533500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290281693 meters 0.045827196756642596 Centerline is valid? [True, True] Translation: X:75.41, Y:6.97, Z:0.13 [[ 9.81777810e-01 -1.89959870e-01 -5.25167979e-03 7.54109901e+01] [ 1.89956024e-01 9.81791834e-01 -1.22623466e-03 6.96701446e+00] [ 5.38899171e-03 2.06301766e-04 9.99985458e-01 1.27399819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320281693 meters 0.04631165455633457 Centerline is valid? [True, True] Translation: X:75.44, Y:6.98, Z:0.13 [[ 9.81218657e-01 -1.92832827e-01 -5.04464813e-03 7.54377331e+01] [ 1.92829314e-01 9.81231607e-01 -1.17828560e-03 6.97959312e+00] [ 5.17718034e-03 1.83399776e-04 9.99986581e-01 1.27848422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350281693 meters 0.04181370709717891 Centerline is valid? [True, True] Translation: X:75.47, Y:6.98, Z:0.13 [[ 9.80857174e-01 -1.94686088e-01 -4.06577480e-03 7.54667278e+01] [ 1.94683821e-01 9.80865591e-01 -9.49788838e-04 6.98283731e+00] [ 4.17288927e-03 1.40066623e-04 9.99991284e-01 1.30263167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380281693 meters 0.03961009566057908 Centerline is valid? [True, True] Translation: X:75.50, Y:6.99, Z:0.13 [[ 9.80422177e-01 -1.96879102e-01 -3.31263110e-03 7.54953640e+01] [ 1.96877609e-01 9.80427768e-01 -7.74140816e-04 6.98849899e+00] [ 3.40020767e-03 1.06801932e-04 9.99994214e-01 1.32820527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410281693 meters 0.033038648196239646 Centerline is valid? [True, True] Translation: X:75.53, Y:6.99, Z:0.13 [[ 9.79353265e-01 -2.02148366e-01 -1.79443320e-03 7.55267529e+01] [ 2.02147937e-01 9.79354908e-01 -4.19510448e-04 6.98840870e+00] [ 1.84219031e-03 4.81079587e-05 9.99998302e-01 1.34665912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440281693 meters 0.031760842208419106 Centerline is valid? [True, True] Translation: X:75.55, Y:6.99, Z:0.13 [[ 9.78766361e-01 -2.04970228e-01 -1.90181162e-03 7.55542663e+01] [ 2.04969751e-01 9.78768207e-01 -4.44629803e-04 6.99278684e+00] [ 1.95256862e-03 4.53748401e-05 9.99998093e-01 1.34141032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470281693 meters 0.0273795839442545 Centerline is valid? [True, True] Translation: X:75.58, Y:6.99, Z:0.13 [[ 9.77789344e-01 -2.09575356e-01 -2.48373483e-03 7.55848743e+01] [ 2.09574557e-01 9.77792497e-01 -5.80846011e-04 6.99096974e+00] [ 2.55030829e-03 4.74174142e-05 9.99996747e-01 1.32496088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500281693 meters 0.025362243164263446 Centerline is valid? [True, True] Translation: X:75.61, Y:6.99, Z:0.13 [[ 9.77335856e-01 -2.11679357e-01 -2.54442547e-03 7.56126354e+01] [ 2.11678525e-01 9.77339167e-01 -5.95121530e-04 6.99319486e+00] [ 2.61274161e-03 4.30333802e-05 9.99996586e-01 1.32573514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530281693 meters 0.02318207672477868 Centerline is valid? [True, True] Translation: X:75.64, Y:6.99, Z:0.13 [[ 9.76812739e-01 -2.14083037e-01 -2.30763273e-03 7.56417543e+01] [ 2.14082359e-01 9.76815465e-01 -5.39901481e-04 6.99484329e+00] [ 2.36971509e-03 3.33591850e-05 9.99997192e-01 1.32976282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56028169300001 meters 0.021115953585475557 Centerline is valid? [True, True] Translation: X:75.67, Y:7.00, Z:0.13 [[ 9.76260424e-01 -2.16588109e-01 -2.27500328e-03 7.56710337e+01] [ 2.16587456e-01 9.76263074e-01 -5.32636624e-04 6.99606699e+00] [ 2.33636446e-03 2.72548832e-05 9.99997270e-01 1.33270250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59028169300001 meters 0.01750199738749313 Centerline is valid? [True, True] Translation: X:75.70, Y:6.99, Z:0.13 [[ 9.75199320e-01 -2.21300413e-01 -3.52337402e-03 7.57007810e+01] [ 2.21298875e-01 9.75205684e-01 -8.25496230e-04 6.99022399e+00] [ 3.61869703e-03 2.53046560e-05 9.99993452e-01 1.30714471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.620281693 meters 0.016449347957668052 Centerline is valid? [True, True] Translation: X:75.73, Y:6.99, Z:0.13 [[ 9.74793733e-01 -2.23072416e-01 -3.98435360e-03 7.57299758e+01] [ 2.23070462e-01 9.74801876e-01 -9.33966224e-04 6.99076085e+00] [ 4.09229747e-03 2.16328236e-05 9.99991626e-01 1.29621671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650281693 meters 0.015353356466957412 Centerline is valid? [True, True] Translation: X:75.76, Y:6.99, Z:0.13 [[ 9.74220733e-01 -2.25567895e-01 -3.61785772e-03 7.57604245e+01] [ 2.25566298e-01 9.74227450e-01 -8.48639183e-04 6.98708686e+00] [ 3.71604205e-03 1.06951138e-05 9.99993095e-01 1.30888353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680281693 meters 0.015207390106430867 Centerline is valid? [True, True] Translation: X:75.79, Y:6.99, Z:0.13 [[ 9.74029584e-01 -2.26401601e-01 -2.94683414e-03 7.57874480e+01] [ 2.26400545e-01 9.74034042e-01 -6.91598233e-04 6.98937296e+00] [ 3.02689571e-03 6.47228566e-06 9.99995419e-01 1.31998366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710281693 meters 0.01521116651479199 Centerline is valid? [True, True] Translation: X:75.81, Y:6.99, Z:0.13 [[ 9.73889031e-01 -2.27006554e-01 -2.86005244e-03 7.58146262e+01] [ 2.27005561e-01 9.73893231e-01 -6.71470101e-04 6.99223454e+00] [ 2.93781383e-03 4.68955714e-06 9.99995685e-01 1.32503533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740281693 meters 0.015143293562380986 Centerline is valid? [True, True] Translation: X:75.84, Y:6.99, Z:0.13 [[ 9.73457981e-01 -2.28846159e-01 -2.99919611e-03 7.58439567e+01] [ 2.28845074e-01 9.73462601e-01 -7.04504017e-04 6.99025708e+00] [ 3.08082828e-03 -5.46197831e-07 9.99995254e-01 1.32680868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770281693 meters 0.015200845229239826 Centerline is valid? [True, True] Translation: X:75.87, Y:6.99, Z:0.13 [[ 9.73177138e-01 -2.30033568e-01 -3.28880924e-03 7.58718260e+01] [ 2.30032269e-01 9.73182695e-01 -7.73038195e-04 6.99074696e+00] [ 3.37843697e-03 -4.22915321e-06 9.99994293e-01 1.32413160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800281693 meters 0.01612234652180075 Centerline is valid? [True, True] Translation: X:75.90, Y:6.98, Z:0.13 [[ 9.72530943e-01 -2.32751137e-01 -3.23608341e-03 7.59017972e+01] [ 2.32749894e-01 9.72536327e-01 -7.60872717e-04 6.98309650e+00] [ 3.32430267e-03 -1.32258099e-05 9.99994474e-01 1.31377136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830281693 meters 0.01626804587113953 Centerline is valid? [True, True] Translation: X:75.93, Y:6.98, Z:0.13 [[ 9.72283484e-01 -2.33775715e-01 -3.70698982e-03 7.59301770e+01] [ 2.33774090e-01 9.72290550e-01 -8.72060749e-04 6.98456907e+00] [ 3.80813780e-03 -1.87079082e-05 9.99992749e-01 1.30543557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860281693 meters 0.016543324949681797 Centerline is valid? [True, True] Translation: X:75.96, Y:6.99, Z:0.13 [[ 9.72137581e-01 -2.34372191e-01 -4.26616584e-03 7.59580732e+01] [ 2.34370039e-01 9.72146941e-01 -1.00450114e-03 6.98724178e+00] [ 4.38276721e-03 -2.33481513e-05 9.99990395e-01 1.29419336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890281693 meters 0.016948756060271266 Centerline is valid? [True, True] Translation: X:75.99, Y:6.99, Z:0.13 [[ 9.72190406e-01 -2.34150334e-01 -4.40855951e-03 7.59852288e+01] [ 2.34148031e-01 9.72200401e-01 -1.03864202e-03 6.98916198e+00] [ 4.52920170e-03 -2.24977278e-05 9.99989743e-01 1.28396066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920281693 meters 0.015314866827640505 Centerline is valid? [True, True] Translation: X:76.01, Y:7.00, Z:0.13 [[ 9.72941002e-01 -2.31018734e-01 -4.01877312e-03 7.60135444e+01] [ 2.31016792e-01 9.72949302e-01 -9.47305809e-04 6.99568755e+00] [ 4.12890790e-03 -6.73141156e-06 9.99991476e-01 1.30473421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95028169300001 meters 0.015275519080217355 Centerline is valid? [True, True] Translation: X:76.04, Y:7.00, Z:0.13 [[ 9.73591295e-01 -2.28261646e-01 -4.07574492e-03 7.60399772e+01] [ 2.28259621e-01 9.73599826e-01 -9.61465529e-04 7.00402954e+00] [ 4.18761025e-03 5.74647772e-06 9.99991232e-01 1.30743482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.980281693 meters 0.01863402502466984 Centerline is valid? [True, True] Translation: X:76.07, Y:7.02, Z:0.13 [[ 9.75294884e-01 -2.20848159e-01 -5.09714133e-03 7.60657313e+01] [ 2.20844885e-01 9.75308202e-01 -1.20341467e-03 7.01982230e+00] [ 5.23705565e-03 4.80065783e-05 9.99986285e-01 1.29337040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010281693 meters 0.022163759008292667 Centerline is valid? [True, True] Translation: X:76.09, Y:7.03, Z:0.13 [[ 9.76365618e-01 -2.16076451e-01 -4.59868360e-03 7.60926197e+01] [ 2.16073731e-01 9.76376445e-01 -1.08612912e-03 7.03264590e+00] [ 4.72473327e-03 6.68044024e-05 9.99988836e-01 1.30137003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040281693 meters 0.02641510564258928 Centerline is valid? [True, True] Translation: X:76.12, Y:7.05, Z:0.13 [[ 9.77332696e-01 -2.11677653e-01 -3.65687393e-03 7.61190185e+01] [ 2.11675902e-01 9.77339535e-01 -8.63810297e-04 7.04616384e+00] [ 3.75685681e-03 7.01579565e-05 9.99992941e-01 1.31963461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070281693 meters 0.0352701841144766 Centerline is valid? [True, True] Translation: X:76.14, Y:7.07, Z:0.14 [[ 9.78797582e-01 -2.04822880e-01 -1.69711463e-03 7.61437490e+01] [ 2.04822493e-01 9.78799053e-01 -4.00912178e-04 7.06772872e+00] [ 1.74325018e-03 4.48046207e-05 9.99998480e-01 1.35692295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100281693 meters 0.035489394184674145 Centerline is valid? [True, True] Translation: X:76.17, Y:7.08, Z:0.13 [[ 9.79412924e-01 -2.01856969e-01 -2.02190497e-03 7.61719552e+01] [ 2.01856412e-01 9.79415009e-01 -4.77694561e-04 7.07777506e+00] [ 2.07671005e-03 5.97257440e-05 9.99997842e-01 1.34710990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130281693 meters 0.03967642724578123 Centerline is valid? [True, True] Translation: X:76.20, Y:7.09, Z:0.13 [[ 9.79976530e-01 -1.99081411e-01 -3.54856778e-03 7.61972792e+01] [ 1.99079678e-01 9.79982948e-01 -8.38545001e-04 7.09267219e+00] [ 3.64447464e-03 1.15306688e-04 9.99993352e-01 1.31645682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160281693 meters 0.04205098687668312 Centerline is valid? [True, True] Translation: X:76.23, Y:7.11, Z:0.13 [[ 9.80634498e-01 -1.95733777e-01 -6.65360695e-03 7.62251287e+01] [ 1.95727607e-01 9.80657041e-01 -1.57245837e-03 7.10738482e+00] [ 6.83268972e-03 2.39712360e-04 9.99976628e-01 1.26799144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190281693 meters 0.04531783239154983 Centerline is valid? [True, True] Translation: X:76.25, Y:7.12, Z:0.13 [[ 9.80698947e-01 -1.95404873e-01 -6.81994449e-03 7.62500883e+01] [ 1.95398380e-01 9.80722628e-01 -1.61212515e-03 7.12072779e+00] [ 7.00349100e-03 2.48403330e-04 9.99975444e-01 1.26480515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220281693 meters 0.04410282466624756 Centerline is valid? [True, True] Translation: X:76.28, Y:7.13, Z:0.13 [[ 9.80589445e-01 -1.96035837e-01 -3.78030316e-03 7.62769396e+01] [ 1.96033845e-01 9.80596723e-01 -8.93986822e-04 7.13234235e+00] [ 3.88220635e-03 1.35566677e-04 9.99992455e-01 1.31777472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250281693 meters 0.04161975796485013 Centerline is valid? [True, True] Translation: X:76.31, Y:7.14, Z:0.13 [[ 9.80481479e-01 -1.96590697e-01 -2.85774704e-03 7.63055930e+01] [ 1.96589560e-01 9.80485639e-01 -6.76215535e-04 7.13825780e+00] [ 2.93491761e-03 1.01213575e-04 9.99995688e-01 1.33292772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280281693 meters 0.0418338607690737 Centerline is valid? [True, True] Translation: X:76.33, Y:7.15, Z:0.13 [[ 9.80330822e-01 -1.97341248e-01 -2.81261148e-03 7.63323415e+01] [ 1.97340149e-01 9.80334852e-01 -6.65938869e-04 7.14661753e+00] [ 2.88871827e-03 9.77992302e-05 9.99995823e-01 1.33028783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31028169300001 meters 0.04231703375418789 Centerline is valid? [True, True] Translation: X:76.36, Y:7.16, Z:0.13 [[ 9.80172782e-01 -1.98115114e-01 -3.42344407e-03 7.63588633e+01] [ 1.98113489e-01 9.80178753e-01 -8.10865000e-04 7.15533283e+00] [ 3.51623175e-03 1.16557354e-04 9.99993811e-01 1.32052930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34028169300001 meters 0.036700947015388063 Centerline is valid? [True, True] Translation: X:76.39, Y:7.16, Z:0.13 [[ 9.80184598e-01 -1.98066356e-01 -2.80574710e-03 7.63876763e+01] [ 1.98065264e-01 9.80188609e-01 -6.64811355e-04 7.15984871e+00] [ 2.88183811e-03 9.59168120e-05 9.99995843e-01 1.33923422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.370281693 meters 0.04735004563983624 Centerline is valid? [True, True] Translation: X:76.41, Y:7.19, Z:0.14 [[ 9.80775205e-01 -1.95140063e-01 -5.94192092e-04 7.64105715e+01] [ 1.95140013e-01 9.80775385e-01 -1.40796736e-04 7.18567882e+00] [ 6.10244062e-04 2.21392948e-05 9.99999814e-01 1.37851589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400281693 meters 0.05584914176309595 Centerline is valid? [True, True] Translation: X:76.44, Y:7.21, Z:0.14 [[ 9.81195890e-01 -1.93013509e-01 -6.41783075e-04 7.64351331e+01] [ 1.93013450e-01 9.81196099e-01 -1.52136573e-04 7.20620230e+00] [ 6.59079463e-04 2.54030141e-05 9.99999782e-01 1.38638095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430281693 meters 0.05584914176309595 Centerline is valid? [True, True] Translation: X:76.46, Y:7.21, Z:0.14 [[ 9.81164042e-01 -1.93175338e-01 -6.41818706e-04 7.64618449e+01] [ 1.93175279e-01 9.81164251e-01 -1.51986410e-04 7.21275597e+00] [ 6.59089596e-04 2.51400929e-05 9.99999782e-01 1.38692825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460281693 meters 0.04634989242055 Centerline is valid? [True, True] Translation: X:76.49, Y:7.21, Z:0.14 [[ 9.81583474e-01 -1.91028143e-01 -1.46049640e-03 7.64923231e+01] [ 1.91027838e-01 9.81584558e-01 -3.46603960e-04 7.21076456e+00] [ 1.49981182e-03 6.12252496e-05 9.99998873e-01 1.37199703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490281693 meters 0.04858878807363878 Centerline is valid? [True, True] Translation: X:76.52, Y:7.23, Z:0.13 [[ 9.82339000e-01 -1.87090682e-01 -2.67690458e-03 7.65187417e+01] [ 1.87089643e-01 9.82342640e-01 -6.35419173e-04 7.22897047e+00] [ 2.74851852e-03 1.23375912e-04 9.99996215e-01 1.34826528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520281693 meters 0.04967556659377996 Centerline is valid? [True, True] Translation: X:76.55, Y:7.24, Z:0.13 [[ 9.82500682e-01 -1.86242332e-01 -2.49074632e-03 7.65457762e+01] [ 1.86241430e-01 9.82503832e-01 -5.91343209e-04 7.24149757e+00] [ 2.55730094e-03 1.17114950e-04 9.99996723e-01 1.34721282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550281693 meters 0.05137492543580476 Centerline is valid? [True, True] Translation: X:76.57, Y:7.26, Z:0.13 [[ 9.82332144e-01 -1.87135052e-01 -2.00766777e-03 7.65701164e+01] [ 1.87134467e-01 9.82334192e-01 -4.76933050e-04 7.25796786e+00] [ 2.06145158e-03 9.28028287e-05 9.99997871e-01 1.34847296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580281693 meters 0.056797011767774686 Centerline is valid? [True, True] Translation: X:76.60, Y:7.28, Z:0.13 [[ 9.81973328e-01 -1.89007396e-01 -2.14178005e-03 7.65953785e+01] [ 1.89006735e-01 9.81975659e-01 -5.08929017e-04 7.27601460e+00] [ 2.19936723e-03 9.49438664e-05 9.99997577e-01 1.34743733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610281693 meters 0.05283063023762817 Centerline is valid? [True, True] Translation: X:76.62, Y:7.28, Z:0.13 [[ 9.81447108e-01 -1.91713280e-01 -2.75556389e-03 7.66246051e+01] [ 1.91712196e-01 9.81450969e-01 -6.54877014e-04 7.28251225e+00] [ 2.82999947e-03 1.14451948e-04 9.99995989e-01 1.33577014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640281693 meters 0.0444264607399207 Centerline is valid? [True, True] Translation: X:76.65, Y:7.29, Z:0.13 [[ 9.80102282e-01 -1.98440766e-01 -4.55836150e-03 7.66544074e+01] [ 1.98437871e-01 9.80112870e-01 -1.08341062e-03 7.28622487e+00] [ 4.68270161e-03 1.57301672e-04 9.99989024e-01 1.30536880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670281693 meters 0.03834174577730026 Centerline is valid? [True, True] Translation: X:76.68, Y:7.29, Z:0.13 [[ 9.79361620e-01 -2.02042252e-01 -5.45390596e-03 7.66844414e+01] [ 2.02038162e-01 9.79376792e-01 -1.29638873e-03 7.28760476e+00] [ 5.60335422e-03 1.67736226e-04 9.99984287e-01 1.29728502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70028169300001 meters 0.03758400624245096 Centerline is valid? [True, True] Translation: X:76.71, Y:7.30, Z:0.13 [[ 9.78508182e-01 -2.06131678e-01 -5.60977144e-03 7.67121460e+01] [ 2.06127417e-01 9.78524251e-01 -1.33361760e-03 7.29511344e+00] [ 5.76419823e-03 1.48628037e-04 9.99983376e-01 1.28483085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.730281693 meters 0.0282964792708022 Centerline is valid? [True, True] Translation: X:76.74, Y:7.29, Z:0.13 [[ 9.76794652e-01 -2.14139997e-01 -4.03345946e-03 7.67439397e+01] [ 2.14137862e-01 9.76802977e-01 -9.58954075e-04 7.29188077e+00] [ 4.14524563e-03 7.29848266e-05 9.99991406e-01 1.32175420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760281693 meters 0.022200539343502915 Centerline is valid? [True, True] Translation: X:76.77, Y:7.29, Z:0.13 [[ 9.76037440e-01 -2.17575201e-01 -3.45661234e-03 7.67741325e+01] [ 2.17573655e-01 9.76043559e-01 -8.21904446e-04 7.28993435e+00] [ 3.55263024e-03 5.01417314e-05 9.99993688e-01 1.33654481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790281693 meters 0.01974137194080909 Centerline is valid? [True, True] Translation: X:76.80, Y:7.29, Z:0.13 [[ 9.75151898e-01 -2.21509905e-01 -3.48392391e-03 7.68017452e+01] [ 2.21508358e-01 9.75158121e-01 -8.28591950e-04 7.29256166e+00] [ 3.58091802e-03 3.62847482e-05 9.99993588e-01 1.34036954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820281693 meters 0.019128494912661203 Centerline is valid? [True, True] Translation: X:76.83, Y:7.30, Z:0.13 [[ 9.75022142e-01 -2.22080963e-01 -3.44515780e-03 7.68293186e+01] [ 2.22079453e-01 9.75028228e-01 -8.19789016e-04 7.29760297e+00] [ 3.54118564e-03 3.42136827e-05 9.99993729e-01 1.34675024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850281693 meters 0.019431010083051557 Centerline is valid? [True, True] Translation: X:76.86, Y:7.31, Z:0.14 [[ 9.74983758e-01 -2.22255357e-01 -3.03784492e-03 7.68558066e+01] [ 2.22254182e-01 9.74988490e-01 -7.23299030e-04 7.30501178e+00] [ 3.12262091e-03 3.00310695e-05 9.99995124e-01 1.35744911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880281693 meters 0.019880170808109113 Centerline is valid? [True, True] Translation: X:76.88, Y:7.31, Z:0.14 [[ 9.75216392e-01 -2.21245459e-01 -1.85369726e-03 7.68836131e+01] [ 2.21245020e-01 9.75218153e-01 -4.41445366e-04 7.31385668e+00] [ 1.90542700e-03 2.03834701e-05 9.99998184e-01 1.38291918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910281693 meters 0.020800177882795572 Centerline is valid? [True, True] Translation: X:76.91, Y:7.32, Z:0.14 [[ 9.75453772e-01 -2.20201243e-01 -1.16230047e-03 7.69110609e+01] [ 2.20201069e-01 9.75454465e-01 -2.76869211e-04 7.32289833e+00] [ 1.19473813e-03 1.41333104e-05 9.99999286e-01 1.39445065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940281693 meters 0.02206454384081716 Centerline is valid? [True, True] Translation: X:76.94, Y:7.33, Z:0.14 [[ 9.75734813e-01 -2.18953693e-01 -9.24685832e-04 7.69384792e+01] [ 2.18953582e-01 9.75735251e-01 -2.20359158e-04 7.33291820e+00] [ 9.50497014e-04 1.25488266e-05 9.99999548e-01 1.40153333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970281693 meters 0.0250576485152763 Centerline is valid? [True, True] Translation: X:76.96, Y:7.35, Z:0.14 [[ 9.76370146e-01 -2.16102226e-01 -1.07993707e-03 7.69635838e+01] [ 2.16102073e-01 9.76370743e-01 -2.57665150e-04 7.34668145e+00] [ 1.11010098e-03 1.81999192e-05 9.99999384e-01 1.39857798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000281693 meters 0.02499629078052899 Centerline is valid? [True, True] Translation: X:76.99, Y:7.35, Z:0.14 [[ 9.76524464e-01 -2.15404447e-01 -9.45884001e-04 7.69913848e+01] [ 2.15404330e-01 9.76524922e-01 -2.25663484e-04 7.35411519e+00] [ 9.72288219e-04 1.66184042e-05 9.99999527e-01 1.40141807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030281693 meters 0.02544177495179594 Centerline is valid? [True, True] Translation: X:77.02, Y:7.36, Z:0.14 [[ 9.76533688e-01 -2.15358234e-01 -1.66942591e-03 7.70191090e+01] [ 2.15357867e-01 9.76535115e-01 -3.98823581e-04 7.35977532e+00] [ 1.71614296e-03 2.99406602e-05 9.99998527e-01 1.39194827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06028169300001 meters 0.028582208532895028 Centerline is valid? [True, True] Translation: X:77.05, Y:7.37, Z:0.14 [[ 9.76269250e-01 -2.16546175e-01 -2.47104845e-03 7.70454063e+01] [ 2.16545372e-01 9.76272376e-01 -5.90928823e-04 7.37018955e+00] [ 2.54037972e-03 4.18115325e-05 9.99996772e-01 1.37394821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09028169300001 meters 0.02409405677894887 Centerline is valid? [True, True] Translation: X:77.08, Y:7.37, Z:0.14 [[ 9.75929135e-01 -2.18078296e-01 -2.04463944e-03 7.70753330e+01] [ 2.18077750e-01 9.75931276e-01 -4.89073505e-04 7.37000159e+00] [ 2.10208390e-03 3.14107128e-05 9.99997790e-01 1.37555866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.120281693 meters 0.02295496024912336 Centerline is valid? [True, True] Translation: X:77.10, Y:7.38, Z:0.14 [[ 9.75614674e-01 -2.19489162e-01 -7.18408041e-04 7.71022549e+01] [ 2.19489095e-01 9.75614938e-01 -1.71882928e-04 7.37546814e+00] [ 7.38616056e-04 1.00087757e-05 9.99999727e-01 1.40201697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150281693 meters 0.023354745552744156 Centerline is valid? [True, True] Translation: X:77.13, Y:7.38, Z:0.14 [[ 9.75588969e-01 -2.19603827e-01 -5.68026678e-04 7.71285832e+01] [ 2.19603785e-01 9.75589134e-01 -1.35881385e-04 7.38337806e+00] [ 5.84000727e-04 7.82357176e-06 9.99999829e-01 1.40709760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180281693 meters 0.02257181143095727 Centerline is valid? [True, True] Translation: X:77.16, Y:7.39, Z:0.14 [[ 9.75702920e-01 -2.19089764e-01 -1.86732062e-03 7.71562358e+01] [ 2.19089309e-01 9.75704707e-01 -4.47206921e-04 7.39014947e+00] [ 1.91993197e-03 2.72311154e-05 9.99998157e-01 1.38499763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210281693 meters 0.02302108245098561 Centerline is valid? [True, True] Translation: X:77.18, Y:7.40, Z:0.14 [[ 9.75760248e-01 -2.18828702e-01 -2.43662486e-03 7.71836659e+01] [ 2.18827925e-01 9.75763290e-01 -5.84074589e-04 7.39821370e+00] [ 2.50538138e-03 3.67152032e-05 9.99996861e-01 1.37287125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240281693 meters 0.022678519934655948 Centerline is valid? [True, True] Translation: X:77.21, Y:7.40, Z:0.14 [[ 9.75729894e-01 -2.18957031e-01 -2.99887884e-03 7.72105928e+01] [ 2.18955853e-01 9.75734501e-01 -7.19475800e-04 7.40452991e+00] [ 3.08364384e-03 4.53919688e-05 9.99995245e-01 1.35935713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270281693 meters 0.022504278852249152 Centerline is valid? [True, True] Translation: X:77.24, Y:7.41, Z:0.13 [[ 9.75534796e-01 -2.19818448e-01 -3.42212136e-03 7.72379632e+01] [ 2.19816919e-01 9.75540797e-01 -8.21554615e-04 7.41027382e+00] [ 3.51901187e-03 4.92149407e-05 9.99993807e-01 1.34821744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300281693 meters 0.019558091890688446 Centerline is valid? [True, True] Translation: X:77.27, Y:7.41, Z:0.13 [[ 9.74641294e-01 -2.23739556e-01 -3.86779300e-03 7.72666535e+01] [ 2.23737631e-01 9.74648967e-01 -9.28802346e-04 7.40835600e+00] [ 3.97755028e-03 3.98782761e-05 9.99992089e-01 1.33557423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330281693 meters 0.017754577408481603 Centerline is valid? [True, True] Translation: X:77.30, Y:7.41, Z:0.13 [[ 9.73988130e-01 -2.26561972e-01 -4.09826753e-03 7.72961824e+01] [ 2.26559835e-01 9.73996751e-01 -9.84640545e-04 7.40991504e+00] [ 4.21478136e-03 3.05253891e-05 9.99991117e-01 1.32927864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360281693 meters 0.01606128680657991 Centerline is valid? [True, True] Translation: X:77.33, Y:7.41, Z:0.13 [[ 9.73183039e-01 -2.29995379e-01 -4.11071997e-03 7.73262478e+01] [ 2.29993256e-01 9.73191721e-01 -9.88333847e-04 7.40993146e+00] [ 4.22783086e-03 1.63918661e-05 9.99991063e-01 1.34235942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390281693 meters 0.01598049768356919 Centerline is valid? [True, True] Translation: X:77.35, Y:7.42, Z:0.14 [[ 9.73101918e-01 -2.30347533e-01 -3.55963529e-03 7.73528589e+01] [ 2.30345941e-01 9.73108429e-01 -8.56340238e-04 7.41599741e+00] [ 3.66116697e-03 1.33587868e-05 9.99993298e-01 1.35689221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420281693 meters 0.0164173118224551 Centerline is valid? [True, True] Translation: X:77.38, Y:7.42, Z:0.14 [[ 9.73331849e-01 -2.29381900e-01 -3.00924764e-03 7.73792570e+01] [ 2.29380756e-01 9.73336501e-01 -7.24356903e-04 7.42453086e+00] [ 3.09516493e-03 1.47761437e-05 9.99995210e-01 1.36846659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45028169300001 meters 0.019994731563997926 Centerline is valid? [True, True] Translation: X:77.40, Y:7.44, Z:0.13 [[ 9.74519943e-01 -2.24264306e-01 -4.04991404e-03 7.74049999e+01] [ 2.24262188e-01 9.74528357e-01 -9.75705327e-04 7.44179850e+00] [ 4.16557195e-03 4.26017177e-05 9.99991323e-01 1.34873513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.480281693 meters 0.02244320181391405 Centerline is valid? [True, True] Translation: X:77.43, Y:7.45, Z:0.13 [[ 9.75144418e-01 -2.21509687e-01 -5.17908866e-03 7.74315977e+01] [ 2.21506179e-01 9.75158168e-01 -1.24870378e-03 7.45399898e+00] [ 5.32703060e-03 7.04663821e-05 9.99985809e-01 1.32462748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510281693 meters 0.02449181485713653 Centerline is valid? [True, True] Translation: X:77.46, Y:7.47, Z:0.13 [[ 9.75561871e-01 -2.19648971e-01 -5.77627834e-03 7.74588768e+01] [ 2.19644568e-01 9.75578967e-01 -1.39369713e-03 7.46539759e+00] [ 5.94133980e-03 9.09096139e-05 9.99982346e-01 1.31336244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540281693 meters 0.026853841431207937 Centerline is valid? [True, True] Translation: X:77.49, Y:7.48, Z:0.13 [[ 9.76102071e-01 -2.17241553e-01 -5.55474938e-03 7.74852470e+01] [ 2.17237439e-01 9.76117871e-01 -1.34077572e-03 7.47712556e+00] [ 5.71336233e-03 1.02034427e-04 9.99983673e-01 1.32139392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570281693 meters 0.027830998306665366 Centerline is valid? [True, True] Translation: X:77.51, Y:7.48, Z:0.14 [[ 9.76078919e-01 -2.17385239e-01 -3.68803434e-03 7.75120368e+01] [ 2.17383425e-01 9.76085884e-01 -8.90379425e-04 7.48482305e+00] [ 3.79339360e-03 6.73630489e-05 9.99992803e-01 1.35657562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600281693 meters 0.027236996867494593 Centerline is valid? [True, True] Translation: X:77.54, Y:7.49, Z:0.14 [[ 9.75938424e-01 -2.18028900e-01 -2.75508953e-03 7.75403893e+01] [ 2.18027890e-01 9.75942312e-01 -6.65363242e-04 7.49057107e+00] [ 2.83387687e-03 4.86671961e-05 9.99995983e-01 1.37351927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630281693 meters 0.027204269770420758 Centerline is valid? [True, True] Translation: X:77.57, Y:7.50, Z:0.14 [[ 9.75902906e-01 -2.18189847e-01 -2.58997426e-03 7.75676113e+01] [ 2.18188954e-01 9.75906342e-01 -6.25902589e-04 7.49680744e+00] [ 2.66413790e-03 4.57163810e-05 9.99996450e-01 1.38800526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660281693 meters 0.028112225150590097 Centerline is valid? [True, True] Translation: X:77.60, Y:7.51, Z:0.14 [[ 9.76034208e-01 -2.17602466e-01 -2.52806996e-03 7.75953305e+01] [ 2.17601612e-01 9.76037481e-01 -6.11385801e-04 7.50501822e+00] [ 2.60053009e-03 4.66213583e-05 9.99996618e-01 1.39014628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690281693 meters 0.03177864058559861 Centerline is valid? [True, True] Translation: X:77.62, Y:7.52, Z:0.14 [[ 9.76662937e-01 -2.14761602e-01 -2.63852767e-03 7.76215608e+01] [ 2.14760661e-01 9.76666499e-01 -6.38446419e-04 7.51725315e+00] [ 2.71407536e-03 5.68950083e-05 9.99996315e-01 1.38529883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720281693 meters 0.031078837509033626 Centerline is valid? [True, True] Translation: X:77.65, Y:7.52, Z:0.14 [[ 9.77009110e-01 -2.13181964e-01 -2.57850524e-03 7.76493916e+01] [ 2.13181059e-01 9.77012511e-01 -6.24095879e-04 7.52479455e+00] [ 2.65227786e-03 6.00588829e-05 9.99996481e-01 1.39285234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750281693 meters 0.03785765370265878 Centerline is valid? [True, True] Translation: X:77.67, Y:7.54, Z:0.14 [[ 9.77716576e-01 -2.09911799e-01 -2.70805684e-03 7.76738050e+01] [ 2.09910787e-01 9.77720324e-01 -6.55838194e-04 7.54290954e+00] [ 2.78539038e-03 7.27735303e-05 9.99996118e-01 1.38270144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780281693 meters 0.039596005272007365 Centerline is valid? [True, True] Translation: X:77.70, Y:7.55, Z:0.14 [[ 9.77874421e-01 -2.09175762e-01 -2.66793337e-03 7.76999723e+01] [ 2.09174777e-01 9.77878057e-01 -6.46290042e-04 7.55158408e+00] [ 2.74410171e-03 7.39261323e-05 9.99996232e-01 1.37366768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81028169300001 meters 0.03946937828045521 Centerline is valid? [True, True] Translation: X:77.73, Y:7.56, Z:0.14 [[ 9.77800486e-01 -2.09521482e-01 -2.63796033e-03 7.77274395e+01] [ 2.09520519e-01 9.77804041e-01 -6.39316128e-04 7.55803856e+00] [ 2.71335873e-03 7.24168046e-05 9.99996316e-01 1.36974881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84028169300001 meters 0.03440670189081703 Centerline is valid? [True, True] Translation: X:77.76, Y:7.56, Z:0.13 [[ 9.77381018e-01 -2.11441733e-01 -4.32877340e-03 7.77570951e+01] [ 2.11439155e-01 9.77390598e-01 -1.05004957e-03 7.55845216e+00] [ 4.45292673e-03 1.11026322e-04 9.99990080e-01 1.34497709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.870281693 meters 0.03006700901061655 Centerline is valid? [True, True] Translation: X:77.79, Y:7.56, Z:0.13 [[ 9.77078434e-01 -2.12802691e-01 -5.72258477e-03 7.77859489e+01] [ 2.12798202e-01 9.77095182e-01 -1.38924360e-03 7.56015952e+00] [ 5.88714479e-03 1.39644212e-04 9.99982661e-01 1.32962380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900281693 meters 0.027699928286222017 Centerline is valid? [True, True] Translation: X:77.81, Y:7.57, Z:0.13 [[ 9.76301051e-01 -2.16322196e-01 -6.40038519e-03 7.78132669e+01] [ 2.16316652e-01 9.76322022e-01 -1.55439649e-03 7.56517007e+00] [ 6.58508747e-03 1.33049026e-04 9.99978309e-01 1.31720949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930281693 meters 0.025645602659797866 Centerline is valid? [True, True] Translation: X:77.84, Y:7.57, Z:0.13 [[ 9.75841255e-01 -2.18398785e-01 -5.98463559e-03 7.78421522e+01] [ 2.18393972e-01 9.75859600e-01 -1.45422813e-03 7.56970857e+00] [ 6.15776575e-03 1.12087465e-04 9.99981035e-01 1.32719488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960281693 meters 0.024002899826846974 Centerline is valid? [True, True] Translation: X:77.87, Y:7.57, Z:0.13 [[ 9.75388595e-01 -2.20429511e-01 -5.28380927e-03 7.78707037e+01] [ 2.20425784e-01 9.75402903e-01 -1.28481457e-03 7.57493837e+00] [ 5.43705395e-03 8.85056723e-05 9.99985215e-01 1.34016809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990281693 meters 0.02189870992880736 Centerline is valid? [True, True] Translation: X:77.90, Y:7.58, Z:0.14 [[ 9.74646657e-01 -2.23718970e-01 -3.70366792e-03 7.78987066e+01] [ 2.23717162e-01 9.74653692e-01 -9.00910244e-04 7.57928289e+00] [ 3.81134432e-03 4.94950831e-05 9.99992736e-01 1.36190640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020281693 meters 0.020035645095464974 Centerline is valid? [True, True] Translation: X:77.93, Y:7.58, Z:0.14 [[ 9.74240220e-01 -2.25486625e-01 -3.43172053e-03 7.79274407e+01] [ 2.25485082e-01 9.74246263e-01 -8.35103575e-04 7.58309331e+00] [ 3.53164559e-03 3.97897050e-05 9.99993763e-01 1.37177988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050281693 meters 0.018487956549176725 Centerline is valid? [True, True] Translation: X:77.96, Y:7.59, Z:0.14 [[ 9.73824569e-01 -2.27274187e-01 -3.48617346e-03 7.79558669e+01] [ 2.27272604e-01 9.73830808e-01 -8.48957239e-04 7.58684098e+00] [ 3.58788919e-03 3.44236977e-05 9.99993563e-01 1.37392903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080281693 meters 0.01610583200734705 Centerline is valid? [True, True] Translation: X:77.99, Y:7.59, Z:0.14 [[ 9.72892163e-01 -2.31236414e-01 -3.24971552e-03 7.79852351e+01] [ 2.31235059e-01 9.72897590e-01 -7.91912837e-04 7.58682636e+00] [ 3.34475948e-03 1.89976337e-05 9.99994406e-01 1.38164909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110281693 meters 0.015637277589450944 Centerline is valid? [True, True] Translation: X:78.01, Y:7.59, Z:0.14 [[ 9.72479141e-01 -2.32969411e-01 -3.09426054e-03 7.80125626e+01] [ 2.32968190e-01 9.72484063e-01 -7.54419143e-04 7.59024843e+00] [ 3.18487565e-03 1.27926030e-05 9.99994928e-01 1.38168595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140281693 meters 0.015037135782131917 Centerline is valid? [True, True] Translation: X:78.04, Y:7.59, Z:0.14 [[ 9.72060590e-01 -2.34700302e-01 -3.73856495e-03 7.80410975e+01] [ 2.34698530e-01 9.72067780e-01 -9.12004158e-04 7.59209075e+00] [ 3.84818618e-03 9.08760185e-06 9.99992596e-01 1.38052697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170281693 meters 0.014930317190118985 Centerline is valid? [True, True] Translation: X:78.07, Y:7.60, Z:0.14 [[ 9.72078679e-01 -2.34631360e-01 -3.34156422e-03 7.80688072e+01] [ 2.34629942e-01 9.72084423e-01 -8.15769574e-04 7.59756991e+00] [ 3.43968765e-03 8.96119036e-06 9.99994084e-01 1.39089106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20028169300001 meters 0.015181891151157288 Centerline is valid? [True, True] Translation: X:78.10, Y:7.60, Z:0.14 [[ 9.72218723e-01 -2.34054829e-01 -3.01518277e-03 7.80953260e+01] [ 2.34053671e-01 9.72223399e-01 -7.36522759e-04 7.60314654e+00] [ 3.10381795e-03 1.03466214e-05 9.99995183e-01 1.40359925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.230281693 meters 0.01590300024824651 Centerline is valid? [True, True] Translation: X:78.12, Y:7.61, Z:0.14 [[ 9.72679386e-01 -2.32143959e-01 -1.99838354e-03 7.81223929e+01] [ 2.32143445e-01 9.72681439e-01 -4.88260734e-04 7.60857772e+00] [ 2.05713736e-03 1.10095104e-05 9.99997884e-01 1.42850745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260281693 meters 0.016900286131637885 Centerline is valid? [True, True] Translation: X:78.15, Y:7.62, Z:0.14 [[ 9.72994090e-01 -2.30826151e-01 -1.33741617e-03 7.81500367e+01] [ 2.30825920e-01 9.72995009e-01 -3.26745601e-04 7.61626014e+00] [ 1.37672069e-03 9.21122076e-06 9.99999052e-01 1.43776704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290281693 meters 0.020013018215016987 Centerline is valid? [True, True] Translation: X:78.18, Y:7.63, Z:0.15 [[ 9.73976103e-01 -2.26648911e-01 -9.06245574e-04 7.81765755e+01] [ 2.26648803e-01 9.73976525e-01 -2.21563479e-04 7.62710955e+00] [ 9.32879036e-04 1.03980600e-05 9.99999565e-01 1.45882626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320281693 meters 0.020013018215016987 Centerline is valid? [True, True] Translation: X:78.20, Y:7.63, Z:0.15 [[ 9.73935038e-01 -2.26825309e-01 -9.06264266e-04 7.82032250e+01] [ 2.26825201e-01 9.73935459e-01 -2.21487137e-04 7.63383928e+00] [ 9.32881792e-04 1.01505092e-05 9.99999565e-01 1.45937321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350281693 meters 0.02277273724192954 Centerline is valid? [True, True] Translation: X:78.23, Y:7.65, Z:0.15 [[ 9.74576315e-01 -2.24054687e-01 -7.09573475e-04 7.82292186e+01] [ 2.24054620e-01 9.74576573e-01 -1.73634345e-04 7.64517151e+00] [ 7.30437275e-04 1.02367050e-05 9.99999733e-01 1.46556028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380281693 meters 0.02606075561157795 Centerline is valid? [True, True] Translation: X:78.26, Y:7.66, Z:0.15 [[ 9.75318861e-01 -2.20799527e-01 -8.29584083e-04 7.82559098e+01] [ 2.20799434e-01 9.75319214e-01 -2.03096660e-04 7.65838871e+00] [ 8.53952942e-04 1.49123077e-05 9.99999635e-01 1.46934906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410281693 meters 0.034804433867254535 Centerline is valid? [True, True] Translation: X:78.28, Y:7.68, Z:0.15 [[ 9.76889666e-01 -2.13740182e-01 -1.30965001e-03 7.82803466e+01] [ 2.13739944e-01 9.76890543e-01 -3.20719956e-04 7.68201573e+00] [ 1.34793545e-03 3.33834912e-05 9.99999091e-01 1.45525550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440281693 meters 0.03740630839957367 Centerline is valid? [True, True] Translation: X:78.31, Y:7.70, Z:0.14 [[ 9.77546398e-01 -2.10708912e-01 -2.18944658e-03 7.83075820e+01] [ 2.10708239e-01 9.77548848e-01 -5.36251060e-04 7.69562143e+00] [ 2.25328386e-03 6.28758598e-05 9.99997459e-01 1.43851689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470281693 meters 0.03935095543297364 Centerline is valid? [True, True] Translation: X:78.33, Y:7.71, Z:0.14 [[ 9.78041400e-01 -2.08386310e-01 -3.18843189e-03 7.83349967e+01] [ 2.08384870e-01 9.78046592e-01 -7.81024295e-04 7.70857467e+00] [ 3.28118971e-03 9.94531301e-05 9.99994612e-01 1.42232487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500281693 meters 0.041001184467633026 Centerline is valid? [True, True] Translation: X:78.36, Y:7.72, Z:0.14 [[ 9.78534742e-01 -2.06033067e-01 -4.48713829e-03 7.83612727e+01] [ 2.06030189e-01 9.78545018e-01 -1.09934769e-03 7.72394342e+00] [ 4.61736879e-03 1.51263961e-04 9.99989328e-01 1.39861246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530281693 meters 0.04567578534052625 Centerline is valid? [True, True] Translation: X:78.39, Y:7.74, Z:0.14 [[ 9.78557838e-01 -2.05923698e-01 -4.47087181e-03 7.83858190e+01] [ 2.05920839e-01 9.78568039e-01 -1.09561523e-03 7.74003364e+00] [ 4.60066540e-03 1.51477190e-04 9.99989405e-01 1.39438189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56028169300001 meters 0.04306653891514476 Centerline is valid? [True, True] Translation: X:78.41, Y:7.75, Z:0.14 [[ 9.78162508e-01 -2.07808228e-01 -3.72142142e-03 7.84134670e+01] [ 2.07806259e-01 9.78169579e-01 -9.12321861e-04 7.75007629e+00] [ 3.82976922e-03 1.19064374e-04 9.99992659e-01 1.41614562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59028169300001 meters 0.04068285040374444 Centerline is valid? [True, True] Translation: X:78.44, Y:7.76, Z:0.14 [[ 9.77663609e-01 -2.10150888e-01 -3.23607663e-03 7.84405479e+01] [ 2.10149411e-01 9.77668960e-01 -7.93662625e-04 7.75716401e+00] [ 3.33060057e-03 9.58754694e-05 9.99994449e-01 1.42194759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.620281693 meters 0.037830116631340435 Centerline is valid? [True, True] Translation: X:78.47, Y:7.76, Z:0.14 [[ 9.77020218e-01 -2.13130865e-01 -2.59393826e-03 7.84690090e+01] [ 2.13129926e-01 9.77023659e-01 -6.36277971e-04 7.76440281e+00] [ 2.66994953e-03 6.88105714e-05 9.99996433e-01 1.44107462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650281693 meters 0.028342925363401616 Centerline is valid? [True, True] Translation: X:78.50, Y:7.77, Z:0.15 [[ 9.75677101e-01 -2.19207721e-01 -1.47277469e-03 7.84990977e+01] [ 2.19207425e-01 9.75678212e-01 -3.61277174e-04 7.76578887e+00] [ 1.51614892e-03 2.96467180e-05 9.99998850e-01 1.45771629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680281693 meters 0.026226949799708625 Centerline is valid? [True, True] Translation: X:78.53, Y:7.77, Z:0.15 [[ 9.74879663e-01 -2.22728353e-01 -1.31301993e-03 7.85262940e+01] [ 2.22728121e-01 9.74880547e-01 -3.22092548e-04 7.77229750e+00] [ 1.35177673e-03 2.15550125e-05 9.99999086e-01 1.45635998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710281693 meters 0.022421530359179504 Centerline is valid? [True, True] Translation: X:78.55, Y:7.77, Z:0.14 [[ 9.74043202e-01 -2.26353424e-01 -1.99218512e-03 7.85542325e+01] [ 2.26352898e-01 9.74045239e-01 -4.88873069e-04 7.77474865e+00] [ 2.05113652e-03 2.52466153e-05 9.99997896e-01 1.44091343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740281693 meters 0.01525673327560052 Centerline is valid? [True, True] Translation: X:78.59, Y:7.77, Z:0.14 [[ 9.72018724e-01 -2.34864799e-01 -4.25750234e-03 7.85856483e+01] [ 2.34862475e-01 9.72028048e-01 -1.04511689e-03 7.76693286e+00] [ 4.38387286e-03 1.59456515e-05 9.99990391e-01 1.39884228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770281693 meters 0.01483224547987573 Centerline is valid? [True, True] Translation: X:78.61, Y:7.77, Z:0.14 [[ 9.70800644e-01 -2.39832648e-01 -5.13918328e-03 7.86135450e+01] [ 2.39829328e-01 9.70814246e-01 -1.26192763e-03 7.76541982e+00] [ 5.29184379e-03 -7.44671429e-06 9.99985998e-01 1.38378214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800281693 meters 0.020886040167023372 Centerline is valid? [True, True] Translation: X:78.65, Y:7.76, Z:0.14 [[ 9.68245390e-01 -2.49964080e-01 -4.33869188e-03 7.86457970e+01] [ 2.49961814e-01 9.68255109e-01 -1.06558708e-03 7.75518500e+00] [ 4.46731907e-03 -5.27575202e-05 9.99990020e-01 1.40399569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830281693 meters 0.0251327791307155 Centerline is valid? [True, True] Translation: X:78.68, Y:7.75, Z:0.14 [[ 9.67127171e-01 -2.54274983e-01 -3.04444757e-03 7.86760204e+01] [ 2.54273888e-01 9.67131961e-01 -7.47805622e-04 7.75431201e+00] [ 3.13453081e-03 -5.09003852e-05 9.99995086e-01 1.42688578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860281693 meters 0.02666733843040877 Centerline is valid? [True, True] Translation: X:78.71, Y:7.76, Z:0.14 [[ 9.66089921e-01 -2.58197254e-01 -2.10767101e-03 7.87058193e+01] [ 2.58196738e-01 9.66092219e-01 -5.17756645e-04 7.75730400e+00] [ 2.16988791e-03 -4.39943049e-05 9.99997645e-01 1.44409037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890281693 meters 0.03714722300480193 Centerline is valid? [True, True] Translation: X:78.74, Y:7.74, Z:0.14 [[ 9.64458813e-01 -2.64220434e-01 -2.60014633e-03 7.87390712e+01] [ 2.64219672e-01 9.64462315e-01 -6.38804371e-04 7.74487152e+00] [ 2.67652831e-03 -7.09093031e-05 9.99996416e-01 1.43445737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920281693 meters 0.039764009729551165 Centerline is valid? [True, True] Translation: X:78.77, Y:7.75, Z:0.14 [[ 9.63895298e-01 -2.66254444e-01 -3.79813284e-03 7.87689706e+01] [ 2.66252832e-01 9.63902774e-01 -9.33233884e-04 7.74612322e+00] [ 3.90950845e-03 -1.11723872e-04 9.99992352e-01 1.40685525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95028169300001 meters 0.043886078565613884 Centerline is valid? [True, True] Translation: X:78.80, Y:7.74, Z:0.14 [[ 9.63080690e-01 -2.69135092e-01 -6.47209472e-03 7.87995665e+01] [ 2.69130474e-01 9.63102413e-01 -1.59048490e-03 7.74233318e+00] [ 6.66134535e-03 -2.10072628e-04 9.99977791e-01 1.35215549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.980281693 meters 0.044348504638579096 Centerline is valid? [True, True] Translation: X:78.83, Y:7.75, Z:0.14 [[ 9.62811284e-01 -2.70100736e-01 -6.32638643e-03 7.88285623e+01] [ 2.70096340e-01 9.62832046e-01 -1.55542660e-03 7.74546169e+00] [ 6.51136946e-03 -2.11151539e-04 9.99978779e-01 1.36412348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010281693 meters 0.045656612634400094 Centerline is valid? [True, True] Translation: X:78.86, Y:7.75, Z:0.14 [[ 9.62712763e-01 -2.70508487e-01 -3.04871716e-03 7.88570347e+01] [ 2.70507467e-01 9.62717585e-01 -7.49778704e-04 7.74654605e+00] [ 3.13787512e-03 -1.02879230e-04 9.99995072e-01 1.44952292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040281693 meters 0.04054491302712183 Centerline is valid? [True, True] Translation: X:78.88, Y:7.76, Z:0.15 [[ 9.62924173e-01 -2.69766526e-01 -1.74871091e-03 7.88834389e+01] [ 2.69766189e-01 9.62925759e-01 -4.30097116e-04 7.75989781e+00] [ 1.79990458e-03 -5.75921676e-05 9.99998379e-01 1.47656766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070281693 meters 0.03840384435019581 Centerline is valid? [True, True] Translation: X:78.91, Y:7.77, Z:0.15 [[ 9.63353064e-01 -2.68235230e-01 -8.57467377e-04 7.89108847e+01] [ 2.68235149e-01 9.63353445e-01 -2.10885704e-04 7.76870854e+00] [ 8.82611127e-04 -2.68455000e-05 9.99999610e-01 1.48895211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100281693 meters 0.035670054252555164 Centerline is valid? [True, True] Translation: X:78.94, Y:7.77, Z:0.15 [[ 9.64011304e-01 -2.65861229e-01 -1.12397048e-04 7.89386585e+01] [ 2.65861228e-01 9.64011310e-01 -2.75958763e-05 7.77439873e+00] [ 1.15688699e-04 -3.27928041e-06 9.99999993e-01 1.49739437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130281693 meters 0.03678472932600072 Centerline is valid? [True, True] Translation: X:78.97, Y:7.78, Z:0.15 [[ 9.63949915e-01 -2.66082884e-01 -6.77655821e-04 7.89661081e+01] [ 2.66082833e-01 9.63950153e-01 -1.66857191e-04 7.77751917e+00] [ 6.97624275e-04 -1.94706052e-05 9.99999756e-01 1.48380159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160281693 meters 0.037218312464418514 Centerline is valid? [True, True] Translation: X:79.00, Y:7.78, Z:0.14 [[ 9.63657925e-01 -2.67119736e-01 -3.23276236e-03 7.89951526e+01] [ 2.67118565e-01 9.63663342e-01 -7.96752336e-04 7.78128693e+00] [ 3.32812285e-03 -9.57341383e-05 9.99994457e-01 1.43296074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190281693 meters 0.04287749968581086 Centerline is valid? [True, True] Translation: X:79.02, Y:7.78, Z:0.14 [[ 9.63519590e-01 -2.67617720e-01 -3.27969275e-03 7.90243963e+01] [ 2.67616516e-01 9.63525166e-01 -8.08725800e-04 7.77874669e+00] [ 3.37649585e-03 -9.84767967e-05 9.99994295e-01 1.42159135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220281693 meters 0.03637345545202867 Centerline is valid? [True, True] Translation: X:79.05, Y:7.79, Z:0.15 [[ 9.63315241e-01 -2.68361428e-01 -2.42717404e-03 7.90510832e+01] [ 2.68360771e-01 9.63318295e-01 -5.98676196e-04 7.79054352e+00] [ 2.49880276e-03 -7.46443935e-05 9.99996875e-01 1.45711522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250281693 meters 0.03585881868180329 Centerline is valid? [True, True] Translation: X:79.08, Y:7.80, Z:0.15 [[ 9.63300219e-01 -2.68414041e-01 -2.56718837e-03 7.90782217e+01] [ 2.68413305e-01 9.63303637e-01 -6.33685486e-04 7.79698660e+00] [ 2.64307197e-03 -7.86381456e-05 9.99996504e-01 1.46233549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280281693 meters 0.034466750861290876 Centerline is valid? [True, True] Translation: X:79.11, Y:7.80, Z:0.14 [[ 9.63538477e-01 -2.67547987e-01 -3.41734294e-03 7.91059957e+01] [ 2.67546674e-01 9.63544532e-01 -8.44302181e-04 7.80356097e+00] [ 3.51865345e-03 -1.00781099e-04 9.99993804e-01 1.44064138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31028169300001 meters 0.03883781549224777 Centerline is valid? [True, True] Translation: X:79.13, Y:7.80, Z:0.14 [[ 9.63809803e-01 -2.66565965e-01 -3.64014890e-03 7.91347250e+01] [ 2.66564466e-01 9.63816671e-01 -8.99811018e-04 7.80249801e+00] [ 3.74829519e-03 -1.03087668e-04 9.99992970e-01 1.42850441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34028169300001 meters 0.03744039242137541 Centerline is valid? [True, True] Translation: X:79.16, Y:7.81, Z:0.14 [[ 9.64097457e-01 -2.65526093e-01 -3.46220927e-03 7.91629665e+01] [ 2.65524729e-01 9.64103669e-01 -8.56181702e-04 7.80971676e+00] [ 3.56526725e-03 -9.38595777e-05 9.99993640e-01 1.42862540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.370281693 meters 0.03353398605249574 Centerline is valid? [True, True] Translation: X:79.19, Y:7.82, Z:0.14 [[ 9.65015030e-01 -2.62179701e-01 -2.79207951e-03 7.91904181e+01] [ 2.62178800e-01 9.65019067e-01 -6.90739387e-04 7.81858427e+00] [ 2.87550781e-03 -6.54501648e-05 9.99995864e-01 1.44636661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400281693 meters 0.030038962174357656 Centerline is valid? [True, True] Translation: X:79.22, Y:7.83, Z:0.14 [[ 9.65612536e-01 -2.59967310e-01 -3.07063266e-03 7.92172479e+01] [ 2.59966208e-01 9.65617416e-01 -7.59775551e-04 7.82866101e+00] [ 3.16257318e-03 -6.46119321e-05 9.99994997e-01 1.43924593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430281693 meters 0.02727738129704576 Centerline is valid? [True, True] Translation: X:79.24, Y:7.84, Z:0.14 [[ 9.66265310e-01 -2.57521889e-01 -3.71862325e-03 7.92446162e+01] [ 2.57520254e-01 9.66272463e-01 -9.20298725e-04 7.83783763e+00] [ 3.83020031e-03 -6.83680705e-05 9.99992662e-01 1.43209957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460281693 meters 0.022203714646234888 Centerline is valid? [True, True] Translation: X:79.27, Y:7.85, Z:0.14 [[ 9.67556758e-01 -2.52612294e-01 -4.57697971e-03 7.92726968e+01] [ 2.52609761e-01 9.67567582e-01 -1.13298731e-03 7.84954137e+00] [ 4.71474372e-03 -5.99602190e-05 9.99988884e-01 1.41592248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490281693 meters 0.01837745901424482 Centerline is valid? [True, True] Translation: X:79.30, Y:7.86, Z:0.14 [[ 9.68105617e-01 -2.50493538e-01 -4.95000349e-03 7.92993256e+01] [ 2.50490543e-01 9.68118270e-01 -1.22597395e-03 7.86159886e+00] [ 5.09928736e-03 -5.30567918e-05 9.99986997e-01 1.41444136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520281693 meters 0.015879295771620408 Centerline is valid? [True, True] Translation: X:79.33, Y:7.87, Z:0.14 [[ 9.69184052e-01 -2.46290914e-01 -4.80198697e-03 7.93253081e+01] [ 2.46288042e-01 9.69195948e-01 -1.18982156e-03 7.87309457e+00] [ 4.94710855e-03 -2.95158875e-05 9.99987763e-01 1.41136880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550281693 meters 0.014990993081431888 Centerline is valid? [True, True] Translation: X:79.35, Y:7.88, Z:0.14 [[ 9.69701109e-01 -2.44262403e-01 -3.95442988e-03 7.93516072e+01] [ 2.44260437e-01 9.69709172e-01 -9.80040777e-04 7.88270768e+00] [ 4.07403404e-03 -1.55641444e-05 9.99991701e-01 1.42951690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580281693 meters 0.014320292375374638 Centerline is valid? [True, True] Translation: X:79.38, Y:7.89, Z:0.14 [[ 9.70189317e-01 -2.42324496e-01 -3.39533337e-03 7.93776965e+01] [ 2.42323034e-01 9.70195258e-01 -8.41873015e-04 7.89281423e+00] [ 3.49814279e-03 -5.99127775e-06 9.99993881e-01 1.44115372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610281693 meters 0.014889078438045756 Centerline is valid? [True, True] Translation: X:79.40, Y:7.91, Z:0.15 [[ 9.71448660e-01 -2.37233412e-01 -2.79461530e-03 7.94024798e+01] [ 2.37232399e-01 9.71452679e-01 -6.93296069e-04 7.90907521e+00] [ 2.87930952e-03 1.05282432e-05 9.99995855e-01 1.45331420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640281693 meters 0.016115544137551594 Centerline is valid? [True, True] Translation: X:79.43, Y:7.92, Z:0.15 [[ 9.72151804e-01 -2.34335149e-01 -2.81205756e-03 7.94293745e+01] [ 2.34334110e-01 9.72155871e-01 -6.97900708e-04 7.92189206e+00] [ 2.89730093e-03 1.95044258e-05 9.99995803e-01 1.45941408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670281693 meters 0.020658215026867092 Centerline is valid? [True, True] Translation: X:79.45, Y:7.94, Z:0.14 [[ 9.73526384e-01 -2.28549008e-01 -3.42516649e-03 7.94537853e+01] [ 2.28547429e-01 9.73532408e-01 -8.50538391e-04 7.94399599e+00] [ 3.52890029e-03 4.52085672e-05 9.99993772e-01 1.44903194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70028169300001 meters 0.022913836434106064 Centerline is valid? [True, True] Translation: X:79.48, Y:7.96, Z:0.14 [[ 9.73994346e-01 -2.26545538e-01 -3.48327743e-03 7.94792342e+01] [ 2.26543892e-01 9.74000573e-01 -8.65138309e-04 7.95782574e+00] [ 3.58870744e-03 5.35245952e-05 9.99993559e-01 1.44573066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.730281693 meters 0.02462235466408126 Centerline is valid? [True, True] Translation: X:79.50, Y:7.97, Z:0.14 [[ 9.74311450e-01 -2.25178108e-01 -3.46667233e-03 7.95047776e+01] [ 2.25176469e-01 9.74317616e-01 -8.61225231e-04 7.96969974e+00] [ 3.57156899e-03 5.84885694e-05 9.99993620e-01 1.44323863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760281693 meters 0.02525926194644738 Centerline is valid? [True, True] Translation: X:79.53, Y:7.98, Z:0.14 [[ 9.74410050e-01 -2.24757533e-01 -3.01777812e-03 7.95320608e+01] [ 2.24756287e-01 9.74414721e-01 -7.49990168e-04 7.98109983e+00] [ 3.10913337e-03 5.25333490e-05 9.99995165e-01 1.44661165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790281693 meters 0.02315218396050404 Centerline is valid? [True, True] Translation: X:79.56, Y:7.99, Z:0.14 [[ 9.74233784e-01 -2.25516402e-01 -3.29963562e-03 7.95608970e+01] [ 2.25514915e-01 9.74239370e-01 -8.20634296e-04 7.98597567e+00] [ 3.39970142e-03 5.53726073e-05 9.99994219e-01 1.44036137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820281693 meters 0.02263882464183117 Centerline is valid? [True, True] Translation: X:79.59, Y:7.99, Z:0.14 [[ 9.74019874e-01 -2.26431499e-01 -3.74993497e-03 7.95875196e+01] [ 2.26429585e-01 9.74027090e-01 -9.33128600e-04 7.99332121e+00] [ 3.86382796e-03 5.97895831e-05 9.99992534e-01 1.43080223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850281693 meters 0.02059506476338616 Centerline is valid? [True, True] Translation: X:79.62, Y:8.00, Z:0.14 [[ 9.73481988e-01 -2.28741508e-01 -3.18462904e-03 7.96156668e+01] [ 2.28740139e-01 9.73487196e-01 -7.92782928e-04 7.99888919e+00] [ 3.28153796e-03 4.33074120e-05 9.99994615e-01 1.43873978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880281693 meters 0.020668913493062123 Centerline is valid? [True, True] Translation: X:79.64, Y:8.01, Z:0.14 [[ 9.73221243e-01 -2.29848974e-01 -3.14012009e-03 7.96421405e+01] [ 2.29847647e-01 9.73226308e-01 -7.82114478e-04 8.00605466e+00] [ 3.23581569e-03 3.94212119e-05 9.99994764e-01 1.44213326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910281693 meters 0.019604125228785803 Centerline is valid? [True, True] Translation: X:79.67, Y:8.01, Z:0.14 [[ 9.73111033e-01 -2.30308068e-01 -3.62095677e-03 7.96691183e+01] [ 2.30306304e-01 9.73117769e-01 -9.02356697e-04 8.01289791e+00] [ 3.73143740e-03 4.41640854e-05 9.99993037e-01 1.44483355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940281693 meters 0.021080124151636292 Centerline is valid? [True, True] Translation: X:79.70, Y:8.02, Z:0.14 [[ 9.73395466e-01 -2.29106796e-01 -3.36802683e-03 7.96953481e+01] [ 2.29105262e-01 9.73401291e-01 -8.39820916e-04 8.02352261e+00] [ 3.47085035e-03 4.58452028e-05 9.99993976e-01 1.44871808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970281693 meters 0.02310400586588378 Centerline is valid? [True, True] Translation: X:79.72, Y:8.03, Z:0.15 [[ 9.73807516e-01 -2.27357999e-01 -2.69484101e-03 7.97210629e+01] [ 2.27357009e-01 9.73811244e-01 -6.72152046e-04 8.03468884e+00] [ 2.77708562e-03 4.18557228e-05 9.99996143e-01 1.45887897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000281693 meters 0.027408412607909338 Centerline is valid? [True, True] Translation: X:79.75, Y:8.05, Z:0.15 [[ 9.74777382e-01 -2.23177774e-01 -8.58124616e-04 7.97466431e+01] [ 2.23177672e-01 9.74777760e-01 -2.14033390e-04 8.05090761e+00] [ 8.84248286e-04 1.71206533e-05 9.99999609e-01 1.50193021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030281693 meters 0.028041079354678897 Centerline is valid? [True, True] Translation: X:79.77, Y:8.06, Z:0.15 [[ 9.75124805e-01 -2.21656331e-01 2.93064015e-04 7.97738109e+01] [ 2.21656319e-01 9.75124849e-01 7.35060357e-05 8.06147702e+00] [-3.02067082e-04 -6.71806781e-06 9.99999954e-01 1.52347972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06028169300001 meters 0.033326924499827146 Centerline is valid? [True, True] Translation: X:79.80, Y:8.08, Z:0.15 [[ 9.75927606e-01 -2.18094078e-01 5.31055447e-04 7.97977825e+01] [ 2.18094038e-01 9.75927750e-01 1.32712740e-04 8.08194505e+00] [-5.47215610e-04 -1.36979999e-05 9.99999850e-01 1.53424570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09028169300001 meters 0.032933827431206174 Centerline is valid? [True, True] Translation: X:79.82, Y:8.09, Z:0.15 [[ 9.76329141e-01 -2.16289403e-01 -5.49926355e-04 7.98247072e+01] [ 2.16289360e-01 9.76329296e-01 -1.37243517e-04 8.09148782e+00] [ 5.66593529e-04 1.50516264e-05 9.99999839e-01 1.51238057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.120281693 meters 0.0349052281830302 Centerline is valid? [True, True] Translation: X:79.85, Y:8.10, Z:0.15 [[ 9.76730335e-01 -2.14464866e-01 -1.63492781e-03 7.98513968e+01] [ 2.14464483e-01 9.76731703e-01 -4.08332561e-04 8.10428802e+00] [ 1.68445881e-03 4.81968517e-05 9.99998580e-01 1.49034864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150281693 meters 0.04163430541065418 Centerline is valid? [True, True] Translation: X:79.88, Y:8.13, Z:0.15 [[ 9.77561715e-01 -2.10620202e-01 -3.49621422e-03 7.98757147e+01] [ 2.10618422e-01 9.77567960e-01 -8.73933330e-04 8.12727352e+00] [ 3.60185502e-03 1.17956643e-04 9.99993506e-01 1.46791005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180281693 meters 0.04189736149461161 Centerline is valid? [True, True] Translation: X:79.90, Y:8.14, Z:0.15 [[ 9.77924501e-01 -2.08933388e-01 -3.24187722e-03 7.99030767e+01] [ 2.08931848e-01 9.77929868e-01 -8.10402483e-04 8.13918777e+00] [ 3.33964870e-03 1.15181043e-04 9.99994417e-01 1.47459293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210281693 meters 0.045321604482940786 Centerline is valid? [True, True] Translation: X:79.93, Y:8.16, Z:0.15 [[ 9.78513897e-01 -2.06169906e-01 -2.12698922e-03 7.99283011e+01] [ 2.06169237e-01 9.78516205e-01 -5.31741820e-04 8.15942399e+00] [ 2.19092258e-03 8.17970152e-05 9.99997597e-01 1.49465190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240281693 meters 0.045321604482940786 Centerline is valid? [True, True] Translation: X:79.95, Y:8.17, Z:0.15 [[ 9.78475864e-01 -2.06350334e-01 -2.12696356e-03 7.99549199e+01] [ 2.06349664e-01 9.78478172e-01 -5.31844465e-04 8.16627813e+00] [ 2.19093370e-03 8.14987563e-05 9.99997597e-01 1.49519893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270281693 meters 0.048777189136418465 Centerline is valid? [True, True] Translation: X:79.98, Y:8.18, Z:0.15 [[ 9.78544940e-01 -2.06023355e-01 -2.04383059e-03 7.99802070e+01] [ 2.06022735e-01 9.78547071e-01 -5.11430947e-04 8.18113744e+00] [ 2.10535115e-03 7.93825983e-05 9.99997781e-01 1.48916003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300281693 meters 0.04485283811476719 Centerline is valid? [True, True] Translation: X:80.01, Y:8.19, Z:0.15 [[ 9.78198155e-01 -2.07656431e-01 -2.67884099e-03 8.00077669e+01] [ 2.07655372e-01 9.78201818e-01 -6.70596768e-04 8.18838755e+00] [ 2.75970086e-03 9.97007980e-05 9.99996187e-01 1.47324917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330281693 meters 0.04361654698466079 Centerline is valid? [True, True] Translation: X:80.04, Y:8.20, Z:0.15 [[ 9.77882350e-01 -2.09140356e-01 -2.53378780e-03 8.00351829e+01] [ 2.09139414e-01 9.77885629e-01 -6.34402581e-04 8.19679111e+00] [ 2.61043386e-03 9.04561911e-05 9.99996589e-01 1.48229700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360281693 meters 0.03762003427646644 Centerline is valid? [True, True] Translation: X:80.07, Y:8.20, Z:0.15 [[ 9.77250065e-01 -2.12089602e-01 -5.57729205e-04 8.00650561e+01] [ 2.12089557e-01 9.77250224e-01 -1.39645872e-04 8.20057681e+00] [ 5.74658428e-04 1.81803973e-05 9.99999835e-01 1.52954651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390281693 meters 0.03964796267702843 Centerline is valid? [True, True] Translation: X:80.09, Y:8.21, Z:0.16 [[ 9.76944391e-01 -2.13492328e-01 8.25984448e-04 8.00913105e+01] [ 2.13492229e-01 9.76944740e-01 2.07331466e-04 8.21244377e+00] [-8.51204839e-04 -2.62100526e-05 9.99999637e-01 1.55713991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420281693 meters 0.03656108772366731 Centerline is valid? [True, True] Translation: X:80.12, Y:8.22, Z:0.16 [[ 9.76775883e-01 -2.14259420e-01 1.33274309e-03 8.01193856e+01] [ 2.14259163e-01 9.76776791e-01 3.34555176e-04 8.21765597e+00] [-1.37347412e-03 -4.12330080e-05 9.99999056e-01 1.56699958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45028169300001 meters 0.03848660006020178 Centerline is valid? [True, True] Translation: X:80.14, Y:8.23, Z:0.15 [[ 9.76477435e-01 -2.15619510e-01 -2.15380023e-04 8.01447075e+01] [ 2.15619504e-01 9.76477458e-01 -5.39059310e-05 8.23206234e+00] [ 2.21936908e-04 6.19779158e-06 9.99999975e-01 1.53533045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.480281693 meters 0.0338901845807542 Centerline is valid? [True, True] Translation: X:80.17, Y:8.24, Z:0.15 [[ 9.76169233e-01 -2.17006416e-01 -1.35794560e-03 8.01739232e+01] [ 2.17006152e-01 9.76170177e-01 -3.40523115e-04 8.23536965e+00] [ 1.39948170e-03 3.77256392e-05 9.99999020e-01 1.51284189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510281693 meters 0.033223421570227146 Centerline is valid? [True, True] Translation: X:80.20, Y:8.25, Z:0.15 [[ 9.75450130e-01 -2.20214249e-01 -1.65163661e-03 8.02014478e+01] [ 2.20213862e-01 9.75451528e-01 -4.14575505e-04 8.24530589e+00] [ 1.70238688e-03 4.06844545e-05 9.99998550e-01 1.50854618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540281693 meters 0.028988833891845867 Centerline is valid? [True, True] Translation: X:80.23, Y:8.25, Z:0.15 [[ 9.75008826e-01 -2.22164918e-01 -7.33434070e-04 8.02306541e+01] [ 2.22164842e-01 9.75009102e-01 -1.83911167e-04 8.24791185e+00] [ 7.55963504e-04 1.63717467e-05 9.99999714e-01 1.52806761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570281693 meters 0.028687551185913464 Centerline is valid? [True, True] Translation: X:80.26, Y:8.26, Z:0.15 [[ 9.74398940e-01 -2.24825619e-01 3.83979983e-04 8.02571252e+01] [ 2.24825598e-01 9.74399015e-01 9.66041300e-05 8.25536316e+00] [-3.95868801e-04 -7.80243245e-06 9.99999922e-01 1.54894886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600281693 meters 0.020540389060302304 Centerline is valid? [True, True] Translation: X:80.29, Y:8.25, Z:0.15 [[ 9.72945313e-01 -2.31035505e-01 -1.20081968e-04 8.02884344e+01] [ 2.31035503e-01 9.72945320e-01 -3.01286454e-05 8.25226662e+00] [ 1.23793976e-04 1.57032652e-06 9.99999992e-01 1.52745488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630281693 meters 0.0183709567971497 Centerline is valid? [True, True] Translation: X:80.32, Y:8.26, Z:0.15 [[ 9.72245552e-01 -2.33959748e-01 -1.19329594e-03 8.03166695e+01] [ 2.33959556e-01 9.72246284e-01 -2.99746957e-04 8.25656513e+00] [ 1.23030627e-03 1.22446563e-05 9.99999243e-01 1.50619940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660281693 meters 0.016135594823040274 Centerline is valid? [True, True] Translation: X:80.34, Y:8.26, Z:0.15 [[ 9.71362485e-01 -2.37590077e-01 -2.42446951e-03 8.03444010e+01] [ 2.37589295e-01 9.71365511e-01 -6.09732510e-04 8.25927068e+00] [ 2.49991246e-03 1.62432847e-05 9.99996875e-01 1.48183326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690281693 meters 0.015405952676235339 Centerline is valid? [True, True] Translation: X:80.37, Y:8.26, Z:0.15 [[ 9.71035936e-01 -2.38915998e-01 -2.89085921e-03 8.03722980e+01] [ 2.38914891e-01 9.71040239e-01 -7.27421461e-04 8.26491282e+00] [ 2.98093325e-03 1.56830636e-05 9.99995557e-01 1.47719282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720281693 meters 0.015152521318784841 Centerline is valid? [True, True] Translation: X:80.40, Y:8.27, Z:0.15 [[ 9.70827067e-01 -2.39758624e-01 -3.25711221e-03 8.03993595e+01] [ 2.39757221e-01 9.70832530e-01 -8.20264445e-04 8.27189445e+00] [ 3.35877596e-03 1.54187516e-05 9.99994359e-01 1.46872132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750281693 meters 0.015235486519734711 Centerline is valid? [True, True] Translation: X:80.42, Y:8.28, Z:0.15 [[ 9.70776371e-01 -2.39955847e-01 -3.79842011e-03 8.04245856e+01] [ 2.39953939e-01 9.70783802e-01 -9.57272188e-04 8.28117156e+00] [ 3.91714778e-03 1.78513551e-05 9.99992328e-01 1.45499838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780281693 meters 0.015468180521993271 Centerline is valid? [True, True] Translation: X:80.45, Y:8.29, Z:0.15 [[ 9.70855256e-01 -2.39638035e-01 -3.69909887e-03 8.04510285e+01] [ 2.39636220e-01 9.70862303e-01 -9.32828891e-04 8.29032636e+00] [ 3.81485693e-03 1.92037610e-05 9.99992723e-01 1.45843453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81028169300001 meters 0.017257056641769575 Centerline is valid? [True, True] Translation: X:80.48, Y:8.31, Z:0.15 [[ 9.71501190e-01 -2.37003036e-01 -3.87275602e-03 8.04751901e+01] [ 2.37001023e-01 9.71508909e-01 -9.77146570e-04 8.30621246e+00] [ 3.99400368e-03 3.14519159e-05 9.99992023e-01 1.45543923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84028169300001 meters 0.01915422214485175 Centerline is valid? [True, True] Translation: X:80.50, Y:8.32, Z:0.14 [[ 9.72049654e-01 -2.34731214e-01 -4.55268823e-03 8.05008970e+01] [ 2.34728406e-01 9.72060314e-01 -1.14902070e-03 8.32005508e+00] [ 4.69519858e-03 4.82599236e-05 9.99988976e-01 1.44501381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.870281693 meters 0.022017040250584277 Centerline is valid? [True, True] Translation: X:80.53, Y:8.34, Z:0.14 [[ 9.72696706e-01 -2.32031466e-01 -4.74511632e-03 8.05255935e+01] [ 2.32028383e-01 9.72708278e-01 -1.19787376e-03 8.33574017e+00] [ 4.89355834e-03 6.41661999e-05 9.99988024e-01 1.43779631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900281693 meters 0.0285366694682581 Centerline is valid? [True, True] Translation: X:80.55, Y:8.36, Z:0.14 [[ 9.74089724e-01 -2.26116363e-01 -4.53884161e-03 8.05493396e+01] [ 2.26113477e-01 9.74100294e-01 -1.14597227e-03 8.36301713e+00] [ 4.68041003e-03 8.99865527e-05 9.99989043e-01 1.44598649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930281693 meters 0.029693305563568632 Centerline is valid? [True, True] Translation: X:80.58, Y:8.38, Z:0.14 [[ 9.74623663e-01 -2.23801120e-01 -4.66625863e-03 8.05757278e+01] [ 2.23798040e-01 9.74634828e-01 -1.17866082e-03 8.37720811e+00] [ 4.81168379e-03 1.04451191e-04 9.99988418e-01 1.44655330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960281693 meters 0.033097119955059526 Centerline is valid? [True, True] Translation: X:80.60, Y:8.40, Z:0.14 [[ 9.75244155e-01 -2.21082334e-01 -4.63025873e-03 8.05992318e+01] [ 2.21079270e-01 9.75255140e-01 -1.17002891e-03 8.39852262e+00] [ 4.77435635e-03 1.17409641e-04 9.99988596e-01 1.43721030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990281693 meters 0.03361061749470568 Centerline is valid? [True, True] Translation: X:80.62, Y:8.41, Z:0.14 [[ 9.75014488e-01 -2.22098706e-01 -4.34889476e-03 8.06248438e+01] [ 2.22096011e-01 9.75024181e-01 -1.09916509e-03 8.41068005e+00] [ 4.48440069e-03 1.05829709e-04 9.99989939e-01 1.43265704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020281693 meters 0.031083468980896208 Centerline is valid? [True, True] Translation: X:80.65, Y:8.42, Z:0.14 [[ 9.74404254e-01 -2.24768991e-01 -3.90520938e-03 8.06518469e+01] [ 2.24766839e-01 9.74412076e-01 -9.87245446e-04 8.41851687e+00] [ 4.02718534e-03 8.42145944e-05 9.99991887e-01 1.44278237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050281693 meters 0.019526569547400677 Centerline is valid? [True, True] Translation: X:80.68, Y:8.41, Z:0.15 [[ 9.72278808e-01 -2.33812542e-01 -2.36956101e-03 8.06839669e+01] [ 2.33811776e-01 9.72281695e-01 -5.99101972e-04 8.41349662e+00] [ 2.44395835e-03 2.84628822e-05 9.99997013e-01 1.47830625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080281693 meters 0.015776347750071938 Centerline is valid? [True, True] Translation: X:80.71, Y:8.41, Z:0.15 [[ 9.70975270e-01 -2.39174516e-01 -1.60471032e-03 8.07135370e+01] [ 2.39174173e-01 9.70976596e-01 -4.05676487e-04 8.41333819e+00] [ 1.65516364e-03 1.00965730e-05 9.99998630e-01 1.48725566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110281693 meters 0.014247451123266043 Centerline is valid? [True, True] Translation: X:80.74, Y:8.41, Z:0.15 [[ 9.68820175e-01 -2.47764651e-01 -3.82658956e-04 8.07442244e+01] [ 2.47764633e-01 9.68820250e-01 -9.65427328e-05 8.40951207e+00] [ 3.94647622e-04 -1.27680831e-06 9.99999922e-01 1.51079340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140281693 meters 0.01551394166213213 Centerline is valid? [True, True] Translation: X:80.77, Y:8.41, Z:0.15 [[ 9.68207524e-01 -2.50147729e-01 -5.50837732e-04 8.07723040e+01] [ 2.50147690e-01 9.68207681e-01 -1.39381123e-04 8.41263998e+00] [ 5.68191195e-04 -2.84093457e-06 9.99999839e-01 1.51711059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170281693 meters 0.015380031164153317 Centerline is valid? [True, True] Translation: X:80.80, Y:8.42, Z:0.15 [[ 9.67882593e-01 -2.51399930e-01 -1.16669631e-03 8.07990860e+01] [ 2.51399757e-01 9.67883296e-01 -2.95319553e-04 8.42034159e+00] [ 1.20346919e-03 -7.47251522e-06 9.99999276e-01 1.50008552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20028169300001 meters 0.015456368314098336 Centerline is valid? [True, True] Translation: X:80.83, Y:8.43, Z:0.15 [[ 9.67901061e-01 -2.51315028e-01 -2.87974236e-03 8.08253698e+01] [ 2.51313968e-01 9.67905345e-01 -7.30072296e-04 8.43071093e+00] [ 2.97079616e-03 -1.70817316e-05 9.99995587e-01 1.47810171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.230281693 meters 0.015246864445788181 Centerline is valid? [True, True] Translation: X:80.85, Y:8.44, Z:0.15 [[ 9.67951571e-01 -2.51118675e-01 -3.02758330e-03 8.08517980e+01] [ 2.51117501e-01 9.67956306e-01 -7.68181796e-04 8.44036489e+00] [ 3.12347315e-03 -1.67163761e-05 9.99995122e-01 1.48024372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260281693 meters 0.015353465644098925 Centerline is valid? [True, True] Translation: X:80.88, Y:8.45, Z:0.15 [[ 9.67863689e-01 -2.51458245e-01 -2.93780340e-03 8.08774284e+01] [ 2.51457139e-01 9.67868147e-01 -7.45867812e-04 8.44835823e+00] [ 3.03096094e-03 -1.68332671e-05 9.99995406e-01 1.48133405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290281693 meters 0.01601098692061165 Centerline is valid? [True, True] Translation: X:80.91, Y:8.45, Z:0.15 [[ 9.67627929e-01 -2.52366113e-01 -2.74515110e-03 8.09054502e+01] [ 2.52365151e-01 9.67631823e-01 -6.97164802e-04 8.45272862e+00] [ 2.83223634e-03 -1.81843383e-05 9.99995989e-01 1.47681954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320281693 meters 0.018099949479111293 Centerline is valid? [True, True] Translation: X:80.93, Y:8.45, Z:0.15 [[ 9.66575741e-01 -2.56376771e-01 -1.51284339e-03 8.09346390e+01] [ 2.56376484e-01 9.66576924e-01 -3.84199097e-04 8.45490815e+00] [ 1.56077924e-03 -1.64999424e-05 9.99998782e-01 1.48972071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350281693 meters 0.01981159981717922 Centerline is valid? [True, True] Translation: X:80.96, Y:8.46, Z:0.15 [[ 9.65932336e-01 -2.58791619e-01 -1.27256455e-03 8.09633356e+01] [ 2.58791418e-01 9.65933174e-01 -3.23346429e-04 8.45947043e+00] [ 1.31289166e-03 -1.69980123e-05 9.99999138e-01 1.49459497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380281693 meters 0.025603162413140403 Centerline is valid? [True, True] Translation: X:80.99, Y:8.46, Z:0.15 [[ 9.64854506e-01 -2.62776688e-01 -2.04808741e-03 8.09932195e+01] [ 2.62776174e-01 9.64856679e-01 -5.20941194e-04 8.45749507e+00] [ 2.11300202e-03 -3.55561169e-05 9.99997767e-01 1.48433077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410281693 meters 0.024960365301239486 Centerline is valid? [True, True] Translation: X:81.02, Y:8.46, Z:0.15 [[ 9.64458310e-01 -2.64217862e-01 -3.01477169e-03 8.10212662e+01] [ 2.64216755e-01 9.64463021e-01 -7.67110109e-04 8.46407171e+00] [ 3.11032000e-03 -5.67074723e-05 9.99995161e-01 1.47514876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440281693 meters 0.026256212518416297 Centerline is valid? [True, True] Translation: X:81.05, Y:8.47, Z:0.15 [[ 9.64172250e-01 -2.65254715e-01 -3.43635711e-03 8.10494321e+01] [ 2.65253281e-01 9.64178371e-01 -8.74844894e-04 8.46706379e+00] [ 3.54531794e-03 -6.80038287e-05 9.99993713e-01 1.46775822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470281693 meters 0.026859789314750894 Centerline is valid? [True, True] Translation: X:81.08, Y:8.47, Z:0.15 [[ 9.63887201e-01 -2.66284650e-01 -3.73491495e-03 8.10790168e+01] [ 2.66282962e-01 9.63894434e-01 -9.51283267e-04 8.46844704e+00] [ 3.85337586e-03 -7.76144496e-05 9.99992573e-01 1.46048895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500281693 meters 0.02701376372992507 Centerline is valid? [True, True] Translation: X:81.11, Y:8.47, Z:0.14 [[ 9.63813746e-01 -2.66548439e-01 -3.87205995e-03 8.11065161e+01] [ 2.66546624e-01 9.63821520e-01 -9.86924843e-04 8.47221454e+00] [ 3.99503799e-03 -8.08727794e-05 9.99992017e-01 1.44999288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530281693 meters 0.025982662907575733 Centerline is valid? [True, True] Translation: X:81.13, Y:8.47, Z:0.15 [[ 9.64197391e-01 -2.65154878e-01 -4.03506893e-03 8.11342296e+01] [ 2.65152893e-01 9.64205831e-01 -1.02904464e-03 8.47446454e+00] [ 4.16349319e-03 -7.77080401e-05 9.99991330e-01 1.45042452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56028169300001 meters 0.024218650843737945 Centerline is valid? [True, True] Translation: X:81.16, Y:8.48, Z:0.15 [[ 9.64647994e-01 -2.63511108e-01 -4.01791934e-03 8.11622255e+01] [ 2.63509123e-01 9.64656359e-01 -1.02518854e-03 8.48270854e+00] [ 4.14606001e-03 -6.98123272e-05 9.99991403e-01 1.46093813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59028169300001 meters 0.018349376201143144 Centerline is valid? [True, True] Translation: X:81.19, Y:8.50, Z:0.15 [[ 9.66408628e-01 -2.56974507e-01 -4.29724824e-03 8.11890125e+01] [ 2.56972170e-01 9.66418181e-01 -1.09686083e-03 8.49776507e+00] [ 4.43480410e-03 -4.42574384e-05 9.99990165e-01 1.46472053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.620281693 meters 0.015907132892811638 Centerline is valid? [True, True] Translation: X:81.21, Y:8.51, Z:0.15 [[ 9.67380522e-01 -2.53289525e-01 -4.39793863e-03 8.12148396e+01] [ 2.53287038e-01 9.67390519e-01 -1.12275533e-03 8.50911951e+00] [ 4.53890630e-03 -2.78092079e-05 9.99989699e-01 1.45889194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650281693 meters 0.014399766604196717 Centerline is valid? [True, True] Translation: X:81.24, Y:8.52, Z:0.15 [[ 9.68219358e-01 -2.50061118e-01 -4.55095923e-03 8.12418223e+01] [ 2.50058417e-01 9.68230054e-01 -1.16239642e-03 8.52012869e+00] [ 4.69704565e-03 -1.25509419e-05 9.99988969e-01 1.45774417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680281693 meters 0.014074503222463413 Centerline is valid? [True, True] Translation: X:81.27, Y:8.53, Z:0.15 [[ 9.69168253e-01 -2.46372096e-01 -3.69958883e-03 8.12688596e+01] [ 2.46370282e-01 9.69175314e-01 -9.45384092e-04 8.52868643e+00] [ 3.81846643e-03 4.76750428e-06 9.99992710e-01 1.46533248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710281693 meters 0.013850043737294534 Centerline is valid? [True, True] Translation: X:81.30, Y:8.53, Z:0.15 [[ 9.69114098e-01 -2.46597030e-01 -2.78727341e-03 8.12966772e+01] [ 2.46596001e-01 9.69118107e-01 -7.12561798e-04 8.53393441e+00] [ 2.87691275e-03 3.22320939e-06 9.99995862e-01 1.48873650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740281693 meters 0.013932433083094945 Centerline is valid? [True, True] Translation: X:81.32, Y:8.53, Z:0.15 [[ 9.68453274e-01 -2.49191051e-01 -1.44085856e-03 8.13242747e+01] [ 2.49190778e-01 9.68454346e-01 -3.68508121e-04 8.53496834e+00] [ 1.48723466e-03 -2.16577000e-06 9.99998894e-01 1.51473669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770281693 meters 0.014119363168494398 Centerline is valid? [True, True] Translation: X:81.35, Y:8.54, Z:0.15 [[ 9.67966080e-01 -2.51078494e-01 -1.12171563e-03 8.13520562e+01] [ 2.51078330e-01 9.67966730e-01 -2.86851227e-04 8.53837815e+00] [ 1.15780559e-03 -3.97623099e-06 9.99999330e-01 1.51312912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800281693 meters 0.015541733235762195 Centerline is valid? [True, True] Translation: X:81.38, Y:8.54, Z:0.15 [[ 9.67246860e-01 -2.53833892e-01 -1.36673538e-03 8.13810298e+01] [ 2.53833650e-01 9.67247825e-01 -3.49949467e-04 8.53629919e+00] [ 1.41080085e-03 -8.43590654e-06 9.99999005e-01 1.51130942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830281693 meters 0.016191229792860192 Centerline is valid? [True, True] Translation: X:81.41, Y:8.54, Z:0.15 [[ 9.66942500e-01 -2.54989746e-01 -1.55939946e-03 8.14094560e+01] [ 2.54989434e-01 9.66943757e-01 -3.99358583e-04 8.54014161e+00] [ 1.60968391e-03 -1.14735987e-05 9.99998704e-01 1.51214845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860281693 meters 0.016533727807804707 Centerline is valid? [True, True] Translation: X:81.44, Y:8.54, Z:0.15 [[ 9.66824134e-01 -2.55439614e-01 -1.30302157e-03 8.14374085e+01] [ 2.55439396e-01 9.66825012e-01 -3.33847762e-04 8.54467468e+00] [ 1.34507179e-03 -1.00709691e-05 9.99999095e-01 1.51677513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890281693 meters 0.01641230311975195 Centerline is valid? [True, True] Translation: X:81.46, Y:8.55, Z:0.15 [[ 9.66861560e-01 -2.55300238e-01 -7.15860764e-04 8.14645448e+01] [ 2.55300172e-01 9.66861825e-01 -1.83509527e-04 8.54690972e+00] [ 7.38988470e-04 -5.33106874e-06 9.99999727e-01 1.53022798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920281693 meters 0.01618017095083644 Centerline is valid? [True, True] Translation: X:81.49, Y:8.55, Z:0.15 [[ 9.66954048e-01 -2.54950207e-01 -5.11043985e-04 8.14907033e+01] [ 2.54950174e-01 9.66954183e-01 -1.30938861e-04 8.55159627e+00] [ 5.27539009e-04 -3.67889126e-06 9.99999861e-01 1.53876452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95028169300001 meters 0.01545413242145742 Centerline is valid? [True, True] Translation: X:81.52, Y:8.56, Z:0.15 [[ 9.66989632e-01 -2.54815325e-01 -4.48667618e-04 8.15186361e+01] [ 2.54815299e-01 9.66989736e-01 -1.14880419e-04 8.55555022e+00] [ 4.63130273e-04 -3.23919926e-06 9.99999893e-01 1.53720036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.980281693 meters 0.01585149892279193 Centerline is valid? [True, True] Translation: X:81.55, Y:8.56, Z:0.15 [[ 9.66780948e-01 -2.55604070e-01 -1.07610566e-03 8.15468668e+01] [ 2.55603921e-01 9.66781547e-01 -2.76272159e-04 8.55873356e+00] [ 1.11097538e-03 -7.96216653e-06 9.99999383e-01 1.52712790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010281693 meters 0.017655948969627945 Centerline is valid? [True, True] Translation: X:81.58, Y:8.55, Z:0.15 [[ 9.66168144e-01 -2.57900798e-01 -2.50905888e-03 8.15767647e+01] [ 2.57899993e-01 9.66171402e-01 -6.45070086e-04 8.55428248e+00] [ 2.59054503e-03 -2.38400994e-05 9.99996644e-01 1.49872206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040281693 meters 0.01927250123204666 Centerline is valid? [True, True] Translation: X:81.60, Y:8.55, Z:0.15 [[ 9.65913761e-01 -2.58851315e-01 -2.56978472e-03 8.16049966e+01] [ 2.58850472e-01 9.65917179e-01 -6.60848333e-04 8.55428611e+00] [ 2.65326067e-03 -2.68674918e-05 9.99996480e-01 1.49603944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070281693 meters 0.018631267390369986 Centerline is valid? [True, True] Translation: X:81.63, Y:8.56, Z:0.15 [[ 9.65770026e-01 -2.59387398e-01 -2.53686733e-03 8.16327806e+01] [ 2.59386578e-01 9.65773357e-01 -6.52637277e-04 8.55918957e+00] [ 2.61932476e-03 -2.77318152e-05 9.99996569e-01 1.50462707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100281693 meters 0.018827929656768192 Centerline is valid? [True, True] Translation: X:81.66, Y:8.56, Z:0.15 [[ 9.65752406e-01 -2.59456857e-01 -2.10449580e-03 8.16601449e+01] [ 2.59456293e-01 9.65754699e-01 -5.41726875e-04 8.56054863e+00] [ 2.17298146e-03 -2.28506447e-05 9.99997639e-01 1.51052008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130281693 meters 0.018827929656768192 Centerline is valid? [True, True] Translation: X:81.69, Y:8.57, Z:0.15 [[ 9.65705969e-01 -2.59629647e-01 -2.10444870e-03 8.16867043e+01] [ 2.59629082e-01 9.65708261e-01 -5.41909771e-04 8.56759257e+00] [ 2.17297934e-03 -2.30505831e-05 9.99997639e-01 1.51106692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160281693 meters 0.020089085269064465 Centerline is valid? [True, True] Translation: X:81.71, Y:8.57, Z:0.15 [[ 9.65656123e-01 -2.59812932e-01 -2.34338042e-03 8.17145531e+01] [ 2.59812232e-01 9.65658966e-01 -6.03880262e-04 8.56906965e+00] [ 2.41980221e-03 -2.56982225e-05 9.99997072e-01 1.50595549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190281693 meters 0.019391359719814753 Centerline is valid? [True, True] Translation: X:81.74, Y:8.57, Z:0.15 [[ 9.65501455e-01 -2.60384278e-01 -2.63969278e-03 8.17421859e+01] [ 2.60383390e-01 9.65505063e-01 -6.80554006e-04 8.57347710e+00] [ 2.72584231e-03 -3.02562725e-05 9.99996284e-01 1.49774816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220281693 meters 0.020887194021079834 Centerline is valid? [True, True] Translation: X:81.77, Y:8.57, Z:0.15 [[ 9.65088660e-01 -2.61908239e-01 -2.82015922e-03 8.17716859e+01] [ 2.61907231e-01 9.65092780e-01 -7.27524012e-04 8.57100554e+00] [ 2.91225984e-03 -3.64949192e-05 9.99995759e-01 1.49031752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250281693 meters 0.02180516426405235 Centerline is valid? [True, True] Translation: X:81.80, Y:8.57, Z:0.15 [[ 9.64850328e-01 -2.62787802e-01 -2.53309647e-03 8.17994629e+01] [ 2.62786991e-01 9.64853652e-01 -6.53624921e-04 8.57377616e+00] [ 2.61583204e-03 -3.50145815e-05 9.99996578e-01 1.49737739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280281693 meters 0.023342628257195745 Centerline is valid? [True, True] Translation: X:81.83, Y:8.57, Z:0.15 [[ 9.64494438e-01 -2.64089901e-01 -2.64653535e-03 8.18283767e+01] [ 2.64089020e-01 9.64498068e-01 -6.83135437e-04 8.57352036e+00] [ 2.73298740e-03 -4.00405983e-05 9.99996265e-01 1.50288782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31028169300001 meters 0.02358024999133664 Centerline is valid? [True, True] Translation: X:81.86, Y:8.58, Z:0.15 [[ 9.64369397e-01 -2.64541005e-01 -3.11806672e-03 8.18559928e+01] [ 2.64539784e-01 9.64374437e-01 -8.05268690e-04 8.57740416e+00] [ 3.22001042e-03 -4.82762154e-05 9.99994815e-01 1.49835186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34028169300001 meters 0.02340074781433884 Centerline is valid? [True, True] Translation: X:81.88, Y:8.58, Z:0.15 [[ 9.64488657e-01 -2.64099925e-01 -3.58609453e-03 8.18838819e+01] [ 2.64098304e-01 9.64495322e-01 -9.26822136e-04 8.58036684e+00] [ 3.70354506e-03 -5.31720478e-05 9.99993140e-01 1.48841772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.370281693 meters 0.022349348792026887 Centerline is valid? [True, True] Translation: X:81.91, Y:8.59, Z:0.15 [[ 9.64700906e-01 -2.63331384e-01 -2.95719475e-03 8.19119763e+01] [ 2.63330277e-01 9.64705437e-01 -7.64706873e-04 8.58712247e+00] [ 3.05419317e-03 -4.10054993e-05 9.99995335e-01 1.49721570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400281693 meters 0.02128036805474287 Centerline is valid? [True, True] Translation: X:81.94, Y:8.59, Z:0.15 [[ 9.64941837e-01 -2.62454605e-01 -2.19797957e-03 8.19403987e+01] [ 2.62453991e-01 9.64944340e-01 -5.68655058e-04 8.59318712e+00] [ 2.27017409e-03 -2.81494535e-05 9.99997423e-01 1.50631401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430281693 meters 0.01925445548344069 Centerline is valid? [True, True] Translation: X:81.97, Y:8.60, Z:0.15 [[ 9.65557769e-01 -2.60167461e-01 -3.32977421e-03 8.19683011e+01] [ 2.60166035e-01 9.65563510e-01 -8.62058186e-04 8.59656110e+00] [ 3.43938796e-03 -3.39271764e-05 9.99994085e-01 1.48543255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460281693 meters 0.018583888826506408 Centerline is valid? [True, True] Translation: X:82.00, Y:8.60, Z:0.15 [[ 9.65734005e-01 -2.59498817e-01 -4.26563206e-03 8.19958230e+01] [ 2.59496468e-01 9.65743425e-01 -1.10498085e-03 8.60218255e+00] [ 4.40624734e-03 -3.97988667e-05 9.99990292e-01 1.46805904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490281693 meters 0.016635027198483476 Centerline is valid? [True, True] Translation: X:82.02, Y:8.61, Z:0.15 [[ 9.66398042e-01 -2.57011126e-01 -4.48390569e-03 8.20225465e+01] [ 2.57008501e-01 9.66408444e-01 -1.16203704e-03 8.60855666e+00] [ 4.63194076e-03 -2.94115574e-05 9.99989272e-01 1.46785621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520281693 meters 0.015683476303564765 Centerline is valid? [True, True] Translation: X:82.05, Y:8.62, Z:0.15 [[ 9.66792729e-01 -2.55530996e-01 -3.96605029e-03 8.20495530e+01] [ 2.55528929e-01 9.66800864e-01 -1.02809974e-03 8.61560836e+00] [ 4.09709220e-03 -1.94812253e-05 9.99991607e-01 1.48061206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550281693 meters 0.014756770531116641 Centerline is valid? [True, True] Translation: X:82.08, Y:8.62, Z:0.15 [[ 9.67160884e-01 -2.54144704e-01 -3.20853152e-03 8.20778686e+01] [ 2.54143342e-01 9.67166206e-01 -8.32065938e-04 8.62250838e+00] [ 3.31464840e-03 -1.06852938e-05 9.99994506e-01 1.50349797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580281693 meters 0.013917329874562422 Centerline is valid? [True, True] Translation: X:82.11, Y:8.63, Z:0.16 [[ 9.67778595e-01 -2.51802178e-01 -5.04337446e-04 8.21055689e+01] [ 2.51802144e-01 9.67778726e-01 -1.30757500e-04 8.62807582e+00] [ 5.21012074e-04 -4.48940203e-07 9.99999864e-01 1.55161378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610281693 meters 0.014107233453382918 Centerline is valid? [True, True] Translation: X:82.13, Y:8.63, Z:0.16 [[ 9.67909213e-01 -2.51300089e-01 1.46116356e-04 8.21329733e+01] [ 2.51300086e-01 9.67909224e-01 3.82856820e-05 8.63440165e+00] [-1.51048564e-04 -3.38011354e-07 9.99999989e-01 1.56368533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640281693 meters 0.01409455616024014 Centerline is valid? [True, True] Translation: X:82.16, Y:8.64, Z:0.15 [[ 9.67869635e-01 -2.51451551e-01 -6.97924834e-04 8.21604500e+01] [ 2.51451486e-01 9.67869887e-01 -1.80971419e-04 8.63803392e+00] [ 7.21005974e-04 -3.37495872e-07 9.99999740e-01 1.53393996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670281693 meters 0.01412655964895827 Centerline is valid? [True, True] Translation: X:82.19, Y:8.64, Z:0.15 [[ 9.67801989e-01 -2.51704483e-01 -2.04050618e-03 8.21874754e+01] [ 2.51703924e-01 9.67804140e-01 -5.30264326e-04 8.64290773e+00] [ 2.10828024e-03 -4.12543861e-07 9.99997778e-01 1.51152725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70028169300001 meters 0.014230346618884527 Centerline is valid? [True, True] Translation: X:82.22, Y:8.65, Z:0.15 [[ 9.67723330e-01 -2.52001209e-01 -2.63585815e-03 8.22150166e+01] [ 2.52000277e-01 9.67726919e-01 -6.85342986e-04 8.64806998e+00] [ 2.72349815e-03 -1.01458745e-06 9.99996291e-01 1.50369316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.730281693 meters 0.014261172073207607 Centerline is valid? [True, True] Translation: X:82.24, Y:8.66, Z:0.15 [[ 9.68180179e-01 -2.50249886e-01 -1.46110559e-03 8.22414096e+01] [ 2.50249598e-01 9.68181282e-01 -3.80073745e-04 8.65526556e+00] [ 1.50972849e-03 2.33878105e-06 9.99998860e-01 1.53374608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760281693 meters 0.014707228812644274 Centerline is valid? [True, True] Translation: X:82.27, Y:8.66, Z:0.15 [[ 9.68446137e-01 -2.49219116e-01 -1.38257976e-03 8.22677481e+01] [ 2.49218857e-01 9.68447124e-01 -3.59711469e-04 8.66495381e+00] [ 1.42860236e-03 3.79623582e-06 9.99998980e-01 1.53773099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790281693 meters 0.01697457953762577 Centerline is valid? [True, True] Translation: X:82.29, Y:8.68, Z:0.15 [[ 9.69228328e-01 -2.46151514e-01 -2.42514166e-03 8.22934700e+01] [ 2.46150704e-01 9.69231362e-01 -6.31639246e-04 8.67998987e+00] [ 2.50600231e-03 1.52523239e-05 9.99996860e-01 1.50562487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820281693 meters 0.01869230813544289 Centerline is valid? [True, True] Translation: X:82.32, Y:8.69, Z:0.15 [[ 9.69608943e-01 -2.44633064e-01 -3.62781700e-03 8.23203547e+01] [ 2.44631238e-01 9.69615730e-01 -9.45594981e-04 8.69130364e+00] [ 3.74891223e-03 2.93799866e-05 9.99992972e-01 1.48175034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850281693 meters 0.019881161444250086 Centerline is valid? [True, True] Translation: X:82.35, Y:8.70, Z:0.15 [[ 9.69852250e-01 -2.43659303e-01 -4.09347158e-03 8.23470256e+01] [ 2.43656967e-01 9.69860888e-01 -1.06764422e-03 8.70176587e+00] [ 4.23023942e-03 3.80542768e-05 9.99991052e-01 1.47291217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880281693 meters 0.019898779978120458 Centerline is valid? [True, True] Translation: X:82.37, Y:8.71, Z:0.15 [[ 9.70377534e-01 -2.41581538e-01 -2.40888514e-03 8.23744300e+01] [ 2.41580722e-01 9.70380523e-01 -6.28535621e-04 8.71256178e+00] [ 2.48937783e-03 2.79766334e-05 9.99996901e-01 1.52293667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910281693 meters 0.020501413086310805 Centerline is valid? [True, True] Translation: X:82.40, Y:8.72, Z:0.16 [[ 9.70537730e-01 -2.40947750e-01 -8.34257163e-04 8.24010350e+01] [ 2.40947652e-01 9.70538089e-01 -2.17605678e-04 8.72323312e+00] [ 8.62109951e-04 1.01822165e-05 9.99999628e-01 1.55224703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940281693 meters 0.02195426290863628 Centerline is valid? [True, True] Translation: X:82.43, Y:8.74, Z:0.16 [[ 9.70869313e-01 -2.39608869e-01 6.06459621e-04 8.24262326e+01] [ 2.39608816e-01 9.70869502e-01 1.58578834e-04 8.73713025e+00] [-6.26790045e-04 -8.64625140e-06 9.99999804e-01 1.57224712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970281693 meters 0.021507397614074098 Centerline is valid? [True, True] Translation: X:82.45, Y:8.75, Z:0.16 [[ 9.70928155e-01 -2.39371086e-01 -3.33511154e-05 8.24523797e+01] [ 2.39371086e-01 9.70928156e-01 -8.33503460e-06 8.74622259e+00] [ 3.43767032e-05 1.09427074e-07 9.99999999e-01 1.56043699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000281693 meters 0.02512805738480561 Centerline is valid? [True, True] Translation: X:82.48, Y:8.76, Z:0.15 [[ 9.70678195e-01 -2.40369654e-01 -2.50438110e-03 8.24769875e+01] [ 2.40368764e-01 9.70681425e-01 -6.54975915e-04 8.76405662e+00] [ 2.58839255e-03 3.37958479e-05 9.99996650e-01 1.50513171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030281693 meters 0.02023589958799175 Centerline is valid? [True, True] Translation: X:82.51, Y:8.76, Z:0.15 [[ 9.70205759e-01 -2.42266553e-01 -2.77515337e-03 8.25066162e+01] [ 2.42265467e-01 9.70209728e-01 -7.26305560e-04 8.76495053e+00] [ 2.86844034e-03 3.23420103e-05 9.99995885e-01 1.49730495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06028169300001 meters 0.017808515582411585 Centerline is valid? [True, True] Translation: X:82.54, Y:8.77, Z:0.15 [[ 9.69560250e-01 -2.44838163e-01 -2.68235655e-03 8.25351669e+01] [ 2.44837157e-01 9.69563960e-01 -7.02460983e-04 8.76843186e+00] [ 2.77270550e-03 2.43376945e-05 9.99996156e-01 1.49808525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09028169300001 meters 0.014951602355061787 Centerline is valid? [True, True] Translation: X:82.56, Y:8.77, Z:0.15 [[ 9.68157427e-01 -2.50321918e-01 -3.18332698e-03 8.25644253e+01] [ 2.50320528e-01 9.68162661e-01 -8.34266690e-04 8.76869946e+00] [ 3.29081356e-03 1.08494003e-05 9.99994585e-01 1.49512312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.120281693 meters 0.014196676439228485 Centerline is valid? [True, True] Translation: X:82.59, Y:8.77, Z:0.15 [[ 9.67272420e-01 -2.53725929e-01 -2.68665690e-03 8.25922411e+01] [ 2.53724951e-01 9.67276151e-01 -7.04524814e-04 8.77119495e+00] [ 2.77749535e-03 -2.04467514e-07 9.99996143e-01 1.50225141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150281693 meters 0.016703885072683555 Centerline is valid? [True, True] Translation: X:82.62, Y:8.77, Z:0.15 [[ 9.65453321e-01 -2.60575091e-01 -7.11632094e-04 8.26226401e+01] [ 2.60575024e-01 9.65453584e-01 -1.86505041e-04 8.76823692e+00] [ 7.35646323e-04 -5.37163858e-06 9.99999729e-01 1.53671949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180281693 meters 0.0190847408396921 Centerline is valid? [True, True] Translation: X:82.65, Y:8.77, Z:0.15 [[ 9.64560559e-01 -2.63861521e-01 -1.59988060e-04 8.26520825e+01] [ 2.63861518e-01 9.64560572e-01 -4.17082948e-05 8.77013924e+00] [ 1.65323389e-04 -1.98451621e-06 9.99999986e-01 1.54438380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210281693 meters 0.020348290457689606 Centerline is valid? [True, True] Translation: X:82.68, Y:8.77, Z:0.15 [[ 9.63863390e-01 -2.66396944e-01 -1.81966783e-04 8.26804415e+01] [ 2.66396940e-01 9.63863407e-01 -4.76397773e-05 8.77399888e+00] [ 1.88082215e-04 -2.55715683e-06 9.99999982e-01 1.53863214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240281693 meters 0.021267259029347473 Centerline is valid? [True, True] Translation: X:82.71, Y:8.78, Z:0.15 [[ 9.63311902e-01 -2.68380998e-01 -1.34867703e-03 8.27089251e+01] [ 2.68380765e-01 9.63312846e-01 -3.54318979e-04 8.77819541e+00] [ 1.39429039e-03 -2.06392833e-05 9.99999028e-01 1.52617122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270281693 meters 0.02136286620731433 Centerline is valid? [True, True] Translation: X:82.74, Y:8.78, Z:0.15 [[ 9.63361774e-01 -2.68200676e-01 -1.57810978e-03 8.27359854e+01] [ 2.68200356e-01 9.63363066e-01 -4.14975515e-04 8.78473431e+00] [ 1.63158939e-03 -2.34780575e-05 9.99998669e-01 1.52767209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300281693 meters 0.021209504803237342 Centerline is valid? [True, True] Translation: X:82.76, Y:8.79, Z:0.15 [[ 9.63651053e-01 -2.67161820e-01 -1.10017360e-03 8.27625625e+01] [ 2.67161664e-01 9.63651681e-01 -2.89332648e-04 8.79150506e+00] [ 1.13748278e-03 -1.51085002e-05 9.99999353e-01 1.54593296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330281693 meters 0.02047684262416716 Centerline is valid? [True, True] Translation: X:82.79, Y:8.80, Z:0.15 [[ 9.63665859e-01 -2.67105382e-01 -1.68135463e-03 8.27897692e+01] [ 2.67105017e-01 9.63667326e-01 -4.42311778e-04 8.79991574e+00] [ 1.73841038e-03 -2.28574962e-05 9.99998489e-01 1.53707271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360281693 meters 0.02031910940127394 Centerline is valid? [True, True] Translation: X:82.82, Y:8.81, Z:0.15 [[ 9.63721021e-01 -2.66898824e-01 -2.60989597e-03 8.28164288e+01] [ 2.66897941e-01 9.63724554e-01 -6.87314230e-04 8.80731906e+00] [ 2.69866419e-03 -3.41966878e-05 9.99996358e-01 1.51594784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390281693 meters 0.020039141442921345 Centerline is valid? [True, True] Translation: X:82.84, Y:8.81, Z:0.15 [[ 9.63900266e-01 -2.66246024e-01 -3.05496582e-03 8.28440643e+01] [ 2.66244810e-01 9.63905106e-01 -8.05039724e-04 8.81318093e+00] [ 3.15903578e-03 -3.73907889e-05 9.99995010e-01 1.49971097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420281693 meters 0.020175144233124942 Centerline is valid? [True, True] Translation: X:82.87, Y:8.82, Z:0.15 [[ 9.63891503e-01 -2.66280646e-01 -2.79078650e-03 8.28704701e+01] [ 2.66279632e-01 9.63895542e-01 -7.35606059e-04 8.81828934e+00] [ 2.88590432e-03 -3.40851726e-05 9.99995835e-01 1.50870883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45028169300001 meters 0.01998660561848944 Centerline is valid? [True, True] Translation: X:82.90, Y:8.82, Z:0.15 [[ 9.63884059e-01 -2.66311109e-01 -2.43200316e-03 8.28979861e+01] [ 2.66310338e-01 9.63887126e-01 -6.41279348e-04 8.82438282e+00] [ 2.51495635e-03 -2.95486424e-05 9.99996837e-01 1.51931535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.480281693 meters 0.01851984978522679 Centerline is valid? [True, True] Translation: X:82.93, Y:8.83, Z:0.15 [[ 9.64242609e-01 -2.65009687e-01 -2.46088625e-03 8.29252757e+01] [ 2.65008893e-01 9.64245749e-01 -6.49369436e-04 8.83383039e+00] [ 2.54498830e-03 -2.60070615e-05 9.99996761e-01 1.52260475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510281693 meters 0.017588988952464045 Centerline is valid? [True, True] Translation: X:82.95, Y:8.84, Z:0.15 [[ 9.64706496e-01 -2.63313340e-01 -2.73170452e-03 8.29512713e+01] [ 2.63312353e-01 9.64710363e-01 -7.21254874e-04 8.84300952e+00] [ 2.82521969e-03 -2.34922843e-05 9.99996009e-01 1.51982922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540281693 meters 0.01506109076714454 Centerline is valid? [True, True] Translation: X:82.98, Y:8.86, Z:0.15 [[ 9.65966463e-01 -2.58646870e-01 -3.25414971e-03 8.29769934e+01] [ 2.58645442e-01 9.65971944e-01 -8.59573269e-04 8.85785703e+00] [ 3.36574326e-03 -1.13520381e-05 9.99994336e-01 1.50735560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570281693 meters 0.014594134073103676 Centerline is valid? [True, True] Translation: X:83.00, Y:8.87, Z:0.15 [[ 9.66636088e-01 -2.56125093e-01 -3.82226201e-03 8.30026026e+01] [ 2.56123101e-01 9.66643645e-01 -1.01015577e-03 8.86855946e+00] [ 3.95349152e-03 -2.51657434e-06 9.99992185e-01 1.48775139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600281693 meters 0.01502043679883138 Centerline is valid? [True, True] Translation: X:83.03, Y:8.88, Z:0.15 [[ 9.67191503e-01 -2.54003938e-01 -4.75353460e-03 8.30291744e+01] [ 2.54000828e-01 9.67203184e-01 -1.25699418e-03 8.87919258e+00] [ 4.91691527e-03 8.35236597e-06 9.99987912e-01 1.46865155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630281693 meters 0.01616713144993469 Centerline is valid? [True, True] Translation: X:83.06, Y:8.89, Z:0.15 [[ 9.68173004e-01 -2.50244242e-01 -4.34214193e-03 8.30565455e+01] [ 2.50241606e-01 9.68182740e-01 -1.14899016e-03 8.89012271e+00] [ 4.49151505e-03 2.58366830e-05 9.99989913e-01 1.46792388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660281693 meters 0.01648809050465128 Centerline is valid? [True, True] Translation: X:83.08, Y:8.90, Z:0.15 [[ 9.68415538e-01 -2.49315145e-01 -3.64740034e-03 8.30845417e+01] [ 2.49313276e-01 9.68422407e-01 -9.65752896e-04 8.89782880e+00] [ 3.77300104e-03 2.59047823e-05 9.99992882e-01 1.48388317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690281693 meters 0.017148696210957902 Centerline is valid? [True, True] Translation: X:83.11, Y:8.91, Z:0.15 [[ 9.68599163e-01 -2.48601956e-01 -3.56764391e-03 8.31113390e+01] [ 2.48600162e-01 9.68605733e-01 -9.45084947e-04 8.90717146e+00] [ 3.69059031e-03 2.84916361e-05 9.99993189e-01 1.48722711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720281693 meters 0.017880490618082126 Centerline is valid? [True, True] Translation: X:83.14, Y:8.92, Z:0.15 [[ 9.68591102e-01 -2.48625437e-01 -4.08288482e-03 8.31366602e+01] [ 2.48623086e-01 9.68599706e-01 -1.08190395e-03 8.91561878e+00] [ 4.22366988e-03 3.28231124e-05 9.99991080e-01 1.47608758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750281693 meters 0.01672083731953933 Centerline is valid? [True, True] Translation: X:83.16, Y:8.92, Z:0.15 [[ 9.68399265e-01 -2.49381165e-01 -3.44951667e-03 8.31645514e+01] [ 2.49379489e-01 9.68405408e-01 -9.14521170e-04 8.91907344e+00] [ 3.56859495e-03 2.53829235e-05 9.99993632e-01 1.49267200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780281693 meters 0.015561163893472292 Centerline is valid? [True, True] Translation: X:83.19, Y:8.92, Z:0.15 [[ 9.67912834e-01 -2.51283397e-01 -1.18297080e-03 8.31946327e+01] [ 2.51283202e-01 9.67913557e-01 -3.13626640e-04 8.91981258e+00] [ 1.22382264e-03 6.30255953e-06 9.99999251e-01 1.54446935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81028169300001 meters 0.015105470387566912 Centerline is valid? [True, True] Translation: X:83.22, Y:8.92, Z:0.16 [[ 9.67602828e-01 -2.52477262e-01 -2.06021140e-05 8.32221073e+01] [ 2.52477262e-01 9.67602828e-01 -5.07366198e-06 8.92405804e+00] [ 2.12156481e-05 -2.92275661e-07 1.00000000e+00 1.56500866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84028169300001 meters 0.015109673892528453 Centerline is valid? [True, True] Translation: X:83.25, Y:8.93, Z:0.16 [[ 9.67424130e-01 -2.53157898e-01 1.27709037e-03 8.32488907e+01] [ 2.53157670e-01 9.67424973e-01 3.39500850e-04 8.92782874e+00] [-1.32143644e-03 -5.13609250e-06 9.99999127e-01 1.59235278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.870281693 meters 0.015102867132685119 Centerline is valid? [True, True] Translation: X:83.28, Y:8.93, Z:0.16 [[ 9.67482245e-01 -2.52937705e-01 7.89402603e-04 8.32762657e+01] [ 2.52937618e-01 9.67482567e-01 2.10286063e-04 8.93370084e+00] [-8.16922531e-04 -3.77841841e-06 9.99999666e-01 1.57935495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900281693 meters 0.015405199620014635 Centerline is valid? [True, True] Translation: X:83.30, Y:8.94, Z:0.16 [[ 9.67614846e-01 -2.52431190e-01 -6.57380044e-05 8.33036227e+01] [ 2.52431189e-01 9.67614848e-01 -1.71090426e-05 8.94081316e+00] [ 6.79279251e-05 -3.93589609e-08 9.99999998e-01 1.56282907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930281693 meters 0.017145494664546908 Centerline is valid? [True, True] Translation: X:83.33, Y:8.95, Z:0.15 [[ 9.68265512e-01 -2.49909236e-01 -2.69665506e-03 8.33291377e+01] [ 2.49908206e-01 9.68269267e-01 -7.17633442e-04 8.95224298e+00] [ 2.79043144e-03 2.09434837e-05 9.99996107e-01 1.52048115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960281693 meters 0.01819973852040183 Centerline is valid? [True, True] Translation: X:83.36, Y:8.96, Z:0.15 [[ 9.68698481e-01 -2.48211022e-01 -3.81335615e-03 8.33559237e+01] [ 2.48208949e-01 9.68705986e-01 -1.01515578e-03 8.96192064e+00] [ 3.94599379e-03 3.68707407e-05 9.99992214e-01 1.49687209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990281693 meters 0.022569474415054372 Centerline is valid? [True, True] Translation: X:83.38, Y:8.98, Z:0.15 [[ 9.69903101e-01 -2.43453055e-01 -4.31100904e-03 8.33818912e+01] [ 2.43450357e-01 9.69912680e-01 -1.14792955e-03 8.97619696e+00] [ 4.46076929e-03 6.38637397e-05 9.99990049e-01 1.49911204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020281693 meters 0.0255160302662232 Centerline is valid? [True, True] Translation: X:83.41, Y:8.99, Z:0.15 [[ 9.70580511e-01 -2.40757030e-01 -3.08607834e-03 8.34069662e+01] [ 2.40755633e-01 9.70585416e-01 -8.21893283e-04 8.98814199e+00] [ 3.19317921e-03 5.47228586e-05 9.99994900e-01 1.52591515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050281693 meters 0.0255160302662232 Centerline is valid? [True, True] Translation: X:83.43, Y:9.00, Z:0.15 [[ 9.70537010e-01 -2.40932331e-01 -3.08598743e-03 8.34334743e+01] [ 2.40930934e-01 9.70541915e-01 -8.22234489e-04 8.99541294e+00] [ 3.19318302e-03 5.44991686e-05 9.99994900e-01 1.52646212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080281693 meters 0.028139103312498893 Centerline is valid? [True, True] Translation: X:83.46, Y:9.01, Z:0.16 [[ 9.71133486e-01 -2.38527023e-01 -2.14757917e-03 8.34598182e+01] [ 2.38526340e-01 9.71135859e-01 -5.72500706e-04 9.00835995e+00] [ 2.22214804e-03 4.37204051e-05 9.99997530e-01 1.55007054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110281693 meters 0.03207241016392589 Centerline is valid? [True, True] Translation: X:83.49, Y:9.03, Z:0.15 [[ 9.72214148e-01 -2.34085247e-01 -1.93583010e-03 8.34860102e+01] [ 2.34084682e-01 9.72216074e-01 -5.16346608e-04 9.02575323e+00] [ 2.00291427e-03 4.88513031e-05 9.99997993e-01 1.54376203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140281693 meters 0.03405181947735526 Centerline is valid? [True, True] Translation: X:83.51, Y:9.04, Z:0.15 [[ 9.72686719e-01 -2.32111155e-01 -2.22678996e-03 8.35122353e+01] [ 2.32110403e-01 9.72689266e-01 -5.94027686e-04 9.03707026e+00] [ 2.30385515e-03 6.09417248e-05 9.99997344e-01 1.53164864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170281693 meters 0.038981554238536394 Centerline is valid? [True, True] Translation: X:83.54, Y:9.05, Z:0.15 [[ 9.73388162e-01 -2.29150041e-01 -2.39701647e-03 8.35373230e+01] [ 2.29149160e-01 9.73391110e-01 -6.39588225e-04 9.05162427e+00] [ 2.47979619e-03 7.32932956e-05 9.99996923e-01 1.53487322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20028169300001 meters 0.03955541115713532 Centerline is valid? [True, True] Translation: X:83.56, Y:9.06, Z:0.15 [[ 9.73618458e-01 -2.28168677e-01 -2.48061800e-03 8.35643256e+01] [ 2.28167730e-01 9.73621615e-01 -6.62087036e-04 9.06081853e+00] [ 2.56625083e-03 7.86231792e-05 9.99996704e-01 1.53937455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.230281693 meters 0.04126569034919385 Centerline is valid? [True, True] Translation: X:83.59, Y:9.07, Z:0.15 [[ 9.73899064e-01 -2.26964768e-01 -2.75797118e-03 8.35904651e+01] [ 2.26963592e-01 9.73902965e-01 -7.36525448e-04 9.07248321e+00] [ 2.85316164e-03 9.13424006e-05 9.99995926e-01 1.54359627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260281693 meters 0.04664930927103607 Centerline is valid? [True, True] Translation: X:83.61, Y:9.09, Z:0.15 [[ 9.74867264e-01 -2.22769218e-01 -2.77348539e-03 8.36149116e+01] [ 2.22768011e-01 9.74871204e-01 -7.40805051e-04 9.09234993e+00] [ 2.86881960e-03 1.04342770e-04 9.99995879e-01 1.54781348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290281693 meters 0.05004517469858795 Centerline is valid? [True, True] Translation: X:83.64, Y:9.11, Z:0.16 [[ 9.75423312e-01 -2.20328460e-01 -2.17550726e-03 8.36407490e+01] [ 2.20327711e-01 9.75425734e-01 -5.81128603e-04 9.10751424e+00] [ 2.25008494e-03 8.75218523e-05 9.99997465e-01 1.55737250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320281693 meters 0.0555509448957011 Centerline is valid? [True, True] Translation: X:83.67, Y:9.13, Z:0.16 [[ 9.76334133e-01 -2.16263668e-01 -1.29871075e-03 8.36650079e+01] [ 2.16263397e-01 9.76334995e-01 -3.46951874e-04 9.12967815e+00] [ 1.34300984e-03 5.78773589e-05 9.99999096e-01 1.56899617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350281693 meters 0.05698067567830894 Centerline is valid? [True, True] Translation: X:83.69, Y:9.14, Z:0.16 [[ 9.76521985e-01 -2.15415112e-01 -1.06876881e-03 8.36916108e+01] [ 2.15414928e-01 9.76522569e-01 -2.85395071e-04 9.14281770e+00] [ 1.10515527e-03 4.84658054e-05 9.99999388e-01 1.57373953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380281693 meters 0.05800278465789722 Centerline is valid? [True, True] Translation: X:83.72, Y:9.16, Z:0.16 [[ 9.76458121e-01 -2.15704941e-01 -9.56932503e-04 8.37172195e+01] [ 2.15704793e-01 9.76458589e-01 -2.55757507e-04 9.15517213e+00] [ 9.89573120e-04 4.33215670e-05 9.99999509e-01 1.57222668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410281693 meters 0.05538191448581804 Centerline is valid? [True, True] Translation: X:83.74, Y:9.17, Z:0.15 [[ 9.76134714e-01 -2.17154076e-01 -2.26438784e-03 8.37445724e+01] [ 2.17153255e-01 9.76137335e-01 -6.05515256e-04 9.16682935e+00] [ 2.34184362e-03 9.93452711e-05 9.99997253e-01 1.54821987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440281693 meters 0.05559565246531745 Centerline is valid? [True, True] Translation: X:83.77, Y:9.18, Z:0.15 [[ 9.75871654e-01 -2.18326580e-01 -2.83173594e-03 8.37708890e+01] [ 2.18325299e-01 9.75875755e-01 -7.57742232e-04 9.17817345e+00] [ 2.92885772e-03 1.21219571e-04 9.99995704e-01 1.53636097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470281693 meters 0.05455243995152413 Centerline is valid? [True, True] Translation: X:83.80, Y:9.19, Z:0.15 [[ 9.75556624e-01 -2.19730017e-01 -2.82720450e-03 8.37970451e+01] [ 2.19728744e-01 9.75560714e-01 -7.56915725e-04 9.18776978e+00] [ 2.92442675e-03 1.17196054e-04 9.99995717e-01 1.53040307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500281693 meters 0.05074945078864941 Centerline is valid? [True, True] Translation: X:83.82, Y:9.20, Z:0.15 [[ 9.74775065e-01 -2.23176221e-01 -2.43869541e-03 8.38244878e+01] [ 2.23175284e-01 9.74778111e-01 -6.53047521e-04 9.19870171e+00] [ 2.52293158e-03 9.23178979e-05 9.99996813e-01 1.54282656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530281693 meters 0.04858018229990901 Centerline is valid? [True, True] Translation: X:83.85, Y:9.21, Z:0.15 [[ 9.74307993e-01 -2.25208395e-01 -2.26143566e-03 8.38527002e+01] [ 2.25207595e-01 9.74310614e-01 -6.05627893e-04 9.20717072e+00] [ 2.33973325e-03 8.07756106e-05 9.99997260e-01 1.54645531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56028169300001 meters 0.038804876915605135 Centerline is valid? [True, True] Translation: X:83.88, Y:9.21, Z:0.16 [[ 9.73609112e-01 -2.28212409e-01 -2.09613214e-03 8.38829279e+01] [ 2.28211729e-01 9.73611366e-01 -5.61403460e-04 9.20852165e+00] [ 2.16893731e-03 6.82255851e-05 9.99997646e-01 1.55433278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59028169300001 meters 0.03771466496540064 Centerline is valid? [True, True] Translation: X:83.91, Y:9.22, Z:0.16 [[ 9.73295648e-01 -2.29546402e-01 -2.00782768e-03 8.39103436e+01] [ 2.29545781e-01 9.73297717e-01 -5.37813996e-04 9.21842755e+00] [ 2.07766737e-03 6.25636491e-05 9.99997840e-01 1.55752148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.620281693 meters 0.04308663603233444 Centerline is valid? [True, True] Translation: X:83.93, Y:9.24, Z:0.16 [[ 9.73037998e-01 -2.30630625e-01 -2.56305388e-03 8.39337861e+01] [ 2.30629615e-01 9.73041370e-01 -6.87025250e-04 9.23716626e+00] [ 2.65240653e-03 7.73855438e-05 9.99996479e-01 1.55069304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650281693 meters 0.0398488988508999 Centerline is valid? [True, True] Translation: X:83.96, Y:9.25, Z:0.15 [[ 9.72438363e-01 -2.33136930e-01 -3.28674013e-03 8.39606568e+01] [ 2.33135281e-01 9.72443913e-01 -8.81437129e-04 9.24997540e+00] [ 3.40166598e-03 9.08881952e-05 9.99994210e-01 1.53209789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680281693 meters 0.03833816965325871 Centerline is valid? [True, True] Translation: X:83.99, Y:9.26, Z:0.15 [[ 9.72097132e-01 -2.34553155e-01 -3.46157080e-03 8.39879159e+01] [ 2.34551334e-01 9.72103291e-01 -9.28866394e-04 9.25934709e+00] [ 3.58287291e-03 9.10323108e-05 9.99993577e-01 1.52827682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710281693 meters 0.033318130975735404 Centerline is valid? [True, True] Translation: X:84.02, Y:9.26, Z:0.15 [[ 9.71649979e-01 -2.36398629e-01 -3.46491557e-03 8.40167835e+01] [ 2.36396814e-01 9.71656154e-01 -9.30329104e-04 9.26396497e+00] [ 3.58663506e-03 8.48592542e-05 9.99993564e-01 1.53378824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740281693 meters 0.031343761959536226 Centerline is valid? [True, True] Translation: X:84.04, Y:9.28, Z:0.15 [[ 9.70644918e-01 -2.40499379e-01 -2.91413770e-03 8.40430056e+01] [ 2.40498112e-01 9.70649291e-01 -7.82742142e-04 9.27612129e+00] [ 3.01685469e-03 5.89200658e-05 9.99995448e-01 1.53732216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770281693 meters 0.024896191371318693 Centerline is valid? [True, True] Translation: X:84.07, Y:9.28, Z:0.15 [[ 9.70060192e-01 -2.42850209e-01 -2.64584801e-03 8.40725653e+01] [ 2.42849173e-01 9.70063799e-01 -7.10849312e-04 9.27777503e+00] [ 2.73927128e-03 4.70246193e-05 9.99996247e-01 1.54343694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800281693 meters 0.02127616562672843 Centerline is valid? [True, True] Translation: X:84.10, Y:9.29, Z:0.16 [[ 9.68944223e-01 -2.47270453e-01 -2.10136505e-03 8.40992883e+01] [ 2.47269809e-01 9.68946501e-01 -5.64843349e-04 9.28536150e+00] [ 2.17577938e-03 2.76975661e-05 9.99997633e-01 1.55168902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830281693 meters 0.019402887945583838 Centerline is valid? [True, True] Translation: X:84.13, Y:9.29, Z:0.16 [[ 9.68381183e-01 -2.49468178e-01 -1.87429464e-03 8.41271564e+01] [ 2.49467670e-01 9.68382996e-01 -5.03905176e-04 9.29301338e+00] [ 1.94074337e-03 2.03963743e-05 9.99998117e-01 1.55054868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860281693 meters 0.018208775770553253 Centerline is valid? [True, True] Translation: X:84.15, Y:9.30, Z:0.15 [[ 9.67899021e-01 -2.51330529e-01 -2.10968926e-03 8.41542649e+01] [ 2.51329888e-01 9.67901320e-01 -5.67595609e-04 9.30105269e+00] [ 2.18462512e-03 1.91472683e-05 9.99997614e-01 1.54594710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890281693 meters 0.017349690050310763 Centerline is valid? [True, True] Translation: X:84.18, Y:9.31, Z:0.15 [[ 9.67175090e-01 -2.54093877e-01 -2.94069961e-03 8.41803540e+01] [ 2.54092645e-01 9.67179560e-01 -7.91691381e-04 9.31123014e+00] [ 3.04534849e-03 1.84940422e-05 9.99995363e-01 1.52085180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920281693 meters 0.016945514732588846 Centerline is valid? [True, True] Translation: X:84.21, Y:9.32, Z:0.15 [[ 9.66960051e-01 -2.54903433e-01 -3.53537049e-03 8.42075015e+01] [ 2.54901655e-01 9.66966514e-01 -9.52214054e-04 9.31982410e+00] [ 3.66130751e-03 1.95811609e-05 9.99993297e-01 1.51230312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95028169300001 meters 0.015628971602847742 Centerline is valid? [True, True] Translation: X:84.23, Y:9.33, Z:0.15 [[ 9.66543654e-01 -2.56484234e-01 -3.03374883e-03 8.42349399e+01] [ 2.56482931e-01 9.66548415e-01 -8.17588422e-04 9.32787179e+00] [ 3.14196367e-03 1.21301086e-05 9.99995064e-01 1.53511544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.980281693 meters 0.015307320691079594 Centerline is valid? [True, True] Translation: X:84.26, Y:9.34, Z:0.15 [[ 9.66225832e-01 -2.57686574e-01 -2.29587421e-03 8.42616939e+01] [ 2.57685830e-01 9.66228560e-01 -6.19000727e-04 9.33511643e+00] [ 2.37784741e-03 6.48024000e-06 9.99997173e-01 1.54475746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010281693 meters 0.014865920957052385 Centerline is valid? [True, True] Translation: X:84.29, Y:9.34, Z:0.16 [[ 9.65774399e-01 -2.59376794e-01 -1.86778808e-03 8.42891727e+01] [ 2.59376305e-01 9.65776205e-01 -5.03665687e-04 9.34100340e+00] [ 1.93450448e-03 1.96745485e-06 9.99998129e-01 1.55737555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040281693 meters 0.015474651877136635 Centerline is valid? [True, True] Translation: X:84.32, Y:9.34, Z:0.16 [[ 9.64657908e-01 -2.63498348e-01 -1.93400531e-03 8.43164517e+01] [ 2.63497831e-01 9.64659847e-01 -5.21909103e-04 9.34178000e+00] [ 2.00317946e-03 -6.14246179e-06 9.99997994e-01 1.56005373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070281693 meters 0.015995157086365556 Centerline is valid? [True, True] Translation: X:84.35, Y:9.35, Z:0.16 [[ 9.64099409e-01 -2.65530524e-01 -2.42293191e-03 8.43453584e+01] [ 2.65529719e-01 9.64102453e-01 -6.54253130e-04 9.34664415e+00] [ 2.50967878e-03 -1.25953741e-05 9.99996851e-01 1.55035341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100281693 meters 0.017639472171593625 Centerline is valid? [True, True] Translation: X:84.37, Y:9.35, Z:0.15 [[ 9.63545484e-01 -2.67531235e-01 -2.67192030e-03 8.43730049e+01] [ 2.67530262e-01 9.63549188e-01 -7.21887766e-04 9.34938389e+00] [ 2.76765416e-03 -1.92478410e-05 9.99996170e-01 1.54836311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130281693 meters 0.0175053248990554 Centerline is valid? [True, True] Translation: X:84.40, Y:9.36, Z:0.16 [[ 9.63436262e-01 -2.67925515e-01 -2.54721640e-03 8.44000019e+01] [ 2.67924631e-01 9.63439629e-01 -6.88421411e-04 9.35601938e+00] [ 2.63853489e-03 -1.92118648e-05 9.99996519e-01 1.55431943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160281693 meters 0.01652103998794767 Centerline is valid? [True, True] Translation: X:84.43, Y:9.36, Z:0.16 [[ 9.63586581e-01 -2.67391656e-01 -1.61360343e-03 8.44271123e+01] [ 2.67391300e-01 9.63587932e-01 -4.36263333e-04 9.36317825e+00] [ 1.67150196e-03 -1.10860249e-05 9.99998603e-01 1.57882215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190281693 meters 0.016672628869613043 Centerline is valid? [True, True] Translation: X:84.45, Y:9.37, Z:0.16 [[ 9.63684936e-01 -2.67039276e-01 -1.16981200e-03 8.44532001e+01] [ 2.67039089e-01 9.63685646e-01 -3.16491917e-04 9.36823275e+00] [ 1.21184680e-03 -7.38703731e-06 9.99999266e-01 1.58927050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220281693 meters 0.016467563954567416 Centerline is valid? [True, True] Translation: X:84.48, Y:9.37, Z:0.16 [[ 9.63800091e-01 -2.66624359e-01 -9.14313225e-04 8.44792021e+01] [ 2.66624244e-01 9.63800525e-01 -2.47310107e-04 9.37476924e+00] [ 9.47154464e-04 -5.42056870e-06 9.99999551e-01 1.59150442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250281693 meters 0.015653865936761217 Centerline is valid? [True, True] Translation: X:84.51, Y:9.38, Z:0.16 [[ 9.64359218e-01 -2.64595823e-01 -5.90646135e-04 8.45069764e+01] [ 2.64595775e-01 9.64359399e-01 -1.59776068e-04 9.38217364e+00] [ 6.11871232e-04 -2.20094730e-06 9.99999813e-01 1.59175644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280281693 meters 0.015284781872532027 Centerline is valid? [True, True] Translation: X:84.53, Y:9.39, Z:0.16 [[ 9.64713778e-01 -2.63299240e-01 -9.15068645e-04 8.45341931e+01] [ 2.63299123e-01 9.64714212e-01 -2.47964427e-04 9.38985217e+00] [ 9.48068571e-04 -1.72207343e-06 9.99999551e-01 1.58830930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31028169300001 meters 0.015118133349355894 Centerline is valid? [True, True] Translation: X:84.56, Y:9.40, Z:0.16 [[ 9.64934721e-01 -2.62486046e-01 -1.43494704e-03 8.45615654e+01] [ 2.62485758e-01 9.64935788e-01 -3.88925081e-04 9.39761262e+00] [ 1.48671916e-03 -1.36584598e-06 9.99998895e-01 1.58315394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34028169300001 meters 0.015256715426700023 Centerline is valid? [True, True] Translation: X:84.59, Y:9.41, Z:0.16 [[ 9.65488038e-01 -2.60435224e-01 -2.51844789e-03 8.45871440e+01] [ 2.60434328e-01 9.65491323e-01 -6.83332957e-04 9.40606885e+00] [ 2.60950355e-03 3.85951356e-06 9.99996595e-01 1.57079057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.370281693 meters 0.015793525466764814 Centerline is valid? [True, True] Translation: X:84.61, Y:9.41, Z:0.16 [[ 9.65800648e-01 -2.59274317e-01 -2.43678565e-03 8.46133100e+01] [ 2.59273473e-01 9.65803722e-01 -6.61548776e-04 9.41415799e+00] [ 2.52497926e-03 7.13035650e-06 9.99996812e-01 1.56661556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400281693 meters 0.016678609619919762 Centerline is valid? [True, True] Translation: X:84.64, Y:9.42, Z:0.16 [[ 9.66525055e-01 -2.56566620e-01 -1.69936286e-03 8.46410944e+01] [ 2.56566205e-01 9.66526549e-01 -4.61389537e-04 9.42191006e+00] [ 1.76085648e-03 9.94546713e-06 9.99998450e-01 1.57848314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430281693 meters 0.018295723920967018 Centerline is valid? [True, True] Translation: X:84.67, Y:9.43, Z:0.16 [[ 9.67133815e-01 -2.54264291e-01 -1.36193241e-03 8.46668770e+01] [ 2.54264022e-01 9.67134774e-01 -3.69996850e-04 9.43127319e+00] [ 1.41124918e-03 1.15460541e-05 9.99999004e-01 1.58808360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460281693 meters 0.020036210313441324 Centerline is valid? [True, True] Translation: X:84.69, Y:9.44, Z:0.16 [[ 9.67778973e-01 -2.51797624e-01 -1.34740370e-03 8.46940228e+01] [ 2.51797358e-01 9.67779911e-01 -3.66089519e-04 9.44095262e+00] [ 1.39617071e-03 1.50210463e-05 9.99999025e-01 1.59144573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490281693 meters 0.02764309288119075 Centerline is valid? [True, True] Translation: X:84.72, Y:9.46, Z:0.16 [[ 9.69149728e-01 -2.46459914e-01 -2.51292319e-03 8.47183815e+01] [ 2.46458970e-01 9.69152985e-01 -6.83398872e-04 9.45965423e+00] [ 2.60383744e-03 4.29833694e-05 9.99996609e-01 1.57273341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520281693 meters 0.02584568240204124 Centerline is valid? [True, True] Translation: X:84.75, Y:9.46, Z:0.16 [[ 9.69682976e-01 -2.44340798e-01 -3.53556555e-03 8.47466758e+01] [ 2.44338914e-01 9.69689419e-01 -9.61900396e-04 9.46491818e+00] [ 3.66343202e-03 6.88621898e-05 9.99993287e-01 1.55685887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550281693 meters 0.032664165096461056 Centerline is valid? [True, True] Translation: X:84.77, Y:9.48, Z:0.15 [[ 9.70674725e-01 -2.40362436e-01 -4.05938597e-03 8.47710289e+01] [ 2.40359916e-01 9.70683208e-01 -1.10491969e-03 9.48207954e+00] [ 4.20595899e-03 9.68039421e-05 9.99991150e-01 1.53647374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580281693 meters 0.032494533696792574 Centerline is valid? [True, True] Translation: X:84.80, Y:9.49, Z:0.16 [[ 9.70975850e-01 -2.39154148e-01 -3.34557472e-03 8.47992023e+01] [ 2.39152428e-01 9.70981610e-01 -9.10958851e-04 9.48954959e+00] [ 3.46635111e-03 8.44167285e-05 9.99993989e-01 1.55469594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610281693 meters 0.03178084425954535 Centerline is valid? [True, True] Translation: X:84.83, Y:9.50, Z:0.16 [[ 9.71290548e-01 -2.37886624e-01 -2.15053873e-03 8.48268540e+01] [ 2.37885910e-01 9.71292927e-01 -5.85823720e-04 9.49754816e+00] [ 2.22816269e-03 5.74221803e-05 9.99997516e-01 1.59260597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640281693 meters 0.03341512974832892 Centerline is valid? [True, True] Translation: X:84.85, Y:9.51, Z:0.16 [[ 9.71495069e-01 -2.37048674e-01 -2.29283597e-03 8.48520228e+01] [ 2.37047859e-01 9.71497772e-01 -6.24989860e-04 9.50920507e+00] [ 2.37563806e-03 6.36627086e-05 9.99997176e-01 1.59333645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670281693 meters 0.03720202571527464 Centerline is valid? [True, True] Translation: X:84.88, Y:9.52, Z:0.16 [[ 9.71935405e-01 -2.35231040e-01 -2.81528989e-03 8.48769974e+01] [ 2.35229803e-01 9.71939479e-01 -7.67643032e-04 9.52426351e+00] [ 2.91686485e-03 8.38593566e-05 9.99995742e-01 1.58222320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70028169300001 meters 0.04660604981796851 Centerline is valid? [True, True] Translation: X:84.90, Y:9.55, Z:0.16 [[ 9.72874948e-01 -2.31311780e-01 -3.03237648e-03 8.48998488e+01] [ 2.31310325e-01 9.72879669e-01 -8.26996025e-04 9.55140404e+00] [ 3.14143134e-03 1.03143727e-04 9.99995060e-01 1.56990315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.730281693 meters 0.053531606600149086 Centerline is valid? [True, True] Translation: X:84.92, Y:9.57, Z:0.16 [[ 9.73241744e-01 -2.29769388e-01 -2.55664553e-03 8.49233965e+01] [ 2.29768348e-01 9.73245098e-01 -6.97322982e-04 9.57192303e+00] [ 2.64846621e-03 9.12276154e-05 9.99996489e-01 1.57936249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760281693 meters 0.04696547017910758 Centerline is valid? [True, True] Translation: X:84.95, Y:9.58, Z:0.16 [[ 9.73528831e-01 -2.28558109e-01 -1.67482956e-03 8.49513786e+01] [ 2.28557661e-01 9.73530270e-01 -4.56825007e-04 9.57923569e+00] [ 1.73490833e-03 6.19371886e-05 9.99998493e-01 1.60262640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790281693 meters 0.044586982694800804 Centerline is valid? [True, True] Translation: X:84.98, Y:9.59, Z:0.16 [[ 9.73349669e-01 -2.29317944e-01 -1.92437072e-03 8.49792053e+01] [ 2.29317353e-01 9.73351568e-01 -5.25262956e-04 9.58668588e+00] [ 1.99354148e-03 6.99729257e-05 9.99998010e-01 1.59610717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820281693 meters 0.04132139510471768 Centerline is valid? [True, True] Translation: X:85.01, Y:9.59, Z:0.16 [[ 9.72852780e-01 -2.31411126e-01 -2.52158332e-03 8.50075901e+01] [ 2.31410117e-01 9.72856044e-01 -6.88739951e-04 9.59262176e+00] [ 2.61251966e-03 8.65226842e-05 9.99996584e-01 1.58366612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850281693 meters 0.03921681276830378 Centerline is valid? [True, True] Translation: X:85.04, Y:9.60, Z:0.16 [[ 9.72129663e-01 -2.34426672e-01 -2.83804613e-03 8.50358878e+01] [ 2.34425406e-01 9.72133801e-01 -7.75309611e-04 9.60009209e+00] [ 2.94071382e-03 8.83913531e-05 9.99995672e-01 1.57220036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880281693 meters 0.03059376306574871 Centerline is valid? [True, True] Translation: X:85.07, Y:9.60, Z:0.16 [[ 9.70333572e-01 -2.41764729e-01 -1.60469174e-03 8.50670635e+01] [ 2.41764335e-01 9.70334898e-01 -4.38401980e-04 9.60084412e+00] [ 1.66307853e-03 3.74389288e-05 9.99998616e-01 1.59359815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910281693 meters 0.02725460022616953 Centerline is valid? [True, True] Translation: X:85.09, Y:9.60, Z:0.16 [[ 9.69399014e-01 -2.45489074e-01 -8.16560507e-04 8.50949776e+01] [ 2.45488973e-01 9.69399358e-01 -2.23022010e-04 9.60445028e+00] [ 8.46322697e-04 1.57407165e-05 9.99999642e-01 1.60803270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940281693 meters 0.02725460022616953 Centerline is valid? [True, True] Translation: X:85.12, Y:9.61, Z:0.16 [[ 9.69354133e-01 -2.45666231e-01 -8.16585528e-04 8.51214141e+01] [ 2.45666130e-01 9.69354477e-01 -2.22930520e-04 9.61188139e+00] [ 8.46327338e-04 1.54912145e-05 9.99999642e-01 1.60857932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970281693 meters 0.021321777124328527 Centerline is valid? [True, True] Translation: X:85.15, Y:9.61, Z:0.16 [[ 9.67750824e-01 -2.51909392e-01 7.77713441e-06 8.51523757e+01] [ 2.51909392e-01 9.67750824e-01 2.17391006e-06 9.61027080e+00] [-8.07395660e-06 -1.44670053e-07 1.00000000e+00 1.62181259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000281693 meters 0.018331038674354445 Centerline is valid? [True, True] Translation: X:85.18, Y:9.61, Z:0.16 [[ 9.66969815e-01 -2.54890894e-01 -9.24848171e-05 8.51813932e+01] [ 2.54890893e-01 9.66969820e-01 -2.49634975e-05 9.61185069e+00] [ 9.57929952e-05 5.65410936e-07 9.99999995e-01 1.61711033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030281693 meters 0.017322735672972323 Centerline is valid? [True, True] Translation: X:85.21, Y:9.62, Z:0.16 [[ 9.66180884e-01 -2.57864190e-01 -7.47758446e-04 8.52095948e+01] [ 2.57864109e-01 9.66181173e-01 -2.04428685e-04 9.61577505e+00] [ 7.75184970e-04 4.69502218e-06 9.99999700e-01 1.60999715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06028169300001 meters 0.016029106587942342 Centerline is valid? [True, True] Translation: X:85.24, Y:9.62, Z:0.16 [[ 9.65287185e-01 -2.61186047e-01 -1.58104804e-03 8.52389495e+01] [ 2.61185688e-01 9.65288480e-01 -4.32912441e-04 9.61735120e+00] [ 1.63923814e-03 4.93771226e-06 9.99998656e-01 1.58639459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09028169300001 meters 0.016414044357695116 Centerline is valid? [True, True] Translation: X:85.27, Y:9.61, Z:0.16 [[ 9.63377547e-01 -2.68132762e-01 -2.91951330e-03 8.52698739e+01] [ 2.68131568e-01 9.63381971e-01 -8.00198503e-04 9.61066447e+00] [ 3.02716591e-03 -1.19204090e-05 9.99995418e-01 1.56186094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.120281693 meters 0.01894720276549349 Centerline is valid? [True, True] Translation: X:85.30, Y:9.61, Z:0.16 [[ 9.61739704e-01 -2.73956658e-01 -2.11931081e-03 8.53007665e+01] [ 2.73956042e-01 9.61742039e-01 -5.81183219e-04 9.60599195e+00] [ 2.19744931e-03 -2.16510244e-05 9.99997585e-01 1.57307690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150281693 meters 0.02067392548227763 Centerline is valid? [True, True] Translation: X:85.33, Y:9.61, Z:0.16 [[ 9.61088609e-01 -2.76235020e-01 -1.70277551e-03 8.53295300e+01] [ 2.76234626e-01 9.61090117e-01 -4.67213923e-04 9.60750610e+00] [ 1.76558156e-03 -2.13315758e-05 9.99998441e-01 1.58521241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180281693 meters 0.0226181771771538 Centerline is valid? [True, True] Translation: X:85.36, Y:9.61, Z:0.16 [[ 9.60428479e-01 -2.78522603e-01 -1.51502185e-03 8.53581044e+01] [ 2.78522294e-01 9.60429674e-01 -4.15778503e-04 9.60897555e+00] [ 1.57087566e-03 -2.26418464e-05 9.99998766e-01 1.59058381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210281693 meters 0.023509839495808413 Centerline is valid? [True, True] Translation: X:85.39, Y:9.61, Z:0.16 [[ 9.59771645e-01 -2.80778147e-01 -1.42211514e-03 8.53866293e+01] [ 2.80777877e-01 9.59772698e-01 -3.90360324e-04 9.61195900e+00] [ 1.47451194e-03 -2.46417004e-05 9.99998913e-01 1.58962500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240281693 meters 0.02992680502059268 Centerline is valid? [True, True] Translation: X:85.42, Y:9.60, Z:0.16 [[ 9.58538933e-01 -2.84957161e-01 -1.59078241e-03 8.54188805e+01] [ 2.84956828e-01 9.58540252e-01 -4.36781559e-04 9.60312045e+00] [ 1.64929301e-03 -3.46321819e-05 9.99998639e-01 1.59204682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270281693 meters 0.03105344435147608 Centerline is valid? [True, True] Translation: X:85.45, Y:9.61, Z:0.16 [[ 9.57997129e-01 -2.86772884e-01 -1.67717158e-03 8.54476721e+01] [ 2.86772517e-01 9.57998597e-01 -4.60540362e-04 9.60568314e+00] [ 1.73879850e-03 -3.97703698e-05 9.99998487e-01 1.59558962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300281693 meters 0.031432643848218984 Centerline is valid? [True, True] Translation: X:85.48, Y:9.61, Z:0.16 [[ 9.57259071e-01 -2.89229599e-01 -1.14500814e-03 8.54781455e+01] [ 2.89229429e-01 9.57259755e-01 -3.14595856e-04 9.60690719e+00] [ 1.18706064e-03 -3.00203127e-05 9.99999295e-01 1.60267035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330281693 meters 0.032731653013104205 Centerline is valid? [True, True] Translation: X:85.51, Y:9.61, Z:0.16 [[ 9.56920724e-01 -2.90346585e-01 -1.26024726e-03 8.55076241e+01] [ 2.90346381e-01 9.56921553e-01 -3.46197091e-04 9.60916319e+00] [ 1.30647491e-03 -3.46250602e-05 9.99999146e-01 1.60393671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360281693 meters 0.03435580595045373 Centerline is valid? [True, True] Translation: X:85.54, Y:9.61, Z:0.16 [[ 9.56649328e-01 -2.91239127e-01 -1.35449173e-03 8.55362255e+01] [ 2.91238891e-01 9.56650286e-01 -3.72391066e-04 9.60983113e+00] [ 1.40422975e-03 -3.82330074e-05 9.99999013e-01 1.60461103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390281693 meters 0.037660131518430985 Centerline is valid? [True, True] Translation: X:85.57, Y:9.60, Z:0.16 [[ 9.56192933e-01 -2.92733030e-01 -1.56471052e-03 8.55672861e+01] [ 2.92732718e-01 9.56194212e-01 -4.30369048e-04 9.60285662e+00] [ 1.62215037e-03 -4.65261193e-05 9.99998683e-01 1.60353119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420281693 meters 0.038107719370191556 Centerline is valid? [True, True] Translation: X:85.60, Y:9.61, Z:0.16 [[ 9.56059244e-01 -2.93167388e-01 -1.89834386e-03 8.55967599e+01] [ 2.93166928e-01 9.56061127e-01 -5.22271610e-04 9.60503356e+00] [ 1.96804577e-03 -5.72090371e-05 9.99998062e-01 1.60655142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45028169300001 meters 0.03602267247286688 Centerline is valid? [True, True] Translation: X:85.63, Y:9.61, Z:0.16 [[ 9.56154930e-01 -2.92857284e-01 -1.53664042e-03 8.56260868e+01] [ 2.92856982e-01 9.56156164e-01 -4.22952699e-04 9.60622404e+00] [ 1.59313299e-03 -4.56075671e-05 9.99998730e-01 1.61638454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.480281693 meters 0.0350516179624818 Centerline is valid? [True, True] Translation: X:85.65, Y:9.61, Z:0.16 [[ 9.56381235e-01 -2.92120301e-01 -8.14386123e-04 8.56544455e+01] [ 2.92120216e-01 9.56381581e-01 -2.24140575e-04 9.61098944e+00] [ 8.44339900e-04 -2.35348102e-05 9.99999643e-01 1.63239652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510281693 meters 0.03246134529122619 Centerline is valid? [True, True] Translation: X:85.68, Y:9.61, Z:0.16 [[ 9.57463971e-01 -2.88552711e-01 -2.77534661e-04 8.56832511e+01] [ 2.88552701e-01 9.57464011e-01 -7.64558394e-05 9.61384841e+00] [ 2.87790990e-04 -6.87966441e-06 9.99999959e-01 1.63729245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540281693 meters 0.02975782000875345 Centerline is valid? [True, True] Translation: X:85.71, Y:9.62, Z:0.16 [[ 9.58201208e-01 -2.86092909e-01 -1.13650128e-03 8.57113649e+01] [ 2.86092738e-01 9.58201882e-01 -3.13159636e-04 9.62228079e+00] [ 1.17859042e-03 -2.50748232e-05 9.99999305e-01 1.62336664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570281693 meters 0.026808017081493433 Centerline is valid? [True, True] Translation: X:85.74, Y:9.63, Z:0.16 [[ 9.59052739e-01 -2.83219783e-01 -2.09737258e-03 8.57388115e+01] [ 2.83219195e-01 9.59055031e-01 -5.78489239e-04 9.63182828e+00] [ 2.17533532e-03 -3.92144840e-05 9.99997633e-01 1.60680944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600281693 meters 0.02099581155665754 Centerline is valid? [True, True] Translation: X:85.77, Y:9.64, Z:0.16 [[ 9.60991811e-01 -2.76557303e-01 -3.28589690e-03 8.57655945e+01] [ 2.76555820e-01 9.60997428e-01 -9.06576836e-04 9.64460995e+00] [ 3.40845892e-03 -3.75209959e-05 9.99994190e-01 1.58490061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630281693 meters 0.018838018060051368 Centerline is valid? [True, True] Translation: X:85.79, Y:9.65, Z:0.16 [[ 9.61777315e-01 -2.73811704e-01 -3.39810797e-03 8.57932075e+01] [ 2.73810100e-01 9.61783317e-01 -9.37811708e-04 9.65486326e+00] [ 3.52502738e-03 -2.84702567e-05 9.99993787e-01 1.58581077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660281693 meters 0.016224646009200917 Centerline is valid? [True, True] Translation: X:85.82, Y:9.67, Z:0.16 [[ 9.63107305e-01 -2.69109460e-01 -2.10153562e-03 8.58186670e+01] [ 2.69108835e-01 9.63109598e-01 -5.80196308e-04 9.66769925e+00] [ 2.18014544e-03 -6.75050026e-06 9.99997623e-01 1.60889446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690281693 meters 0.015780708544857486 Centerline is valid? [True, True] Translation: X:85.85, Y:9.68, Z:0.16 [[ 9.63667253e-01 -2.67100347e-01 -1.68207855e-03 8.58451000e+01] [ 2.67099943e-01 9.63668721e-01 -4.64601326e-04 9.67885873e+00] [ 1.74506166e-03 -1.56200031e-06 9.99998477e-01 1.61842749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720281693 meters 0.016049995150795044 Centerline is valid? [True, True] Translation: X:85.87, Y:9.69, Z:0.16 [[ 9.64252978e-01 -2.64979307e-01 -1.47026081e-03 8.58706981e+01] [ 2.64978995e-01 9.64254099e-01 -4.06323042e-04 9.68949147e+00] [ 1.52537221e-03 2.20997066e-06 9.99998837e-01 1.61835663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750281693 meters 0.01874387594796896 Centerline is valid? [True, True] Translation: X:85.90, Y:9.71, Z:0.16 [[ 9.65758948e-01 -2.59431545e-01 -2.21992397e-03 8.58951554e+01] [ 2.59430818e-01 9.65761499e-01 -6.14097470e-04 9.70582791e+00] [ 2.30323336e-03 1.71534331e-05 9.99997347e-01 1.61048170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780281693 meters 0.02080946258164532 Centerline is valid? [True, True] Translation: X:85.92, Y:9.72, Z:0.16 [[ 9.66601628e-01 -2.56268227e-01 -2.80883947e-03 8.59214728e+01] [ 2.56267050e-01 9.66605708e-01 -7.77312434e-04 9.71920104e+00] [ 2.91424074e-03 3.15384599e-05 9.99995753e-01 1.60897731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81028169300001 meters 0.030088648579766945 Centerline is valid? [True, True] Translation: X:85.94, Y:9.75, Z:0.16 [[ 9.68688818e-01 -2.48249282e-01 -3.77729873e-03 8.59447908e+01] [ 2.48247090e-01 9.68696180e-01 -1.04578681e-03 9.74599205e+00] [ 3.91867067e-03 7.53385750e-05 9.99992319e-01 1.58052781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84028169300001 meters 0.03171415089209947 Centerline is valid? [True, True] Translation: X:85.97, Y:9.76, Z:0.16 [[ 9.69727501e-01 -2.44155069e-01 -4.10800675e-03 8.59720133e+01] [ 2.44152440e-01 9.69736197e-01 -1.13742707e-03 9.75867405e+00] [ 4.26139143e-03 1.00014440e-04 9.99990915e-01 1.57697156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.870281693 meters 0.04078039417555914 Centerline is valid? [True, True] Translation: X:86.00, Y:9.78, Z:0.16 [[ 9.70782808e-01 -2.39920818e-01 -4.32906350e-03 8.59959537e+01] [ 2.39917856e-01 9.70792452e-01 -1.19870196e-03 9.78165339e+00] [ 4.49021572e-03 1.25059627e-04 9.99989911e-01 1.57223494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900281693 meters 0.04568620810918325 Centerline is valid? [True, True] Translation: X:86.02, Y:9.80, Z:0.16 [[ 9.72586629e-01 -2.32514362e-01 -3.51014417e-03 8.60213642e+01] [ 2.32512366e-01 9.72592954e-01 -9.71972603e-04 9.80324384e+00] [ 3.63993908e-03 1.29175631e-04 9.99993367e-01 1.59973462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930281693 meters 0.05045885945752521 Centerline is valid? [True, True] Translation: X:86.05, Y:9.82, Z:0.16 [[ 9.73262043e-01 -2.29674689e-01 -3.24548350e-03 8.60467313e+01] [ 2.29672967e-01 9.73267446e-01 -8.98709980e-04 9.82136873e+00] [ 3.36513437e-03 1.29280486e-04 9.99994330e-01 1.60594723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960281693 meters 0.05186649044443287 Centerline is valid? [True, True] Translation: X:86.07, Y:9.84, Z:0.16 [[ 9.73697128e-01 -2.27832835e-01 -2.47033283e-03 8.60718466e+01] [ 2.27831831e-01 9.73700256e-01 -6.84089330e-04 9.83948533e+00] [ 2.56122172e-03 1.03275363e-04 9.99996715e-01 1.60868697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990281693 meters 0.05229504950635236 Centerline is valid? [True, True] Translation: X:86.10, Y:9.85, Z:0.16 [[ 9.73554881e-01 -2.28440247e-01 -2.43883287e-03 8.60976916e+01] [ 2.28439270e-01 9.73557930e-01 -6.75465620e-04 9.85139964e+00] [ 2.52864862e-03 1.00477649e-04 9.99996798e-01 1.60487627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020281693 meters 0.05645761788940786 Centerline is valid? [True, True] Translation: X:86.12, Y:9.87, Z:0.16 [[ 9.73315191e-01 -2.29455895e-01 -2.74411225e-03 8.61220798e+01] [ 2.29454663e-01 9.73319054e-01 -7.60194823e-04 9.86765029e+00] [ 2.84532792e-03 1.10259819e-04 9.99995946e-01 1.60029163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050281693 meters 0.04748663865746918 Centerline is valid? [True, True] Translation: X:86.15, Y:9.87, Z:0.16 [[ 9.72526187e-01 -2.32776138e-01 -2.84361677e-03 8.61528690e+01] [ 2.32774828e-01 9.72530338e-01 -7.87889625e-04 9.86997929e+00] [ 2.94890549e-03 1.04320888e-04 9.99995647e-01 1.58988176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080281693 meters 0.04304805426221158 Centerline is valid? [True, True] Translation: X:86.18, Y:9.87, Z:0.16 [[ 9.71958008e-01 -2.35141309e-01 -2.48911335e-03 8.61829832e+01] [ 2.35140312e-01 9.71961191e-01 -6.89706607e-04 9.87495317e+00] [ 2.58150009e-03 8.50749691e-05 9.99996664e-01 1.59087996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110281693 meters 0.038657332254297495 Centerline is valid? [True, True] Translation: X:86.21, Y:9.88, Z:0.16 [[ 9.70925546e-01 -2.39363897e-01 -2.91694732e-03 8.62120247e+01] [ 2.39362547e-01 9.70929924e-01 -8.08379230e-04 9.88218319e+00] [ 3.02564824e-03 8.66681052e-05 9.99995419e-01 1.58353228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140281693 meters 0.037989467943785264 Centerline is valid? [True, True] Translation: X:86.24, Y:9.89, Z:0.16 [[ 9.70560746e-01 -2.40832810e-01 -3.37564755e-03 8.62388615e+01] [ 2.40831011e-01 9.70566612e-01 -9.35847017e-04 9.89119396e+00] [ 3.50167347e-03 9.53357686e-05 9.99993865e-01 1.57979798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170281693 meters 0.03710127746832252 Centerline is valid? [True, True] Translation: X:86.27, Y:9.90, Z:0.16 [[ 9.70370923e-01 -2.41595837e-01 -3.42383944e-03 8.62663546e+01] [ 2.41593989e-01 9.70376959e-01 -9.49794512e-04 9.89974698e+00] [ 3.55188130e-03 9.44739520e-05 9.99993688e-01 1.58537526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20028169300001 meters 0.037523250256098796 Centerline is valid? [True, True] Translation: X:86.29, Y:9.91, Z:0.16 [[ 9.70354670e-01 -2.41678248e-01 -1.85447336e-03 8.62912109e+01] [ 2.41677705e-01 9.70356441e-01 -5.14610342e-04 9.91237139e+00] [ 1.92387030e-03 5.11696818e-05 9.99998148e-01 1.62219638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.230281693 meters 0.03953951285930521 Centerline is valid? [True, True] Translation: X:86.32, Y:9.93, Z:0.16 [[ 9.70376770e-01 -2.41592932e-01 -1.33403553e-03 8.63162243e+01] [ 2.41592651e-01 9.70377686e-01 -3.70320104e-04 9.92521803e+00] [ 1.38398503e-03 3.70568460e-05 9.99999042e-01 1.63042532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260281693 meters 0.03548799550518069 Centerline is valid? [True, True] Translation: X:86.34, Y:9.93, Z:0.16 [[ 9.70004905e-01 -2.43070047e-01 -2.72717355e-03 8.63440650e+01] [ 2.43068877e-01 9.70008736e-01 -7.57538396e-04 9.93200148e+00] [ 2.82951706e-03 7.19249475e-05 9.99995994e-01 1.59783608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290281693 meters 0.03356360806745207 Centerline is valid? [True, True] Translation: X:86.37, Y:9.94, Z:0.16 [[ 9.69625294e-01 -2.44582599e-01 -2.47833096e-03 8.63725205e+01] [ 2.44581637e-01 9.69628459e-01 -6.88809353e-04 9.93792245e+00] [ 2.57153101e-03 6.17327263e-05 9.99996692e-01 1.59776103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320281693 meters 0.03318719571978594 Centerline is valid? [True, True] Translation: X:86.40, Y:9.94, Z:0.16 [[ 9.69131128e-01 -2.46540861e-01 -1.56851298e-03 8.63990508e+01] [ 2.46540478e-01 9.69132397e-01 -4.36128261e-04 9.94496635e+00] [ 1.62762018e-03 3.59635322e-05 9.99998675e-01 1.61441633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350281693 meters 0.028258358859341123 Centerline is valid? [True, True] Translation: X:86.43, Y:9.95, Z:0.16 [[ 9.67973169e-01 -2.51050471e-01 -1.26692140e-03 8.64287102e+01] [ 2.51050225e-01 9.67973998e-01 -3.52341699e-04 9.94572259e+00] [ 1.31480253e-03 2.29964075e-05 9.99999135e-01 1.62784052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380281693 meters 0.025514623271814113 Centerline is valid? [True, True] Translation: X:86.46, Y:9.95, Z:0.16 [[ 9.67303651e-01 -2.53611736e-01 -2.17598224e-03 8.64578327e+01] [ 2.53611016e-01 9.67306097e-01 -6.05317071e-04 9.94915368e+00] [ 2.25835640e-03 3.36723446e-05 9.99997449e-01 1.60323824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410281693 meters 0.02118146183146716 Centerline is valid? [True, True] Translation: X:86.49, Y:9.95, Z:0.16 [[ 9.66258014e-01 -2.57539274e-01 -4.35573064e-03 8.64883557e+01] [ 2.57536425e-01 9.66267830e-01 -1.21242581e-03 9.94721434e+00] [ 4.52104965e-03 4.97568616e-05 9.99989779e-01 1.56168376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440281693 meters 0.02108673101734048 Centerline is valid? [True, True] Translation: X:86.52, Y:9.95, Z:0.16 [[ 9.66000107e-01 -2.58497207e-01 -4.79444947e-03 8.65150958e+01] [ 2.58493765e-01 9.66012004e-01 -1.33481572e-03 9.95330563e+00] [ 4.97654188e-03 5.00968314e-05 9.99987616e-01 1.55439720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470281693 meters 0.02120594109137785 Centerline is valid? [True, True] Translation: X:86.54, Y:9.96, Z:0.16 [[ 9.65999585e-01 -2.58508860e-01 -4.23935044e-03 8.65421481e+01] [ 2.58506167e-01 9.66008886e-01 -1.18080163e-03 9.96050121e+00] [ 4.40049788e-03 4.47556549e-05 9.99990317e-01 1.56924440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500281693 meters 0.023033532029994162 Centerline is valid? [True, True] Translation: X:86.57, Y:9.97, Z:0.16 [[ 9.66653356e-01 -2.56065208e-01 -3.44953128e-03 8.65686848e+01] [ 2.56063408e-01 9.66659509e-01 -9.61352286e-04 9.97251814e+00] [ 3.58069109e-03 4.59956772e-05 9.99993588e-01 1.60494523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530281693 meters 0.022684900456343637 Centerline is valid? [True, True] Translation: X:86.60, Y:9.98, Z:0.16 [[ 9.67021399e-01 -2.54680130e-01 -2.76493863e-03 8.65967211e+01] [ 2.54678967e-01 9.67025351e-01 -7.70968370e-04 9.97995058e+00] [ 2.87011607e-03 4.13711984e-05 9.99995880e-01 1.61806427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56028169300001 meters 0.026005563511951234 Centerline is valid? [True, True] Translation: X:86.62, Y:9.99, Z:0.16 [[ 9.67696983e-01 -2.52112218e-01 -1.40653766e-03 8.66220508e+01] [ 2.52111914e-01 9.67698005e-01 -3.92337295e-04 9.99265205e+00] [ 1.46001672e-03 2.50587145e-05 9.99998934e-01 1.63995119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59028169300001 meters 0.02913151965479168 Centerline is valid? [True, True] Translation: X:86.65, Y:10.00, Z:0.17 [[ 9.67995811e-01 -2.50966087e-01 -3.64181029e-04 8.66475336e+01] [ 2.50966066e-01 9.67995880e-01 -1.01519747e-04 1.00049084e+01] [ 3.78003749e-04 6.87360973e-06 9.99999929e-01 1.66004581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.620281693 meters 0.030512689805715604 Centerline is valid? [True, True] Translation: X:86.67, Y:10.02, Z:0.17 [[ 9.68265800e-01 -2.49922524e-01 2.69141983e-04 8.66741955e+01] [ 2.49922513e-01 9.68265837e-01 7.54719000e-05 1.00152983e+01] [-2.79463116e-04 -5.81221896e-06 9.99999961e-01 1.67701598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650281693 meters 0.03409911872646522 Centerline is valid? [True, True] Translation: X:86.70, Y:10.03, Z:0.16 [[ 9.68846049e-01 -2.47660838e-01 -1.20135339e-03 8.66983472e+01] [ 2.47660613e-01 9.68846793e-01 -3.35405252e-04 1.00303501e+01] [ 1.24699413e-03 2.74281356e-05 9.99999222e-01 1.64279355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680281693 meters 0.03490194324516432 Centerline is valid? [True, True] Translation: X:86.73, Y:10.04, Z:0.16 [[ 9.68923836e-01 -2.47348012e-01 -2.35822867e-03 8.67250157e+01] [ 2.47347141e-01 9.68926704e-01 -6.58850323e-04 1.00407017e+01] [ 2.44791605e-03 5.50746642e-05 9.99997002e-01 1.62113182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710281693 meters 0.035539091834275095 Centerline is valid? [True, True] Translation: X:86.75, Y:10.05, Z:0.16 [[ 9.68980548e-01 -2.47122715e-01 -2.65742582e-03 8.67498774e+01] [ 2.47121606e-01 9.68984190e-01 -7.42841759e-04 1.00532086e+01] [ 2.75857668e-03 6.30918780e-05 9.99996193e-01 1.62349114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740281693 meters 0.03656367227070332 Centerline is valid? [True, True] Translation: X:86.78, Y:10.07, Z:0.16 [[ 9.69097229e-01 -2.46659927e-01 -3.07268254e-03 8.67763099e+01] [ 2.46658442e-01 9.69102097e-01 -8.59257978e-04 1.00656718e+01] [ 3.18968761e-03 7.48014370e-05 9.99994910e-01 1.62132474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770281693 meters 0.037994921206423934 Centerline is valid? [True, True] Translation: X:86.80, Y:10.08, Z:0.16 [[ 9.69279741e-01 -2.45928018e-01 -4.02419198e-03 8.68021902e+01] [ 2.45925461e-01 9.69288089e-01 -1.12607894e-03 1.00785785e+01] [ 4.17753572e-03 1.01834236e-04 9.99991269e-01 1.60463350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800281693 meters 0.03838241869068717 Centerline is valid? [True, True] Translation: X:86.83, Y:10.09, Z:0.16 [[ 9.69883506e-01 -2.43522604e-01 -4.76721685e-03 8.68289112e+01] [ 2.43518984e-01 9.69895213e-01 -1.33442741e-03 1.00935656e+01] [ 4.94866404e-03 1.33331329e-04 9.99987746e-01 1.59293687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830281693 meters 0.03960346736612139 Centerline is valid? [True, True] Translation: X:86.85, Y:10.11, Z:0.16 [[ 9.70048358e-01 -2.42884750e-01 -3.63074960e-03 8.68546034e+01] [ 2.42882645e-01 9.70055147e-01 -1.01644727e-03 1.01061540e+01] [ 3.76890688e-03 1.04156938e-04 9.99992892e-01 1.60809921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860281693 meters 0.0427824565406674 Centerline is valid? [True, True] Translation: X:86.88, Y:10.12, Z:0.16 [[ 9.70013508e-01 -2.43040518e-01 -2.25858845e-03 8.68794192e+01] [ 2.43039704e-01 9.70016135e-01 -6.32394810e-04 1.01214480e+01] [ 2.34456480e-03 6.45048400e-05 9.99997249e-01 1.63881886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890281693 meters 0.0427824565406674 Centerline is valid? [True, True] Translation: X:86.91, Y:10.13, Z:0.16 [[ 9.69972844e-01 -2.43202756e-01 -2.25854297e-03 8.69058061e+01] [ 2.43201942e-01 9.69975472e-01 -6.32557179e-04 1.01290734e+01] [ 2.34457093e-03 6.42812497e-05 9.99997249e-01 1.63936559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920281693 meters 0.034944553454462 Centerline is valid? [True, True] Translation: X:86.93, Y:10.13, Z:0.17 [[ 9.69463140e-01 -2.45237068e-01 3.32480426e-05 8.69348890e+01] [ 2.45237068e-01 9.69463140e-01 9.41260437e-06 1.01312709e+01] [-3.45410713e-05 -9.71520505e-07 9.99999999e-01 1.68558052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95028169300001 meters 0.03223038522406664 Centerline is valid? [True, True] Translation: X:86.96, Y:10.14, Z:0.17 [[ 9.68992790e-01 -2.47088820e-01 -2.97607938e-04 8.69628978e+01] [ 2.47088806e-01 9.68992835e-01 -8.31295426e-05 1.01367351e+01] [ 3.08920340e-04 7.01633717e-06 9.99999952e-01 1.67882667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.980281693 meters 0.028465023735530847 Centerline is valid? [True, True] Translation: X:86.99, Y:10.14, Z:0.16 [[ 9.67942385e-01 -2.51163604e-01 -2.09354327e-03 8.69915600e+01] [ 2.51162922e-01 9.67944648e-01 -5.87138237e-04 1.01423346e+01] [ 2.17390176e-03 4.24955417e-05 9.99997636e-01 1.63861963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010281693 meters 0.026533733518332235 Centerline is valid? [True, True] Translation: X:87.02, Y:10.15, Z:0.16 [[ 9.67355992e-01 -2.53408859e-01 -2.51680862e-03 8.70198324e+01] [ 2.53407880e-01 9.67359265e-01 -7.06004642e-04 1.01487141e+01] [ 2.61356597e-03 4.51786847e-05 9.99996584e-01 1.62996965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040281693 meters 0.021907496984451845 Centerline is valid? [True, True] Translation: X:87.05, Y:10.15, Z:0.16 [[ 9.66017812e-01 -2.58468037e-01 -1.96462822e-03 8.70497268e+01] [ 2.58467450e-01 9.66019810e-01 -5.51368509e-04 1.01496908e+01] [ 2.04038092e-03 2.48393535e-05 9.99997918e-01 1.63983093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070281693 meters 0.019489338616161082 Centerline is valid? [True, True] Translation: X:87.08, Y:10.15, Z:0.17 [[ 9.65135071e-01 -2.61750022e-01 -1.10489762e-03 8.70786025e+01] [ 2.61749839e-01 9.65135703e-01 -3.09975495e-04 1.01526859e+01] [ 1.14751223e-03 9.96144807e-06 9.99999342e-01 1.65400338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100281693 meters 0.017433337844907464 Centerline is valid? [True, True] Translation: X:87.11, Y:10.15, Z:0.17 [[ 9.64120427e-01 -2.65463709e-01 -9.06167316e-04 8.71077337e+01] [ 2.65463587e-01 9.64120853e-01 -2.54316075e-04 1.01545234e+01] [ 9.41166494e-04 4.63689657e-06 9.99999557e-01 1.65441117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130281693 meters 0.016334404575358615 Centerline is valid? [True, True] Translation: X:87.14, Y:10.15, Z:0.16 [[ 9.62254284e-01 -2.72144483e-01 -2.01816574e-03 8.71378080e+01] [ 2.72143892e-01 9.62256400e-01 -5.67138694e-04 1.01501768e+01] [ 2.09633657e-03 -3.49984319e-06 9.99997803e-01 1.63318192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160281693 meters 0.016959765287642165 Centerline is valid? [True, True] Translation: X:87.17, Y:10.15, Z:0.16 [[ 9.61584239e-01 -2.74494428e-01 -2.92573056e-03 8.71657274e+01] [ 2.74493196e-01 9.61588690e-01 -8.22440540e-04 1.01528052e+01] [ 3.03910476e-03 -1.22472718e-05 9.99995382e-01 1.61644002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190281693 meters 0.017677013622158056 Centerline is valid? [True, True] Translation: X:87.20, Y:10.15, Z:0.16 [[ 9.60977049e-01 -2.76614922e-01 -2.70123969e-03 8.71950506e+01] [ 2.76613879e-01 9.60980845e-01 -7.59628749e-04 1.01546765e+01] [ 2.80596425e-03 -1.72145971e-05 9.99996063e-01 1.62240674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220281693 meters 0.01756031267201639 Centerline is valid? [True, True] Translation: X:87.22, Y:10.16, Z:0.16 [[ 9.61069213e-01 -2.76303891e-01 -1.45889308e-03 8.72209930e+01] [ 2.76303586e-01 9.61070320e-01 -4.10400147e-04 1.01606695e+01] [ 1.51549400e-03 -8.67444490e-06 9.99998852e-01 1.64239817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250281693 meters 0.017044388519996595 Centerline is valid? [True, True] Translation: X:87.25, Y:10.17, Z:0.17 [[ 9.61425811e-01 -2.75063910e-01 -5.05351430e-04 8.72479521e+01] [ 2.75063873e-01 9.61425944e-01 -1.42132389e-04 1.01689143e+01] [ 5.24953466e-04 -2.35417371e-06 9.99999862e-01 1.67116013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280281693 meters 0.01617748101695893 Centerline is valid? [True, True] Translation: X:87.27, Y:10.18, Z:0.17 [[ 9.62575211e-01 -2.71012501e-01 -1.08971852e-03 8.72746520e+01] [ 2.71012328e-01 9.62575828e-01 -3.06604063e-04 1.01814579e+01] [ 1.13203024e-03 -1.97683142e-07 9.99999359e-01 1.66296109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31028169300001 meters 0.01658348844904333 Centerline is valid? [True, True] Translation: X:87.30, Y:10.19, Z:0.16 [[ 9.63291676e-01 -2.68451390e-01 -1.73180532e-03 8.73000187e+01] [ 2.68450947e-01 9.63293232e-01 -4.87702610e-04 1.01932946e+01] [ 1.79916079e-03 4.89508568e-06 9.99998381e-01 1.64782509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34028169300001 meters 0.01780794982582016 Centerline is valid? [True, True] Translation: X:87.33, Y:10.21, Z:0.17 [[ 9.64015566e-01 -2.65838330e-01 -1.99268606e-03 8.73250010e+01] [ 2.65837737e-01 9.64017625e-01 -5.61600576e-04 1.02058916e+01] [ 2.07027944e-03 1.16605459e-05 9.99997857e-01 1.65005310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.370281693 meters 0.021437584703942317 Centerline is valid? [True, True] Translation: X:87.35, Y:10.23, Z:0.17 [[ 9.65326449e-01 -2.61040923e-01 -1.57609257e-03 8.73495235e+01] [ 2.61040546e-01 9.65327735e-01 -4.44227334e-04 1.02255688e+01] [ 1.63740739e-03 1.74003292e-05 9.99998659e-01 1.66075987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400281693 meters 0.02383571841164204 Centerline is valid? [True, True] Translation: X:87.37, Y:10.24, Z:0.17 [[ 9.65961117e-01 -2.58678482e-01 -2.13617516e-03 8.73746554e+01] [ 2.58677782e-01 9.65963479e-01 -6.02533013e-04 1.02400358e+01] [ 2.21932952e-03 2.94424092e-05 9.99997537e-01 1.65434159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430281693 meters 0.028765807281283282 Centerline is valid? [True, True] Translation: X:87.40, Y:10.26, Z:0.16 [[ 9.67256727e-01 -2.53773428e-01 -3.67046092e-03 8.73995058e+01] [ 2.53771324e-01 9.67263688e-01 -1.03562527e-03 1.02609681e+01] [ 3.81311774e-03 7.02577778e-05 9.99992728e-01 1.62287774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460281693 meters 0.03139907132040492 Centerline is valid? [True, True] Translation: X:87.42, Y:10.28, Z:0.16 [[ 9.67762740e-01 -2.51826342e-01 -4.33271113e-03 8.74238052e+01] [ 2.51823391e-01 9.67772434e-01 -1.22270513e-03 1.02756802e+01] [ 4.50098775e-03 9.22104612e-05 9.99989866e-01 1.61122348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490281693 meters 0.032634732720520886 Centerline is valid? [True, True] Translation: X:87.45, Y:10.29, Z:0.16 [[ 9.68020769e-01 -2.50830859e-01 -4.43517010e-03 8.74498665e+01] [ 2.50827753e-01 9.68030924e-01 -1.25217625e-03 1.02897419e+01] [ 4.60746625e-03 9.96688665e-05 9.99989381e-01 1.60778228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520281693 meters 0.02996875026691958 Centerline is valid? [True, True] Translation: X:87.48, Y:10.30, Z:0.17 [[ 9.67927398e-01 -2.51224964e-01 -1.60300504e-03 8.74760476e+01] [ 2.51224559e-01 9.67928725e-01 -4.52634911e-04 1.03012477e+01] [ 1.66530781e-03 3.54034982e-05 9.99998613e-01 1.65644800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550281693 meters 0.03263715033004554 Centerline is valid? [True, True] Translation: X:87.50, Y:10.32, Z:0.17 [[ 9.67470042e-01 -2.52985437e-01 -2.92867699e-04 8.75009050e+01] [ 2.52985423e-01 9.67470087e-01 -8.26568793e-05 1.03158774e+01] [ 3.04251725e-04 5.87679580e-06 9.99999954e-01 1.68933618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580281693 meters 0.02461517423765956 Centerline is valid? [True, True] Translation: X:87.53, Y:10.32, Z:0.17 [[ 9.66065684e-01 -2.58296286e-01 -3.49915344e-04 8.75314470e+01] [ 2.58296267e-01 9.66065748e-01 -9.88805564e-05 1.03183521e+01] [ 3.63581709e-04 5.14328527e-06 9.99999934e-01 1.68254869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610281693 meters 0.02125873890134206 Centerline is valid? [True, True] Translation: X:87.56, Y:10.32, Z:0.17 [[ 9.65351888e-01 -2.60947857e-01 -1.39570657e-03 8.75604600e+01] [ 2.60947560e-01 9.65352897e-01 -3.94404183e-04 1.03228796e+01] [ 1.45026830e-03 1.65325999e-05 9.99998948e-01 1.65530663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640281693 meters 0.020420044012313482 Centerline is valid? [True, True] Translation: X:87.59, Y:10.33, Z:0.16 [[ 9.64664599e-01 -2.63468905e-01 -2.51942685e-03 8.75876009e+01] [ 2.63467942e-01 9.64667889e-01 -7.12644923e-04 1.03307789e+01] [ 2.61816995e-03 2.36751221e-05 9.99996572e-01 1.63191494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670281693 meters 0.017516021027524115 Centerline is valid? [True, True] Translation: X:87.62, Y:10.33, Z:0.16 [[ 9.63654686e-01 -2.67131134e-01 -3.25628462e-03 8.76164248e+01] [ 2.67129545e-01 9.63660187e-01 -9.21732236e-04 1.03343646e+01] [ 3.38417522e-03 1.83817598e-05 9.99994273e-01 1.62752423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70028169300001 meters 0.01714536875912476 Centerline is valid? [True, True] Translation: X:87.64, Y:10.34, Z:0.16 [[ 9.63299182e-01 -2.68417754e-01 -2.56832832e-03 8.76426339e+01] [ 2.68416769e-01 9.63302605e-01 -7.27306911e-04 1.03435115e+01] [ 2.66929945e-03 1.12317633e-05 9.99996437e-01 1.64241945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.730281693 meters 0.016273511619084524 Centerline is valid? [True, True] Translation: X:87.67, Y:10.35, Z:0.17 [[ 9.62624515e-01 -2.70837537e-01 -1.03493937e-03 8.76705410e+01] [ 2.70837379e-01 9.62625072e-01 -2.92981939e-04 1.03515449e+01] [ 1.07560910e-03 1.73132992e-06 9.99999422e-01 1.67286715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760281693 meters 0.016179027045244668 Centerline is valid? [True, True] Translation: X:87.70, Y:10.36, Z:0.17 [[ 9.62304002e-01 -2.71974284e-01 -9.98388190e-04 8.76971643e+01] [ 2.71974137e-01 9.62304520e-01 -2.82763948e-04 1.03590820e+01] [ 1.03765799e-03 5.69112728e-07 9.99999462e-01 1.67215728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790281693 meters 0.016153665318657147 Centerline is valid? [True, True] Translation: X:87.72, Y:10.37, Z:0.17 [[ 9.61870336e-01 -2.73502275e-01 -1.40100442e-03 8.77248271e+01] [ 2.73501986e-01 9.61871356e-01 -3.97203714e-04 1.03656659e+01] [ 1.45622214e-03 -1.11902057e-06 9.99998940e-01 1.65852717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820281693 meters 0.017476117294687628 Centerline is valid? [True, True] Translation: X:87.75, Y:10.37, Z:0.17 [[ 9.60534162e-01 -2.78159313e-01 -1.23300341e-03 8.77535721e+01] [ 2.78159093e-01 9.60534953e-01 -3.49850786e-04 1.03650896e+01] [ 1.28165713e-03 -6.92748078e-06 9.99999179e-01 1.66387718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850281693 meters 0.019521824885612254 Centerline is valid? [True, True] Translation: X:87.78, Y:10.37, Z:0.17 [[ 9.59536204e-01 -2.81584511e-01 -6.61303492e-04 8.77833677e+01] [ 2.81584448e-01 9.59536431e-01 -1.87493555e-04 1.03667643e+01] [ 6.87340073e-04 -6.30592493e-06 9.99999764e-01 1.67734598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880281693 meters 0.02527201250202481 Centerline is valid? [True, True] Translation: X:87.82, Y:10.36, Z:0.17 [[ 9.57664309e-01 -2.87886892e-01 4.56835059e-04 8.78155930e+01] [ 2.87886863e-01 9.57664418e-01 1.29819966e-04 1.03608469e+01] [-4.74868148e-04 7.19286365e-06 9.99999887e-01 1.69216314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910281693 meters 0.027523099533329373 Centerline is valid? [True, True] Translation: X:87.84, Y:10.36, Z:0.17 [[ 9.57050667e-01 -2.89920661e-01 -1.77957355e-04 8.78437250e+01] [ 2.89920657e-01 9.57050683e-01 -5.03943222e-05 1.03627020e+01] [ 1.84924563e-04 -3.36359354e-06 9.99999983e-01 1.67785583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940281693 meters 0.028358056026157263 Centerline is valid? [True, True] Translation: X:87.87, Y:10.37, Z:0.17 [[ 9.56810339e-01 -2.90709346e-01 -1.43220062e-03 8.78727150e+01] [ 2.90709063e-01 9.56811411e-01 -4.06830430e-04 1.03671331e+01] [ 1.48861530e-03 -2.70941369e-05 9.99998892e-01 1.66083704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970281693 meters 0.02415256460159986 Centerline is valid? [True, True] Translation: X:87.90, Y:10.38, Z:0.16 [[ 9.57567287e-01 -2.88190669e-01 -3.32096392e-03 8.78997089e+01] [ 2.88189127e-01 9.57573044e-01 -9.44297174e-04 1.03779972e+01] [ 3.45220316e-03 -5.28376088e-05 9.99994040e-01 1.63647271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000281693 meters 0.021925987255956618 Centerline is valid? [True, True] Translation: X:87.93, Y:10.39, Z:0.16 [[ 9.58336673e-01 -2.85616496e-01 -3.74673292e-03 8.79264863e+01] [ 2.85614511e-01 9.58343996e-01 -1.06603596e-03 1.03885660e+01] [ 3.89513646e-03 -4.84999399e-05 9.99992413e-01 1.63582240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030281693 meters 0.01861113002810111 Centerline is valid? [True, True] Translation: X:87.95, Y:10.40, Z:0.16 [[ 9.59909316e-01 -2.80294539e-01 -3.01290230e-03 8.79525587e+01] [ 2.80293228e-01 9.59914044e-01 -8.57556540e-04 1.04003141e+01] [ 3.13249564e-03 -2.13195990e-05 9.99995093e-01 1.64171872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06028169300001 meters 0.017154646891491213 Centerline is valid? [True, True] Translation: X:87.98, Y:10.41, Z:0.17 [[ 9.60413988e-01 -2.78568215e-01 -2.17295902e-03 8.79797414e+01] [ 2.78567528e-01 9.60416446e-01 -6.18596006e-04 1.04106970e+01] [ 2.25926676e-03 -1.12075656e-05 9.99997448e-01 1.66143935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09028169300001 meters 0.016939076117851073 Centerline is valid? [True, True] Translation: X:88.01, Y:10.42, Z:0.17 [[ 9.60613467e-01 -2.77884534e-01 -1.39757313e-03 8.80059078e+01] [ 2.77884249e-01 9.60614483e-01 -3.98026905e-04 1.04170122e+01] [ 1.45313452e-03 -6.01355636e-06 9.99998944e-01 1.67450365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.120281693 meters 0.01705246434731938 Centerline is valid? [True, True] Translation: X:88.04, Y:10.42, Z:0.17 [[ 9.60386599e-01 -2.78671007e-01 2.25753695e-04 8.80353234e+01] [ 2.78670999e-01 9.60386625e-01 6.46899827e-05 1.04183532e+01] [-2.34838052e-04 7.83615353e-07 9.99999972e-01 1.69440343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150281693 meters 0.017660990441117692 Centerline is valid? [True, True] Translation: X:88.06, Y:10.42, Z:0.17 [[ 9.60132196e-01 -2.79546220e-01 2.78093225e-04 8.80638226e+01] [ 2.79546209e-01 9.60132236e-01 7.94157473e-05 1.04206539e+01] [-2.89206642e-04 1.49029114e-06 9.99999958e-01 1.69701536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180281693 meters 0.019317204758354724 Centerline is valid? [True, True] Translation: X:88.09, Y:10.42, Z:0.16 [[ 9.59368981e-01 -2.82144861e-01 -2.33137752e-03 8.80937290e+01] [ 2.82144079e-01 9.59371814e-01 -6.64827216e-04 1.04186092e+01] [ 2.42423546e-03 -1.99697531e-05 9.99997061e-01 1.64716977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210281693 meters 0.020042691018747984 Centerline is valid? [True, True] Translation: X:88.12, Y:10.42, Z:0.16 [[ 9.58862490e-01 -2.83847452e-01 -3.65366825e-03 8.81228949e+01] [ 2.83845540e-01 9.58869450e-01 -1.04245932e-03 1.04227346e+01] [ 3.79929029e-03 -3.75023036e-05 9.99992782e-01 1.62328489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240281693 meters 0.021750115845545516 Centerline is valid? [True, True] Translation: X:88.15, Y:10.42, Z:0.16 [[ 9.58449620e-01 -2.85232849e-01 -4.06781078e-03 8.81509096e+01] [ 2.85230489e-01 9.58458251e-01 -1.16114176e-03 1.04240573e+01] [ 4.23002258e-03 -4.73677787e-05 9.99991052e-01 1.61419590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270281693 meters 0.022177427188449443 Centerline is valid? [True, True] Translation: X:88.18, Y:10.42, Z:0.17 [[ 9.58313727e-01 -2.85705365e-01 -2.69184345e-03 8.81801641e+01] [ 2.85704333e-01 9.58317507e-01 -7.68514005e-04 1.04241364e+01] [ 2.79920927e-03 -3.25938165e-05 9.99996082e-01 1.65256493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300281693 meters 0.021357731172206247 Centerline is valid? [True, True] Translation: X:88.21, Y:10.43, Z:0.17 [[ 9.58305914e-01 -2.85739749e-01 -1.60359596e-03 8.82085081e+01] [ 2.85739383e-01 9.58307255e-01 -4.57828947e-04 1.04277394e+01] [ 1.66755757e-03 -1.94703320e-05 9.99998609e-01 1.67465807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330281693 meters 0.020909729500019784 Centerline is valid? [True, True] Translation: X:88.24, Y:10.43, Z:0.17 [[ 9.58312600e-01 -2.85717615e-01 -1.55073767e-03 8.82352142e+01] [ 2.85717272e-01 9.58313855e-01 -4.43021798e-04 1.04345614e+01] [ 1.61267253e-03 -1.85191664e-05 9.99998699e-01 1.67664131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360281693 meters 0.020997713791291967 Centerline is valid? [True, True] Translation: X:88.26, Y:10.44, Z:0.17 [[ 9.58421529e-01 -2.85351653e-01 -1.61442259e-03 8.82620732e+01] [ 2.85351280e-01 9.58422889e-01 -4.61547386e-04 1.04405132e+01] [ 1.67900287e-03 -1.83206004e-05 9.99998590e-01 1.67617538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390281693 meters 0.01988126942943868 Centerline is valid? [True, True] Translation: X:88.29, Y:10.45, Z:0.17 [[ 9.58724053e-01 -2.84331249e-01 -1.98249494e-03 8.82891566e+01] [ 2.84330684e-01 9.58726103e-01 -5.67245346e-04 1.04494437e+01] [ 2.06195522e-03 -1.98523826e-05 9.99997874e-01 1.66729538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420281693 meters 0.017814213471271472 Centerline is valid? [True, True] Translation: X:88.32, Y:10.46, Z:0.17 [[ 9.59739161e-01 -2.80881659e-01 -2.49714039e-03 8.83159930e+01] [ 2.80880750e-01 9.59742410e-01 -7.15003119e-04 1.04623197e+01] [ 2.59744279e-03 -1.51821700e-05 9.99996627e-01 1.66328606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45028169300001 meters 0.017027788756302564 Centerline is valid? [True, True] Translation: X:88.34, Y:10.48, Z:0.17 [[ 9.60414146e-01 -2.78570259e-01 -1.81079581e-03 8.83416645e+01] [ 2.78569777e-01 9.60415853e-01 -5.18695843e-04 1.04750890e+01] [ 1.88361024e-03 -6.27015931e-06 9.99998226e-01 1.67643998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.480281693 meters 0.0165079717802087 Centerline is valid? [True, True] Translation: X:88.36, Y:10.50, Z:0.17 [[ 9.61867598e-01 -2.73514285e-01 -8.12327213e-04 8.83648807e+01] [ 2.73514186e-01 9.61867941e-01 -2.32527094e-04 1.04953182e+01] [ 8.44950985e-04 1.47726044e-06 9.99999643e-01 1.69840963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510281693 meters 0.017259116358817835 Centerline is valid? [True, True] Translation: X:88.39, Y:10.51, Z:0.17 [[ 9.62425117e-01 -2.71544096e-01 -1.30355467e-03 8.83908894e+01] [ 2.71543839e-01 9.62425999e-01 -3.73631595e-04 1.05085985e+01] [ 1.35603236e-03 5.62019320e-06 9.99999081e-01 1.68844509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540281693 meters 0.018350902757674807 Centerline is valid? [True, True] Translation: X:88.42, Y:10.52, Z:0.17 [[ 9.62967556e-01 -2.69604291e-01 -2.64811876e-03 8.84156726e+01] [ 2.69603221e-01 9.62971197e-01 -7.59717532e-04 1.05247626e+01] [ 2.75488519e-03 1.76419880e-05 9.99996205e-01 1.65711143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570281693 meters 0.018276363339272354 Centerline is valid? [True, True] Translation: X:88.44, Y:10.54, Z:0.17 [[ 9.62925830e-01 -2.69753506e-01 -2.62536128e-03 8.84413061e+01] [ 2.69752455e-01 9.62929408e-01 -7.53438466e-04 1.05350218e+01] [ 2.73128025e-03 1.73077104e-05 9.99996270e-01 1.65248251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600281693 meters 0.018132928688730985 Centerline is valid? [True, True] Translation: X:88.47, Y:10.54, Z:0.17 [[ 9.62797434e-01 -2.70214441e-01 -2.29285896e-03 8.84674564e+01] [ 2.70213639e-01 9.62800164e-01 -6.58408059e-04 1.05443743e+01] [ 2.38547634e-03 1.43518273e-05 9.99997155e-01 1.65966366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630281693 meters 0.0174286035594006 Centerline is valid? [True, True] Translation: X:88.49, Y:10.55, Z:0.17 [[ 9.62439894e-01 -2.71494079e-01 -6.44270880e-04 8.84939887e+01] [ 2.71494016e-01 9.62440110e-01 -1.85033646e-04 1.05532001e+01] [ 6.70307676e-04 3.16807364e-06 9.99999775e-01 1.69450053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660281693 meters 0.01714361271600135 Centerline is valid? [True, True] Translation: X:88.52, Y:10.56, Z:0.17 [[ 9.62206972e-01 -2.72319191e-01 3.90475159e-05 8.85202679e+01] [ 2.72319191e-01 9.62206973e-01 1.15901877e-05 1.05618391e+01] [-4.07280226e-05 -5.18771524e-07 9.99999999e-01 1.70665935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690281693 meters 0.016972376866973272 Centerline is valid? [True, True] Translation: X:88.55, Y:10.57, Z:0.17 [[ 9.62036828e-01 -2.72919628e-01 1.32163624e-04 8.85467112e+01] [ 2.72919625e-01 9.62036837e-01 3.83928220e-05 1.05710082e+01] [-1.37624430e-04 -8.65262007e-07 9.99999991e-01 1.70968441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720281693 meters 0.016886462842494388 Centerline is valid? [True, True] Translation: X:88.57, Y:10.58, Z:0.17 [[ 9.61879993e-01 -2.73470492e-01 -8.77326559e-04 8.85727237e+01] [ 2.73470376e-01 9.61880393e-01 -2.52393102e-04 1.05812238e+01] [ 9.12905280e-04 2.84905129e-06 9.99999583e-01 1.68670166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750281693 meters 0.016849451214861706 Centerline is valid? [True, True] Translation: X:88.60, Y:10.59, Z:0.17 [[ 9.61685725e-01 -2.74151550e-01 -1.22218372e-03 8.85983186e+01] [ 2.74151325e-01 9.61686502e-01 -3.51671181e-04 1.05888937e+01] [ 1.27176878e-03 3.13386945e-06 9.99999191e-01 1.68248039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780281693 meters 0.016849451214861706 Centerline is valid? [True, True] Translation: X:88.62, Y:10.60, Z:0.17 [[ 9.61638840e-01 -2.74315964e-01 -1.22215244e-03 8.86246490e+01] [ 2.74315738e-01 9.61639617e-01 -3.51779855e-04 1.05966902e+01] [ 1.27176903e-03 3.02952402e-06 9.99999191e-01 1.68302715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81028169300001 meters 0.016689406083266873 Centerline is valid? [True, True] Translation: X:88.65, Y:10.60, Z:0.17 [[ 9.61403265e-01 -2.75140554e-01 -1.19870984e-03 8.86511217e+01] [ 2.75140337e-01 9.61404013e-01 -3.45246900e-04 1.06040542e+01] [ 1.24743588e-03 2.10806661e-06 9.99999222e-01 1.67852955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84028169300001 meters 0.01643216796053051 Centerline is valid? [True, True] Translation: X:88.68, Y:10.61, Z:0.17 [[ 9.61130595e-01 -2.76091704e-01 -1.16167331e-03 8.86776350e+01] [ 2.76091501e-01 9.61131297e-01 -3.34831251e-04 1.06117137e+01] [ 1.20896470e-03 1.08843229e-06 9.99999269e-01 1.68240009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.870281693 meters 0.01640157513447422 Centerline is valid? [True, True] Translation: X:88.70, Y:10.62, Z:0.17 [[ 9.61082139e-01 -2.76260511e-01 -1.11923231e-03 8.87047502e+01] [ 2.76260323e-01 9.61082790e-01 -3.22668190e-04 1.06202296e+01] [ 1.16481539e-03 9.11153613e-07 9.99999322e-01 1.68243878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900281693 meters 0.01665606498571976 Centerline is valid? [True, True] Translation: X:88.73, Y:10.63, Z:0.17 [[ 9.61229412e-01 -2.75742105e-01 -2.07569120e-03 8.87301342e+01] [ 2.75741454e-01 9.61231653e-01 -5.99132379e-04 1.06303387e+01] [ 2.16042611e-03 3.54955374e-06 9.99997666e-01 1.66448747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930281693 meters 0.016665739935185168 Centerline is valid? [True, True] Translation: X:88.76, Y:10.64, Z:0.17 [[ 9.61233273e-01 -2.75729031e-01 -2.02406075e-03 8.87565814e+01] [ 2.75728411e-01 9.61235404e-01 -5.84413339e-04 1.06401834e+01] [ 2.10673857e-03 3.66649128e-06 9.99997781e-01 1.66356511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960281693 meters 0.016526378927939327 Centerline is valid? [True, True] Translation: X:88.78, Y:10.65, Z:0.17 [[ 9.61165069e-01 -2.75969144e-01 -1.65582818e-03 8.87831596e+01] [ 2.75968729e-01 9.61166495e-01 -4.78351828e-04 1.06493678e+01] [ 1.72353692e-03 2.81826777e-06 9.99998515e-01 1.67154072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990281693 meters 0.016334018003261907 Centerline is valid? [True, True] Translation: X:88.81, Y:10.66, Z:0.17 [[ 9.60828131e-01 -2.77144297e-01 -5.83983715e-04 8.88090182e+01] [ 2.77144246e-01 9.60828309e-01 -1.68726009e-04 1.06559983e+01] [ 6.07869536e-04 2.68969594e-07 9.99999815e-01 1.68949544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020281693 meters 0.01642652114509974 Centerline is valid? [True, True] Translation: X:88.84, Y:10.66, Z:0.17 [[ 9.60549947e-01 -2.78106427e-01 -7.84048190e-04 8.88364352e+01] [ 2.78106335e-01 9.60550267e-01 -2.26529545e-04 1.06617835e+01] [ 8.16117020e-04 -4.55825955e-07 9.99999667e-01 1.68910803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050281693 meters 0.017042782728186993 Centerline is valid? [True, True] Translation: X:88.87, Y:10.66, Z:0.17 [[ 9.59749154e-01 -2.80848825e-01 -2.34511019e-03 8.88657850e+01] [ 2.80848005e-01 9.59752019e-01 -6.78694228e-04 1.06619387e+01] [ 2.44133471e-03 -7.24330778e-06 9.99997020e-01 1.65434716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080281693 meters 0.017675828074821747 Centerline is valid? [True, True] Translation: X:88.90, Y:10.67, Z:0.16 [[ 9.59157642e-01 -2.82851809e-01 -3.38718034e-03 8.88950407e+01] [ 2.82850109e-01 9.59163622e-01 -9.80690003e-04 1.06661205e+01] [ 3.52625010e-03 -1.74280183e-05 9.99993783e-01 1.63657032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110281693 meters 0.019806119373266873 Centerline is valid? [True, True] Translation: X:88.92, Y:10.66, Z:0.16 [[ 9.58097883e-01 -2.86410513e-01 -4.17897097e-03 8.89246714e+01] [ 2.86407957e-01 9.58106997e-01 -1.21046384e-03 1.06645862e+01] [ 4.35059089e-03 -3.71476971e-05 9.99990535e-01 1.61616351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140281693 meters 0.02035701444541179 Centerline is valid? [True, True] Translation: X:88.95, Y:10.67, Z:0.16 [[ 9.57749875e-01 -2.87576628e-01 -3.85480241e-03 8.89534500e+01] [ 2.87574461e-01 9.57757632e-01 -1.11699568e-03 1.06690659e+01] [ 4.01318828e-03 -3.87402465e-05 9.99991946e-01 1.62245794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170281693 meters 0.019719082559514923 Centerline is valid? [True, True] Translation: X:88.98, Y:10.68, Z:0.16 [[ 9.57608951e-01 -2.88046382e-01 -3.79204058e-03 8.89806332e+01] [ 2.88044286e-01 9.57616458e-01 -1.09950806e-03 1.06770206e+01] [ 3.94802978e-03 -3.93768631e-05 9.99992206e-01 1.63761818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20028169300001 meters 0.01901552280186097 Centerline is valid? [True, True] Translation: X:89.01, Y:10.68, Z:0.16 [[ 9.58057415e-01 -2.86549854e-01 -3.89487164e-03 8.90073931e+01] [ 2.86547628e-01 9.58065332e-01 -1.12985121e-03 1.06845122e+01] [ 4.05530019e-03 -3.36039008e-05 9.99991777e-01 1.64132021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.230281693 meters 0.01886472050219677 Centerline is valid? [True, True] Translation: X:89.03, Y:10.69, Z:0.16 [[ 9.58432451e-01 -2.85290610e-01 -4.06257287e-03 8.90338938e+01] [ 2.85288176e-01 9.58441061e-01 -1.17875850e-03 1.06923524e+01] [ 4.23002538e-03 -2.92436020e-05 9.99991053e-01 1.63600546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260281693 meters 0.016951332907711596 Centerline is valid? [True, True] Translation: X:89.06, Y:10.71, Z:0.17 [[ 9.59383557e-01 -2.82086065e-01 -3.26225428e-03 8.90599800e+01] [ 2.82084476e-01 9.59389104e-01 -9.46876941e-04 1.07053535e+01] [ 3.39687200e-03 -1.18131191e-05 9.99994231e-01 1.65224010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290281693 meters 0.016579420421137914 Centerline is valid? [True, True] Translation: X:89.09, Y:10.72, Z:0.17 [[ 9.59876301e-01 -2.80404734e-01 -3.26682577e-03 8.90859446e+01] [ 2.80403129e-01 9.59881860e-01 -9.48812239e-04 1.07154255e+01] [ 3.40181824e-03 -5.28578718e-06 9.99994214e-01 1.65458790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320281693 meters 0.016571281349076764 Centerline is valid? [True, True] Translation: X:89.11, Y:10.73, Z:0.17 [[ 9.60341213e-01 -2.78811342e-01 -2.99837052e-03 8.91115374e+01] [ 2.78809980e-01 9.60345894e-01 -8.71291381e-04 1.07252828e+01] [ 3.12239874e-03 7.61395184e-07 9.99995125e-01 1.65608662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350281693 meters 0.016996864085055245 Centerline is valid? [True, True] Translation: X:89.14, Y:10.74, Z:0.17 [[ 9.61135012e-01 -2.76071536e-01 -1.99906231e-03 8.91370316e+01] [ 2.76070925e-01 9.61137091e-01 -5.81023921e-04 1.07388251e+01] [ 2.08177710e-03 6.55945196e-06 9.99997833e-01 1.67563354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380281693 meters 0.01735878099306076 Centerline is valid? [True, True] Translation: X:89.16, Y:10.75, Z:0.17 [[ 9.61370837e-01 -2.75251044e-01 -1.72527248e-03 8.91631958e+01] [ 2.75250587e-01 9.61372385e-01 -5.01587280e-04 1.07480945e+01] [ 1.79669174e-03 7.32912221e-06 9.99998386e-01 1.69010432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410281693 meters 0.017681288844402714 Centerline is valid? [True, True] Translation: X:89.19, Y:10.76, Z:0.17 [[ 9.61568286e-01 -2.74563746e-01 -1.08656782e-03 8.91902099e+01] [ 2.74563564e-01 9.61568900e-01 -3.15918957e-04 1.07566077e+01] [ 1.13154971e-03 5.44571708e-06 9.99999360e-01 1.69978041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440281693 meters 0.017178242963473287 Centerline is valid? [True, True] Translation: X:89.22, Y:10.76, Z:0.17 [[ 9.61448008e-01 -2.74985892e-01 -6.98313169e-04 8.92173661e+01] [ 2.74985817e-01 9.61448261e-01 -2.02861277e-04 1.07631529e+01] [ 7.27175971e-04 3.01435366e-06 9.99999736e-01 1.70083162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470281693 meters 0.017251459902132647 Centerline is valid? [True, True] Translation: X:89.24, Y:10.77, Z:0.17 [[ 9.61265589e-01 -2.75623671e-01 -2.45954433e-04 8.92435205e+01] [ 2.75623661e-01 9.61265620e-01 -7.14399313e-05 1.07712955e+01] [ 2.56118076e-04 8.81886375e-07 9.99999967e-01 1.71001366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500281693 meters 0.016680719840605634 Centerline is valid? [True, True] Translation: X:89.27, Y:10.77, Z:0.17 [[ 9.60722580e-01 -2.77510086e-01 -5.26724678e-04 8.92721091e+01] [ 2.77510043e-01 9.60722724e-01 -1.53271168e-04 1.07742222e+01] [ 5.48570662e-04 1.07968414e-06 9.99999850e-01 1.70511658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530281693 meters 0.016621716936940464 Centerline is valid? [True, True] Translation: X:89.30, Y:10.78, Z:0.17 [[ 9.60563569e-01 -2.78058015e-01 -1.17044808e-03 8.92997946e+01] [ 2.78057807e-01 9.60564282e-01 -3.40693264e-04 1.07802228e+01] [ 1.21902311e-03 1.80531089e-06 9.99999257e-01 1.69467417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56028169300001 meters 0.01684885039184322 Centerline is valid? [True, True] Translation: X:89.33, Y:10.79, Z:0.17 [[ 9.60941500e-01 -2.76743431e-01 -2.12306023e-03 8.93259171e+01] [ 2.76742739e-01 9.60943845e-01 -6.18642359e-04 1.07898499e+01] [ 2.21134687e-03 6.93761317e-06 9.99997555e-01 1.67817352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.590281693 meters 0.017410223632203594 Centerline is valid? [True, True] Translation: X:89.35, Y:10.80, Z:0.17 [[ 9.61323377e-01 -2.75412085e-01 -2.35556661e-03 8.93527853e+01] [ 2.75411228e-01 9.61326263e-01 -6.86879419e-04 1.08014015e+01] [ 2.45364293e-03 1.15637504e-05 9.99996990e-01 1.67573672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.620281693 meters 0.018782860858337923 Centerline is valid? [True, True] Translation: X:89.38, Y:10.81, Z:0.17 [[ 9.61722637e-01 -2.74014041e-01 -2.42377746e-03 8.93780896e+01] [ 2.74013129e-01 9.61725691e-01 -7.07135531e-04 1.08143252e+01] [ 2.52477412e-03 1.59214019e-05 9.99996813e-01 1.67290730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650281693 meters 0.019917703677273673 Centerline is valid? [True, True] Translation: X:89.40, Y:10.83, Z:0.17 [[ 9.62618413e-01 -2.70854432e-01 -1.91506130e-03 8.94043059e+01] [ 2.70853856e-01 9.62620318e-01 -5.58810231e-04 1.08270235e+01] [ 1.99483314e-03 1.92192796e-05 9.99998010e-01 1.68775895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680281693 meters 0.021835638555746873 Centerline is valid? [True, True] Translation: X:89.43, Y:10.84, Z:0.17 [[ 9.62934717e-01 -2.69727584e-01 -1.93932396e-03 8.94295551e+01] [ 2.69726990e-01 9.62936670e-01 -5.66229653e-04 1.08394126e+01] [ 2.02017391e-03 2.21541767e-05 9.99997959e-01 1.69247801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710281693 meters 0.02241373219650106 Centerline is valid? [True, True] Translation: X:89.46, Y:10.85, Z:0.17 [[ 9.63251187e-01 -2.68591515e-01 -2.39751387e-03 8.94559591e+01] [ 2.68590604e-01 9.63254171e-01 -7.00184381e-04 1.08499974e+01] [ 2.49747882e-03 3.05037382e-05 9.99996881e-01 1.67714809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740281693 meters 0.022445324992359524 Centerline is valid? [True, True] Translation: X:89.48, Y:10.86, Z:0.17 [[ 9.63202315e-01 -2.68767819e-01 -2.27156578e-03 8.94829166e+01] [ 2.68767001e-01 9.63204993e-01 -6.63580310e-04 1.08590456e+01] [ 2.36633254e-03 2.86401666e-05 9.99997200e-01 1.66763576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770281693 meters 0.022194997192459504 Centerline is valid? [True, True] Translation: X:89.51, Y:10.87, Z:0.17 [[ 9.63044816e-01 -2.69328465e-01 -2.61935697e-03 8.95096095e+01] [ 2.69327378e-01 9.63048377e-01 -7.65737633e-04 1.08674459e+01] [ 2.72880243e-03 3.19751113e-05 9.99996276e-01 1.65535799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800281693 meters 0.0214047414082548 Centerline is valid? [True, True] Translation: X:89.54, Y:10.88, Z:0.17 [[ 9.62913351e-01 -2.69788616e-01 -3.46134394e-03 8.95362666e+01] [ 2.69786718e-01 9.62919571e-01 -1.01267146e-03 1.08766552e+01] [ 3.60620306e-03 4.12902491e-05 9.99993497e-01 1.65026084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830281693 meters 0.022704458926612974 Centerline is valid? [True, True] Translation: X:89.56, Y:10.89, Z:0.17 [[ 9.62998156e-01 -2.69484187e-01 -3.58119123e-03 8.95617133e+01] [ 2.69482151e-01 9.63004814e-01 -1.04827903e-03 1.08886782e+01] [ 3.73119901e-03 4.44236533e-05 9.99993038e-01 1.65182648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860281693 meters 0.023639405260504086 Centerline is valid? [True, True] Translation: X:89.59, Y:10.90, Z:0.17 [[ 9.63538110e-01 -2.67555724e-01 -2.87146908e-03 8.95876671e+01] [ 2.67554406e-01 9.63542388e-01 -8.40837644e-04 1.09014791e+01] [ 2.99175310e-03 4.19049102e-05 9.99995524e-01 1.67375943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890281693 meters 0.02640736638061401 Centerline is valid? [True, True] Translation: X:89.61, Y:10.92, Z:0.17 [[ 9.63844467e-01 -2.66446594e-01 -3.17117871e-03 8.96121773e+01] [ 2.66444979e-01 9.63849682e-01 -9.29078525e-04 1.09152629e+01] [ 3.30408940e-03 5.05425512e-05 9.99994540e-01 1.66045382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920281693 meters 0.027084671165452972 Centerline is valid? [True, True] Translation: X:89.64, Y:10.93, Z:0.16 [[ 9.63967823e-01 -2.65991226e-01 -3.83451482e-03 8.96385992e+01] [ 2.65988860e-01 9.63975448e-01 -1.12374231e-03 1.09257383e+01] [ 3.99528373e-03 6.33132048e-05 9.99992017e-01 1.64490104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95028169300001 meters 0.02384726178322018 Centerline is valid? [True, True] Translation: X:89.67, Y:10.93, Z:0.16 [[ 9.63373239e-01 -2.68138895e-01 -3.67898325e-03 8.96670579e+01] [ 2.68136731e-01 9.63380262e-01 -1.07854463e-03 1.09324191e+01] [ 3.83345962e-03 5.25704951e-05 9.99992651e-01 1.64656821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.980281693 meters 0.021382380733463647 Centerline is valid? [True, True] Translation: X:89.70, Y:10.94, Z:0.17 [[ 9.62760003e-01 -2.70341346e-01 -2.95512546e-03 8.96953871e+01] [ 2.70339959e-01 9.62764538e-01 -8.66757594e-04 1.09372750e+01] [ 3.07941041e-03 3.55910478e-05 9.99995258e-01 1.66572088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010281693 meters 0.019643827764712775 Centerline is valid? [True, True] Translation: X:89.72, Y:10.94, Z:0.17 [[ 9.62024037e-01 -2.72958862e-01 -1.79213769e-03 8.97235423e+01] [ 2.72958356e-01 9.62025706e-01 -5.25827013e-04 1.09421307e+01] [ 1.86761167e-03 1.66792689e-05 9.99998256e-01 1.68665021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040281693 meters 0.01723399929801341 Centerline is valid? [True, True] Translation: X:89.75, Y:10.94, Z:0.17 [[ 9.60733783e-01 -2.77470229e-01 -9.33002565e-04 8.97530545e+01] [ 2.77470094e-01 9.60734236e-01 -2.73753469e-04 1.09436436e+01] [ 9.72325944e-04 4.12389587e-06 9.99999527e-01 1.71173689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070281693 meters 0.01672140042891235 Centerline is valid? [True, True] Translation: X:89.78, Y:10.95, Z:0.17 [[ 9.60219616e-01 -2.79243107e-01 -1.25583399e-03 8.97807456e+01] [ 2.79242863e-01 9.60220437e-01 -3.68791551e-04 1.09496312e+01] [ 1.30885996e-03 3.43820201e-06 9.99999143e-01 1.71088015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100281693 meters 0.0163760186927266 Centerline is valid? [True, True] Translation: X:89.81, Y:10.96, Z:0.17 [[ 9.59572769e-01 -2.81454929e-01 -1.79565964e-03 8.98079774e+01] [ 2.81454434e-01 9.59574449e-01 -5.27834744e-04 1.09569193e+01] [ 1.87163080e-03 1.09948067e-06 9.99998248e-01 1.70399745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130281693 meters 0.016411390439260102 Centerline is valid? [True, True] Translation: X:89.83, Y:10.97, Z:0.17 [[ 9.59504870e-01 -2.81688471e-01 -1.41734029e-03 8.98334081e+01] [ 2.81688163e-01 9.59505917e-01 -4.16882570e-04 1.09659043e+01] [ 1.47737741e-03 7.52872374e-07 9.99998909e-01 1.71387165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160281693 meters 0.01637277367568026 Centerline is valid? [True, True] Translation: X:89.86, Y:10.98, Z:0.17 [[ 9.59673145e-01 -2.81118068e-01 -2.93654046e-04 8.98583419e+01] [ 2.81118054e-01 9.59673190e-01 -8.61939235e-05 1.09760185e+01] [ 3.06042584e-04 1.66539596e-07 9.99999953e-01 1.73900640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190281693 meters 0.016590259465433427 Centerline is valid? [True, True] Translation: X:89.89, Y:10.99, Z:0.18 [[ 9.60003149e-01 -2.79986948e-01 1.12418668e-03 8.98852180e+01] [ 2.79986751e-01 9.60003807e-01 3.31442285e-04 1.09876601e+01] [-1.17202301e-03 -3.42825915e-06 9.99999313e-01 1.76630112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220281693 meters 0.017493003770677192 Centerline is valid? [True, True] Translation: X:89.91, Y:11.00, Z:0.18 [[ 9.60651346e-01 -2.77751546e-01 1.75200935e-03 8.99099277e+01] [ 2.77751066e-01 9.60652944e-01 5.16369830e-04 1.10036285e+01] [-1.82649546e-03 -9.42890652e-06 9.99998332e-01 1.78552473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250281693 meters 0.017752556660815925 Centerline is valid? [True, True] Translation: X:89.94, Y:11.02, Z:0.18 [[ 9.60778678e-01 -2.77315740e-01 5.59348038e-04 8.99359218e+01] [ 2.77315690e-01 9.60778841e-01 1.65271410e-04 1.10150940e+01] [-5.83242123e-04 -3.67325977e-06 9.99999830e-01 1.76257768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280281693 meters 0.017929456153057986 Centerline is valid? [True, True] Translation: X:89.96, Y:11.03, Z:0.17 [[ 9.60778930e-01 -2.77311273e-01 -1.51820837e-03 8.99614091e+01] [ 2.77310912e-01 9.60780130e-01 -4.47529004e-04 1.10265155e+01] [ 1.58276928e-03 8.96068930e-06 9.99998747e-01 1.70988622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31028169300001 meters 0.017784329738560364 Centerline is valid? [True, True] Translation: X:89.99, Y:11.04, Z:0.17 [[ 9.60625783e-01 -2.77839301e-01 -1.85153745e-03 8.99874500e+01] [ 2.77838765e-01 9.60627567e-01 -5.46221640e-04 1.10351766e+01] [ 1.93039975e-03 1.02857138e-05 9.99998137e-01 1.70084908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.340281693 meters 0.017106751496473657 Centerline is valid? [True, True] Translation: X:90.01, Y:11.04, Z:0.17 [[ 9.60314643e-01 -2.78910697e-01 -2.14692543e-03 9.00149825e+01] [ 2.78909978e-01 9.60317043e-01 -6.33594514e-04 1.10422662e+01] [ 2.23844536e-03 9.65116660e-06 9.99997495e-01 1.69176208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.370281693 meters 0.0166629256485343 Centerline is valid? [True, True] Translation: X:90.04, Y:11.05, Z:0.17 [[ 9.59552208e-01 -2.81518071e-01 -2.67136539e-03 9.00415836e+01] [ 2.81516966e-01 9.59555926e-01 -7.88900556e-04 1.10488462e+01] [ 2.78541426e-03 4.95658905e-06 9.99996121e-01 1.68106755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400281693 meters 0.016535029162721898 Centerline is valid? [True, True] Translation: X:90.07, Y:11.06, Z:0.17 [[ 9.59187340e-01 -2.82755939e-01 -2.95397706e-03 9.00685875e+01] [ 2.82754593e-01 9.59191888e-01 -8.72700686e-04 1.10557881e+01] [ 3.08019213e-03 1.83287045e-06 9.99995256e-01 1.67950522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430281693 meters 0.016401519589388142 Centerline is valid? [True, True] Translation: X:90.09, Y:11.06, Z:0.17 [[ 9.58918312e-01 -2.83669977e-01 -2.64855398e-03 9.00946313e+01] [ 2.83668897e-01 9.58921970e-01 -7.82869155e-04 1.10632529e+01] [ 2.76183308e-03 -6.04817469e-07 9.99996186e-01 1.68991851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460281693 meters 0.01628334066985554 Centerline is valid? [True, True] Translation: X:90.12, Y:11.07, Z:0.17 [[ 9.58734792e-01 -2.84301038e-01 -7.20110508e-04 9.01210998e+01] [ 2.84300959e-01 9.58735062e-01 -2.12650919e-04 1.10726006e+01] [ 7.50852070e-04 -8.52273304e-07 9.99999718e-01 1.73468577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490281693 meters 0.016314183526722287 Centerline is valid? [True, True] Translation: X:90.15, Y:11.08, Z:0.17 [[ 9.58804857e-01 -2.84065458e-01 -2.47936793e-04 9.01459602e+01] [ 2.84065449e-01 9.58804889e-01 -7.32031366e-05 1.10820869e+01] [ 2.58517492e-04 -2.42753412e-07 9.99999967e-01 1.74254689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520281693 meters 0.016344070436796594 Centerline is valid? [True, True] Translation: X:90.17, Y:11.09, Z:0.17 [[ 9.59010196e-01 -2.83370258e-01 -8.61225288e-04 9.01708621e+01] [ 2.83370144e-01 9.59010582e-01 -2.54728360e-04 1.10941545e+01] [ 8.98106606e-04 2.41560782e-07 9.99999597e-01 1.72901639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550281693 meters 0.016266048099823623 Centerline is valid? [True, True] Translation: X:90.20, Y:11.10, Z:0.17 [[ 9.58814609e-01 -2.84030518e-01 -1.10035334e-03 9.01969477e+01] [ 2.84030331e-01 9.58815240e-01 -3.25630780e-04 1.11027783e+01] [ 1.14752464e-03 -3.14175033e-07 9.99999342e-01 1.72109820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580281693 meters 0.01631579613197434 Centerline is valid? [True, True] Translation: X:90.22, Y:11.11, Z:0.17 [[ 9.58480190e-01 -2.85155900e-01 -1.35563708e-03 9.02227146e+01] [ 2.85155617e-01 9.58481149e-01 -4.01604406e-04 1.11097266e+01] [ 1.41387245e-03 -1.63766189e-06 9.99999000e-01 1.72503478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610281693 meters 0.01653259928670749 Centerline is valid? [True, True] Translation: X:90.25, Y:11.12, Z:0.17 [[ 9.57828306e-01 -2.87339860e-01 -8.61367107e-04 9.02502024e+01] [ 2.87339747e-01 9.57828693e-01 -2.55070710e-04 1.11160007e+01] [ 8.98334113e-04 -3.19106013e-06 9.99999596e-01 1.73138406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640281693 meters 0.016858094487189224 Centerline is valid? [True, True] Translation: X:90.28, Y:11.12, Z:0.17 [[ 9.57569347e-01 -2.88202493e-01 -5.19153438e-04 9.02770460e+01] [ 2.88202452e-01 9.57569487e-01 -1.53880313e-04 1.11232517e+01] [ 5.41474181e-04 -2.27022327e-06 9.99999853e-01 1.74011286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670281693 meters 0.017096694101927292 Centerline is valid? [True, True] Translation: X:90.30, Y:11.13, Z:0.17 [[ 9.57291872e-01 -2.89122355e-01 -7.32007680e-04 9.03040056e+01] [ 2.89122274e-01 9.57292152e-01 -2.16905331e-04 1.11321404e+01] [ 7.63457387e-04 -3.99801496e-06 9.99999709e-01 1.73434327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70028169300001 meters 0.017096694101927292 Centerline is valid? [True, True] Translation: X:90.33, Y:11.14, Z:0.17 [[ 9.57238364e-01 -2.89299464e-01 -7.31967319e-04 9.03302711e+01] [ 2.89299382e-01 9.57238643e-01 -2.17041374e-04 1.11401254e+01] [ 7.63457356e-04 -3.99736314e-06 9.99999709e-01 1.73489018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.730281693 meters 0.017534109865962922 Centerline is valid? [True, True] Translation: X:90.36, Y:11.15, Z:0.17 [[ 9.56927699e-01 -2.90316419e-01 -2.39912472e-03 9.03563881e+01] [ 2.90315544e-01 9.56930706e-01 -7.12672877e-04 1.11488073e+01] [ 2.50269675e-03 -1.45267827e-05 9.99996868e-01 1.70631018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760281693 meters 0.01806294818431985 Centerline is valid? [True, True] Translation: X:90.38, Y:11.16, Z:0.17 [[ 9.56582609e-01 -2.91448751e-01 -2.70895067e-03 9.03834819e+01] [ 2.91447640e-01 9.56586444e-01 -8.04982432e-04 1.11574911e+01] [ 2.82595661e-03 -1.94850858e-05 9.99996007e-01 1.69693909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790281693 meters 0.018762254976640816 Centerline is valid? [True, True] Translation: X:90.41, Y:11.16, Z:0.17 [[ 9.56311668e-01 -2.92342574e-01 -1.95296319e-03 9.04103399e+01] [ 2.92341998e-01 9.56313662e-01 -5.80577856e-04 1.11646387e+01] [ 2.03737300e-03 -1.57197829e-05 9.99997924e-01 1.71234180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820281693 meters 0.01949509362765491 Centerline is valid? [True, True] Translation: X:90.44, Y:11.17, Z:0.17 [[ 9.55926942e-01 -2.93602790e-01 -1.04097215e-03 9.04375904e+01] [ 2.93602627e-01 9.55927509e-01 -3.09471517e-04 1.11718029e+01] [ 1.08595562e-03 -9.79999744e-06 9.99999410e-01 1.73141490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850281693 meters 0.02072951317399456 Centerline is valid? [True, True] Translation: X:90.47, Y:11.18, Z:0.17 [[ 9.55363506e-01 -2.95432838e-01 -1.02004750e-04 9.04657679e+01] [ 2.95432836e-01 9.55363511e-01 -3.00321276e-05 1.11777413e+01] [ 1.06324093e-04 -1.44395395e-06 9.99999994e-01 1.74747900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880281693 meters 0.023956209062193184 Centerline is valid? [True, True] Translation: X:90.49, Y:11.18, Z:0.17 [[ 9.54172067e-01 -2.99258390e-01 -2.87000461e-04 9.04948740e+01] [ 2.99258378e-01 9.54172110e-01 -8.53056066e-05 1.11774269e+01] [ 2.99376254e-04 -4.49106531e-06 9.99999955e-01 1.74031845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910281693 meters 0.02609076603074491 Centerline is valid? [True, True] Translation: X:90.52, Y:11.18, Z:0.17 [[ 9.53336514e-01 -3.01907697e-01 -1.11107523e-03 9.05244002e+01] [ 3.01907517e-01 9.53337161e-01 -3.30554088e-04 1.11796814e+01] [ 1.15902613e-03 -2.03126810e-05 9.99999328e-01 1.72519477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940281693 meters 0.02572650001607037 Centerline is valid? [True, True] Translation: X:90.55, Y:11.19, Z:0.17 [[ 9.53188191e-01 -3.02374349e-01 -1.42307764e-03 9.05519477e+01] [ 3.02374053e-01 9.53189253e-01 -4.23706345e-04 1.11874617e+01] [ 1.48458024e-03 -2.64298697e-05 9.99998898e-01 1.72160273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970281693 meters 0.0259549290071643 Centerline is valid? [True, True] Translation: X:90.58, Y:11.19, Z:0.17 [[ 9.53168782e-01 -3.02433789e-01 -1.75374961e-03 9.05782311e+01] [ 3.02433340e-01 9.53170395e-01 -5.22552167e-04 1.11937003e+01] [ 1.82965964e-03 -3.23119389e-05 9.99998326e-01 1.71653503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000281693 meters 0.025836660097689205 Centerline is valid? [True, True] Translation: X:90.61, Y:11.20, Z:0.17 [[ 9.53283046e-01 -3.02070014e-01 -2.26732367e-03 9.06056216e+01] [ 3.02069261e-01 9.53285741e-01 -6.75810012e-04 1.11998661e+01] [ 2.36554927e-03 -4.06505596e-05 9.99997201e-01 1.70823575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030281693 meters 0.02572012462656321 Centerline is valid? [True, True] Translation: X:90.63, Y:11.20, Z:0.17 [[ 9.53869467e-01 -3.00206698e-01 -2.99622249e-03 9.06333250e+01] [ 3.00205373e-01 9.53874172e-01 -8.93287047e-04 1.12042457e+01] [ 3.12619001e-03 -4.74028513e-05 9.99995112e-01 1.69297825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06028169300001 meters 0.02305969415405304 Centerline is valid? [True, True] Translation: X:90.66, Y:11.22, Z:0.17 [[ 9.54360016e-01 -2.98646884e-01 -2.64563616e-03 9.06595952e+01] [ 2.98645844e-01 9.54363682e-01 -7.88987834e-04 1.12166528e+01] [ 2.76052782e-03 -3.71298003e-05 9.99996189e-01 1.70668604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.090281693 meters 0.01829605518826237 Centerline is valid? [True, True] Translation: X:90.68, Y:11.23, Z:0.17 [[ 9.56060549e-01 -2.93166274e-01 -1.32788775e-03 9.06847040e+01] [ 2.93166007e-01 9.56061471e-01 -3.96115702e-04 1.12347171e+01] [ 1.38567008e-03 -1.05809527e-05 9.99999040e-01 1.73510426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.120281693 meters 0.01688279706244566 Centerline is valid? [True, True] Translation: X:90.71, Y:11.25, Z:0.17 [[ 9.57162411e-01 -2.89548077e-01 -1.42500463e-03 9.07097553e+01] [ 2.89547765e-01 9.57163471e-01 -4.25228459e-04 1.12466718e+01] [ 1.48708646e-03 -5.59420796e-06 9.99998894e-01 1.73760790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150281693 meters 0.016306958991928112 Centerline is valid? [True, True] Translation: X:90.74, Y:11.26, Z:0.17 [[ 9.58034244e-01 -2.86651044e-01 -1.25135116e-03 9.07351527e+01] [ 2.86650800e-01 9.58035062e-01 -3.73388347e-04 1.12601829e+01] [ 1.30587044e-03 -9.81988282e-07 9.99999147e-01 1.74389800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180281693 meters 0.01691272030434342 Centerline is valid? [True, True] Translation: X:90.76, Y:11.28, Z:0.17 [[ 9.59159954e-01 -2.82862663e-01 -9.46564104e-04 9.07601930e+01] [ 2.82862522e-01 9.59160421e-01 -2.82560493e-04 1.12770607e+01] [ 9.87832638e-04 3.27319928e-06 9.99999512e-01 1.74763697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210281693 meters 0.01724993031692595 Centerline is valid? [True, True] Translation: X:90.79, Y:11.29, Z:0.17 [[ 9.59350993e-01 -2.82212911e-01 -1.24329734e-03 9.07862893e+01] [ 2.82212667e-01 9.59351798e-01 -3.71521229e-04 1.12866402e+01] [ 1.29760763e-03 5.54500220e-06 9.99999158e-01 1.73755677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240281693 meters 0.01695685411346909 Centerline is valid? [True, True] Translation: X:90.81, Y:11.29, Z:0.17 [[ 9.59056835e-01 -2.83200109e-01 -2.77241054e-03 9.08138051e+01] [ 2.83198896e-01 9.59060842e-01 -8.28876891e-04 1.12925831e+01] [ 2.89364841e-03 9.79644319e-06 9.99995813e-01 1.69723750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270281693 meters 0.016816724753661715 Centerline is valid? [True, True] Translation: X:90.84, Y:11.30, Z:0.17 [[ 9.58818600e-01 -2.83999723e-01 -3.32403764e-03 9.08401809e+01] [ 2.83997982e-01 9.58824362e-01 -9.94373961e-04 1.13001920e+01] [ 3.46957020e-03 9.40426544e-06 9.99993981e-01 1.68974999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300281693 meters 0.01659011828284152 Centerline is valid? [True, True] Translation: X:90.86, Y:11.31, Z:0.17 [[ 9.58685162e-01 -2.84457513e-01 -2.58525742e-03 9.08647030e+01] [ 2.84456461e-01 9.58688648e-01 -7.73555672e-04 1.13111098e+01] [ 2.69850067e-03 6.20316671e-06 9.99996359e-01 1.71276109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330281693 meters 0.0166695556808615 Centerline is valid? [True, True] Translation: X:90.89, Y:11.32, Z:0.17 [[ 9.58727409e-01 -2.84319717e-01 -2.01340485e-03 9.08896521e+01] [ 2.84319079e-01 9.58729523e-01 -6.02581311e-04 1.13208421e+01] [ 2.10163642e-03 5.26180662e-06 9.99997792e-01 1.72543525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360281693 meters 0.016408293442623453 Centerline is valid? [True, True] Translation: X:90.92, Y:11.33, Z:0.17 [[ 9.58621440e-01 -2.84680868e-01 -1.31853320e-03 9.09165535e+01] [ 2.84680595e-01 9.58622347e-01 -3.94605350e-04 1.13294084e+01] [ 1.37631199e-03 2.91633243e-06 9.99999053e-01 1.74264495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390281693 meters 0.016561038445986227 Centerline is valid? [True, True] Translation: X:90.94, Y:11.34, Z:0.18 [[ 9.58678133e-01 -2.84490614e-01 -1.15237847e-03 9.09421328e+01] [ 2.84490405e-01 9.58678825e-01 -3.45143507e-04 1.13387330e+01] [ 1.20295093e-03 3.04091459e-06 9.99999276e-01 1.75091911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420281693 meters 0.016652870316078684 Centerline is valid? [True, True] Translation: X:90.97, Y:11.35, Z:0.18 [[ 9.58733078e-01 -2.84307129e-01 -5.84197189e-04 9.09676172e+01] [ 2.84307075e-01 9.58733256e-01 -1.74804395e-04 1.13501528e+01] [ 6.09787409e-04 1.49936130e-06 9.99999814e-01 1.76461755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45028169300001 meters 0.016614949345276967 Centerline is valid? [True, True] Translation: X:90.99, Y:11.36, Z:0.18 [[ 9.58662845e-01 -2.84544122e-01 -4.37707888e-04 9.09941470e+01] [ 2.84544092e-01 9.58662945e-01 -1.30957959e-04 1.13590227e+01] [ 4.56877650e-04 9.97336510e-07 9.99999896e-01 1.75909755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.480281693 meters 0.01644089287452938 Centerline is valid? [True, True] Translation: X:91.02, Y:11.37, Z:0.18 [[ 9.58353140e-01 -2.85584326e-01 -9.23348798e-04 9.10196733e+01] [ 2.85584191e-01 9.58353585e-01 -2.76947935e-04 1.13665954e+01] [ 9.63986619e-04 1.72010293e-06 9.99999535e-01 1.75019926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510281693 meters 0.01634823940895317 Centerline is valid? [True, True] Translation: X:91.05, Y:11.37, Z:0.17 [[ 9.58090791e-01 -2.86462007e-01 -1.24717942e-03 9.10464811e+01] [ 2.86461763e-01 9.58091602e-01 -3.74166912e-04 1.13735038e+01] [ 1.30209674e-03 1.21665686e-06 9.99999152e-01 1.74358459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540281693 meters 0.016214188181877684 Centerline is valid? [True, True] Translation: X:91.07, Y:11.38, Z:0.17 [[ 9.57681505e-01 -2.87823159e-01 -1.99079098e-03 9.10735058e+01] [ 2.87822538e-01 9.57683575e-01 -5.97853840e-04 1.13795131e+01] [ 2.07862401e-03 -4.40947870e-07 9.99997840e-01 1.73163350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570281693 meters 0.016935716038566483 Centerline is valid? [True, True] Translation: X:91.10, Y:11.38, Z:0.17 [[ 9.56744417e-01 -2.90905065e-01 -3.78990278e-03 9.11025921e+01] [ 2.90902836e-01 9.56751923e-01 -1.13894399e-03 1.13808793e+01] [ 3.95732135e-03 -1.28151595e-05 9.99992170e-01 1.69162107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600281693 meters 0.01766119993753032 Centerline is valid? [True, True] Translation: X:91.13, Y:11.38, Z:0.17 [[ 9.56140051e-01 -2.92880123e-01 -4.17567572e-03 9.11318006e+01] [ 2.92877433e-01 9.56149169e-01 -1.25537259e-03 1.13844457e+01] [ 4.36024254e-03 -2.26491774e-05 9.99990494e-01 1.67955954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630281693 meters 0.018423244580829327 Centerline is valid? [True, True] Translation: X:91.16, Y:11.39, Z:0.17 [[ 9.55621870e-01 -2.94570403e-01 -3.88835028e-03 9.11606553e+01] [ 2.94568082e-01 9.55629780e-01 -1.16960784e-03 1.13885379e+01] [ 4.06035518e-03 -2.76810502e-05 9.99991756e-01 1.68754654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660281693 meters 0.020168462588559387 Centerline is valid? [True, True] Translation: X:91.19, Y:11.39, Z:0.17 [[ 9.54873893e-01 -2.96998982e-01 -2.72985518e-03 9.11901565e+01] [ 2.96997848e-01 9.54877795e-01 -8.21402469e-04 1.13883186e+01] [ 2.85063380e-03 -2.64253403e-05 9.99995937e-01 1.71394368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690281693 meters 0.019989516643753504 Centerline is valid? [True, True] Translation: X:91.22, Y:11.39, Z:0.17 [[ 9.54585105e-01 -2.97927586e-01 -2.53583480e-03 9.12185001e+01] [ 2.97926610e-01 9.54588473e-01 -7.63233614e-04 1.13947947e+01] [ 2.64806701e-03 -2.69212245e-05 9.99996494e-01 1.71836292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720281693 meters 0.02015319925852781 Centerline is valid? [True, True] Translation: X:91.25, Y:11.40, Z:0.17 [[ 9.54670967e-01 -2.97645927e-01 -3.20105718e-03 9.12462213e+01] [ 2.97644367e-01 9.54676333e-01 -9.63974072e-04 1.13977836e+01] [ 3.34289649e-03 -3.24985807e-05 9.99994412e-01 1.70988300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750281693 meters 0.018940818423332118 Centerline is valid? [True, True] Translation: X:91.27, Y:11.41, Z:0.17 [[ 9.54986842e-01 -2.96635690e-01 -2.72023798e-03 9.12734781e+01] [ 2.96634559e-01 9.54990716e-01 -8.19454502e-04 1.14063454e+01] [ 2.84088147e-03 -2.43483268e-05 9.99995964e-01 1.71163414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780281693 meters 0.018088313812423398 Centerline is valid? [True, True] Translation: X:91.30, Y:11.42, Z:0.17 [[ 9.55498243e-01 -2.94986874e-01 -2.41908440e-03 9.12996490e+01] [ 2.94985973e-01 9.55501305e-01 -7.29052063e-04 1.14150803e+01] [ 2.52649909e-03 -1.69880009e-05 9.99996808e-01 1.72193410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81028169300001 meters 0.01645627715789624 Centerline is valid? [True, True] Translation: X:91.32, Y:11.43, Z:0.17 [[ 9.56631115e-01 -2.91299006e-01 -1.34098879e-03 9.13249717e+01] [ 2.91298726e-01 9.56632055e-01 -4.04171002e-04 1.14261176e+01] [ 1.40056747e-03 -3.98576949e-06 9.99999019e-01 1.74854457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.840281693 meters 0.01608566036215757 Centerline is valid? [True, True] Translation: X:91.35, Y:11.44, Z:0.18 [[ 9.57276507e-01 -2.89171484e-01 -1.24134254e-03 9.13499680e+01] [ 2.89171242e-01 9.57277312e-01 -3.74116812e-04 1.14368235e+01] [ 1.29649296e-03 -8.27328430e-07 9.99999160e-01 1.75824617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.870281693 meters 0.017132056160635095 Centerline is valid? [True, True] Translation: X:91.37, Y:11.45, Z:0.17 [[ 9.58902777e-01 -2.83727961e-01 -1.97707413e-03 9.13745866e+01] [ 2.83727335e-01 9.58904815e-01 -5.96432595e-04 1.14532725e+01] [ 2.06505051e-03 1.09708978e-05 9.99997868e-01 1.74909282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900281693 meters 0.018638030769035294 Centerline is valid? [True, True] Translation: X:91.40, Y:11.47, Z:0.17 [[ 9.59738603e-01 -2.80886202e-01 -2.18079737e-03 9.14004140e+01] [ 2.80885431e-01 9.59741080e-01 -6.58072777e-04 1.14661163e+01] [ 2.27784439e-03 1.90236374e-05 9.99997406e-01 1.74634912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930281693 meters 0.021594720899235077 Centerline is valid? [True, True] Translation: X:91.42, Y:11.48, Z:0.18 [[ 9.60419959e-01 -2.78550105e-01 -1.82805574e-03 9.14248416e+01] [ 2.78549559e-01 9.60421698e-01 -5.51907893e-04 1.14803216e+01] [ 1.90943840e-03 2.08592347e-05 9.99998177e-01 1.75148759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960281693 meters 0.02235975767690905 Centerline is valid? [True, True] Translation: X:91.45, Y:11.49, Z:0.18 [[ 9.61141297e-01 -2.76055442e-01 -8.94278576e-04 9.14511897e+01] [ 2.76055310e-01 9.61141713e-01 -2.69900135e-04 1.14914202e+01] [ 9.34035844e-04 1.25418164e-05 9.99999564e-01 1.76632675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990281693 meters 0.022539944967867178 Centerline is valid? [True, True] Translation: X:91.48, Y:11.50, Z:0.18 [[ 9.61242105e-01 -2.75703705e-01 -1.04050520e-03 9.14778268e+01] [ 2.75703526e-01 9.61242668e-01 -3.14343459e-04 1.15011127e+01] [ 1.08684365e-03 1.52892149e-05 9.99999409e-01 1.76084106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020281693 meters 0.022276115891682532 Centerline is valid? [True, True] Translation: X:91.50, Y:11.51, Z:0.18 [[ 9.61088671e-01 -2.76237700e-01 -1.13975933e-03 9.15048113e+01] [ 2.76237485e-01 9.61089347e-01 -3.44372675e-04 1.15091761e+01] [ 1.19053926e-03 1.61284258e-05 9.99999291e-01 1.75615290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050281693 meters 0.0220612183172148 Centerline is valid? [True, True] Translation: X:91.53, Y:11.52, Z:0.17 [[ 9.60967474e-01 -2.76658678e-01 -1.22070323e-03 9.15311230e+01] [ 2.76658432e-01 9.60968249e-01 -3.69108761e-04 1.15171706e+01] [ 1.27517419e-03 1.69836716e-05 9.99999187e-01 1.74844592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080281693 meters 0.02294934442299891 Centerline is valid? [True, True] Translation: X:91.56, Y:11.53, Z:0.17 [[ 9.61159505e-01 -2.75981848e-01 -2.53478684e-03 9.15567469e+01] [ 2.75980784e-01 9.61162847e-01 -7.67306988e-04 1.15293175e+01] [ 2.64810574e-03 3.79519461e-05 9.99996493e-01 1.73251802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110281693 meters 0.023754357998257484 Centerline is valid? [True, True] Translation: X:91.58, Y:11.54, Z:0.17 [[ 9.61369110e-01 -2.75241170e-01 -3.42515767e-03 9.15837586e+01] [ 2.75239221e-01 9.61375210e-01 -1.03726640e-03 1.15410508e+01] [ 3.57836009e-03 5.44581421e-05 9.99993596e-01 1.72045638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140281693 meters 0.026509492879246026 Centerline is valid? [True, True] Translation: X:91.61, Y:11.56, Z:0.17 [[ 9.62167399e-01 -2.72412740e-01 -5.01939819e-03 9.16088394e+01] [ 2.72408511e-01 9.62180487e-01 -1.52111402e-03 1.15565770e+01] [ 5.24393783e-03 9.62395327e-05 9.99986246e-01 1.68797279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170281693 meters 0.027973984051684442 Centerline is valid? [True, True] Translation: X:91.63, Y:11.57, Z:0.17 [[ 9.62431344e-01 -2.71477809e-01 -5.07027985e-03 9.16337662e+01] [ 2.71473476e-01 9.62444694e-01 -1.53711697e-03 1.15684721e+01] [ 5.29715709e-03 1.02923051e-04 9.99985965e-01 1.68167727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20028169300001 meters 0.029491980959548744 Centerline is valid? [True, True] Translation: X:91.66, Y:11.58, Z:0.17 [[ 9.62704017e-01 -2.70516806e-01 -4.65116053e-03 9.16590362e+01] [ 2.70513148e-01 9.62715247e-01 -1.41036179e-03 1.15806086e+01] [ 4.85926972e-03 9.95608803e-05 9.99988189e-01 1.69422475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.230281693 meters 0.030589712980491974 Centerline is valid? [True, True] Translation: X:91.68, Y:11.59, Z:0.17 [[ 9.62949778e-01 -2.69649496e-01 -4.10797505e-03 9.16848855e+01] [ 2.69646632e-01 9.62958535e-01 -1.24614145e-03 1.15942916e+01] [ 4.29183106e-03 9.22699915e-05 9.99990786e-01 1.70521366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260281693 meters 0.029488917562859148 Centerline is valid? [True, True] Translation: X:91.71, Y:11.60, Z:0.17 [[ 9.62823725e-01 -2.70103475e-01 -3.81933972e-03 9.17119440e+01] [ 2.70101000e-01 9.62831297e-01 -1.15928145e-03 1.16025508e+01] [ 3.99050576e-03 8.45762045e-05 9.99992034e-01 1.71223013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290281693 meters 0.028627431956303552 Centerline is valid? [True, True] Translation: X:91.74, Y:11.61, Z:0.17 [[ 9.62396602e-01 -2.71637170e-01 -2.45549722e-03 9.17376258e+01] [ 2.71636151e-01 9.62399733e-01 -7.45598888e-04 1.16125832e+01] [ 2.56570224e-03 5.05600216e-05 9.99996707e-01 1.74095147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320281693 meters 0.026592831064963754 Centerline is valid? [True, True] Translation: X:91.77, Y:11.62, Z:0.18 [[ 9.62168501e-01 -2.72452971e-01 -1.07412530e-03 9.17658731e+01] [ 2.72452777e-01 9.62169101e-01 -3.26056450e-04 1.16195864e+01] [ 1.12232522e-03 2.10728249e-05 9.99999370e-01 1.76519013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350281693 meters 0.0271803585930621 Centerline is valid? [True, True] Translation: X:91.79, Y:11.63, Z:0.18 [[ 9.61969062e-01 -2.73158376e-01 -1.58626266e-04 9.17912372e+01] [ 2.73158372e-01 9.61969075e-01 -4.80912230e-05 1.16301982e+01] [ 1.65730082e-04 2.93217625e-06 9.99999986e-01 1.78484648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380281693 meters 0.029409643993117504 Centerline is valid? [True, True] Translation: X:91.82, Y:11.65, Z:0.18 [[ 9.61775362e-01 -2.73838190e-01 -8.94135347e-04 9.18153698e+01] [ 2.73838056e-01 9.61775777e-01 -2.71698424e-04 1.16452809e+01] [ 9.34359123e-04 1.64645643e-05 9.99999563e-01 1.77941371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410281693 meters 0.02926958043401264 Centerline is valid? [True, True] Translation: X:91.84, Y:11.66, Z:0.18 [[ 9.61608259e-01 -2.74419444e-01 -1.87719512e-03 9.18421994e+01] [ 2.74418853e-01 9.61610091e-01 -5.70659276e-04 1.16557947e+01] [ 1.96172977e-03 3.36129419e-05 9.99998075e-01 1.75963773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440281693 meters 0.02460877917154173 Centerline is valid? [True, True] Translation: X:91.87, Y:11.66, Z:0.17 [[ 9.61251201e-01 -2.75658091e-01 -2.95745892e-03 9.18709842e+01] [ 2.75656627e-01 9.61255749e-01 -8.99714224e-04 1.16591126e+01] [ 3.09088789e-03 4.96082289e-05 9.99995222e-01 1.73690656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470281693 meters 0.023283008898663943 Centerline is valid? [True, True] Translation: X:91.90, Y:11.67, Z:0.17 [[ 9.59995806e-01 -2.79993692e-01 -3.40356029e-03 9.18981680e+01] [ 2.79991779e-01 9.60001839e-01 -1.03588833e-03 1.16673870e+01] [ 3.55746633e-03 4.14795517e-05 9.99993671e-01 1.72163741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500281693 meters 0.020636098597605863 Centerline is valid? [True, True] Translation: X:91.93, Y:11.67, Z:0.17 [[ 9.59184673e-01 -2.82767810e-01 -2.66984464e-03 9.19274455e+01] [ 2.82766643e-01 9.59188389e-01 -8.12765737e-04 1.16719548e+01] [ 2.79070797e-03 2.46494307e-05 9.99996106e-01 1.73946764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530281693 meters 0.01649452818640598 Centerline is valid? [True, True] Translation: X:91.96, Y:11.67, Z:0.18 [[ 9.57513223e-01 -2.88382873e-01 -1.93559512e-03 9.19573505e+01] [ 2.88382271e-01 9.57515179e-01 -5.89450206e-04 1.16723115e+01] [ 2.02334905e-03 6.21505068e-06 9.99997953e-01 1.76426033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56028169300001 meters 0.016212833587087385 Centerline is valid? [True, True] Translation: X:91.98, Y:11.68, Z:0.18 [[ 9.56677656e-01 -2.91137534e-01 -2.60729500e-03 9.19847702e+01] [ 2.91136450e-01 9.56681209e-01 -7.94490443e-04 1.16784996e+01] [ 2.72565613e-03 9.92642944e-07 9.99996285e-01 1.75853152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.590281693 meters 0.016212833587087385 Centerline is valid? [True, True] Translation: X:92.01, Y:11.69, Z:0.18 [[ 9.56629872e-01 -2.91294509e-01 -2.60722732e-03 9.20109661e+01] [ 2.91293425e-01 9.56633425e-01 -7.94712482e-04 1.16867042e+01] [ 2.72565619e-03 7.77523305e-07 9.99996285e-01 1.75907799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.620281693 meters 0.016416146552587062 Centerline is valid? [True, True] Translation: X:92.04, Y:11.69, Z:0.17 [[ 9.55847621e-01 -2.93848206e-01 -2.92532933e-03 9.20382285e+01] [ 2.93846851e-01 9.55852097e-01 -8.92249464e-04 1.16921779e+01] [ 3.05836808e-03 -6.74428487e-06 9.99995323e-01 1.74589829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650281693 meters 0.016965582242125195 Centerline is valid? [True, True] Translation: X:92.07, Y:11.70, Z:0.17 [[ 9.55049523e-01 -2.96432751e-01 -2.83419092e-03 9.20660761e+01] [ 2.96431489e-01 9.55053728e-01 -8.64858708e-04 1.16979750e+01] [ 2.96317706e-03 -1.41605402e-05 9.99995610e-01 1.74560907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680281693 meters 0.019457738886523024 Centerline is valid? [True, True] Translation: X:92.09, Y:11.70, Z:0.17 [[ 9.53532603e-01 -3.01278333e-01 -2.63464067e-03 9.20949126e+01] [ 3.01277262e-01 9.53536242e-01 -8.04124222e-04 1.16994170e+01] [ 2.75449057e-03 -2.69986628e-05 9.99996206e-01 1.74626110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710281693 meters 0.02104399601875667 Centerline is valid? [True, True] Translation: X:92.12, Y:11.70, Z:0.17 [[ 9.52805430e-01 -3.03566907e-01 -2.99079499e-03 9.21236292e+01] [ 3.03565536e-01 9.52810124e-01 -9.13153580e-04 1.17045412e+01] [ 3.12686295e-03 -3.78445946e-05 9.99995111e-01 1.73893683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740281693 meters 0.029100532219666617 Centerline is valid? [True, True] Translation: X:92.16, Y:11.70, Z:0.17 [[ 9.51518236e-01 -3.07558004e-01 -4.59564320e-03 9.21554758e+01] [ 3.07554810e-01 9.51529331e-01 -1.40376022e-03 1.16996011e+01] [ 4.80462699e-03 -7.77087263e-05 9.99988455e-01 1.70019532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770281693 meters 0.026318952622027953 Centerline is valid? [True, True] Translation: X:92.18, Y:11.71, Z:0.17 [[ 9.50852489e-01 -3.09599875e-01 -5.24040200e-03 9.21819298e+01] [ 3.09595750e-01 9.50866924e-01 -1.60135990e-03 1.17120785e+01] [ 5.47870575e-03 -9.97491353e-05 9.99984987e-01 1.69732793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800281693 meters 0.028296271911779754 Centerline is valid? [True, True] Translation: X:92.21, Y:11.72, Z:0.17 [[ 9.50121693e-01 -3.11840784e-01 -4.90853905e-03 9.22100083e+01] [ 3.11837191e-01 9.50134367e-01 -1.50053518e-03 1.17169033e+01] [ 5.13169971e-03 -1.04974006e-04 9.99986827e-01 1.70021644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830281693 meters 0.03261558216634098 Centerline is valid? [True, True] Translation: X:92.24, Y:11.72, Z:0.18 [[ 9.48650207e-01 -3.16317163e-01 -2.49758340e-03 9.22414471e+01] [ 3.16316248e-01 9.48653492e-01 -7.63607646e-04 1.17162681e+01] [ 2.61088342e-03 -6.56296583e-05 9.99996589e-01 1.75623033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860281693 meters 0.03356510004101353 Centerline is valid? [True, True] Translation: X:92.27, Y:11.72, Z:0.18 [[ 9.47927421e-01 -3.18483962e-01 -1.25326648e-03 9.22699515e+01] [ 3.18483734e-01 9.47928249e-01 -3.83161576e-04 1.17227601e+01] [ 1.31003751e-03 -3.59356224e-05 9.99999141e-01 1.82411131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890281693 meters 0.03861172426039863 Centerline is valid? [True, True] Translation: X:92.30, Y:11.71, Z:0.18 [[ 9.47046846e-01 -3.21095390e-01 -1.46795597e-04 9.23021391e+01] [ 3.21095387e-01 9.47046858e-01 -4.48211683e-05 1.17149227e+01] [ 1.53414179e-04 -4.68764283e-06 9.99999988e-01 1.80357753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920281693 meters 0.03833843245664125 Centerline is valid? [True, True] Translation: X:92.33, Y:11.72, Z:0.18 [[ 9.46988974e-01 -3.21265263e-01 -7.17033012e-04 9.23301000e+01] [ 3.21265189e-01 9.46989245e-01 -2.19060522e-04 1.17206157e+01] [ 7.49399087e-04 -2.29098476e-05 9.99999719e-01 1.79272427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95028169300001 meters 0.03571438507618194 Centerline is valid? [True, True] Translation: X:92.36, Y:11.73, Z:0.18 [[ 9.48062618e-01 -3.18069207e-01 -3.04177342e-03 9.23586198e+01] [ 3.18067856e-01 9.48067494e-01 -9.30867991e-04 1.17277744e+01] [ 3.17988695e-03 -8.49692052e-05 9.99994941e-01 1.75488312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.980281693 meters 0.03249093754525163 Centerline is valid? [True, True] Translation: X:92.39, Y:11.74, Z:0.17 [[ 9.48984723e-01 -3.15299171e-01 -3.79854035e-03 9.23855689e+01] [ 3.15297041e-01 9.48992320e-01 -1.16281060e-03 1.17391750e+01] [ 3.97141884e-03 -9.41790399e-05 9.99992109e-01 1.74695307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010281693 meters 0.029066119951582755 Centerline is valid? [True, True] Translation: X:92.41, Y:11.75, Z:0.18 [[ 9.50108642e-01 -3.11891718e-01 -4.13821423e-03 9.24121667e+01] [ 3.11889156e-01 9.50117650e-01 -1.26716644e-03 1.17511741e+01] [ 4.32700909e-03 -8.67183604e-05 9.99990635e-01 1.75113985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040281693 meters 0.023346705657595758 Centerline is valid? [True, True] Translation: X:92.44, Y:11.77, Z:0.18 [[ 9.52093618e-01 -3.05780045e-01 -4.03811317e-03 9.24376834e+01] [ 3.05777549e-01 9.52102180e-01 -1.23660937e-03 1.17661868e+01] [ 4.22282682e-03 -5.73964644e-05 9.99991082e-01 1.75241858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070281693 meters 0.019911554553537218 Centerline is valid? [True, True] Translation: X:92.46, Y:11.78, Z:0.18 [[ 9.52777392e-01 -3.03646469e-01 -3.74997008e-03 9.24638673e+01] [ 3.03644299e-01 9.52784771e-01 -1.14874502e-03 1.17799709e+01] [ 3.92172676e-03 -4.41587502e-05 9.99992309e-01 1.75658026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100281693 meters 0.02005658347265224 Centerline is valid? [True, True] Translation: X:92.49, Y:11.79, Z:0.17 [[ 9.53324808e-01 -3.01918708e-01 -4.11146085e-03 9.24909726e+01] [ 3.01916082e-01 9.53333673e-01 -1.25999993e-03 1.17854003e+01] [ 4.30001163e-03 -4.01269555e-05 9.99990754e-01 1.73999078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130281693 meters 0.020431984789073408 Centerline is valid? [True, True] Translation: X:92.52, Y:11.79, Z:0.17 [[ 9.53177605e-01 -3.02380993e-01 -4.26469652e-03 9.25179913e+01] [ 3.02378171e-01 9.53187145e-01 -1.30722503e-03 1.17917422e+01] [ 4.46033390e-03 -4.35335114e-05 9.99990052e-01 1.73308735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160281693 meters 0.020874097373274753 Centerline is valid? [True, True] Translation: X:92.55, Y:11.80, Z:0.17 [[ 9.52505204e-01 -3.04477772e-01 -5.20798560e-03 9.25463952e+01] [ 3.04473590e-01 9.52519439e-01 -1.59707982e-03 1.17980716e+01] [ 5.44698283e-03 -6.44672276e-05 9.99985163e-01 1.73054003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190281693 meters 0.022840895343194785 Centerline is valid? [True, True] Translation: X:92.57, Y:11.80, Z:0.17 [[ 9.52261390e-01 -3.05244802e-01 -4.88420880e-03 9.25741577e+01] [ 3.05241131e-01 9.52273914e-01 -1.49838353e-03 1.18023815e+01] [ 5.10847842e-03 -6.40086382e-05 9.99986950e-01 1.73531367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220281693 meters 0.022610257667964248 Centerline is valid? [True, True] Translation: X:92.60, Y:11.81, Z:0.18 [[ 9.52336915e-01 -3.05027533e-01 -3.55042419e-03 9.26002505e+01] [ 3.05025590e-01 9.52343532e-01 -1.08947660e-03 1.18107099e+01] [ 3.71354387e-03 -4.54214519e-05 9.99993104e-01 1.76554460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250281693 meters 0.019304803693171915 Centerline is valid? [True, True] Translation: X:92.63, Y:11.83, Z:0.18 [[ 9.53128567e-01 -3.02558447e-01 -2.07863802e-03 9.26256858e+01] [ 3.02557775e-01 9.53130834e-01 -6.37974519e-04 1.18254515e+01] [ 2.17423857e-03 -2.08363548e-05 9.99997636e-01 1.80259338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280281693 meters 0.01822217199690074 Centerline is valid? [True, True] Translation: X:92.65, Y:11.84, Z:0.18 [[ 9.53707986e-01 -3.00724671e-01 -2.39788237e-03 9.26518704e+01] [ 3.00723770e-01 9.53711000e-01 -7.36369221e-04 1.18359779e+01] [ 2.50833119e-03 -1.88190187e-05 9.99996854e-01 1.79474852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31028169300001 meters 0.01658458298433203 Centerline is valid? [True, True] Translation: X:92.68, Y:11.85, Z:0.18 [[ 9.54820331e-01 -2.97161359e-01 -3.64169165e-03 9.26777183e+01] [ 2.97159253e-01 9.54827276e-01 -1.11882346e-03 1.18503179e+01] [ 3.80965762e-03 -1.38869807e-05 9.99992743e-01 1.77676880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.340281693 meters 0.01622824795529079 Centerline is valid? [True, True] Translation: X:92.70, Y:11.86, Z:0.18 [[ 9.55420880e-01 -2.95220191e-01 -3.99753083e-03 9.27029230e+01] [ 2.95217633e-01 9.55429243e-01 -1.22894969e-03 1.18619774e+01] [ 4.18216862e-03 -5.97739736e-06 9.99991255e-01 1.77433206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.370281693 meters 0.01612724555026591 Centerline is valid? [True, True] Translation: X:92.73, Y:11.87, Z:0.18 [[ 9.56009932e-01 -2.93310352e-01 -3.74795133e-03 9.27273185e+01] [ 2.93308086e-01 9.56017279e-01 -1.15284379e-03 1.18738124e+01] [ 3.92124725e-03 2.82568089e-06 9.99992312e-01 1.78256938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400281693 meters 0.017202682328198025 Centerline is valid? [True, True] Translation: X:92.75, Y:11.89, Z:0.18 [[ 9.57238032e-01 -2.89283578e-01 -3.21877260e-03 9.27514278e+01] [ 2.89281883e-01 9.57243444e-01 -9.90526476e-04 1.18926457e+01] [ 3.36769201e-03 1.70370174e-05 9.99994329e-01 1.79970416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430281693 meters 0.018213144769716555 Centerline is valid? [True, True] Translation: X:92.78, Y:11.91, Z:0.18 [[ 9.57838699e-01 -2.87285600e-01 -3.46573861e-03 9.27770639e+01] [ 2.87283620e-01 9.57844968e-01 -1.06715601e-03 1.19060347e+01] [ 3.62621885e-03 2.65133855e-05 9.99993425e-01 1.79625444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460281693 meters 0.02106636706004529 Centerline is valid? [True, True] Translation: X:92.80, Y:11.92, Z:0.17 [[ 9.58582595e-01 -2.84765044e-01 -5.31772228e-03 9.28003022e+01] [ 2.84760335e-01 9.58597343e-01 -1.63852972e-03 1.19245672e+01] [ 5.56415043e-03 5.63896889e-05 9.99984518e-01 1.74972700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490281693 meters 0.020871149475842718 Centerline is valid? [True, True] Translation: X:92.83, Y:11.94, Z:0.17 [[ 9.58717676e-01 -2.84297729e-01 -5.93455204e-03 9.28270643e+01] [ 2.84291849e-01 9.58736041e-01 -1.82967414e-03 1.19355055e+01] [ 6.20984113e-03 6.69961632e-05 9.99980717e-01 1.74338626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520281693 meters 0.020767932784092436 Centerline is valid? [True, True] Translation: X:92.85, Y:11.95, Z:0.17 [[ 9.58575420e-01 -2.84768932e-01 -6.31032336e-03 9.28516534e+01] [ 2.84762290e-01 9.58596187e-01 -1.94626711e-03 1.19466318e+01] [ 6.60328832e-03 6.87016848e-05 9.99978196e-01 1.74131214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550281693 meters 0.019909619684316517 Centerline is valid? [True, True] Translation: X:92.88, Y:11.96, Z:0.18 [[ 9.58233700e-01 -2.85924686e-01 -5.93715963e-03 9.28775284e+01] [ 2.85918822e-01 9.58252091e-01 -1.83203039e-03 1.19600824e+01] [ 6.21311835e-03 5.79675686e-05 9.99980697e-01 1.75465328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580281693 meters 0.0194420385031751 Centerline is valid? [True, True] Translation: X:92.90, Y:11.97, Z:0.18 [[ 9.58004930e-01 -2.86712095e-01 -4.76746861e-03 9.29042375e+01] [ 2.86708320e-01 9.58016792e-01 -1.47185923e-03 1.19706114e+01] [ 4.98931483e-03 4.31754868e-05 9.99987552e-01 1.77573122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610281693 meters 0.018954994471848594 Centerline is valid? [True, True] Translation: X:92.93, Y:11.98, Z:0.18 [[ 9.57836396e-01 -2.87305980e-01 -2.17064532e-03 9.29296856e+01] [ 2.87305199e-01 9.57838856e-01 -6.70338654e-04 1.19840433e+01] [ 2.27172074e-03 1.84370746e-05 9.99997419e-01 1.82694181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640281693 meters 0.01893587035723192 Centerline is valid? [True, True] Translation: X:92.96, Y:12.00, Z:0.19 [[ 9.57773931e-01 -2.87520361e-01 -1.06698806e-03 9.29557783e+01] [ 2.87520172e-01 9.57774526e-01 -3.29505019e-04 1.19956782e+01] [ 1.11667338e-03 8.81072648e-06 9.99999376e-01 1.85086557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670281693 meters 0.018805703061008806 Centerline is valid? [True, True] Translation: X:92.98, Y:12.01, Z:0.18 [[ 9.57676163e-01 -2.87846375e-01 -9.11731428e-04 9.29813178e+01] [ 2.87846238e-01 9.57676597e-01 -2.81683509e-04 1.20066906e+01] [ 9.54225429e-04 7.32312076e-06 9.99999545e-01 1.84956078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70028169300001 meters 0.01765111606347789 Centerline is valid? [True, True] Translation: X:93.01, Y:12.02, Z:0.18 [[ 9.57027841e-01 -2.89979923e-01 -3.05885781e-03 9.30083667e+01] [ 2.89978379e-01 9.57032729e-01 -9.46494097e-04 1.20154653e+01] [ 3.20189132e-03 1.88185727e-05 9.99994874e-01 1.80421245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.730281693 meters 0.017376999992595375 Centerline is valid? [True, True] Translation: X:93.04, Y:12.02, Z:0.18 [[ 9.56554036e-01 -2.91523675e-01 -4.28042845e-03 9.30354220e+01] [ 2.91520664e-01 9.56563613e-01 -1.32510137e-03 1.20231687e+01] [ 4.48080053e-03 1.96977168e-05 9.99989961e-01 1.77687488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760281693 meters 0.016910326238593922 Centerline is valid? [True, True] Translation: X:93.06, Y:12.03, Z:0.18 [[ 9.56022056e-01 -2.93256724e-01 -4.72460130e-03 9.30623598e+01] [ 2.93253075e-01 9.56033730e-01 -1.46290470e-03 1.20294356e+01] [ 4.94588485e-03 1.30652952e-05 9.99987769e-01 1.76211078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790281693 meters 0.0166279426943218 Centerline is valid? [True, True] Translation: X:93.09, Y:12.03, Z:0.18 [[ 9.54800837e-01 -2.97206000e-01 -4.89449867e-03 9.30910114e+01] [ 2.97202132e-01 9.54813382e-01 -1.51619847e-03 1.20327681e+01] [ 5.12395611e-03 -6.98788038e-06 9.99986872e-01 1.77037703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820281693 meters 0.016899265852572922 Centerline is valid? [True, True] Translation: X:93.12, Y:12.04, Z:0.18 [[ 9.54204304e-01 -2.99114354e-01 -4.97488669e-03 9.31185165e+01] [ 2.99110382e-01 9.54217272e-01 -1.54164987e-03 1.20386693e+01] [ 5.20825242e-03 -1.69913215e-05 9.99986437e-01 1.77135364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850281693 meters 0.01804225167926992 Centerline is valid? [True, True] Translation: X:93.15, Y:12.04, Z:0.18 [[ 9.53415266e-01 -3.01625371e-01 -4.63315895e-03 9.31468946e+01] [ 3.01621952e-01 9.53426523e-01 -1.43630731e-03 1.20448737e+01] [ 4.85060335e-03 -2.80651299e-05 9.99988235e-01 1.77641203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880281693 meters 0.017960879327895706 Centerline is valid? [True, True] Translation: X:93.17, Y:12.05, Z:0.18 [[ 9.53405959e-01 -3.01655251e-01 -4.60290430e-03 9.31730661e+01] [ 3.01651873e-01 9.53417070e-01 -1.42774413e-03 1.20532504e+01] [ 4.81917404e-03 -2.72549418e-05 9.99988387e-01 1.77559737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910281693 meters 0.01731201663562578 Centerline is valid? [True, True] Translation: X:93.20, Y:12.06, Z:0.18 [[ 9.53820140e-01 -3.00343715e-01 -4.56005578e-03 9.31984786e+01] [ 3.00340382e-01 9.53831040e-01 -1.41495969e-03 1.20643576e+01] [ 4.77449699e-03 -1.99518445e-05 9.99988602e-01 1.78277313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940281693 meters 0.01678399887998896 Centerline is valid? [True, True] Translation: X:93.22, Y:12.08, Z:0.18 [[ 9.54070990e-01 -2.99541549e-01 -4.83798145e-03 9.32242298e+01] [ 2.99537784e-01 9.54083256e-01 -1.50189215e-03 1.20757436e+01] [ 5.06571620e-03 -1.62465114e-05 9.99987169e-01 1.78516912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970281693 meters 0.016590808091061615 Centerline is valid? [True, True] Translation: X:93.25, Y:12.09, Z:0.18 [[ 9.54331985e-01 -2.98697016e-01 -5.52763243e-03 9.32497962e+01] [ 2.98692081e-01 9.54347993e-01 -1.71712824e-03 1.20861209e+01] [ 5.78818600e-03 -1.23496341e-05 9.99983248e-01 1.77479157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000281693 meters 0.016637369353656114 Centerline is valid? [True, True] Translation: X:93.28, Y:12.10, Z:0.18 [[ 9.54855383e-01 -2.96985344e-01 -7.13465678e-03 9.32762556e+01] [ 2.96977064e-01 9.54882037e-01 -2.21776668e-03 1.20964664e+01] [ 7.47139980e-03 -1.18297078e-06 9.99972089e-01 1.75191220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030281693 meters 0.01675004574806832 Centerline is valid? [True, True] Translation: X:93.30, Y:12.11, Z:0.17 [[ 9.55074563e-01 -2.96270674e-01 -7.50117905e-03 9.33021711e+01] [ 2.96261493e-01 9.55104019e-01 -2.33241573e-03 1.21062972e+01] [ 7.85543264e-03 5.32042800e-06 9.99969146e-01 1.73958195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06028169300001 meters 0.016571690562918615 Centerline is valid? [True, True] Translation: X:93.33, Y:12.12, Z:0.18 [[ 9.55378314e-01 -2.95335855e-01 -5.38614745e-03 9.33269150e+01] [ 2.95331104e-01 9.55393496e-01 -1.67518234e-03 1.21190084e+01] [ 5.64063166e-03 9.73599982e-06 9.99984091e-01 1.77479555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.090281693 meters 0.016329310513807118 Centerline is valid? [True, True] Translation: X:93.35, Y:12.13, Z:0.18 [[ 9.55292652e-01 -2.95636144e-01 -3.90114356e-03 9.33541043e+01] [ 2.95633653e-01 9.55300618e-01 -1.21382060e-03 1.21273515e+01] [ 4.08561409e-03 6.24457897e-06 9.99991654e-01 1.80935755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.120281693 meters 0.016166670199128656 Centerline is valid? [True, True] Translation: X:93.38, Y:12.14, Z:0.18 [[ 9.55116533e-01 -2.96217655e-01 -2.74021428e-03 9.33814533e+01] [ 2.96216427e-01 9.55120464e-01 -8.53017606e-04 1.21351272e+01] [ 2.86991361e-03 3.03473683e-06 9.99995882e-01 1.83062260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150281693 meters 0.016106577846501626 Centerline is valid? [True, True] Translation: X:93.41, Y:12.14, Z:0.18 [[ 9.54930032e-01 -2.96819738e-01 -2.58407449e-03 9.34084863e+01] [ 2.96818647e-01 9.54933528e-01 -8.04904252e-04 1.21431226e+01] [ 2.70653084e-03 1.62574873e-06 9.99996337e-01 1.83919430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180281693 meters 0.016197184282475765 Centerline is valid? [True, True] Translation: X:93.43, Y:12.15, Z:0.18 [[ 9.54548777e-01 -2.98034329e-01 -3.48880245e-03 9.34347890e+01] [ 2.98032344e-01 9.54555152e-01 -1.08754058e-03 1.21517776e+01] [ 3.65437878e-03 -1.66544359e-06 9.99993323e-01 1.82778139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210281693 meters 0.017061231690541093 Centerline is valid? [True, True] Translation: X:93.46, Y:12.15, Z:0.18 [[ 9.53187312e-01 -3.02366343e-01 -2.92272150e-03 9.34639042e+01] [ 3.02364970e-01 9.53191793e-01 -9.11460112e-04 1.21529512e+01] [ 3.06150901e-03 -1.49363836e-05 9.99995313e-01 1.82964446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240281693 meters 0.018414446454535292 Centerline is valid? [True, True] Translation: X:93.49, Y:12.16, Z:0.18 [[ 9.51919776e-01 -3.06338630e-01 -2.32012059e-03 9.34935797e+01] [ 3.06337776e-01 9.51922604e-01 -7.23706640e-04 1.21558252e+01] [ 2.43027453e-03 -2.18299183e-05 9.99997047e-01 1.84698121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270281693 meters 0.021139314328987906 Centerline is valid? [True, True] Translation: X:93.52, Y:12.16, Z:0.19 [[ 9.50303684e-01 -3.11319899e-01 -1.68204040e-03 9.35245682e+01] [ 3.11319457e-01 9.50305172e-01 -5.24916047e-04 1.21570027e+01] [ 1.76186850e-03 -2.48222509e-05 9.99998448e-01 1.85493010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300281693 meters 0.025534757715161345 Centerline is valid? [True, True] Translation: X:93.55, Y:12.16, Z:0.19 [[ 9.48535015e-01 -3.16667051e-01 -1.81769902e-03 9.35545837e+01] [ 3.16666545e-01 9.48536756e-01 -5.67300777e-04 1.21554759e+01] [ 1.90379979e-03 -3.74998161e-05 9.99998187e-01 1.85116621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330281693 meters 0.036199015481255106 Centerline is valid? [True, True] Translation: X:93.59, Y:12.14, Z:0.18 [[ 9.45246707e-01 -3.26342418e-01 -3.04786602e-03 9.35900674e+01] [ 3.26341045e-01 9.45251616e-01 -9.51415950e-04 1.21402895e+01] [ 3.19148766e-03 -9.53209882e-05 9.99994903e-01 1.82829845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360281693 meters 0.040695865607186466 Centerline is valid? [True, True] Translation: X:93.62, Y:12.13, Z:0.18 [[ 9.43134474e-01 -3.32389046e-01 -3.85830836e-03 9.36238452e+01] [ 3.32386896e-01 9.43142354e-01 -1.20446822e-03 1.21341675e+01] [ 4.03928607e-03 -1.46475643e-04 9.99991831e-01 1.82523871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390281693 meters 0.041947495077652545 Centerline is valid? [True, True] Translation: X:93.65, Y:12.14, Z:0.18 [[ 9.42611769e-01 -3.33860849e-01 -4.47064315e-03 9.36535610e+01] [ 3.33857979e-01 9.42622354e-01 -1.39575927e-03 1.21373619e+01] [ 4.68011755e-03 -1.76900771e-04 9.99989033e-01 1.82614650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420281693 meters 0.042749061068957206 Centerline is valid? [True, True] Translation: X:93.68, Y:12.14, Z:0.18 [[ 9.42423347e-01 -3.34390059e-01 -4.63932393e-03 9.36827411e+01] [ 3.34386971e-01 9.42434748e-01 -1.44898291e-03 1.21408672e+01] [ 4.85678556e-03 -1.85774154e-04 9.99988188e-01 1.82484302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45028169300001 meters 0.04425288358576388 Centerline is valid? [True, True] Translation: X:93.71, Y:12.14, Z:0.18 [[ 9.42530011e-01 -3.34085026e-01 -4.93695787e-03 9.37111096e+01] [ 3.34081523e-01 9.42542920e-01 -1.54249128e-03 1.21421703e+01] [ 5.16861792e-03 -1.95502081e-04 9.99986623e-01 1.82425437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.480281693 meters 0.04425288358576388 Centerline is valid? [True, True] Translation: X:93.74, Y:12.15, Z:0.18 [[ 9.42469687e-01 -3.34255168e-01 -4.93675243e-03 9.37372872e+01] [ 3.34251663e-01 9.42482596e-01 -1.54314857e-03 1.21505305e+01] [ 5.16860863e-03 -1.95746960e-04 9.99986623e-01 1.82480135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510281693 meters 0.04220985543841792 Centerline is valid? [True, True] Translation: X:93.77, Y:12.15, Z:0.18 [[ 9.43225294e-01 -3.32131522e-01 -3.83367480e-03 9.37679527e+01] [ 3.32129389e-01 9.43233074e-01 -1.19868435e-03 1.21509307e+01] [ 4.01416972e-03 -1.42646669e-04 9.99991933e-01 1.83760185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540281693 meters 0.04110346466229789 Centerline is valid? [True, True] Translation: X:93.80, Y:12.16, Z:0.18 [[ 9.43755340e-01 -3.30631599e-01 -2.93337746e-03 9.37956673e+01] [ 3.30630343e-01 9.43759893e-01 -9.17285321e-04 1.21552880e+01] [ 3.07168751e-03 -1.04170675e-04 9.99995277e-01 1.84708786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570281693 meters 0.03700387414958856 Centerline is valid? [True, True] Translation: X:93.83, Y:12.16, Z:0.19 [[ 9.45020722e-01 -3.26999153e-01 -2.71824412e-03 9.38254791e+01] [ 3.26998059e-01 9.45024628e-01 -8.50129637e-04 1.21604159e+01] [ 2.84679931e-03 -8.54704282e-05 9.99995944e-01 1.85914070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600281693 meters 0.03480646223921867 Centerline is valid? [True, True] Translation: X:93.85, Y:12.17, Z:0.18 [[ 9.45571391e-01 -3.25399076e-01 -3.19150348e-03 9.38537013e+01] [ 3.25397558e-01 9.45576772e-01 -9.98377819e-04 1.21680049e+01] [ 3.34268278e-03 -9.44699373e-05 9.99994409e-01 1.84662019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630281693 meters 0.03304852584692773 Centerline is valid? [True, True] Translation: X:93.88, Y:12.18, Z:0.18 [[ 9.46077005e-01 -3.23912700e-01 -4.34312311e-03 9.38816547e+01] [ 3.23909870e-01 9.46086967e-01 -1.35947799e-03 1.21754137e+01] [ 4.54932436e-03 -1.20609578e-04 9.99989644e-01 1.82926358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660281693 meters 0.03094027000126033 Centerline is valid? [True, True] Translation: X:93.91, Y:12.18, Z:0.18 [[ 9.47102840e-01 -3.20869083e-01 -6.26438938e-03 9.39094209e+01] [ 3.20863123e-01 9.47123544e-01 -1.96156577e-03 1.21814489e+01] [ 6.56255649e-03 -1.52207029e-04 9.99978455e-01 1.79531904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690281693 meters 0.027947564484725174 Centerline is valid? [True, True] Translation: X:93.94, Y:12.19, Z:0.18 [[ 9.48200734e-01 -3.17603951e-01 -6.56489917e-03 9.39365649e+01] [ 3.17597325e-01 9.48223451e-01 -2.05599081e-03 1.21892016e+01] [ 6.87798214e-03 -1.35502419e-04 9.99976337e-01 1.78338614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720281693 meters 0.024590477636620325 Centerline is valid? [True, True] Translation: X:93.96, Y:12.20, Z:0.18 [[ 9.48673969e-01 -3.16196064e-01 -6.14414455e-03 9.39637662e+01] [ 3.16190225e-01 9.48693858e-01 -1.92508413e-03 1.21997653e+01] [ 6.43761622e-03 -1.16441245e-04 9.99979272e-01 1.79784473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750281693 meters 0.025117441114304008 Centerline is valid? [True, True] Translation: X:93.99, Y:12.20, Z:0.18 [[ 9.49128154e-01 -3.14833244e-01 -5.98126176e-03 9.39919960e+01] [ 3.14827680e-01 9.49146995e-01 -1.87465509e-03 1.22041103e+01] [ 6.26730036e-03 -1.03778832e-04 9.99980355e-01 1.79274651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780281693 meters 0.023509733692521354 Centerline is valid? [True, True] Translation: X:94.02, Y:12.21, Z:0.18 [[ 9.49691380e-01 -3.13131865e-01 -5.89210951e-03 9.40198095e+01] [ 3.13126428e-01 9.49709654e-01 -1.84752083e-03 1.22123181e+01] [ 6.17431092e-03 -9.04005902e-05 9.99980935e-01 1.80253689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81028169300001 meters 0.020023038540264788 Centerline is valid? [True, True] Translation: X:94.05, Y:12.22, Z:0.18 [[ 9.50868175e-01 -3.09544695e-01 -5.63866721e-03 9.40469176e+01] [ 3.09539650e-01 9.50884892e-01 -1.76855231e-03 1.22217569e+01] [ 5.90916945e-03 -6.37309633e-05 9.99982539e-01 1.81362561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.840281693 meters 0.01758590017841766 Centerline is valid? [True, True] Translation: X:94.07, Y:12.23, Z:0.18 [[ 9.52150394e-01 -3.05570519e-01 -6.02369227e-03 9.40738897e+01] [ 3.05564677e-01 9.52169447e-01 -1.89009117e-03 1.22299789e+01] [ 6.31313188e-03 -4.09765309e-05 9.99980071e-01 1.80621118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.870281693 meters 0.016482026653588923 Centerline is valid? [True, True] Translation: X:94.10, Y:12.24, Z:0.18 [[ 9.52938366e-01 -3.03098309e-01 -6.31546819e-03 9.41006270e+01] [ 3.03091825e-01 9.52959293e-01 -1.98275741e-03 1.22401157e+01] [ 6.61935452e-03 -2.47211684e-05 9.99978092e-01 1.80551288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900281693 meters 0.01593184925697532 Centerline is valid? [True, True] Translation: X:94.13, Y:12.25, Z:0.18 [[ 9.53799149e-01 -3.00383695e-01 -6.06781621e-03 9.41273803e+01] [ 3.00377648e-01 9.53818450e-01 -1.90607132e-03 1.22508994e+01] [ 6.36014780e-03 -4.62715342e-06 9.99979774e-01 1.80944890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930281693 meters 0.016278435744824595 Centerline is valid? [True, True] Translation: X:94.15, Y:12.26, Z:0.18 [[ 9.54775626e-01 -2.97271600e-01 -5.75327234e-03 9.41520865e+01] [ 2.97266102e-01 9.54792960e-01 -1.80792497e-03 1.22621071e+01] [ 6.03062868e-03 1.59098488e-05 9.99981815e-01 1.81329456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960281693 meters 0.019041271336015922 Centerline is valid? [True, True] Translation: X:94.18, Y:12.28, Z:0.18 [[ 9.56562277e-01 -2.91475430e-01 -5.53923798e-03 9.41778967e+01] [ 2.91470232e-01 9.56578314e-01 -1.74142589e-03 1.22760379e+01] [ 5.80629779e-03 5.12593324e-05 9.99983142e-01 1.82282687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990281693 meters 0.02114373695678044 Centerline is valid? [True, True] Translation: X:94.20, Y:12.29, Z:0.18 [[ 9.57506505e-01 -2.88361807e-01 -5.36301980e-03 9.42039789e+01] [ 2.88356881e-01 9.57521521e-01 -1.68695531e-03 1.22882062e+01] [ 5.62166036e-03 6.88070235e-05 9.99984196e-01 1.83187397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020281693 meters 0.023051400503379255 Centerline is valid? [True, True] Translation: X:94.23, Y:12.30, Z:0.18 [[ 9.57566286e-01 -2.88166183e-01 -5.20185553e-03 9.42296142e+01] [ 2.88161542e-01 9.57580412e-01 -1.63680650e-03 1.23003892e+01] [ 5.45286724e-03 6.83760047e-05 9.99985131e-01 1.82599806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050281693 meters 0.020476632319438557 Centerline is valid? [True, True] Translation: X:94.26, Y:12.31, Z:0.18 [[ 9.57207962e-01 -2.89368967e-01 -4.30334004e-03 9.42582078e+01] [ 2.89365801e-01 9.57217634e-01 -1.35461429e-03 1.23051495e+01] [ 4.51121630e-03 5.14081440e-05 9.99989823e-01 1.84484543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080281693 meters 0.0170102693409947 Centerline is valid? [True, True] Translation: X:94.29, Y:12.31, Z:0.19 [[ 9.55623034e-01 -2.94585979e-01 -1.92802562e-03 9.42879215e+01] [ 2.94585354e-01 9.55624979e-01 -6.07062172e-04 1.23057547e+01] [ 2.02130144e-03 1.21544861e-05 9.99997957e-01 1.88503834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110281693 meters 0.015697304797585465 Centerline is valid? [True, True] Translation: X:94.32, Y:12.31, Z:0.19 [[ 9.54480237e-01 -2.98269198e-01 -1.72145065e-03 9.43162406e+01] [ 2.98268705e-01 9.54481789e-01 -5.42095150e-04 1.23086076e+01] [ 1.80478359e-03 3.96424959e-06 9.99998371e-01 1.89379034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140281693 meters 0.01564386327400392 Centerline is valid? [True, True] Translation: X:94.34, Y:12.31, Z:0.19 [[ 9.53186330e-01 -3.02374718e-01 -2.31325978e-03 9.43445970e+01] [ 3.02373840e-01 9.53189137e-01 -7.28708000e-04 1.23118843e+01] [ 2.42531697e-03 -4.87473866e-06 9.99997059e-01 1.88441687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170281693 meters 0.018342404514346454 Centerline is valid? [True, True] Translation: X:94.37, Y:12.31, Z:0.19 [[ 9.51133771e-01 -3.08757147e-01 -3.68411425e-03 9.43740011e+01] [ 3.08754965e-01 9.51140906e-01 -1.16128935e-03 1.23104014e+01] [ 3.86266815e-03 -3.29470527e-05 9.99992539e-01 1.85530184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20028169300001 meters 0.019709518993113913 Centerline is valid? [True, True] Translation: X:94.40, Y:12.31, Z:0.19 [[ 9.50501023e-01 -3.10700933e-01 -3.56861795e-03 9.44012609e+01] [ 3.10698898e-01 9.50507722e-01 -1.12512717e-03 1.23149126e+01] [ 3.74157698e-03 -3.93311389e-05 9.99993000e-01 1.85597775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.230281693 meters 0.02020422813602363 Centerline is valid? [True, True] Translation: X:94.43, Y:12.32, Z:0.19 [[ 9.49965827e-01 -3.12335515e-01 -3.38431856e-03 9.44293888e+01] [ 3.12333694e-01 9.49971855e-01 -1.06742477e-03 1.23204200e+01] [ 3.54840204e-03 -4.30196624e-05 9.99993703e-01 1.86733437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260281693 meters 0.020284087600068126 Centerline is valid? [True, True] Translation: X:94.46, Y:12.33, Z:0.19 [[ 9.49978947e-01 -3.12284666e-01 -4.27643374e-03 9.44552477e+01] [ 3.12281755e-01 9.49988571e-01 -1.34944775e-03 1.23284756e+01] [ 4.48397501e-03 -5.35052762e-05 9.99989946e-01 1.85704112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290281693 meters 0.02066656780723481 Centerline is valid? [True, True] Translation: X:94.48, Y:12.34, Z:0.18 [[ 9.50196861e-01 -3.11604374e-01 -5.35148547e-03 9.44814848e+01] [ 3.11599802e-01 9.50211929e-01 -1.68911806e-03 1.23365139e+01] [ 5.61138190e-03 -6.25271316e-05 9.99984254e-01 1.83916143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320281693 meters 0.01932212844854415 Centerline is valid? [True, True] Translation: X:94.51, Y:12.35, Z:0.18 [[ 9.50422811e-01 -3.10906049e-01 -5.82316418e-03 9.45082050e+01] [ 3.10900617e-01 9.50440648e-01 -1.83883372e-03 1.23484508e+01] [ 6.10627646e-03 -6.27558221e-05 9.99981355e-01 1.83353406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350281693 meters 0.019652248515468627 Centerline is valid? [True, True] Translation: X:94.53, Y:12.36, Z:0.18 [[ 9.50596622e-01 -3.10396114e-01 -4.50716451e-03 9.45348521e+01] [ 3.10392852e-01 9.50607306e-01 -1.42369877e-03 1.23562375e+01] [ 4.72645408e-03 -4.56284088e-05 9.99988829e-01 1.84627838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380281693 meters 0.019435233431589604 Centerline is valid? [True, True] Translation: X:94.56, Y:12.37, Z:0.19 [[ 9.50290479e-01 -3.11352116e-01 -2.80451456e-03 9.45608531e+01] [ 3.11350856e-01 9.50294617e-01 -8.86135681e-04 1.23652103e+01] [ 2.94101531e-03 -3.11017096e-05 9.99995675e-01 1.88245482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410281693 meters 0.019530852078783616 Centerline is valid? [True, True] Translation: X:94.59, Y:12.37, Z:0.19 [[ 9.49945282e-01 -3.12400991e-01 -3.09567339e-03 9.45888522e+01] [ 3.12399459e-01 9.49950325e-01 -9.78782466e-04 1.23735967e+01] [ 3.24650856e-03 -3.72969097e-05 9.99994729e-01 1.87801574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440281693 meters 0.020884230704959417 Centerline is valid? [True, True] Translation: X:94.62, Y:12.38, Z:0.19 [[ 9.49574164e-01 -3.13516684e-01 -4.02440043e-03 9.46165671e+01] [ 3.13514104e-01 9.49582690e-01 -1.27302042e-03 1.23790538e+01] [ 4.22061413e-03 -5.28789969e-05 9.99991092e-01 1.85854266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470281693 meters 0.021784680386968572 Centerline is valid? [True, True] Translation: X:94.64, Y:12.39, Z:0.18 [[ 9.49144233e-01 -3.14805507e-01 -4.76622145e-03 9.46449360e+01] [ 3.14801901e-01 9.49156198e-01 -1.50833683e-03 1.23855156e+01] [ 4.99872137e-03 -6.87863747e-05 9.99987504e-01 1.84440838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500281693 meters 0.023816648896001002 Centerline is valid? [True, True] Translation: X:94.67, Y:12.39, Z:0.18 [[ 9.48620187e-01 -3.16358829e-01 -6.06900988e-03 9.46728657e+01] [ 3.16353009e-01 9.48639595e-01 -1.92145007e-03 1.23890749e+01] [ 6.36517077e-03 -9.72232136e-05 9.99979737e-01 1.81620511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530281693 meters 0.023158944944529206 Centerline is valid? [True, True] Translation: X:94.70, Y:12.40, Z:0.18 [[ 9.48618828e-01 -3.16367309e-01 -5.83473162e-03 9.46996034e+01] [ 3.16361924e-01 9.48636768e-01 -1.84824642e-03 1.23976238e+01] [ 6.11976569e-03 -9.26055701e-05 9.99981270e-01 1.82409240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56028169300001 meters 0.021793084983620474 Centerline is valid? [True, True] Translation: X:94.73, Y:12.41, Z:0.19 [[ 9.49250108e-01 -3.14492668e-01 -4.31215374e-03 9.47262285e+01] [ 3.14489706e-01 9.49259900e-01 -1.36637996e-03 1.24060592e+01] [ 4.52307111e-03 -5.90916364e-05 9.99989769e-01 1.85992728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.590281693 meters 0.02085561418913102 Centerline is valid? [True, True] Translation: X:94.75, Y:12.42, Z:0.19 [[ 9.49526199e-01 -3.13662041e-01 -4.01516021e-03 9.47535480e+01] [ 3.13659463e-01 9.49534687e-01 -1.27275479e-03 1.24157524e+01] [ 4.21174876e-03 -5.08789804e-05 9.99991129e-01 1.86915322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.620281693 meters 0.020299957991705954 Centerline is valid? [True, True] Translation: X:94.78, Y:12.42, Z:0.19 [[ 9.49702925e-01 -3.13123211e-01 -4.26722814e-03 9.47812803e+01] [ 3.13120290e-01 9.49712510e-01 -1.35342572e-03 1.24247911e+01] [ 4.47642896e-03 -5.08033491e-05 9.99989979e-01 1.86355249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650281693 meters 0.020009759498342265 Centerline is valid? [True, True] Translation: X:94.81, Y:12.43, Z:0.18 [[ 9.49664823e-01 -3.13227735e-01 -5.01103678e-03 9.48084197e+01] [ 3.13223703e-01 9.49678042e-01 -1.59036503e-03 1.24308477e+01] [ 5.25701803e-03 -5.92617661e-05 9.99986180e-01 1.84613203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680281693 meters 0.021769748453445592 Centerline is valid? [True, True] Translation: X:94.84, Y:12.43, Z:0.18 [[ 9.49654410e-01 -3.13250981e-01 -5.50684805e-03 9.48360528e+01] [ 3.13246108e-01 9.49670374e-01 -1.74846959e-03 1.24339654e+01] [ 5.77740026e-03 -6.45568601e-05 9.99983309e-01 1.82650448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710281693 meters 0.021056932418115695 Centerline is valid? [True, True] Translation: X:94.86, Y:12.44, Z:0.18 [[ 9.49537517e-01 -3.13593276e-01 -6.14496789e-03 9.48649071e+01] [ 3.13587209e-01 9.49557398e-01 -1.95199324e-03 1.24394885e+01] [ 6.44713168e-03 -7.34925173e-05 9.99979214e-01 1.82742708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740281693 meters 0.020294361557979743 Centerline is valid? [True, True] Translation: X:94.89, Y:12.45, Z:0.18 [[ 9.49608271e-01 -3.13389617e-01 -5.57499930e-03 9.48915338e+01] [ 3.13384614e-01 9.49624633e-01 -1.77196941e-03 1.24473777e+01] [ 5.84947348e-03 -6.44421885e-05 9.99982890e-01 1.84386000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770281693 meters 0.018927839056959612 Centerline is valid? [True, True] Translation: X:94.92, Y:12.46, Z:0.19 [[ 9.49994220e-01 -3.12240514e-01 -4.10412363e-03 9.49194776e+01] [ 3.12237789e-01 9.50003084e-01 -1.30513561e-03 1.24554079e+01] [ 4.30644632e-03 -4.15912029e-05 9.99990726e-01 1.88733520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800281693 meters 0.018439058490509693 Centerline is valid? [True, True] Translation: X:94.95, Y:12.46, Z:0.19 [[ 9.50201230e-01 -3.11619137e-01 -3.33711213e-03 9.49462755e+01] [ 3.11617330e-01 9.50207089e-01 -1.06158670e-03 1.24627363e+01] [ 3.50175833e-03 -3.11809850e-05 9.99993868e-01 1.90452116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830281693 meters 0.016915469679118073 Centerline is valid? [True, True] Translation: X:94.97, Y:12.47, Z:0.19 [[ 9.50754473e-01 -3.09936649e-01 -2.28173572e-03 9.49732233e+01] [ 3.09935799e-01 9.50757211e-01 -7.26007507e-04 1.24719212e+01] [ 2.39439302e-03 -1.69366983e-05 9.99997133e-01 1.92302177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860281693 meters 0.0166221919425046 Centerline is valid? [True, True] Translation: X:95.00, Y:12.48, Z:0.19 [[ 9.51121963e-01 -3.08808294e-01 -2.10931453e-03 9.49997407e+01] [ 3.08807564e-01 9.51124302e-01 -6.71487759e-04 1.24801183e+01] [ 2.21358130e-03 -1.27055279e-05 9.99997550e-01 1.92842296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890281693 meters 0.015904754518872005 Centerline is valid? [True, True] Translation: X:95.03, Y:12.49, Z:0.19 [[ 9.51545972e-01 -3.07500488e-01 -1.92687097e-03 9.50263357e+01] [ 3.07499876e-01 9.51547923e-01 -6.13582656e-04 1.24899902e+01] [ 2.02218703e-03 -8.66047691e-06 9.99997955e-01 1.93179151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920281693 meters 0.015279243151938769 Centerline is valid? [True, True] Translation: X:95.05, Y:12.50, Z:0.19 [[ 9.52489086e-01 -3.04563385e-01 -2.38450272e-03 9.50520871e+01] [ 3.04562437e-01 9.52492071e-01 -7.59814632e-04 1.25007402e+01] [ 2.50263165e-03 -2.51481594e-06 9.99996868e-01 1.92820543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95028169300001 meters 0.015237858907651121 Centerline is valid? [True, True] Translation: X:95.08, Y:12.51, Z:0.19 [[ 9.52941623e-01 -3.03140656e-01 -2.82933783e-03 9.50782880e+01] [ 3.03139313e-01 9.52945824e-01 -9.02149848e-04 1.25116420e+01] [ 2.96968397e-03 2.01261338e-06 9.99995590e-01 1.91876822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.980281693 meters 0.016134979680409466 Centerline is valid? [True, True] Translation: X:95.10, Y:12.52, Z:0.19 [[ 9.53933426e-01 -2.99994117e-01 -3.81421484e-03 9.51038112e+01] [ 2.99991649e-01 9.53941051e-01 -1.21688848e-03 1.25249401e+01] [ 4.00359550e-03 1.65979935e-05 9.99991985e-01 1.88534308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010281693 meters 0.017146166040819828 Centerline is valid? [True, True] Translation: X:95.13, Y:12.54, Z:0.19 [[ 9.54487347e-01 -2.98220710e-01 -4.27939366e-03 9.51292249e+01] [ 2.98217584e-01 9.54496939e-01 -1.36565787e-03 1.25356207e+01] [ 4.49193561e-03 2.73127162e-05 9.99989911e-01 1.87384717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040281693 meters 0.018121041365353908 Centerline is valid? [True, True] Translation: X:95.16, Y:12.55, Z:0.19 [[ 9.54986280e-01 -2.96617198e-01 -4.40940145e-03 9.51555484e+01] [ 2.96613860e-01 9.54996459e-01 -1.40772386e-03 1.25467652e+01] [ 4.62851787e-03 3.64673889e-05 9.99989288e-01 1.87731508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070281693 meters 0.020214899519522787 Centerline is valid? [True, True] Translation: X:95.18, Y:12.56, Z:0.19 [[ 9.55902739e-01 -2.93657325e-01 -3.91533381e-03 9.51806926e+01] [ 2.93654666e-01 9.55910756e-01 -1.25065666e-03 1.25624578e+01] [ 4.10997419e-03 4.57500862e-05 9.99991553e-01 1.89730623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100281693 meters 0.020425917477813547 Centerline is valid? [True, True] Translation: X:95.21, Y:12.57, Z:0.19 [[ 9.56210223e-01 -2.92661062e-01 -3.39298846e-03 9.52075443e+01] [ 2.92659057e-01 9.56216242e-01 -1.08438194e-03 1.25727101e+01] [ 3.56178705e-03 4.39082966e-05 9.99993656e-01 1.90969496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130281693 meters 0.023690236304100967 Centerline is valid? [True, True] Translation: X:95.23, Y:12.59, Z:0.19 [[ 9.56886289e-01 -2.90445477e-01 -3.17109298e-03 9.52314827e+01] [ 2.90443711e-01 9.56891542e-01 -1.01394432e-03 1.25873037e+01] [ 3.32888759e-03 4.92054052e-05 9.99994458e-01 1.90337250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160281693 meters 0.024825616013447734 Centerline is valid? [True, True] Translation: X:95.26, Y:12.60, Z:0.19 [[ 9.57118951e-01 -2.89670606e-01 -3.77546172e-03 9.52582966e+01] [ 2.89668094e-01 9.57126395e-01 -1.20777927e-03 1.25995302e+01] [ 3.96345221e-03 6.23576266e-05 9.99992144e-01 1.88827909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190281693 meters 0.02966356662282184 Centerline is valid? [True, True] Translation: X:95.28, Y:12.62, Z:0.18 [[ 9.57707424e-01 -2.87689548e-01 -5.58690318e-03 9.52810444e+01] [ 2.87684009e-01 9.57723714e-01 -1.78839612e-03 1.26201976e+01] [ 5.86521254e-03 1.05497540e-04 9.99982794e-01 1.84388169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220281693 meters 0.028184680875586565 Centerline is valid? [True, True] Translation: X:95.31, Y:12.63, Z:0.18 [[ 9.57884797e-01 -2.87091656e-01 -5.92428287e-03 9.53086600e+01] [ 2.87085409e-01 9.57903110e-01 -1.89745215e-03 1.26295719e+01] [ 6.21963166e-03 1.16765395e-04 9.99980651e-01 1.84732417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250281693 meters 0.02853131420787092 Centerline is valid? [True, True] Translation: X:95.33, Y:12.64, Z:0.19 [[ 9.57930618e-01 -2.86949752e-01 -5.36386600e-03 9.53347809e+01] [ 2.86944623e-01 9.57945629e-01 -1.71895780e-03 1.26408812e+01] [ 5.63154650e-03 1.07509799e-04 9.99984137e-01 1.85815363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280281693 meters 0.026897519335939542 Centerline is valid? [True, True] Translation: X:95.36, Y:12.65, Z:0.19 [[ 9.57872917e-01 -2.87159779e-01 -4.32853499e-03 9.53619857e+01] [ 2.87156438e-01 9.57882693e-01 -1.38797927e-03 1.26491031e+01] [ 4.54480058e-03 8.65410600e-05 9.99989669e-01 1.88522220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31028169300001 meters 0.026577056289514005 Centerline is valid? [True, True] Translation: X:95.39, Y:12.66, Z:0.19 [[ 9.57707526e-01 -2.87731058e-01 -2.67069082e-03 9.53875875e+01] [ 2.87729787e-01 9.57711249e-01 -8.56671885e-04 1.26610523e+01] [ 2.80424175e-03 5.20038104e-05 9.99996067e-01 1.91343111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.340281693 meters 0.024164359348316365 Centerline is valid? [True, True] Translation: X:95.42, Y:12.67, Z:0.19 [[ 9.57319960e-01 -2.89019768e-01 -2.46314452e-03 9.54161130e+01] [ 2.89018691e-01 9.57323128e-01 -7.90309016e-04 1.26679421e+01] [ 2.58644015e-03 4.46837901e-05 9.99996654e-01 1.91411414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.370281693 meters 0.024164359348316365 Centerline is valid? [True, True] Translation: X:95.44, Y:12.68, Z:0.19 [[ 9.57263966e-01 -2.89205175e-01 -2.46301335e-03 9.54422078e+01] [ 2.89204098e-01 9.57267133e-01 -7.90717618e-04 1.26765153e+01] [ 2.58644136e-03 4.46119290e-05 9.99996654e-01 1.91466105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400281693 meters 0.023152959584152043 Centerline is valid? [True, True] Translation: X:95.47, Y:12.69, Z:0.19 [[ 9.56531569e-01 -2.91608299e-01 -3.45791624e-03 9.54688861e+01] [ 2.91606188e-01 9.56537818e-01 -1.11097677e-03 1.26857241e+01] [ 3.63159770e-03 5.43345785e-05 9.99993404e-01 1.89222043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430281693 meters 0.02362516836445828 Centerline is valid? [True, True] Translation: X:95.49, Y:12.70, Z:0.19 [[ 9.56106371e-01 -2.92989705e-01 -4.20009038e-03 9.54947689e+01] [ 2.92986601e-01 9.56115594e-01 -1.35000286e-03 1.26958908e+01] [ 4.41130885e-03 6.01761306e-05 9.99990268e-01 1.87457381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460281693 meters 0.02077993167541586 Centerline is valid? [True, True] Translation: X:95.52, Y:12.70, Z:0.19 [[ 9.55569502e-01 -2.94735047e-01 -4.26365737e-03 9.55236023e+01] [ 2.94731863e-01 9.55579013e-01 -1.37098630e-03 1.27012304e+01] [ 4.47833922e-03 5.34370163e-05 9.99989971e-01 1.87674580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490281693 meters 0.018500858814986264 Centerline is valid? [True, True] Translation: X:95.55, Y:12.71, Z:0.19 [[ 9.54706144e-01 -2.97524480e-01 -3.91942058e-03 9.55518206e+01] [ 2.97521810e-01 9.54714189e-01 -1.26097805e-03 1.27081565e+01] [ 4.11709828e-03 3.77503882e-05 9.99991524e-01 1.88959957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520281693 meters 0.01824591147860209 Centerline is valid? [True, True] Translation: X:95.58, Y:12.72, Z:0.19 [[ 9.54424136e-01 -2.98427683e-01 -3.93517995e-03 9.55782251e+01] [ 2.98424998e-01 9.54432248e-01 -1.26652502e-03 1.27173565e+01] [ 4.13382878e-03 3.44459762e-05 9.99991455e-01 1.89164448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550281693 meters 0.017483699736451107 Centerline is valid? [True, True] Translation: X:95.61, Y:12.73, Z:0.19 [[ 9.54054722e-01 -2.99608486e-01 -3.78704358e-03 9.56054622e+01] [ 2.99606007e-01 9.54062238e-01 -1.21930625e-03 1.27256738e+01] [ 3.97838977e-03 2.86638837e-05 9.99992086e-01 1.89078104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580281693 meters 0.016458361765882605 Centerline is valid? [True, True] Translation: X:95.63, Y:12.73, Z:0.19 [[ 9.53311796e-01 -3.01964148e-01 -3.77797802e-03 9.56334816e+01] [ 3.01961696e-01 9.53319282e-01 -1.21706941e-03 1.27332103e+01] [ 3.96913062e-03 1.94419770e-05 9.99992123e-01 1.87857684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610281693 meters 0.015911987484453702 Centerline is valid? [True, True] Translation: X:95.66, Y:12.74, Z:0.19 [[ 9.52911264e-01 -3.03227081e-01 -3.66886265e-03 9.56605680e+01] [ 3.03224776e-01 9.52918326e-01 -1.18236542e-03 1.27413808e+01] [ 3.85465168e-03 1.41992731e-05 9.99992571e-01 1.87744177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640281693 meters 0.015332360014049706 Centerline is valid? [True, True] Translation: X:95.69, Y:12.75, Z:0.19 [[ 9.51749094e-01 -3.06855922e-01 -3.62019613e-03 9.56887549e+01] [ 3.06853703e-01 9.51755979e-01 -1.16715665e-03 1.27464670e+01] [ 3.80369224e-03 -3.03015575e-08 9.99992766e-01 1.88226160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670281693 meters 0.015515792246819917 Centerline is valid? [True, True] Translation: X:95.72, Y:12.75, Z:0.19 [[ 9.50990572e-01 -3.09198104e-01 -3.66945176e-03 9.57163955e+01] [ 3.09195838e-01 9.50997651e-01 -1.18379595e-03 1.27519395e+01] [ 3.85566747e-03 -8.80042769e-06 9.99992567e-01 1.88521136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70028169300001 meters 0.016000800510097647 Centerline is valid? [True, True] Translation: X:95.75, Y:12.76, Z:0.19 [[ 9.50257288e-01 -3.11450352e-01 -3.12488393e-03 9.57452550e+01] [ 3.11448719e-01 9.50262426e-01 -1.00866597e-03 1.27575412e+01] [ 3.28360916e-03 -1.47489042e-05 9.99994609e-01 1.89458144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.730281693 meters 0.017662289120077758 Centerline is valid? [True, True] Translation: X:95.77, Y:12.76, Z:0.19 [[ 9.49229624e-01 -3.14580458e-01 -1.50206076e-03 9.57736507e+01] [ 3.14580084e-01 9.49230812e-01 -4.84981466e-04 1.27600012e+01] [ 1.57836805e-03 -1.21596275e-05 9.99998754e-01 1.92365698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760281693 meters 0.018186685578390916 Centerline is valid? [True, True] Translation: X:95.80, Y:12.77, Z:0.19 [[ 9.48909781e-01 -3.15546453e-01 -8.14929400e-04 9.58016786e+01] [ 3.15546343e-01 9.48910131e-01 -2.62999210e-04 1.27670595e+01] [ 8.56283232e-04 -7.58546899e-06 9.99999633e-01 1.94118250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790281693 meters 0.017847927533016606 Centerline is valid? [True, True] Translation: X:95.83, Y:12.78, Z:0.19 [[ 9.49052497e-01 -3.15115303e-01 -1.30534767e-03 9.58279076e+01] [ 3.15115021e-01 9.49053394e-01 -4.21683911e-04 1.27752098e+01] [ 1.37172369e-03 -1.11344906e-05 9.99999059e-01 1.93881842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820281693 meters 0.01700809087519817 Centerline is valid? [True, True] Translation: X:95.85, Y:12.79, Z:0.19 [[ 9.49447953e-01 -3.13917094e-01 -2.15466646e-03 9.58544728e+01] [ 3.13916321e-01 9.49450398e-01 -6.96716790e-04 1.27855282e+01] [ 2.26446024e-03 -1.48886392e-05 9.99997436e-01 1.92199532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850281693 meters 0.016255121758764406 Centerline is valid? [True, True] Translation: X:95.88, Y:12.80, Z:0.19 [[ 9.49947932e-01 -3.12396870e-01 -2.66858920e-03 9.58805063e+01] [ 3.12395678e-01 9.49951680e-01 -8.63350086e-04 1.27959083e+01] [ 2.80473866e-03 -1.35181017e-05 9.99996067e-01 1.91087640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880281693 meters 0.015222794723389988 Centerline is valid? [True, True] Translation: X:95.91, Y:12.81, Z:0.19 [[ 9.51301908e-01 -3.08246119e-01 -3.00166770e-03 9.59051044e+01] [ 3.08244589e-01 9.51306644e-01 -9.71307839e-04 1.28108440e+01] [ 3.15490829e-03 -1.24082427e-06 9.99995023e-01 1.90744466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910281693 meters 0.015652934038551402 Centerline is valid? [True, True] Translation: X:95.93, Y:12.82, Z:0.19 [[ 9.52095317e-01 -3.05782505e-01 -3.40097293e-03 9.59301328e+01] [ 3.05780523e-01 9.52101392e-01 -1.10094585e-03 1.28244654e+01] [ 3.57472104e-03 8.25410253e-06 9.99993611e-01 1.89940761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940281693 meters 0.018636527822560305 Centerline is valid? [True, True] Translation: X:95.95, Y:12.84, Z:0.19 [[ 9.53844011e-01 -3.00276750e-01 -3.93388912e-03 9.59533142e+01] [ 3.00274049e-01 9.53852123e-01 -1.27401211e-03 1.28437434e+01] [ 4.13490470e-03 3.39640087e-05 9.99991451e-01 1.89188464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970281693 meters 0.020802250196373592 Centerline is valid? [True, True] Translation: X:95.98, Y:12.86, Z:0.19 [[ 9.54649035e-01 -2.97714229e-01 -3.38482130e-03 9.59789998e+01] [ 2.97712212e-01 9.54655035e-01 -1.09654595e-03 1.28583391e+01] [ 3.55779403e-03 3.91138965e-05 9.99993670e-01 1.90296498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000281693 meters 0.02259771326166377 Centerline is valid? [True, True] Translation: X:96.00, Y:12.87, Z:0.19 [[ 9.55175498e-01 -2.96029750e-01 -2.48078935e-03 9.60043674e+01] [ 2.96028660e-01 9.55178719e-01 -8.03965037e-04 1.28712532e+01] [ 2.60759477e-03 3.35429556e-05 9.99996600e-01 1.92494382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030281693 meters 0.020910723022846762 Centerline is valid? [True, True] Translation: X:96.03, Y:12.88, Z:0.20 [[ 9.55136865e-01 -2.96163928e-01 -7.04438957e-04 9.60317915e+01] [ 2.96163840e-01 9.55137125e-01 -2.28092113e-04 1.28783847e+01] [ 7.40388457e-04 9.22983953e-06 9.99999726e-01 1.95521286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06028169300001 meters 0.021509087342041495 Centerline is valid? [True, True] Translation: X:96.06, Y:12.88, Z:0.19 [[ 9.54646321e-01 -2.97736719e-01 -1.80233763e-03 9.60584629e+01] [ 2.97736145e-01 9.54648022e-01 -5.84587491e-04 1.28848766e+01] [ 1.89465122e-03 2.14532374e-05 9.99998205e-01 1.93128828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.090281693 meters 0.021238767139009924 Centerline is valid? [True, True] Translation: X:96.09, Y:12.89, Z:0.19 [[ 9.54484036e-01 -2.98250228e-01 -2.65088743e-03 9.60856196e+01] [ 2.98248989e-01 9.54487716e-01 -8.60228018e-04 1.28911888e+01] [ 2.78680269e-03 3.04494142e-05 9.99996116e-01 1.91004321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.120281693 meters 0.021182425713894726 Centerline is valid? [True, True] Translation: X:96.11, Y:12.90, Z:0.19 [[ 9.54389100e-01 -2.98549880e-01 -3.06822544e-03 9.61121268e+01] [ 2.98548220e-01 9.54394032e-01 -9.96300574e-04 1.28990515e+01] [ 3.22574146e-03 3.48451643e-05 9.99994797e-01 1.90336894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150281693 meters 0.020900535841645015 Centerline is valid? [True, True] Translation: X:96.14, Y:12.91, Z:0.19 [[ 9.54546716e-01 -2.98040035e-01 -3.56439106e-03 9.61397460e+01] [ 2.98037788e-01 9.54553370e-01 -1.15812537e-03 1.29081764e+01] [ 3.74756923e-03 4.31615375e-05 9.99992977e-01 1.90400068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180281693 meters 0.023580678933188968 Centerline is valid? [True, True] Translation: X:96.17, Y:12.92, Z:0.19 [[ 9.55550315e-01 -2.94808178e-01 -3.42556927e-03 9.61652510e+01] [ 2.94806080e-01 9.55556453e-01 -1.11361240e-03 1.29239272e+01] [ 3.60162686e-03 5.42340367e-05 9.99993513e-01 1.90857734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210281693 meters 0.028304665865991695 Centerline is valid? [True, True] Translation: X:96.19, Y:12.94, Z:0.19 [[ 9.56932418e-01 -2.90291958e-01 -3.30563444e-03 9.61897025e+01] [ 2.90289975e-01 9.56938125e-01 -1.07500404e-03 1.29430510e+01] [ 3.47535265e-03 6.91136715e-05 9.99993959e-01 1.92004994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240281693 meters 0.029829908947620512 Centerline is valid? [True, True] Translation: X:96.22, Y:12.96, Z:0.19 [[ 9.57494011e-01 -2.88434340e-01 -3.29408163e-03 9.62155846e+01] [ 2.88432360e-01 9.57499674e-01 -1.07157374e-03 1.29564238e+01] [ 3.46316075e-03 7.59057003e-05 9.99994000e-01 1.91838051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270281693 meters 0.03197566722321983 Centerline is valid? [True, True] Translation: X:96.24, Y:12.97, Z:0.19 [[ 9.57859704e-01 -2.87216884e-01 -3.35386085e-03 9.62404433e+01] [ 2.87214822e-01 9.57865572e-01 -1.09146367e-03 1.29709802e+01] [ 3.52603464e-03 8.21905239e-05 9.99993780e-01 1.91809016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300281693 meters 0.03215218781639216 Centerline is valid? [True, True] Translation: X:96.27, Y:12.99, Z:0.19 [[ 9.57965054e-01 -2.86870130e-01 -2.91278444e-03 9.62656855e+01] [ 2.86868572e-01 9.57969479e-01 -9.48211302e-04 1.29853383e+01] [ 3.06237210e-03 7.27669763e-05 9.99995308e-01 1.91836594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330281693 meters 0.03120051471850711 Centerline is valid? [True, True] Translation: X:96.29, Y:13.00, Z:0.19 [[ 9.57748013e-01 -2.87596651e-01 -2.62867651e-03 9.62931421e+01] [ 2.87595384e-01 9.57751618e-01 -8.56104084e-04 1.29958095e+01] [ 2.76383185e-03 6.39367534e-05 9.99996179e-01 1.91977661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360281693 meters 0.030927905154192453 Centerline is valid? [True, True] Translation: X:96.32, Y:13.01, Z:0.19 [[ 9.57389865e-01 -2.88791336e-01 -2.05205446e-03 9.63192009e+01] [ 2.88790567e-01 9.57392063e-01 -6.68483799e-04 1.30070973e+01] [ 2.15767298e-03 4.73856430e-05 9.99997671e-01 1.92881020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390281693 meters 0.02877605038840847 Centerline is valid? [True, True] Translation: X:96.34, Y:13.02, Z:0.20 [[ 9.56611779e-01 -2.91364533e-01 -7.82691723e-04 9.63446641e+01] [ 2.91364421e-01 9.56612099e-01 -2.55031098e-04 1.30183640e+01] [ 8.23039389e-04 1.59172319e-05 9.99999661e-01 1.95644841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420281693 meters 0.027598346577956036 Centerline is valid? [True, True] Translation: X:96.37, Y:13.03, Z:0.19 [[ 9.56217485e-01 -2.92653879e-01 -1.35252976e-03 9.63719621e+01] [ 2.92653548e-01 9.56218441e-01 -4.40820199e-04 1.30279652e+01] [ 1.42232164e-03 2.56973475e-05 9.99998988e-01 1.94853145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45028169300001 meters 0.024495198238061778 Centerline is valid? [True, True] Translation: X:96.40, Y:13.04, Z:0.19 [[ 9.55267902e-01 -2.95720394e-01 -3.56153146e-03 9.63996454e+01] [ 2.95718117e-01 9.55274539e-01 -1.16172347e-03 1.30361750e+01] [ 3.74578565e-03 5.65477640e-05 9.99992983e-01 1.89961171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.480281693 meters 0.023226255300524967 Centerline is valid? [True, True] Translation: X:96.43, Y:13.04, Z:0.19 [[ 9.54758271e-01 -2.97352952e-01 -4.22673281e-03 9.64276750e+01] [ 2.97349760e-01 9.54767625e-01 -1.37918228e-03 1.30446772e+01] [ 4.44565157e-03 5.99677030e-05 9.99990116e-01 1.88034887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510281693 meters 0.020842862154592693 Centerline is valid? [True, True] Translation: X:96.46, Y:13.05, Z:0.19 [[ 9.54249753e-01 -2.98980455e-01 -4.25405832e-03 9.64558453e+01] [ 2.98977234e-01 9.54259233e-01 -1.38882187e-03 1.30512183e+01] [ 4.47470502e-03 5.34163402e-05 9.99989987e-01 1.88467964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540281693 meters 0.017873540743211305 Centerline is valid? [True, True] Translation: X:96.48, Y:13.06, Z:0.19 [[ 9.53221834e-01 -3.02255603e-01 -3.11231822e-03 9.64844482e+01] [ 3.02253895e-01 9.53226914e-01 -1.01655215e-03 1.30572071e+01] [ 3.27400408e-03 2.82894024e-05 9.99994640e-01 1.91621794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570281693 meters 0.0174745162035495 Centerline is valid? [True, True] Translation: X:96.51, Y:13.07, Z:0.19 [[ 9.52739928e-01 -3.03775490e-01 -2.66093706e-03 9.65107038e+01] [ 3.03774247e-01 9.52743644e-01 -8.69496528e-04 1.30661351e+01] [ 2.79932261e-03 2.00799084e-05 9.99996082e-01 1.93115034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600281693 meters 0.015931558338406017 Centerline is valid? [True, True] Translation: X:96.54, Y:13.07, Z:0.19 [[ 9.51783034e-01 -3.06764301e-01 -2.17257748e-03 9.65385917e+01] [ 3.06763479e-01 9.51785513e-01 -7.10119492e-04 1.30736936e+01] [ 2.28566708e-03 9.41225735e-06 9.99997388e-01 1.94076445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630281693 meters 0.01570612742291347 Centerline is valid? [True, True] Translation: X:96.56, Y:13.08, Z:0.19 [[ 9.51451202e-01 -3.07792990e-01 -2.02130207e-03 9.65646871e+01] [ 3.07792280e-01 9.51453349e-01 -6.60995135e-04 1.30826856e+01] [ 2.12662429e-03 6.76344446e-06 9.99997739e-01 1.93646606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660281693 meters 0.01560965949738311 Centerline is valid? [True, True] Translation: X:96.59, Y:13.09, Z:0.19 [[ 9.51170664e-01 -3.08659328e-01 -1.94619231e-03 9.65912182e+01] [ 3.08658672e-01 9.51172655e-01 -6.36558572e-04 1.30921239e+01] [ 2.04764465e-03 4.76670462e-06 9.99997904e-01 1.93353556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690281693 meters 0.015446314214058468 Centerline is valid? [True, True] Translation: X:96.62, Y:13.10, Z:0.19 [[ 9.50757660e-01 -3.09926055e-01 -2.38996703e-03 9.66173148e+01] [ 3.09925067e-01 9.50760664e-01 -7.82278150e-04 1.31025609e+01] [ 2.51473502e-03 3.04625048e-06 9.99996838e-01 1.92837830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720281693 meters 0.015336080415749178 Centerline is valid? [True, True] Translation: X:96.64, Y:13.11, Z:0.19 [[ 9.50291433e-01 -3.11346430e-01 -3.09717004e-03 9.66442453e+01] [ 3.11344777e-01 9.50296480e-01 -1.01449369e-03 1.31109304e+01] [ 3.25908878e-03 -2.23057190e-07 9.99994689e-01 1.91942813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750281693 meters 0.016013332043187393 Centerline is valid? [True, True] Translation: X:96.67, Y:13.11, Z:0.19 [[ 9.49060259e-01 -3.15066486e-01 -4.21121913e-03 9.66724526e+01] [ 3.15063464e-01 9.49069602e-01 -1.38006734e-03 1.31149932e+01] [ 4.43155303e-03 -1.70342191e-05 9.99990180e-01 1.90647939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780281693 meters 0.016657112277879058 Centerline is valid? [True, True] Translation: X:96.70, Y:13.12, Z:0.19 [[ 9.48387028e-01 -3.17085382e-01 -4.34802878e-03 9.67007391e+01] [ 3.17082179e-01 9.48396995e-01 -1.42547280e-03 1.31217944e+01] [ 4.57565401e-03 -2.67825297e-05 9.99989531e-01 1.90466851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81028169300001 meters 0.01727555332503622 Centerline is valid? [True, True] Translation: X:96.73, Y:13.13, Z:0.19 [[ 9.47833582e-01 -3.18743292e-01 -3.77012941e-03 9.67289157e+01] [ 3.18740894e-01 9.47841080e-01 -1.23665427e-03 1.31284505e+01] [ 3.96765878e-03 -2.95519726e-05 9.99992128e-01 1.91195612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.840281693 meters 0.018785833373994303 Centerline is valid? [True, True] Translation: X:96.76, Y:13.13, Z:0.20 [[ 9.47155779e-01 -3.20771032e-01 -1.36956045e-03 9.67568830e+01] [ 3.20770717e-01 9.47156769e-01 -4.49326004e-04 1.31334872e+01] [ 1.44131922e-03 -1.37331677e-05 9.99998961e-01 1.95335316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.870281693 meters 0.01917890853380603 Centerline is valid? [True, True] Translation: X:96.78, Y:13.14, Z:0.20 [[ 9.47051270e-01 -3.21080918e-01 -9.67119337e-04 9.67832403e+01] [ 3.21080762e-01 9.47051764e-01 -3.17252942e-04 1.31408268e+01] [ 1.01777594e-03 -1.00686118e-05 9.99999482e-01 1.95913507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900281693 meters 0.0193188734733015 Centerline is valid? [True, True] Translation: X:96.81, Y:13.15, Z:0.19 [[ 9.47037213e-01 -3.21119230e-01 -1.71967083e-03 9.68093323e+01] [ 3.21118734e-01 9.47038774e-01 -5.64563847e-04 1.31463539e+01] [ 1.80988726e-03 -1.75555465e-05 9.99998362e-01 1.94580799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930281693 meters 0.018652387335154456 Centerline is valid? [True, True] Translation: X:96.84, Y:13.16, Z:0.20 [[ 9.47047935e-01 -3.21088479e-01 -1.54809816e-03 9.68352791e+01] [ 3.21088077e-01 9.47049201e-01 -5.08314236e-04 1.31553825e+01] [ 1.62933897e-03 -1.56779134e-05 9.99998673e-01 1.95057500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960281693 meters 0.018439371214588884 Centerline is valid? [True, True] Translation: X:96.86, Y:13.16, Z:0.20 [[ 9.47109538e-01 -3.20906215e-01 -1.65022365e-03 9.68623510e+01] [ 3.20905757e-01 9.47110976e-01 -5.42205221e-04 1.31638149e+01] [ 1.73694195e-03 -1.60385325e-05 9.99998491e-01 1.95128045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990281693 meters 0.01887983905769055 Centerline is valid? [True, True] Translation: X:96.89, Y:13.17, Z:0.19 [[ 9.47120037e-01 -3.20872807e-01 -2.06805405e-03 9.68884986e+01] [ 3.20872087e-01 9.47122295e-01 -6.79981988e-04 1.31700709e+01] [ 2.17688783e-03 -1.95562516e-05 9.99997630e-01 1.94086844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020281693 meters 0.018774715537986722 Centerline is valid? [True, True] Translation: X:96.92, Y:13.18, Z:0.19 [[ 9.46966577e-01 -3.21301758e-01 -4.41375647e-03 9.69169106e+01] [ 3.21298480e-01 9.46976863e-01 -1.45205567e-03 1.31755618e+01] [ 4.64627329e-03 -4.30850521e-05 9.99989205e-01 1.89399249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050281693 meters 0.019243192838079414 Centerline is valid? [True, True] Translation: X:96.94, Y:13.18, Z:0.19 [[ 9.46757333e-01 -3.21907242e-01 -5.12635496e-03 9.69442423e+01] [ 3.21902826e-01 9.46771210e-01 -1.68708245e-03 1.31807906e+01] [ 5.39656935e-03 -5.29304646e-05 9.99985437e-01 1.87325058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080281693 meters 0.020535072871881298 Centerline is valid? [True, True] Translation: X:96.97, Y:13.18, Z:0.19 [[ 9.46218849e-01 -3.23495740e-01 -4.51606335e-03 9.69735931e+01] [ 3.23492329e-01 9.46229625e-01 -1.48658529e-03 1.31807563e+01] [ 4.75413694e-03 -5.42768295e-05 9.99988698e-01 1.88526941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110281693 meters 0.019840964449873155 Centerline is valid? [True, True] Translation: X:97.00, Y:13.19, Z:0.19 [[ 9.46064256e-01 -3.23958804e-01 -3.62175099e-03 9.70011216e+01] [ 3.23956612e-01 9.46071187e-01 -1.19269869e-03 1.31879103e+01] [ 3.81281950e-03 -4.49205781e-05 9.99992730e-01 1.90602595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140281693 meters 0.0193248855423179 Centerline is valid? [True, True] Translation: X:97.03, Y:13.20, Z:0.19 [[ 9.46142735e-01 -3.23736850e-01 -2.89440637e-03 9.70282140e+01] [ 3.23735447e-01 9.46147161e-01 -9.53698000e-04 1.31955109e+01] [ 3.04728156e-03 -3.46875078e-05 9.99995356e-01 1.91848211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170281693 meters 0.01791639991187171 Centerline is valid? [True, True] Translation: X:97.06, Y:13.20, Z:0.19 [[ 9.47063140e-01 -3.21030231e-01 -3.31646794e-03 9.70553264e+01] [ 3.21028371e-01 9.47068947e-01 -1.09336037e-03 1.32031231e+01] [ 3.49192553e-03 -2.91989971e-05 9.99993903e-01 1.91560388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20028169300001 meters 0.017243025034564943 Centerline is valid? [True, True] Translation: X:97.08, Y:13.21, Z:0.19 [[ 9.47532094e-01 -3.19638393e-01 -3.77206765e-03 9.70819605e+01] [ 3.19635974e-01 9.47539602e-01 -1.24388992e-03 1.32107964e+01] [ 3.97177846e-03 -2.70628989e-05 9.99992112e-01 1.90352359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.230281693 meters 0.016202664252290402 Centerline is valid? [True, True] Translation: X:97.11, Y:13.22, Z:0.19 [[ 9.48271547e-01 -3.17441149e-01 -3.49156836e-03 9.71096337e+01] [ 3.17439060e-01 9.48277974e-01 -1.15179201e-03 1.32180177e+01] [ 3.67660355e-03 -1.61485872e-05 9.99993241e-01 1.91200821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260281693 meters 0.015831520825058412 Centerline is valid? [True, True] Translation: X:97.14, Y:13.23, Z:0.19 [[ 9.48533191e-01 -3.16669293e-01 -2.31175105e-03 9.71358617e+01] [ 3.16668374e-01 9.48536008e-01 -7.62907529e-04 1.32261660e+01] [ 2.43436850e-03 -8.41533269e-06 9.99997037e-01 1.93851847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290281693 meters 0.015831520825058412 Centerline is valid? [True, True] Translation: X:97.16, Y:13.23, Z:0.19 [[ 9.48475523e-01 -3.16841979e-01 -2.31161024e-03 9.71618812e+01] [ 3.16841059e-01 9.48478340e-01 -7.63333967e-04 1.32349624e+01] [ 2.43436849e-03 -8.40945402e-06 9.99997037e-01 1.93906537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320281693 meters 0.015616461745780416 Centerline is valid? [True, True] Translation: X:97.19, Y:13.24, Z:0.20 [[ 9.48690023e-01 -3.16204224e-01 -1.45879509e-03 9.71880509e+01] [ 3.16203857e-01 9.48691145e-01 -4.81922526e-04 1.32426615e+01] [ 1.53633192e-03 -4.08154185e-06 9.99998820e-01 1.95894077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350281693 meters 0.015569744637290894 Centerline is valid? [True, True] Translation: X:97.22, Y:13.25, Z:0.19 [[ 9.48889497e-01 -3.15596055e-01 -2.80236647e-03 9.72151292e+01] [ 3.15594696e-01 9.48893635e-01 -9.26284670e-04 1.32496211e+01] [ 2.95147949e-03 -5.47020040e-06 9.99995644e-01 1.91963242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380281693 meters 0.015669711496538452 Centerline is valid? [True, True] Translation: X:97.24, Y:13.26, Z:0.19 [[ 9.48869555e-01 -3.15634689e-01 -4.61640147e-03 9.72422637e+01] [ 3.15630997e-01 9.48880784e-01 -1.52670148e-03 1.32577756e+01] [ 4.86229459e-03 -8.43884763e-06 9.99988179e-01 1.88591879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410281693 meters 0.015934045340117144 Centerline is valid? [True, True] Translation: X:97.27, Y:13.26, Z:0.19 [[ 9.48842777e-01 -3.15687918e-01 -6.20671998e-03 9.72695360e+01] [ 3.15681242e-01 9.48863077e-01 -2.05308689e-03 1.32645524e+01] [ 6.53746214e-03 -1.12884059e-05 9.99978631e-01 1.85061609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440281693 meters 0.015830966975396245 Centerline is valid? [True, True] Translation: X:97.30, Y:13.27, Z:0.19 [[ 9.48854045e-01 -3.15667798e-01 -5.46280904e-03 9.72961725e+01] [ 3.15662621e-01 9.48869771e-01 -1.80786299e-03 1.32719701e+01] [ 5.75417849e-03 -9.00650304e-06 9.99983445e-01 1.86767297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470281693 meters 0.015617001823192436 Centerline is valid? [True, True] Translation: X:97.32, Y:13.28, Z:0.19 [[ 9.48928039e-01 -3.15463021e-01 -4.31962385e-03 9.73232539e+01] [ 3.15459780e-01 9.48937871e-01 -1.43000450e-03 1.32792604e+01] [ 4.55016819e-03 -5.69621855e-06 9.99989648e-01 1.89281704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500281693 meters 0.01544860325603403 Centerline is valid? [True, True] Translation: X:97.35, Y:13.29, Z:0.19 [[ 9.48939272e-01 -3.15444014e-01 -3.05495147e-03 9.73508965e+01] [ 3.15442392e-01 9.48944189e-01 -1.01166551e-03 1.32852085e+01] [ 3.21810227e-03 -3.65206683e-06 9.99994822e-01 1.91445517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530281693 meters 0.015552802261665005 Centerline is valid? [True, True] Translation: X:97.38, Y:13.29, Z:0.19 [[ 9.48723335e-01 -3.16086594e-01 -3.64673385e-03 9.73779446e+01] [ 3.16084284e-01 9.48730344e-01 -1.20846981e-03 1.32915082e+01] [ 3.84174817e-03 -6.17175274e-06 9.99992620e-01 1.90135999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56028169300001 meters 0.016108278802978642 Centerline is valid? [True, True] Translation: X:97.41, Y:13.29, Z:0.19 [[ 9.47879291e-01 -3.18588753e-01 -5.10457112e-03 9.74074734e+01] [ 3.18584256e-01 9.47893035e-01 -1.69271382e-03 1.32927393e+01] [ 5.37786700e-03 -2.17476216e-05 9.99985539e-01 1.87515367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.590281693 meters 0.01674096140607299 Centerline is valid? [True, True] Translation: X:97.44, Y:13.30, Z:0.19 [[ 9.47383018e-01 -3.20055870e-01 -5.44595387e-03 9.74353446e+01] [ 3.20050772e-01 9.47398670e-01 -1.80664118e-03 1.32964475e+01] [ 5.73771556e-03 -3.14005646e-05 9.99983539e-01 1.86288659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.620281693 meters 0.018419427316107746 Centerline is valid? [True, True] Translation: X:97.47, Y:13.29, Z:0.19 [[ 9.46538659e-01 -3.22553226e-01 -4.89725040e-03 9.74657781e+01] [ 3.22549136e-01 9.46551327e-01 -1.62497462e-03 1.32943616e+01] [ 5.15963967e-03 -4.15025894e-05 9.99986688e-01 1.86976709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650281693 meters 0.018629566332324616 Centerline is valid? [True, True] Translation: X:97.49, Y:13.30, Z:0.19 [[ 9.46251670e-01 -3.23406206e-01 -4.02538686e-03 9.74939940e+01] [ 3.23403447e-01 9.46260231e-01 -1.33620509e-03 1.32994343e+01] [ 4.24120052e-03 -3.74376864e-05 9.99991005e-01 1.89451587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680281693 meters 0.018801634068404217 Centerline is valid? [True, True] Translation: X:97.52, Y:13.30, Z:0.19 [[ 9.46077986e-01 -3.23920343e-01 -3.47207765e-03 9.75220667e+01] [ 3.23918293e-01 9.46084357e-01 -1.15296251e-03 1.33047595e+01] [ 3.65834636e-03 -3.38770175e-05 9.99993308e-01 1.91119430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710281693 meters 0.02032822219516397 Centerline is valid? [True, True] Translation: X:97.55, Y:13.30, Z:0.19 [[ 9.45484837e-01 -3.25638325e-01 -4.25488601e-03 9.75519377e+01] [ 3.25635262e-01 9.45494410e-01 -1.41327459e-03 1.33044229e+01] [ 4.48318731e-03 -4.93112311e-05 9.99989949e-01 1.88685143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740281693 meters 0.021876545716150542 Centerline is valid? [True, True] Translation: X:97.58, Y:13.31, Z:0.19 [[ 9.45026991e-01 -3.26963506e-01 -4.34199484e-03 9.75807119e+01] [ 3.26960329e-01 9.45036964e-01 -1.44254039e-03 1.33069617e+01] [ 4.57500368e-03 -5.64204606e-05 9.99989533e-01 1.88136277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770281693 meters 0.022253186636115314 Centerline is valid? [True, True] Translation: X:97.61, Y:13.31, Z:0.19 [[ 9.44373523e-01 -3.28853682e-01 -3.72899937e-03 9.76092586e+01] [ 3.28851351e-01 9.44380883e-01 -1.23931617e-03 1.33111722e+01] [ 3.92914940e-03 -5.59091028e-05 9.99992279e-01 1.89472263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800281693 meters 0.024260095790702773 Centerline is valid? [True, True] Translation: X:97.64, Y:13.31, Z:0.19 [[ 9.43766667e-01 -3.30595630e-01 -3.31793599e-03 9.76381879e+01] [ 3.30593794e-01 9.43772497e-01 -1.10309395e-03 1.33121659e+01] [ 3.49605478e-03 -5.58257442e-05 9.99993887e-01 1.90382100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830281693 meters 0.02686354708946283 Centerline is valid? [True, True] Translation: X:97.67, Y:13.31, Z:0.19 [[ 9.42702792e-01 -3.33612573e-01 -3.75467096e-03 9.76694613e+01] [ 3.33610245e-01 9.42710266e-01 -1.24875940e-03 1.33091217e+01] [ 3.95616869e-03 -7.53877268e-05 9.99992171e-01 1.90760427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860281693 meters 0.02758958309646471 Centerline is valid? [True, True] Translation: X:97.70, Y:13.31, Z:0.19 [[ 9.42545796e-01 -3.34048189e-01 -4.38516700e-03 9.76976311e+01] [ 3.34045015e-01 9.42555993e-01 -1.45900377e-03 1.33127864e+01] [ 4.62064301e-03 -8.96653046e-05 9.99989321e-01 1.89248046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890281693 meters 0.027224844755203925 Centerline is valid? [True, True] Translation: X:97.73, Y:13.31, Z:0.19 [[ 9.42736633e-01 -3.33508341e-01 -4.45277243e-03 9.77261601e+01] [ 3.33505061e-01 9.42747144e-01 -1.48185768e-03 1.33149505e+01] [ 4.69205039e-03 -8.80206174e-05 9.99988988e-01 1.90394703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920281693 meters 0.02622873889045191 Centerline is valid? [True, True] Translation: X:97.75, Y:13.32, Z:0.19 [[ 9.43054788e-01 -3.32616161e-01 -3.76254266e-03 9.77543193e+01] [ 3.32613809e-01 9.43062291e-01 -1.25262925e-03 1.33223913e+01] [ 3.96495683e-03 -7.01756329e-05 9.99992137e-01 1.92272025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95028169300001 meters 0.025141153233929608 Centerline is valid? [True, True] Translation: X:97.78, Y:13.33, Z:0.19 [[ 9.43431216e-01 -3.31552156e-01 -3.27249235e-03 9.77825465e+01] [ 3.31550369e-01 9.43436890e-01 -1.08999141e-03 1.33302219e+01] [ 3.44877900e-03 -5.66641277e-05 9.99994051e-01 1.93859848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.980281693 meters 0.02266502119358802 Centerline is valid? [True, True] Translation: X:97.81, Y:13.34, Z:0.19 [[ 9.44382893e-01 -3.28838706e-01 -2.46101140e-03 9.78100551e+01] [ 3.28837685e-01 9.44386099e-01 -8.19970587e-04 1.33352457e+01] [ 2.59378302e-03 -3.49070949e-05 9.99996636e-01 1.94260876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010281693 meters 0.021396830981087224 Centerline is valid? [True, True] Translation: X:97.84, Y:13.34, Z:0.19 [[ 9.44801235e-01 -3.27633880e-01 -2.58219364e-03 9.78378575e+01] [ 3.27632751e-01 9.44804763e-01 -8.60589484e-04 1.33428805e+01] [ 2.72162712e-03 -3.29251996e-05 9.99996296e-01 1.93818290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040281693 meters 0.02038145025035677 Centerline is valid? [True, True] Translation: X:97.86, Y:13.35, Z:0.19 [[ 9.45274687e-01 -3.26262000e-01 -2.97873697e-03 9.78646786e+01] [ 3.26260490e-01 9.45279380e-01 -9.93193737e-04 1.33496166e+01] [ 3.13978001e-03 -3.30032840e-05 9.99995070e-01 1.93491633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070281693 meters 0.01828105119436056 Centerline is valid? [True, True] Translation: X:97.89, Y:13.36, Z:0.19 [[ 9.45950955e-01 -3.24297171e-01 -2.85231183e-03 9.78934267e+01] [ 3.24295776e-01 9.45955255e-01 -9.51311456e-04 1.33559473e+01] [ 3.00666698e-03 -2.50986995e-05 9.99995480e-01 1.94530961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100281693 meters 0.018121726874918847 Centerline is valid? [True, True] Translation: X:97.92, Y:13.36, Z:0.20 [[ 9.46189224e-01 -3.23605864e-01 -2.27956882e-03 9.79211080e+01] [ 3.23604971e-01 9.46191970e-01 -7.60564050e-04 1.33615647e+01] [ 2.40303270e-03 -1.80422929e-05 9.99997113e-01 1.96142520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130281693 meters 0.017541330328449317 Centerline is valid? [True, True] Translation: X:97.95, Y:13.37, Z:0.20 [[ 9.46300835e-01 -3.23282281e-01 -1.81540479e-03 9.79480131e+01] [ 3.23281714e-01 9.46302577e-01 -6.05779551e-04 1.33690683e+01] [ 1.91376002e-03 -1.36374752e-05 9.99998169e-01 1.97368608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160281693 meters 0.016531684103528607 Centerline is valid? [True, True] Translation: X:97.98, Y:13.38, Z:0.20 [[ 9.46980836e-01 -3.21287507e-01 -1.27832290e-03 9.79756726e+01] [ 3.21287224e-01 9.46981699e-01 -4.26789520e-04 1.33754444e+01] [ 1.34767054e-03 -6.54732103e-06 9.99999092e-01 1.98466605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190281693 meters 0.01580859502421722 Centerline is valid? [True, True] Translation: X:98.00, Y:13.38, Z:0.20 [[ 9.47300450e-01 -3.20345328e-01 -8.53792582e-04 9.80017560e+01] [ 3.20345201e-01 9.47300834e-01 -2.84909942e-04 1.33849115e+01] [ 9.00067994e-04 -3.61303986e-06 9.99999595e-01 1.98634918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220281693 meters 0.015447007770670365 Centerline is valid? [True, True] Translation: X:98.03, Y:13.39, Z:0.20 [[ 9.47783655e-01 -3.18913451e-01 -5.94403535e-04 9.80284258e+01] [ 3.18913389e-01 9.47783842e-01 -1.98547652e-04 1.33936938e+01] [ 6.26685583e-04 -1.38302716e-06 9.99999804e-01 1.99747264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250281693 meters 0.015574798801572864 Centerline is valid? [True, True] Translation: X:98.05, Y:13.40, Z:0.20 [[ 9.49009852e-01 -3.15244716e-01 -1.03398180e-03 9.80528728e+01] [ 3.15244526e-01 9.49010416e-01 -3.45475288e-04 1.34048800e+01] [ 1.09016875e-03 1.90234992e-06 9.99999406e-01 1.99114102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280281693 meters 0.016110092178430103 Centerline is valid? [True, True] Translation: X:98.08, Y:13.42, Z:0.20 [[ 9.49720828e-01 -3.13092107e-01 -1.91892156e-03 9.80790691e+01] [ 3.13091449e-01 9.49722766e-01 -6.41654693e-04 1.34158638e+01] [ 2.02334051e-03 8.59489283e-06 9.99997953e-01 1.97290280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31028169300001 meters 0.01702568104479539 Centerline is valid? [True, True] Translation: X:98.10, Y:13.43, Z:0.20 [[ 9.50358007e-01 -3.11150438e-01 -2.25009516e-03 9.81047976e+01] [ 3.11149529e-01 9.50360671e-01 -7.52564664e-04 1.34281435e+01] [ 2.37256277e-03 1.50898046e-05 9.99997185e-01 1.96489564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.340281693 meters 0.020356641281714355 Centerline is valid? [True, True] Translation: X:98.13, Y:13.45, Z:0.20 [[ 9.51673011e-01 -3.07105223e-01 -2.20490631e-03 9.81283778e+01] [ 3.07104338e-01 9.51675565e-01 -7.37594317e-04 1.34459074e+01] [ 2.32487452e-03 2.48123137e-05 9.99997297e-01 1.97775309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.370281693 meters 0.02129274308312599 Centerline is valid? [True, True] Translation: X:98.16, Y:13.46, Z:0.20 [[ 9.52276211e-01 -3.05232426e-01 -1.78422151e-03 9.81550089e+01] [ 3.05231844e-01 9.52277882e-01 -5.96946617e-04 1.34579320e+01] [ 1.88128214e-03 2.38568422e-05 9.99998230e-01 1.98191920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400281693 meters 0.02467246112230355 Centerline is valid? [True, True] Translation: X:98.18, Y:13.48, Z:0.20 [[ 9.53371293e-01 -3.01791976e-01 -2.18650755e-03 9.81791423e+01] [ 3.01791091e-01 9.53373800e-01 -7.32013497e-04 1.34763035e+01] [ 2.30547481e-03 3.80121579e-05 9.99997342e-01 1.97645900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430281693 meters 0.02598409100366068 Centerline is valid? [True, True] Translation: X:98.21, Y:13.49, Z:0.20 [[ 9.53754413e-01 -3.00575762e-01 -2.59431485e-03 9.82050794e+01] [ 3.00574510e-01 9.53757940e-01 -8.69073674e-04 1.34905074e+01] [ 2.73557087e-03 4.90979386e-05 9.99996257e-01 1.96211562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460281693 meters 0.026838885011601237 Centerline is valid? [True, True] Translation: X:98.23, Y:13.50, Z:0.20 [[ 9.54019668e-01 -2.99729965e-01 -2.90188627e-03 9.82312896e+01] [ 2.99728392e-01 9.54024080e-01 -9.72671770e-04 1.35033680e+01] [ 3.06000825e-03 5.81702937e-05 9.99995316e-01 1.95349661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490281693 meters 0.027378007277419486 Centerline is valid? [True, True] Translation: X:98.26, Y:13.52, Z:0.19 [[ 9.54009202e-01 -2.99757960e-01 -3.40711696e-03 9.82559357e+01] [ 2.99755791e-01 9.54015283e-01 -1.14255641e-03 1.35150055e+01] [ 3.59293203e-03 6.87062848e-05 9.99993543e-01 1.94392511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520281693 meters 0.027082631216264454 Centerline is valid? [True, True] Translation: X:98.28, Y:13.53, Z:0.19 [[ 9.53942513e-01 -2.99962941e-01 -3.98956835e-03 9.82824194e+01] [ 2.99959966e-01 9.53950852e-01 -1.33851310e-03 1.35254913e+01] [ 4.20735645e-03 8.01537640e-05 9.99991146e-01 1.93702327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550281693 meters 0.026926838783817558 Centerline is valid? [True, True] Translation: X:98.31, Y:13.54, Z:0.20 [[ 9.53688800e-01 -3.00771795e-01 -3.74173338e-03 9.83068338e+01] [ 3.00769182e-01 9.53696137e-01 -1.25584961e-03 1.35394625e+01] [ 3.94620082e-03 7.22916246e-05 9.99992211e-01 1.95191924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580281693 meters 0.02746844979143578 Centerline is valid? [True, True] Translation: X:98.33, Y:13.55, Z:0.20 [[ 9.53677505e-01 -3.00815064e-01 -3.08455040e-03 9.83312397e+01] [ 3.00813288e-01 9.53682491e-01 -1.03548319e-03 1.35524893e+01] [ 3.25317066e-03 5.96432785e-05 9.99994707e-01 1.96458173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610281693 meters 0.027755368551880488 Centerline is valid? [True, True] Translation: X:98.36, Y:13.57, Z:0.20 [[ 9.53713355e-01 -3.00705135e-01 -2.69403770e-03 9.83560049e+01] [ 3.00703779e-01 9.53717159e-01 -9.04695344e-04 1.35675298e+01] [ 2.84139652e-03 5.27127151e-05 9.99995962e-01 1.96467110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640281693 meters 0.02675680071880669 Centerline is valid? [True, True] Translation: X:98.38, Y:13.58, Z:0.20 [[ 9.53637199e-01 -3.00944663e-01 -2.89881402e-03 9.83818718e+01] [ 3.00943092e-01 9.53641603e-01 -9.74075348e-04 1.35777751e+01] [ 3.05757242e-03 5.65364333e-05 9.99995324e-01 1.96159618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670281693 meters 0.02596183106626353 Centerline is valid? [True, True] Translation: X:98.41, Y:13.59, Z:0.20 [[ 9.53448798e-01 -3.01542005e-01 -2.79435424e-03 9.84084286e+01] [ 3.01540546e-01 9.53452891e-01 -9.39511431e-04 1.35886383e+01] [ 2.94758729e-03 5.31649406e-05 9.99995654e-01 1.96872227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70028169300001 meters 0.025042526257430114 Centerline is valid? [True, True] Translation: X:98.43, Y:13.60, Z:0.20 [[ 9.52782269e-01 -3.03654284e-01 -1.51283739e-04 9.84339292e+01] [ 3.03654280e-01 9.52782281e-01 -5.05705197e-05 1.36013101e+01] [ 1.59496421e-04 2.24473983e-06 9.99999987e-01 2.02172935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.730281693 meters 0.02403275434732879 Centerline is valid? [True, True] Translation: X:98.46, Y:13.61, Z:0.21 [[ 9.52356069e-01 -3.04984176e-01 1.60305728e-03 9.84601091e+01] [ 3.04983700e-01 9.52357418e-01 5.39677147e-04 1.36094262e+01] [-1.69127648e-03 -2.50584660e-05 9.99998569e-01 2.05532919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760281693 meters 0.02180800339191302 Centerline is valid? [True, True] Translation: X:98.49, Y:13.62, Z:0.21 [[ 9.51826493e-01 -3.06626427e-01 2.56149514e-03 9.84881267e+01] [ 3.06625215e-01 9.51829939e-01 8.62948926e-04 1.36158515e+01] [-2.70271071e-03 -3.59586505e-05 9.99996347e-01 2.07320125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790281693 meters 0.018614264422801067 Centerline is valid? [True, True] Translation: X:98.52, Y:13.62, Z:0.21 [[ 9.50453104e-01 -3.10863673e-01 1.63509859e-03 9.85159281e+01] [ 3.10863185e-01 9.50454511e-01 5.50816325e-04 1.36216596e+01] [-1.72531561e-03 -1.52331316e-05 9.99998512e-01 2.05273516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820281693 meters 0.016746505343682275 Centerline is valid? [True, True] Translation: X:98.54, Y:13.63, Z:0.20 [[ 9.49437160e-01 -3.13957126e-01 -5.58761909e-05 9.85443298e+01] [ 3.13957125e-01 9.49437161e-01 -1.84958714e-05 1.36287739e+01] [ 5.88578427e-05 1.79393382e-08 9.99999998e-01 2.01146631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850281693 meters 0.015430943542581942 Centerline is valid? [True, True] Translation: X:98.57, Y:13.63, Z:0.19 [[ 9.47616998e-01 -3.19391627e-01 -3.31861980e-03 9.85722638e+01] [ 3.19389669e-01 9.47622809e-01 -1.11842746e-03 1.36324594e+01] [ 3.50201619e-03 -9.20081100e-08 9.99993868e-01 1.94782773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880281693 meters 0.01575682864808306 Centerline is valid? [True, True] Translation: X:98.60, Y:13.64, Z:0.19 [[ 9.46705581e-01 -3.22078384e-01 -3.74938920e-03 9.85999246e+01] [ 3.22075903e-01 9.46713005e-01 -1.26410866e-03 1.36389140e+01] [ 3.95673759e-03 -1.08491933e-05 9.99992172e-01 1.93868892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910281693 meters 0.01662555463313378 Centerline is valid? [True, True] Translation: X:98.63, Y:13.65, Z:0.19 [[ 9.45880313e-01 -3.24491800e-01 -3.93777623e-03 9.86277293e+01] [ 3.24489081e-01 9.45888509e-01 -1.32837800e-03 1.36456305e+01] [ 4.15574506e-03 -2.12787917e-05 9.99991365e-01 1.94720273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940281693 meters 0.018529121609038485 Centerline is valid? [True, True] Translation: X:98.66, Y:13.65, Z:0.20 [[ 9.44507555e-01 -3.28469991e-01 -3.59774015e-03 9.86557794e+01] [ 3.28467748e-01 9.44514406e-01 -1.21428332e-03 1.36517038e+01] [ 3.79697304e-03 -3.48418349e-05 9.99992791e-01 1.95986895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970281693 meters 0.02075179451547466 Centerline is valid? [True, True] Translation: X:98.68, Y:13.66, Z:0.20 [[ 9.43870636e-01 -3.30301240e-01 -3.05187714e-03 9.86828731e+01] [ 3.30299634e-01 9.43875569e-01 -1.03045121e-03 1.36571585e+01] [ 3.22095159e-03 -3.54212655e-05 9.99994812e-01 1.97307806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000281693 meters 0.021475966924192843 Centerline is valid? [True, True] Translation: X:98.71, Y:13.67, Z:0.20 [[ 9.43336681e-01 -3.31830566e-01 -2.09313974e-03 9.87097515e+01] [ 3.31829815e-01 9.43339003e-01 -7.06899375e-04 1.36663364e+01] [ 2.20911117e-03 -2.77220600e-05 9.99997560e-01 1.99081511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030281693 meters 0.022331155362776543 Centerline is valid? [True, True] Translation: X:98.74, Y:13.68, Z:0.20 [[ 9.42713124e-01 -3.33601955e-01 -1.30423204e-03 9.87364846e+01] [ 3.33601665e-01 9.42714026e-01 -4.40636320e-04 1.36758827e+01] [ 1.37651498e-03 -1.97003382e-05 9.99999052e-01 2.00309349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06028169300001 meters 0.02604324989143385 Centerline is valid? [True, True] Translation: X:98.76, Y:13.68, Z:0.20 [[ 9.41382217e-01 -3.37337506e-01 -1.71117442e-03 9.87646872e+01] [ 3.37337012e-01 9.41383772e-01 -5.78272271e-04 1.36801929e+01] [ 1.80594476e-03 -3.28672325e-05 9.99998369e-01 1.99170495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.090281693 meters 0.027498770006860244 Centerline is valid? [True, True] Translation: X:98.79, Y:13.69, Z:0.20 [[ 9.40825491e-01 -3.38883477e-01 -2.32039697e-03 9.87926401e+01] [ 3.38882573e-01 9.40828351e-01 -7.84360780e-04 1.36865687e+01] [ 2.44890217e-03 -4.83954807e-05 9.99997000e-01 1.97839247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.120281693 meters 0.0316286274632228 Centerline is valid? [True, True] Translation: X:98.82, Y:13.69, Z:0.20 [[ 9.40346996e-01 -3.40204634e-01 -2.88700853e-03 9.88205854e+01] [ 3.40203239e-01 9.40351425e-01 -9.76386191e-04 1.36892558e+01] [ 3.04697369e-03 -6.40278309e-05 9.99995356e-01 1.97032287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150281693 meters 0.030076833582394814 Centerline is valid? [True, True] Translation: X:98.85, Y:13.70, Z:0.20 [[ 9.39634600e-01 -3.42169506e-01 -2.61675632e-03 9.88475060e+01] [ 3.42168367e-01 9.39638242e-01 -8.85249479e-04 1.37000573e+01] [ 2.76170968e-03 -6.35601945e-05 9.99996184e-01 1.99432091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180281693 meters 0.030076833582394814 Centerline is valid? [True, True] Translation: X:98.87, Y:13.71, Z:0.20 [[ 9.39571120e-01 -3.42343781e-01 -2.61660674e-03 9.88734861e+01] [ 3.42342641e-01 9.39574761e-01 -8.85691395e-04 1.37090482e+01] [ 2.76170860e-03 -6.36060068e-05 9.99996184e-01 1.99486796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210281693 meters 0.031369677784992674 Centerline is valid? [True, True] Translation: X:98.90, Y:13.71, Z:0.20 [[ 9.39281442e-01 -3.43145301e-01 -1.29428023e-03 9.89011204e+01] [ 3.43145023e-01 9.39282333e-01 -4.38253865e-04 1.37147684e+01] [ 1.36607931e-03 -3.24820971e-05 9.99999066e-01 2.01431954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240281693 meters 0.03275029634696342 Centerline is valid? [True, True] Translation: X:98.93, Y:13.72, Z:0.20 [[ 9.38889374e-01 -3.44219023e-01 8.29349986e-05 9.89299117e+01] [ 3.44219022e-01 9.38889378e-01 2.84381292e-05 1.37197072e+01] [-8.76557343e-05 1.84754676e-06 9.99999996e-01 2.04081847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270281693 meters 0.035842364855815004 Centerline is valid? [True, True] Translation: X:98.96, Y:13.72, Z:0.21 [[ 9.38206023e-01 -3.46075036e-01 1.23586761e-03 9.89587849e+01] [ 3.46074784e-01 9.38206837e-01 4.19155313e-04 1.37195390e+01] [-1.30455863e-03 3.44485757e-05 9.99999148e-01 2.05714370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300281693 meters 0.03811259828086559 Centerline is valid? [True, True] Translation: X:98.99, Y:13.72, Z:0.21 [[ 9.38116101e-01 -3.46320320e-01 6.46019059e-04 9.89871421e+01] [ 3.46320251e-01 9.38116323e-01 2.19148650e-04 1.37231362e+01] [-6.81936655e-04 1.81426054e-05 9.99999767e-01 2.05081146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330281693 meters 0.03621465466230567 Centerline is valid? [True, True] Translation: X:99.01, Y:13.73, Z:0.20 [[ 9.38160944e-01 -3.46199088e-01 -4.83737429e-04 9.90144792e+01] [ 3.46199050e-01 9.38161069e-01 -1.63771209e-04 1.37315682e+01] [ 5.10521067e-04 -1.38256865e-05 9.99999870e-01 2.02636130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360281693 meters 0.03521105746085892 Centerline is valid? [True, True] Translation: X:99.04, Y:13.73, Z:0.20 [[ 9.38475996e-01 -3.45337195e-01 -2.24192897e-03 9.90443581e+01] [ 3.45336363e-01 9.38478672e-01 -7.60573559e-04 1.37343413e+01] [ 2.36665686e-03 -6.04395673e-05 9.99997198e-01 1.99027716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390281693 meters 0.0427886583683776 Centerline is valid? [True, True] Translation: X:99.07, Y:13.74, Z:0.21 [[ 9.38669275e-01 -3.44806927e-01 -2.85924215e-03 9.90721493e+01] [ 3.44805569e-01 9.38673627e-01 -9.70578307e-04 1.37409671e+01] [ 3.01855732e-03 -7.48305793e-05 9.99995441e-01 2.06305397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420281693 meters 0.03319138222521724 Centerline is valid? [True, True] Translation: X:99.10, Y:13.74, Z:0.20 [[ 9.39020824e-01 -3.43849342e-01 -2.74251935e-03 9.91006626e+01] [ 3.43848088e-01 9.39024827e-01 -9.31348210e-04 1.37446950e+01] [ 2.89553723e-03 -6.84546719e-05 9.99995806e-01 1.98766324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45028169300001 meters 0.031150960296654876 Centerline is valid? [True, True] Translation: X:99.13, Y:13.75, Z:0.20 [[ 9.39525147e-01 -3.42460649e-01 -3.63359215e-03 9.91284760e+01] [ 3.42458434e-01 9.39532169e-01 -1.23448364e-03 1.37531581e+01] [ 3.83663878e-03 -8.45258588e-05 9.99992637e-01 1.96921298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.480281693 meters 0.02693764843457741 Centerline is valid? [True, True] Translation: X:99.16, Y:13.76, Z:0.20 [[ 9.40282793e-01 -3.40371179e-01 -3.96609827e-03 9.91550986e+01] [ 3.40368519e-01 9.40291154e-01 -1.34818062e-03 1.37647592e+01] [ 4.18816894e-03 -8.22639524e-05 9.99991226e-01 1.96345737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510281693 meters 0.025896549645121746 Centerline is valid? [True, True] Translation: X:99.18, Y:13.77, Z:0.20 [[ 9.41389981e-01 -3.37298173e-01 -3.85309172e-03 9.91822752e+01] [ 3.37295634e-01 9.41397864e-01 -1.31022326e-03 1.37719780e+01] [ 4.06922823e-03 -6.61999679e-05 9.99991718e-01 1.96090691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540281693 meters 0.017097861582817092 Centerline is valid? [True, True] Translation: X:99.21, Y:13.79, Z:0.20 [[ 9.44523394e-01 -3.28437470e-01 -2.09452493e-03 9.92063150e+01] [ 3.28436697e-01 9.44525716e-01 -7.12318816e-04 1.37924628e+01] [ 2.21228484e-03 -1.51170637e-05 9.99997553e-01 2.00367541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570281693 meters 0.015286084045584748 Centerline is valid? [True, True] Translation: X:99.23, Y:13.81, Z:0.20 [[ 9.46340310e-01 -3.23167290e-01 -1.70892240e-03 9.92316818e+01] [ 3.23166767e-01 9.46341853e-01 -5.81297628e-04 1.38078461e+01] [ 1.80508117e-03 -2.16155132e-06 9.99998371e-01 2.01403971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600281693 meters 0.01656141522477205 Centerline is valid? [True, True] Translation: X:99.25, Y:13.82, Z:0.20 [[ 9.48188404e-01 -3.17701921e-01 -2.05895953e-03 9.92548866e+01] [ 3.17701148e-01 9.48190640e-01 -7.00795089e-04 1.38247667e+01] [ 2.17493010e-03 1.03519719e-05 9.99997635e-01 2.00673345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630281693 meters 0.024239135252669963 Centerline is valid? [True, True] Translation: X:99.28, Y:13.85, Z:0.20 [[ 9.51783052e-01 -3.06755882e-01 -3.13866955e-03 9.92788598e+01] [ 3.06754026e-01 9.51788225e-01 -1.06849475e-03 1.38480793e+01] [ 3.31511578e-03 5.41756765e-05 9.99994504e-01 1.98583363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660281693 meters 0.03294824118350701 Centerline is valid? [True, True] Translation: X:99.30, Y:13.87, Z:0.20 [[ 9.53428319e-01 -3.01602105e-01 -3.25728310e-03 9.93010824e+01] [ 3.01600075e-01 9.53433881e-01 -1.10898647e-03 1.38700101e+01] [ 3.44007672e-03 7.49422830e-05 9.99994080e-01 1.97986504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690281693 meters 0.0336808426012577 Centerline is valid? [True, True] Translation: X:99.33, Y:13.88, Z:0.20 [[ 9.54964326e-01 -2.96705247e-01 -3.02216751e-03 9.93289176e+01] [ 2.96703474e-01 9.54969104e-01 -1.02906984e-03 1.38817642e+01] [ 3.19140702e-03 8.60373871e-05 9.99994904e-01 1.98806358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720281693 meters 0.03893126280173482 Centerline is valid? [True, True] Translation: X:99.35, Y:13.90, Z:0.20 [[ 9.56389524e-01 -2.92078369e-01 -3.05051585e-03 9.93532922e+01] [ 2.92076539e-01 9.56394383e-01 -1.03879196e-03 1.39003019e+01] [ 3.22090488e-03 1.02505635e-04 9.99994808e-01 1.98470628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750281693 meters 0.04678152815207521 Centerline is valid? [True, True] Translation: X:99.38, Y:13.93, Z:0.20 [[ 9.58746500e-01 -2.84243377e-01 -3.29410369e-03 9.93764171e+01] [ 2.84241197e-01 9.58752149e-01 -1.12181671e-03 1.39257988e+01] [ 3.47709797e-03 1.39217868e-04 9.99993945e-01 1.97510236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780281693 meters 0.061444443772864094 Centerline is valid? [True, True] Translation: X:99.40, Y:13.96, Z:0.20 [[ 9.59642508e-01 -2.81203399e-01 -3.30221373e-03 9.93965899e+01] [ 2.81201191e-01 9.59648178e-01 -1.12464599e-03 1.39570477e+01] [ 3.48521767e-03 1.50671669e-04 9.99993915e-01 1.96654223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81028169300001 meters 0.06794454854128004 Centerline is valid? [True, True] Translation: X:99.42, Y:13.98, Z:0.20 [[ 9.60823012e-01 -2.77148890e-01 -2.76270363e-03 9.94191171e+01] [ 2.77147327e-01 9.60826974e-01 -9.40966116e-04 1.39809040e+01] [ 2.91526788e-03 1.38425971e-04 9.99995741e-01 1.98062833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.840281693 meters 0.06981683473643407 Centerline is valid? [True, True] Translation: X:99.45, Y:14.00, Z:0.20 [[ 9.61173183e-01 -2.75930872e-01 -2.87492367e-03 9.94451056e+01] [ 2.75929174e-01 9.61177472e-01 -9.79259890e-04 1.39958991e+01] [ 3.03351990e-03 1.47963030e-04 9.99995388e-01 1.98410692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.870281693 meters 0.07044510895006424 Centerline is valid? [True, True] Translation: X:99.47, Y:14.01, Z:0.20 [[ 9.61309851e-01 -2.75449587e-01 -3.30087158e-03 9.94707752e+01] [ 2.75447345e-01 9.61315503e-01 -1.12462420e-03 1.40090465e+01] [ 3.48295630e-03 1.71896009e-04 9.99993920e-01 1.96823863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900281693 meters 0.0701176158966292 Centerline is valid? [True, True] Translation: X:99.50, Y:14.02, Z:0.20 [[ 9.61140217e-01 -2.76042369e-01 -3.17710111e-03 9.94961613e+01] [ 2.76040294e-01 9.61145454e-01 -1.08295420e-03 1.40246507e+01] [ 3.35259753e-03 1.63862909e-04 9.99994367e-01 1.95681865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930281693 meters 0.059171174892399606 Centerline is valid? [True, True] Translation: X:99.53, Y:14.02, Z:0.20 [[ 9.60980031e-01 -2.76604424e-01 -2.71518328e-03 9.95264510e+01] [ 2.76602909e-01 9.60983857e-01 -9.25908746e-04 1.40238527e+01] [ 2.86535775e-03 1.38752221e-04 9.99995885e-01 1.97051045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960281693 meters 0.05946412044452004 Centerline is valid? [True, True] Translation: X:99.55, Y:14.04, Z:0.20 [[ 9.60854450e-01 -2.77044366e-01 -2.26815922e-03 9.95516273e+01] [ 2.77043310e-01 9.60857120e-01 -7.73769194e-04 1.40367659e+01] [ 2.39374533e-03 1.15101237e-04 9.99997128e-01 1.98465922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990281693 meters 0.057892453391766706 Centerline is valid? [True, True] Translation: X:99.58, Y:14.05, Z:0.20 [[ 9.60245802e-01 -2.79142557e-01 -2.72644596e-03 9.95779449e+01] [ 2.79141038e-01 9.60249663e-01 -9.30273485e-04 1.40496433e+01] [ 2.87774773e-03 1.32228254e-04 9.99995851e-01 1.98818611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020281693 meters 0.056535872575019144 Centerline is valid? [True, True] Translation: X:99.61, Y:14.06, Z:0.20 [[ 9.59748723e-01 -2.80841814e-01 -3.20362914e-03 9.96064692e+01] [ 2.80839727e-01 9.59754059e-01 -1.09316122e-03 1.40600156e+01] [ 3.38170145e-03 1.49453758e-04 9.99994271e-01 1.97943037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050281693 meters 0.054302967863275584 Centerline is valid? [True, True] Translation: X:99.64, Y:14.07, Z:0.20 [[ 9.59138718e-01 -2.82916249e-01 -3.36394102e-03 9.96351903e+01] [ 2.82913960e-01 9.59144605e-01 -1.14793601e-03 1.40692045e+01] [ 3.55127563e-03 1.49323992e-04 9.99993683e-01 1.97339690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080281693 meters 0.04822138456147234 Centerline is valid? [True, True] Translation: X:99.66, Y:14.07, Z:0.20 [[ 9.57904195e-01 -2.87074602e-01 -2.77960591e-03 9.96648645e+01] [ 2.87073056e-01 9.57908221e-01 -9.48594611e-04 1.40748176e+01] [ 2.93492477e-03 1.10712796e-04 9.99995687e-01 1.97234481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110281693 meters 0.047904143033765056 Centerline is valid? [True, True] Translation: X:99.69, Y:14.09, Z:0.20 [[ 9.57344249e-01 -2.88940135e-01 -2.36393406e-03 9.96907809e+01] [ 2.88939022e-01 9.57347163e-01 -8.06782123e-04 1.40853130e+01] [ 2.49621731e-03 8.93354283e-05 9.99996880e-01 1.97994763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140281693 meters 0.04452836097770076 Centerline is valid? [True, True] Translation: X:99.72, Y:14.10, Z:0.20 [[ 9.56365324e-01 -2.92172014e-01 -9.38790476e-04 9.97181518e+01] [ 2.92171840e-01 9.56365784e-01 -3.20411744e-04 1.40957536e+01] [ 9.91442434e-04 3.21425411e-05 9.99999508e-01 2.01076431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170281693 meters 0.03796543920420433 Centerline is valid? [True, True] Translation: X:99.75, Y:14.10, Z:0.20 [[ 9.55918712e-01 -2.93630610e-01 -6.93760845e-04 9.97474060e+01] [ 2.93630515e-01 9.55918963e-01 -2.36597916e-04 1.40998363e+01] [ 7.32651538e-04 2.24590205e-05 9.99999731e-01 2.01314479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20028169300001 meters 0.03720160392017199 Centerline is valid? [True, True] Translation: X:99.77, Y:14.11, Z:0.20 [[ 9.55526073e-01 -2.94905092e-01 -9.54404397e-04 9.97730187e+01] [ 2.94904913e-01 9.55526549e-01 -3.25902601e-04 1.41108014e+01] [ 1.00806908e-03 2.99498864e-05 9.99999491e-01 2.00665277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.230281693 meters 0.03554113128504048 Centerline is valid? [True, True] Translation: X:99.80, Y:14.12, Z:0.20 [[ 9.54818762e-01 -2.97166918e-01 -3.59938542e-03 9.97993405e+01] [ 2.97164392e-01 9.54825540e-01 -1.22970238e-03 1.41218725e+01] [ 3.80221199e-03 1.04533727e-04 9.99992766e-01 1.95531164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260281693 meters 0.03422537312181949 Centerline is valid? [True, True] Translation: X:99.83, Y:14.13, Z:0.19 [[ 9.54344858e-01 -2.98670920e-01 -4.64480496e-03 9.98262229e+01] [ 2.98666728e-01 9.54356152e-01 -1.58757498e-03 1.41315031e+01] [ 4.90696067e-03 1.27845318e-04 9.99987953e-01 1.94362011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290281693 meters 0.03671570182500494 Centerline is valid? [True, True] Translation: X:99.85, Y:14.15, Z:0.19 [[ 9.53838017e-01 -3.00288285e-01 -4.47017972e-03 9.98506728e+01] [ 3.00284418e-01 9.53848485e-01 -1.52846366e-03 1.41465854e+01] [ 4.72285389e-03 1.15581429e-04 9.99988841e-01 1.93772005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320281693 meters 0.03490173148410316 Centerline is valid? [True, True] Translation: X:99.88, Y:14.16, Z:0.20 [[ 9.53317494e-01 -3.01950204e-01 -3.43961639e-03 9.98777718e+01] [ 3.01947923e-01 9.53323695e-01 -1.17648648e-03 1.41562337e+01] [ 3.63430814e-03 8.29801152e-05 9.99993392e-01 1.96372764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350281693 meters 0.02732235999095452 Centerline is valid? [True, True] Translation: X:99.91, Y:14.16, Z:0.20 [[ 9.52100070e-01 -3.05784189e-01 -1.21936724e-03 9.99082189e+01] [ 3.05783905e-01 9.52100850e-01 -4.17159304e-04 1.41595838e+01] [ 1.28852131e-03 2.43145264e-05 9.99999170e-01 2.00870879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380281693 meters 0.025199038810159904 Centerline is valid? [True, True] Translation: X:99.94, Y:14.17, Z:0.20 [[ 9.51413602e-01 -3.07913171e-01 -1.27926625e-03 9.99363853e+01] [ 3.07912861e-01 9.51414462e-01 -4.37615368e-04 1.41673932e+01] [ 1.35185995e-03 2.24506815e-05 9.99999086e-01 2.00634866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410281693 meters 0.022896601300593105 Centerline is valid? [True, True] Translation: X:99.96, Y:14.17, Z:0.20 [[ 9.50713776e-01 -3.10064033e-01 -1.90041282e-03 9.99644458e+01] [ 3.10063352e-01 9.50715675e-01 -6.50612102e-04 1.41749055e+01] [ 2.00848367e-03 2.92975188e-05 9.99997983e-01 1.99899807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440281693 meters 0.022335524349500955 Centerline is valid? [True, True] Translation: X:99.99, Y:14.19, Z:0.20 [[ 9.49578898e-01 -3.13516024e-01 -2.76042976e-03 9.99908546e+01] [ 3.13514599e-01 9.49582909e-01 -9.45712678e-04 1.41851783e+01] [ 2.91775300e-03 3.25937724e-05 9.99995743e-01 1.97638274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470281693 meters 0.019760311094101143 Centerline is valid? [True, True] Translation: X:100.02, Y:14.19, Z:0.20 [[ 9.49012259e-01 -3.15225715e-01 -2.91222947e-03 1.00019648e+02] [ 3.15224135e-01 9.49016727e-01 -9.98268917e-04 1.41901801e+01] [ 3.07843451e-03 2.93644237e-05 9.99995261e-01 1.96978569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500281693 meters 0.01780044382655301 Centerline is valid? [True, True] Translation: X:100.05, Y:14.20, Z:0.20 [[ 9.48169805e-01 -3.17753764e-01 -2.56265284e-03 1.00047954e+02] [ 3.17752549e-01 9.48173268e-01 -8.78856124e-04 1.41959051e+01] [ 2.70909875e-03 1.90153693e-05 9.99996330e-01 1.98414519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530281693 meters 0.01701288713207828 Centerline is valid? [True, True] Translation: X:100.07, Y:14.20, Z:0.20 [[ 9.47765348e-01 -3.18960069e-01 -2.30654991e-03 1.00074221e+02] [ 3.18959088e-01 9.47768154e-01 -7.91425727e-04 1.42042685e+01] [ 2.43850775e-03 1.43908251e-05 9.99997027e-01 1.99359518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56028169300001 meters 0.016529463903718622 Centerline is valid? [True, True] Translation: X:100.10, Y:14.21, Z:0.20 [[ 9.47368085e-01 -3.20139554e-01 -2.09233181e-03 1.00100624e+02] [ 3.20138749e-01 9.47370395e-01 -7.18299068e-04 1.42133609e+01] [ 2.21216916e-03 1.06571252e-05 9.99997553e-01 1.99871349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.590281693 meters 0.016165086672730013 Centerline is valid? [True, True] Translation: X:100.13, Y:14.22, Z:0.20 [[ 9.46930482e-01 -3.21429544e-01 -2.38954863e-03 1.00127369e+02] [ 3.21428497e-01 9.46933497e-01 -8.20581611e-04 1.42222295e+01] [ 2.52650281e-03 8.96471723e-06 9.99996808e-01 1.99471256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.620281693 meters 0.015763395437368096 Centerline is valid? [True, True] Translation: X:100.15, Y:14.23, Z:0.20 [[ 9.46063122e-01 -3.23965099e-01 -3.34430524e-03 1.00153950e+02] [ 3.23963061e-01 9.46069033e-01 -1.14920848e-03 1.42283035e+01] [ 3.53624706e-03 3.79239938e-06 9.99993747e-01 1.97291398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650281693 meters 0.015730068256832534 Centerline is valid? [True, True] Translation: X:100.18, Y:14.24, Z:0.20 [[ 9.45329811e-01 -3.26102424e-01 -2.95944316e-03 1.00181474e+02] [ 3.26100837e-01 9.45334443e-01 -1.01743082e-03 1.42350758e+01] [ 3.12945020e-03 -3.26920185e-06 9.99995103e-01 1.97976488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680281693 meters 0.016046511966753118 Centerline is valid? [True, True] Translation: X:100.21, Y:14.24, Z:0.20 [[ 9.44532010e-01 -3.28410562e-01 -2.40529361e-03 1.00208709e+02] [ 3.28409520e-01 9.44535072e-01 -8.27289529e-04 1.42410713e+01] [ 2.54357479e-03 -8.51987752e-06 9.99996765e-01 1.98803187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710281693 meters 0.018026620581398988 Centerline is valid? [True, True] Translation: X:100.24, Y:14.24, Z:0.20 [[ 9.43005593e-01 -3.32773922e-01 -1.40277609e-03 1.00237590e+02] [ 3.32773572e-01 9.43006637e-01 -4.82520761e-04 1.42423860e+01] [ 1.48339749e-03 -1.17870349e-05 9.99998900e-01 2.00966287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740281693 meters 0.018624600662453618 Centerline is valid? [True, True] Translation: X:100.27, Y:14.25, Z:0.20 [[ 9.42472559e-01 -3.34281922e-01 -1.03536363e-03 1.00265571e+02] [ 3.34281732e-01 9.42473128e-01 -3.56075649e-04 1.42490315e+01] [ 1.09483205e-03 -1.05116193e-05 9.99999401e-01 2.01290558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770281693 meters 0.019105334631879068 Centerline is valid? [True, True] Translation: X:100.29, Y:14.26, Z:0.20 [[ 9.42222336e-01 -3.34985759e-01 -1.26880081e-03 1.00292684e+02] [ 3.34985475e-01 9.42223191e-01 -4.36744714e-04 1.42555922e+01] [ 1.34179681e-03 -1.35192158e-05 9.99999100e-01 2.00768236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800281693 meters 0.019214708290135087 Centerline is valid? [True, True] Translation: X:100.32, Y:14.26, Z:0.20 [[ 9.42226404e-01 -3.34964454e-01 -2.86665729e-03 1.00318922e+02] [ 3.34963001e-01 9.42230764e-01 -9.87124757e-04 1.42617705e+01] [ 3.03170439e-03 -3.01291186e-05 9.99995404e-01 1.98506361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830281693 meters 0.018523851375278896 Centerline is valid? [True, True] Translation: X:100.35, Y:14.27, Z:0.20 [[ 9.42387662e-01 -3.34505406e-01 -3.40999869e-03 1.00345785e+02] [ 3.34503345e-01 9.42393831e-01 -1.17475168e-03 1.42710036e+01] [ 3.60652252e-03 -3.35844803e-05 9.99993496e-01 1.97835637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860281693 meters 0.017289620568783224 Centerline is valid? [True, True] Translation: X:100.37, Y:14.28, Z:0.20 [[ 9.43051511e-01 -3.32636098e-01 -2.65954846e-03 1.00373297e+02] [ 3.32634835e-01 9.43055261e-01 -9.16677933e-04 1.42790709e+01] [ 2.81302134e-03 -2.01839537e-05 9.99996043e-01 1.99168256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890281693 meters 0.017090679259950205 Centerline is valid? [True, True] Translation: X:100.40, Y:14.29, Z:0.20 [[ 9.43422418e-01 -3.31586252e-01 -2.16780485e-03 1.00400380e+02] [ 3.31585410e-01 9.43424908e-01 -7.47493641e-04 1.42867190e+01] [ 2.29301971e-03 -1.36102030e-05 9.99997371e-01 1.99788681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920281693 meters 0.016505887984392297 Centerline is valid? [True, True] Translation: X:100.43, Y:14.30, Z:0.20 [[ 9.43718262e-01 -3.30745223e-01 -1.85469740e-03 1.00426749e+02] [ 3.30744604e-01 9.43720084e-01 -6.39631505e-04 1.42954715e+01] [ 1.96187025e-03 -9.79922464e-06 9.99998075e-01 2.00476335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95028169300001 meters 0.016042728105633088 Centerline is valid? [True, True] Translation: X:100.45, Y:14.31, Z:0.20 [[ 9.44061058e-01 -3.29766363e-01 -1.69260640e-03 1.00453006e+02] [ 3.29765846e-01 9.44062575e-01 -5.84040674e-04 1.43053428e+01] [ 1.79052333e-03 -6.79372530e-06 9.99998397e-01 2.00382072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.980281693 meters 0.015519684156713483 Centerline is valid? [True, True] Translation: X:100.48, Y:14.31, Z:0.20 [[ 9.44848364e-01 -3.27504781e-01 -1.47905464e-03 1.00479151e+02] [ 3.27504383e-01 9.44849522e-01 -5.10662357e-04 1.43148378e+01] [ 1.56472843e-03 -1.89838420e-06 9.99998776e-01 2.00735168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010281693 meters 0.01560598883151265 Centerline is valid? [True, True] Translation: X:100.51, Y:14.32, Z:0.20 [[ 9.45175730e-01 -3.26558674e-01 -1.50715338e-03 1.00505415e+02] [ 3.26558259e-01 9.45176932e-01 -5.20464150e-04 1.43242821e+01] [ 1.59448869e-03 -2.43302016e-07 9.99998729e-01 2.00877465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040281693 meters 0.015554502088121046 Centerline is valid? [True, True] Translation: X:100.53, Y:14.33, Z:0.20 [[ 9.45391427e-01 -3.25933548e-01 -1.54001926e-03 1.00531358e+02] [ 3.25933113e-01 9.45392682e-01 -5.32143879e-04 1.43336985e+01] [ 1.62936648e-03 1.14098935e-06 9.99998673e-01 2.00693523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070281693 meters 0.015986263740826293 Centerline is valid? [True, True] Translation: X:100.56, Y:14.35, Z:0.20 [[ 9.46065714e-01 -3.23971799e-01 -1.39181549e-03 1.00556905e+02] [ 3.23971442e-01 9.46066738e-01 -4.81232989e-04 1.43456031e+01] [ 1.47265626e-03 4.36956069e-06 9.99998916e-01 2.01319752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100281693 meters 0.015986263740826293 Centerline is valid? [True, True] Translation: X:100.58, Y:14.35, Z:0.20 [[ 9.46007275e-01 -3.24142404e-01 -1.39180823e-03 1.00582805e+02] [ 3.24142046e-01 9.46008299e-01 -4.81254003e-04 1.43547747e+01] [ 1.47265697e-03 4.12622065e-06 9.99998916e-01 2.01374431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130281693 meters 0.01622231295610215 Centerline is valid? [True, True] Translation: X:100.61, Y:14.36, Z:0.20 [[ 9.46268641e-01 -3.23380818e-01 -7.11437308e-04 1.00609102e+02] [ 3.23380725e-01 9.46268908e-01 -2.45944020e-04 1.43644269e+01] [ 7.52744583e-04 2.66400160e-06 9.99999717e-01 2.02270081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160281693 meters 0.016438674120004392 Centerline is valid? [True, True] Translation: X:100.64, Y:14.37, Z:0.20 [[ 9.46495730e-01 -3.22715988e-01 -4.72378828e-04 1.00635631e+02] [ 3.22715947e-01 9.46495848e-01 -1.63473295e-04 1.43741696e+01] [ 4.99860045e-04 2.28259545e-06 9.99999875e-01 2.02599728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190281693 meters 0.01658679502377236 Centerline is valid? [True, True] Translation: X:100.66, Y:14.38, Z:0.20 [[ 9.46530236e-01 -3.22613514e-01 -1.01648177e-03 1.00662258e+02] [ 3.22613322e-01 9.46530782e-01 -3.51853193e-04 1.43824568e+01] [ 1.07564388e-03 5.10912472e-06 9.99999421e-01 2.01685889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220281693 meters 0.016627523984235667 Centerline is valid? [True, True] Translation: X:100.69, Y:14.39, Z:0.20 [[ 9.46478811e-01 -3.22761656e-01 -1.66560153e-03 1.00687429e+02] [ 3.22761140e-01 9.46480276e-01 -5.77163558e-04 1.43910255e+01] [ 1.76274527e-03 8.68162690e-06 9.99998446e-01 2.00493064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250281693 meters 0.016208106712628716 Centerline is valid? [True, True] Translation: X:100.72, Y:14.40, Z:0.20 [[ 9.45968175e-01 -3.24253003e-01 -2.05003136e-03 1.00715452e+02] [ 3.24252224e-01 9.45970396e-01 -7.10742660e-04 1.43971291e+01] [ 2.16972942e-03 7.61271112e-06 9.99997646e-01 1.99032766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280281693 meters 0.015924455380577435 Centerline is valid? [True, True] Translation: X:100.74, Y:14.40, Z:0.20 [[ 9.45423818e-01 -3.25836199e-01 -2.13902832e-03 1.00743306e+02] [ 3.25835354e-01 9.45426238e-01 -7.42034475e-04 1.44029615e+01] [ 2.26407519e-03 4.56601626e-06 9.99997437e-01 1.98829997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31028169300001 meters 0.015606379243262804 Centerline is valid? [True, True] Translation: X:100.77, Y:14.41, Z:0.20 [[ 9.44816842e-01 -3.27590758e-01 -2.33019317e-03 1.00771274e+02] [ 3.27589759e-01 9.44819716e-01 -8.08867473e-04 1.44089095e+01] [ 2.46658996e-03 8.84191135e-07 9.99996958e-01 1.98866484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.340281693 meters 0.015894428041939662 Centerline is valid? [True, True] Translation: X:100.80, Y:14.41, Z:0.20 [[ 9.43955701e-01 -3.30058871e-01 -2.96263609e-03 1.00799544e+02] [ 3.30057267e-01 9.43960350e-01 -1.02896972e-03 1.44128907e+01] [ 3.13623158e-03 -6.53773818e-06 9.99995082e-01 1.98108930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.370281693 meters 0.016191083539155035 Centerline is valid? [True, True] Translation: X:100.83, Y:14.42, Z:0.20 [[ 9.43480821e-01 -3.31414504e-01 -2.89267938e-03 1.00827320e+02] [ 3.31412980e-01 9.43485255e-01 -1.00499836e-03 1.44195186e+01] [ 3.06227138e-03 -1.04748166e-05 9.99995311e-01 1.97825463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400281693 meters 0.016532927415204346 Centerline is valid? [True, True] Translation: X:100.85, Y:14.43, Z:0.20 [[ 9.43104655e-01 -3.32485569e-01 -2.63751098e-03 1.00854944e+02] [ 3.32484305e-01 9.43108343e-01 -9.16850583e-04 1.44256889e+01] [ 2.79229820e-03 -1.22449528e-05 9.99996101e-01 1.98258706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430281693 meters 0.016831554739500227 Centerline is valid? [True, True] Translation: X:100.88, Y:14.43, Z:0.20 [[ 9.42774651e-01 -3.33424001e-01 -2.09612241e-03 1.00882408e+02] [ 3.33423204e-01 9.42776981e-01 -7.28971714e-04 1.44315227e+01] [ 2.21923262e-03 -1.16397956e-05 9.99997537e-01 1.99114880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460281693 meters 0.017191610620411413 Centerline is valid? [True, True] Translation: X:100.91, Y:14.44, Z:0.20 [[ 9.42497461e-01 -3.34208276e-01 -1.83437452e-03 1.00909921e+02] [ 3.34207667e-01 9.42499246e-01 -6.38038240e-04 1.44386161e+01] [ 1.94213426e-03 -1.17126078e-05 9.99998114e-01 2.00630119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490281693 meters 0.01689761787693617 Centerline is valid? [True, True] Translation: X:100.94, Y:14.45, Z:0.20 [[ 9.42679712e-01 -3.33692838e-01 -2.01272352e-03 1.00936499e+02] [ 3.33692103e-01 9.42681860e-01 -7.00514257e-04 1.44475908e+01] [ 2.13111454e-03 -1.12693648e-05 9.99997729e-01 2.00783997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520281693 meters 0.016321709244777962 Centerline is valid? [True, True] Translation: X:100.96, Y:14.46, Z:0.20 [[ 9.42973634e-01 -3.32861708e-01 -1.95169334e-03 1.00962200e+02] [ 3.32861014e-01 9.42975654e-01 -6.79653998e-04 1.44592726e+01] [ 2.06663009e-03 -8.74682263e-06 9.99997864e-01 2.00651073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550281693 meters 0.01567316400354269 Centerline is valid? [True, True] Translation: X:100.99, Y:14.47, Z:0.20 [[ 9.43894551e-01 -3.30242658e-01 -1.69230092e-03 1.00987067e+02] [ 3.30242132e-01 9.43896068e-01 -5.89647852e-04 1.44717015e+01] [ 1.79208306e-03 -2.30366749e-06 9.99998394e-01 2.01109051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580281693 meters 0.015594471796536417 Centerline is valid? [True, True] Translation: X:101.01, Y:14.48, Z:0.20 [[ 9.44236716e-01 -3.29265302e-01 -1.17713709e-03 1.01012892e+02] [ 3.29265047e-01 9.44237449e-01 -4.10130960e-04 1.44827028e+01] [ 1.24653882e-03 -3.29390630e-07 9.99999223e-01 2.02134196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610281693 meters 0.015640680375404184 Centerline is valid? [True, True] Translation: X:101.04, Y:14.49, Z:0.20 [[ 9.44642107e-01 -3.28101173e-01 -9.54153687e-04 1.01037604e+02] [ 3.28101004e-01 9.44642589e-01 -3.32675250e-04 1.44937756e+01] [ 1.01048535e-03 1.20026594e-06 9.99999489e-01 2.03627814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640281693 meters 0.015590530458872015 Centerline is valid? [True, True] Translation: X:101.06, Y:14.50, Z:0.20 [[ 9.44482464e-01 -3.28556258e-01 -1.91332214e-03 1.01064160e+02] [ 3.28555580e-01 9.44484402e-01 -6.67449149e-04 1.45022015e+01] [ 2.02639751e-03 1.76135084e-06 9.99997947e-01 2.01763497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670281693 meters 0.015633274224831146 Centerline is valid? [True, True] Translation: X:101.09, Y:14.51, Z:0.20 [[ 9.44163317e-01 -3.29467760e-01 -2.57409633e-03 1.01091185e+02] [ 3.29466535e-01 9.44166826e-01 -8.98639093e-04 1.45094899e+01] [ 2.72644897e-03 3.83469637e-07 9.99996283e-01 2.00476768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70028169300001 meters 0.015593586613950905 Centerline is valid? [True, True] Translation: X:101.12, Y:14.52, Z:0.20 [[ 9.43842602e-01 -3.30389443e-01 -1.98976128e-03 1.01117989e+02] [ 3.30388712e-01 9.43844699e-01 -6.94973413e-04 1.45150167e+01] [ 2.10763751e-03 -1.44915153e-06 9.99997779e-01 2.01108195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.730281693 meters 0.015460217892626164 Centerline is valid? [True, True] Translation: X:101.14, Y:14.52, Z:0.20 [[ 9.43833176e-01 -3.30420906e-01 -9.80374432e-04 1.01144042e+02] [ 3.30420729e-01 9.43833685e-01 -3.42318501e-04 1.45244046e+01] [ 1.03841960e-03 -8.44476487e-07 9.99999461e-01 2.03013290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760281693 meters 0.015490221012719045 Centerline is valid? [True, True] Translation: X:101.17, Y:14.54, Z:0.20 [[ 9.44048604e-01 -3.29805493e-01 -7.54376554e-04 1.01169665e+02] [ 3.29805388e-01 9.44048906e-01 -2.63474043e-04 1.45350539e+01] [ 7.99063547e-04 -6.51496627e-08 9.99999681e-01 2.03870006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790281693 meters 0.016000474052170678 Centerline is valid? [True, True] Translation: X:101.20, Y:14.55, Z:0.20 [[ 9.45096662e-01 -3.26787991e-01 -1.38168102e-03 1.01195281e+02] [ 3.26787633e-01 9.45097672e-01 -4.83205076e-04 1.45484330e+01] [ 1.46372913e-03 5.15923399e-06 9.99998929e-01 2.03928042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820281693 meters 0.016603010936594102 Centerline is valid? [True, True] Translation: X:101.22, Y:14.56, Z:0.20 [[ 9.45604674e-01 -3.25314331e-01 -1.54461175e-03 1.01222336e+02] [ 3.25313882e-01 9.45605936e-01 -5.40520207e-04 1.45598162e+01] [ 1.63643301e-03 8.63478813e-06 9.99998661e-01 2.03164466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850281693 meters 0.017972812752830348 Centerline is valid? [True, True] Translation: X:101.25, Y:14.57, Z:0.20 [[ 9.46147011e-01 -3.23732594e-01 -1.74379086e-03 1.01247970e+02] [ 3.23732018e-01 9.46148618e-01 -6.10611001e-04 1.45717875e+01] [ 1.84756000e-03 1.32068393e-05 9.99998293e-01 2.04235622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880281693 meters 0.019450756340753356 Centerline is valid? [True, True] Translation: X:101.27, Y:14.58, Z:0.21 [[ 9.46787800e-01 -3.21857817e-01 -6.37960245e-04 1.01274405e+02] [ 3.21857740e-01 9.46788015e-01 -2.23217461e-04 1.45835795e+01] [ 6.75857399e-04 6.00712617e-06 9.99999772e-01 2.05415163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910281693 meters 0.01935279416605346 Centerline is valid? [True, True] Translation: X:101.30, Y:14.59, Z:0.20 [[ 9.47023669e-01 -3.21163186e-01 -6.14528897e-04 1.01301665e+02] [ 3.21163114e-01 9.47023869e-01 -2.15102051e-04 1.45923085e+01] [ 6.51056394e-04 6.34271925e-06 9.99999788e-01 2.04833991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940281693 meters 0.02400480357349836 Centerline is valid? [True, True] Translation: X:101.33, Y:14.61, Z:0.20 [[ 9.47821381e-01 -3.18798520e-01 -1.46025011e-03 1.01325581e+02] [ 3.18798110e-01 9.47822506e-01 -5.11932318e-04 1.46080666e+01] [ 1.54726118e-03 1.96954231e-05 9.99998803e-01 2.03087803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970281693 meters 0.023562089684300562 Centerline is valid? [True, True] Translation: X:101.35, Y:14.62, Z:0.20 [[ 9.48449050e-01 -3.16921447e-01 -2.27932469e-03 1.01353264e+02] [ 3.16920441e-01 9.48451788e-01 -7.99349280e-04 1.46169262e+01] [ 2.41516050e-03 3.57774808e-05 9.99997083e-01 2.02385949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000281693 meters 0.024898270923416996 Centerline is valid? [True, True] Translation: X:101.38, Y:14.63, Z:0.20 [[ 9.49074557e-01 -3.15037646e-01 -2.96072364e-03 1.01379250e+02] [ 3.15035937e-01 9.49079174e-01 -1.03895756e-03 1.46296943e+01] [ 3.13727189e-03 5.33138419e-05 9.99995077e-01 2.01790876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030281693 meters 0.027541199658746327 Centerline is valid? [True, True] Translation: X:101.40, Y:14.64, Z:0.20 [[ 9.49805538e-01 -3.12822428e-01 -3.40126605e-03 1.01403557e+02] [ 3.12820157e-01 9.49811625e-01 -1.19410184e-03 1.46442755e+01] [ 3.60410387e-03 7.01799562e-05 9.99993503e-01 2.00812097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06028169300001 meters 0.03155929006773521 Centerline is valid? [True, True] Translation: X:101.43, Y:14.66, Z:0.20 [[ 9.50923629e-01 -3.09409879e-01 -3.12705543e-03 1.01427984e+02] [ 3.09407940e-01 9.50928768e-01 -1.09807003e-03 1.46601293e+01] [ 3.31336068e-03 7.66449584e-05 9.99994508e-01 2.00420839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.090281693 meters 0.03186347070638597 Centerline is valid? [True, True] Translation: X:101.46, Y:14.67, Z:0.20 [[ 9.51196975e-01 -3.08570342e-01 -2.94241233e-03 1.01455204e+02] [ 3.08568621e-01 9.51201523e-01 -1.03352051e-03 1.46698943e+01] [ 3.11774087e-03 7.51454727e-05 9.99995137e-01 2.00485851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.120281693 meters 0.032597954802071054 Centerline is valid? [True, True] Translation: X:101.48, Y:14.68, Z:0.20 [[ 9.51328134e-01 -3.08164586e-01 -3.06107572e-03 1.01480685e+02] [ 3.08162719e-01 9.51333055e-01 -1.07563771e-03 1.46801805e+01] [ 3.24357596e-03 7.99750010e-05 9.99994736e-01 2.00310378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150281693 meters 0.03176961182800734 Centerline is valid? [True, True] Translation: X:101.51, Y:14.69, Z:0.20 [[ 9.51133287e-01 -3.08762782e-01 -3.31898458e-03 1.01507705e+02] [ 3.08760589e-01 9.51139074e-01 -1.16666296e-03 1.46902510e+01] [ 3.51703802e-03 8.48803428e-05 9.99993812e-01 2.00455928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180281693 meters 0.0318677089529212 Centerline is valid? [True, True] Translation: X:101.53, Y:14.70, Z:0.20 [[ 9.51020702e-01 -3.09109027e-01 -3.35172028e-03 1.01533680e+02] [ 3.09106792e-01 9.51026604e-01 -1.17861526e-03 1.47003823e+01] [ 3.55189578e-03 8.48480064e-05 9.99993688e-01 2.01321988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210281693 meters 0.030646325140446032 Centerline is valid? [True, True] Translation: X:101.56, Y:14.71, Z:0.20 [[ 9.50605731e-01 -3.10388427e-01 -2.78708465e-03 1.01561733e+02] [ 3.10386886e-01 9.50609815e-01 -9.80320304e-04 1.47090905e+01] [ 2.95371010e-03 6.68235738e-05 9.99995636e-01 2.02616072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240281693 meters 0.03193027301978386 Centerline is valid? [True, True] Translation: X:101.59, Y:14.72, Z:0.20 [[ 9.50358456e-01 -3.11149274e-01 -2.22135887e-03 1.01587334e+02] [ 3.11148297e-01 9.50361051e-01 -7.81609653e-04 1.47202831e+01] [ 2.35429023e-03 5.16373140e-05 9.99997227e-01 2.03500323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270281693 meters 0.03054861152415858 Centerline is valid? [True, True] Translation: X:101.62, Y:14.73, Z:0.20 [[ 9.50061856e-01 -3.12055489e-01 -1.95994426e-03 1.01615492e+02] [ 3.12054730e-01 9.50063877e-01 -6.89748876e-04 1.47285457e+01] [ 2.07731216e-03 4.36942203e-05 9.99997841e-01 2.03668735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300281693 meters 0.02800209867120774 Centerline is valid? [True, True] Translation: X:101.64, Y:14.73, Z:0.20 [[ 9.49769179e-01 -3.12943978e-01 -2.13857036e-03 1.01643660e+02] [ 3.12943076e-01 9.49771585e-01 -7.52994784e-04 1.47345543e+01] [ 2.26679854e-03 4.59204518e-05 9.99997430e-01 2.03041517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330281693 meters 0.025903827244962152 Centerline is valid? [True, True] Translation: X:101.67, Y:14.74, Z:0.20 [[ 9.49171705e-01 -3.14733479e-01 -3.98894326e-03 1.01672521e+02] [ 3.14730350e-01 9.49180084e-01 -1.40555874e-03 1.47390818e+01] [ 4.22860189e-03 7.86750724e-05 9.99991056e-01 1.99229051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360281693 meters 0.026184679743411442 Centerline is valid? [True, True] Translation: X:101.70, Y:14.75, Z:0.20 [[ 9.48816357e-01 -3.15792154e-01 -4.77868654e-03 1.01699380e+02] [ 3.15787675e-01 9.48828387e-01 -1.68445440e-03 1.47474614e+01] [ 5.06609092e-03 8.91875776e-05 9.99987163e-01 1.98168348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390281693 meters 0.024652635890548277 Centerline is valid? [True, True] Translation: X:101.73, Y:14.75, Z:0.20 [[ 9.48261390e-01 -3.17476629e-01 -2.98777378e-03 1.01727989e+02] [ 3.17474885e-01 9.48266095e-01 -1.05344984e-03 1.47526311e+01] [ 3.16765027e-03 5.04026703e-05 9.99994982e-01 2.02252443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420281693 meters 0.023605505876975703 Centerline is valid? [True, True] Translation: X:101.76, Y:14.76, Z:0.20 [[ 9.48042195e-01 -3.18140477e-01 -1.62244448e-03 1.01756183e+02] [ 3.18139964e-01 9.48043583e-01 -5.72190306e-04 1.47598084e+01] [ 1.72018498e-03 2.62961254e-05 9.99998520e-01 2.04986450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45028169300001 meters 0.02315761875651271 Centerline is valid? [True, True] Translation: X:101.78, Y:14.77, Z:0.21 [[ 9.47889595e-01 -3.18598769e-01 -3.75260802e-04 1.01783268e+02] [ 3.18598742e-01 9.47889669e-01 -1.32104105e-04 1.47669881e+01] [ 3.97794042e-04 5.66248720e-06 9.99999921e-01 2.06881318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.480281693 meters 0.023131234139056156 Centerline is valid? [True, True] Translation: X:101.81, Y:14.77, Z:0.21 [[ 9.47764478e-01 -3.18970981e-01 -8.70427089e-05 1.01810547e+02] [ 3.18970979e-01 9.47764482e-01 -3.06160692e-05 1.47726661e+01] [ 9.22616255e-05 1.25272480e-06 9.99999996e-01 2.07180675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510281693 meters 0.023642647173070703 Centerline is valid? [True, True] Translation: X:101.84, Y:14.78, Z:0.21 [[ 9.47702180e-01 -3.19154809e-01 -8.86185145e-04 1.01836455e+02] [ 3.19154656e-01 9.47702595e-01 -3.12878311e-04 1.47807624e+01] [ 9.39696578e-04 1.36853426e-05 9.99999558e-01 2.05659180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540281693 meters 0.022599255400548985 Centerline is valid? [True, True] Translation: X:101.86, Y:14.78, Z:0.20 [[ 9.47613251e-01 -3.19411169e-01 -2.37297029e-03 1.01864742e+02] [ 3.19410071e-01 9.47616222e-01 -8.38372935e-04 1.47844710e+01] [ 2.51645082e-03 3.65026923e-05 9.99996833e-01 2.02875348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570281693 meters 0.023430564168337796 Centerline is valid? [True, True] Translation: X:101.89, Y:14.79, Z:0.20 [[ 9.47589897e-01 -3.19481469e-01 -2.23093459e-03 1.01890044e+02] [ 3.19480498e-01 9.47592523e-01 -7.88604297e-04 1.47925716e+01] [ 2.36596139e-03 3.45333724e-05 9.99997201e-01 2.03549845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600281693 meters 0.022803788750817826 Centerline is valid? [True, True] Translation: X:101.92, Y:14.80, Z:0.20 [[ 9.47466001e-01 -3.19852952e-01 -1.50563272e-03 1.01917574e+02] [ 3.19852510e-01 9.47467197e-01 -5.32260616e-04 1.47991588e+01] [ 1.59678275e-03 2.27184310e-05 9.99998725e-01 2.04915034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630281693 meters 0.023098927994257234 Centerline is valid? [True, True] Translation: X:101.94, Y:14.81, Z:0.21 [[ 9.47377965e-01 -3.20115355e-01 -1.07255718e-03 1.01943207e+02] [ 3.20115130e-01 9.47378572e-01 -3.79328801e-04 1.48064865e+01] [ 1.13754666e-03 1.60259669e-05 9.99999353e-01 2.05440013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660281693 meters 0.022980271797083344 Centerline is valid? [True, True] Translation: X:101.97, Y:14.81, Z:0.21 [[ 9.47264917e-01 -3.20449474e-01 -1.14529345e-03 1.01970172e+02] [ 3.20449218e-01 9.47265609e-01 -4.05293021e-04 1.48137362e+01] [ 1.21477303e-03 1.69114701e-05 9.99999262e-01 2.05670767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690281693 meters 0.022624612419647725 Centerline is valid? [True, True] Translation: X:102.00, Y:14.82, Z:0.20 [[ 9.47213042e-01 -3.20597552e-01 -2.15942569e-03 1.01998259e+02] [ 3.20596642e-01 9.47215503e-01 -7.64456547e-04 1.48192607e+01] [ 2.29052439e-03 3.17985878e-05 9.99997376e-01 2.03558462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720281693 meters 0.022735086556108623 Centerline is valid? [True, True] Translation: X:102.03, Y:14.83, Z:0.20 [[ 9.47309053e-01 -3.20311787e-01 -2.43239771e-03 1.02025591e+02] [ 3.20310630e-01 9.47312175e-01 -8.61635940e-04 1.48277801e+01] [ 2.58023211e-03 3.71126847e-05 9.99996671e-01 2.02547689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750281693 meters 0.023667941837370244 Centerline is valid? [True, True] Translation: X:102.05, Y:14.84, Z:0.20 [[ 9.47591387e-01 -3.19473549e-01 -2.68608122e-03 1.02053195e+02] [ 3.19472133e-01 9.47595193e-01 -9.52032567e-04 1.48365027e+01] [ 2.84946687e-03 4.40097646e-05 9.99995939e-01 2.02452962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780281693 meters 0.024191439001369934 Centerline is valid? [True, True] Translation: X:102.08, Y:14.85, Z:0.20 [[ 9.47696773e-01 -3.19161407e-01 -2.61192470e-03 1.02079632e+02] [ 3.19160066e-01 9.47700372e-01 -9.26134756e-04 1.48460129e+01] [ 2.77090848e-03 4.40728586e-05 9.99996160e-01 2.02975651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81028169300001 meters 0.02384149636991946 Centerline is valid? [True, True] Translation: X:102.11, Y:14.85, Z:0.20 [[ 9.47686002e-01 -3.19193215e-01 -2.63301911e-03 1.02106225e+02] [ 3.19191852e-01 9.47689659e-01 -9.33900197e-04 1.48541574e+01] [ 2.79337959e-03 4.46058970e-05 9.99996098e-01 2.02904993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.840281693 meters 0.02404953469912904 Centerline is valid? [True, True] Translation: X:102.13, Y:14.86, Z:0.20 [[ 9.47615478e-01 -3.19404616e-01 -2.36583195e-03 1.02132124e+02] [ 3.19403515e-01 9.47618431e-01 -8.39537175e-04 1.48631606e+01] [ 2.51005801e-03 3.99033827e-05 9.99996849e-01 2.03078868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.870281693 meters 0.02288474223308894 Centerline is valid? [True, True] Translation: X:102.16, Y:14.87, Z:0.20 [[ 9.47378721e-01 -3.20107633e-01 -2.15934913e-03 1.02160211e+02] [ 3.20106717e-01 9.47381181e-01 -7.66477464e-04 1.48713200e+01] [ 2.29108201e-03 3.49222789e-05 9.99997375e-01 2.03664939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900281693 meters 0.023215777992557318 Centerline is valid? [True, True] Translation: X:102.19, Y:14.88, Z:0.20 [[ 9.47205082e-01 -3.20618080e-01 -2.56514591e-03 1.02186261e+02] [ 3.20616788e-01 9.47208554e-01 -9.11009776e-04 1.48818267e+01] [ 2.72181435e-03 4.04842468e-05 9.99996295e-01 2.02814830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930281693 meters 0.021975534952935874 Centerline is valid? [True, True] Translation: X:102.21, Y:14.89, Z:0.20 [[ 9.46653609e-01 -3.22224240e-01 -4.29927706e-03 1.02214149e+02] [ 3.22220624e-01 9.46663370e-01 -1.52765370e-03 1.48899787e+01] [ 4.56221516e-03 6.08431490e-05 9.99989591e-01 1.99484825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960281693 meters 0.021112572963342992 Centerline is valid? [True, True] Translation: X:102.24, Y:14.90, Z:0.20 [[ 9.46268179e-01 -3.23354114e-01 -4.31872474e-03 1.02241905e+02] [ 3.23350474e-01 9.46278032e-01 -1.53536969e-03 1.48980879e+01] [ 4.58318245e-03 5.64097889e-05 9.99989496e-01 1.99396989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990281693 meters 0.021112572963342992 Centerline is valid? [True, True] Translation: X:102.27, Y:14.91, Z:0.20 [[ 9.46207006e-01 -3.23533078e-01 -4.31844987e-03 1.02267736e+02] [ 3.23529436e-01 9.46216859e-01 -1.53614253e-03 1.49074795e+01] [ 4.58318299e-03 5.63631746e-05 9.99989496e-01 1.99451683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020281693 meters 0.018769096203204286 Centerline is valid? [True, True] Translation: X:102.30, Y:14.91, Z:0.20 [[ 9.45138224e-01 -3.26657403e-01 -2.94600665e-03 1.02295333e+02] [ 3.26655722e-01 9.45142815e-01 -1.04828563e-03 1.49127697e+01] [ 3.12682728e-03 2.84448896e-05 9.99995111e-01 2.03487679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050281693 meters 0.017602082270406053 Centerline is valid? [True, True] Translation: X:102.32, Y:14.92, Z:0.21 [[ 9.44461936e-01 -3.28614332e-01 -2.06693661e-03 1.02323331e+02] [ 3.28613509e-01 9.44464198e-01 -7.35606193e-04 1.49200358e+01] [ 2.19387836e-03 1.55287578e-05 9.99997593e-01 2.05592342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080281693 meters 0.01681103861186658 Centerline is valid? [True, True] Translation: X:102.35, Y:14.93, Z:0.21 [[ 9.43849170e-01 -3.30372530e-01 -1.65374408e-03 1.02349905e+02] [ 3.30372006e-01 9.43850619e-01 -5.88809412e-04 1.49269761e+01] [ 1.75541383e-03 9.39652531e-06 9.99998459e-01 2.06254020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110281693 meters 0.015872426831594736 Centerline is valid? [True, True] Translation: X:102.38, Y:14.93, Z:0.20 [[ 9.42848072e-01 -3.33217674e-01 -1.86928530e-03 1.02379318e+02] [ 3.33217009e-01 9.42849925e-01 -6.65758887e-04 1.49296012e+01] [ 1.98429814e-03 4.83182577e-06 9.99998031e-01 2.04472639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140281693 meters 0.015578560547956598 Centerline is valid? [True, True] Translation: X:102.41, Y:14.94, Z:0.20 [[ 9.42419767e-01 -3.34423737e-01 -2.39725025e-03 1.02406338e+02] [ 3.34422646e-01 9.42422816e-01 -8.54349457e-04 1.49359047e+01] [ 2.54493807e-03 3.46104298e-06 9.99996762e-01 2.03374039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170281693 meters 0.015631675504426915 Centerline is valid? [True, True] Translation: X:102.43, Y:14.94, Z:0.20 [[ 9.42125133e-01 -3.35251473e-01 -2.58526315e-03 1.02432912e+02] [ 3.35250206e-01 9.42128680e-01 -9.21847975e-04 1.49427578e+01] [ 2.74470145e-03 1.78614497e-06 9.99996233e-01 2.03429974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.200281693 meters 0.015521522878339713 Centerline is valid? [True, True] Translation: X:102.46, Y:14.95, Z:0.20 [[ 9.42157888e-01 -3.35157598e-01 -2.81060313e-03 1.02459308e+02] [ 3.35156098e-01 9.42162080e-01 -1.00247035e-03 1.49489556e+01] [ 2.98402925e-03 2.49456740e-06 9.99995548e-01 2.04847576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.230281693 meters 0.015592690232905682 Centerline is valid? [True, True] Translation: X:102.49, Y:14.96, Z:0.21 [[ 9.42378422e-01 -3.34536508e-01 -2.86949184e-03 1.02486030e+02] [ 3.34534942e-01 9.42382791e-01 -1.02386473e-03 1.49577517e+01] [ 3.04667986e-03 4.92274022e-06 9.99995359e-01 2.05184527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260281693 meters 0.015695778843248326 Centerline is valid? [True, True] Translation: X:102.51, Y:14.97, Z:0.21 [[ 9.42738906e-01 -3.33521529e-01 -2.59691478e-03 1.02512158e+02] [ 3.33520241e-01 9.42742483e-01 -9.27027223e-04 1.49674891e+01] [ 2.75740542e-03 7.82098809e-06 9.99996198e-01 2.05638905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290281693 meters 0.01616082704641056 Centerline is valid? [True, True] Translation: X:102.54, Y:14.98, Z:0.21 [[ 9.43082969e-01 -3.32550047e-01 -2.23166772e-03 1.02537569e+02] [ 3.32549093e-01 9.43085609e-01 -7.96777339e-04 1.49779873e+01] [ 2.36962205e-03 9.28806270e-06 9.99997192e-01 2.06037329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320281693 meters 0.018013944669449715 Centerline is valid? [True, True] Translation: X:102.56, Y:14.99, Z:0.21 [[ 9.44119064e-01 -3.29600522e-01 -1.63956385e-03 1.02563544e+02] [ 3.29600002e-01 9.44120488e-01 -5.85425864e-04 1.49917707e+01] [ 1.74090250e-03 1.23114698e-05 9.99998485e-01 2.06849670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350281693 meters 0.018328594688351 Centerline is valid? [True, True] Translation: X:102.59, Y:15.00, Z:0.21 [[ 9.44591346e-01 -3.28244076e-01 -1.73658842e-03 1.02590704e+02] [ 3.28243490e-01 9.44592942e-01 -6.20392662e-04 1.50019342e+01] [ 1.84400939e-03 1.59936945e-05 9.99998300e-01 2.06676630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380281693 meters 0.01992818714133384 Centerline is valid? [True, True] Translation: X:102.62, Y:15.01, Z:0.21 [[ 9.45012627e-01 -3.27023920e-01 -2.54762668e-03 1.02615586e+02] [ 3.27022654e-01 9.45016061e-01 -9.10696279e-04 1.50142584e+01] [ 2.70536760e-03 2.74878441e-05 9.99996340e-01 2.05246898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410281693 meters 0.020488460394634294 Centerline is valid? [True, True] Translation: X:102.64, Y:15.03, Z:0.20 [[ 9.45594653e-01 -3.25321482e-01 -4.08472356e-03 1.02642508e+02] [ 3.25318207e-01 9.45603474e-01 -1.46077940e-03 1.50252030e+01] [ 4.33775171e-03 5.24702432e-05 9.99990591e-01 2.02543113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440281693 meters 0.021022927254324062 Centerline is valid? [True, True] Translation: X:102.67, Y:15.04, Z:0.20 [[ 9.45852580e-01 -3.24567452e-01 -4.34360065e-03 1.02668880e+02] [ 3.24563736e-01 9.45862551e-01 -1.55421145e-03 1.50358597e+01] [ 4.61289564e-03 6.02796571e-05 9.99989359e-01 2.01938101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470281693 meters 0.023171818953464415 Centerline is valid? [True, True] Translation: X:102.69, Y:15.05, Z:0.20 [[ 9.46366740e-01 -3.23073621e-01 -3.66467395e-03 1.02693426e+02] [ 3.23070963e-01 9.46373833e-01 -1.31170602e-03 1.50495668e+01] [ 3.89192915e-03 5.74052108e-05 9.99992425e-01 2.04399013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500281693 meters 0.022988206084902305 Centerline is valid? [True, True] Translation: X:102.72, Y:15.06, Z:0.21 [[ 9.46568347e-01 -3.22489051e-01 -3.02933831e-03 1.02720183e+02] [ 3.22487231e-01 9.46573193e-01 -1.08462253e-03 1.50603663e+01] [ 3.21726933e-03 4.97464304e-05 9.99994823e-01 2.05905654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530281693 meters 0.027451628851844715 Centerline is valid? [True, True] Translation: X:102.74, Y:15.08, Z:0.21 [[ 9.46915254e-01 -3.21471079e-01 -2.80119828e-03 1.02743771e+02] [ 3.21469517e-01 9.46919396e-01 -1.00332888e-03 1.50778067e+01] [ 2.97505020e-03 4.95675597e-05 9.99995573e-01 2.05591398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56028169300001 meters 0.026435528057469928 Centerline is valid? [True, True] Translation: X:102.77, Y:15.09, Z:0.21 [[ 9.47511218e-01 -3.19714619e-01 -2.24831812e-03 1.02770200e+02] [ 3.19713607e-01 9.47513884e-01 -8.05468982e-04 1.50892702e+01] [ 2.38783284e-03 4.43729992e-05 9.99997148e-01 2.06330610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.590281693 meters 0.0276236704427886 Centerline is valid? [True, True] Translation: X:102.80, Y:15.10, Z:0.21 [[ 9.47780958e-01 -3.18911659e-01 -2.57088190e-03 1.02795112e+02] [ 3.18910332e-01 9.47784443e-01 -9.21468482e-04 1.51016586e+01] [ 2.73050891e-03 5.34694791e-05 9.99996271e-01 2.06392599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.620281693 meters 0.028408661173231514 Centerline is valid? [True, True] Translation: X:102.82, Y:15.11, Z:0.21 [[ 9.47995708e-01 -3.18265307e-01 -3.36626017e-03 1.02820810e+02] [ 3.18263027e-01 9.48001682e-01 -1.20685708e-03 1.51140041e+01] [ 3.57532104e-03 7.27391763e-05 9.99993606e-01 2.05004673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650281693 meters 0.030237292779062147 Centerline is valid? [True, True] Translation: X:102.85, Y:15.13, Z:0.20 [[ 9.48626076e-01 -3.16358060e-01 -5.11339122e-03 1.02845668e+02] [ 3.16352767e-01 9.48639849e-01 -1.83410301e-03 1.51307379e+01] [ 5.43099994e-03 1.22242483e-04 9.99985245e-01 2.02825600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680281693 meters 0.03157198521017881 Centerline is valid? [True, True] Translation: X:102.87, Y:15.15, Z:0.20 [[ 9.49043956e-01 -3.15100139e-01 -5.24130653e-03 1.02871150e+02] [ 3.15094553e-01 9.49058420e-01 -1.88095911e-03 1.51452561e+01] [ 5.56699658e-03 1.33605738e-04 9.99984495e-01 2.02877927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710281693 meters 0.03327451079158032 Centerline is valid? [True, True] Translation: X:102.90, Y:15.16, Z:0.20 [[ 9.49577983e-01 -3.13495697e-01 -4.70136783e-03 1.02895854e+02] [ 3.13491181e-01 9.49589612e-01 -1.68768597e-03 1.51601463e+01] [ 4.99345234e-03 1.28752084e-04 9.99987524e-01 2.03956344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740281693 meters 0.03684590049557956 Centerline is valid? [True, True] Translation: X:102.92, Y:15.18, Z:0.21 [[ 9.50662656e-01 -3.10206612e-01 -3.51752340e-03 1.02919591e+02] [ 3.10204061e-01 9.50669157e-01 -1.26284746e-03 1.51818252e+01] [ 3.73574464e-03 1.09391880e-04 9.99993016e-01 2.06955000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770281693 meters 0.037551769737508234 Centerline is valid? [True, True] Translation: X:102.94, Y:15.20, Z:0.21 [[ 9.50936576e-01 -3.09371384e-01 -2.99581105e-03 1.02944826e+02] [ 3.09369528e-01 9.50941290e-01 -1.07579346e-03 1.51967883e+01] [ 3.18166013e-03 9.61987017e-05 9.99994934e-01 2.07716777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800281693 meters 0.037662622249120016 Centerline is valid? [True, True] Translation: X:102.97, Y:15.21, Z:0.21 [[ 9.50754258e-01 -3.09940424e-01 -1.80931953e-03 1.02968567e+02] [ 3.09939748e-01 9.50755978e-01 -6.49929908e-04 1.52128057e+01] [ 1.92166091e-03 5.71435899e-05 9.99998152e-01 2.09109053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830281693 meters 0.03497519507551141 Centerline is valid? [True, True] Translation: X:103.00, Y:15.22, Z:0.21 [[ 9.50092101e-01 -3.11965929e-01 -1.50284214e-03 1.02996502e+02] [ 3.11965465e-01 9.50093289e-01 -5.39877991e-04 1.52214346e+01] [ 1.59626377e-03 4.40989683e-05 9.99998725e-01 2.09327527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860281693 meters 0.032075646566332834 Centerline is valid? [True, True] Translation: X:103.03, Y:15.23, Z:0.21 [[ 9.49122426e-01 -3.14901750e-01 -1.87300985e-03 1.03025079e+02] [ 3.14901034e-01 9.49124273e-01 -6.73256417e-04 1.52296427e+01] [ 1.98972873e-03 4.91900268e-05 9.99998019e-01 2.09210211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890281693 meters 0.028446987680621816 Centerline is valid? [True, True] Translation: X:103.05, Y:15.24, Z:0.21 [[ 9.47935276e-01 -3.18455929e-01 -2.12921655e-03 1.03053705e+02] [ 3.18455013e-01 9.47937666e-01 -7.65413064e-04 1.52369575e+01] [ 2.26211490e-03 4.75023599e-05 9.99997440e-01 2.08934632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920281693 meters 0.022852132689786954 Centerline is valid? [True, True] Translation: X:103.08, Y:15.24, Z:0.21 [[ 9.45869625e-01 -3.24542725e-01 -1.63490256e-03 1.03082418e+02] [ 3.24542193e-01 9.45871037e-01 -5.87748219e-04 1.52424839e+01] [ 1.73715639e-03 2.53383233e-05 9.99998491e-01 2.10245618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.950281693 meters 0.02187741098633986 Centerline is valid? [True, True] Translation: X:103.11, Y:15.25, Z:0.21 [[ 9.45272510e-01 -3.26281278e-01 -6.40385582e-04 1.03108050e+02] [ 3.26281197e-01 9.45272726e-01 -2.30157767e-04 1.52523592e+01] [ 6.80435196e-04 8.61603593e-06 9.99999768e-01 2.12176916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.980281693 meters 0.023759171151849275 Centerline is valid? [True, True] Translation: X:103.13, Y:15.27, Z:0.21 [[ 9.45078154e-01 -3.26844407e-01 -1.30761157e-04 1.03131563e+02] [ 3.26844403e-01 9.45078163e-01 -4.67772393e-05 1.52671644e+01] [ 1.38868393e-04 1.46959453e-06 9.99999990e-01 2.13967526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010281693 meters 0.021700143037663083 Centerline is valid? [True, True] Translation: X:103.16, Y:15.28, Z:0.21 [[ 9.45022070e-01 -3.27003356e-01 -1.44679492e-03 1.03157397e+02] [ 3.27002942e-01 9.45023177e-01 -5.20377699e-04 1.52793918e+01] [ 1.53741998e-03 1.86622154e-05 9.99998818e-01 2.11121202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040281693 meters 0.020725882009983765 Centerline is valid? [True, True] Translation: X:103.18, Y:15.29, Z:0.21 [[ 9.44731466e-01 -3.27837318e-01 -2.26936093e-03 1.03184274e+02] [ 3.27836301e-01 9.44734191e-01 -8.16903649e-04 1.52895267e+01] [ 2.41175436e-03 2.77756907e-05 9.99997091e-01 2.09531121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070281693 meters 0.018315599955589068 Centerline is valid? [True, True] Translation: X:103.21, Y:15.30, Z:0.21 [[ 9.43464213e-01 -3.31457401e-01 -3.35705483e-03 1.03211392e+02] [ 3.31455197e-01 9.43470185e-01 -1.20904074e-03 1.52953234e+01] [ 3.56802665e-03 2.79733988e-05 9.99993634e-01 2.06999072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100281693 meters 0.01666161800712278 Centerline is valid? [True, True] Translation: X:103.24, Y:15.30, Z:0.21 [[ 9.42489461e-01 -3.34222807e-01 -2.95476767e-03 1.03239857e+02] [ 3.34221112e-01 9.42494093e-01 -1.06445719e-03 1.53009316e+01] [ 3.14061694e-03 1.56939452e-05 9.99995068e-01 2.07756971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130281693 meters 0.01560443738469129 Centerline is valid? [True, True] Translation: X:103.27, Y:15.31, Z:0.21 [[ 9.41341789e-01 -3.37447437e-01 -2.20546132e-03 1.03268981e+02] [ 3.37446501e-01 9.41344372e-01 -7.94831252e-04 1.53058242e+01] [ 2.34431237e-03 3.98266665e-06 9.99997252e-01 2.09431678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160281693 meters 0.015521057037369185 Centerline is valid? [True, True] Translation: X:103.30, Y:15.31, Z:0.21 [[ 9.40201356e-01 -3.40616234e-01 -1.41111276e-03 1.03297057e+02] [ 3.40615854e-01 9.40202415e-01 -5.08676231e-04 1.53108627e+01] [ 1.49999501e-03 -2.38929485e-06 9.99998875e-01 2.10530175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190281693 meters 0.017017774974941332 Centerline is valid? [True, True] Translation: X:103.33, Y:15.31, Z:0.21 [[ 9.38692208e-01 -3.44754762e-01 -1.04517730e-03 1.03326214e+02] [ 3.44754556e-01 9.38692790e-01 -3.77012478e-04 1.53108518e+01] [ 1.11107725e-03 -6.43096074e-06 9.99999383e-01 2.12227152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220281693 meters 0.017751479252411995 Centerline is valid? [True, True] Translation: X:103.35, Y:15.32, Z:0.21 [[ 9.38160802e-01 -3.46198732e-01 -8.64917658e-04 1.03354817e+02] [ 3.46198592e-01 9.38161200e-01 -3.11918165e-04 1.53174190e+01] [ 9.19417861e-04 -6.80387895e-06 9.99999577e-01 2.12605768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250281693 meters 0.017224588125246753 Centerline is valid? [True, True] Translation: X:103.38, Y:15.33, Z:0.21 [[ 9.38158545e-01 -3.46201481e-01 -1.75436300e-03 1.03380944e+02] [ 3.46200902e-01 9.38160186e-01 -6.33324371e-04 1.53261430e+01] [ 1.86513135e-03 -1.32033814e-05 9.99998261e-01 2.11109561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280281693 meters 0.01703292180471731 Centerline is valid? [True, True] Translation: X:103.41, Y:15.34, Z:0.21 [[ 9.38576224e-01 -3.45061765e-01 -2.65502198e-03 1.03407174e+02] [ 3.45060433e-01 9.38579980e-01 -9.59116823e-04 1.53352934e+01] [ 2.82290502e-03 -1.59387862e-05 9.99996015e-01 2.09700049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31028169300001 meters 0.015838336001035416 Centerline is valid? [True, True] Translation: X:103.43, Y:15.35, Z:0.21 [[ 9.39822178e-01 -3.41629280e-01 -4.86916972e-03 1.03433167e+02] [ 3.41624747e-01 9.39834791e-01 -1.75974774e-03 1.53476282e+01] [ 5.17739646e-03 -9.57892094e-06 9.99986597e-01 2.05783625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.340281693 meters 0.015642483668856927 Centerline is valid? [True, True] Translation: X:103.46, Y:15.36, Z:0.20 [[ 9.40527213e-01 -3.39673032e-01 -5.54908266e-03 1.03458409e+02] [ 3.39667104e-01 9.40543583e-01 -2.00666133e-03 1.53587607e+01] [ 5.90076282e-03 2.47875491e-06 9.99982590e-01 2.04952103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.370281693 meters 0.016032335078396305 Centerline is valid? [True, True] Translation: X:103.48, Y:15.37, Z:0.20 [[ 9.41167184e-01 -3.37891138e-01 -5.82329061e-03 1.03483840e+02] [ 3.37884572e-01 9.41185199e-01 -2.10651258e-03 1.53715852e+01] [ 6.19256686e-03 1.49804555e-05 9.99980826e-01 2.03696830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400281693 meters 0.0167424414939433 Centerline is valid? [True, True] Translation: X:103.51, Y:15.39, Z:0.21 [[ 9.41794931e-01 -3.36150892e-01 -4.98851040e-03 1.03508548e+02] [ 3.36146046e-01 9.41808142e-01 -1.80525519e-03 1.53851127e+01] [ 5.30505785e-03 2.33121402e-05 9.99985928e-01 2.05282684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430281693 meters 0.01770584682246481 Centerline is valid? [True, True] Translation: X:103.53, Y:15.40, Z:0.21 [[ 9.42912399e-01 -3.33036688e-01 -1.66508175e-03 1.03533700e+02] [ 3.33036143e-01 9.42913869e-01 -6.02647071e-04 1.54001877e+01] [ 1.77073226e-03 1.37109933e-05 9.99998432e-01 2.12352507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460281693 meters 0.01831359890473883 Centerline is valid? [True, True] Translation: X:103.56, Y:15.41, Z:0.22 [[ 9.43281015e-01 -3.31995207e-01 -3.30128678e-04 1.03559823e+02] [ 3.31995185e-01 9.43281073e-01 -1.19264589e-04 1.54119764e+01] [ 3.50999406e-04 2.89889050e-06 9.99999938e-01 2.15061688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490281693 meters 0.020631762730178364 Centerline is valid? [True, True] Translation: X:103.58, Y:15.43, Z:0.22 [[ 9.43575968e-01 -3.31156139e-01 -6.20776456e-05 1.03584524e+02] [ 3.31156138e-01 9.43575970e-01 -2.23725371e-05 1.54262908e+01] [ 6.59837776e-05 5.52794971e-07 9.99999998e-01 2.17108177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520281693 meters 0.019623835146705224 Centerline is valid? [True, True] Translation: X:103.61, Y:15.44, Z:0.21 [[ 9.43636528e-01 -3.30980586e-01 -1.39769995e-03 1.03610904e+02] [ 3.30980199e-01 9.43637563e-01 -5.06424105e-04 1.54353797e+01] [ 1.48653872e-03 1.52692767e-05 9.99998895e-01 2.13377780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550281693 meters 0.019069623459087654 Centerline is valid? [True, True] Translation: X:103.64, Y:15.44, Z:0.21 [[ 9.43531630e-01 -3.31278656e-01 -1.58573192e-03 1.03637450e+02] [ 3.31278157e-01 9.43532963e-01 -5.74937272e-04 1.54448873e+01] [ 1.68665479e-03 1.71531531e-05 9.99998577e-01 2.12281289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580281693 meters 0.01967351004445065 Centerline is valid? [True, True] Translation: X:103.66, Y:15.46, Z:0.21 [[ 9.43609473e-01 -3.31058400e-01 -1.22372115e-03 1.03662882e+02] [ 3.31058103e-01 9.43610267e-01 -4.43951756e-04 1.54555090e+01] [ 1.30168980e-03 1.37942808e-05 9.99999153e-01 2.13226206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610281693 meters 0.01946307638974237 Centerline is valid? [True, True] Translation: X:103.69, Y:15.46, Z:0.22 [[ 9.43552504e-01 -3.31222972e-01 1.21192562e-04 1.03688979e+02] [ 3.31222969e-01 9.43552512e-01 4.44043647e-05 1.54649482e+01] [-1.29059292e-04 -1.75608917e-06 9.99999992e-01 2.15118431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640281693 meters 0.019033011960824638 Centerline is valid? [True, True] Translation: X:103.72, Y:15.47, Z:0.21 [[ 9.43446935e-01 -3.31523570e-01 -5.49072478e-05 1.03715536e+02] [ 3.31523570e-01 9.43446937e-01 -1.95396730e-05 1.54734681e+01] [ 5.82799369e-05 2.31597808e-07 9.99999998e-01 2.14345076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670281693 meters 0.01903323111661378 Centerline is valid? [True, True] Translation: X:103.74, Y:15.48, Z:0.21 [[ 9.43245800e-01 -3.32092925e-01 -1.28468517e-03 1.03742097e+02] [ 3.32092597e-01 9.43246675e-01 -4.66715418e-04 1.54808503e+01] [ 1.36676791e-03 1.35929223e-05 9.99999066e-01 2.12232373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.700281693 meters 0.01962336888934315 Centerline is valid? [True, True] Translation: X:103.77, Y:15.49, Z:0.21 [[ 9.43245070e-01 -3.32093294e-01 -1.66784018e-03 1.03767675e+02] [ 3.32092741e-01 9.43246545e-01 -6.06058366e-04 1.54897618e+01] [ 1.77445240e-03 1.77839502e-05 9.99998426e-01 2.12273664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.730281693 meters 0.01943955653551891 Centerline is valid? [True, True] Translation: X:103.79, Y:15.50, Z:0.21 [[ 9.43430302e-01 -3.31567087e-01 -1.59129017e-03 1.03794800e+02] [ 3.31566583e-01 9.43431644e-01 -5.78354609e-04 1.54981706e+01] [ 1.69303686e-03 1.80186174e-05 9.99998567e-01 2.12391980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760281693 meters 0.02196052380595469 Centerline is valid? [True, True] Translation: X:103.82, Y:15.51, Z:0.21 [[ 9.44318636e-01 -3.29030022e-01 -1.24849499e-03 1.03819378e+02] [ 3.29029709e-01 9.44319461e-01 -4.53991389e-04 1.55106234e+01] [ 1.32835491e-03 1.79205864e-05 9.99999118e-01 2.11698582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790281693 meters 0.02350411084013406 Centerline is valid? [True, True] Translation: X:103.85, Y:15.52, Z:0.21 [[ 9.44933083e-01 -3.27260242e-01 -1.48382242e-03 1.03846124e+02] [ 3.27259798e-01 9.44934248e-01 -5.39669677e-04 1.55222302e+01] [ 1.57872705e-03 2.43563063e-05 9.99998754e-01 2.11567222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820281693 meters 0.02555156473142777 Centerline is valid? [True, True] Translation: X:103.87, Y:15.53, Z:0.21 [[ 9.45425674e-01 -3.25834938e-01 -1.37421238e-03 1.03871819e+02] [ 3.25834555e-01 9.45426672e-01 -5.00076151e-04 1.55334944e+01] [ 1.46215932e-03 2.50189544e-05 9.99998931e-01 2.11350225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850281693 meters 0.026364479366725254 Centerline is valid? [True, True] Translation: X:103.90, Y:15.54, Z:0.21 [[ 9.45638095e-01 -3.25218750e-01 -1.16529914e-03 1.03899072e+02] [ 3.25218475e-01 9.45638813e-01 -4.24081272e-04 1.55432671e+01] [ 1.23987128e-03 2.20505963e-05 9.99999231e-01 2.11484463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880281693 meters 0.02573581040292393 Centerline is valid? [True, True] Translation: X:103.93, Y:15.55, Z:0.21 [[ 9.45504696e-01 -3.25605864e-01 -1.30015027e-03 1.03926481e+02] [ 3.25605521e-01 9.45505590e-01 -4.73414224e-04 1.55484941e+01] [ 1.38344580e-03 2.42792649e-05 9.99999043e-01 2.10981767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910281693 meters 0.02573581040292393 Centerline is valid? [True, True] Translation: X:103.95, Y:15.56, Z:0.21 [[ 9.45444147e-01 -3.25781637e-01 -1.30006246e-03 1.03952233e+02] [ 3.25781293e-01 9.45445040e-01 -4.73655216e-04 1.55580911e+01] [ 1.38344578e-03 2.42785217e-05 9.99999043e-01 2.11036465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940281693 meters 0.025740464371298493 Centerline is valid? [True, True] Translation: X:103.98, Y:15.57, Z:0.21 [[ 9.45215745e-01 -3.26439888e-01 -2.04796764e-03 1.03978856e+02] [ 3.26439036e-01 9.45217963e-01 -7.46773479e-04 1.55664920e+01] [ 2.17955245e-03 3.73254665e-05 9.99997624e-01 2.09499530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970281693 meters 0.023112828926575325 Centerline is valid? [True, True] Translation: X:104.01, Y:15.57, Z:0.21 [[ 9.44891704e-01 -3.27373996e-01 -2.43617885e-03 1.04008481e+02] [ 3.27372792e-01 9.44894843e-01 -8.88585673e-04 1.55706952e+01] [ 2.59283268e-03 4.20785570e-05 9.99996638e-01 2.08022856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000281693 meters 0.02463321310812349 Centerline is valid? [True, True] Translation: X:104.03, Y:15.58, Z:0.21 [[ 9.44974677e-01 -3.27136455e-01 -2.14453341e-03 1.04034390e+02] [ 3.27135521e-01 9.44977110e-01 -7.82544469e-04 1.55819369e+01] [ 2.28253381e-03 3.79316503e-05 9.99997394e-01 2.08566230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030281693 meters 0.026708957302715237 Centerline is valid? [True, True] Translation: X:104.06, Y:15.59, Z:0.21 [[ 9.45359561e-01 -3.26026021e-01 -1.52804230e-03 1.04059671e+02] [ 3.26025545e-01 9.45360795e-01 -5.57654169e-04 1.55947235e+01] [ 1.62636105e-03 2.90028764e-05 9.99998677e-01 2.11142300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06028169300001 meters 0.03050314421649584 Centerline is valid? [True, True] Translation: X:104.08, Y:15.61, Z:0.22 [[ 9.46971092e-01 -3.21317968e-01 7.17677128e-04 1.04084737e+02] [ 3.21317861e-01 9.46971363e-01 2.62118986e-04 1.56121005e+01] [-7.63843228e-04 -1.76166219e-05 9.99999708e-01 2.15680504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.090281693 meters 0.03357685621363943 Centerline is valid? [True, True] Translation: X:104.11, Y:15.63, Z:0.22 [[ 9.48044155e-01 -3.18137738e-01 8.12468846e-04 1.04110122e+02] [ 3.18137600e-01 9.48044503e-01 2.96725370e-04 1.56283932e+01] [-8.64656161e-04 -2.28318640e-05 9.99999626e-01 2.15240091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.120281693 meters 0.03771752419625451 Centerline is valid? [True, True] Translation: X:104.13, Y:15.65, Z:0.21 [[ 9.49209283e-01 -3.14645302e-01 -2.65968010e-04 1.04133554e+02] [ 3.14645287e-01 9.49209321e-01 -9.70102152e-05 1.56461321e+01] [ 2.82983122e-04 8.39741618e-06 9.99999960e-01 2.12520478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150281693 meters 0.045206823305166025 Centerline is valid? [True, True] Translation: X:104.16, Y:15.67, Z:0.20 [[ 9.51070638e-01 -3.08949677e-01 -3.83921801e-03 1.04155290e+02] [ 3.08946530e-01 9.51078375e-01 -1.40208844e-03 1.56705619e+01] [ 4.08457200e-03 1.47372068e-04 9.99991647e-01 2.04917059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180281693 meters 0.0463971236589275 Centerline is valid? [True, True] Translation: X:104.18, Y:15.69, Z:0.20 [[ 9.51449537e-01 -3.07776985e-01 -4.13599746e-03 1.04180268e+02] [ 3.07773320e-01 9.51458512e-01 -1.51094244e-03 1.56853432e+01] [ 4.40026330e-03 1.64635813e-04 9.99990305e-01 2.04334460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210281693 meters 0.04517763011038677 Centerline is valid? [True, True] Translation: X:104.21, Y:15.70, Z:0.21 [[ 9.51581432e-01 -3.07377542e-01 -3.43881680e-03 1.04206163e+02] [ 3.07375004e-01 9.51587635e-01 -1.25682481e-03 1.56979344e+01] [ 3.65865527e-03 1.38964825e-04 9.99993297e-01 2.06816635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240281693 meters 0.046350518954516196 Centerline is valid? [True, True] Translation: X:104.23, Y:15.72, Z:0.21 [[ 9.51684739e-01 -3.07076382e-01 -5.02748912e-04 1.04228347e+02] [ 3.07076328e-01 9.51684872e-01 -1.83706047e-04 1.57176474e+01] [ 5.34870322e-04 2.04479512e-05 9.99999857e-01 2.12313666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270281693 meters 0.046766032049094505 Centerline is valid? [True, True] Translation: X:104.25, Y:15.73, Z:0.21 [[ 9.51681860e-01 -3.07085672e-01 -1.63570543e-04 1.04252764e+02] [ 3.07085666e-01 9.51681874e-01 -5.96983430e-05 1.57317647e+01] [ 1.73999627e-04 6.58366098e-06 9.99999985e-01 2.12834255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300281693 meters 0.04707699100858521 Centerline is valid? [True, True] Translation: X:104.28, Y:15.75, Z:0.21 [[ 9.51329987e-01 -3.08173309e-01 -6.83666555e-04 1.04275924e+02] [ 3.08173209e-01 9.51330232e-01 -2.49811808e-04 1.57505007e+01] [ 7.27377994e-04 2.69657477e-05 9.99999735e-01 2.11492557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330281693 meters 0.043869040593711 Centerline is valid? [True, True] Translation: X:104.30, Y:15.76, Z:0.21 [[ 9.51108050e-01 -3.08857318e-01 -7.95946850e-04 1.04302291e+02] [ 3.08857183e-01 9.51108383e-01 -2.91033623e-04 1.57613674e+01] [ 8.46919585e-04 3.09705199e-05 9.99999641e-01 2.11584858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360281693 meters 0.044145999794780184 Centerline is valid? [True, True] Translation: X:104.33, Y:15.78, Z:0.21 [[ 9.50901905e-01 -3.09492226e-01 -3.59459147e-04 1.04326160e+02] [ 3.09492198e-01 9.50901973e-01 -1.31491217e-04 1.57764463e+01] [ 3.82505921e-04 1.37854473e-05 9.99999927e-01 2.12331871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390281693 meters 0.04414274601224589 Centerline is valid? [True, True] Translation: X:104.35, Y:15.79, Z:0.21 [[ 9.50314144e-01 -3.11290744e-01 1.04896210e-03 1.04349822e+02] [ 3.11290509e-01 9.50314722e-01 3.84225921e-04 1.57944426e+01] [-1.11645010e-03 -3.86033803e-05 9.99999376e-01 2.14757652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420281693 meters 0.0425709382660279 Centerline is valid? [True, True] Translation: X:104.38, Y:15.81, Z:0.22 [[ 9.49850059e-01 -3.12703380e-01 1.20881763e-03 1.04376186e+02] [ 3.12703069e-01 9.49850827e-01 4.43219115e-04 1.58060611e+01] [-1.28679254e-03 -4.29907211e-05 9.99999171e-01 2.15442384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.450281693 meters 0.03576935509932009 Centerline is valid? [True, True] Translation: X:104.40, Y:15.82, Z:0.21 [[ 9.48815952e-01 -3.15828490e-01 8.08348846e-04 1.04404136e+02] [ 3.15828352e-01 9.48816296e-01 2.96197490e-04 1.58166279e+01] [-8.60522164e-04 -2.57374201e-05 9.99999629e-01 2.14127950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.480281693 meters 0.03776964776696714 Centerline is valid? [True, True] Translation: X:104.43, Y:15.83, Z:0.21 [[ 9.48277838e-01 -3.17440995e-01 5.96657100e-04 1.04428304e+02] [ 3.17440920e-01 9.48278026e-01 2.19077480e-04 1.58331472e+01] [-6.35340990e-04 -1.83429404e-05 9.99999798e-01 2.13999904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510281693 meters 0.036422520970703774 Centerline is valid? [True, True] Translation: X:104.45, Y:15.85, Z:0.21 [[ 9.47760612e-01 -3.18981954e-01 5.79796464e-04 1.04454730e+02] [ 3.18981883e-01 9.47760789e-01 2.12978974e-04 1.58452111e+01] [-6.17444803e-04 -1.69085148e-05 9.99999809e-01 2.13928590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540281693 meters 0.03296367445667821 Centerline is valid? [True, True] Translation: X:104.48, Y:15.85, Z:0.21 [[ 9.47381941e-01 -3.20105054e-01 4.61270374e-04 1.04482302e+02] [ 3.20105010e-01 9.47382053e-01 1.69609822e-04 1.58539599e+01] [-4.91292235e-04 -1.30303243e-05 9.99999879e-01 2.13075449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570281693 meters 0.030542553611503143 Centerline is valid? [True, True] Translation: X:104.51, Y:15.87, Z:0.21 [[ 9.46689938e-01 -3.22145597e-01 -6.13085566e-04 1.04507820e+02] [ 3.22145519e-01 9.46690136e-01 -2.24901781e-04 1.58681702e+01] [ 6.52853177e-04 1.54094848e-05 9.99999787e-01 2.11149242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600281693 meters 0.02967482515844415 Centerline is valid? [True, True] Translation: X:104.53, Y:15.88, Z:0.21 [[ 9.46386994e-01 -3.23031433e-01 -1.53319016e-03 1.04533859e+02] [ 3.23030945e-01 9.46388235e-01 -5.62617111e-04 1.58811123e+01] [ 1.63273615e-03 3.71856487e-05 9.99998666e-01 2.09365938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630281693 meters 0.02851865652346356 Centerline is valid? [True, True] Translation: X:104.56, Y:15.90, Z:0.21 [[ 9.45701934e-01 -3.25030044e-01 -1.82296404e-03 1.04558048e+02] [ 3.25029357e-01 9.45703690e-01 -6.69369139e-04 1.58958358e+01] [ 1.94154890e-03 4.05068592e-05 9.99998114e-01 2.09250524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660281693 meters 0.026388372413786883 Centerline is valid? [True, True] Translation: X:104.58, Y:15.91, Z:0.21 [[ 9.45144517e-01 -3.26650860e-01 -1.02792345e-03 1.04584952e+02] [ 3.26650643e-01 9.45145076e-01 -3.77353937e-04 1.59053942e+01] [ 1.09479977e-03 2.08821494e-05 9.99999400e-01 2.10073534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690281693 meters 0.024741794515738966 Centerline is valid? [True, True] Translation: X:104.61, Y:15.92, Z:0.21 [[ 9.44460873e-01 -3.28623537e-01 -4.80424586e-04 1.04611110e+02] [ 3.28623489e-01 9.44460995e-01 -1.76436669e-04 1.59156337e+01] [ 5.11723525e-04 8.75872610e-06 9.99999869e-01 2.11746859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720281693 meters 0.021661909768073258 Centerline is valid? [True, True] Translation: X:104.64, Y:15.93, Z:0.21 [[ 9.42799967e-01 -3.33358997e-01 -4.06074536e-05 1.04636722e+02] [ 3.33358997e-01 9.42799968e-01 -1.47546907e-05 1.59260467e+01] [ 4.32033148e-05 3.73861855e-07 9.99999999e-01 2.11960779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750281693 meters 0.019278974570765158 Centerline is valid? [True, True] Translation: X:104.66, Y:15.93, Z:0.21 [[ 9.41939126e-01 -3.35783653e-01 1.45160027e-04 1.04664891e+02] [ 3.35783649e-01 9.41939137e-01 5.37108414e-05 1.59336786e+01] [-1.54767133e-04 -1.84997959e-06 9.99999988e-01 2.11597759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780281693 meters 0.01696368627113528 Centerline is valid? [True, True] Translation: X:104.69, Y:15.94, Z:0.21 [[ 9.40991507e-01 -3.38430156e-01 -1.14829732e-04 1.04693397e+02] [ 3.38430153e-01 9.40991514e-01 -4.19174130e-05 1.59394711e+01] [ 1.22239920e-04 5.82085888e-07 9.99999993e-01 2.10682057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81028169300001 meters 0.014544757030970462 Centerline is valid? [True, True] Translation: X:104.72, Y:15.94, Z:0.21 [[ 9.38985374e-01 -3.43955475e-01 -1.04859005e-03 1.04722371e+02] [ 3.43955259e-01 9.38985959e-01 -3.85684975e-04 1.59431141e+01] [ 1.11726979e-03 1.48448855e-06 9.99999376e-01 2.09378999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.840281693 meters 0.014444290568414096 Centerline is valid? [True, True] Translation: X:104.75, Y:15.95, Z:0.21 [[ 9.37950273e-01 -3.46767346e-01 -1.30112101e-03 1.04749250e+02] [ 3.46767015e-01 9.37951176e-01 -4.78871241e-04 1.59507775e+01] [ 1.38644489e-03 -2.02843641e-06 9.99999039e-01 2.09015204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.870281693 meters 0.015288059332353242 Centerline is valid? [True, True] Translation: X:104.78, Y:15.96, Z:0.21 [[ 9.36904794e-01 -3.49582844e-01 -1.11495343e-03 1.04776861e+02] [ 3.49582602e-01 9.36905457e-01 -4.10635220e-04 1.59571164e+01] [ 1.18815698e-03 -5.04221636e-06 9.99999294e-01 2.09294333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900281693 meters 0.01918868066046165 Centerline is valid? [True, True] Translation: X:104.81, Y:15.96, Z:0.21 [[ 9.34551557e-01 -3.55827333e-01 -5.44813553e-04 1.04807515e+02] [ 3.55827277e-01 9.34551715e-01 -2.00628039e-04 1.59556642e+01] [ 5.80545381e-04 -6.36227655e-06 9.99999831e-01 2.09805977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930281693 meters 0.02089840212115412 Centerline is valid? [True, True] Translation: X:104.84, Y:15.96, Z:0.21 [[ 9.33283934e-01 -3.59138919e-01 -5.78950147e-04 1.04836164e+02] [ 3.59138856e-01 9.33284114e-01 -2.13085909e-04 1.59611865e+01] [ 6.16852418e-04 -9.05383778e-06 9.99999810e-01 2.10068734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960281693 meters 0.025729833158082156 Centerline is valid? [True, True] Translation: X:104.87, Y:15.96, Z:0.21 [[ 9.32079929e-01 -3.62252287e-01 -5.35916106e-04 1.04865297e+02] [ 3.62252233e-01 9.32080083e-01 -1.97480097e-04 1.59621263e+01] [ 5.71054345e-04 -1.00695718e-05 9.99999837e-01 2.09901234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990281693 meters 0.03234273215164543 Centerline is valid? [True, True] Translation: X:104.90, Y:15.96, Z:0.21 [[ 9.29880492e-01 -3.67861754e-01 1.73009985e-05 1.04897536e+02] [ 3.67861754e-01 9.29880492e-01 6.42046369e-06 1.59590611e+01] [-1.84497040e-05 3.94111700e-07 1.00000000e+00 2.11289367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020281693 meters 0.03295762666141834 Centerline is valid? [True, True] Translation: X:104.93, Y:15.97, Z:0.21 [[ 9.29050265e-01 -3.69953514e-01 -5.47625914e-05 1.04926362e+02] [ 3.69953514e-01 9.29050266e-01 -2.01242391e-05 1.59651722e+01] [ 5.83222331e-05 -1.56318341e-06 9.99999998e-01 2.10761805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050281693 meters 0.03813805321852614 Centerline is valid? [True, True] Translation: X:104.96, Y:15.96, Z:0.21 [[ 9.28174567e-01 -3.72144479e-01 -6.78656585e-04 1.04957946e+02] [ 3.72144396e-01 9.28174814e-01 -2.50213663e-04 1.59609709e+01] [ 7.23027584e-04 -2.03162865e-05 9.99999738e-01 2.10253833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080281693 meters 0.038981188354816364 Centerline is valid? [True, True] Translation: X:104.99, Y:15.97, Z:0.21 [[ 9.27922949e-01 -3.72770497e-01 -1.07574412e-03 1.04986681e+02] [ 3.72770288e-01 9.27923572e-01 -3.96634997e-04 1.59660876e+01] [ 1.14606215e-03 -3.29587278e-05 9.99999343e-01 2.10158428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110281693 meters 0.03441262227882811 Centerline is valid? [True, True] Translation: X:105.01, Y:15.98, Z:0.21 [[ 9.27864890e-01 -3.72914204e-01 -1.32025689e-03 1.05012316e+02] [ 3.72913888e-01 9.27865828e-01 -4.87062164e-04 1.59773050e+01] [ 1.40665366e-03 -4.04142504e-05 9.99999010e-01 2.09789171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140281693 meters 0.03386027791418116 Centerline is valid? [True, True] Translation: X:105.04, Y:15.98, Z:0.21 [[ 9.27958380e-01 -3.72681723e-01 -1.25660849e-03 1.05040915e+02] [ 3.72681436e-01 9.27959230e-01 -4.63840074e-04 1.59840727e+01] [ 1.33894617e-03 -3.78903732e-05 9.99999103e-01 2.09979625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170281693 meters 0.03281766444966969 Centerline is valid? [True, True] Translation: X:105.07, Y:15.99, Z:0.21 [[ 9.29023996e-01 -3.70017856e-01 -1.09611528e-03 1.05069867e+02] [ 3.70017636e-01 9.29024642e-01 -4.04863776e-04 1.59870404e+01] [ 1.16812493e-03 -2.94538217e-05 9.99999317e-01 2.10032400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.200281693 meters 0.03241084383821077 Centerline is valid? [True, True] Translation: X:105.10, Y:15.99, Z:0.21 [[ 9.30113927e-01 -3.67269573e-01 -1.06924015e-03 1.05097302e+02] [ 3.67269361e-01 9.30114541e-01 -3.94963303e-04 1.59934100e+01] [ 1.13957381e-03 -2.53382768e-05 9.99999350e-01 2.10406226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.230281693 meters 0.023037918206636223 Centerline is valid? [True, True] Translation: X:105.12, Y:16.01, Z:0.21 [[ 9.32873223e-01 -3.60204612e-01 -4.32999412e-04 1.05122487e+02] [ 3.60204576e-01 9.32873324e-01 -1.59978482e-04 1.60105987e+01] [ 4.61558587e-04 -6.72872715e-06 9.99999893e-01 2.12858713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260281693 meters 0.018997882190821293 Centerline is valid? [True, True] Translation: X:105.15, Y:16.03, Z:0.21 [[ 9.34194029e-01 -3.56765352e-01 1.34881241e-05 1.05148031e+02] [ 3.56765352e-01 9.34194029e-01 5.29859273e-06 1.60257386e+01] [-1.44908793e-05 -1.37818341e-07 1.00000000e+00 2.14133215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290281693 meters 0.016463102916661223 Centerline is valid? [True, True] Translation: X:105.17, Y:16.04, Z:0.21 [[ 9.35340584e-01 -3.53747955e-01 6.13759417e-04 1.05173722e+02] [ 3.53747882e-01 9.35340785e-01 2.27345388e-04 1.60392154e+01] [-6.54497181e-04 4.47072500e-06 9.99999786e-01 2.14609788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320281693 meters 0.01429898154895659 Centerline is valid? [True, True] Translation: X:105.20, Y:16.05, Z:0.21 [[ 9.37325750e-01 -3.48453797e-01 6.23905357e-04 1.05198702e+02] [ 3.48453720e-01 9.37325958e-01 2.31193628e-04 1.60536614e+01] [-6.65362984e-04 6.98401996e-07 9.99999779e-01 2.14649801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350281693 meters 0.014171621913879285 Centerline is valid? [True, True] Translation: X:105.22, Y:16.06, Z:0.21 [[ 9.38121376e-01 -3.46305845e-01 7.38143103e-04 1.05223354e+02] [ 3.46305737e-01 9.38121667e-01 2.73383734e-04 1.60646424e+01] [-7.87142423e-04 -8.43933533e-07 9.99999690e-01 2.14949614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380281693 meters 0.014467857795485775 Centerline is valid? [True, True] Translation: X:105.25, Y:16.08, Z:0.22 [[ 9.38667011e-01 -3.44823620e-01 9.55778076e-04 1.05249450e+02] [ 3.44823438e-01 9.38667498e-01 3.54362673e-04 1.60759465e+01] [-1.01935043e-03 -3.05386952e-06 9.99999480e-01 2.15007716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410281693 meters 0.014915984389540626 Centerline is valid? [True, True] Translation: X:105.27, Y:16.09, Z:0.22 [[ 9.39155342e-01 -3.43490226e-01 1.30734377e-03 1.05274822e+02] [ 3.43489884e-01 9.39156252e-01 4.84481011e-04 1.60876577e+01] [-1.39421456e-03 -5.94357008e-06 9.99999028e-01 2.15760508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440281693 meters 0.016152468492723452 Centerline is valid? [True, True] Translation: X:105.30, Y:16.10, Z:0.22 [[ 9.40020035e-01 -3.41118097e-01 8.81659297e-04 1.05300544e+02] [ 3.41117940e-01 9.40020449e-01 3.27110497e-04 1.61017999e+01] [-9.40361078e-04 -6.74061786e-06 9.99999558e-01 2.15660600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470281693 meters 0.018877665568720666 Centerline is valid? [True, True] Translation: X:105.32, Y:16.12, Z:0.21 [[ 9.41144354e-01 -3.38004084e-01 -7.36972900e-04 1.05323356e+02] [ 3.38003974e-01 9.41144643e-01 -2.73067078e-04 1.61195102e+01] [ 7.85895885e-04 7.89576989e-06 9.99999691e-01 2.13007837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500281693 meters 0.01964829601706987 Centerline is valid? [True, True] Translation: X:105.35, Y:16.13, Z:0.21 [[ 9.41595794e-01 -3.36744340e-01 -7.81200350e-04 1.05349186e+02] [ 3.36744216e-01 9.41596118e-01 -2.89397617e-04 1.61329998e+01] [ 8.33028227e-04 9.43088021e-06 9.99999653e-01 2.12909541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530281693 meters 0.02047620519925614 Centerline is valid? [True, True] Translation: X:105.37, Y:16.15, Z:0.21 [[ 9.41890801e-01 -3.35919144e-01 -2.18712660e-04 1.05373574e+02] [ 3.35919134e-01 9.41890826e-01 -8.10035482e-05 1.61463999e+01] [ 2.33214091e-04 2.82672934e-06 9.99999973e-01 2.13218878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56028169300001 meters 0.018688310939746308 Centerline is valid? [True, True] Translation: X:105.40, Y:16.16, Z:0.22 [[ 9.41266334e-01 -3.37662314e-01 1.35982341e-03 1.05400434e+02] [ 3.37661937e-01 9.41267317e-01 5.05006571e-04 1.61566086e+01] [-1.45047902e-03 -1.61850760e-05 9.99998948e-01 2.16300614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.590281693 meters 0.016851625160271257 Centerline is valid? [True, True] Translation: X:105.43, Y:16.16, Z:0.22 [[ 9.40358722e-01 -3.40181625e-01 1.39143744e-03 1.05427922e+02] [ 3.40181232e-01 9.40359751e-01 5.16605163e-04 1.61636936e+01] [-1.48419135e-03 -1.24532692e-05 9.99998899e-01 2.16524602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.620281693 meters 0.01496388372277279 Centerline is valid? [True, True] Translation: X:105.46, Y:16.17, Z:0.21 [[ 9.39094296e-01 -3.43659447e-01 2.94940941e-04 1.05457330e+02] [ 3.43659430e-01 9.39094343e-01 1.09852487e-04 1.61687409e+01] [-3.14729214e-04 -1.80260817e-06 9.99999950e-01 2.14648435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650281693 meters 0.01457711008507926 Centerline is valid? [True, True] Translation: X:105.49, Y:16.16, Z:0.21 [[ 9.36094223e-01 -3.51748997e-01 -4.99684058e-04 1.05488516e+02] [ 3.51748948e-01 9.36094356e-01 -1.85272334e-04 1.61646024e+01] [ 5.32920784e-04 -2.33098066e-06 9.99999858e-01 2.12685922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680281693 meters 0.01638678494155111 Centerline is valid? [True, True] Translation: X:105.52, Y:16.17, Z:0.21 [[ 9.34607922e-01 -3.55679302e-01 5.16423440e-04 1.05517878e+02] [ 3.55679250e-01 9.34608064e-01 1.92335385e-04 1.61682271e+01] [-5.51063228e-04 3.92292704e-06 9.99999848e-01 2.13844416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710281693 meters 0.020385766365454253 Centerline is valid? [True, True] Translation: X:105.55, Y:16.17, Z:0.22 [[ 9.32666325e-01 -3.60736000e-01 1.75080192e-03 1.05548209e+02] [ 3.60735413e-01 9.32667968e-01 6.51068434e-04 1.61677597e+01] [-1.86778069e-03 2.43466500e-05 9.99998255e-01 2.16337824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740281693 meters 0.02258849397210415 Centerline is valid? [True, True] Translation: X:105.58, Y:16.17, Z:0.22 [[ 9.32029993e-01 -3.62378425e-01 1.40305540e-03 1.05575877e+02] [ 3.62378050e-01 9.32031049e-01 5.22048264e-04 1.61717582e+01] [-1.49687022e-03 2.18718383e-05 9.99998879e-01 2.16742390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770281693 meters 0.022985695777419386 Centerline is valid? [True, True] Translation: X:105.60, Y:16.18, Z:0.21 [[ 9.31471204e-01 -3.63814789e-01 4.41754260e-04 1.05603825e+02] [ 3.63814752e-01 9.31471309e-01 1.64721271e-04 1.61786454e+01] [-4.71409453e-04 7.28359542e-06 9.99999889e-01 2.14558579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800281693 meters 0.022985695777419386 Centerline is valid? [True, True] Translation: X:105.63, Y:16.19, Z:0.21 [[ 9.31404398e-01 -3.63985786e-01 4.41707888e-04 1.05629515e+02] [ 3.63985749e-01 9.31404503e-01 1.64845773e-04 1.61884031e+01] [-4.71410233e-04 7.23729867e-06 9.99999889e-01 2.14613275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830281693 meters 0.02452033027669534 Centerline is valid? [True, True] Translation: X:105.66, Y:16.19, Z:0.21 [[ 9.30878435e-01 -3.65326664e-01 -1.32963875e-03 1.05658847e+02] [ 3.65326329e-01 9.30879384e-01 -4.95014117e-04 1.61907787e+01] [ 1.41857515e-03 -2.49540753e-05 9.99998994e-01 2.11485149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860281693 meters 0.025178424358502864 Centerline is valid? [True, True] Translation: X:105.69, Y:16.20, Z:0.21 [[ 9.30622079e-01 -3.65978669e-01 -1.46937878e-03 1.05686717e+02] [ 3.65978262e-01 9.30623239e-01 -5.47100288e-04 1.61975345e+01] [ 1.56766507e-03 -2.86170840e-05 9.99998771e-01 2.10750084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890281693 meters 0.026701531781172367 Centerline is valid? [True, True] Translation: X:105.72, Y:16.20, Z:0.21 [[ 9.30280116e-01 -3.66847484e-01 -1.35243324e-03 1.05715253e+02] [ 3.66847139e-01 9.30281099e-01 -5.03836412e-04 1.62001779e+01] [ 1.44297420e-03 -2.74272705e-05 9.99998959e-01 2.09851388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920281693 meters 0.027448666486056955 Centerline is valid? [True, True] Translation: X:105.74, Y:16.21, Z:0.21 [[ 9.30199617e-01 -3.67048971e-01 -1.92981374e-03 1.05742669e+02] [ 3.67048269e-01 9.30201618e-01 -7.19109735e-04 1.62069299e+01] [ 2.05906436e-03 -3.94191938e-05 9.99997879e-01 2.09406502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.950281693 meters 0.02875412764904521 Centerline is valid? [True, True] Translation: X:105.77, Y:16.21, Z:0.21 [[ 9.30124634e-01 -3.67234172e-01 -2.68855435e-03 1.05770244e+02] [ 3.67232809e-01 9.30128518e-01 -1.00205768e-03 1.62136700e+01] [ 2.86869090e-03 -5.52868291e-05 9.99995884e-01 2.08428695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.980281693 meters 0.02736825651940102 Centerline is valid? [True, True] Translation: X:105.80, Y:16.22, Z:0.21 [[ 9.30659829e-01 -3.65875437e-01 -2.72884748e-03 1.05796235e+02] [ 3.65874027e-01 9.30663828e-01 -1.01724710e-03 1.62233204e+01] [ 2.91182537e-03 -5.17034004e-05 9.99995759e-01 2.09366696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010281693 meters 0.023742094379916708 Centerline is valid? [True, True] Translation: X:105.82, Y:16.24, Z:0.21 [[ 9.31291616e-01 -3.64269384e-01 -1.93437092e-03 1.05821055e+02] [ 3.64268671e-01 9.31293624e-01 -7.21178715e-04 1.62381490e+01] [ 2.06417063e-03 -3.30030356e-05 9.99997869e-01 2.11650528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040281693 meters 0.018836890743702144 Centerline is valid? [True, True] Translation: X:105.84, Y:16.26, Z:0.21 [[ 9.33401469e-01 -3.58832768e-01 -8.61529540e-04 1.05844194e+02] [ 3.58832625e-01 9.33401866e-01 -3.21305358e-04 1.62580288e+01] [ 9.19448171e-04 -9.23801267e-06 9.99999577e-01 2.12727867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070281693 meters 0.01625124128243061 Centerline is valid? [True, True] Translation: X:105.87, Y:16.28, Z:0.21 [[ 9.34729384e-01 -3.55358115e-01 -1.26095805e-03 1.05868873e+02] [ 3.55357803e-01 9.34730234e-01 -4.70366512e-04 1.62756642e+01] [ 1.34580417e-03 -8.42588183e-06 9.99999094e-01 2.11861598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100281693 meters 0.014470322060528411 Centerline is valid? [True, True] Translation: X:105.89, Y:16.29, Z:0.21 [[ 9.36025399e-01 -3.51929948e-01 -1.32820112e-03 1.05892724e+02] [ 3.51929599e-01 9.36026341e-01 -4.95402930e-04 1.62938754e+01] [ 1.41757836e-03 -3.72356298e-06 9.99998995e-01 2.11585650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130281693 meters 0.015755449654067114 Centerline is valid? [True, True] Translation: X:105.91, Y:16.32, Z:0.21 [[ 9.38670499e-01 -3.44811973e-01 -1.54848566e-03 1.05912017e+02] [ 3.44811489e-01 9.38671776e-01 -5.77935991e-04 1.63207203e+01] [ 1.65279903e-03 8.55582040e-06 9.99998634e-01 2.12255639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160281693 meters 0.017828567703175972 Centerline is valid? [True, True] Translation: X:105.94, Y:16.34, Z:0.21 [[ 9.39652617e-01 -3.42126662e-01 -1.51879175e-03 1.05936165e+02] [ 3.42126192e-01 9.39653844e-01 -5.66909592e-04 1.63390417e+01] [ 1.62109339e-03 1.30796426e-05 9.99998686e-01 2.11718378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190281693 meters 0.01954169721096619 Centerline is valid? [True, True] Translation: X:105.96, Y:16.36, Z:0.21 [[ 9.40298448e-01 -3.40346392e-01 -1.77806716e-03 1.05961145e+02] [ 3.40345745e-01 9.40300129e-01 -6.64051774e-04 1.63557667e+01] [ 1.89792440e-03 1.92492615e-05 9.99998199e-01 2.11518622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220281693 meters 0.020213582912759407 Centerline is valid? [True, True] Translation: X:105.99, Y:16.37, Z:0.21 [[ 9.40468619e-01 -3.39877496e-01 -1.43677980e-03 1.05985969e+02] [ 3.39877072e-01 9.40469716e-01 -5.36827366e-04 1.63696476e+01] [ 1.53370343e-03 1.65407794e-05 9.99998824e-01 2.11442904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250281693 meters 0.017064022110514013 Centerline is valid? [True, True] Translation: X:106.01, Y:16.38, Z:0.21 [[ 9.39661357e-01 -3.42106027e-01 -1.82268468e-05 1.06012937e+02] [ 3.42106027e-01 9.39661357e-01 -6.46306396e-06 1.63794468e+01] [ 1.93381167e-05 -1.62422679e-07 1.00000000e+00 2.13890171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280281693 meters 0.016245057361732443 Centerline is valid? [True, True] Translation: X:106.04, Y:16.39, Z:0.22 [[ 9.38800623e-01 -3.44459725e-01 9.41923952e-04 1.06038221e+02] [ 3.44459545e-01 9.38801096e-01 3.52466236e-04 1.63900272e+01] [-1.00568966e-03 -6.44082557e-06 9.99999494e-01 2.16379133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31028169300001 meters 0.014491042307031939 Centerline is valid? [True, True] Translation: X:106.07, Y:16.40, Z:0.22 [[ 9.37309525e-01 -3.48489228e-01 2.47217388e-03 1.06065151e+02] [ 3.48488001e-01 9.37312785e-01 9.24862944e-04 1.63979153e+01] [-2.63950496e-03 -5.35991316e-06 9.99996516e-01 2.19337206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.340281693 meters 0.014152204036370868 Centerline is valid? [True, True] Translation: X:106.09, Y:16.41, Z:0.22 [[ 9.36673783e-01 -3.50196785e-01 2.10609811e-03 1.06091601e+02] [ 3.50195897e-01 9.36676151e-01 7.88638526e-04 1.64072052e+01] [-2.24891055e-03 -1.15011390e-06 9.99997471e-01 2.17882388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.370281693 meters 0.014094527880787126 Centerline is valid? [True, True] Translation: X:106.12, Y:16.42, Z:0.21 [[ 9.36353154e-01 -3.51058929e-01 6.32319013e-04 1.06117784e+02] [ 3.51058849e-01 9.36353367e-01 2.37190581e-04 1.64181452e+01] [-6.75341908e-04 -1.12963590e-07 9.99999772e-01 2.14582582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400281693 meters 0.014372095691135997 Centerline is valid? [True, True] Translation: X:106.14, Y:16.43, Z:0.21 [[ 9.35760534e-01 -3.52627473e-01 -2.46753097e-03 1.06142598e+02] [ 3.52626263e-01 9.35763787e-01 -9.24106490e-04 1.64289297e+01] [ 2.63489146e-03 -5.37384115e-06 9.99996529e-01 2.07786771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430281693 meters 0.014748195795413883 Centerline is valid? [True, True] Translation: X:106.17, Y:16.44, Z:0.21 [[ 9.35226932e-01 -3.54038004e-01 -2.77074409e-03 1.06168820e+02] [ 3.54036482e-01 9.35231037e-01 -1.03794513e-03 1.64379885e+01] [ 2.95875789e-03 -1.02302513e-05 9.99995623e-01 2.07206877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460281693 meters 0.01519842951714831 Centerline is valid? [True, True] Translation: X:106.20, Y:16.45, Z:0.21 [[ 9.34605449e-01 -3.55677570e-01 -2.47405099e-03 1.06195741e+02] [ 3.55676362e-01 9.34608723e-01 -9.27080584e-04 1.64470454e+01] [ 2.64201141e-03 -1.35068926e-05 9.99996510e-01 2.07762029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490281693 meters 0.016210937276238728 Centerline is valid? [True, True] Translation: X:106.22, Y:16.45, Z:0.21 [[ 9.33785767e-01 -3.57830109e-01 -1.32487926e-03 1.06222548e+02] [ 3.57829764e-01 9.33786706e-01 -4.96612429e-04 1.64541174e+01] [ 1.41485752e-03 -1.03516172e-05 9.99998999e-01 2.09699922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520281693 meters 0.01780454415372304 Centerline is valid? [True, True] Translation: X:106.25, Y:16.46, Z:0.21 [[ 9.33590979e-01 -3.58337814e-01 -1.37653103e-03 1.06249986e+02] [ 3.58337442e-01 9.33591994e-01 -5.16069806e-04 1.64613555e+01] [ 1.47004567e-03 -1.14644926e-05 9.99998919e-01 2.09918180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550281693 meters 0.016929851059301095 Centerline is valid? [True, True] Translation: X:106.28, Y:16.47, Z:0.21 [[ 9.33211846e-01 -3.59321466e-01 -1.93247742e-03 1.06275390e+02] [ 3.59320736e-01 9.33213847e-01 -7.24681297e-04 1.64748831e+01] [ 2.06380823e-03 -1.80980374e-05 9.99997870e-01 2.09757824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580281693 meters 0.01740387962581909 Centerline is valid? [True, True] Translation: X:106.30, Y:16.48, Z:0.21 [[ 9.32935125e-01 -3.60041211e-01 -1.54213966e-03 1.06301700e+02] [ 3.60040746e-01 9.32936400e-01 -5.78563056e-04 1.64839469e+01] [ 1.64702476e-03 -1.54713164e-05 9.99998644e-01 2.10029953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610281693 meters 0.01870014904039275 Centerline is valid? [True, True] Translation: X:106.33, Y:16.49, Z:0.21 [[ 9.32598607e-01 -3.60913807e-01 -1.03051662e-03 1.06328535e+02] [ 3.60913600e-01 9.32599176e-01 -3.86618478e-04 1.64913694e+01] [ 1.10059490e-03 -1.13676108e-05 9.99999394e-01 2.10944492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640281693 meters 0.019767579250157413 Centerline is valid? [True, True] Translation: X:106.36, Y:16.50, Z:0.21 [[ 9.31468878e-01 -3.63820694e-01 -4.81188043e-04 1.06356829e+02] [ 3.63820649e-01 9.31469003e-01 -1.80353060e-04 1.64988555e+01] [ 5.13827922e-04 -7.07288394e-06 9.99999868e-01 2.11718693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670281693 meters 0.021867964456685308 Centerline is valid? [True, True] Translation: X:106.38, Y:16.51, Z:0.21 [[ 9.30788563e-01 -3.65556432e-01 -1.07028754e-03 1.06384520e+02] [ 3.65556211e-01 9.30789179e-01 -4.01879974e-04 1.65051829e+01] [ 1.14312187e-03 -1.71849762e-05 9.99999346e-01 2.10202433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.700281693 meters 0.02554733590932798 Centerline is valid? [True, True] Translation: X:106.41, Y:16.51, Z:0.21 [[ 9.29372809e-01 -3.69134926e-01 -2.36407640e-03 1.06414543e+02] [ 3.69133861e-01 9.29375814e-01 -8.87977678e-04 1.65082318e+01] [ 2.52489900e-03 -4.73983418e-05 9.99996811e-01 2.08008570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.730281693 meters 0.027627288935237197 Centerline is valid? [True, True] Translation: X:106.44, Y:16.51, Z:0.21 [[ 9.28459413e-01 -3.71426504e-01 -2.33909926e-03 1.06442721e+02] [ 3.71425468e-01 9.28462357e-01 -8.78755104e-04 1.65142125e+01] [ 2.49815855e-03 -5.29125910e-05 9.99996878e-01 2.08213628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760281693 meters 0.029564386525164767 Centerline is valid? [True, True] Translation: X:106.47, Y:16.52, Z:0.21 [[ 9.27693873e-01 -3.73334884e-01 -2.26753942e-03 1.06471469e+02] [ 3.73333916e-01 9.27696643e-01 -8.52274576e-04 1.65205609e+01] [ 2.42177254e-03 -5.58994700e-05 9.99997066e-01 2.08687943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790281693 meters 0.03195083789283978 Centerline is valid? [True, True] Translation: X:106.50, Y:16.52, Z:0.21 [[ 9.26915549e-01 -3.75264802e-01 -1.97316521e-03 1.06499044e+02] [ 3.75264073e-01 9.26917648e-01 -7.41934049e-04 1.65246959e+01] [ 2.10738339e-03 -5.27478074e-05 9.99997778e-01 2.09011981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820281693 meters 0.03167419682669019 Centerline is valid? [True, True] Translation: X:106.53, Y:16.53, Z:0.21 [[ 9.26862641e-01 -3.75396639e-01 -1.73419449e-03 1.06525254e+02] [ 3.75396076e-01 9.26864263e-01 -6.52178123e-04 1.65330703e+01] [ 1.85218837e-03 -4.65302669e-05 9.99998284e-01 2.09204876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850281693 meters 0.032086608615364276 Centerline is valid? [True, True] Translation: X:106.55, Y:16.54, Z:0.21 [[ 9.27074413e-01 -3.74876606e-01 -7.50333783e-04 1.06553396e+02] [ 3.74876500e-01 9.27074717e-01 -2.82238534e-04 1.65371485e+01] [ 8.01420103e-04 -1.96263793e-05 9.99999679e-01 2.11387523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880281693 meters 0.030682644125773834 Centerline is valid? [True, True] Translation: X:106.58, Y:16.55, Z:0.21 [[ 9.26945882e-01 -3.75194989e-01 -2.28122803e-04 1.06580251e+02] [ 3.75194979e-01 9.26945910e-01 -8.55634480e-05 1.65467967e+01] [ 2.43560476e-04 -6.27784459e-06 9.99999970e-01 2.12492760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910281693 meters 0.03311446774762237 Centerline is valid? [True, True] Translation: X:106.61, Y:16.55, Z:0.21 [[ 9.26664855e-01 -3.75888166e-01 5.77422603e-04 1.06608541e+02] [ 3.75888104e-01 9.26665035e-01 2.17600173e-04 1.65508480e+01] [-6.16870666e-04 1.54038544e-05 9.99999810e-01 2.13691992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940281693 meters 0.03370739418300105 Centerline is valid? [True, True] Translation: X:106.64, Y:16.55, Z:0.21 [[ 9.25801899e-01 -3.78007931e-01 9.21032213e-04 1.06639744e+02] [ 3.78007772e-01 9.25802357e-01 3.46967787e-04 1.65519815e+01] [-9.83850369e-04 2.69338987e-05 9.99999516e-01 2.13694065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970281693 meters 0.03518779185426346 Centerline is valid? [True, True] Translation: X:106.67, Y:16.55, Z:0.21 [[ 9.25579289e-01 -3.78553361e-01 5.76601407e-04 1.06667972e+02] [ 3.78553299e-01 9.25579469e-01 2.17421479e-04 1.65548653e+01] [-6.15996055e-04 1.70335464e-05 9.99999810e-01 2.12924191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000281693 meters 0.02952179171056711 Centerline is valid? [True, True] Translation: X:106.69, Y:16.57, Z:0.21 [[ 9.26579541e-01 -3.76098804e-01 -2.09691820e-04 1.06694306e+02] [ 3.76098796e-01 9.26579565e-01 -7.89137239e-05 1.65658964e+01] [ 2.23975513e-04 -5.74499900e-06 9.99999975e-01 2.12486243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030281693 meters 0.029538762220008688 Centerline is valid? [True, True] Translation: X:106.72, Y:16.57, Z:0.21 [[ 9.27991663e-01 -3.72600842e-01 -2.93770568e-04 1.06722257e+02] [ 3.72600826e-01 9.27991709e-01 -1.10654724e-04 1.65741647e+01] [ 3.13846695e-04 -6.77249547e-06 9.99999951e-01 2.12871077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06028169300001 meters 0.024605814540046105 Centerline is valid? [True, True] Translation: X:106.75, Y:16.59, Z:0.21 [[ 9.29659165e-01 -3.68419902e-01 -7.82816701e-04 1.06747355e+02] [ 3.68419785e-01 9.29659494e-01 -2.94963041e-04 1.65903248e+01] [ 8.36423233e-04 -1.41900662e-05 9.99999650e-01 2.13026898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.090281693 meters 0.015949847667354942 Centerline is valid? [True, True] Translation: X:106.77, Y:16.61, Z:0.21 [[ 9.33658463e-01 -3.58163458e-01 -9.01298189e-04 1.06768338e+02] [ 3.58163297e-01 9.33658898e-01 -3.39643258e-04 1.66149874e+01] [ 9.63152878e-04 -5.70112850e-06 9.99999536e-01 2.12958638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.120281693 meters 0.014343842834197165 Centerline is valid? [True, True] Translation: X:106.79, Y:16.63, Z:0.21 [[ 9.35374757e-01 -3.53657253e-01 -7.82273720e-04 1.06791665e+02] [ 3.53657130e-01 9.35375084e-01 -2.94654282e-04 1.66333290e+01] [ 8.35925971e-04 -1.04450121e-06 9.99999651e-01 2.13159587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150281693 meters 0.01624255230838095 Centerline is valid? [True, True] Translation: X:106.81, Y:16.66, Z:0.21 [[ 9.37844120e-01 -3.47056774e-01 4.98625340e-05 1.06813504e+02] [ 3.47056773e-01 9.37844121e-01 1.91408152e-05 1.66576964e+01] [-5.34062339e-05 -6.45970799e-07 9.99999999e-01 2.14090634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180281693 meters 0.01675256039805616 Centerline is valid? [True, True] Translation: X:106.84, Y:16.67, Z:0.21 [[ 9.38338878e-01 -3.45716741e-01 2.92660820e-04 1.06839339e+02] [ 3.45716723e-01 9.38338923e-01 1.10818189e-04 1.66711322e+01] [-3.12926742e-04 -2.80727548e-06 9.99999951e-01 2.13787688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210281693 meters 0.01702233942957301 Centerline is valid? [True, True] Translation: X:106.86, Y:16.69, Z:0.21 [[ 9.38377699e-01 -3.45610981e-01 -5.86161967e-04 1.06862895e+02] [ 3.45610911e-01 9.38377882e-01 -2.21059807e-04 1.66865408e+01] [ 6.26442122e-04 4.85362189e-06 9.99999804e-01 2.12187287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240281693 meters 0.016777854773072455 Centerline is valid? [True, True] Translation: X:106.89, Y:16.70, Z:0.21 [[ 9.37990544e-01 -3.46657215e-01 -1.58565300e-03 1.06887745e+02] [ 3.46656698e-01 9.37991884e-01 -5.98726192e-04 1.66987036e+01] [ 1.69488240e-03 1.19222737e-05 9.99998564e-01 2.10741042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270281693 meters 0.01569833900796576 Centerline is valid? [True, True] Translation: X:106.91, Y:16.71, Z:0.21 [[ 9.37397587e-01 -3.48255724e-01 -1.92726956e-03 1.06914364e+02] [ 3.48254964e-01 9.37399568e-01 -7.27878509e-04 1.67089458e+01] [ 2.06010951e-03 1.11303673e-05 9.99997878e-01 2.09306304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300281693 meters 0.014957357044659328 Centerline is valid? [True, True] Translation: X:106.94, Y:16.72, Z:0.21 [[ 9.36796524e-01 -3.49869949e-01 -1.81421305e-03 1.06941271e+02] [ 3.49869278e-01 9.36798281e-01 -6.85486114e-04 1.67192796e+01] [ 1.93938265e-03 7.42360068e-06 9.99998119e-01 2.09637877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330281693 meters 0.01420466335763048 Centerline is valid? [True, True] Translation: X:106.97, Y:16.73, Z:0.21 [[ 9.35699042e-01 -3.52797274e-01 -1.17722881e-03 1.06966820e+02] [ 3.52796994e-01 9.35699783e-01 -4.44878113e-04 1.67296510e+01] [ 1.25848453e-03 9.49237579e-07 9.99999208e-01 2.10273550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360281693 meters 0.014120826757256937 Centerline is valid? [True, True] Translation: X:106.99, Y:16.74, Z:0.21 [[ 9.35147081e-01 -3.54256984e-01 -1.38793530e-03 1.06991525e+02] [ 3.54256595e-01 9.35148111e-01 -5.24929329e-04 1.67397625e+01] [ 1.48388496e-03 -7.99103952e-07 9.99998899e-01 2.10203416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390281693 meters 0.01473078673640932 Centerline is valid? [True, True] Translation: X:107.02, Y:16.75, Z:0.21 [[ 9.33986373e-01 -3.57299843e-01 -2.50545560e-03 1.07018452e+02] [ 3.57298586e-01 9.33989733e-01 -9.48021145e-04 1.67489644e+01] [ 2.67879762e-03 -9.75691232e-06 9.99996412e-01 2.06917383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420281693 meters 0.015368408903237778 Centerline is valid? [True, True] Translation: X:107.04, Y:16.76, Z:0.21 [[ 9.33418219e-01 -3.58776607e-01 -3.12657836e-03 1.07044903e+02] [ 3.58774655e-01 9.33423455e-01 -1.18358189e-03 1.67565081e+01] [ 3.34306306e-03 -1.69601759e-05 9.99994412e-01 2.05395837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.450281693 meters 0.016221795122142692 Centerline is valid? [True, True] Translation: X:107.07, Y:16.76, Z:0.21 [[ 9.32584880e-01 -3.60937342e-01 -3.11074129e-03 1.07072960e+02] [ 3.60935421e-01 9.32590068e-01 -1.17795605e-03 1.67642911e+01] [ 3.32621476e-03 -2.42327145e-05 9.99994468e-01 2.05482757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.480281693 meters 0.019795213899855522 Centerline is valid? [True, True] Translation: X:107.10, Y:16.77, Z:0.21 [[ 9.30809148e-01 -3.65490559e-01 -3.31395626e-03 1.07101944e+02] [ 3.65488405e-01 9.30815046e-01 -1.25539044e-03 1.67663226e+01] [ 3.54351370e-03 -4.26836815e-05 9.99993721e-01 2.05585767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510281693 meters 0.0226037334609488 Centerline is valid? [True, True] Translation: X:107.13, Y:16.77, Z:0.21 [[ 9.29813215e-01 -3.68019257e-01 -3.03509157e-03 1.07130297e+02] [ 3.68017463e-01 9.29818167e-01 -1.14998338e-03 1.67709545e+01] [ 3.24529930e-03 -4.76969590e-05 9.99994733e-01 2.05586517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540281693 meters 0.024634366129459344 Centerline is valid? [True, True] Translation: X:107.16, Y:16.78, Z:0.21 [[ 9.29060781e-01 -3.69917691e-01 -2.63955048e-03 1.07158320e+02] [ 3.69916341e-01 9.29064529e-01 -1.00032383e-03 1.67761401e+01] [ 2.82235021e-03 -4.70512150e-05 9.99996016e-01 2.06418731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570281693 meters 0.025430484703639875 Centerline is valid? [True, True] Translation: X:107.19, Y:16.78, Z:0.21 [[ 9.28329798e-01 -3.71755096e-01 -1.39107814e-03 1.07186940e+02] [ 3.71754723e-01 9.28330840e-01 -5.27197016e-04 1.67823496e+01] [ 1.48736891e-03 -2.77271699e-05 9.99998893e-01 2.08448727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600281693 meters 0.025422396246923138 Centerline is valid? [True, True] Translation: X:107.21, Y:16.79, Z:0.21 [[ 9.28261406e-01 -3.71926287e-01 -1.26435494e-03 1.07213410e+02] [ 3.71925979e-01 9.28262267e-01 -4.79223165e-04 1.67916322e+01] [ 1.35188868e-03 -2.54020819e-05 9.99999086e-01 2.08669929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630281693 meters 0.02534492744766049 Centerline is valid? [True, True] Translation: X:107.24, Y:16.80, Z:0.21 [[ 9.28209714e-01 -3.72055235e-01 -1.27653747e-03 1.07239895e+02] [ 3.72054921e-01 9.28210591e-01 -4.84115062e-04 1.68015726e+01] [ 1.36501315e-03 -2.55817465e-05 9.99999068e-01 2.08640177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660281693 meters 0.025661411260338583 Centerline is valid? [True, True] Translation: X:107.27, Y:16.81, Z:0.21 [[ 9.28554077e-01 -3.71194779e-01 -1.32719671e-03 1.07266581e+02] [ 3.71194438e-01 9.28555025e-01 -5.03700114e-04 1.68109162e+01] [ 1.41934603e-03 -2.49352418e-05 9.99998992e-01 2.08313813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690281693 meters 0.02383526490385075 Centerline is valid? [True, True] Translation: X:107.29, Y:16.82, Z:0.21 [[ 9.28609396e-01 -3.71056321e-01 -1.33989867e-03 1.07291561e+02] [ 3.71055974e-01 9.28610363e-01 -5.08532617e-04 1.68240042e+01] [ 1.43293803e-03 -2.49492383e-05 9.99998973e-01 2.08254257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720281693 meters 0.022254743044915835 Centerline is valid? [True, True] Translation: X:107.32, Y:16.84, Z:0.21 [[ 9.29162072e-01 -3.69666893e-01 -2.05721554e-03 1.07316606e+02] [ 3.69666069e-01 9.29164349e-01 -7.81423074e-04 1.68384123e+01] [ 2.20035758e-03 -3.44140983e-05 9.99997579e-01 2.08030089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750281693 meters 0.022254743044915835 Centerline is valid? [True, True] Translation: X:107.34, Y:16.85, Z:0.21 [[ 9.29093025e-01 -3.69840397e-01 -2.05708596e-03 1.07342227e+02] [ 3.69839573e-01 9.29095302e-01 -7.81764050e-04 1.68483445e+01] [ 2.20035683e-03 -3.44602664e-05 9.99997579e-01 2.08084783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780281693 meters 0.02223242825532739 Centerline is valid? [True, True] Translation: X:107.37, Y:16.86, Z:0.21 [[ 9.29545416e-01 -3.68699817e-01 -2.40092114e-03 1.07367278e+02] [ 3.68698689e-01 9.29548516e-01 -9.12933242e-04 1.68600039e+01] [ 2.56837100e-03 -3.66035653e-05 9.99996701e-01 2.06887421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81028169300001 meters 0.02061199599204742 Centerline is valid? [True, True] Translation: X:107.39, Y:16.87, Z:0.21 [[ 9.29857408e-01 -3.67906579e-01 -3.15430546e-03 1.07392747e+02] [ 3.67904625e-01 9.29862757e-01 -1.19980579e-03 1.68745926e+01] [ 3.37448761e-03 -4.48352688e-05 9.99994305e-01 2.05516927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.840281693 meters 0.02085662587201399 Centerline is valid? [True, True] Translation: X:107.42, Y:16.89, Z:0.20 [[ 9.29843907e-01 -3.67928158e-01 -4.37934455e-03 1.07418249e+02] [ 3.67924390e-01 9.29854218e-01 -1.66642386e-03 1.68864137e+01] [ 4.68527626e-03 -6.17535998e-05 9.99989022e-01 2.02439744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.870281693 meters 0.021375600814810443 Centerline is valid? [True, True] Translation: X:107.45, Y:16.90, Z:0.20 [[ 9.29461252e-01 -3.68897085e-01 -4.08918130e-03 1.07445307e+02] [ 3.68893806e-01 9.29470245e-01 -1.55654013e-03 1.68969913e+01] [ 4.37497546e-03 -6.17299174e-05 9.99990428e-01 2.02938403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900281693 meters 0.021938793921693255 Centerline is valid? [True, True] Translation: X:107.47, Y:16.91, Z:0.21 [[ 9.29041942e-01 -3.69961665e-01 -3.07171338e-03 1.07472138e+02] [ 3.69959820e-01 9.29047019e-01 -1.16972833e-03 1.69081602e+01] [ 3.28652080e-03 -4.96838497e-05 9.99994598e-01 2.05082400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930281693 meters 0.024363372438485704 Centerline is valid? [True, True] Translation: X:107.50, Y:16.92, Z:0.21 [[ 9.28217439e-01 -3.72031206e-01 -2.27349384e-03 1.07498634e+02] [ 3.72030200e-01 9.28220222e-01 -8.66045880e-04 1.69165438e+01] [ 2.43249905e-03 -4.19294798e-05 9.99997041e-01 2.05619565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960281693 meters 0.026307719955845184 Centerline is valid? [True, True] Translation: X:107.53, Y:16.92, Z:0.20 [[ 9.27773969e-01 -3.73132369e-01 -2.77432177e-03 1.07525832e+02] [ 3.73130876e-01 9.27778116e-01 -1.05703714e-03 1.69242515e+01] [ 2.96836980e-03 -5.44935745e-05 9.99995593e-01 2.04728495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990281693 meters 0.02721052059965252 Centerline is valid? [True, True] Translation: X:107.55, Y:16.93, Z:0.20 [[ 9.27157114e-01 -3.74656069e-01 -3.53784939e-03 1.07552873e+02] [ 3.74653650e-01 9.27163861e-01 -1.34840660e-03 1.69334994e+01] [ 3.78535481e-03 -7.52834159e-05 9.99992833e-01 2.03462088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020281693 meters 0.03183215055869944 Centerline is valid? [True, True] Translation: X:107.58, Y:16.94, Z:0.20 [[ 9.25787225e-01 -3.78021796e-01 -4.18756989e-03 1.07582534e+02] [ 3.78018439e-01 9.25796690e-01 -1.59652997e-03 1.69370246e+01] [ 4.48036147e-03 -1.04931580e-04 9.99989958e-01 2.02866326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050281693 meters 0.03286444608440729 Centerline is valid? [True, True] Translation: X:107.61, Y:16.95, Z:0.20 [[ 9.25190475e-01 -3.79480321e-01 -4.15574397e-03 1.07610368e+02] [ 3.79477028e-01 9.25199802e-01 -1.58487877e-03 1.69453733e+01] [ 4.44632380e-03 -1.10694622e-04 9.99990109e-01 2.03435902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080281693 meters 0.032183521092909416 Centerline is valid? [True, True] Translation: X:107.64, Y:16.96, Z:0.20 [[ 9.24761281e-01 -3.80525324e-01 -4.12930308e-03 1.07637267e+02] [ 3.80522079e-01 9.24770493e-01 -1.57554343e-03 1.69558064e+01] [ 4.41819182e-03 -1.14289431e-04 9.99990233e-01 2.03568500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110281693 meters 0.035206572247596365 Centerline is valid? [True, True] Translation: X:107.67, Y:16.96, Z:0.20 [[ 9.24317891e-01 -3.81607179e-01 -3.52114332e-03 1.07665035e+02] [ 3.81604825e-01 9.24324592e-01 -1.34395277e-03 1.69603499e+01] [ 3.76754139e-03 -1.01445697e-04 9.99992898e-01 2.04638760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140281693 meters 0.034625097839746946 Centerline is valid? [True, True] Translation: X:107.69, Y:16.97, Z:0.21 [[ 9.24179796e-01 -3.81943599e-01 -3.28514163e-03 1.07691503e+02] [ 3.81941551e-01 9.24185630e-01 -1.25430073e-03 1.69714800e+01] [ 3.51515282e-03 -9.55327010e-05 9.99993817e-01 2.05510347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170281693 meters 0.035925274568170046 Centerline is valid? [True, True] Translation: X:107.72, Y:16.98, Z:0.21 [[ 9.23804684e-01 -3.82851757e-01 -3.07199369e-03 1.07719093e+02] [ 3.82849970e-01 9.23809788e-01 -1.17343251e-03 1.69799699e+01] [ 3.28718854e-03 -9.20902377e-05 9.99994593e-01 2.06281967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.200281693 meters 0.03830659720025842 Centerline is valid? [True, True] Translation: X:107.75, Y:16.99, Z:0.21 [[ 9.23503763e-01 -3.83577539e-01 -3.01177521e-03 1.07746479e+02] [ 3.83575823e-01 9.23508670e-01 -1.15080700e-03 1.69857670e+01] [ 3.22282423e-03 -9.24695647e-05 9.99994802e-01 2.06169596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.230281693 meters 0.03984828921030926 Centerline is valid? [True, True] Translation: X:107.78, Y:16.99, Z:0.21 [[ 9.22683032e-01 -3.85545561e-01 -3.26240864e-03 1.07775847e+02] [ 3.85543560e-01 9.22688793e-01 -1.24688612e-03 1.69912101e+01] [ 3.49091930e-03 -1.07319979e-04 9.99993901e-01 2.05899023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260281693 meters 0.039751070047040926 Centerline is valid? [True, True] Translation: X:107.80, Y:17.00, Z:0.21 [[ 9.22311382e-01 -3.86436518e-01 -2.92098425e-03 1.07803764e+02] [ 3.86434917e-01 9.22316002e-01 -1.11680079e-03 1.70000494e+01] [ 3.12564313e-03 -9.87322227e-05 9.99995110e-01 2.06460549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290281693 meters 0.04091335730111767 Centerline is valid? [True, True] Translation: X:107.83, Y:17.01, Z:0.21 [[ 9.22251048e-01 -3.86582381e-01 -2.65826080e-03 1.07831310e+02] [ 3.86581055e-01 9.22254875e-01 -1.01670446e-03 1.70064068e+01] [ 2.84463401e-03 -8.99765107e-05 9.99995950e-01 2.07801741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320281693 meters 0.04027250580151006 Centerline is valid? [True, True] Translation: X:107.86, Y:17.01, Z:0.21 [[ 9.22541774e-01 -3.85892878e-01 -1.83351049e-03 1.07857821e+02] [ 3.85892246e-01 9.22543594e-01 -7.01341955e-04 1.70137932e+01] [ 1.96213623e-03 -6.05202309e-05 9.99998073e-01 2.09518773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350281693 meters 0.03921512023412927 Centerline is valid? [True, True] Translation: X:107.88, Y:17.02, Z:0.21 [[ 9.23012067e-01 -3.84767788e-01 -1.57293908e-03 1.07883852e+02] [ 3.84767320e-01 9.23013406e-01 -6.01744311e-04 1.70242112e+01] [ 1.68337569e-03 -4.97982957e-05 9.99998582e-01 2.09674277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380281693 meters 0.034753186289003445 Centerline is valid? [True, True] Translation: X:107.91, Y:17.04, Z:0.21 [[ 9.24319582e-01 -3.81613294e-01 -2.14575636e-03 1.07910045e+02] [ 3.81612415e-01 9.24322071e-01 -8.21156702e-04 1.70386713e+01] [ 2.29673427e-03 -5.98360465e-05 9.99997361e-01 2.08544022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410281693 meters 0.03452540744644637 Centerline is valid? [True, True] Translation: X:107.94, Y:17.05, Z:0.21 [[ 9.25100224e-01 -3.79715009e-01 -2.46717472e-03 1.07936536e+02] [ 3.79713840e-01 9.25103512e-01 -9.44528226e-04 1.70473750e+01] [ 2.64104355e-03 -6.30371141e-05 9.99996510e-01 2.07694535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440281693 meters 0.03221766132117802 Centerline is valid? [True, True] Translation: X:107.96, Y:17.06, Z:0.21 [[ 9.25815027e-01 -3.77964617e-01 -3.04684177e-03 1.07963183e+02] [ 3.77962823e-01 9.25820038e-01 -1.16677701e-03 1.70595118e+01] [ 3.26182760e-03 -7.13732233e-05 9.99994678e-01 2.06856552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470281693 meters 0.028566315105251608 Centerline is valid? [True, True] Translation: X:107.99, Y:17.07, Z:0.21 [[ 9.26513450e-01 -3.76246189e-01 -3.41078346e-03 1.07987951e+02] [ 3.76243926e-01 9.26519725e-01 -1.30674672e-03 1.70743853e+01] [ 3.65181662e-03 -7.25681441e-05 9.99993329e-01 2.06530642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500281693 meters 0.024323132427467545 Centerline is valid? [True, True] Translation: X:108.01, Y:17.09, Z:0.21 [[ 9.28335242e-01 -3.71728678e-01 -3.38656751e-03 1.08012125e+02] [ 3.71726416e-01 9.28341417e-01 -1.29785772e-03 1.70914492e+01] [ 3.62634182e-03 -5.40295428e-05 9.99993423e-01 2.06322808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530281693 meters 0.022083213715943302 Centerline is valid? [True, True] Translation: X:108.04, Y:17.11, Z:0.21 [[ 9.29055492e-01 -3.69927883e-01 -3.04193020e-03 1.08037932e+02] [ 3.69926048e-01 9.29060471e-01 -1.16595786e-03 1.71058390e+01] [ 3.25745743e-03 -4.20496600e-05 9.99994694e-01 2.06630721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56028169300001 meters 0.020445386977643327 Centerline is valid? [True, True] Translation: X:108.06, Y:17.12, Z:0.21 [[ 9.29587734e-01 -3.68590747e-01 -2.73977356e-03 1.08063235e+02] [ 3.68589251e-01 9.29591771e-01 -1.05044579e-03 1.71206635e+01] [ 2.93405556e-03 -3.33695617e-05 9.99995695e-01 2.07801533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.590281693 meters 0.020066885534622336 Centerline is valid? [True, True] Translation: X:108.09, Y:17.13, Z:0.21 [[ 9.29488001e-01 -3.68839031e-01 -3.13447118e-03 1.08088293e+02] [ 3.68837074e-01 9.29493285e-01 -1.20240104e-03 1.71320825e+01] [ 3.35696235e-03 -3.84918383e-05 9.99994365e-01 2.06754727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.620281693 meters 0.020491868347187837 Centerline is valid? [True, True] Translation: X:108.12, Y:17.14, Z:0.20 [[ 9.29267315e-01 -3.69383205e-01 -4.27839033e-03 1.08115196e+02] [ 3.69379558e-01 9.29277163e-01 -1.64216149e-03 1.71426400e+01] [ 4.58239730e-03 -5.43429254e-05 9.99989499e-01 2.04642844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650281693 meters 0.023196827544295057 Centerline is valid? [True, True] Translation: X:108.14, Y:17.15, Z:0.20 [[ 9.28543589e-01 -3.71187802e-01 -5.13998387e-03 1.08142905e+02] [ 3.71182564e-01 9.28557812e-01 -1.97347169e-03 1.71485934e+01] [ 5.50530080e-03 -7.54179081e-05 9.99984843e-01 2.02235925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680281693 meters 0.024497638471017682 Centerline is valid? [True, True] Translation: X:108.17, Y:17.16, Z:0.20 [[ 9.28120387e-01 -3.72247984e-01 -4.89759915e-03 1.08169140e+02] [ 3.72243241e-01 9.28133305e-01 -1.88070694e-03 1.71567036e+01] [ 5.24571425e-03 -7.75757227e-05 9.99986238e-01 2.02672702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710281693 meters 0.025806071764046975 Centerline is valid? [True, True] Translation: X:108.20, Y:17.17, Z:0.20 [[ 9.27702113e-01 -3.73292718e-01 -4.61916538e-03 1.08195464e+02] [ 3.73288510e-01 9.27713609e-01 -1.77406059e-03 1.71651454e+01] [ 4.94750649e-03 -7.84816029e-05 9.99987758e-01 2.03249989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740281693 meters 0.0273300509767221 Centerline is valid? [True, True] Translation: X:108.22, Y:17.17, Z:0.20 [[ 9.27235396e-01 -3.74451847e-01 -4.50931547e-03 1.08223117e+02] [ 3.74447848e-01 9.27246358e-01 -1.73242538e-03 1.71735706e+01] [ 4.82995622e-03 -8.21373361e-05 9.99988332e-01 2.02827991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770281693 meters 0.024630898816426928 Centerline is valid? [True, True] Translation: X:108.25, Y:17.19, Z:0.20 [[ 9.26700425e-01 -3.75763583e-01 -5.29651064e-03 1.08248502e+02] [ 3.75758084e-01 9.26715555e-01 -2.03545428e-03 1.71865653e+01] [ 5.67320839e-03 -1.03950346e-04 9.99983902e-01 2.02949477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800281693 meters 0.0249598170073641 Centerline is valid? [True, True] Translation: X:108.27, Y:17.20, Z:0.20 [[ 9.26747324e-01 -3.75643547e-01 -5.59676466e-03 1.08274208e+02] [ 3.75637403e-01 9.26764217e-01 -2.15132533e-03 1.71953769e+01] [ 5.99501270e-03 -1.08619151e-04 9.99982024e-01 2.02558612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830281693 meters 0.027568448400478267 Centerline is valid? [True, True] Translation: X:108.30, Y:17.20, Z:0.20 [[ 9.27282540e-01 -3.74319096e-01 -5.68384183e-03 1.08302316e+02] [ 3.74312728e-01 9.27299954e-01 -2.18568372e-03 1.72011874e+01] [ 6.08876942e-03 -1.00787985e-04 9.99981458e-01 2.01174631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860281693 meters 0.02642423585940137 Centerline is valid? [True, True] Translation: X:108.33, Y:17.21, Z:0.20 [[ 9.27553278e-01 -3.73651905e-01 -5.40092456e-03 1.08328848e+02] [ 3.73646139e-01 9.27568998e-01 -2.07780304e-03 1.72129420e+01] [ 5.78610525e-03 -9.07615883e-05 9.99983256e-01 2.01913883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890281693 meters 0.026160180839478818 Centerline is valid? [True, True] Translation: X:108.36, Y:17.22, Z:0.20 [[ 9.27662559e-01 -3.73397660e-01 -4.04524921e-03 1.08356181e+02] [ 3.73394421e-01 9.27671377e-01 -1.55682413e-03 1.72235237e+01] [ 4.33397639e-03 -6.62660308e-05 9.99990606e-01 2.04268111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920281693 meters 0.027205053545955364 Centerline is valid? [True, True] Translation: X:108.38, Y:17.23, Z:0.21 [[ 9.27239589e-01 -3.74450465e-01 -3.68691075e-03 1.08383477e+02] [ 3.74447780e-01 9.27246917e-01 -1.41947902e-03 1.72322853e+01] [ 3.95020120e-03 -6.43584010e-05 9.99992196e-01 2.05326774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.950281693 meters 0.02727751915654267 Centerline is valid? [True, True] Translation: X:108.41, Y:17.24, Z:0.21 [[ 9.26714271e-01 -3.75747849e-01 -3.77006478e-03 1.08410188e+02] [ 3.75745050e-01 9.26721937e-01 -1.45213253e-03 1.72422462e+01] [ 4.03943741e-03 -7.08712380e-05 9.99991839e-01 2.05258168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.980281693 meters 0.026559304614296612 Centerline is valid? [True, True] Translation: X:108.44, Y:17.25, Z:0.20 [[ 9.26141139e-01 -3.77154420e-01 -4.13927212e-03 1.08437391e+02] [ 3.77151056e-01 9.26150385e-01 -1.59509953e-03 1.72525751e+01] [ 4.43518731e-03 -8.38435610e-05 9.99990161e-01 2.04966471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010281693 meters 0.028692587071224903 Centerline is valid? [True, True] Translation: X:108.47, Y:17.26, Z:0.20 [[ 9.25323914e-01 -3.79153742e-01 -4.25362788e-03 1.08466999e+02] [ 3.79150207e-01 9.25333686e-01 -1.63994375e-03 1.72566009e+01] [ 4.55781597e-03 -9.52847184e-05 9.99989609e-01 2.04205704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040281693 meters 0.028958917397846774 Centerline is valid? [True, True] Translation: X:108.49, Y:17.26, Z:0.21 [[ 9.25323665e-01 -3.79159551e-01 -3.76156770e-03 1.08493156e+02] [ 3.79156785e-01 9.25331307e-01 -1.45070214e-03 1.72645620e+01] [ 4.03074393e-03 -8.38548981e-05 9.99991873e-01 2.05131742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070281693 meters 0.028406101558212285 Centerline is valid? [True, True] Translation: X:108.52, Y:17.27, Z:0.21 [[ 9.25465818e-01 -3.78817269e-01 -3.23963801e-03 1.08520705e+02] [ 3.78815214e-01 9.25471486e-01 -1.24978495e-03 1.72745105e+01] [ 3.47163272e-03 -7.05909165e-05 9.99993971e-01 2.06424337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100281693 meters 0.02667965748627764 Centerline is valid? [True, True] Translation: X:108.55, Y:17.29, Z:0.21 [[ 9.26103326e-01 -3.77254422e-01 -3.42496433e-03 1.08547758e+02] [ 3.77252113e-01 9.26109657e-01 -1.32188372e-03 1.72850171e+01] [ 3.67057902e-03 -6.78741151e-05 9.99993261e-01 2.06793457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130281693 meters 0.02521156833348629 Centerline is valid? [True, True] Translation: X:108.57, Y:17.30, Z:0.21 [[ 9.26588740e-01 -3.76055680e-01 -3.92846882e-03 1.08574323e+02] [ 3.76052628e-01 9.26597065e-01 -1.51696364e-03 1.72969061e+01] [ 4.21057047e-03 -7.17095922e-05 9.99991133e-01 2.06354624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160281693 meters 0.021855385689866162 Centerline is valid? [True, True] Translation: X:108.60, Y:17.31, Z:0.21 [[ 9.27599766e-01 -3.73546369e-01 -4.66740961e-03 1.08600143e+02] [ 3.73542024e-01 9.27611505e-01 -1.80317594e-03 1.73112888e+01] [ 5.00311268e-03 -7.08480528e-05 9.99987482e-01 2.05532582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190281693 meters 0.01997238599355269 Centerline is valid? [True, True] Translation: X:108.63, Y:17.32, Z:0.21 [[ 9.28141364e-01 -3.72209055e-01 -3.74525227e-03 1.08626132e+02] [ 3.72206244e-01 9.28148919e-01 -1.44752211e-03 1.73240660e+01] [ 4.01493269e-03 -5.05011373e-05 9.99991939e-01 2.06814175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220281693 meters 0.01838783158410681 Centerline is valid? [True, True] Translation: X:108.65, Y:17.34, Z:0.21 [[ 9.29185392e-01 -3.69599968e-01 -3.22051988e-03 1.08650795e+02] [ 3.69597872e-01 9.29190972e-01 -1.24510475e-03 1.73365058e+01] [ 3.45266867e-03 -3.33641533e-05 9.99994039e-01 2.07009556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250281693 meters 0.018389693408744055 Centerline is valid? [True, True] Translation: X:108.68, Y:17.35, Z:0.21 [[ 9.29526309e-01 -3.68734439e-01 -3.96921980e-03 1.08676537e+02] [ 3.68731246e-01 9.29534783e-01 -1.53485251e-03 1.73468782e+01] [ 4.25548084e-03 -3.68895770e-05 9.99990945e-01 2.05628208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280281693 meters 0.017474987104974096 Centerline is valid? [True, True] Translation: X:108.70, Y:17.36, Z:0.20 [[ 9.29643309e-01 -3.68427476e-01 -4.95106357e-03 1.08701922e+02] [ 3.68422500e-01 9.29656492e-01 -1.91531387e-03 1.73595453e+01] [ 5.30844264e-03 -4.35244976e-05 9.99985909e-01 2.04218011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31028169300001 meters 0.01783332478693331 Centerline is valid? [True, True] Translation: X:108.73, Y:17.37, Z:0.20 [[ 9.29720614e-01 -3.68223475e-01 -5.57252007e-03 1.08727041e+02] [ 3.68217163e-01 9.29737313e-01 -2.15649467e-03 1.73699020e+01] [ 5.97505179e-03 -4.69599791e-05 9.99982148e-01 2.02131732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.340281693 meters 0.01763537847094622 Centerline is valid? [True, True] Translation: X:108.75, Y:17.38, Z:0.20 [[ 9.29272967e-01 -3.69364927e-01 -4.61553769e-03 1.08751958e+02] [ 3.69360608e-01 9.29284428e-01 -1.78688040e-03 1.73834291e+01] [ 4.94915825e-03 -4.42981545e-05 9.99987752e-01 2.04441760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.370281693 meters 0.018918313196866925 Centerline is valid? [True, True] Translation: X:108.78, Y:17.39, Z:0.21 [[ 9.28781560e-01 -3.70609347e-01 -3.67778631e-03 1.08778622e+02] [ 3.70606613e-01 9.28788840e-01 -1.42427019e-03 1.73921330e+01] [ 3.94373473e-03 -4.01760389e-05 9.99992223e-01 2.06506613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400281693 meters 0.020972373570984075 Centerline is valid? [True, True] Translation: X:108.81, Y:17.40, Z:0.21 [[ 9.27533945e-01 -3.73725548e-01 -3.16158346e-03 1.08806620e+02] [ 3.73723544e-01 9.27539332e-01 -1.22471267e-03 1.73994631e+01] [ 3.39019942e-03 -4.55956013e-05 9.99994252e-01 2.08138959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430281693 meters 0.023694688763919457 Centerline is valid? [True, True] Translation: X:108.83, Y:17.41, Z:0.21 [[ 9.26902016e-01 -3.75280304e-01 -4.16479273e-03 1.08834191e+02] [ 3.75276839e-01 9.26911371e-01 -1.61393590e-03 1.74058597e+01] [ 4.46607209e-03 -6.69898095e-05 9.99990025e-01 2.06258300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460281693 meters 0.0241913161311752 Centerline is valid? [True, True] Translation: X:108.86, Y:17.42, Z:0.20 [[ 9.26236319e-01 -3.76913949e-01 -4.70704194e-03 1.08860920e+02] [ 3.76909542e-01 9.26248275e-01 -1.82472680e-03 1.74155205e+01] [ 5.04765447e-03 -8.40007833e-05 9.99987257e-01 2.04872211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490281693 meters 0.027666113156678135 Centerline is valid? [True, True] Translation: X:108.89, Y:17.42, Z:0.20 [[ 9.25519173e-01 -3.78668685e-01 -4.92820074e-03 1.08888833e+02] [ 3.78663875e-01 9.25532289e-01 -1.91101562e-03 1.74204721e+01] [ 5.28485068e-03 -9.74499987e-05 9.99986030e-01 2.04192781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520281693 meters 0.031838146959831705 Centerline is valid? [True, True] Translation: X:108.92, Y:17.42, Z:0.21 [[ 9.24078104e-01 -3.82191078e-01 -3.10455072e-03 1.08919038e+02] [ 3.82189188e-01 9.24083316e-01 -1.20397864e-03 1.74236178e+01] [ 3.32901342e-03 -7.39554231e-05 9.99994456e-01 2.08404711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550281693 meters 0.03251068415863118 Centerline is valid? [True, True] Translation: X:108.95, Y:17.43, Z:0.21 [[ 9.23231652e-01 -3.84239476e-01 -1.82781707e-03 1.08946901e+02] [ 3.84238825e-01 9.23233460e-01 -7.08883160e-04 1.74323675e+01] [ 1.95988277e-03 -4.78549135e-05 9.99998078e-01 2.11172203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580281693 meters 0.04263520652866081 Centerline is valid? [True, True] Translation: X:108.98, Y:17.43, Z:0.21 [[ 9.21544320e-01 -3.88270365e-01 -1.47968072e-03 1.08980185e+02] [ 3.88269944e-01 9.21545507e-01 -5.74115723e-04 1.74261922e+01] [ 1.58650524e-03 -4.54424667e-05 9.99998740e-01 2.12002487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610281693 meters 0.04249735466697412 Centerline is valid? [True, True] Translation: X:109.01, Y:17.43, Z:0.21 [[ 9.20697944e-01 -3.90269410e-01 -2.25454346e-03 1.09008585e+02] [ 3.90268437e-01 9.20700702e-01 -8.74914298e-04 1.74341770e+01] [ 2.41721203e-03 -7.43453551e-05 9.99997076e-01 2.10195655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640281693 meters 0.04249735466697412 Centerline is valid? [True, True] Translation: X:109.03, Y:17.44, Z:0.21 [[ 9.20632217e-01 -3.90424433e-01 -2.25449452e-03 1.09034148e+02] [ 3.90423460e-01 9.20634975e-01 -8.75040382e-04 1.74443129e+01] [ 2.41720365e-03 -7.46171824e-05 9.99997076e-01 2.10250375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670281693 meters 0.04243637361893757 Centerline is valid? [True, True] Translation: X:109.06, Y:17.45, Z:0.21 [[ 9.19861532e-01 -3.92230073e-01 -3.21424796e-03 1.09062438e+02] [ 3.92228103e-01 9.19867141e-01 -1.24811447e-03 1.74519172e+01] [ 3.44622911e-03 -1.12625890e-04 9.99994055e-01 2.08403865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.700281693 meters 0.04847348133378998 Centerline is valid? [True, True] Translation: X:109.09, Y:17.45, Z:0.21 [[ 9.19143657e-01 -3.93904268e-01 -3.79026759e-03 1.09094385e+02] [ 3.93901543e-01 9.19151461e-01 -1.47194153e-03 1.74494929e+01] [ 4.06363404e-03 -1.40066527e-04 9.99991734e-01 2.06922084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.730281693 meters 0.044130113628425796 Centerline is valid? [True, True] Translation: X:109.12, Y:17.46, Z:0.21 [[ 9.19304064e-01 -3.93532940e-01 -3.44426119e-03 1.09119701e+02] [ 3.93530685e-01 9.19310508e-01 -1.33791222e-03 1.74627979e+01] [ 3.69285803e-03 -1.25474323e-04 9.99993174e-01 2.08394966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760281693 meters 0.036952030417814904 Centerline is valid? [True, True] Translation: X:109.14, Y:17.48, Z:0.21 [[ 9.19989111e-01 -3.91930180e-01 -3.28157006e-03 1.09144136e+02] [ 3.91928122e-01 9.19994957e-01 -1.27510198e-03 1.74795165e+01] [ 3.51877886e-03 -1.13059654e-04 9.99993803e-01 2.09661006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790281693 meters 0.03981549879123596 Centerline is valid? [True, True] Translation: X:109.17, Y:17.48, Z:0.21 [[ 9.22016953e-01 -3.87130441e-01 -3.84196098e-03 1.09173876e+02] [ 3.87127578e-01 9.22024950e-01 -1.49305051e-03 1.74825386e+01] [ 4.12038918e-03 -1.10711167e-04 9.99991505e-01 2.08058334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820281693 meters 0.036482027974093584 Centerline is valid? [True, True] Translation: X:109.20, Y:17.50, Z:0.21 [[ 9.23117197e-01 -3.84500910e-01 -3.70022098e-03 1.09199797e+02] [ 3.84498231e-01 9.23124608e-01 -1.43831518e-03 1.74962400e+01] [ 3.96879854e-03 -9.49949460e-05 9.99992120e-01 2.08577529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850281693 meters 0.028522545685027167 Centerline is valid? [True, True] Translation: X:109.22, Y:17.51, Z:0.21 [[ 9.25064743e-01 -3.79801809e-01 -2.40995486e-03 1.09224397e+02] [ 3.79800656e-01 9.25067881e-01 -9.37039706e-04 1.75141946e+01] [ 2.58526121e-03 -4.84800439e-05 9.99996657e-01 2.11785083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880281693 meters 0.026799119592984016 Centerline is valid? [True, True] Translation: X:109.25, Y:17.53, Z:0.21 [[ 9.25646766e-01 -3.78383816e-01 -1.93683194e-03 1.09250477e+02] [ 3.78383068e-01 9.25648792e-01 -7.53325438e-04 1.75252965e+01] [ 2.07787230e-03 -3.55511571e-05 9.99997841e-01 2.13261816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910281693 meters 0.026041124244182992 Centerline is valid? [True, True] Translation: X:109.28, Y:17.53, Z:0.21 [[ 9.25922177e-01 -3.77709824e-01 -1.84677959e-03 1.09278531e+02] [ 3.77709142e-01 9.25924018e-01 -7.18600360e-04 1.75338642e+01] [ 1.98140000e-03 -3.21775254e-05 9.99998037e-01 2.12871185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940281693 meters 0.026525763722625308 Centerline is valid? [True, True] Translation: X:109.31, Y:17.54, Z:0.21 [[ 9.25727534e-01 -3.78182915e-01 -2.49302171e-03 1.09306654e+02] [ 3.78181672e-01 9.25730890e-01 -9.70592816e-04 1.75423873e+01] [ 2.67492883e-03 -4.43106227e-05 9.99996421e-01 2.11153723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970281693 meters 0.02759346626703957 Centerline is valid? [True, True] Translation: X:109.33, Y:17.55, Z:0.21 [[ 9.25379623e-01 -3.79026331e-01 -3.40504069e-03 1.09334732e+02] [ 3.79024016e-01 9.25385885e-01 -1.32635563e-03 1.75499968e+01] [ 3.65370030e-03 -6.32097259e-05 9.99993323e-01 2.08616788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000281693 meters 0.028478551796370665 Centerline is valid? [True, True] Translation: X:109.36, Y:17.56, Z:0.21 [[ 9.25128341e-01 -3.79629628e-01 -4.34722448e-03 1.09362530e+02] [ 3.79625858e-01 9.25138551e-01 -1.69391278e-03 1.75567554e+01] [ 4.66484443e-03 -8.32321041e-05 9.99989116e-01 2.06459680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030281693 meters 0.029726496251198657 Centerline is valid? [True, True] Translation: X:109.39, Y:17.56, Z:0.21 [[ 9.24857618e-01 -3.80284172e-01 -4.72591251e-03 1.09391261e+02] [ 3.80279724e-01 9.24869688e-01 -1.84176484e-03 1.75600803e+01] [ 5.07124725e-03 -9.37984659e-05 9.99987137e-01 2.05650037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06028169300001 meters 0.025955610181747007 Centerline is valid? [True, True] Translation: X:109.42, Y:17.57, Z:0.21 [[ 9.24911374e-01 -3.80160874e-01 -4.08159180e-03 1.09416784e+02] [ 3.80157553e-01 9.24920377e-01 -1.59116819e-03 1.75732212e+01] [ 4.38004732e-03 -7.99583887e-05 9.99990404e-01 2.08339031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.090281693 meters 0.025279072223427408 Centerline is valid? [True, True] Translation: X:109.44, Y:17.58, Z:0.21 [[ 9.25333276e-01 -3.79142486e-01 -3.05013508e-03 1.09443726e+02] [ 3.79140624e-01 9.25338301e-01 -1.18953835e-03 1.75821615e+01] [ 3.27341134e-03 -5.57106981e-05 9.99994641e-01 2.10540560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.120281693 meters 0.022813214835215628 Centerline is valid? [True, True] Translation: X:109.47, Y:17.59, Z:0.21 [[ 9.27072467e-01 -3.74873776e-01 -2.50851262e-03 1.09469684e+02] [ 3.74872500e-01 9.27075860e-01 -9.78620673e-04 1.75934458e+01] [ 2.69244073e-03 -3.31201160e-05 9.99996375e-01 2.12008590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150281693 meters 0.01826554093504234 Centerline is valid? [True, True] Translation: X:109.49, Y:17.61, Z:0.21 [[ 9.28159367e-01 -3.72172403e-01 -2.80927054e-03 1.09494337e+02] [ 3.72170790e-01 9.28163618e-01 -1.09623176e-03 1.76106009e+01] [ 3.01544992e-03 -2.80506563e-05 9.99995453e-01 2.11256858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180281693 meters 0.015054731645106923 Centerline is valid? [True, True] Translation: X:109.52, Y:17.63, Z:0.21 [[ 9.30171073e-01 -3.67111804e-01 -3.27080443e-03 1.09518141e+02] [ 3.67109584e-01 9.30176824e-01 -1.27685679e-03 1.76264587e+01] [ 3.51117568e-03 -1.30484055e-05 9.99993836e-01 2.10396991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210281693 meters 0.014534464735024588 Centerline is valid? [True, True] Translation: X:109.54, Y:17.64, Z:0.21 [[ 9.30841852e-01 -3.65409826e-01 -3.01739966e-03 1.09543492e+02] [ 3.65407927e-01 9.30846743e-01 -1.17833343e-03 1.76387593e+01] [ 3.23931126e-03 -5.73968037e-06 9.99994753e-01 2.11424259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240281693 meters 0.014335125596947391 Centerline is valid? [True, True] Translation: X:109.57, Y:17.65, Z:0.21 [[ 9.31316275e-01 -3.64202219e-01 -2.59589023e-03 1.09568374e+02] [ 3.64200807e-01 9.31319893e-01 -1.01415961e-03 1.76499924e+01] [ 2.78696339e-03 -9.21968684e-07 9.99996116e-01 2.12483062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270281693 meters 0.014261791607565596 Centerline is valid? [True, True] Translation: X:109.59, Y:17.66, Z:0.21 [[ 9.31581876e-01 -3.63527287e-01 -1.76606789e-03 1.09593865e+02] [ 3.63526632e-01 9.31583550e-01 -6.90124368e-04 1.76610365e+01] [ 1.89611883e-03 8.94642148e-07 9.99998202e-01 2.14119367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300281693 meters 0.014297963003330935 Centerline is valid? [True, True] Translation: X:109.62, Y:17.67, Z:0.21 [[ 9.31668976e-01 -3.63306109e-01 -1.26133878e-03 1.09619331e+02] [ 3.63305774e-01 9.31669830e-01 -4.93079475e-04 1.76703586e+01] [ 1.35429007e-03 1.13518881e-06 9.99999083e-01 2.14567979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330281693 meters 0.014313028613193788 Centerline is valid? [True, True] Translation: X:109.65, Y:17.68, Z:0.21 [[ 9.31500202e-01 -3.63735476e-01 -1.96914215e-03 1.09645283e+02] [ 3.63734660e-01 9.31502283e-01 -7.70182944e-04 1.76787666e+01] [ 2.11440327e-03 1.18031820e-06 9.99997765e-01 2.13001531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360281693 meters 0.014610576820552479 Centerline is valid? [True, True] Translation: X:109.67, Y:17.68, Z:0.21 [[ 9.30791102e-01 -3.65532989e-01 -3.68210164e-03 1.09672164e+02] [ 3.65530150e-01 9.30798385e-01 -1.44072249e-03 1.76845078e+01] [ 3.95392586e-03 -4.90749060e-06 9.99992183e-01 2.09237205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390281693 meters 0.014712237767717348 Centerline is valid? [True, True] Translation: X:109.70, Y:17.69, Z:0.21 [[ 9.30605182e-01 -3.65997369e-01 -4.46328051e-03 1.09698222e+02] [ 3.65993200e-01 9.30615885e-01 -1.74685078e-03 1.76945053e+01] [ 4.79294253e-03 -7.90192768e-06 9.99988514e-01 2.08120705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420281693 meters 0.01480284788180364 Centerline is valid? [True, True] Translation: X:109.72, Y:17.71, Z:0.21 [[ 9.30609887e-01 -3.65974155e-01 -5.30618230e-03 1.09723766e+02] [ 3.65968258e-01 9.30625014e-01 -2.07757307e-03 1.77064607e+01] [ 5.69840403e-03 -8.48425437e-06 9.99983764e-01 2.07069823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.450281693 meters 0.014769586027416699 Centerline is valid? [True, True] Translation: X:109.75, Y:17.72, Z:0.21 [[ 9.31493249e-01 -3.63732561e-01 -4.35336853e-03 1.09747632e+02] [ 3.63728565e-01 9.31503421e-01 -1.70496737e-03 1.77220318e+01] [ 4.67532983e-03 4.72110148e-06 9.99989071e-01 2.09084205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.480281693 meters 0.014916016128767801 Centerline is valid? [True, True] Translation: X:109.77, Y:17.73, Z:0.21 [[ 9.31954089e-01 -3.62564032e-01 -2.98307129e-03 1.09772756e+02] [ 3.62562149e-01 9.31958863e-01 -1.16860123e-03 1.77348229e+01] [ 3.20379251e-03 7.53395885e-06 9.99994868e-01 2.12027076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510281693 meters 0.015144201608148899 Centerline is valid? [True, True] Translation: X:109.80, Y:17.75, Z:0.21 [[ 9.32290152e-01 -3.61705441e-01 -2.06072192e-03 1.09797784e+02] [ 3.61704540e-01 9.32292429e-01 -8.07569691e-04 1.77478210e+01] [ 2.21329780e-03 7.51679592e-06 9.99997551e-01 2.13992612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540281693 meters 0.014901227726675513 Centerline is valid? [True, True] Translation: X:109.82, Y:17.76, Z:0.21 [[ 9.32298098e-01 -3.61686320e-01 -1.80614735e-03 1.09823102e+02] [ 3.61685627e-01 9.32299848e-01 -7.08114550e-04 1.77607522e+01] [ 1.93998625e-03 6.91631055e-06 9.99998118e-01 2.14740962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570281693 meters 0.014953953233563327 Centerline is valid? [True, True] Translation: X:109.85, Y:17.77, Z:0.21 [[ 9.32117632e-01 -3.62148167e-01 -2.32926765e-03 1.09848017e+02] [ 3.62147014e-01 9.32120542e-01 -9.13779500e-04 1.77710169e+01] [ 2.50208179e-03 8.21266009e-06 9.99996870e-01 2.13646902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600281693 meters 0.014652999769861166 Centerline is valid? [True, True] Translation: X:109.88, Y:17.78, Z:0.21 [[ 9.31571141e-01 -3.63544919e-01 -3.20957800e-03 1.09875893e+02] [ 3.63542737e-01 9.31576670e-01 -1.25965603e-03 1.77773113e+01] [ 3.44790954e-03 6.64043214e-06 9.99994056e-01 2.11508847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630281693 meters 0.014540318876750717 Centerline is valid? [True, True] Translation: X:109.90, Y:17.78, Z:0.21 [[ 9.31027473e-01 -3.64934431e-01 -3.27185866e-03 1.09902682e+02] [ 3.64932169e-01 9.31033222e-01 -1.28479070e-03 1.77845880e+01] [ 3.51507347e-03 2.16895931e-06 9.99993822e-01 2.11991659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660281693 meters 0.014398901377472342 Centerline is valid? [True, True] Translation: X:109.93, Y:17.79, Z:0.21 [[ 9.30469078e-01 -3.66359002e-01 -2.89427470e-03 1.09929571e+02] [ 3.66357237e-01 9.30473579e-01 -1.13708959e-03 1.77926310e+01] [ 3.10962915e-03 -2.31177677e-06 9.99995165e-01 2.12919390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690281693 meters 0.01442577720309161 Centerline is valid? [True, True] Translation: X:109.96, Y:17.80, Z:0.21 [[ 9.30181463e-01 -3.67088142e-01 -2.95679979e-03 1.09956257e+02] [ 3.67086302e-01 9.30186162e-01 -1.16216905e-03 1.77996638e+01] [ 3.17699272e-03 -4.37259576e-06 9.99994953e-01 2.12206528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720281693 meters 0.014372357691636063 Centerline is valid? [True, True] Translation: X:109.98, Y:17.81, Z:0.21 [[ 9.30444941e-01 -3.66416156e-01 -3.37827474e-03 1.09982657e+02] [ 3.66413748e-01 9.30451074e-01 -1.32835383e-03 1.78089307e+01] [ 3.63004966e-03 -1.88620991e-06 9.99993411e-01 2.11989103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750281693 meters 0.014363702098943165 Centerline is valid? [True, True] Translation: X:110.01, Y:17.82, Z:0.21 [[ 9.30786839e-01 -3.65546662e-01 -3.39082261e-03 1.10007847e+02] [ 3.65544229e-01 9.30793016e-01 -1.33382623e-03 1.78181934e+01] [ 3.64372973e-03 2.01226451e-06 9.99993362e-01 2.11681873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780281693 meters 0.014878563927151946 Centerline is valid? [True, True] Translation: X:110.03, Y:17.83, Z:0.21 [[ 9.31618714e-01 -3.63426024e-01 -2.84559175e-03 1.10033213e+02] [ 3.63424299e-01 9.31623060e-01 -1.11970014e-03 1.78289336e+01] [ 3.05794706e-03 8.97642278e-06 9.99995324e-01 2.13789719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81028169300001 meters 0.015246866812246716 Centerline is valid? [True, True] Translation: X:110.06, Y:17.84, Z:0.21 [[ 9.31990396e-01 -3.62476103e-01 -2.23089865e-03 1.10059148e+02] [ 3.62475039e-01 9.31993066e-01 -8.78204025e-04 1.78399448e+01] [ 2.39751004e-03 9.83264213e-06 9.99997126e-01 2.14249649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.840281693 meters 0.015819482948931218 Centerline is valid? [True, True] Translation: X:110.09, Y:17.85, Z:0.21 [[ 9.32461454e-01 -3.61253497e-01 -3.39816840e-03 1.10086905e+02] [ 3.61251017e-01 9.32467646e-01 -1.33858673e-03 1.78485661e+01] [ 3.65225122e-03 2.05887390e-05 9.99993330e-01 2.11612728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.870281693 meters 0.01620156856503953 Centerline is valid? [True, True] Translation: X:110.11, Y:17.86, Z:0.21 [[ 9.32505879e-01 -3.61127469e-01 -4.44261960e-03 1.10113340e+02] [ 3.61123227e-01 9.32516461e-01 -1.75063890e-03 1.78574637e+01] [ 4.77501970e-03 2.81479356e-05 9.99988599e-01 2.08934587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900281693 meters 0.017028485805033317 Centerline is valid? [True, True] Translation: X:110.14, Y:17.87, Z:0.21 [[ 9.32885259e-01 -3.60139568e-01 -4.95830034e-03 1.10139976e+02] [ 3.60134266e-01 9.32898435e-01 -1.95455478e-03 1.78682653e+01] [ 5.32950314e-03 3.77214932e-05 9.99985797e-01 2.07961833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930281693 meters 0.017914529571682675 Centerline is valid? [True, True] Translation: X:110.16, Y:17.88, Z:0.21 [[ 9.33197276e-01 -3.59338946e-01 -4.28553615e-03 1.10164530e+02] [ 3.59334974e-01 9.33207116e-01 -1.68988624e-03 1.78809909e+01] [ 4.60653477e-03 3.70542163e-05 9.99989389e-01 2.10059069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960281693 meters 0.01871298213841559 Centerline is valid? [True, True] Translation: X:110.19, Y:17.89, Z:0.21 [[ 9.33730526e-01 -3.57961343e-01 -3.31395013e-03 1.10190593e+02] [ 3.57958958e-01 9.33736406e-01 -1.30717634e-03 1.78937226e+01] [ 3.56227449e-03 3.42923110e-05 9.99993654e-01 2.12144765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990281693 meters 0.020294372834867652 Centerline is valid? [True, True] Translation: X:110.21, Y:17.91, Z:0.21 [[ 9.34246646e-01 -3.56616036e-01 -2.86487352e-03 1.10214704e+02] [ 3.56614246e-01 9.34251038e-01 -1.13044782e-03 1.79071574e+01] [ 3.07964688e-03 3.44623793e-05 9.99995257e-01 2.13297015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020281693 meters 0.022803637989667884 Centerline is valid? [True, True] Translation: X:110.24, Y:17.92, Z:0.21 [[ 9.35247156e-01 -3.53987006e-01 -2.44060797e-03 1.10238862e+02] [ 3.53985697e-01 9.35250340e-01 -9.63323325e-04 1.79236420e+01] [ 2.62358337e-03 3.70050862e-05 9.99996558e-01 2.14833104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050281693 meters 0.023983814685303174 Centerline is valid? [True, True] Translation: X:110.26, Y:17.94, Z:0.22 [[ 9.35624545e-01 -3.52990452e-01 -2.10987635e-03 1.10264370e+02] [ 3.52989470e-01 9.35626923e-01 -8.33118416e-04 1.79374311e+01] [ 2.26813996e-03 3.47219049e-05 9.99997427e-01 2.15771723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080281693 meters 0.02503862935628539 Centerline is valid? [True, True] Translation: X:110.29, Y:17.95, Z:0.22 [[ 9.36519606e-01 -3.50611426e-01 -1.62965156e-03 1.10289359e+02] [ 3.50610836e-01 9.36521023e-01 -6.43710252e-04 1.79527823e+01] [ 1.75189512e-03 3.14737735e-05 9.99998465e-01 2.16463996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110281693 meters 0.02595736207873159 Centerline is valid? [True, True] Translation: X:110.32, Y:17.97, Z:0.22 [[ 9.36765819e-01 -3.49950021e-01 -2.18730099e-03 1.10315103e+02] [ 3.49948956e-01 9.36768371e-01 -8.64516298e-04 1.79669817e+01] [ 2.35153188e-03 4.44056194e-05 9.99997234e-01 2.15299086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140281693 meters 0.029827088600020858 Centerline is valid? [True, True] Translation: X:110.34, Y:17.98, Z:0.21 [[ 9.36969888e-01 -3.49394283e-01 -3.32621030e-03 1.10338015e+02] [ 3.49391815e-01 9.36975789e-01 -1.31529589e-03 1.79847075e+01] [ 3.57613539e-03 7.02419883e-05 9.99993603e-01 2.12551644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170281693 meters 0.030013868325247824 Centerline is valid? [True, True] Translation: X:110.36, Y:18.00, Z:0.21 [[ 9.37060086e-01 -3.49139294e-01 -4.48868993e-03 1.10363351e+02] [ 3.49134794e-01 9.37070832e-01 -1.77531410e-03 1.79977249e+01] [ 4.82605232e-03 9.64181435e-05 9.99988350e-01 2.10614369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.200281693 meters 0.027114210958982518 Centerline is valid? [True, True] Translation: X:110.39, Y:18.01, Z:0.21 [[ 9.36865704e-01 -3.49656896e-01 -4.76531494e-03 1.10389827e+02] [ 3.49651827e-01 9.36877817e-01 -1.88547151e-03 1.80075495e+01] [ 5.12378598e-03 1.00232515e-04 9.99986868e-01 2.11144805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.230281693 meters 0.02675821860643229 Centerline is valid? [True, True] Translation: X:110.42, Y:18.02, Z:0.21 [[ 9.36615191e-01 -3.50333014e-01 -4.33163247e-03 1.10415182e+02] [ 3.50328830e-01 9.36625203e-01 -1.71440459e-03 1.80187162e+01] [ 4.65772867e-03 8.82416475e-05 9.99989149e-01 2.12088017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260281693 meters 0.024781642497638146 Centerline is valid? [True, True] Translation: X:110.44, Y:18.03, Z:0.21 [[ 9.35823488e-01 -3.52458672e-01 -2.69882411e-03 1.10441866e+02] [ 3.52457056e-01 9.35827379e-01 -1.06839386e-03 1.80281556e+01] [ 2.90219818e-03 4.86084685e-05 9.99995787e-01 2.14466470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290281693 meters 0.023282116172960065 Centerline is valid? [True, True] Translation: X:110.47, Y:18.04, Z:0.22 [[ 9.35180374e-01 -3.54167051e-01 -1.83531441e-03 1.10469491e+02] [ 3.54166307e-01 9.35182174e-01 -7.26783400e-04 1.80372323e+01] [ 1.97375605e-03 2.96670471e-05 9.99998052e-01 2.15924976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320281693 meters 0.021495904976901535 Centerline is valid? [True, True] Translation: X:110.50, Y:18.05, Z:0.22 [[ 9.34447686e-01 -3.56098635e-01 -1.13330961e-03 1.10497576e+02] [ 3.56098352e-01 9.34448373e-01 -4.48877313e-04 1.80458707e+01] [ 1.21886392e-03 1.58826821e-05 9.99999257e-01 2.17538926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350281693 meters 0.01853998585874402 Centerline is valid? [True, True] Translation: X:110.53, Y:18.05, Z:0.22 [[ 9.33159640e-01 -3.59461535e-01 -7.00710845e-04 1.10525073e+02] [ 3.59461428e-01 9.33159903e-01 -2.77655373e-04 1.80512553e+01] [ 7.53681690e-04 7.21826652e-06 9.99999716e-01 2.18395408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380281693 meters 0.017481741222663823 Centerline is valid? [True, True] Translation: X:110.55, Y:18.06, Z:0.22 [[ 9.32623713e-01 -3.60850285e-01 -2.84277830e-04 1.10552280e+02] [ 3.60850268e-01 9.32623757e-01 -1.12407582e-04 1.80604268e+01] [ 3.05686566e-04 2.25224505e-06 9.99999953e-01 2.19416389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410281693 meters 0.017231562997427938 Centerline is valid? [True, True] Translation: X:110.58, Y:18.07, Z:0.22 [[ 9.32355790e-01 -3.61541845e-01 -4.18950537e-04 1.10578788e+02] [ 3.61541807e-01 9.32355884e-01 -1.65859706e-04 1.80707927e+01] [ 4.50576223e-04 3.17212316e-06 9.99999898e-01 2.19255828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440281693 meters 0.01717121756138582 Centerline is valid? [True, True] Translation: X:110.60, Y:18.08, Z:0.22 [[ 9.32214918e-01 -3.61897756e-01 -2.31543306e-03 1.10604838e+02] [ 3.61896590e-01 9.32217793e-01 -9.18886741e-04 1.80816703e+01] [ 2.49103094e-03 1.86525990e-05 9.99996897e-01 2.15478517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470281693 meters 0.0172898082845304 Centerline is valid? [True, True] Translation: X:110.63, Y:18.09, Z:0.21 [[ 9.32196017e-01 -3.61941355e-01 -3.00701018e-03 1.10630114e+02] [ 3.61939387e-01 9.32200866e-01 -1.19394439e-03 1.80922150e+01] [ 3.23527534e-03 2.46347875e-05 9.99994766e-01 2.14150592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500281693 meters 0.017250202948403997 Centerline is valid? [True, True] Translation: X:110.66, Y:18.10, Z:0.21 [[ 9.32052414e-01 -3.62309261e-01 -3.20876804e-03 1.10656219e+02] [ 3.62307020e-01 9.32057937e-01 -1.27451100e-03 1.81030742e+01] [ 3.45252486e-03 2.53518661e-05 9.99994040e-01 2.13924733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530281693 meters 0.01715253761455161 Centerline is valid? [True, True] Translation: X:110.68, Y:18.12, Z:0.22 [[ 9.32011325e-01 -3.62422634e-01 -2.17382603e-03 1.10680497e+02] [ 3.62421605e-01 9.32013859e-01 -8.63722818e-04 1.81155402e+01] [ 2.33906868e-03 1.71579294e-05 9.99997264e-01 2.16299474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56028169300001 meters 0.01715253761455161 Centerline is valid? [True, True] Translation: X:110.71, Y:18.13, Z:0.22 [[ 9.31947286e-01 -3.62587275e-01 -2.17374656e-03 1.10705959e+02] [ 3.62586246e-01 9.31949821e-01 -8.63922768e-04 1.81258877e+01] [ 2.33907012e-03 1.69598736e-05 9.99997264e-01 2.16354165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.590281693 meters 0.01713909971062032 Centerline is valid? [True, True] Translation: X:110.73, Y:18.14, Z:0.22 [[ 9.31979354e-01 -3.62506741e-01 -1.82932336e-03 1.10731760e+02] [ 3.62506012e-01 9.31981149e-01 -7.27351211e-04 1.81378640e+01] [ 1.96856461e-03 1.47355942e-05 9.99998062e-01 2.17526278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.620281693 meters 0.017869895011248235 Centerline is valid? [True, True] Translation: X:110.76, Y:18.15, Z:0.21 [[ 9.32104252e-01 -3.62176306e-01 -3.16015323e-03 1.10755905e+02] [ 3.62174125e-01 9.32109609e-01 -1.25724694e-03 1.81524871e+01] [ 3.40095424e-03 2.73594954e-05 9.99994216e-01 2.14481297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650281693 meters 0.018244622743772337 Centerline is valid? [True, True] Translation: X:110.78, Y:18.17, Z:0.21 [[ 9.32141466e-01 -3.62071703e-01 -4.04581162e-03 1.10780495e+02] [ 3.62068124e-01 9.32150246e-01 -1.61019554e-03 1.81658423e+01] [ 4.35431053e-03 3.60706107e-05 9.99990519e-01 2.12370949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680281693 meters 0.018712329751017456 Centerline is valid? [True, True] Translation: X:110.81, Y:18.18, Z:0.21 [[ 9.32219746e-01 -3.61865749e-01 -4.41870506e-03 1.10805134e+02] [ 3.61861473e-01 9.32230217e-01 -1.75952639e-03 1.81792610e+01] [ 4.75596271e-03 4.13061254e-05 9.99988689e-01 2.11728353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710281693 meters 0.01913064338051168 Centerline is valid? [True, True] Translation: X:110.83, Y:18.20, Z:0.21 [[ 9.32400689e-01 -3.61406334e-01 -3.79687313e-03 1.10828923e+02] [ 3.61403172e-01 9.32408419e-01 -1.51235406e-03 1.81959200e+01] [ 4.08681081e-03 3.79179782e-05 9.99991648e-01 2.14226396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740281693 meters 0.019632677528035807 Centerline is valid? [True, True] Translation: X:110.85, Y:18.21, Z:0.22 [[ 9.32599642e-01 -3.60900353e-01 -2.97363808e-03 1.10853466e+02] [ 3.60898410e-01 9.32604383e-01 -1.18460670e-03 1.82104380e+01] [ 3.20075288e-03 3.15825317e-05 9.99994877e-01 2.16157817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770281693 meters 0.02045074818255146 Centerline is valid? [True, True] Translation: X:110.88, Y:18.23, Z:0.22 [[ 9.32806377e-01 -3.60370817e-01 -2.26679391e-03 1.10878466e+02] [ 3.60369686e-01 9.32809130e-01 -9.03181129e-04 1.82252497e+01] [ 2.43996618e-03 2.56093068e-05 9.99997023e-01 2.17539669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800281693 meters 0.020115303491169124 Centerline is valid? [True, True] Translation: X:110.90, Y:18.24, Z:0.22 [[ 9.33010615e-01 -3.59843917e-01 -1.88351578e-03 1.10904173e+02] [ 3.59843135e-01 9.33012516e-01 -7.50740149e-04 1.82380909e+01] [ 2.02749307e-03 2.26783067e-05 9.99997944e-01 2.17809190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830281693 meters 0.020058151166758728 Centerline is valid? [True, True] Translation: X:110.93, Y:18.25, Z:0.22 [[ 9.33159758e-01 -3.59455501e-01 -2.14665137e-03 1.10928737e+02] [ 3.59454483e-01 9.33162227e-01 -8.56062660e-04 1.82539143e+01] [ 2.31089041e-03 2.72197669e-05 9.99997330e-01 2.16957144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860281693 meters 0.020692039554729397 Centerline is valid? [True, True] Translation: X:110.95, Y:18.27, Z:0.22 [[ 9.33068795e-01 -3.59687510e-01 -2.74206919e-03 1.10952762e+02] [ 3.59685848e-01 9.33072823e-01 -1.09408560e-03 1.82675964e+01] [ 2.95207916e-03 3.45736567e-05 9.99995642e-01 2.16115897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890281693 meters 0.021666895561615836 Centerline is valid? [True, True] Translation: X:110.98, Y:18.28, Z:0.22 [[ 9.32857310e-01 -3.60230168e-01 -3.38599784e-03 1.10976431e+02] [ 3.60227635e-01 9.32863454e-01 -1.35144804e-03 1.82842442e+01] [ 3.64550599e-03 4.09781893e-05 9.99993354e-01 2.15131188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920281693 meters 0.02130636347030068 Centerline is valid? [True, True] Translation: X:111.00, Y:18.30, Z:0.22 [[ 9.32692534e-01 -3.60657509e-01 -3.28623772e-03 1.11001705e+02] [ 3.60655124e-01 9.32698322e-01 -1.31202560e-03 1.82973185e+01] [ 3.53826029e-03 3.85180112e-05 9.99993740e-01 2.15239462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.950281693 meters 0.020018100966177947 Centerline is valid? [True, True] Translation: X:111.03, Y:18.31, Z:0.22 [[ 9.32524819e-01 -3.61100251e-01 -2.01747428e-03 1.11027769e+02] [ 3.61099353e-01 9.32527001e-01 -8.05709984e-04 1.83111214e+01] [ 2.17229132e-03 2.28358988e-05 9.99997640e-01 2.17998911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.980281693 meters 0.019599389745447893 Centerline is valid? [True, True] Translation: X:111.05, Y:18.32, Z:0.22 [[ 9.32341454e-01 -3.61575600e-01 -1.58053560e-03 1.11053190e+02] [ 3.61575049e-01 9.32342794e-01 -6.31298521e-04 1.83229999e+01] [ 1.70186312e-03 1.71035452e-05 9.99998552e-01 2.18804601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010281693 meters 0.01805485559412836 Centerline is valid? [True, True] Translation: X:111.08, Y:18.33, Z:0.22 [[ 9.32119906e-01 -3.62145226e-01 -1.82084179e-03 1.11079311e+02] [ 3.62144496e-01 9.32121685e-01 -7.27705564e-04 1.83329779e+01] [ 1.96078121e-03 1.89010114e-05 9.99998077e-01 2.18644087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040281693 meters 0.01820745144132476 Centerline is valid? [True, True] Translation: X:111.10, Y:18.35, Z:0.22 [[ 9.32036364e-01 -3.62355942e-01 -2.52752124e-03 1.11102917e+02] [ 3.62354533e-01 9.32039790e-01 -1.01075531e-03 1.83453065e+01] [ 2.72200356e-03 2.62019282e-05 9.99996295e-01 2.17176786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070281693 meters 0.018431890014497066 Centerline is valid? [True, True] Translation: X:111.13, Y:18.36, Z:0.21 [[ 9.31843853e-01 -3.62843494e-01 -3.41067177e-03 1.11126378e+02] [ 3.62840931e-01 9.31850094e-01 -1.36430828e-03 1.83603738e+01] [ 3.67326520e-03 3.37909617e-05 9.99993253e-01 2.14701546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100281693 meters 0.017870828349437973 Centerline is valid? [True, True] Translation: X:111.15, Y:18.37, Z:0.21 [[ 9.31695920e-01 -3.63223023e-01 -3.42749067e-03 1.11151939e+02] [ 3.63220435e-01 9.31702224e-01 -1.37154677e-03 1.83717772e+01] [ 3.69157804e-03 3.29298761e-05 9.99993186e-01 2.14708258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130281693 meters 0.017457463533521837 Centerline is valid? [True, True] Translation: X:111.18, Y:18.39, Z:0.21 [[ 9.31335309e-01 -3.64143812e-01 -3.71844274e-03 1.11175890e+02] [ 3.64140771e-01 9.31342731e-01 -1.48852651e-03 1.83860360e+01] [ 4.00518233e-03 3.22806889e-05 9.99991979e-01 2.14830942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160281693 meters 0.0167308182571645 Centerline is valid? [True, True] Translation: X:111.20, Y:18.40, Z:0.22 [[ 9.30946186e-01 -3.65138934e-01 -3.57181669e-03 1.11201020e+02] [ 3.65136135e-01 9.30953038e-01 -1.43006069e-03 1.83968854e+01] [ 3.84736444e-03 2.71102081e-05 9.99992599e-01 2.15338836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190281693 meters 0.01654289257470298 Centerline is valid? [True, True] Translation: X:111.23, Y:18.41, Z:0.21 [[ 9.30366233e-01 -3.66615408e-01 -3.43735697e-03 1.11226460e+02] [ 3.66612824e-01 9.30372583e-01 -1.37644486e-03 1.84087024e+01] [ 3.70264857e-03 2.04186767e-05 9.99993145e-01 2.14739995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220281693 meters 0.01493541700499262 Centerline is valid? [True, True] Translation: X:111.25, Y:18.42, Z:0.21 [[ 9.29630909e-01 -3.68474786e-01 -3.56441903e-03 1.11254116e+02] [ 3.68472020e-01 9.29637742e-01 -1.42776257e-03 1.84159149e+01] [ 3.83971296e-03 1.39035340e-05 9.99992628e-01 2.14835528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250281693 meters 0.014351233573938037 Centerline is valid? [True, True] Translation: X:111.28, Y:18.42, Z:0.21 [[ 9.27648310e-01 -3.73431426e-01 -4.19330428e-03 1.11281922e+02] [ 3.73427646e-01 9.27657787e-01 -1.68021714e-03 1.84211017e+01] [ 4.51739725e-03 -7.24515286e-06 9.99989796e-01 2.13573309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280281693 meters 0.015288941518054025 Centerline is valid? [True, True] Translation: X:111.31, Y:18.43, Z:0.21 [[ 9.26556787e-01 -3.76133021e-01 -4.05844025e-03 1.11308990e+02] [ 3.76129505e-01 9.26565675e-01 -1.62643567e-03 1.84275384e+01] [ 4.37216759e-03 -1.95141186e-05 9.99990442e-01 2.14021562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31028169300001 meters 0.018434206044943585 Centerline is valid? [True, True] Translation: X:111.34, Y:18.43, Z:0.22 [[ 9.24227166e-01 -3.81827005e-01 -3.50469280e-03 1.11338528e+02] [ 3.81824422e-01 9.24233811e-01 -1.40493510e-03 1.84311152e+01] [ 3.77559774e-03 -3.96981234e-05 9.99992872e-01 2.15721241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.340281693 meters 0.020661826122022428 Centerline is valid? [True, True] Translation: X:111.37, Y:18.44, Z:0.22 [[ 9.23201671e-01 -3.84303354e-01 -3.09939047e-03 1.11365300e+02] [ 3.84301347e-01 9.23206873e-01 -1.24291682e-03 1.84375999e+01] [ 3.33903569e-03 -4.36370482e-05 9.99994424e-01 2.15970643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.370281693 meters 0.023870186017312275 Centerline is valid? [True, True] Translation: X:111.39, Y:18.44, Z:0.22 [[ 9.21768996e-01 -3.87727231e-01 -3.08411871e-03 1.11393494e+02] [ 3.87725262e-01 9.21774154e-01 -1.23707469e-03 1.84431625e+01] [ 3.32250846e-03 -5.54936434e-05 9.99994479e-01 2.15137735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400281693 meters 0.025944947619008785 Centerline is valid? [True, True] Translation: X:111.42, Y:18.45, Z:0.21 [[ 9.21373071e-01 -3.88665628e-01 -3.27012770e-03 1.11420764e+02] [ 3.88663419e-01 9.21378872e-01 -1.31188312e-03 1.84505953e+01] [ 3.52291045e-03 -6.22452321e-05 9.99993793e-01 2.14985298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430281693 meters 0.02599957918203116 Centerline is valid? [True, True] Translation: X:111.45, Y:18.46, Z:0.21 [[ 9.20976153e-01 -3.89603294e-01 -3.49273770e-03 1.11447772e+02] [ 3.89600779e-01 9.20982773e-01 -1.40162087e-03 1.84611422e+01] [ 3.76282736e-03 -6.99139310e-05 9.99992918e-01 2.14829205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460281693 meters 0.02732733462589809 Centerline is valid? [True, True] Translation: X:111.47, Y:18.47, Z:0.21 [[ 9.20565936e-01 -3.90566005e-01 -4.06869829e-03 1.11474927e+02] [ 3.90562599e-01 9.20574923e-01 -1.63329316e-03 1.84683363e+01] [ 4.38345040e-03 -8.55273355e-05 9.99990389e-01 2.14575147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490281693 meters 0.028776273943093164 Centerline is valid? [True, True] Translation: X:111.50, Y:18.48, Z:0.22 [[ 9.20611525e-01 -3.90461556e-01 -3.76736628e-03 1.11501360e+02] [ 3.90458635e-01 9.20619230e-01 -1.51256621e-03 1.84766721e+01] [ 4.05890880e-03 -7.85148047e-05 9.99991760e-01 2.15155530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520281693 meters 0.029338675955403886 Centerline is valid? [True, True] Translation: X:111.53, Y:18.49, Z:0.22 [[ 9.20641137e-01 -3.90392009e-01 -3.73834746e-03 1.11526959e+02] [ 3.90389131e-01 9.20648724e-01 -1.50119834e-03 1.84863567e+01] [ 4.02776065e-03 -7.73452649e-05 9.99991886e-01 2.15147803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550281693 meters 0.027500631057518665 Centerline is valid? [True, True] Translation: X:111.55, Y:18.50, Z:0.22 [[ 9.20494715e-01 -3.90748037e-01 -2.33476393e-03 1.11552164e+02] [ 3.90746915e-01 9.20497675e-01 -9.37765253e-04 1.84989459e+01] [ 2.51557470e-03 -4.90938428e-05 9.99996835e-01 2.18145277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580281693 meters 0.030359136819108175 Centerline is valid? [True, True] Translation: X:111.58, Y:18.50, Z:0.22 [[ 9.20327931e-01 -3.91144166e-01 -1.65575091e-03 1.11580170e+02] [ 3.91143602e-01 9.20329419e-01 -6.65272545e-04 1.85045546e+01] [ 1.78405375e-03 -3.53674726e-05 9.99998408e-01 2.19578481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610281693 meters 0.03109106383841549 Centerline is valid? [True, True] Translation: X:111.61, Y:18.51, Z:0.22 [[ 9.20045846e-01 -3.91808538e-01 -1.30776114e-03 1.11607469e+02] [ 3.91808186e-01 9.20046775e-01 -5.25620480e-04 1.85136695e+01] [ 1.40914401e-03 -2.87965814e-05 9.99999007e-01 2.20192567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640281693 meters 0.02927366584244951 Centerline is valid? [True, True] Translation: X:111.63, Y:18.53, Z:0.22 [[ 9.19894326e-01 -3.92154318e-01 -3.06931875e-03 1.11633327e+02] [ 3.92152380e-01 9.19899444e-01 -1.23458483e-03 1.85260856e+01] [ 3.30761239e-03 -6.79530715e-05 9.99994528e-01 2.16632475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670281693 meters 0.026028712716173373 Centerline is valid? [True, True] Translation: X:111.66, Y:18.54, Z:0.22 [[ 9.20095872e-01 -3.91673327e-01 -3.94865519e-03 1.11658305e+02] [ 3.91670113e-01 9.20104341e-01 -1.58892468e-03 1.85418309e+01] [ 4.25551420e-03 -8.46071907e-05 9.99990942e-01 2.15530618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.700281693 meters 0.02370386165158792 Centerline is valid? [True, True] Translation: X:111.68, Y:18.56, Z:0.21 [[ 9.21174995e-01 -3.89116178e-01 -5.02287519e-03 1.11682053e+02] [ 3.89110936e-01 9.21188684e-01 -2.02174943e-03 1.85566626e+01] [ 5.41371120e-03 -9.20706537e-05 9.99985342e-01 2.14776317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.730281693 meters 0.024706215070628337 Centerline is valid? [True, True] Translation: X:111.71, Y:18.57, Z:0.21 [[ 9.21794126e-01 -3.87648100e-01 -4.95372983e-03 1.11708592e+02] [ 3.87642977e-01 9.21807433e-01 -1.99464649e-03 1.85666216e+01] [ 5.33960590e-03 -8.16251573e-05 9.99985741e-01 2.13940657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760281693 meters 0.02246416081049654 Centerline is valid? [True, True] Translation: X:111.73, Y:18.58, Z:0.21 [[ 9.22341874e-01 -3.86347641e-01 -4.57904805e-03 1.11733303e+02] [ 3.86343244e-01 9.22353238e-01 -1.84456846e-03 1.85816154e+01] [ 4.93614447e-03 -6.77615517e-05 9.99987815e-01 2.14843691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790281693 meters 0.02118560792341843 Centerline is valid? [True, True] Translation: X:111.76, Y:18.59, Z:0.21 [[ 9.22968830e-01 -3.84849847e-01 -4.37427401e-03 1.11757792e+02] [ 3.84845815e-01 9.22979194e-01 -1.76255540e-03 1.85947902e+01] [ 4.71568307e-03 -5.66373544e-05 9.99988880e-01 2.14891107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820281693 meters 0.01799198089949944 Centerline is valid? [True, True] Translation: X:111.78, Y:18.61, Z:0.21 [[ 9.23913546e-01 -3.82572953e-01 -4.65782182e-03 1.11781433e+02] [ 3.82568349e-01 9.23925286e-01 -1.87746299e-03 1.86130861e+01] [ 5.02174591e-03 -4.73217133e-05 9.99987390e-01 2.14842990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850281693 meters 0.018047746408791948 Centerline is valid? [True, True] Translation: X:111.81, Y:18.62, Z:0.21 [[ 9.24247849e-01 -3.81763203e-01 -4.77182467e-03 1.11806708e+02] [ 3.81758357e-01 9.24260166e-01 -1.92396869e-03 1.86243716e+01] [ 5.14490792e-03 -4.34600206e-05 9.99986764e-01 2.13687007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880281693 meters 0.01690203921070602 Centerline is valid? [True, True] Translation: X:111.83, Y:18.64, Z:0.21 [[ 9.24515627e-01 -3.81116333e-01 -4.60393907e-03 1.11832374e+02] [ 3.81111811e-01 9.24527090e-01 -1.85691800e-03 1.86382374e+01] [ 4.96416817e-03 -3.78658519e-05 9.99987678e-01 2.14505321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910281693 meters 0.01603378625827171 Centerline is valid? [True, True] Translation: X:111.86, Y:18.65, Z:0.22 [[ 9.25011281e-01 -3.79919504e-01 -3.91163450e-03 1.11858049e+02] [ 3.79916226e-01 9.25019551e-01 -1.57837761e-03 1.86519736e+01] [ 4.21799483e-03 -2.60763200e-05 9.99991104e-01 2.15458418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940281693 meters 0.016018476643315956 Centerline is valid? [True, True] Translation: X:111.88, Y:18.66, Z:0.22 [[ 9.25037822e-01 -3.79858421e-01 -3.55065880e-03 1.11882551e+02] [ 3.79855718e-01 9.25044637e-01 -1.43320040e-03 1.86628843e+01] [ 3.82893112e-03 -2.29734731e-05 9.99992669e-01 2.16354169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970281693 meters 0.015873921428398673 Centerline is valid? [True, True] Translation: X:111.91, Y:18.67, Z:0.22 [[ 9.24860542e-01 -3.80293737e-01 -3.10662011e-03 1.11907890e+02] [ 3.80291668e-01 9.24865760e-01 -1.25440079e-03 1.86745452e+01] [ 3.35024733e-03 -2.12759506e-05 9.99994388e-01 2.17598643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000281693 meters 0.01662605793596072 Centerline is valid? [True, True] Translation: X:111.93, Y:18.68, Z:0.22 [[ 9.24470748e-01 -3.81241257e-01 -2.98993586e-03 1.11934825e+02] [ 3.81239345e-01 9.24475583e-01 -1.20780074e-03 1.86824176e+01] [ 3.22458616e-03 -2.33047342e-05 9.99994801e-01 2.17326327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030281693 meters 0.017641771719100783 Centerline is valid? [True, True] Translation: X:111.96, Y:18.69, Z:0.22 [[ 9.23710739e-01 -3.83079384e-01 -2.94228249e-03 1.11962696e+02] [ 3.83077540e-01 9.23715424e-01 -1.18894604e-03 1.86902313e+01] [ 3.17329244e-03 -2.88801140e-05 9.99994965e-01 2.17527071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06028169300001 meters 0.019311335324198802 Centerline is valid? [True, True] Translation: X:111.99, Y:18.70, Z:0.22 [[ 9.22730020e-01 -3.85438178e-01 -2.59262738e-03 1.11991055e+02] [ 3.85436754e-01 9.22733661e-01 -1.04810066e-03 1.86970784e+01] [ 2.79628257e-03 -3.21799391e-05 9.99996090e-01 2.17780080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.090281693 meters 0.022996742981981937 Centerline is valid? [True, True] Translation: X:112.02, Y:18.70, Z:0.22 [[ 9.20812461e-01 -3.90001140e-01 -1.87664802e-03 1.12021404e+02] [ 3.90000403e-01 9.20814373e-01 -7.58910365e-04 1.87006642e+01] [ 2.02402038e-03 -3.30793637e-05 9.99997951e-01 2.18974622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.120281693 meters 0.025215124711950608 Centerline is valid? [True, True] Translation: X:112.05, Y:18.71, Z:0.22 [[ 9.19997426e-01 -3.91918160e-01 -2.21178610e-03 1.12049151e+02] [ 3.91917141e-01 9.20000084e-01 -8.94535955e-04 1.87070377e+01] [ 2.38542829e-03 -4.38661111e-05 9.99997154e-01 2.18190121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150281693 meters 0.027534619848365784 Centerline is valid? [True, True] Translation: X:112.08, Y:18.71, Z:0.22 [[ 9.19118771e-01 -3.93972344e-01 -2.54505128e-03 1.12077510e+02] [ 3.93971003e-01 9.19122293e-01 -1.02958524e-03 1.87120513e+01] [ 2.74484148e-03 -5.63652850e-05 9.99996231e-01 2.18821104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180281693 meters 0.0278264020192418 Centerline is valid? [True, True] Translation: X:112.10, Y:18.72, Z:0.22 [[ 9.18957913e-01 -3.94345412e-01 -2.83714670e-03 1.12104611e+02] [ 3.94343746e-01 9.18962291e-01 -1.14807335e-03 1.87223430e+01] [ 3.05996829e-03 -6.37799659e-05 9.99995316e-01 2.18831748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210281693 meters 0.026799119072289063 Centerline is valid? [True, True] Translation: X:112.13, Y:18.73, Z:0.22 [[ 9.18943909e-01 -3.94373872e-01 -3.36769014e-03 1.12129694e+02] [ 3.94371522e-01 9.18950077e-01 -1.36350113e-03 1.87347244e+01] [ 3.63246833e-03 -7.51400252e-05 9.99993400e-01 2.17718937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240281693 meters 0.026898125904448743 Centerline is valid? [True, True] Translation: X:112.15, Y:18.75, Z:0.22 [[ 9.19401349e-01 -3.93300449e-01 -3.98943341e-03 1.12154762e+02] [ 3.93297139e-01 9.19410001e-01 -1.61585148e-03 1.87462712e+01] [ 4.30344009e-03 -8.34167128e-05 9.99990737e-01 2.15998342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270281693 meters 0.02518820269083079 Centerline is valid? [True, True] Translation: X:112.18, Y:18.76, Z:0.22 [[ 9.19716048e-01 -3.92569135e-01 -3.44457179e-03 1.12180126e+02] [ 3.92566660e-01 9.19722496e-01 -1.39557387e-03 1.87601601e+01] [ 3.71590939e-03 -6.86923585e-05 9.99993094e-01 2.17025936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300281693 meters 0.024412798432252594 Centerline is valid? [True, True] Translation: X:112.21, Y:18.77, Z:0.22 [[ 9.20001996e-01 -3.91907163e-01 -2.25885729e-03 1.12205814e+02] [ 3.91906096e-01 9.20004768e-01 -9.15485747e-04 1.87744328e+01] [ 2.43694490e-03 -4.30112274e-05 9.99997030e-01 2.19048541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330281693 meters 0.024354585166746243 Centerline is valid? [True, True] Translation: X:112.23, Y:18.79, Z:0.22 [[ 9.19855156e-01 -3.92250685e-01 -2.42737989e-03 1.12231410e+02] [ 3.92249453e-01 9.19858357e-01 -9.84285045e-04 1.87865769e+01] [ 2.61893216e-03 -4.67387595e-05 9.99996570e-01 2.19025315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360281693 meters 0.031580545544790874 Centerline is valid? [True, True] Translation: X:112.26, Y:18.79, Z:0.22 [[ 9.19562640e-01 -3.92931090e-01 -3.11596655e-03 1.12261141e+02] [ 3.92929062e-01 9.19567917e-01 -1.26410003e-03 1.87882216e+01] [ 3.36204708e-03 -6.19346563e-05 9.99994346e-01 2.16895930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390281693 meters 0.03025441615782906 Centerline is valid? [True, True] Translation: X:112.29, Y:18.80, Z:0.21 [[ 9.18339061e-01 -3.95767268e-01 -4.65172197e-03 1.12287581e+02] [ 3.95762781e-01 9.18350836e-01 -1.88761234e-03 1.88016689e+01] [ 5.01896794e-03 -1.07510277e-04 9.99987399e-01 2.14032946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420281693 meters 0.039530197107822275 Centerline is valid? [True, True] Translation: X:112.31, Y:18.81, Z:0.22 [[ 9.17339296e-01 -3.98069469e-01 -5.41425258e-03 1.12314170e+02] [ 3.98063425e-01 9.17355263e-01 -2.19792919e-03 1.88123411e+01] [ 5.84172161e-03 -1.38969111e-04 9.99982927e-01 2.20818193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.450281693 meters 0.039530197107822275 Centerline is valid? [True, True] Translation: X:112.34, Y:18.82, Z:0.22 [[ 9.17266405e-01 -3.98237406e-01 -5.41386735e-03 1.12339567e+02] [ 3.98231360e-01 9.17282372e-01 -2.19887783e-03 1.88228515e+01] [ 5.84172049e-03 -1.39014994e-04 9.99982927e-01 2.20872898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.480281693 meters 0.036768141266808455 Centerline is valid? [True, True] Translation: X:112.37, Y:18.82, Z:0.21 [[ 9.14753817e-01 -4.03989051e-01 -4.27796434e-03 1.12370860e+02] [ 4.03985335e-01 9.14763810e-01 -1.73815895e-03 1.88241802e+01] [ 4.61552414e-03 -1.38247319e-04 9.99989339e-01 2.14984015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510281693 meters 0.0443583074514047 Centerline is valid? [True, True] Translation: X:112.40, Y:18.82, Z:0.22 [[ 9.13490482e-01 -4.06843510e-01 -3.67395902e-03 1.12401949e+02] [ 4.06840791e-01 9.13497861e-01 -1.49303198e-03 1.88235575e+01] [ 3.96358408e-03 -1.30845892e-04 9.99992136e-01 2.15959205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540281693 meters 0.0480267854108386 Centerline is valid? [True, True] Translation: X:112.43, Y:18.83, Z:0.22 [[ 9.12246124e-01 -4.09632800e-01 -2.82442717e-03 1.12431972e+02] [ 4.09631207e-01 9.12250490e-01 -1.14788862e-03 1.88274760e+01] [ 3.04679790e-03 -1.09816568e-04 9.99995352e-01 2.17486736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570281693 meters 0.04731093536633381 Centerline is valid? [True, True] Translation: X:112.46, Y:18.84, Z:0.22 [[ 9.11050956e-01 -4.12286049e-01 -2.52390084e-03 1.12460330e+02] [ 4.12284787e-01 9.11054445e-01 -1.02583437e-03 1.88360662e+01] [ 2.72234828e-03 -1.05978537e-04 9.99996289e-01 2.17940120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600281693 meters 0.059035438875058924 Centerline is valid? [True, True] Translation: X:112.50, Y:18.82, Z:0.22 [[ 9.08719140e-01 -4.17395289e-01 -3.27066096e-03 1.12496463e+02] [ 4.17393201e-01 9.08725012e-01 -1.32949388e-03 1.88238381e+01] [ 3.52705590e-03 -1.57015114e-04 9.99993768e-01 2.16518154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630281693 meters 0.06281575635375594 Centerline is valid? [True, True] Translation: X:112.53, Y:18.82, Z:0.21 [[ 9.07620054e-01 -4.19763886e-01 -4.91090199e-03 1.12527793e+02] [ 4.19759212e-01 9.07633306e-01 -1.99655286e-03 1.88208298e+01] [ 5.29537900e-03 -2.49284929e-04 9.99985948e-01 2.14479247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660281693 meters 0.05745907966275591 Centerline is valid? [True, True] Translation: X:112.55, Y:18.83, Z:0.22 [[ 9.07871887e-01 -4.19216568e-01 -5.10939149e-03 1.12553915e+02] [ 4.19211496e-01 9.07886228e-01 -2.07796393e-03 1.88335924e+01] [ 5.50986308e-03 -2.55390612e-04 9.99984788e-01 2.15454427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690281693 meters 0.055460993643972764 Centerline is valid? [True, True] Translation: X:112.58, Y:18.84, Z:0.22 [[ 9.08735769e-01 -4.17345655e-01 -4.68053205e-03 1.12581758e+02] [ 4.17341371e-01 9.08747795e-01 -1.90398256e-03 1.88423622e+01] [ 5.04804203e-03 -2.23162611e-04 9.99987234e-01 2.16714839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720281693 meters 0.047200788370535665 Centerline is valid? [True, True] Translation: X:112.61, Y:18.86, Z:0.22 [[ 9.10018727e-01 -4.14551310e-01 -3.62320696e-03 1.12607188e+02] [ 4.14548720e-01 9.10025926e-01 -1.47423448e-03 1.88590946e+01] [ 3.90835810e-03 -1.60414824e-04 9.99992349e-01 2.19441625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750281693 meters 0.03861013150443048 Centerline is valid? [True, True] Translation: X:112.63, Y:18.87, Z:0.22 [[ 9.13216689e-01 -4.07473388e-01 -8.46344146e-04 1.12633705e+02] [ 4.07473243e-01 9.13217081e-01 -3.44380345e-04 1.88728090e+01] [ 9.13221757e-04 -3.03687157e-05 9.99999583e-01 2.24514198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780281693 meters 0.03881754212370405 Centerline is valid? [True, True] Translation: X:112.66, Y:18.88, Z:0.23 [[ 9.14739271e-01 -4.04044624e-01 -8.49013953e-05 1.12661554e+02] [ 4.04044623e-01 9.14739275e-01 -3.44801631e-05 1.88793855e+01] [ 9.15941653e-05 -2.76359294e-06 9.99999996e-01 2.26302615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81028169300001 meters 0.031834020412189586 Centerline is valid? [True, True] Translation: X:112.69, Y:18.90, Z:0.23 [[ 9.16144238e-01 -4.00848769e-01 9.15423866e-06 1.12686690e+02] [ 4.00848769e-01 9.16144238e-01 3.80803648e-06 1.88952828e+01] [-9.91304974e-06 1.80754625e-07 1.00000000e+00 2.25632959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.840281693 meters 0.02802364673221165 Centerline is valid? [True, True] Translation: X:112.71, Y:18.90, Z:0.22 [[ 9.18566938e-01 -3.95261097e-01 -1.85605134e-03 1.12714367e+02] [ 3.95260377e-01 9.18568813e-01 -7.55626097e-04 1.89041098e+01] [ 2.00358048e-03 -3.95304024e-05 9.99997992e-01 2.22042540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.870281693 meters 0.023641457357477406 Centerline is valid? [True, True] Translation: X:112.74, Y:18.92, Z:0.22 [[ 9.19762499e-01 -3.92465112e-01 -2.84282502e-03 1.12739217e+02] [ 3.92463409e-01 9.19766891e-01 -1.15753103e-03 1.89190362e+01] [ 3.06902687e-03 -5.10511632e-05 9.99995289e-01 2.20291828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900281693 meters 0.021083806133030437 Centerline is valid? [True, True] Translation: X:112.76, Y:18.93, Z:0.22 [[ 9.21023986e-01 -3.89489569e-01 -3.56282202e-03 1.12763438e+02] [ 3.89486869e-01 9.21030875e-01 -1.45113706e-03 1.89324087e+01] [ 3.84667183e-03 -5.11403561e-05 9.99992600e-01 2.19634156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930281693 meters 0.01623232801463083 Centerline is valid? [True, True] Translation: X:112.78, Y:18.95, Z:0.22 [[ 9.23936129e-01 -3.82529312e-01 -3.65440768e-03 1.12784986e+02] [ 3.82526415e-01 9.23943356e-01 -1.48890772e-03 1.89529799e+01] [ 3.94601654e-03 -2.22518327e-05 9.99992214e-01 2.19076874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960281693 meters 0.014599090548207766 Centerline is valid? [True, True] Translation: X:112.81, Y:18.97, Z:0.22 [[ 9.25144023e-01 -3.79599140e-01 -3.60950538e-03 1.12809324e+02] [ 3.79596290e-01 9.25151065e-01 -1.47106549e-03 1.89699714e+01] [ 3.89775294e-03 -9.20740648e-06 9.99992404e-01 2.18866770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990281693 meters 0.014599784000713984 Centerline is valid? [True, True] Translation: X:112.83, Y:18.99, Z:0.22 [[ 9.26647415e-01 -3.75912236e-01 -3.81558680e-03 1.12832139e+02] [ 3.75909017e-01 9.26655271e-01 -1.55584122e-03 1.89868239e+01] [ 4.12059337e-03 7.40276058e-06 9.99991510e-01 2.17697933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020281693 meters 0.014852429784288825 Centerline is valid? [True, True] Translation: X:112.86, Y:19.00, Z:0.22 [[ 9.26801699e-01 -3.75532071e-01 -3.77809231e-03 1.12856361e+02] [ 3.75528909e-01 9.26809400e-01 -1.54112327e-03 1.89981757e+01] [ 4.08031268e-03 9.53278866e-06 9.99991675e-01 2.17524045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050281693 meters 0.014730379461379756 Centerline is valid? [True, True] Translation: X:112.88, Y:19.01, Z:0.22 [[ 9.26697181e-01 -3.75791690e-01 -3.59722938e-03 1.12882583e+02] [ 3.75788824e-01 9.26704163e-01 -1.46787922e-03 1.90084859e+01] [ 3.88518425e-03 8.48093611e-06 9.99992453e-01 2.17857598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080281693 meters 0.01459282997758432 Centerline is valid? [True, True] Translation: X:112.91, Y:19.02, Z:0.22 [[ 9.26515807e-01 -3.76240575e-01 -3.38971509e-03 1.12908990e+02] [ 3.76238029e-01 9.26522007e-01 -1.38389298e-03 1.90182330e+01] [ 3.66132232e-03 6.85899065e-06 9.99993297e-01 2.18396874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110281693 meters 0.014629830110261628 Centerline is valid? [True, True] Translation: X:112.93, Y:19.03, Z:0.22 [[ 9.26462415e-01 -3.76366014e-01 -4.00205457e-03 1.12934193e+02] [ 3.76362464e-01 9.26471059e-01 -1.63480269e-03 1.90292488e+01] [ 4.32307191e-03 8.36013582e-06 9.99990655e-01 2.17539521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140281693 meters 0.01536384779667285 Centerline is valid? [True, True] Translation: X:112.96, Y:19.04, Z:0.22 [[ 9.27109447e-01 -3.74760754e-01 -4.73814401e-03 1.12957552e+02] [ 3.74755753e-01 9.27121555e-01 -1.93613748e-03 1.90444548e+01] [ 5.11842378e-03 1.93646242e-05 9.99986901e-01 2.16368501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170281693 meters 0.01631511766713334 Centerline is valid? [True, True] Translation: X:112.98, Y:19.06, Z:0.22 [[ 9.27595139e-01 -3.73555598e-01 -4.84496273e-03 1.12982063e+02] [ 3.73550351e-01 9.27607791e-01 -1.98010605e-03 1.90590805e+01] [ 5.23390488e-03 2.68992172e-05 9.99986303e-01 2.16113537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.200281693 meters 0.016801993353589863 Centerline is valid? [True, True] Translation: X:113.01, Y:19.07, Z:0.22 [[ 9.28038191e-01 -3.72458586e-01 -4.44045508e-03 1.13007859e+02] [ 3.72454164e-01 9.28048814e-01 -1.81537234e-03 1.90716068e+01] [ 4.79711008e-03 3.08688846e-05 9.99988493e-01 2.17106261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.230281693 meters 0.017194412035368218 Centerline is valid? [True, True] Translation: X:113.03, Y:19.08, Z:0.22 [[ 9.28239430e-01 -3.71959036e-01 -4.24695079e-03 1.13032684e+02] [ 3.71954981e-01 9.28249145e-01 -1.73708914e-03 1.90837108e+01] [ 4.58835444e-03 3.27601347e-05 9.99989473e-01 2.17816959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260281693 meters 0.01624218807477749 Centerline is valid? [True, True] Translation: X:113.06, Y:19.09, Z:0.22 [[ 9.27933510e-01 -3.72724483e-01 -3.98257292e-03 1.13059328e+02] [ 3.72720921e-01 9.27942056e-01 -1.62979375e-03 1.90925273e+01] [ 4.30306093e-03 2.79519882e-05 9.99990741e-01 2.18227767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290281693 meters 0.016289624170596047 Centerline is valid? [True, True] Translation: X:113.08, Y:19.10, Z:0.22 [[ 9.27478849e-01 -3.73846265e-01 -4.68559974e-03 1.13084409e+02] [ 3.73841344e-01 9.27490684e-01 -1.91841247e-03 1.91026512e+01] [ 5.06304145e-03 2.76160854e-05 9.99987182e-01 2.15765012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320281693 meters 0.014979397922338968 Centerline is valid? [True, True] Translation: X:113.11, Y:19.11, Z:0.22 [[ 9.26497022e-01 -3.76272361e-01 -4.73054392e-03 1.13113449e+02] [ 3.76267373e-01 9.26509099e-01 -1.93741263e-03 1.91091820e+01] [ 5.11188680e-03 1.50576933e-05 9.99986934e-01 2.15985984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350281693 meters 0.014864096473390587 Centerline is valid? [True, True] Translation: X:113.14, Y:19.12, Z:0.22 [[ 9.26115152e-01 -3.77217342e-01 -4.21921993e-03 1.13138505e+02] [ 3.77213382e-01 9.26124763e-01 -1.72854609e-03 1.91188539e+01] [ 4.55956162e-03 9.28651210e-06 9.99989605e-01 2.16883638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380281693 meters 0.014659577537673229 Centerline is valid? [True, True] Translation: X:113.16, Y:19.13, Z:0.22 [[ 9.25900982e-01 -3.77755045e-01 -2.91496023e-03 1.13163279e+02] [ 3.77753156e-01 9.25905571e-01 -1.19451067e-03 1.91298947e+01] [ 3.15021035e-03 4.86317746e-06 9.99995038e-01 2.20000481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410281693 meters 0.014748053169993227 Centerline is valid? [True, True] Translation: X:113.19, Y:19.14, Z:0.22 [[ 9.25943834e-01 -3.77650189e-01 -2.88969964e-03 1.13189081e+02] [ 3.77648332e-01 9.25948343e-01 -1.18454563e-03 1.91416058e+01] [ 3.12305647e-03 5.53247770e-06 9.99995123e-01 2.20280962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440281693 meters 0.01474701528790398 Centerline is valid? [True, True] Translation: X:113.21, Y:19.15, Z:0.22 [[ 9.26188765e-01 -3.77045342e-01 -3.34388551e-03 1.13213862e+02] [ 3.77042848e-01 9.26194801e-01 -1.37148827e-03 1.91537962e+01] [ 3.61420264e-03 9.46891415e-06 9.99993469e-01 2.19950494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470281693 meters 0.015581737764738719 Centerline is valid? [True, True] Translation: X:113.24, Y:19.17, Z:0.22 [[ 9.26629993e-01 -3.75956070e-01 -3.72680512e-03 1.13238000e+02] [ 3.75952961e-01 9.26637487e-01 -1.52911673e-03 1.91678832e+01] [ 4.02827805e-03 1.58220073e-05 9.99991886e-01 2.18145712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500281693 meters 0.016603827876068206 Centerline is valid? [True, True] Translation: X:113.26, Y:19.18, Z:0.22 [[ 9.27581173e-01 -3.73609660e-01 -2.99811227e-03 1.13261799e+02] [ 3.73607635e-01 9.27586018e-01 -1.23030997e-03 1.91844883e+01] [ 3.24066272e-03 2.10947309e-05 9.99994749e-01 2.18996726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530281693 meters 0.017968523743141035 Centerline is valid? [True, True] Translation: X:113.29, Y:19.20, Z:0.22 [[ 9.28054872e-01 -3.72437055e-01 -2.18987606e-03 1.13286342e+02] [ 3.72435971e-01 9.28057455e-01 -8.98754062e-04 1.91992214e+01] [ 2.36706012e-03 1.85044698e-05 9.99997198e-01 2.20536016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56028169300001 meters 0.019229671928757693 Centerline is valid? [True, True] Translation: X:113.31, Y:19.21, Z:0.22 [[ 9.28792763e-01 -3.70588545e-01 -2.85201281e-03 1.13311911e+02] [ 3.70586697e-01 9.28797141e-01 -1.17084931e-03 1.92137018e+01] [ 3.08284468e-03 3.05583567e-05 9.99995248e-01 2.20362569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.590281693 meters 0.01877364232590349 Centerline is valid? [True, True] Translation: X:113.34, Y:19.22, Z:0.22 [[ 9.28788525e-01 -3.70594673e-01 -3.38575066e-03 1.13338042e+02] [ 3.70592066e-01 9.28794696e-01 -1.39070875e-03 1.92243468e+01] [ 3.66005651e-03 3.69420022e-05 9.99993301e-01 2.18820468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.620281693 meters 0.01852689378141393 Centerline is valid? [True, True] Translation: X:113.36, Y:19.24, Z:0.22 [[ 9.28632462e-01 -3.70981055e-01 -3.84793399e-03 1.13364108e+02] [ 3.70977687e-01 9.28640434e-01 -1.58145453e-03 1.92351262e+01] [ 4.16003676e-03 4.10923614e-05 9.99991346e-01 2.17674957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650281693 meters 0.018838263198187807 Centerline is valid? [True, True] Translation: X:113.39, Y:19.25, Z:0.22 [[ 9.28174556e-01 -3.72131493e-01 -3.18513456e-03 1.13390153e+02] [ 3.72129190e-01 9.28180021e-01 -1.30948024e-03 1.92458898e+01] [ 3.44367710e-03 3.01446926e-05 9.99994070e-01 2.18396765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680281693 meters 0.01808872921577873 Centerline is valid? [True, True] Translation: X:113.42, Y:19.26, Z:0.22 [[ 9.27992662e-01 -3.72589633e-01 -2.56617242e-03 1.13416664e+02] [ 3.72588139e-01 9.27996210e-01 -1.05526318e-03 1.92551444e+01] [ 2.77457840e-03 2.31510787e-05 9.99996151e-01 2.20689288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710281693 meters 0.01769550404348627 Centerline is valid? [True, True] Translation: X:113.44, Y:19.27, Z:0.22 [[ 9.28110678e-01 -3.72300599e-01 -1.68325905e-03 1.13442047e+02] [ 3.72299955e-01 9.28112204e-01 -6.92407130e-04 1.92677522e+01] [ 1.82003686e-03 1.59531805e-05 9.99998344e-01 2.22963846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740281693 meters 0.01862571183306498 Centerline is valid? [True, True] Translation: X:113.47, Y:19.28, Z:0.22 [[ 9.28346160e-01 -3.71710406e-01 -2.18664061e-03 1.13466850e+02] [ 3.71709317e-01 9.28348735e-01 -9.00034632e-04 1.92814701e+01] [ 2.36451728e-03 2.27490099e-05 9.99997204e-01 2.22095067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770281693 meters 0.019065071540747724 Centerline is valid? [True, True] Translation: X:113.49, Y:19.29, Z:0.22 [[ 9.28446942e-01 -3.71453246e-01 -2.96001204e-03 1.13491687e+02] [ 3.71451248e-01 9.28451660e-01 -1.21869018e-03 1.92939359e+01] [ 3.20091452e-03 3.19890031e-05 9.99994877e-01 2.21040839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800281693 meters 0.01852962878247601 Centerline is valid? [True, True] Translation: X:113.52, Y:19.31, Z:0.22 [[ 9.28482982e-01 -3.71357077e-01 -3.64334056e-03 1.13516874e+02] [ 3.71354048e-01 9.28490129e-01 -1.50058246e-03 1.93052522e+01] [ 3.94005766e-03 4.02960095e-05 9.99992237e-01 2.19808593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830281693 meters 0.017935237972484384 Centerline is valid? [True, True] Translation: X:113.54, Y:19.32, Z:0.22 [[ 9.28224749e-01 -3.72002295e-01 -3.62038742e-03 1.13542553e+02] [ 3.71999305e-01 9.28231809e-01 -1.49194702e-03 1.93162708e+01] [ 3.91556648e-03 3.80805478e-05 9.99992333e-01 2.20511238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860281693 meters 0.017474385487565962 Centerline is valid? [True, True] Translation: X:113.57, Y:19.33, Z:0.22 [[ 9.27814791e-01 -3.73026542e-01 -3.30336696e-03 1.13567454e+02] [ 3.73024058e-01 9.27820671e-01 -1.36179482e-03 1.93283824e+01] [ 3.57291776e-03 3.12580275e-05 9.99993617e-01 2.20750405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890281693 meters 0.01605453820626359 Centerline is valid? [True, True] Translation: X:113.59, Y:19.34, Z:0.22 [[ 9.26785219e-01 -3.75582761e-01 -2.59753018e-03 1.13593901e+02] [ 3.75581234e-01 9.26788859e-01 -1.07106800e-03 1.93400493e+01] [ 2.80963671e-03 1.70664042e-05 9.99996053e-01 2.21907339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920281693 meters 0.015564679723609118 Centerline is valid? [True, True] Translation: X:113.62, Y:19.35, Z:0.22 [[ 9.26182345e-01 -3.77069755e-01 -2.15951919e-03 1.13619616e+02] [ 3.77068703e-01 9.26184862e-01 -8.90777356e-04 1.93511380e+01] [ 2.33599919e-03 1.07351585e-05 9.99997271e-01 2.22797287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.950281693 meters 0.014393646776551947 Centerline is valid? [True, True] Translation: X:113.65, Y:19.36, Z:0.23 [[ 9.24722606e-01 -3.80641013e-01 -7.22298289e-04 1.13647218e+02] [ 3.80640896e-01 9.24722888e-01 -2.97769486e-04 1.93603188e+01] [ 7.81269038e-04 4.17907153e-07 9.99999695e-01 2.25124620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.980281693 meters 0.014277249517916063 Centerline is valid? [True, True] Translation: X:113.67, Y:19.37, Z:0.23 [[ 9.24111531e-01 -3.82122855e-01 -5.25344700e-05 1.13673409e+02] [ 3.82122854e-01 9.24111532e-01 -2.12903227e-05 1.93711439e+01] [ 5.66832284e-05 -3.99988898e-07 9.99999998e-01 2.26282395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.010281693 meters 0.014514281515141465 Centerline is valid? [True, True] Translation: X:113.70, Y:19.38, Z:0.23 [[ 9.23579420e-01 -3.83407078e-01 -2.59982107e-04 1.13698577e+02] [ 3.83407063e-01 9.23579457e-01 -1.07211044e-04 1.93808827e+01] [ 2.81219607e-04 -6.61062451e-07 9.99999960e-01 2.26308386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040281693 meters 0.015077444592749465 Centerline is valid? [True, True] Translation: X:113.73, Y:19.39, Z:0.22 [[ 9.22637007e-01 -3.85664308e-01 -1.99855321e-03 1.13725106e+02] [ 3.85663424e-01 9.22639172e-01 -8.25543577e-04 1.93901911e+01] [ 2.16232617e-03 -9.09181822e-06 9.99997662e-01 2.23057350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.070281693 meters 0.015821883227122493 Centerline is valid? [True, True] Translation: X:113.75, Y:19.40, Z:0.22 [[ 9.21984039e-01 -3.87219323e-01 -2.57431078e-03 1.13752155e+02] [ 3.87217862e-01 9.21987633e-01 -1.06393870e-03 1.93985635e+01] [ 2.78546033e-03 -1.58846153e-05 9.99996120e-01 2.21172046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100281693 meters 0.017017185860168572 Centerline is valid? [True, True] Translation: X:113.78, Y:19.41, Z:0.22 [[ 9.21102687e-01 -3.89308740e-01 -2.92321074e-03 1.13779549e+02] [ 3.89306866e-01 9.21107325e-01 -1.20838763e-03 1.94065272e+01] [ 3.16302669e-03 -2.49769145e-05 9.99994997e-01 2.20880246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.130281693 meters 0.018232376859832606 Centerline is valid? [True, True] Translation: X:113.81, Y:19.41, Z:0.22 [[ 9.20158614e-01 -3.91539230e-01 -2.27067118e-03 1.13807369e+02] [ 3.91538105e-01 9.20161416e-01 -9.38872004e-04 1.94143288e+01] [ 2.45698923e-03 -2.51431288e-05 9.99996981e-01 2.22117563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160281693 meters 0.022091844364717155 Centerline is valid? [True, True] Translation: X:113.84, Y:19.42, Z:0.22 [[ 9.18651728e-01 -3.95067749e-01 -6.90519668e-04 1.13835928e+02] [ 3.95067646e-01 9.18651987e-01 -2.85528018e-04 1.94168378e+01] [ 7.47150177e-04 -1.05011725e-05 9.99999721e-01 2.24751766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190281693 meters 0.022884578814839424 Centerline is valid? [True, True] Translation: X:113.86, Y:19.42, Z:0.22 [[ 9.17805976e-01 -3.97027616e-01 -1.12331796e-03 1.13864810e+02] [ 3.97027345e-01 9.17806663e-01 -4.64600496e-04 1.94231374e+01] [ 1.21544794e-03 -1.95748362e-05 9.99999261e-01 2.23801314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220281693 meters 0.023351543806769858 Centerline is valid? [True, True] Translation: X:113.89, Y:19.43, Z:0.22 [[ 9.17638722e-01 -3.97414337e-01 -1.00993189e-03 1.13892097e+02] [ 3.97414118e-01 9.17639278e-01 -4.17839395e-04 1.94316542e+01] [ 1.09280854e-03 -1.79355820e-05 9.99999403e-01 2.24087941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250281693 meters 0.023108147007204594 Centerline is valid? [True, True] Translation: X:113.92, Y:19.44, Z:0.22 [[ 9.17688254e-01 -3.97299967e-01 -1.00184424e-03 1.13918349e+02] [ 3.97299751e-01 9.17688801e-01 -4.14705901e-04 1.94412237e+01] [ 1.08414388e-03 -1.74617329e-05 9.99999412e-01 2.24360395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280281693 meters 0.023462862000107797 Centerline is valid? [True, True] Translation: X:113.94, Y:19.45, Z:0.22 [[ 9.17981691e-01 -3.96620812e-01 -1.24357048e-03 1.13944351e+02] [ 3.96620478e-01 9.17982533e-01 -5.15220039e-04 1.94499898e+01] [ 1.34592297e-03 -2.02629557e-05 9.99999094e-01 2.24143470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310281693 meters 0.019567515985836677 Centerline is valid? [True, True] Translation: X:113.97, Y:19.47, Z:0.22 [[ 9.19481970e-01 -3.93118987e-01 -3.22011526e-03 1.13968852e+02] [ 3.93116724e-01 9.19487608e-01 -1.33450860e-03 1.94656196e+01] [ 3.48547674e-03 -3.88245657e-05 9.99993925e-01 2.21228017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340281693 meters 0.01796685651201493 Centerline is valid? [True, True] Translation: X:113.99, Y:19.48, Z:0.22 [[ 9.20383296e-01 -3.90995427e-01 -4.14294446e-03 1.13993033e+02] [ 3.90991658e-01 9.20392620e-01 -1.71723363e-03 1.94794343e+01] [ 4.48456600e-03 -3.93435752e-05 9.99989944e-01 2.19065523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370281693 meters 0.01796685651201493 Centerline is valid? [True, True] Translation: X:114.02, Y:19.49, Z:0.22 [[ 9.20312588e-01 -3.91161830e-01 -4.14272865e-03 1.14018345e+02] [ 3.91158061e-01 9.20321912e-01 -1.71775413e-03 1.94901437e+01] [ 4.48456380e-03 -3.95909563e-05 9.99989944e-01 2.19120214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400281693 meters 0.016613811153911334 Centerline is valid? [True, True] Translation: X:114.04, Y:19.51, Z:0.22 [[ 9.21139812e-01 -3.89199640e-01 -5.00870963e-03 1.14043764e+02] [ 3.89194095e-01 9.21153429e-01 -2.07784390e-03 1.95053084e+01] [ 5.42248614e-03 -3.53754687e-05 9.99985298e-01 2.18372260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430281693 meters 0.015106173058916643 Centerline is valid? [True, True] Translation: X:114.07, Y:19.52, Z:0.22 [[ 9.22278120e-01 -3.86503309e-01 -4.27336637e-03 1.14068634e+02] [ 3.86499240e-01 9.22288020e-01 -1.77350984e-03 1.95213225e+01] [ 4.62674203e-03 -1.59835285e-05 9.99989296e-01 2.19018363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460281693 meters 0.014847251041740315 Centerline is valid? [True, True] Translation: X:114.09, Y:19.53, Z:0.22 [[ 9.22520820e-01 -3.85933505e-01 -3.26583901e-03 1.14093991e+02] [ 3.85931124e-01 9.22526601e-01 -1.35593308e-03 1.95327110e+01] [ 3.53612336e-03 -9.51242289e-06 9.99993748e-01 2.20989341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49028169300001 meters 0.014340885807896879 Centerline is valid? [True, True] Translation: X:114.12, Y:19.55, Z:0.23 [[ 9.23078733e-01 -3.84608162e-01 -1.48789179e-03 1.14118617e+02] [ 3.84607666e-01 9.23079932e-01 -6.17907141e-04 1.95464867e+01] [ 1.61109518e-03 -1.87764795e-06 9.99998702e-01 2.25110952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520281693 meters 0.01416044662935381 Centerline is valid? [True, True] Translation: X:114.14, Y:19.56, Z:0.23 [[ 9.23470529e-01 -3.83668682e-01 -7.23987931e-04 1.14143397e+02] [ 3.83668565e-01 9.23470813e-01 -3.00492365e-04 1.95604137e+01] [ 7.83871233e-04 -2.75566845e-07 9.99999693e-01 2.26959063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.550281693 meters 0.01433559583787457 Centerline is valid? [True, True] Translation: X:114.17, Y:19.57, Z:0.23 [[ 9.24027468e-01 -3.82325449e-01 -7.00052012e-04 1.14167667e+02] [ 3.82325339e-01 9.24027733e-01 -2.90690952e-04 1.95748312e+01] [ 7.58006022e-04 9.58801684e-07 9.99999713e-01 2.26853990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580281693 meters 0.016235204208006386 Centerline is valid? [True, True] Translation: X:114.19, Y:19.59, Z:0.22 [[ 9.25768954e-01 -3.78085799e-01 -1.72395650e-03 1.14190256e+02] [ 3.78085120e-01 9.25770559e-01 -7.16777906e-04 1.95945829e+01] [ 1.86699172e-03 1.17684326e-05 9.99998257e-01 2.24764877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.610281693 meters 0.0183529933654568 Centerline is valid? [True, True] Translation: X:114.21, Y:19.61, Z:0.22 [[ 9.26574964e-01 -3.76101756e-01 -2.51086566e-03 1.14213091e+02] [ 3.76100307e-01 9.26578366e-01 -1.04450341e-03 1.96115620e+01] [ 2.71935337e-03 2.34733634e-05 9.99996302e-01 2.23373458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640281693 meters 0.02061449970050618 Centerline is valid? [True, True] Translation: X:114.24, Y:19.63, Z:0.22 [[ 9.27409775e-01 -3.74035905e-01 -2.87245104e-03 1.14236153e+02] [ 3.74033997e-01 9.27414223e-01 -1.19512776e-03 1.96290286e+01] [ 3.11097264e-03 3.39788261e-05 9.99995160e-01 2.22122589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.670281693 meters 0.024897565391937902 Centerline is valid? [True, True] Translation: X:114.26, Y:19.65, Z:0.22 [[ 9.29029376e-01 -3.70002218e-01 -1.66648979e-03 1.14258617e+02] [ 3.70001569e-01 9.29030870e-01 -6.93431111e-04 1.96508607e+01] [ 1.80479151e-03 2.76140330e-05 9.99998371e-01 2.24678048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700281693 meters 0.026461884399290373 Centerline is valid? [True, True] Translation: X:114.28, Y:19.67, Z:0.23 [[ 9.29537584e-01 -3.68726339e-01 -8.75993567e-04 1.14283753e+02] [ 3.68726160e-01 9.29537996e-01 -3.64368550e-04 1.96661398e+01] [ 9.48621586e-04 1.56925178e-05 9.99999550e-01 2.26472676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.730281693 meters 0.028250391938474295 Centerline is valid? [True, True] Translation: X:114.31, Y:19.68, Z:0.23 [[ 9.29982615e-01 -3.67603503e-01 -1.20870759e-05 1.14306090e+02] [ 3.67603503e-01 9.29982615e-01 -4.89364967e-06 1.96836964e+01] [ 1.30396932e-05 1.07757691e-07 1.00000000e+00 2.27376128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760281693 meters 0.027618322762060384 Centerline is valid? [True, True] Translation: X:114.33, Y:19.70, Z:0.23 [[ 9.29675950e-01 -3.68378353e-01 -1.28002718e-04 1.14331525e+02] [ 3.68378349e-01 9.29675959e-01 -5.31924206e-05 1.96958635e+01] [ 1.38595986e-04 2.29828437e-06 9.99999990e-01 2.26992319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.790281693 meters 0.026582592102968317 Centerline is valid? [True, True] Translation: X:114.36, Y:19.71, Z:0.23 [[ 9.29282748e-01 -3.69368907e-01 -4.30356755e-04 1.14357815e+02] [ 3.69368863e-01 9.29282848e-01 -1.78979543e-04 1.97080849e+01] [ 4.66032629e-04 7.36221630e-06 9.99999891e-01 2.26471886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820281693 meters 0.025358239841842507 Centerline is valid? [True, True] Translation: X:114.38, Y:19.72, Z:0.22 [[ 9.28787618e-01 -3.70607781e-01 -1.85292064e-03 1.14381277e+02] [ 3.70606978e-01 9.28789466e-01 -7.72000248e-04 1.97232571e+01] [ 2.00708247e-03 3.03189504e-05 9.99997985e-01 2.24128914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.850281693 meters 0.024049808938013364 Centerline is valid? [True, True] Translation: X:114.41, Y:19.74, Z:0.22 [[ 9.28602797e-01 -3.71065085e-01 -2.74731829e-03 1.14406406e+02] [ 3.71063321e-01 9.28606860e-01 -1.14500081e-03 1.97361992e+01] [ 2.97604843e-03 4.38219060e-05 9.99995571e-01 2.21983000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880281693 meters 0.025424460554567523 Centerline is valid? [True, True] Translation: X:114.43, Y:19.75, Z:0.22 [[ 9.28646079e-01 -3.70949651e-01 -3.58006113e-03 1.14429591e+02] [ 3.70946652e-01 9.28652978e-01 -1.49267192e-03 1.97527118e+01] [ 3.87834055e-03 5.81522344e-05 9.99992478e-01 2.20665634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.910281693 meters 0.0255354590301083 Centerline is valid? [True, True] Translation: X:114.45, Y:19.77, Z:0.22 [[ 9.28552797e-01 -3.71185866e-01 -3.27960754e-03 1.14450681e+02] [ 3.71183350e-01 9.28558587e-01 -1.36770482e-03 1.97712405e+01] [ 3.55298044e-03 5.26504276e-05 9.99993687e-01 2.20676653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940281693 meters 0.02187542779242993 Centerline is valid? [True, True] Translation: X:114.48, Y:19.78, Z:0.22 [[ 9.28452359e-01 -3.71443289e-01 -2.46996433e-03 1.14477156e+02] [ 3.71441862e-01 9.28455643e-01 -1.03038664e-03 1.97806733e+01] [ 2.67598252e-03 3.92167531e-05 9.99996419e-01 2.22822836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970281693 meters 0.025284678724545224 Centerline is valid? [True, True] Translation: X:114.50, Y:19.80, Z:0.22 [[ 9.28321161e-01 -3.71773931e-01 -1.99160830e-03 1.14497892e+02] [ 3.71773004e-01 9.28323297e-01 -8.31189152e-04 1.98001125e+01] [ 2.15787084e-03 3.11842794e-05 9.99997671e-01 2.23982392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000281693 meters 0.022449217767938272 Centerline is valid? [True, True] Translation: X:114.52, Y:19.81, Z:0.22 [[ 9.27343663e-01 -3.74204439e-01 -2.18361439e-03 1.14523785e+02] [ 3.74203330e-01 9.27346233e-01 -9.11685692e-04 1.98142764e+01] [ 2.36612341e-03 2.83301747e-05 9.99997200e-01 2.23836760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030281693 meters 0.020131453312394586 Centerline is valid? [True, True] Translation: X:114.55, Y:19.82, Z:0.22 [[ 9.26437364e-01 -3.76444171e-01 -1.89641264e-03 1.14550594e+02] [ 3.76443339e-01 9.26439305e-01 -7.92039314e-04 1.98247788e+01] [ 2.05506979e-03 1.98829086e-05 9.99997888e-01 2.23979036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060281693 meters 0.015115788010807003 Centerline is valid? [True, True] Translation: X:114.58, Y:19.83, Z:0.22 [[ 9.24241846e-01 -3.81804421e-01 -1.54738071e-03 1.14579929e+02] [ 3.81803874e-01 9.24243141e-01 -6.46468019e-04 1.98293518e+01] [ 1.67698035e-03 6.69684716e-06 9.99998594e-01 2.23992481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090281693 meters 0.014475079804392174 Centerline is valid? [True, True] Translation: X:114.61, Y:19.84, Z:0.22 [[ 9.23133739e-01 -3.84472570e-01 -2.22326357e-03 1.14607270e+02] [ 3.84471447e-01 9.23136416e-01 -9.29349777e-04 1.98372736e+01] [ 2.40968506e-03 3.13277481e-06 9.99997097e-01 2.22829716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120281693 meters 0.014341262785287065 Centerline is valid? [True, True] Translation: X:114.64, Y:19.84, Z:0.22 [[ 9.22020417e-01 -3.87132555e-01 -2.59514753e-03 1.14635162e+02] [ 3.87131034e-01 9.22024070e-01 -1.08509962e-03 1.98441150e+01] [ 2.81286588e-03 -4.17814108e-06 9.99996044e-01 2.22113622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150281693 meters 0.015367833782735815 Centerline is valid? [True, True] Translation: X:114.66, Y:19.85, Z:0.22 [[ 9.20792709e-01 -3.90046757e-01 -2.07723477e-03 1.14663004e+02] [ 3.90045789e-01 9.20795052e-01 -8.68875655e-04 1.98499197e+01] [ 2.25160963e-03 -1.01623084e-05 9.99997465e-01 2.24134782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180281693 meters 0.015120808458656269 Centerline is valid? [True, True] Translation: X:114.69, Y:19.86, Z:0.23 [[ 9.20697939e-01 -3.90272906e-01 -1.53735445e-03 1.14688691e+02] [ 3.90272376e-01 9.20699223e-01 -6.43121022e-04 1.98620370e+01] [ 1.66643375e-03 -7.86677217e-06 9.99998611e-01 2.26196724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210281693 meters 0.014373194909601837 Centerline is valid? [True, True] Translation: X:114.71, Y:19.88, Z:0.23 [[ 9.21427692e-01 -3.88548690e-01 -9.61253091e-04 1.14713178e+02] [ 3.88548482e-01 9.21428193e-01 -4.02175887e-04 1.98771194e+01] [ 1.04199061e-03 -2.91743027e-06 9.99999457e-01 2.27173780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24028169300001 meters 0.014178488966346641 Centerline is valid? [True, True] Translation: X:114.74, Y:19.89, Z:0.23 [[ 9.21816398e-01 -3.87625481e-01 -1.00720179e-03 1.14738118e+02] [ 3.87625252e-01 9.21816948e-01 -4.21633562e-04 1.98897243e+01] [ 1.09189159e-03 -1.74811612e-06 9.99999404e-01 2.26367549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.270281693 meters 0.01412125389826781 Centerline is valid? [True, True] Translation: X:114.76, Y:19.90, Z:0.23 [[ 9.22119121e-01 -3.86904569e-01 -1.08708576e-03 1.14762046e+02] [ 3.86904301e-01 9.22119762e-01 -4.55424711e-04 1.99014728e+01] [ 1.17862916e-03 -6.42320360e-07 9.99999305e-01 2.26100356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300281693 meters 0.014339848792754925 Centerline is valid? [True, True] Translation: X:114.79, Y:19.91, Z:0.23 [[ 9.21322436e-01 -3.88799346e-01 1.91193568e-04 1.14788677e+02] [ 3.88799338e-01 9.21322456e-01 8.05504179e-05 1.99093562e+01] [-2.07468878e-04 1.23025430e-07 9.99999978e-01 2.28066784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.330281693 meters 0.015096486729054448 Centerline is valid? [True, True] Translation: X:114.82, Y:19.92, Z:0.23 [[ 9.20369974e-01 -3.91047698e-01 8.99452547e-04 1.14817182e+02] [ 3.91047516e-01 9.20370413e-01 3.77640194e-04 1.99159961e+01] [-9.75504842e-04 4.15998863e-06 9.99999524e-01 2.29422299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360281693 meters 0.016894626529100173 Centerline is valid? [True, True] Translation: X:114.85, Y:19.92, Z:0.23 [[ 9.19175764e-01 -3.93845119e-01 1.39177783e-03 1.14846748e+02] [ 3.93844685e-01 9.19176818e-01 5.84416842e-04 1.99209777e+01] [-1.50945963e-03 1.09625026e-05 9.99998861e-01 2.30646135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.390281693 meters 0.0223171922132721 Centerline is valid? [True, True] Translation: X:114.88, Y:19.92, Z:0.23 [[ 9.16649909e-01 -3.99690977e-01 2.59180234e-04 1.14879094e+02] [ 3.99690962e-01 9.16649946e-01 1.08850415e-04 1.99177674e+01] [-2.81084077e-04 3.81427414e-06 9.99999960e-01 2.27622501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420281693 meters 0.02477398380869389 Centerline is valid? [True, True] Translation: X:114.91, Y:19.92, Z:0.22 [[ 9.15607017e-01 -4.02073123e-01 -9.97240306e-04 1.14907719e+02] [ 4.02072906e-01 9.15607560e-01 -4.18397473e-04 1.99231046e+01] [ 1.08130714e-03 -1.78756450e-05 9.99999415e-01 2.24830714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.450281693 meters 0.025732385211250496 Centerline is valid? [True, True] Translation: X:114.94, Y:19.93, Z:0.22 [[ 9.14826443e-01 -4.03842450e-01 -1.96307232e-03 1.14935364e+02] [ 4.03841611e-01 9.14828549e-01 -8.24288478e-04 1.99307659e+01] [ 2.12875728e-03 -3.86893905e-05 9.99997733e-01 2.23229854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480281693 meters 0.0282395463652015 Centerline is valid? [True, True] Translation: X:114.96, Y:19.93, Z:0.22 [[ 9.14500942e-01 -4.04576643e-01 -2.40153373e-03 1.14964779e+02] [ 4.04575388e-01 9.14504094e-01 -1.00884811e-03 1.99335679e+01] [ 2.60436881e-03 -4.90088977e-05 9.99996607e-01 2.22516483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.510281693 meters 0.02719938017466077 Centerline is valid? [True, True] Translation: X:114.99, Y:19.94, Z:0.22 [[ 9.14711356e-01 -4.04101866e-01 -2.19484848e-03 1.14991829e+02] [ 4.04100816e-01 9.14713988e-01 -9.22196954e-04 1.99433922e+01] [ 2.38032012e-03 -4.33960384e-05 9.99997166e-01 2.23421552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540281693 meters 0.026161039176487304 Centerline is valid? [True, True] Translation: X:115.02, Y:19.95, Z:0.22 [[ 9.15137155e-01 -4.03139150e-01 -1.67710724e-03 1.15018948e+02] [ 4.03138535e-01 9.15138692e-01 -7.04883678e-04 1.99533706e+01] [ 1.81895193e-03 -3.10413129e-05 9.99998345e-01 2.24042183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.570281693 meters 0.022301186575641466 Centerline is valid? [True, True] Translation: X:115.05, Y:19.97, Z:0.22 [[ 9.16538701e-01 -3.99937871e-01 -2.55121997e-03 1.15045915e+02] [ 3.99936434e-01 9.16542251e-01 -1.07284620e-03 1.99651476e+01] [ 2.76737272e-03 -3.70207533e-05 9.99996170e-01 2.22105957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600281693 meters 0.020902490804240607 Centerline is valid? [True, True] Translation: X:115.07, Y:19.98, Z:0.22 [[ 9.17120328e-01 -3.98597179e-01 -3.25480478e-03 1.15072860e+02] [ 3.98594829e-01 9.17126102e-01 -1.36935626e-03 1.99764753e+01] [ 3.53088797e-03 -4.14838908e-05 9.99993766e-01 2.20260494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.630281693 meters 0.018298681902235464 Centerline is valid? [True, True] Translation: X:115.10, Y:19.99, Z:0.22 [[ 9.18188021e-01 -3.96126104e-01 -3.85572183e-03 1.15099779e+02] [ 3.96122782e-01 9.18196116e-01 -1.62291959e-03 1.99878176e+01] [ 4.18318962e-03 -3.71939287e-05 9.99991250e-01 2.19306018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660281693 meters 0.01741034621676649 Centerline is valid? [True, True] Translation: X:115.13, Y:20.00, Z:0.22 [[ 9.18775212e-01 -3.94763643e-01 -3.71169766e-03 1.15125721e+02] [ 3.94760551e-01 9.18782708e-01 -1.56279330e-03 1.99988395e+01] [ 4.02717760e-03 -2.93760709e-05 9.99991890e-01 2.19853058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690281693 meters 0.016249282054924843 Centerline is valid? [True, True] Translation: X:115.15, Y:20.01, Z:0.22 [[ 9.19264428e-01 -3.93622336e-01 -3.79046613e-03 1.15151726e+02] [ 3.93619100e-01 9.19272242e-01 -1.59648895e-03 2.00115433e+01] [ 4.11288401e-03 -2.44043647e-05 9.99991542e-01 2.20194789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720281693 meters 0.014631693234590085 Centerline is valid? [True, True] Translation: X:115.18, Y:20.03, Z:0.22 [[ 9.20920866e-01 -3.89732727e-01 -3.62780356e-03 1.15175603e+02] [ 3.89729729e-01 9.20928011e-01 -1.52861457e-03 2.00278224e+01] [ 3.93669704e-03 -6.12984332e-06 9.99992251e-01 2.21115025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750281693 meters 0.01449404252599547 Centerline is valid? [True, True] Translation: X:115.20, Y:20.04, Z:0.22 [[ 9.21891635e-01 -3.87432341e-01 -3.46326783e-03 1.15198555e+02] [ 3.87429591e-01 9.21898140e-01 -1.45974298e-03 2.00432442e+01] [ 3.75833181e-03 3.95240355e-06 9.99992937e-01 2.21872694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780281693 meters 0.01530075600937178 Centerline is valid? [True, True] Translation: X:115.22, Y:20.06, Z:0.22 [[ 9.22927784e-01 -3.84964307e-01 -2.60546723e-03 1.15223010e+02] [ 3.84962740e-01 9.22931461e-01 -1.09844543e-03 2.00604907e+01] [ 2.82752996e-03 1.07780057e-05 9.99996002e-01 2.24432796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810281693 meters 0.01928553133644791 Centerline is valid? [True, True] Translation: X:115.24, Y:20.09, Z:0.23 [[ 9.25105236e-01 -3.79710432e-01 -5.37957967e-04 1.15242971e+02] [ 3.79710365e-01 9.25105393e-01 -2.26784457e-04 2.00855061e+01] [ 5.83780240e-04 5.53127271e-06 9.99999830e-01 2.29182472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840281693 meters 0.02121924790256299 Centerline is valid? [True, True] Translation: X:115.27, Y:20.10, Z:0.23 [[ 9.25820630e-01 -3.77963138e-01 1.65495801e-04 1.15266680e+02] [ 3.77963132e-01 9.25820645e-01 6.99906759e-05 2.01022046e+01] [-1.79673325e-04 -2.24750048e-06 9.99999984e-01 2.30347453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870281693 meters 0.02383705004115145 Centerline is valid? [True, True] Translation: X:115.29, Y:20.12, Z:0.23 [[ 9.26437737e-01 -3.76447991e-01 1.72261122e-04 1.15289924e+02] [ 3.76447984e-01 9.26437753e-01 7.27978014e-05 2.01196948e+01] [-1.86993793e-04 -2.59527821e-06 9.99999983e-01 2.30440037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900281693 meters 0.02398936088449784 Centerline is valid? [True, True] Translation: X:115.31, Y:20.14, Z:0.23 [[ 9.26875865e-01 -3.75367667e-01 4.95061792e-04 1.15313157e+02] [ 3.75367609e-01 9.26875997e-01 2.09301443e-04 2.01377167e+01] [-5.37425886e-04 -8.16629447e-06 9.99999856e-01 2.30693805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930281693 meters 0.0206205410067059 Centerline is valid? [True, True] Translation: X:115.34, Y:20.15, Z:0.23 [[ 9.26640683e-01 -3.75947441e-01 7.52789593e-04 1.15339385e+02] [ 3.75947306e-01 9.26640989e-01 3.18359717e-04 2.01469290e+01] [-8.17252214e-04 -1.19958460e-05 9.99999666e-01 2.30220928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960281693 meters 0.02010808303021981 Centerline is valid? [True, True] Translation: X:115.37, Y:20.16, Z:0.23 [[ 9.26342748e-01 -3.76680708e-01 8.70395911e-04 1.15365229e+02] [ 3.76680528e-01 9.26343157e-01 3.68148981e-04 2.01608649e+01] [-9.44959914e-04 -1.31709477e-05 9.99999553e-01 2.30723923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99028169300001 meters 0.021833327050306973 Centerline is valid? [True, True] Translation: X:115.39, Y:20.18, Z:0.23 [[ 9.25672664e-01 -3.78325281e-01 3.17025333e-04 1.15386603e+02] [ 3.78325257e-01 9.25672719e-01 1.34110934e-04 2.01810676e+01] [-3.44199259e-04 -4.20413532e-06 9.99999941e-01 2.30602334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020281693 meters 0.020994148972132188 Centerline is valid? [True, True] Translation: X:115.41, Y:20.19, Z:0.23 [[ 9.25242759e-01 -3.79374863e-01 -7.42191676e-04 1.15412469e+02] [ 3.79374734e-01 9.25243056e-01 -3.13476274e-04 2.01946179e+01] [ 8.05632713e-04 8.47288283e-06 9.99999675e-01 2.28141560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.050281693 meters 0.018482267723080405 Centerline is valid? [True, True] Translation: X:115.44, Y:20.20, Z:0.23 [[ 9.24793287e-01 -3.80465336e-01 -1.87191584e-03 1.15439165e+02] [ 3.80464513e-01 9.24795182e-01 -7.91431886e-04 2.02042508e+01] [ 2.03225115e-03 1.97133459e-05 9.99997935e-01 2.25394677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080281693 meters 0.01623181549164133 Centerline is valid? [True, True] Translation: X:115.47, Y:20.22, Z:0.22 [[ 9.23513850e-01 -3.83557049e-01 -2.48195370e-03 1.15466038e+02] [ 3.83555612e-01 9.23517184e-01 -1.04992751e-03 2.02156379e+01] [ 2.69483399e-03 1.76553262e-05 9.99996369e-01 2.23240339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.110281693 meters 0.015030045861445941 Centerline is valid? [True, True] Translation: X:115.49, Y:20.23, Z:0.22 [[ 9.22552519e-01 -3.85863871e-01 -2.43356852e-03 1.15491603e+02] [ 3.85862497e-01 9.22555729e-01 -1.02983539e-03 2.02254180e+01] [ 2.64247885e-03 1.10544103e-05 9.99996509e-01 2.23620637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140281693 meters 0.014087052447320938 Centerline is valid? [True, True] Translation: X:115.52, Y:20.23, Z:0.22 [[ 9.20679290e-01 -3.90314059e-01 -2.13998544e-03 1.15519404e+02] [ 3.90313008e-01 9.20681777e-01 -9.05760149e-04 2.02330592e+01] [ 2.32377652e-03 -1.34954227e-06 9.99997300e-01 2.23628812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.170281693 meters 0.01448510613358371 Centerline is valid? [True, True] Translation: X:115.55, Y:20.24, Z:0.22 [[ 9.19922533e-01 -3.92093158e-01 -2.34294508e-03 1.15545672e+02] [ 3.92091903e-01 9.19925516e-01 -9.92064540e-04 2.02415817e+01] [ 2.54431668e-03 -6.02727064e-06 9.99996763e-01 2.23232117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200281693 meters 0.015207577226355217 Centerline is valid? [True, True] Translation: X:115.57, Y:20.25, Z:0.22 [[ 9.19295831e-01 -3.93558827e-01 -2.57372339e-03 1.15572017e+02] [ 3.93557318e-01 9.19299434e-01 -1.08996063e-03 2.02495425e+01] [ 2.79498609e-03 -1.09114138e-05 9.99996094e-01 2.22614583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.230281693 meters 0.015207577226355217 Centerline is valid? [True, True] Translation: X:115.60, Y:20.26, Z:0.22 [[ 9.19230843e-01 -3.93710596e-01 -2.57362913e-03 1.15597226e+02] [ 3.93709087e-01 9.19234446e-01 -1.09018317e-03 2.02604547e+01] [ 2.79498521e-03 -1.11311828e-05 9.99996094e-01 2.22669253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260281693 meters 0.01645057288060706 Centerline is valid? [True, True] Translation: X:115.63, Y:20.27, Z:0.22 [[ 9.18143529e-01 -3.96232940e-01 -3.45204474e-03 1.15625244e+02] [ 3.96230240e-01 9.18150019e-01 -1.46304741e-03 2.02691076e+01] [ 3.74920252e-03 -2.45169997e-05 9.99992971e-01 2.20633697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.290281693 meters 0.016900973604166456 Centerline is valid? [True, True] Translation: X:115.65, Y:20.28, Z:0.22 [[ 9.17533147e-01 -3.97640894e-01 -3.82664183e-03 1.15652340e+02] [ 3.97637585e-01 9.17541126e-01 -1.62255321e-03 2.02796287e+01] [ 4.15629476e-03 -3.28702636e-05 9.99991362e-01 2.19919996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320281693 meters 0.01949268882718824 Centerline is valid? [True, True] Translation: X:115.68, Y:20.28, Z:0.22 [[ 9.16557998e-01 -3.99877393e-01 -4.41672129e-03 1.15680560e+02] [ 3.99873007e-01 9.16568638e-01 -1.87341875e-03 2.02845060e+01] [ 4.79736602e-03 -4.90306846e-05 9.99988491e-01 2.18798770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.350281693 meters 0.020305297851864326 Centerline is valid? [True, True] Translation: X:115.71, Y:20.29, Z:0.22 [[ 9.16128245e-01 -4.00867810e-01 -3.74667129e-03 1.15707334e+02] [ 4.00864660e-01 9.16135905e-01 -1.58970290e-03 2.02941162e+01] [ 4.06972081e-03 -4.55363850e-05 9.99991718e-01 2.20212381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380281693 meters 0.020330950034257847 Centerline is valid? [True, True] Translation: X:115.73, Y:20.30, Z:0.22 [[ 9.15554783e-01 -4.02181254e-01 -3.11097495e-03 1.15734185e+02] [ 4.02179088e-01 9.15560068e-01 -1.32048661e-03 2.03043135e+01] [ 3.37935939e-03 -4.21912389e-05 9.99994289e-01 2.22548533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.410281693 meters 0.022579991982480684 Centerline is valid? [True, True] Translation: X:115.76, Y:20.31, Z:0.22 [[ 9.15186608e-01 -4.03022028e-01 -2.59173247e-03 1.15761305e+02] [ 4.03020528e-01 9.15190277e-01 -1.10042367e-03 2.03105205e+01] [ 2.81542334e-03 -3.74283786e-05 9.99996036e-01 2.22914839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440281693 meters 0.023779180687871895 Centerline is valid? [True, True] Translation: X:115.79, Y:20.32, Z:0.22 [[ 9.14689835e-01 -4.04150895e-01 -2.13522296e-03 1.15788992e+02] [ 4.04149879e-01 9.14692327e-01 -9.06747222e-04 2.03191621e+01] [ 2.31953476e-03 -3.35576349e-05 9.99997309e-01 2.23374710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470281693 meters 0.025154676815190454 Centerline is valid? [True, True] Translation: X:115.82, Y:20.33, Z:0.22 [[ 9.14147438e-01 -4.05378682e-01 -1.60795773e-03 1.15816909e+02] [ 4.05378108e-01 9.14148852e-01 -6.83040388e-04 2.03280423e+01] [ 1.74680273e-03 -2.74312417e-05 9.99998474e-01 2.24128151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500281693 meters 0.02593653149163795 Centerline is valid? [True, True] Translation: X:115.84, Y:20.34, Z:0.22 [[ 9.13026445e-01 -4.07895856e-01 -1.91880716e-03 1.15844338e+02] [ 4.07895042e-01 9.13028460e-01 -8.15481843e-04 2.03376234e+01] [ 2.08455721e-03 -3.81154383e-05 9.99997827e-01 2.23720895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530281693 meters 0.02669255482420448 Centerline is valid? [True, True] Translation: X:115.87, Y:20.35, Z:0.22 [[ 9.12322149e-01 -4.09467037e-01 -2.24535661e-03 1.15871084e+02] [ 4.09465927e-01 9.12324911e-01 -9.54685458e-04 2.03471477e+01] [ 2.43940699e-03 -4.84163367e-05 9.99997023e-01 2.22817330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560281693 meters 0.029466091805203213 Centerline is valid? [True, True] Translation: X:115.90, Y:20.35, Z:0.22 [[ 9.11176089e-01 -4.12008655e-01 -2.64624125e-03 1.15900148e+02] [ 4.12007123e-01 9.11179930e-01 -1.12532331e-03 2.03532235e+01] [ 2.87484486e-03 -6.49025524e-05 9.99995866e-01 2.22520904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590281693 meters 0.03438197102563453 Centerline is valid? [True, True] Translation: X:115.93, Y:20.36, Z:0.22 [[ 9.10786246e-01 -4.12869915e-01 -2.61687333e-03 1.15928317e+02] [ 4.12868420e-01 9.10790003e-01 -1.11302427e-03 2.03567181e+01] [ 2.84295630e-03 -6.66971629e-05 9.99995957e-01 2.23168011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620281693 meters 0.031659243936614005 Centerline is valid? [True, True] Translation: X:115.95, Y:20.37, Z:0.23 [[ 9.10360939e-01 -4.13811682e-01 -1.68891075e-03 1.15953035e+02] [ 4.13811061e-01 9.10362505e-01 -7.18448617e-04 2.03711393e+01] [ 1.83482345e-03 -4.48423926e-05 9.99998316e-01 2.25090148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650281693 meters 0.032471390520979956 Centerline is valid? [True, True] Translation: X:115.98, Y:20.38, Z:0.23 [[ 9.09924473e-01 -4.14772883e-01 -9.52948549e-04 1.15980198e+02] [ 4.14772686e-01 9.09924972e-01 -4.05404783e-04 2.03808210e+01] [ 1.03526259e-03 -2.63692961e-05 9.99999464e-01 2.26809769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680281693 meters 0.03555293967636566 Centerline is valid? [True, True] Translation: X:116.01, Y:20.38, Z:0.23 [[ 9.08661520e-01 -4.17532964e-01 -6.82702481e-04 1.16010510e+02] [ 4.17532864e-01 9.08661776e-01 -2.90615283e-04 2.03843222e+01] [ 7.41687110e-04 -2.09797975e-05 9.99999725e-01 2.25994745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710281693 meters 0.04059996742039326 Centerline is valid? [True, True] Translation: X:116.04, Y:20.38, Z:0.22 [[ 9.07180991e-01 -4.20737772e-01 -1.54153966e-03 1.16042006e+02] [ 4.20737264e-01 9.07182299e-01 -6.56426519e-04 2.03830178e+01] [ 1.67464093e-03 -5.30855186e-05 9.99998596e-01 2.23855536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74028169300001 meters 0.04316084412779246 Centerline is valid? [True, True] Translation: X:116.07, Y:20.39, Z:0.22 [[ 9.06264880e-01 -4.22706785e-01 -1.71504466e-03 1.16071650e+02] [ 4.22706159e-01 9.06266500e-01 -7.30419454e-04 2.03883170e+01] [ 1.86304078e-03 -6.30064426e-05 9.99998263e-01 2.24044350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.770281693 meters 0.04528533368951967 Centerline is valid? [True, True] Translation: X:116.10, Y:20.39, Z:0.22 [[ 9.05441007e-01 -4.24466346e-01 -2.21469256e-03 1.16101806e+02] [ 4.24465306e-01 9.05443711e-01 -9.43363675e-04 2.03935212e+01] [ 2.40570558e-03 -8.58999986e-05 9.99997103e-01 2.22823446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800281693 meters 0.04748364672084295 Centerline is valid? [True, True] Translation: X:116.13, Y:20.40, Z:0.22 [[ 9.04684101e-01 -4.26071961e-01 -3.05979901e-03 1.16131597e+02] [ 4.26069984e-01 9.04689267e-01 -1.30376857e-03 2.03984366e+01] [ 3.32366655e-03 -1.24189819e-04 9.99994469e-01 2.21742792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.830281693 meters 0.0503783190488646 Centerline is valid? [True, True] Translation: X:116.16, Y:20.40, Z:0.22 [[ 9.04064737e-01 -4.27374279e-01 -4.26332096e-03 1.16163229e+02] [ 4.27370456e-01 9.04074772e-01 -1.81677689e-03 2.03980925e+01] [ 4.63080464e-03 -1.79533503e-04 9.99989262e-01 2.20632545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860281693 meters 0.05003141442804696 Centerline is valid? [True, True] Translation: X:116.19, Y:20.41, Z:0.22 [[ 9.04071527e-01 -4.27363553e-01 -3.88177151e-03 1.16191546e+02] [ 4.27360381e-01 9.04079846e-01 -1.65461459e-03 2.04063133e+01] [ 4.21655336e-03 -1.63025412e-04 9.99991097e-01 2.21381756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.890281693 meters 0.04838944186723037 Centerline is valid? [True, True] Translation: X:116.22, Y:20.41, Z:0.22 [[ 9.04623690e-01 -4.26206611e-01 -1.97595045e-03 1.16221197e+02] [ 4.26205786e-01 9.04625844e-01 -8.42444756e-04 2.04117175e+01] [ 2.14655137e-03 -8.00660327e-05 9.99997693e-01 2.24633027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920281693 meters 0.04729214118755252 Centerline is valid? [True, True] Translation: X:116.25, Y:20.42, Z:0.23 [[ 9.04943742e-01 -4.25528748e-01 -1.45178475e-03 1.16249152e+02] [ 4.25528302e-01 9.04944905e-01 -6.19122712e-04 2.04194435e+01] [ 1.57723972e-03 -5.75042736e-05 9.99998755e-01 2.25494114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.950281693 meters 0.04564005345102479 Centerline is valid? [True, True] Translation: X:116.28, Y:20.42, Z:0.23 [[ 9.05989355e-01 -4.23297085e-01 -1.69301680e-03 1.16278177e+02] [ 4.23296473e-01 9.05990935e-01 -7.22372362e-04 2.04239416e+01] [ 1.83963599e-03 -6.21863714e-05 9.99998306e-01 2.25498086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980281693 meters 0.03963294461086284 Centerline is valid? [True, True] Translation: X:116.30, Y:20.44, Z:0.22 [[ 9.06813078e-01 -4.21526603e-01 -2.31638193e-03 1.16302463e+02] [ 4.21525451e-01 9.06816033e-01 -9.88489062e-04 2.04398970e+01] [ 2.51720671e-03 -8.00391297e-05 9.99996829e-01 2.24853446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.010281693 meters 0.0392823841818489 Centerline is valid? [True, True] Translation: X:116.33, Y:20.45, Z:0.22 [[ 9.07696488e-01 -4.19616623e-01 -2.99596809e-03 1.16328613e+02] [ 4.19614686e-01 9.07701427e-01 -1.27869687e-03 2.04493840e+01] [ 3.25600697e-03 -9.64835467e-05 9.99994695e-01 2.24395907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040281693 meters 0.032181735750416905 Centerline is valid? [True, True] Translation: X:116.35, Y:20.47, Z:0.23 [[ 9.09518074e-01 -4.15658722e-01 -2.16784539e-03 1.16353207e+02] [ 4.15657696e-01 9.09520656e-01 -9.25363414e-04 2.04667087e+01] [ 2.35633554e-03 -5.94468721e-05 9.99997222e-01 2.26700058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.070281693 meters 0.03137296445873474 Centerline is valid? [True, True] Translation: X:116.38, Y:20.48, Z:0.23 [[ 9.10365958e-01 -4.13801833e-01 -1.36584267e-03 1.16378844e+02] [ 4.13801424e-01 9.10366982e-01 -5.83081543e-04 2.04774956e+01] [ 1.48469828e-03 -3.43700524e-05 9.99998897e-01 2.27767597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100281693 meters 0.029670724024078634 Centerline is valid? [True, True] Translation: X:116.41, Y:20.49, Z:0.23 [[ 9.11046131e-01 -4.12303623e-01 -8.18837015e-04 1.16405027e+02] [ 4.12303475e-01 9.11046498e-01 -3.49451431e-04 2.04899355e+01] [ 8.90078686e-04 -1.92429721e-05 9.99999604e-01 2.28981765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.130281693 meters 0.027510010026030547 Centerline is valid? [True, True] Translation: X:116.43, Y:20.50, Z:0.23 [[ 9.11537275e-01 -4.11217122e-01 -5.25146239e-04 1.16430645e+02] [ 4.11217061e-01 9.11537426e-01 -2.24085171e-04 2.05031214e+01] [ 5.70838110e-04 -1.16871070e-05 9.99999837e-01 2.29098271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160281693 meters 0.026945628920228018 Centerline is valid? [True, True] Translation: X:116.46, Y:20.51, Z:0.23 [[ 9.12243784e-01 -4.09645114e-01 -1.46940204e-03 1.16457376e+02] [ 4.09644634e-01 9.12244967e-01 -6.27947229e-04 2.05121010e+01] [ 1.59769013e-03 -2.90917026e-05 9.99998723e-01 2.27475261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190281693 meters 0.02611885339926053 Centerline is valid? [True, True] Translation: X:116.48, Y:20.52, Z:0.23 [[ 9.12229524e-01 -4.09673965e-01 -2.13048404e-03 1.16483090e+02] [ 4.09672955e-01 9.12232010e-01 -9.10701536e-04 2.05226272e+01] [ 2.31658645e-03 -4.20328622e-05 9.99997316e-01 2.26764122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220281693 meters 0.02603863324634774 Centerline is valid? [True, True] Translation: X:116.51, Y:20.53, Z:0.23 [[ 9.12229459e-01 -4.09674565e-01 -2.04067113e-03 1.16509936e+02] [ 4.09673637e-01 9.12231741e-01 -8.72729388e-04 2.05313382e+01] [ 2.21910001e-03 -3.98797059e-05 9.99997537e-01 2.27972042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250281693 meters 0.02819752237652493 Centerline is valid? [True, True] Translation: X:116.54, Y:20.54, Z:0.23 [[ 9.12173423e-01 -4.09802277e-01 -1.31953694e-03 1.16536292e+02] [ 4.09801889e-01 9.12174377e-01 -5.64527957e-04 2.05383100e+01] [ 1.43499262e-03 -2.58013301e-05 9.99998970e-01 2.28728780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280281693 meters 0.027517161857523575 Centerline is valid? [True, True] Translation: X:116.56, Y:20.55, Z:0.23 [[ 9.12158460e-01 -4.09837138e-01 -6.80936490e-04 1.16562418e+02] [ 4.09837035e-01 9.12158714e-01 -2.91174314e-04 2.05490180e+01] [ 7.40456201e-04 -1.34758785e-05 9.99999726e-01 2.30191937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310281693 meters 0.026687028893826032 Centerline is valid? [True, True] Translation: X:116.59, Y:20.56, Z:0.23 [[ 9.12034462e-01 -4.10112590e-01 -8.97053591e-04 1.16588289e+02] [ 4.10112410e-01 9.12034903e-01 -3.83882588e-04 2.05609396e+01] [ 9.75579267e-04 -1.77786605e-05 9.99999524e-01 2.30168355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340281693 meters 0.024119886902221728 Centerline is valid? [True, True] Translation: X:116.61, Y:20.58, Z:0.23 [[ 9.12033742e-01 -4.10112272e-01 -1.54185869e-03 1.16612339e+02] [ 4.10111741e-01 9.12035045e-01 -6.60409966e-04 2.05752696e+01] [ 1.67707139e-03 -3.00181778e-05 9.99998593e-01 2.28919180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370281693 meters 0.026762860425864975 Centerline is valid? [True, True] Translation: X:116.64, Y:20.58, Z:0.22 [[ 9.12203314e-01 -4.09720096e-01 -3.81534063e-03 1.16639648e+02] [ 4.09716839e-01 9.12211290e-01 -1.63534149e-03 2.05832392e+01] [ 4.15042907e-03 -7.14453745e-05 9.99991384e-01 2.24356462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400281693 meters 0.02620680787666526 Centerline is valid? [True, True] Translation: X:116.67, Y:20.60, Z:0.22 [[ 9.12318972e-01 -4.09455400e-01 -4.51328214e-03 1.16665159e+02] [ 4.09450835e-01 9.12330132e-01 -1.93519983e-03 2.05955244e+01] [ 4.90998131e-03 -8.24476229e-05 9.99987943e-01 2.22901662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430281693 meters 0.024390965794194575 Centerline is valid? [True, True] Translation: X:116.69, Y:20.61, Z:0.22 [[ 9.13187455e-01 -4.07511190e-01 -4.82720138e-03 1.16689464e+02] [ 4.07505938e-01 9.13200210e-01 -2.07039755e-03 2.06100454e+01] [ 5.25191149e-03 -7.64521573e-05 9.99986206e-01 2.22941563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460281693 meters 0.02333378356083258 Centerline is valid? [True, True] Translation: X:116.71, Y:20.62, Z:0.22 [[ 9.13744772e-01 -4.06265229e-01 -4.36511696e-03 1.16713896e+02] [ 4.06260919e-01 9.13755197e-01 -1.87247516e-03 2.06236661e+01] [ 4.74936986e-03 -6.24120389e-05 9.99988720e-01 2.23689796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49028169300001 meters 0.021548484548308454 Centerline is valid? [True, True] Translation: X:116.74, Y:20.64, Z:0.22 [[ 9.14173298e-01 -4.05303619e-01 -4.01964628e-03 1.16738947e+02] [ 4.05299952e-01 9.14182134e-01 -1.72478317e-03 2.06392834e+01] [ 4.37374967e-03 -5.24117253e-05 9.99990434e-01 2.24471776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520281693 meters 0.020743565269974795 Centerline is valid? [True, True] Translation: X:116.76, Y:20.65, Z:0.22 [[ 9.14561771e-01 -4.04425661e-01 -4.08055346e-03 1.16763330e+02] [ 4.04421872e-01 9.14570873e-01 -1.75139727e-03 2.06525460e+01] [ 4.44026534e-03 -4.85040720e-05 9.99990141e-01 2.24265773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.550281693 meters 0.019203059935100665 Centerline is valid? [True, True] Translation: X:116.79, Y:20.67, Z:0.22 [[ 9.15378669e-01 -4.02566317e-01 -4.71734916e-03 1.16786424e+02] [ 4.02561226e-01 9.15390823e-01 -2.02503190e-03 2.06691671e+01] [ 5.13342777e-03 -4.53508574e-05 9.99986823e-01 2.23082113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580281693 meters 0.0173628068136285 Centerline is valid? [True, True] Translation: X:116.81, Y:20.69, Z:0.22 [[ 9.15774531e-01 -4.01670098e-01 -4.25926016e-03 1.16809327e+02] [ 4.01665935e-01 9.15784435e-01 -1.82895816e-03 2.06878072e+01] [ 4.63520196e-03 -3.58864114e-05 9.99989257e-01 2.24749144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.610281693 meters 0.018388457394540147 Centerline is valid? [True, True] Translation: X:116.83, Y:20.70, Z:0.23 [[ 9.15712190e-01 -4.01819842e-01 -3.46389902e-03 1.16834812e+02] [ 4.01817089e-01 9.15718741e-01 -1.48786639e-03 2.06975130e+01] [ 3.76981149e-03 -2.93964265e-05 9.99992894e-01 2.25526782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640281693 meters 0.01872558930209605 Centerline is valid? [True, True] Translation: X:116.86, Y:20.71, Z:0.23 [[ 9.15334802e-01 -4.02686076e-01 -2.47463498e-03 1.16861701e+02] [ 4.02684674e-01 9.15338147e-01 -1.06318206e-03 2.07090216e+01] [ 2.69325641e-03 -2.33300390e-05 9.99996373e-01 2.27669012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.670281693 meters 0.018692965231369138 Centerline is valid? [True, True] Translation: X:116.89, Y:20.72, Z:0.23 [[ 9.14754542e-01 -4.04005529e-01 -1.91304273e-03 1.16887897e+02] [ 4.04004693e-01 9.14756543e-01 -8.22170636e-04 2.07212000e+01] [ 2.08212984e-03 -2.07939182e-05 9.99997832e-01 2.28885058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700281693 meters 0.02233781160885301 Centerline is valid? [True, True] Translation: X:116.92, Y:20.73, Z:0.23 [[ 9.12999014e-01 -4.07955978e-01 -2.17272557e-03 1.16915723e+02] [ 4.07954910e-01 9.13001598e-01 -9.34195152e-04 2.07277804e+01] [ 2.36481242e-03 -3.34548127e-05 9.99997203e-01 2.28191536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.730281693 meters 0.02441021204191674 Centerline is valid? [True, True] Translation: X:116.94, Y:20.74, Z:0.23 [[ 9.12208545e-01 -4.09715273e-01 -2.99433849e-03 1.16942624e+02] [ 4.09713253e-01 9.12213457e-01 -1.28770816e-03 2.07355276e+01] [ 3.25906957e-03 -5.21617745e-05 9.99994688e-01 2.27121044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760281693 meters 0.026788599863225335 Centerline is valid? [True, True] Translation: X:116.97, Y:20.74, Z:0.23 [[ 9.10536804e-01 -4.13414752e-01 -3.31230049e-03 1.16972338e+02] [ 4.13412304e-01 9.10542826e-01 -1.42463103e-03 2.07411997e+01] [ 3.60495493e-03 -7.21667960e-05 9.99993500e-01 2.26859403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.790281693 meters 0.03127682032390127 Centerline is valid? [True, True] Translation: X:117.00, Y:20.74, Z:0.23 [[ 9.09446315e-01 -4.15810807e-01 -2.96193701e-03 1.17001301e+02] [ 4.15808862e-01 9.09451135e-01 -1.27410993e-03 2.07443622e+01] [ 3.22352565e-03 -7.28650793e-05 9.99994802e-01 2.28020838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820281693 meters 0.03380643266273813 Centerline is valid? [True, True] Translation: X:117.03, Y:20.75, Z:0.23 [[ 9.08228742e-01 -4.18466305e-01 -2.55015551e-03 1.17030355e+02] [ 4.18464873e-01 9.08232320e-01 -1.09716968e-03 2.07509906e+01] [ 2.77526220e-03 -7.06694686e-05 9.99996146e-01 2.29079309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.850281693 meters 0.038265370375022575 Centerline is valid? [True, True] Translation: X:117.06, Y:20.75, Z:0.23 [[ 9.06401396e-01 -4.22410471e-01 -2.42959985e-03 1.17062224e+02] [ 4.22409185e-01 9.06404649e-01 -1.04545623e-03 2.07521635e+01] [ 2.64381225e-03 -7.86823032e-05 9.99996502e-01 2.29807890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880281693 meters 0.04724584485606593 Centerline is valid? [True, True] Translation: X:117.09, Y:20.75, Z:0.23 [[ 9.05982002e-01 -4.23311360e-01 -2.02577716e-03 1.17093754e+02] [ 4.23310468e-01 9.05984265e-01 -8.71918638e-04 2.07490432e+01] [ 2.20441529e-03 -6.75900835e-05 9.99997568e-01 2.31037856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.910281693 meters 0.03724036151029121 Centerline is valid? [True, True] Translation: X:117.12, Y:20.77, Z:0.23 [[ 9.05830104e-01 -4.23640363e-01 -8.15424417e-04 1.17116195e+02] [ 4.23640218e-01 9.05830471e-01 -3.50822077e-04 2.07700994e+01] [ 8.87258675e-04 -2.76613797e-05 9.99999606e-01 2.33280722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940281693 meters 0.03607424637997112 Centerline is valid? [True, True] Translation: X:117.14, Y:20.78, Z:0.24 [[ 9.05770176e-01 -4.23769250e-01 1.04250807e-04 1.17143698e+02] [ 4.23769247e-01 9.05770182e-01 4.53299146e-05 2.07766235e+01] [-1.13636697e-04 3.11980137e-06 9.99999994e-01 2.35312073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970281693 meters 0.03926071772117098 Centerline is valid? [True, True] Translation: X:117.17, Y:20.78, Z:0.23 [[ 9.05751263e-01 -4.23809240e-01 -6.14583593e-04 1.17171326e+02] [ 4.23809158e-01 9.05751471e-01 -2.64698504e-04 2.07796069e+01] [ 6.68841665e-04 -2.07151511e-05 9.99999776e-01 2.34372652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000281693 meters 0.03890025752174935 Centerline is valid? [True, True] Translation: X:117.20, Y:20.79, Z:0.23 [[ 9.05899065e-01 -4.23486602e-01 -2.44573635e-03 1.17200726e+02] [ 4.23485297e-01 9.05902363e-01 -1.05413898e-03 2.07854358e+01] [ 2.66201208e-03 -8.07898675e-05 9.99996454e-01 2.31376372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030281693 meters 0.03824970511019813 Centerline is valid? [True, True] Translation: X:117.23, Y:20.79, Z:0.23 [[ 9.06156241e-01 -4.22933129e-01 -2.90425573e-03 1.17227381e+02] [ 4.22931286e-01 9.06160891e-01 -1.25205753e-03 2.07947612e+01] [ 3.16125957e-03 -9.37408647e-05 9.99994999e-01 2.30731419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060281693 meters 0.03793739695111615 Centerline is valid? [True, True] Translation: X:117.25, Y:20.80, Z:0.23 [[ 9.06453110e-01 -4.22297813e-01 -2.70491771e-03 1.17253897e+02] [ 4.22296211e-01 9.06457142e-01 -1.16629165e-03 2.08041564e+01] [ 2.94441438e-03 -8.50878043e-05 9.99995662e-01 2.31353563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090281693 meters 0.0371095503703499 Centerline is valid? [True, True] Translation: X:117.28, Y:20.81, Z:0.23 [[ 9.07125064e-01 -4.20856455e-01 -1.99087320e-03 1.17280923e+02] [ 4.20855583e-01 9.07127246e-01 -8.58513173e-04 2.08117957e+01] [ 2.16728613e-03 -5.90912831e-05 9.99997650e-01 2.33347662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120281693 meters 0.03328347589033696 Centerline is valid? [True, True] Translation: X:117.31, Y:20.83, Z:0.23 [[ 9.07518652e-01 -4.20006054e-01 -2.19332734e-03 1.17306238e+02] [ 4.20004994e-01 9.07521300e-01 -9.46018244e-04 2.08261013e+01] [ 2.38782467e-03 -6.26792359e-05 9.99997147e-01 2.32695794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150281693 meters 0.035020779702722986 Centerline is valid? [True, True] Translation: X:117.33, Y:20.83, Z:0.23 [[ 9.07970682e-01 -4.19023877e-01 -2.86901380e-03 1.17332983e+02] [ 4.19022055e-01 9.07975212e-01 -1.23798007e-03 2.08333457e+01] [ 3.12373662e-03 -7.81304445e-05 9.99995118e-01 2.31208321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180281693 meters 0.035020779702722986 Centerline is valid? [True, True] Translation: X:117.36, Y:20.84, Z:0.23 [[ 9.07897219e-01 -4.19183026e-01 -2.86888994e-03 1.17358155e+02] [ 4.19181204e-01 9.07901748e-01 -1.23826703e-03 2.08444320e+01] [ 3.12373072e-03 -7.83655472e-05 9.99995118e-01 2.31263045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210281693 meters 0.030576295459383535 Centerline is valid? [True, True] Translation: X:117.38, Y:20.86, Z:0.23 [[ 9.08812891e-01 -4.17190910e-01 -3.29755228e-03 1.17383088e+02] [ 4.17188488e-01 9.08818870e-01 -1.42380173e-03 2.08586929e+01] [ 3.59087487e-03 -8.17314830e-05 9.99993549e-01 2.30381259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24028169300001 meters 0.03195159749216599 Centerline is valid? [True, True] Translation: X:117.41, Y:20.87, Z:0.23 [[ 9.09060842e-01 -4.16650983e-01 -3.21628805e-03 1.17410146e+02] [ 4.16648675e-01 9.09066528e-01 -1.38906987e-03 2.08673697e+01] [ 3.50257713e-03 -7.73131288e-05 9.99993863e-01 2.31390635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.270281693 meters 0.028312469724047048 Centerline is valid? [True, True] Translation: X:117.44, Y:20.88, Z:0.23 [[ 9.09897953e-01 -4.14820305e-01 -3.13522283e-03 1.17435296e+02] [ 4.14818099e-01 9.09903352e-01 -1.35461780e-03 2.08827818e+01] [ 3.41467273e-03 -6.79832066e-05 9.99994168e-01 2.32253360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300281693 meters 0.02801003976667275 Centerline is valid? [True, True] Translation: X:117.46, Y:20.89, Z:0.23 [[ 9.10590737e-01 -4.13295184e-01 -3.40592977e-03 1.17460777e+02] [ 4.13292568e-01 9.10597104e-01 -1.47202661e-03 2.08934322e+01] [ 3.70981130e-03 -6.72316684e-05 9.99993116e-01 2.31042113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.330281693 meters 0.024004402059771484 Centerline is valid? [True, True] Translation: X:117.49, Y:20.91, Z:0.23 [[ 9.11265284e-01 -4.11804244e-01 -3.58425100e-03 1.17485112e+02] [ 4.11801333e-01 9.11272331e-01 -1.54955878e-03 2.09101494e+01] [ 3.90434364e-03 -6.39402176e-05 9.99992376e-01 2.31521674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360281693 meters 0.02272963300550693 Centerline is valid? [True, True] Translation: X:117.51, Y:20.92, Z:0.23 [[ 9.11796613e-01 -4.10629267e-01 -3.24667193e-03 1.17510898e+02] [ 4.10626870e-01 9.11802392e-01 -1.40420386e-03 2.09241933e+01] [ 3.53693044e-03 -5.28224100e-05 9.99993744e-01 2.31394584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.390281693 meters 0.019777378640657692 Centerline is valid? [True, True] Translation: X:117.53, Y:20.94, Z:0.23 [[ 9.12837533e-01 -4.08311142e-01 -3.10650589e-03 1.17534841e+02] [ 4.08308931e-01 9.12842818e-01 -1.34416922e-03 2.09410770e+01] [ 3.38459086e-03 -4.14059824e-05 9.99994271e-01 2.32289932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420281693 meters 0.020732482640583774 Centerline is valid? [True, True] Translation: X:117.56, Y:20.95, Z:0.23 [[ 9.13091035e-01 -4.07743122e-01 -3.21060684e-03 1.17560823e+02] [ 4.07740756e-01 9.13096679e-01 -1.38968338e-03 2.09503057e+01] [ 3.49822829e-03 -4.01878260e-05 9.99993880e-01 2.32044355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.450281693 meters 0.019657975589516888 Centerline is valid? [True, True] Translation: X:117.59, Y:20.96, Z:0.23 [[ 9.13097002e-01 -4.07721582e-01 -4.12018021e-03 1.17586357e+02] [ 4.07717682e-01 9.13106297e-01 -1.78406229e-03 2.09612003e+01] [ 4.48956319e-03 -5.08483992e-05 9.99989921e-01 2.30485412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480281693 meters 0.020975687612313186 Centerline is valid? [True, True] Translation: X:117.61, Y:20.97, Z:0.23 [[ 9.12852781e-01 -4.08260420e-01 -4.81968124e-03 1.17612977e+02] [ 4.08255087e-01 9.12865503e-01 -2.08763621e-03 2.09690098e+01] [ 5.25201997e-03 -6.19548652e-05 9.99986206e-01 2.28788486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.510281693 meters 0.01974481635967772 Centerline is valid? [True, True] Translation: X:117.64, Y:20.98, Z:0.23 [[ 9.12626783e-01 -4.08769382e-01 -4.46615713e-03 1.17638526e+02] [ 4.08764806e-01 9.12637709e-01 -1.93523264e-03 2.09814694e+01] [ 4.86704726e-03 -5.94627116e-05 9.99988154e-01 2.30792329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540281693 meters 0.020795221486834034 Centerline is valid? [True, True] Translation: X:117.66, Y:20.99, Z:0.23 [[ 9.12615588e-01 -4.08806938e-01 -3.11065865e-03 1.17664562e+02] [ 4.08804716e-01 9.12620888e-01 -1.34837526e-03 2.09898892e+01] [ 3.39007722e-03 -4.11036414e-05 9.99994253e-01 2.32596859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.570281693 meters 0.020818610996388497 Centerline is valid? [True, True] Translation: X:117.69, Y:21.00, Z:0.24 [[ 9.12499609e-01 -4.09072926e-01 -1.95086805e-03 1.17690132e+02] [ 4.09072052e-01 9.12501694e-01 -8.45846885e-04 2.10001853e+01] [ 2.12618346e-03 -2.62106432e-05 9.99997739e-01 2.35567623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600281693 meters 0.01996657686333122 Centerline is valid? [True, True] Translation: X:117.72, Y:21.01, Z:0.24 [[ 9.12437153e-01 -4.09214755e-01 -1.31385771e-03 1.17715625e+02] [ 4.09214359e-01 9.12438099e-01 -5.69790910e-04 2.10116901e+01] [ 1.43198068e-03 -1.77510444e-05 9.99998975e-01 2.37069797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.630281693 meters 0.019998561319530577 Centerline is valid? [True, True] Translation: X:117.74, Y:21.02, Z:0.23 [[ 9.12966331e-01 -4.08028007e-01 -2.37157532e-03 1.17741783e+02] [ 4.08026709e-01 9.12969411e-01 -1.02929814e-03 2.10205227e+01] [ 2.58515819e-03 -2.79515305e-05 9.99996658e-01 2.34910539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660281693 meters 0.019346534721245697 Centerline is valid? [True, True] Translation: X:117.77, Y:21.03, Z:0.23 [[ 9.13369006e-01 -4.07114338e-01 -3.86961574e-03 1.17768138e+02] [ 4.07110873e-01 9.13377202e-01 -1.68015270e-03 2.10332441e+01] [ 4.21843306e-03 -4.07632424e-05 9.99991102e-01 2.31887801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690281693 meters 0.01702785949431014 Centerline is valid? [True, True] Translation: X:117.79, Y:21.05, Z:0.23 [[ 9.14608143e-01 -4.04298753e-01 -5.87052595e-03 1.17793166e+02] [ 4.04290712e-01 9.14626982e-01 -2.55020051e-03 2.10488021e+01] [ 6.40038432e-03 -4.09649579e-05 9.99979516e-01 2.28057375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720281693 meters 0.01607731069281108 Centerline is valid? [True, True] Translation: X:117.82, Y:21.06, Z:0.23 [[ 9.15199685e-01 -4.02961452e-01 -5.62170702e-03 1.17818808e+02] [ 4.02954047e-01 9.15216951e-01 -2.44317380e-03 2.10628832e+01] [ 6.12958642e-03 -2.92977019e-05 9.99981213e-01 2.29448698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750281693 meters 0.015421721404632396 Centerline is valid? [True, True] Translation: X:117.84, Y:21.08, Z:0.23 [[ 9.15739474e-01 -4.01748526e-01 -4.39738212e-03 1.17844074e+02] [ 4.01743978e-01 9.15750032e-01 -1.91153851e-03 2.10754452e+01] [ 4.79486060e-03 -1.61505188e-05 9.99988504e-01 2.32185620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780281693 meters 0.01484250239822834 Centerline is valid? [True, True] Translation: X:117.87, Y:21.09, Z:0.24 [[ 9.16184503e-01 -4.00751163e-01 -2.11243609e-03 1.17869335e+02] [ 4.00750111e-01 9.16186938e-01 -9.18388620e-04 2.10897298e+01] [ 2.30343166e-03 -5.14557408e-06 9.99997347e-01 2.37773353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810281693 meters 0.014798185422184288 Centerline is valid? [True, True] Translation: X:117.89, Y:21.10, Z:0.24 [[ 9.16209411e-01 -4.00697935e-01 -1.21635455e-03 1.17893701e+02] [ 4.00697586e-01 9.16210219e-01 -5.28955288e-04 2.11010886e+01] [ 1.32638776e-03 -2.75651743e-06 9.99999120e-01 2.39737416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840281693 meters 0.014850965542163771 Centerline is valid? [True, True] Translation: X:117.92, Y:21.11, Z:0.24 [[ 9.16034444e-01 -4.01099251e-01 -5.36589997e-04 1.17919437e+02] [ 4.01099183e-01 9.16034601e-01 -2.33142774e-04 2.11123045e+01] [ 5.85048396e-04 -1.65899766e-06 9.99999829e-01 2.40154793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870281693 meters 0.014909440812017036 Centerline is valid? [True, True] Translation: X:117.95, Y:21.12, Z:0.24 [[ 9.15816238e-01 -4.01596302e-01 -1.01391648e-03 1.17945764e+02] [ 4.01596060e-01 9.15816799e-01 -4.41109149e-04 2.11230206e+01] [ 1.10570955e-03 -3.20994306e-06 9.99999389e-01 2.39254860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900281693 meters 0.015297660059903424 Centerline is valid? [True, True] Translation: X:117.97, Y:21.13, Z:0.24 [[ 9.15422358e-01 -4.02489884e-01 -1.94929544e-03 1.17971964e+02] [ 4.02488989e-01 9.15424433e-01 -8.48817702e-04 2.11326722e+01] [ 2.12607321e-03 -7.54324769e-06 9.99997740e-01 2.37300936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930281693 meters 0.016885996001211642 Centerline is valid? [True, True] Translation: X:118.00, Y:21.14, Z:0.23 [[ 9.14013613e-01 -4.05662866e-01 -4.09318645e-03 1.18000882e+02] [ 4.05658949e-01 9.14022778e-01 -1.78306308e-03 2.11391931e+01] [ 4.46458812e-03 -3.06937873e-05 9.99990033e-01 2.32867576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960281693 meters 0.018715248514392515 Centerline is valid? [True, True] Translation: X:118.03, Y:21.15, Z:0.23 [[ 9.13009555e-01 -4.07911067e-01 -4.70250644e-03 1.18028092e+02] [ 4.07905923e-01 9.13021664e-01 -2.04908985e-03 2.11465274e+01] [ 5.12933668e-03 -4.73416165e-05 9.99986844e-01 2.31404787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99028169300001 meters 0.020808149524886063 Centerline is valid? [True, True] Translation: X:118.06, Y:21.15, Z:0.23 [[ 9.12000557e-01 -4.10156036e-01 -5.19711412e-03 1.18055688e+02] [ 4.10149788e-01 9.12015363e-01 -2.26497738e-03 2.11535648e+01] [ 5.66884206e-03 -6.59346243e-05 9.99983930e-01 2.30341724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020281693 meters 0.024492427665462804 Centerline is valid? [True, True] Translation: X:118.08, Y:21.16, Z:0.23 [[ 9.10373689e-01 -4.13757295e-01 -4.96470718e-03 1.18084572e+02] [ 4.13751644e-01 9.10387222e-01 -2.16401768e-03 2.11563083e+01] [ 5.41518408e-03 -8.40910066e-05 9.99985334e-01 2.30593714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.050281693 meters 0.02521459605167903 Centerline is valid? [True, True] Translation: X:118.11, Y:21.17, Z:0.23 [[ 9.09906469e-01 -4.14789352e-01 -4.47331425e-03 1.18111698e+02] [ 4.14784774e-01 9.09917462e-01 -1.95043545e-03 2.11655006e+01] [ 4.87936661e-03 -8.07488079e-05 9.99988093e-01 2.32045811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080281693 meters 0.023710857750764123 Centerline is valid? [True, True] Translation: X:118.14, Y:21.18, Z:0.23 [[ 9.10375356e-01 -4.13764049e-01 -4.00289011e-03 1.18137508e+02] [ 4.13760370e-01 9.10384154e-01 -1.74604099e-03 2.11785021e+01] [ 4.36661671e-03 -6.66846056e-05 9.99990464e-01 2.34625021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.110281693 meters 0.021120352636859283 Centerline is valid? [True, True] Translation: X:118.16, Y:21.19, Z:0.23 [[ 9.11221777e-01 -4.11889977e-01 -4.63903128e-03 1.18161704e+02] [ 4.11885007e-01 9.11233583e-01 -2.02447003e-03 2.11947718e+01] [ 5.06110001e-03 -6.60062532e-05 9.99987190e-01 2.34530230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140281693 meters 0.018757633914095847 Centerline is valid? [True, True] Translation: X:118.19, Y:21.21, Z:0.23 [[ 9.12461577e-01 -4.09130562e-01 -5.10432320e-03 1.18186503e+02] [ 4.09124497e-01 9.12475852e-01 -2.22855148e-03 2.12108706e+01] [ 5.56934017e-03 -5.48360643e-05 9.99984490e-01 2.33511316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.170281693 meters 0.015329336379654319 Centerline is valid? [True, True] Translation: X:118.21, Y:21.23, Z:0.23 [[ 9.15472181e-01 -4.02353224e-01 -4.75060747e-03 1.18206920e+02] [ 4.02347876e-01 9.15484507e-01 -2.07465190e-03 2.12337588e+01] [ 5.18385042e-03 -1.21107238e-05 9.99986564e-01 2.33148101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200281693 meters 0.015154444227981031 Centerline is valid? [True, True] Translation: X:118.23, Y:21.25, Z:0.23 [[ 9.16913785e-01 -3.99058343e-01 -4.64221572e-03 1.18229727e+02] [ 3.99053190e-01 9.16925536e-01 -2.02804568e-03 2.12521065e+01] [ 5.06587468e-03 7.05204874e-06 9.99987168e-01 2.33094433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.230281693 meters 0.016265064942743424 Centerline is valid? [True, True] Translation: X:118.25, Y:21.27, Z:0.23 [[ 9.18124678e-01 -3.96258916e-01 -5.09373351e-03 1.18251903e+02] [ 3.96252664e-01 9.18138808e-01 -2.22605865e-03 2.12698990e+01] [ 5.55885000e-03 2.53939048e-05 9.99984549e-01 2.31807084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260281693 meters 0.019535302044620992 Centerline is valid? [True, True] Translation: X:118.27, Y:21.29, Z:0.23 [[ 9.20031198e-01 -3.91804146e-01 -5.66614894e-03 1.18273406e+02] [ 3.91796320e-01 9.20048644e-01 -2.47713381e-03 2.12925036e+01] [ 6.18368395e-03 5.90640883e-05 9.99980879e-01 2.31229925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.290281693 meters 0.019888616037031414 Centerline is valid? [True, True] Translation: X:118.30, Y:21.31, Z:0.23 [[ 9.20586860e-01 -3.90497004e-01 -5.65004820e-03 1.18298110e+02] [ 3.90489191e-01 9.20604196e-01 -2.47118229e-03 2.13069473e+01] [ 6.16644736e-03 6.86551923e-05 9.99980985e-01 2.32745743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320281693 meters 0.021135894858405203 Centerline is valid? [True, True] Translation: X:118.32, Y:21.32, Z:0.23 [[ 9.21081963e-01 -3.89337026e-01 -4.96962359e-03 1.18321406e+02] [ 3.89330962e-01 9.21095367e-01 -2.17411538e-03 2.13225910e+01] [ 5.42396088e-03 6.77101340e-05 9.99985288e-01 2.34023407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.350281693 meters 0.020939320104169188 Centerline is valid? [True, True] Translation: X:118.35, Y:21.33, Z:0.23 [[ 9.21019657e-01 -3.89485847e-01 -4.85458021e-03 1.18346586e+02] [ 3.89480058e-01 9.21032448e-01 -2.12458192e-03 2.13349298e+01] [ 5.29872048e-03 6.60195279e-05 9.99985960e-01 2.34503540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380281693 meters 0.02317884987037954 Centerline is valid? [True, True] Translation: X:118.37, Y:21.35, Z:0.23 [[ 9.21178999e-01 -3.89108152e-01 -4.90906380e-03 1.18369456e+02] [ 3.89102223e-01 9.21192076e-01 -2.14904693e-03 2.13511500e+01] [ 5.35840236e-03 6.95292588e-05 9.99985641e-01 2.33239515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.410281693 meters 0.02393521252842742 Centerline is valid? [True, True] Translation: X:118.39, Y:21.37, Z:0.23 [[ 9.22143622e-01 -3.86819655e-01 -4.65771352e-03 1.18393983e+02] [ 3.86814285e-01 9.22155382e-01 -2.03967580e-03 2.13675154e+01] [ 5.08412228e-03 7.92039042e-05 9.99987073e-01 2.34453954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440281693 meters 0.0261440811019197 Centerline is valid? [True, True] Translation: X:118.42, Y:21.38, Z:0.24 [[ 9.22939700e-01 -3.84915640e-01 -4.71814134e-03 1.18417323e+02] [ 3.84910103e-01 9.22951755e-01 -2.06668988e-03 2.13843683e+01] [ 5.15011809e-03 9.13698691e-05 9.99986734e-01 2.35068010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470281693 meters 0.02939785326201482 Centerline is valid? [True, True] Translation: X:118.44, Y:21.40, Z:0.24 [[ 9.23927528e-01 -3.82539505e-01 -4.63142255e-03 1.18440031e+02] [ 3.82534138e-01 9.23939130e-01 -2.02901613e-03 2.14020396e+01] [ 5.05533135e-03 1.02986624e-04 9.99987216e-01 2.35132860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500281693 meters 0.03147406807879247 Centerline is valid? [True, True] Translation: X:118.46, Y:21.42, Z:0.23 [[ 9.24936854e-01 -3.80086854e-01 -5.07927458e-03 1.18464683e+02] [ 3.80080360e-01 9.24950792e-01 -2.22548652e-03 2.14186362e+01] [ 5.54395721e-03 1.27901987e-04 9.99984624e-01 2.34880000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530281693 meters 0.03671445277111228 Centerline is valid? [True, True] Translation: X:118.49, Y:21.44, Z:0.23 [[ 9.26349552e-01 -3.76625367e-01 -5.46268798e-03 1.18485915e+02] [ 3.76617794e-01 9.26365644e-01 -2.39370663e-03 2.14417441e+01] [ 5.96197711e-03 1.60063564e-04 9.99982214e-01 2.34323030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560281693 meters 0.04204945483156343 Centerline is valid? [True, True] Translation: X:118.51, Y:21.46, Z:0.23 [[ 9.26630820e-01 -3.75937319e-01 -5.14350796e-03 1.18506698e+02] [ 3.75930593e-01 9.26645082e-01 -2.25413639e-03 2.14626148e+01] [ 5.61362034e-03 1.55150255e-04 9.99984231e-01 2.33955885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590281693 meters 0.03746322506877919 Centerline is valid? [True, True] Translation: X:118.53, Y:21.47, Z:0.24 [[ 9.26578235e-01 -3.76076734e-01 -4.36642586e-03 1.18532333e+02] [ 3.76071885e-01 9.26588513e-01 -1.91422520e-03 2.14739271e+01] [ 4.76577560e-03 1.31589403e-04 9.99988635e-01 2.37029971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620281693 meters 0.036447318857336285 Centerline is valid? [True, True] Translation: X:118.56, Y:21.49, Z:0.24 [[ 9.26405362e-01 -3.76504062e-01 -4.21855357e-03 1.18558060e+02] [ 3.76499537e-01 9.26414959e-01 -1.85022227e-03 2.14865616e+01] [ 4.60474733e-03 1.25772370e-04 9.99989390e-01 2.37213762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650281693 meters 0.03439551842157265 Centerline is valid? [True, True] Translation: X:118.58, Y:21.50, Z:0.24 [[ 9.26405935e-01 -3.76512836e-01 -3.18254055e-03 1.18582587e+02] [ 3.76510259e-01 9.26411396e-01 -1.39639705e-03 2.15011228e+01] [ 3.47410324e-03 9.53713455e-05 9.99993961e-01 2.41019393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680281693 meters 0.039061605692524676 Centerline is valid? [True, True] Translation: X:118.60, Y:21.52, Z:0.24 [[ 9.26598483e-01 -3.76044758e-01 -2.36442204e-03 1.18604223e+02] [ 3.76043333e-01 9.26601497e-01 -1.03783980e-03 2.15216881e+01] [ 2.58115122e-03 7.25356446e-05 9.99996666e-01 2.42227900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710281693 meters 0.03931194697172748 Centerline is valid? [True, True] Translation: X:118.63, Y:21.54, Z:0.24 [[ 9.26737664e-01 -3.75703643e-01 -2.01844395e-03 1.18628668e+02] [ 3.75702603e-01 9.26739860e-01 -8.86290141e-04 2.15364788e+01] [ 2.20355490e-03 6.30238106e-05 9.99997570e-01 2.43624775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74028169300001 meters 0.039934498410222716 Centerline is valid? [True, True] Translation: X:118.65, Y:21.55, Z:0.24 [[ 9.26725892e-01 -3.75730092e-01 -2.45359714e-03 1.18651910e+02] [ 3.75728554e-01 9.26729136e-01 -1.07756704e-03 2.15503648e+01] [ 2.67869432e-03 7.67227662e-05 9.99996409e-01 2.42968633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.770281693 meters 0.03447417610489093 Centerline is valid? [True, True] Translation: X:118.68, Y:21.56, Z:0.24 [[ 9.25964891e-01 -3.77591460e-01 -3.70263115e-03 1.18679656e+02] [ 3.77587972e-01 9.25972288e-01 -1.62671672e-03 2.15582922e+01] [ 4.04276818e-03 1.08213589e-04 9.99991822e-01 2.39290510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800281693 meters 0.03309734271942699 Centerline is valid? [True, True] Translation: X:118.71, Y:21.57, Z:0.24 [[ 9.25299222e-01 -3.79216019e-01 -4.06957696e-03 1.18706379e+02] [ 3.79211818e-01 9.25308164e-01 -1.78852304e-03 2.15700892e+01] [ 4.44384937e-03 1.11687297e-04 9.99990120e-01 2.38690145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.830281693 meters 0.034296386439597835 Centerline is valid? [True, True] Translation: X:118.73, Y:21.59, Z:0.24 [[ 9.24489777e-01 -3.81189386e-01 -3.64750431e-03 1.18729854e+02] [ 3.81186025e-01 9.24496968e-01 -1.60331187e-03 2.15850554e+01] [ 3.98327214e-03 9.18677646e-05 9.99992063e-01 2.39385132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860281693 meters 0.031077877000813225 Centerline is valid? [True, True] Translation: X:118.76, Y:21.59, Z:0.24 [[ 9.24221531e-01 -3.81838328e-01 -3.74866973e-03 1.18757309e+02] [ 3.81834782e-01 9.24229129e-01 -1.64827408e-03 2.15933539e+01] [ 4.09400398e-03 9.19979070e-05 9.99991615e-01 2.40152668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.890281693 meters 0.03374643666640807 Centerline is valid? [True, True] Translation: X:118.78, Y:21.61, Z:0.24 [[ 9.24171114e-01 -3.81961699e-01 -3.60734496e-03 1.18779454e+02] [ 3.81958414e-01 9.24178150e-01 -1.58663570e-03 2.16090694e+01] [ 3.93986346e-03 8.84671232e-05 9.99992235e-01 2.39681783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920281693 meters 0.034934629483396866 Centerline is valid? [True, True] Translation: X:118.80, Y:21.63, Z:0.24 [[ 9.24388511e-01 -3.81418529e-01 -5.07795185e-03 1.18802141e+02] [ 3.81412009e-01 9.24402450e-01 -2.23390956e-03 2.16268003e+01] [ 5.54612563e-03 1.28208517e-04 9.99984612e-01 2.37260280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.950281693 meters 0.033496847391510556 Centerline is valid? [True, True] Translation: X:118.83, Y:21.64, Z:0.24 [[ 9.24671113e-01 -3.80719940e-01 -5.97163389e-03 1.18828423e+02] [ 3.80710902e-01 9.24690382e-01 -2.62797970e-03 2.16395341e+01] [ 6.52243669e-03 1.56550795e-04 9.99978716e-01 2.36827400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980281693 meters 0.03530459612403885 Centerline is valid? [True, True] Translation: X:118.85, Y:21.66, Z:0.24 [[ 9.25199743e-01 -3.79429867e-01 -6.19778006e-03 1.18852703e+02] [ 3.79420094e-01 9.25220485e-01 -2.72868142e-03 2.16561112e+01] [ 6.76965631e-03 1.73013054e-04 9.99977071e-01 2.35947007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.010281693 meters 0.0387844526372424 Centerline is valid? [True, True] Translation: X:118.87, Y:21.68, Z:0.24 [[ 9.26164378e-01 -3.77074172e-01 -5.88329028e-03 1.18874491e+02] [ 3.77065315e-01 9.26183047e-01 -2.59070964e-03 2.16775817e+01] [ 6.42589341e-03 1.81038284e-04 9.99979337e-01 2.36085846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040281693 meters 0.0387844526372424 Centerline is valid? [True, True] Translation: X:118.90, Y:21.69, Z:0.24 [[ 9.26097175e-01 -3.77239200e-01 -5.88294460e-03 1.18899557e+02] [ 3.77230342e-01 9.26115842e-01 -2.59149445e-03 2.16888476e+01] [ 6.42590149e-03 1.80750485e-04 9.99979337e-01 2.36140536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.070281693 meters 0.03911118057668248 Centerline is valid? [True, True] Translation: X:118.92, Y:21.70, Z:0.24 [[ 9.26248280e-01 -3.76865990e-01 -6.01249561e-03 1.18924629e+02] [ 3.76856722e-01 9.26267774e-01 -2.64974297e-03 2.17044700e+01] [ 6.56777894e-03 1.88470483e-04 9.99978414e-01 2.36666818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100281693 meters 0.03650931899999567 Centerline is valid? [True, True] Translation: X:118.95, Y:21.72, Z:0.24 [[ 9.26203310e-01 -3.76962996e-01 -6.80645380e-03 1.18949190e+02] [ 3.76951111e-01 9.26228295e-01 -3.00100321e-03 2.17195542e+01] [ 7.43559725e-03 2.13838788e-04 9.99972333e-01 2.35845620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.130281693 meters 0.03710045479287475 Centerline is valid? [True, True] Translation: X:118.97, Y:21.73, Z:0.24 [[ 9.25860272e-01 -3.77804435e-01 -6.82396029e-03 1.18972884e+02] [ 3.77792506e-01 9.25885396e-01 -3.00942362e-03 2.17347499e+01] [ 7.45517876e-03 2.08264707e-04 9.99972188e-01 2.35370721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160281693 meters 0.03721090045853179 Centerline is valid? [True, True] Translation: X:119.00, Y:21.75, Z:0.24 [[ 9.25353155e-01 -3.79058682e-01 -6.00443284e-03 1.18997279e+02] [ 3.79049467e-01 9.25372619e-01 -2.64890964e-03 2.17493100e+01] [ 6.56042995e-03 1.75199822e-04 9.99978465e-01 2.36461871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190281693 meters 0.034083604342602124 Centerline is valid? [True, True] Translation: X:119.02, Y:21.76, Z:0.24 [[ 9.24863460e-01 -3.80267756e-01 -4.90039303e-03 1.19024656e+02] [ 3.80261632e-01 9.24876432e-01 -2.16244059e-03 2.17596870e+01] [ 5.35456446e-03 1.36530838e-04 9.99985655e-01 2.39045872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220281693 meters 0.031830402517519125 Centerline is valid? [True, True] Translation: X:119.05, Y:21.77, Z:0.24 [[ 9.24018341e-01 -3.82329846e-01 -3.74083782e-03 1.19050417e+02] [ 3.82326292e-01 9.24025909e-01 -1.65123394e-03 2.17735607e+01] [ 4.08794708e-03 9.55497908e-05 9.99991640e-01 2.42105811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250281693 meters 0.029906799145583723 Centerline is valid? [True, True] Translation: X:119.08, Y:21.79, Z:0.24 [[ 9.23816441e-01 -3.82815964e-01 -3.88869546e-03 1.19076267e+02] [ 3.82812125e-01 9.23824620e-01 -1.71724696e-03 2.17851757e+01] [ 4.24986216e-03 9.77811987e-05 9.99990965e-01 2.42103369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280281693 meters 0.03194473647527871 Centerline is valid? [True, True] Translation: X:119.10, Y:21.80, Z:0.24 [[ 9.23638401e-01 -3.83240961e-01 -4.29767375e-03 1.19097127e+02] [ 3.83236272e-01 9.23648393e-01 -1.89880781e-03 2.18043734e+01] [ 4.69724038e-03 1.06787345e-04 9.99988962e-01 2.41367491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310281693 meters 0.03205349205476984 Centerline is valid? [True, True] Translation: X:119.12, Y:21.82, Z:0.24 [[ 9.23371188e-01 -3.83883401e-01 -4.37982439e-03 1.19121564e+02] [ 3.83878536e-01 9.23381570e-01 -1.93569378e-03 2.18189427e+01] [ 4.78732983e-03 1.06043293e-04 9.99988535e-01 2.41438247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340281693 meters 0.02819774561103656 Centerline is valid? [True, True] Translation: X:119.15, Y:21.83, Z:0.24 [[ 9.22257149e-01 -3.86551520e-01 -4.43541286e-03 1.19147711e+02] [ 3.86546558e-01 9.22267810e-01 -1.96084726e-03 2.18322863e+01] [ 4.84860699e-03 9.39118313e-05 9.99988241e-01 2.41691422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370281693 meters 0.026797223634240665 Centerline is valid? [True, True] Translation: X:119.17, Y:21.84, Z:0.24 [[ 9.21548062e-01 -3.88233585e-01 -4.88393810e-03 1.19173225e+02] [ 3.88227587e-01 9.21560999e-01 -2.16006731e-03 2.18446934e+01] [ 5.33945755e-03 9.45263403e-05 9.99985741e-01 2.40650292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400281693 meters 0.025904950943171343 Centerline is valid? [True, True] Translation: X:119.20, Y:21.86, Z:0.24 [[ 9.20975478e-01 -3.89583931e-01 -5.34127065e-03 1.19198537e+02] [ 3.89576777e-01 9.20990962e-01 -2.36294788e-03 2.18570545e+01] [ 5.83982851e-03 9.53820509e-05 9.99982944e-01 2.39491067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430281693 meters 0.022933788466247194 Centerline is valid? [True, True] Translation: X:119.22, Y:21.87, Z:0.24 [[ 9.19701042e-01 -3.92577446e-01 -5.73955192e-03 1.19223606e+02] [ 3.92569240e-01 9.19718947e-01 -2.53965511e-03 2.18683237e+01] [ 6.27578597e-03 8.25519153e-05 9.99980304e-01 2.38201762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460281693 meters 0.020516759677173594 Centerline is valid? [True, True] Translation: X:119.25, Y:21.88, Z:0.24 [[ 9.18700827e-01 -3.94914040e-01 -5.62944548e-03 1.19250941e+02] [ 3.94906185e-01 9.18718072e-01 -2.49176653e-03 2.18787715e+01] [ 6.15590689e-03 6.60851388e-05 9.99981050e-01 2.38532590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49028169300001 meters 0.017428912983271677 Centerline is valid? [True, True] Translation: X:119.28, Y:21.89, Z:0.24 [[ 9.17609993e-01 -3.97446777e-01 -5.28776935e-03 1.19279233e+02] [ 3.97439884e-01 9.17625227e-01 -2.34119741e-03 2.18871651e+01] [ 5.78269192e-03 4.67357004e-05 9.99983279e-01 2.40269944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520281693 meters 0.015331371294911387 Centerline is valid? [True, True] Translation: X:119.31, Y:21.90, Z:0.24 [[ 9.15747492e-01 -4.01729858e-01 -4.43307314e-03 1.19305370e+02] [ 4.01725062e-01 9.15758222e-01 -1.96312339e-03 2.18965697e+01] [ 4.84826845e-03 1.68487390e-05 9.99988247e-01 2.41061256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.550281693 meters 0.014812532444542737 Centerline is valid? [True, True] Translation: X:119.33, Y:21.91, Z:0.24 [[ 9.14936724e-01 -4.03573535e-01 -4.38102728e-03 1.19331640e+02] [ 4.03568869e-01 9.14947212e-01 -1.94078112e-03 2.19067907e+01] [ 4.79165660e-03 7.64569867e-06 9.99988520e-01 2.42554225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580281693 meters 0.014676694058641141 Centerline is valid? [True, True] Translation: X:119.36, Y:21.92, Z:0.24 [[ 9.14231239e-01 -4.05165864e-01 -4.67585579e-03 1.19357026e+02] [ 4.05160565e-01 9.14243197e-01 -2.07210636e-03 2.19169430e+01] [ 5.11441611e-03 -8.80088539e-08 9.99986921e-01 2.41599133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.610281693 meters 0.015333023421600124 Centerline is valid? [True, True] Translation: X:119.39, Y:21.92, Z:0.24 [[ 9.12856554e-01 -4.08248498e-01 -5.10643510e-03 1.19385633e+02] [ 4.08242223e-01 9.12870836e-01 -2.26369017e-03 2.19236896e+01] [ 5.58566379e-03 -1.82380120e-05 9.99984400e-01 2.41444297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640281693 meters 0.015838091869625318 Centerline is valid? [True, True] Translation: X:119.41, Y:21.93, Z:0.24 [[ 9.12029001e-01 -4.10094754e-01 -5.03922791e-03 1.19412938e+02] [ 4.10088668e-01 9.12042922e-01 -2.23443806e-03 2.19319904e+01] [ 5.51232347e-03 -2.86579446e-05 9.99984807e-01 2.41971845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.670281693 meters 0.016940552247143848 Centerline is valid? [True, True] Translation: X:119.44, Y:21.94, Z:0.24 [[ 9.11121915e-01 -4.12108834e-01 -4.81296257e-03 1.19440057e+02] [ 4.12103308e-01 9.11134627e-01 -2.13443819e-03 2.19389792e+01] [ 5.26487768e-03 -3.87043840e-05 9.99986140e-01 2.41985877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700281693 meters 0.01932111714601209 Centerline is valid? [True, True] Translation: X:119.47, Y:21.94, Z:0.24 [[ 9.10317466e-01 -4.13884337e-01 -4.67619038e-03 1.19468096e+02] [ 4.13879143e-01 9.10329475e-01 -2.07409962e-03 2.19439882e+01] [ 5.11531128e-03 -4.72885559e-05 9.99986916e-01 2.41548475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.730281693 meters 0.02036088912190311 Centerline is valid? [True, True] Translation: X:119.50, Y:21.95, Z:0.24 [[ 9.08827479e-01 -4.17156936e-01 -3.56414904e-03 1.19496704e+02] [ 4.17153942e-01 9.08834467e-01 -1.58129276e-03 2.19498712e+01] [ 3.89886874e-03 -4.96765099e-05 9.99992398e-01 2.43946664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760281693 meters 0.02236366039109678 Centerline is valid? [True, True] Translation: X:119.52, Y:21.96, Z:0.24 [[ 9.08161836e-01 -4.18604235e-01 -3.54594897e-03 1.19524105e+02] [ 4.18601280e-01 9.08168757e-01 -1.57377761e-03 2.19555063e+01] [ 3.87911004e-03 -5.50940166e-05 9.99992475e-01 2.43949691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.790281693 meters 0.024344154217028256 Centerline is valid? [True, True] Translation: X:119.55, Y:21.96, Z:0.24 [[ 9.07275388e-01 -4.20496983e-01 -5.80154747e-03 1.19553874e+02] [ 4.20489105e-01 9.07293931e-01 -2.57596687e-03 2.19597983e+01] [ 6.34689511e-03 -1.02376162e-04 9.99979853e-01 2.40260414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820281693 meters 0.025045958530484396 Centerline is valid? [True, True] Translation: X:119.58, Y:21.97, Z:0.24 [[ 9.07113326e-01 -4.20832097e-01 -6.76457219e-03 1.19580199e+02] [ 4.20821391e-01 9.07138540e-01 -3.00428567e-03 2.19679706e+01] [ 7.40070398e-03 -1.21449110e-04 9.99972607e-01 2.38101630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.850281693 meters 0.024702138349089763 Centerline is valid? [True, True] Translation: X:119.61, Y:21.98, Z:0.24 [[ 9.07146303e-01 -4.20758631e-01 -6.91076811e-03 1.19606300e+02] [ 4.20747446e-01 9.07172618e-01 -3.07042370e-03 2.19777596e+01] [ 7.56116688e-03 -1.22364519e-04 9.99971406e-01 2.38009776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880281693 meters 0.023059681078411994 Centerline is valid? [True, True] Translation: X:119.63, Y:21.99, Z:0.24 [[ 9.07356147e-01 -4.20335009e-01 -4.82730681e-03 1.19633525e+02] [ 4.20329541e-01 9.07368984e-01 -2.14560138e-03 2.19874334e+01] [ 5.28201985e-03 -8.22350504e-05 9.99986047e-01 2.42881980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.910281693 meters 0.023539844461540168 Centerline is valid? [True, True] Translation: X:119.66, Y:22.00, Z:0.24 [[ 9.07549710e-01 -4.19927272e-01 -3.82235753e-03 1.19660173e+02] [ 4.19923839e-01 9.07557757e-01 -1.69934419e-03 2.19961469e+01] [ 4.18261120e-03 -6.28597179e-05 9.99991251e-01 2.44616737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940281693 meters 0.020931320805770405 Centerline is valid? [True, True] Translation: X:119.69, Y:22.01, Z:0.24 [[ 9.08263859e-01 -4.18379695e-01 -3.89793205e-03 1.19685396e+02] [ 4.18376108e-01 9.08272221e-01 -1.73347307e-03 2.20092751e+01] [ 4.26563333e-03 -5.63506966e-05 9.99990901e-01 2.44963684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970281693 meters 0.020517488050873365 Centerline is valid? [True, True] Translation: X:119.71, Y:22.02, Z:0.24 [[ 9.08602923e-01 -4.17638651e-01 -4.32258727e-03 1.19710699e+02] [ 4.17634228e-01 9.08613204e-01 -1.92288663e-03 2.20204225e+01] [ 4.73063164e-03 -5.81199829e-05 9.99988809e-01 2.44209630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000281693 meters 0.019536954506640506 Centerline is valid? [True, True] Translation: X:119.74, Y:22.03, Z:0.24 [[ 9.08976336e-01 -4.16825246e-01 -4.32826749e-03 1.19736615e+02] [ 4.16820800e-01 9.08986640e-01 -1.92602449e-03 2.20331854e+01] [ 4.73715296e-03 -5.34012355e-05 9.99988778e-01 2.44728860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030281693 meters 0.018991611101103055 Centerline is valid? [True, True] Translation: X:119.76, Y:22.05, Z:0.25 [[ 9.09391785e-01 -4.15919264e-01 -4.21274110e-03 1.19762150e+02] [ 4.15915038e-01 9.09401542e-01 -1.87542135e-03 2.20453367e+01] [ 4.61109712e-03 -4.66496103e-05 9.99989368e-01 2.45279036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060281693 meters 0.017705226112835877 Centerline is valid? [True, True] Translation: X:119.79, Y:22.06, Z:0.25 [[ 9.10052078e-01 -4.14480686e-01 -3.31307354e-03 1.19787987e+02] [ 4.14478061e-01 9.10058108e-01 -1.47546815e-03 2.20570858e+01] [ 3.62664249e-03 -3.04434414e-05 9.99993423e-01 2.46896211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090281693 meters 0.018172818758420903 Centerline is valid? [True, True] Translation: X:119.82, Y:22.06, Z:0.25 [[ 9.09873095e-01 -4.14866348e-01 -4.10663364e-03 1.19815480e+02] [ 4.14862316e-01 9.09882361e-01 -1.82945931e-03 2.20649276e+01] [ 4.49553461e-03 -3.91117401e-05 9.99989894e-01 2.45049560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120281693 meters 0.018309670451675784 Centerline is valid? [True, True] Translation: X:119.84, Y:22.08, Z:0.24 [[ 9.09694820e-01 -4.15246473e-01 -5.06957129e-03 1.19842126e+02] [ 4.15240330e-01 9.09708945e-01 -2.25920344e-03 2.20755075e+01] [ 5.54996061e-03 -4.99047935e-05 9.99984598e-01 2.42935103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150281693 meters 0.018039107871786985 Centerline is valid? [True, True] Translation: X:119.87, Y:22.09, Z:0.24 [[ 9.09758858e-01 -4.15093755e-01 -5.99957546e-03 1.19868372e+02] [ 4.15085140e-01 9.09778639e-01 -2.67491816e-03 2.20861533e+01] [ 6.56862742e-03 -5.68041224e-05 9.99978425e-01 2.41242260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180281693 meters 0.01739089515094766 Centerline is valid? [True, True] Translation: X:119.89, Y:22.10, Z:0.24 [[ 9.10294725e-01 -4.13896438e-01 -7.29737125e-03 1.19893368e+02] [ 4.13883647e-01 9.10323972e-01 -3.25452277e-03 2.20959071e+01] [ 7.99000737e-03 -5.76877157e-05 9.99968078e-01 2.39218308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210281693 meters 0.017094079345442936 Centerline is valid? [True, True] Translation: X:119.92, Y:22.11, Z:0.24 [[ 9.10637312e-01 -4.13149970e-01 -6.84018576e-03 1.19918903e+02] [ 4.13138705e-01 9.10663000e-01 -3.05130035e-03 2.21072641e+01] [ 7.48974874e-03 -4.73175336e-05 9.99971950e-01 2.39805418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24028169300001 meters 0.016415391849599514 Centerline is valid? [True, True] Translation: X:119.94, Y:22.12, Z:0.24 [[ 9.10962923e-01 -4.12448055e-01 -5.75802474e-03 1.19944655e+02] [ 4.12440052e-01 9.10981120e-01 -2.56945666e-03 2.21198920e+01] [ 6.30521923e-03 -3.41602742e-05 9.99980121e-01 2.42387691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.270281693 meters 0.01502646126835831 Centerline is valid? [True, True] Translation: X:119.97, Y:22.13, Z:0.25 [[ 9.12099824e-01 -4.09942660e-01 -4.57467427e-03 1.19969598e+02] [ 4.09937573e-01 9.12111296e-01 -2.04218906e-03 2.21343853e+01] [ 5.00979250e-03 -1.26505861e-05 9.99987451e-01 2.45936513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300281693 meters 0.014772874294790397 Centerline is valid? [True, True] Translation: X:119.99, Y:22.15, Z:0.25 [[ 9.12615982e-01 -4.08788613e-01 -4.89282827e-03 1.19994202e+02] [ 4.08782772e-01 9.12629098e-01 -2.18525012e-03 2.21473621e+01] [ 5.35864281e-03 -5.80971939e-06 9.99985642e-01 2.45883285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.330281693 meters 0.014921714685687633 Centerline is valid? [True, True] Translation: X:120.02, Y:22.16, Z:0.24 [[ 9.13003630e-01 -4.07913952e-01 -5.52978936e-03 1.20019185e+02] [ 4.07906468e-01 9.13020376e-01 -2.47097636e-03 2.21608709e+01] [ 6.05675609e-03 3.73545687e-07 9.99981658e-01 2.44179916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360281693 meters 0.01538212319383854 Centerline is valid? [True, True] Translation: X:120.04, Y:22.17, Z:0.24 [[ 9.13569025e-01 -4.06631904e-01 -6.49084977e-03 1.20043428e+02] [ 4.06621554e-01 9.13592083e-01 -2.90119783e-03 2.21748934e+01] [ 7.10970856e-03 1.11250465e-05 9.99974726e-01 2.41492734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.390281693 meters 0.015392238776684027 Centerline is valid? [True, True] Translation: X:120.07, Y:22.19, Z:0.24 [[ 9.13619118e-01 -4.06516557e-01 -6.66299346e-03 1.20069183e+02] [ 4.06505639e-01 9.13643414e-01 -2.97934030e-03 2.21868513e+01] [ 7.29875126e-03 1.34378445e-05 9.99973364e-01 2.41796043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420281693 meters 0.01541419061007696 Centerline is valid? [True, True] Translation: X:120.09, Y:22.20, Z:0.24 [[ 9.13450307e-01 -4.06901836e-01 -6.27953469e-03 1.20093916e+02] [ 4.06892141e-01 9.13471891e-01 -2.80893100e-03 2.21977999e+01] [ 6.87913761e-03 1.07255714e-05 9.99976338e-01 2.42066406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.450281693 meters 0.014699631908694746 Centerline is valid? [True, True] Translation: X:120.12, Y:22.21, Z:0.25 [[ 9.13124256e-01 -4.07661265e-01 -4.04796737e-03 1.20120719e+02] [ 4.07657241e-01 9.13133229e-01 -1.81132009e-03 2.22091741e+01] [ 4.43473855e-03 3.77709835e-06 9.99990166e-01 2.48076124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480281693 meters 0.014505979610897094 Centerline is valid? [True, True] Translation: X:120.15, Y:22.22, Z:0.25 [[ 9.13093731e-01 -4.07740210e-01 -2.78544004e-03 1.20145590e+02] [ 4.07738304e-01 9.13097980e-01 -1.24683587e-03 2.22212956e+01] [ 3.05176480e-03 2.74742247e-06 9.99995343e-01 2.50694683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.510281693 meters 0.014617163053749868 Centerline is valid? [True, True] Translation: X:120.17, Y:22.23, Z:0.25 [[ 9.13070166e-01 -4.07796748e-01 -2.16431381e-03 1.20170965e+02] [ 4.07795596e-01 9.13072731e-01 -9.69190366e-04 2.22334373e+01] [ 2.37140860e-03 2.34116712e-06 9.99997188e-01 2.51821159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540281693 meters 0.014675962924359654 Centerline is valid? [True, True] Translation: X:120.19, Y:22.25, Z:0.25 [[ 9.13162497e-01 -4.07588558e-01 -2.41270442e-03 1.20194517e+02] [ 4.07587125e-01 9.13165685e-01 -1.08092661e-03 2.22458797e+01] [ 2.64377220e-03 3.67438649e-06 9.99996505e-01 2.51291143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.570281693 meters 0.014770542050001292 Centerline is valid? [True, True] Translation: X:120.22, Y:22.26, Z:0.25 [[ 9.13144720e-01 -4.07625874e-01 -2.80465756e-03 1.20218835e+02] [ 4.07623937e-01 9.13149028e-01 -1.25687660e-03 2.22580068e+01] [ 3.07340575e-03 4.46467553e-06 9.99995277e-01 2.50760460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600281693 meters 0.01489728898023928 Centerline is valid? [True, True] Translation: X:120.24, Y:22.27, Z:0.25 [[ 9.13327322e-01 -4.07206440e-01 -4.01465440e-03 1.20244051e+02] [ 4.07202462e-01 9.13336146e-01 -1.79999286e-03 2.22710634e+01] [ 4.39969766e-03 9.20550234e-06 9.99990321e-01 2.49355427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.630281693 meters 0.015066554557058695 Centerline is valid? [True, True] Translation: X:120.27, Y:22.28, Z:0.25 [[ 9.13420143e-01 -4.06995250e-01 -4.30217836e-03 1.20268284e+02] [ 4.06990676e-01 9.13430274e-01 -1.92957384e-03 2.22822605e+01] [ 4.71506735e-03 1.15651349e-05 9.99988884e-01 2.48874490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660281693 meters 0.015087822698982591 Centerline is valid? [True, True] Translation: X:120.29, Y:22.29, Z:0.25 [[ 9.13491276e-01 -4.06839540e-01 -3.90865695e-03 1.20293243e+02] [ 4.06835760e-01 9.13499638e-01 -1.75369098e-03 2.22938880e+01] [ 4.28402754e-03 1.17999910e-05 9.99990823e-01 2.49571217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690281693 meters 0.015423311646043249 Centerline is valid? [True, True] Translation: X:120.32, Y:22.31, Z:0.25 [[ 9.13735706e-01 -4.06297760e-01 -3.03152894e-03 1.20316560e+02] [ 4.06295482e-01 9.13740735e-01 -1.36057565e-03 2.23071730e+01] [ 3.32283032e-03 1.15100408e-05 9.99994479e-01 2.50626633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720281693 meters 0.015768763106766042 Centerline is valid? [True, True] Translation: X:120.34, Y:22.32, Z:0.25 [[ 9.13820471e-01 -4.06102902e-01 -3.54682085e-03 1.20339820e+02] [ 4.06099781e-01 9.13827354e-01 -1.59221000e-03 2.23209134e+01] [ 3.88778302e-03 1.46309171e-05 9.99992442e-01 2.49058317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750281693 meters 0.016445554399645314 Centerline is valid? [True, True] Translation: X:120.36, Y:22.34, Z:0.24 [[ 9.14053459e-01 -4.05557736e-01 -5.40347803e-03 1.20362830e+02] [ 4.05550479e-01 9.14069430e-01 -2.42634359e-03 2.23363849e+01] [ 5.92317649e-03 2.64246528e-05 9.99982457e-01 2.44870855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780281693 meters 0.01620635340480592 Centerline is valid? [True, True] Translation: X:120.39, Y:22.35, Z:0.25 [[ 9.14242776e-01 -4.05119086e-01 -6.21874546e-03 1.20389043e+02] [ 4.05109455e-01 9.14263925e-01 -2.79353251e-03 2.23492130e+01] [ 6.81728797e-03 3.46943331e-05 9.99976761e-01 2.45563706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810281693 meters 0.01655358121102182 Centerline is valid? [True, True] Translation: X:120.41, Y:22.36, Z:0.25 [[ 9.14412116e-01 -4.04733064e-01 -6.45208796e-03 1.20413520e+02] [ 4.04722683e-01 9.14434878e-01 -2.89905491e-03 2.23630953e+01] [ 7.07335764e-03 3.96245813e-05 9.99974983e-01 2.45196302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840281693 meters 0.01768980641559997 Centerline is valid? [True, True] Translation: X:120.44, Y:22.38, Z:0.25 [[ 9.15088946e-01 -4.03224136e-01 -4.74529475e-03 1.20435799e+02] [ 4.03218499e-01 9.15101248e-01 -2.13245696e-03 2.23820589e+01] [ 5.20228327e-03 3.79971622e-05 9.99986467e-01 2.48158588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870281693 meters 0.01768799354087825 Centerline is valid? [True, True] Translation: X:120.46, Y:22.40, Z:0.25 [[ 9.15325436e-01 -4.02696407e-01 -3.86664865e-03 1.20460149e+02] [ 4.02692657e-01 9.15333602e-01 -1.73816628e-03 2.23962030e+01] [ 4.23922675e-03 3.39167885e-05 9.99991014e-01 2.49902784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900281693 meters 0.0177881111190556 Centerline is valid? [True, True] Translation: X:120.48, Y:22.41, Z:0.25 [[ 9.15491349e-01 -4.02324138e-01 -3.29810197e-03 1.20483998e+02] [ 4.02321405e-01 9.15497290e-01 -1.48326968e-03 2.24102351e+01] [ 3.61615861e-03 3.10235393e-05 9.99993461e-01 2.50592813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930281693 meters 0.017563581505037434 Centerline is valid? [True, True] Translation: X:120.51, Y:22.43, Z:0.25 [[ 9.15176509e-01 -4.03040972e-01 -3.15150058e-03 1.20506974e+02] [ 4.03038480e-01 9.15181935e-01 -1.41782752e-03 2.24258725e+01] [ 3.45563898e-03 2.73864402e-05 9.99994029e-01 2.51430037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960281693 meters 0.017162735887253092 Centerline is valid? [True, True] Translation: X:120.53, Y:22.44, Z:0.25 [[ 9.14813971e-01 -4.03863897e-01 -3.05807022e-03 1.20532334e+02] [ 4.03861554e-01 9.14819082e-01 -1.37600406e-03 2.24384470e+01] [ 3.35329935e-03 2.37507450e-05 9.99994377e-01 2.51888090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99028169300001 meters 0.017162735887253092 Centerline is valid? [True, True] Translation: X:120.56, Y:22.45, Z:0.25 [[ 9.14740861e-01 -4.04029461e-01 -3.05792248e-03 1.20557299e+02] [ 4.04027118e-01 9.14745972e-01 -1.37633232e-03 2.24499029e+01] [ 3.35330107e-03 2.35038045e-05 9.99994377e-01 2.51942760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020281693 meters 0.016627585938440673 Centerline is valid? [True, True] Translation: X:120.58, Y:22.46, Z:0.25 [[ 9.14366889e-01 -4.04875773e-01 -2.96653830e-03 1.20582230e+02] [ 4.04873570e-01 9.14371701e-01 -1.33583598e-03 2.24622206e+01] [ 3.25336630e-03 2.03712359e-05 9.99994708e-01 2.52375481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.050281693 meters 0.016136240977151394 Centerline is valid? [True, True] Translation: X:120.61, Y:22.48, Z:0.25 [[ 9.14029465e-01 -4.05639389e-01 -2.61214093e-03 1.20606528e+02] [ 4.05637682e-01 9.14033197e-01 -1.17677627e-03 2.24765016e+01] [ 2.86493033e-03 1.60253957e-05 9.99995896e-01 2.53781787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080281693 meters 0.016300149501913164 Centerline is valid? [True, True] Translation: X:120.63, Y:22.49, Z:0.25 [[ 9.13837153e-01 -4.06071790e-01 -2.71289204e-03 1.20629481e+02] [ 4.06069950e-01 9.13841179e-01 -1.22267042e-03 2.24900605e+01] [ 2.97564443e-03 1.56977152e-05 9.99995573e-01 2.53055210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.110281693 meters 0.01582201248011829 Centerline is valid? [True, True] Translation: X:120.66, Y:22.50, Z:0.25 [[ 9.13536304e-01 -4.06748409e-01 -2.67474810e-03 1.20655149e+02] [ 4.06746621e-01 9.13540219e-01 -1.20582540e-03 2.25023878e+01] [ 2.93395753e-03 1.36205273e-05 9.99995696e-01 2.52784325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140281693 meters 0.014965087021720374 Centerline is valid? [True, True] Translation: X:120.68, Y:22.52, Z:0.25 [[ 9.12639924e-01 -4.08756430e-01 -2.55939627e-03 1.20680552e+02] [ 4.08754800e-01 9.12643513e-01 -1.15431902e-03 2.25152158e+01] [ 2.80765172e-03 7.31211370e-06 9.99996059e-01 2.52402443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.170281693 meters 0.014724025709285318 Centerline is valid? [True, True] Translation: X:120.70, Y:22.53, Z:0.25 [[ 9.11858356e-01 -4.10494526e-01 -2.92963623e-03 1.20704971e+02] [ 4.10492398e-01 9.11863062e-01 -1.32188130e-03 2.25264255e+01] [ 3.21405211e-03 2.77510555e-06 9.99994835e-01 2.51887733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200281693 meters 0.014779095421701813 Centerline is valid? [True, True] Translation: X:120.73, Y:22.54, Z:0.25 [[ 9.10872408e-01 -4.12674765e-01 -3.31570722e-03 1.20730675e+02] [ 4.12672051e-01 9.10878443e-01 -1.49673907e-03 2.25375804e+01] [ 3.63787267e-03 -4.96137903e-06 9.99993383e-01 2.51229711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.230281693 meters 0.015715574592870162 Centerline is valid? [True, True] Translation: X:120.76, Y:22.55, Z:0.25 [[ 9.09669971e-01 -4.15311003e-01 -4.16119668e-03 1.20756660e+02] [ 4.15306752e-01 9.09679488e-01 -1.87912286e-03 2.25464997e+01] [ 4.56577567e-03 -1.87914379e-05 9.99989577e-01 2.49656477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260281693 meters 0.019526829930426627 Centerline is valid? [True, True] Translation: X:120.79, Y:22.55, Z:0.25 [[ 9.06760952e-01 -4.21625526e-01 -4.06094429e-03 1.20786679e+02] [ 4.21621539e-01 9.06770044e-01 -1.83415659e-03 2.25491411e+01] [ 4.45566987e-03 -4.90400051e-05 9.99990072e-01 2.49014465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.290281693 meters 0.02281132836198856 Centerline is valid? [True, True] Translation: X:120.82, Y:22.56, Z:0.25 [[ 9.04992913e-01 -4.25413163e-01 -3.38643375e-03 1.20815772e+02] [ 4.25410416e-01 9.04999247e-01 -1.52991442e-03 2.25550340e+01] [ 3.71556573e-03 -5.60624815e-05 9.99993096e-01 2.50498529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320281693 meters 0.025723671236197065 Centerline is valid? [True, True] Translation: X:120.85, Y:22.56, Z:0.25 [[ 9.02230492e-01 -4.31252991e-01 -9.98880163e-04 1.20845337e+02] [ 4.31252755e-01 9.02231044e-01 -4.51342494e-04 2.25603737e+01] [ 1.09586349e-03 -2.35548621e-05 9.99999399e-01 2.54259663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.350281693 meters 0.03174823449430598 Centerline is valid? [True, True] Translation: X:120.88, Y:22.56, Z:0.26 [[ 9.01122851e-01 -4.33563568e-01 -4.89240324e-04 1.20875334e+02] [ 4.33563512e-01 9.01122984e-01 -2.21020042e-04 2.25626378e+01] [ 5.36691938e-04 -1.29505420e-05 9.99999856e-01 2.55604333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380281693 meters 0.03438264230867601 Centerline is valid? [True, True] Translation: X:120.90, Y:22.57, Z:0.26 [[ 9.00218617e-01 -4.35437565e-01 -7.53744701e-04 1.20903230e+02] [ 4.35437432e-01 9.00218933e-01 -3.40604384e-04 2.25692730e+01] [ 8.26847193e-04 -2.15902495e-05 9.99999658e-01 2.55334833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.410281693 meters 0.0371716656030614 Centerline is valid? [True, True] Translation: X:120.93, Y:22.57, Z:0.25 [[ 8.99109198e-01 -4.37717239e-01 -2.50392123e-03 1.20933153e+02] [ 4.37715782e-01 8.99112681e-01 -1.13190989e-03 2.25741510e+01] [ 2.74676380e-03 -7.82952437e-05 9.99996225e-01 2.51731411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440281693 meters 0.03578886380675091 Centerline is valid? [True, True] Translation: X:120.96, Y:22.59, Z:0.25 [[ 8.98855111e-01 -4.38229395e-01 -3.80608534e-03 1.20959354e+02] [ 4.38226032e-01 8.98863161e-01 -1.72105149e-03 2.25860156e+01] [ 4.17536526e-03 -1.20949750e-04 9.99991276e-01 2.49069518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470281693 meters 0.04071458811366819 Centerline is valid? [True, True] Translation: X:120.99, Y:22.59, Z:0.25 [[ 8.98767539e-01 -4.38396857e-01 -5.01075926e-03 1.20989348e+02] [ 4.38391027e-01 8.98781492e-01 -2.26646120e-03 2.25878551e+01] [ 5.49718715e-03 -1.59650148e-04 9.99984878e-01 2.46226716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500281693 meters 0.03409137923535426 Centerline is valid? [True, True] Translation: X:121.01, Y:22.61, Z:0.25 [[ 8.98674658e-01 -4.38595085e-01 -4.26740589e-03 1.21011657e+02] [ 4.38590856e-01 8.98684779e-01 -1.93088923e-03 2.26058347e+01] [ 4.68193125e-03 -1.36403983e-04 9.99989030e-01 2.49074277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530281693 meters 0.04154574002974346 Centerline is valid? [True, True] Translation: X:121.04, Y:22.61, Z:0.25 [[ 8.98473287e-01 -4.39017959e-01 -2.99744538e-03 1.21042210e+02] [ 4.39015874e-01 8.98478281e-01 -1.35663704e-03 2.26056685e+01] [ 3.28872759e-03 -9.70239589e-05 9.99994587e-01 2.51246873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560281693 meters 0.03815234840553167 Centerline is valid? [True, True] Translation: X:121.07, Y:22.62, Z:0.25 [[ 8.98054957e-01 -4.39879309e-01 -1.86778703e-03 1.21067736e+02] [ 4.39878501e-01 8.98056897e-01 -8.45445952e-04 2.26190424e+01] [ 2.04927320e-03 -6.23424283e-05 9.99997898e-01 2.54364910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590281693 meters 0.03953061394014064 Centerline is valid? [True, True] Translation: X:121.10, Y:22.62, Z:0.25 [[ 8.97152457e-01 -4.41718668e-01 -1.44496817e-03 1.21098173e+02] [ 4.41718186e-01 8.97153619e-01 -6.54308217e-04 2.26222732e+01] [ 1.58537857e-03 -5.12544924e-05 9.99998742e-01 2.54391103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620281693 meters 0.03899461790434911 Centerline is valid? [True, True] Translation: X:121.13, Y:22.63, Z:0.25 [[ 8.96703604e-01 -4.42626123e-01 -2.18222355e-03 1.21125229e+02] [ 4.42625027e-01 8.96706256e-01 -9.88288410e-04 2.26312920e+01] [ 2.39425578e-03 -7.97049789e-05 9.99997131e-01 2.52682884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650281693 meters 0.04211907188279887 Centerline is valid? [True, True] Translation: X:121.16, Y:22.63, Z:0.25 [[ 8.96322003e-01 -4.43392127e-01 -3.20753340e-03 1.21155566e+02] [ 4.43389762e-01 8.96327735e-01 -1.45308842e-03 2.26327598e+01] [ 3.51928911e-03 -1.19752345e-04 9.99993800e-01 2.50949001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680281693 meters 0.041693802819924845 Centerline is valid? [True, True] Translation: X:121.18, Y:22.64, Z:0.25 [[ 8.96405278e-01 -4.43228412e-01 -2.48044443e-03 1.21182945e+02] [ 4.43226996e-01 8.96408705e-01 -1.12409936e-03 2.26412327e+01] [ 2.72172476e-03 -9.17513314e-05 9.99996292e-01 2.53175489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710281693 meters 0.04292586363624139 Centerline is valid? [True, True] Translation: X:121.21, Y:22.65, Z:0.26 [[ 8.96759584e-01 -4.42516873e-01 -1.03219538e-03 1.21210697e+02] [ 4.42516627e-01 8.96760177e-01 -4.67842679e-04 2.26469917e+01] [ 1.13265999e-03 -3.72212106e-05 9.99999358e-01 2.56707696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74028169300001 meters 0.038036605708672455 Centerline is valid? [True, True] Translation: X:121.24, Y:22.66, Z:0.26 [[ 8.97686001e-01 -4.40635329e-01 5.92051013e-04 1.21237663e+02] [ 4.40635248e-01 8.97686196e-01 2.68579350e-04 2.26567168e+01] [-6.49821572e-04 1.97786219e-05 9.99999789e-01 2.59817232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.770281693 meters 0.03803579070278639 Centerline is valid? [True, True] Translation: X:121.26, Y:22.66, Z:0.26 [[ 8.98075546e-01 -4.39841224e-01 -1.09777533e-04 1.21264383e+02] [ 4.39841221e-01 8.98075553e-01 -4.94586879e-05 2.26643681e+01] [ 1.20342488e-04 -3.86704575e-06 9.99999993e-01 2.57901214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800281693 meters 0.0369656003809491 Centerline is valid? [True, True] Translation: X:121.29, Y:22.67, Z:0.26 [[ 8.98528697e-01 -4.38913367e-01 -1.11246254e-03 1.21291510e+02] [ 4.38913078e-01 8.98529385e-01 -5.04553353e-04 2.26735259e+01] [ 1.22103549e-03 -3.49186920e-05 9.99999254e-01 2.55938313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.830281693 meters 0.03526453250942408 Centerline is valid? [True, True] Translation: X:121.32, Y:22.68, Z:0.26 [[ 8.99232993e-01 -4.37466977e-01 -1.63366027e-03 1.21319064e+02] [ 4.37466351e-01 8.99234476e-01 -7.41411913e-04 2.26838690e+01] [ 1.79338686e-03 -4.79693430e-05 9.99998391e-01 2.55259269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860281693 meters 0.03003040210694991 Centerline is valid? [True, True] Translation: X:121.35, Y:22.70, Z:0.26 [[ 9.01512351e-01 -4.32752602e-01 -8.16529458e-04 1.21345831e+02] [ 4.32752443e-01 9.01512721e-01 -3.70663095e-04 2.26963316e+01] [ 8.96517112e-04 -1.91977601e-05 9.99999598e-01 2.58330896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.890281693 meters 0.02693986953651333 Centerline is valid? [True, True] Translation: X:121.37, Y:22.71, Z:0.26 [[ 9.02895055e-01 -4.29860331e-01 -7.83723001e-04 1.21371103e+02] [ 4.29860184e-01 9.02895395e-01 -3.55828483e-04 2.27106933e+01] [ 8.60576438e-04 -1.56155361e-05 9.99999630e-01 2.58292066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920281693 meters 0.01956616459166561 Centerline is valid? [True, True] Translation: X:121.39, Y:22.73, Z:0.26 [[ 9.06315452e-01 -4.22598287e-01 -1.72901550e-03 1.21393304e+02] [ 4.22597557e-01 9.06317101e-01 -7.85223281e-04 2.27314638e+01] [ 1.89887033e-03 -1.90177356e-05 9.99998197e-01 2.55622889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.950281693 meters 0.016640552261057706 Centerline is valid? [True, True] Translation: X:121.42, Y:22.75, Z:0.25 [[ 9.08027551e-01 -4.18903604e-01 -2.39524624e-03 1.21416855e+02] [ 4.18902191e-01 9.08030710e-01 -1.08803134e-03 2.27489866e+01] [ 2.63073739e-03 -1.54114671e-05 9.99996539e-01 2.54100530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980281693 meters 0.0156894723228708 Centerline is valid? [True, True] Translation: X:121.44, Y:22.77, Z:0.25 [[ 9.11338522e-01 -4.11646518e-01 -3.03997890e-03 1.21438329e+02] [ 4.11644200e-01 9.11343593e-01 -1.38161452e-03 2.27701824e+01] [ 3.33920210e-03 7.72885850e-06 9.99994425e-01 2.53598186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.010281693 meters 0.017402419031205003 Centerline is valid? [True, True] Translation: X:121.46, Y:22.79, Z:0.25 [[ 9.12780199e-01 -4.08443208e-01 -2.54059790e-03 1.21461914e+02] [ 4.08441575e-01 9.12783734e-01 -1.15509600e-03 2.27877408e+01] [ 2.79080755e-03 1.66629474e-05 9.99996106e-01 2.54120022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040281693 meters 0.019699489186568265 Centerline is valid? [True, True] Translation: X:121.49, Y:22.80, Z:0.25 [[ 9.14064066e-01 -4.05561993e-01 -2.52063686e-03 1.21485695e+02] [ 4.05560374e-01 9.14067541e-01 -1.14639823e-03 2.28038396e+01] [ 2.76896789e-03 2.56110007e-05 9.99996166e-01 2.53824424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.070281693 meters 0.02182987298628336 Centerline is valid? [True, True] Translation: X:121.51, Y:22.82, Z:0.25 [[ 9.14967064e-01 -4.03518578e-01 -2.83343799e-03 1.21510411e+02] [ 4.03516521e-01 9.14971451e-01 -1.28898419e-03 2.28188464e+01] [ 3.11264394e-03 3.60390414e-05 9.99995155e-01 2.53132982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100281693 meters 0.024456523526669785 Centerline is valid? [True, True] Translation: X:121.53, Y:22.83, Z:0.25 [[ 9.16007583e-01 -4.01141049e-01 -3.99572765e-03 1.21534566e+02] [ 4.01136933e-01 9.16016296e-01 -1.81834747e-03 2.28341505e+01] [ 4.38956545e-03 6.27861331e-05 9.99990364e-01 2.50838964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.130281693 meters 0.024024368420554724 Centerline is valid? [True, True] Translation: X:121.56, Y:22.85, Z:0.25 [[ 9.16112697e-01 -4.00892876e-01 -4.73582961e-03 1.21561110e+02] [ 4.00887086e-01 9.16124935e-01 -2.15584963e-03 2.28460718e+01] [ 5.20287635e-03 7.64682857e-05 9.99986462e-01 2.49526777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160281693 meters 0.02337883993788777 Centerline is valid? [True, True] Translation: X:121.59, Y:22.86, Z:0.25 [[ 9.15658721e-01 -4.01931631e-01 -4.48010299e-03 1.21587292e+02] [ 4.01926459e-01 9.15669678e-01 -2.03994629e-03 2.28565568e+01] [ 4.92221340e-03 6.72226807e-05 9.99987884e-01 2.49632484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190281693 meters 0.023034178933478137 Centerline is valid? [True, True] Translation: X:121.61, Y:22.87, Z:0.25 [[ 9.15484188e-01 -4.02334782e-01 -3.92740066e-03 1.21613610e+02] [ 4.02330810e-01 9.15492610e-01 -1.78884567e-03 2.28671306e+01] [ 4.31522111e-03 5.75456364e-05 9.99990688e-01 2.50808397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220281693 meters 0.021936181357604913 Centerline is valid? [True, True] Translation: X:121.64, Y:22.88, Z:0.25 [[ 9.15369137e-01 -4.02599666e-01 -3.58496421e-03 1.21639885e+02] [ 4.02596355e-01 9.15376155e-01 -1.63362968e-03 2.28767247e+01] [ 3.93928952e-03 5.20806615e-05 9.99992240e-01 2.51921532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250281693 meters 0.02317834690584683 Centerline is valid? [True, True] Translation: X:121.66, Y:22.89, Z:0.25 [[ 9.15449739e-01 -4.02420884e-01 -3.03452270e-03 1.21664435e+02] [ 4.02418509e-01 9.15454767e-01 -1.38323073e-03 2.28905000e+01] [ 3.33460920e-03 4.51301140e-05 9.99994439e-01 2.52869365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280281693 meters 0.02279382677063103 Centerline is valid? [True, True] Translation: X:121.69, Y:22.90, Z:0.25 [[ 9.15621014e-01 -4.02033608e-01 -2.67138241e-03 1.21690453e+02] [ 4.02031765e-01 9.15624910e-01 -1.21798022e-03 2.29020964e+01] [ 2.93565326e-03 4.12276985e-05 9.99995690e-01 2.53849255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310281693 meters 0.023578695364000625 Centerline is valid? [True, True] Translation: X:121.72, Y:22.92, Z:0.26 [[ 9.15947447e-01 -4.01292452e-01 -2.15458553e-03 1.21716082e+02] [ 4.01291251e-01 9.15949980e-01 -9.82707393e-04 2.29157038e+01] [ 2.36784564e-03 3.54920043e-05 9.99997196e-01 2.55381344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340281693 meters 0.025998493753061774 Centerline is valid? [True, True] Translation: X:121.74, Y:22.93, Z:0.26 [[ 9.17014553e-01 -3.98853299e-01 -5.95973424e-04 1.21739228e+02] [ 3.98853206e-01 9.17014747e-01 -2.71837161e-04 2.29329932e+01] [ 6.54939567e-04 1.15727221e-05 9.99999785e-01 2.58125710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370281693 meters 0.027556677008323437 Centerline is valid? [True, True] Translation: X:121.76, Y:22.95, Z:0.26 [[ 9.17442673e-01 -3.97867884e-01 -2.97459055e-04 1.21762667e+02] [ 3.97867861e-01 9.17442721e-01 -1.35636033e-04 2.29480713e+01] [ 3.26866867e-04 6.08888627e-06 9.99999947e-01 2.59041810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400281693 meters 0.0287393967272295 Centerline is valid? [True, True] Translation: X:121.79, Y:22.96, Z:0.26 [[ 9.17713459e-01 -3.97242846e-01 -3.58864951e-04 1.21786703e+02] [ 3.97242812e-01 9.17713529e-01 -1.63688877e-04 2.29632570e+01] [ 3.94359456e-04 7.66296328e-06 9.99999922e-01 2.58540698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430281693 meters 0.02740331887486883 Centerline is valid? [True, True] Translation: X:121.81, Y:22.98, Z:0.26 [[ 9.17385523e-01 -3.97997076e-01 -1.45963456e-03 1.21812661e+02] [ 3.97996519e-01 9.17386683e-01 -6.66222122e-04 2.29769254e+01] [ 1.60420376e-03 3.02530574e-05 9.99998713e-01 2.55923404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460281693 meters 0.027313265584173407 Centerline is valid? [True, True] Translation: X:121.84, Y:22.99, Z:0.25 [[ 9.16865584e-01 -3.99191842e-01 -1.83712226e-03 1.21837852e+02] [ 3.99190962e-01 9.16867424e-01 -8.38935704e-04 2.29899939e+01] [ 2.01929384e-03 3.58286726e-05 9.99997961e-01 2.54590851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49028169300001 meters 0.024880276663826452 Centerline is valid? [True, True] Translation: X:121.86, Y:23.00, Z:0.25 [[ 9.15793569e-01 -4.01642812e-01 -2.27838977e-03 1.21864837e+02] [ 4.01641465e-01 9.15796402e-01 -1.04096114e-03 2.30016850e+01] [ 2.50463572e-03 3.82097128e-05 9.99996863e-01 2.53451768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520281693 meters 0.024283694282551452 Centerline is valid? [True, True] Translation: X:121.89, Y:23.01, Z:0.25 [[ 9.15587771e-01 -4.02110344e-01 -2.51083177e-03 1.21889277e+02] [ 4.02108709e-01 9.15591213e-01 -1.14766366e-03 2.30147841e+01] [ 2.76038294e-03 4.11594910e-05 9.99996189e-01 2.54012469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.550281693 meters 0.023839951001689626 Centerline is valid? [True, True] Translation: X:121.91, Y:23.03, Z:0.25 [[ 9.15836731e-01 -4.01542170e-01 -2.63960438e-03 1.21914415e+02] [ 4.01540358e-01 9.15840534e-01 -1.20710401e-03 2.30293432e+01] [ 2.90215985e-03 4.56025042e-05 9.99995788e-01 2.53991184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580281693 meters 0.025538882072632905 Centerline is valid? [True, True] Translation: X:121.94, Y:23.05, Z:0.25 [[ 9.16453935e-01 -4.00126563e-01 -3.30438147e-03 1.21938137e+02] [ 4.00123712e-01 9.16459890e-01 -1.51185699e-03 2.30477617e+01] [ 3.63326722e-03 6.33859109e-05 9.99993398e-01 2.53759056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.610281693 meters 0.03132998936146979 Centerline is valid? [True, True] Translation: X:121.96, Y:23.08, Z:0.25 [[ 9.18021286e-01 -3.96516075e-01 -3.45271886e-03 1.21956289e+02] [ 3.96512935e-01 9.18027775e-01 -1.58020942e-03 2.30760373e+01] [ 3.79627025e-03 8.16181926e-05 9.99992791e-01 2.53094740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640281693 meters 0.032356690990086284 Centerline is valid? [True, True] Translation: X:121.98, Y:23.09, Z:0.25 [[ 9.18470395e-01 -3.95476737e-01 -3.20678369e-03 1.21979381e+02] [ 3.95474021e-01 9.18475990e-01 -1.46802829e-03 2.30941683e+01] [ 3.52592486e-03 8.01408891e-05 9.99993781e-01 2.53476775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.670281693 meters 0.033894060774492 Centerline is valid? [True, True] Translation: X:122.00, Y:23.11, Z:0.25 [[ 9.18680637e-01 -3.94988255e-01 -3.18842294e-03 1.22001556e+02] [ 3.94985565e-01 9.18686166e-01 -1.46010460e-03 2.31127433e+01] [ 3.50588422e-03 8.19887885e-05 9.99993851e-01 2.53171244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700281693 meters 0.031802400363079464 Centerline is valid? [True, True] Translation: X:122.02, Y:23.13, Z:0.25 [[ 9.18484676e-01 -3.95436621e-01 -3.97222965e-03 1.22023827e+02] [ 3.95432447e-01 9.18493260e-01 -1.81974993e-03 2.31311387e+01] [ 4.36806192e-03 1.00663933e-04 9.99990455e-01 2.51487987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.730281693 meters 0.033225336901653864 Centerline is valid? [True, True] Translation: X:122.05, Y:23.15, Z:0.25 [[ 9.18182192e-01 -3.96132460e-01 -4.53174641e-03 1.22045903e+02] [ 3.96127032e-01 9.18193368e-01 -2.07672274e-03 2.31497046e+01] [ 4.98367679e-03 1.11662586e-04 9.99987575e-01 2.50086370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760281693 meters 0.029329174031680408 Centerline is valid? [True, True] Translation: X:122.07, Y:23.17, Z:0.25 [[ 9.17264052e-01 -3.98261762e-01 -3.77206030e-03 1.22069856e+02] [ 3.98258018e-01 9.17271804e-01 -1.72880033e-03 2.31671077e+01] [ 4.14851962e-03 8.35131307e-05 9.99991391e-01 2.52449344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.790281693 meters 0.028055647883894336 Centerline is valid? [True, True] Translation: X:122.09, Y:23.18, Z:0.25 [[ 9.16518160e-01 -3.99981896e-01 -2.99097242e-03 1.22094094e+02] [ 3.99979550e-01 9.16523038e-01 -1.37111991e-03 2.31823338e+01] [ 3.28971827e-03 6.03284926e-05 9.99994587e-01 2.54604485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820281693 meters 0.025456888110943637 Centerline is valid? [True, True] Translation: X:122.12, Y:23.20, Z:0.26 [[ 9.15658690e-01 -4.01951794e-01 -1.97963829e-03 1.22119801e+02] [ 4.01950770e-01 9.15660829e-01 -9.07767237e-04 2.31952791e+01] [ 2.17755590e-03 3.54878258e-05 9.99997628e-01 2.56469384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.850281693 meters 0.025456888110943637 Centerline is valid? [True, True] Translation: X:122.14, Y:23.21, Z:0.26 [[ 9.15585852e-01 -4.02117680e-01 -1.97949238e-03 1.22144680e+02] [ 4.02116656e-01 9.15587991e-01 -9.08085297e-04 2.32069189e+01] [ 2.17755661e-03 3.54431938e-05 9.99997628e-01 2.56524076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880281693 meters 0.021954918677289246 Centerline is valid? [True, True] Translation: X:122.17, Y:23.22, Z:0.26 [[ 9.13885587e-01 -4.05970290e-01 -1.12160518e-03 1.22169202e+02] [ 4.05969964e-01 9.13886275e-01 -5.14710470e-04 2.32208063e+01] [ 1.23397674e-03 1.50484668e-05 9.99999239e-01 2.57838411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.910281693 meters 0.019545785334731763 Centerline is valid? [True, True] Translation: X:122.20, Y:23.23, Z:0.26 [[ 9.13016553e-01 -4.07921736e-01 -7.94048088e-04 1.22196213e+02] [ 4.07921573e-01 9.13016899e-01 -3.64293864e-04 2.32321391e+01] [ 8.73582708e-04 8.69698276e-06 9.99999618e-01 2.58375482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940281693 meters 0.018377200174348646 Centerline is valid? [True, True] Translation: X:122.22, Y:23.24, Z:0.26 [[ 9.12055321e-01 -4.10066868e-01 -5.04441780e-04 1.22221479e+02] [ 4.10066803e-01 9.12055461e-01 -2.31547261e-04 2.32447457e+01] [ 5.55028741e-04 4.32908367e-06 9.99999846e-01 2.58685256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970281693 meters 0.01676816305890542 Centerline is valid? [True, True] Translation: X:122.25, Y:23.25, Z:0.26 [[ 9.10937276e-01 -4.12544596e-01 -4.84159220e-04 1.22248218e+02] [ 4.12544537e-01 9.10937405e-01 -2.22097377e-04 2.32546098e+01] [ 5.32663816e-04 2.57953891e-06 9.99999858e-01 2.57945502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000281693 meters 0.01556230151624478 Centerline is valid? [True, True] Translation: X:122.28, Y:23.26, Z:0.26 [[ 9.08571289e-01 -4.17726471e-01 -1.67590753e-03 1.22275941e+02] [ 4.17725761e-01 9.08572834e-01 -7.70014365e-04 2.32618082e+01] [ 1.84433944e-03 -4.56805876e-07 9.99998299e-01 2.55414032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030281693 meters 0.016018903055809015 Centerline is valid? [True, True] Translation: X:122.30, Y:23.27, Z:0.26 [[ 9.07363532e-01 -4.20343283e-01 -1.71637578e-03 1.22302702e+02] [ 4.20342543e-01 9.07365155e-01 -7.88731810e-04 2.32707487e+01] [ 1.88891769e-03 -5.79927903e-06 9.99998216e-01 2.55593343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060281693 meters 0.01865999894181139 Centerline is valid? [True, True] Translation: X:122.33, Y:23.28, Z:0.26 [[ 9.04867256e-01 -4.25692941e-01 -8.77117571e-04 1.22331357e+02] [ 4.25692751e-01 9.04867681e-01 -4.02951174e-04 2.32769600e+01] [ 9.65208812e-04 -8.76526816e-06 9.99999534e-01 2.57609935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090281693 meters 0.020101477761481232 Centerline is valid? [True, True] Translation: X:122.36, Y:23.29, Z:0.26 [[ 9.03804828e-01 -4.27944439e-01 -6.25042240e-04 1.22358619e+02] [ 4.27944342e-01 9.03805044e-01 -2.87164398e-04 2.32867223e+01] [ 6.87806736e-04 -7.94272103e-06 9.99999763e-01 2.58740830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120281693 meters 0.023187609260242905 Centerline is valid? [True, True] Translation: X:122.39, Y:23.29, Z:0.26 [[ 9.02250986e-01 -4.31211217e-01 -2.08568041e-04 1.22386671e+02] [ 4.31211207e-01 9.02251011e-01 -9.58300955e-05 2.32916828e+01] [ 2.29503738e-04 -3.47407861e-06 9.99999974e-01 2.58330009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150281693 meters 0.02439087678557064 Centerline is valid? [True, True] Translation: X:122.41, Y:23.30, Z:0.26 [[ 9.01718160e-01 -4.32323836e-01 -6.78888266e-04 1.22412966e+02] [ 4.32323723e-01 9.01718416e-01 -3.12252313e-04 2.33010653e+01] [ 7.47160169e-04 -1.19359215e-05 9.99999721e-01 2.57444197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180281693 meters 0.024458422418904644 Centerline is valid? [True, True] Translation: X:122.44, Y:23.31, Z:0.26 [[ 9.01326570e-01 -4.33137200e-01 -1.60636904e-03 1.22439049e+02] [ 4.33136571e-01 9.01328001e-01 -7.39093993e-04 2.33125220e+01] [ 1.76799450e-03 -2.96121254e-05 9.99998437e-01 2.55323776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210281693 meters 0.02562703096024718 Centerline is valid? [True, True] Translation: X:122.47, Y:23.32, Z:0.25 [[ 9.01092101e-01 -4.33619058e-01 -2.74550878e-03 1.22465524e+02] [ 4.33617219e-01 9.01096282e-01 -1.26387315e-03 2.33223856e+01] [ 3.02200724e-03 -5.16337698e-05 9.99995432e-01 2.53792517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24028169300001 meters 0.025775379832961826 Centerline is valid? [True, True] Translation: X:122.49, Y:23.33, Z:0.25 [[ 9.00744210e-01 -4.34329263e-01 -4.23779693e-03 1.22492101e+02] [ 4.34324888e-01 9.00754175e-01 -1.95119348e-03 2.33323352e+01] [ 4.66467371e-03 -8.30544450e-05 9.99989117e-01 2.51063684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.270281693 meters 0.02654840358475246 Centerline is valid? [True, True] Translation: X:122.52, Y:23.34, Z:0.25 [[ 9.00744002e-01 -4.34330129e-01 -4.19316531e-03 1.22517844e+02] [ 4.34325844e-01 9.00753758e-01 -1.93099481e-03 2.33414625e+01] [ 4.61569864e-03 -8.18680745e-05 9.99989344e-01 2.50758139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300281693 meters 0.024243895048288906 Centerline is valid? [True, True] Translation: X:122.54, Y:23.35, Z:0.25 [[ 9.01089423e-01 -4.33626359e-01 -2.45623878e-03 1.22543176e+02] [ 4.33624886e-01 9.01092769e-01 -1.13135113e-03 2.33546188e+01] [ 2.70388268e-03 -4.56377222e-05 9.99996343e-01 2.54543924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.330281693 meters 0.027044088486365712 Centerline is valid? [True, True] Translation: X:122.57, Y:23.36, Z:0.26 [[ 9.01404823e-01 -4.32974193e-01 -1.64093026e-03 1.22571257e+02] [ 4.32973534e-01 9.01406316e-01 -7.56036941e-04 2.33610414e+01] [ 1.80648938e-03 -2.89840274e-05 9.99998368e-01 2.56994203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360281693 meters 0.022517432272115993 Centerline is valid? [True, True] Translation: X:122.59, Y:23.38, Z:0.26 [[ 9.01713795e-01 -4.32333360e-01 -3.13924640e-04 1.22594991e+02] [ 4.32333336e-01 9.01713849e-01 -1.44377948e-04 2.33781877e+01] [ 3.45489599e-04 -5.53249994e-06 9.99999940e-01 2.59118436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.390281693 meters 0.020746113945701528 Centerline is valid? [True, True] Translation: X:122.62, Y:23.39, Z:0.26 [[ 9.02783225e-01 -4.30095726e-01 -3.39169863e-04 1.22621095e+02] [ 4.30095698e-01 9.02783289e-01 -1.56084815e-04 2.33911341e+01] [ 3.73328296e-04 -4.96474592e-06 9.99999930e-01 2.58858267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420281693 meters 0.019434268442943062 Centerline is valid? [True, True] Translation: X:122.65, Y:23.40, Z:0.26 [[ 9.03512270e-01 -4.28561068e-01 -9.95002937e-04 1.22646881e+02] [ 4.28560822e-01 9.03512817e-01 -4.58780333e-04 2.34045778e+01] [ 1.09561330e-03 -1.19056171e-05 9.99999400e-01 2.57129861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.450281693 meters 0.01803121510008962 Centerline is valid? [True, True] Translation: X:122.67, Y:23.42, Z:0.26 [[ 9.04459218e-01 -4.26554649e-01 -2.15745305e-03 1.22672426e+02] [ 4.26553487e-01 9.04461791e-01 -9.95610942e-04 2.34183960e+01] [ 2.37601633e-03 -1.97796289e-05 9.99997177e-01 2.55269095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480281693 meters 0.016677520924252794 Centerline is valid? [True, True] Translation: X:122.70, Y:23.43, Z:0.25 [[ 9.05674693e-01 -4.23963778e-01 -2.83997031e-03 1.22696409e+02] [ 4.23961751e-01 9.05679145e-01 -1.31124819e-03 2.34326196e+01] [ 3.12802362e-03 -1.64744872e-05 9.99995108e-01 2.54202848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.510281693 meters 0.01576464651905992 Centerline is valid? [True, True] Translation: X:122.72, Y:23.45, Z:0.26 [[ 9.08473968e-01 -4.17932027e-01 -2.80546440e-03 1.22717924e+02] [ 4.17930018e-01 9.08478300e-01 -1.29573676e-03 2.34523956e+01] [ 3.09023342e-03 4.65532575e-06 9.99995225e-01 2.55173546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540281693 meters 0.016661561735589515 Centerline is valid? [True, True] Translation: X:122.74, Y:23.47, Z:0.26 [[ 9.09869709e-01 -4.14886256e-01 -2.55115369e-03 1.22742122e+02] [ 4.14884582e-01 9.09873285e-01 -1.17854276e-03 2.34691730e+01] [ 2.81018778e-03 1.38860233e-05 9.99996051e-01 2.55048976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.570281693 meters 0.019998455464350143 Centerline is valid? [True, True] Translation: X:122.77, Y:23.49, Z:0.25 [[ 9.12265520e-01 -4.09585567e-01 -3.35921608e-03 1.22765209e+02] [ 4.09582626e-01 9.12271704e-01 -1.55259751e-03 2.34887111e+01] [ 3.70043931e-03 4.05046287e-05 9.99993153e-01 2.52825742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600281693 meters 0.022052554254597966 Centerline is valid? [True, True] Translation: X:122.79, Y:23.50, Z:0.25 [[ 9.13146428e-01 -4.07615337e-01 -3.65227427e-03 1.22788678e+02] [ 4.07611843e-01 9.13153730e-01 -1.68854086e-03 2.35037966e+01] [ 4.02336303e-03 5.31748084e-05 9.99991905e-01 2.52155847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.630281693 meters 0.023669079536226028 Centerline is valid? [True, True] Translation: X:122.81, Y:23.52, Z:0.25 [[ 9.13809262e-01 -4.06128818e-01 -3.46651286e-03 1.22812846e+02] [ 4.06125658e-01 9.13815835e-01 -1.60310850e-03 2.35192147e+01] [ 3.81882290e-03 5.70955761e-05 9.99992707e-01 2.52988589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660281693 meters 0.026336422207717102 Centerline is valid? [True, True] Translation: X:122.84, Y:23.54, Z:0.25 [[ 9.14786517e-01 -4.03926988e-01 -2.93552458e-03 1.22835314e+02] [ 4.03924709e-01 9.14791225e-01 -1.35793135e-03 2.35364653e+01] [ 3.23389724e-03 5.64863754e-05 9.99994769e-01 2.53942669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690281693 meters 0.027206501598128492 Centerline is valid? [True, True] Translation: X:122.86, Y:23.55, Z:0.25 [[ 9.14891724e-01 -4.03689119e-01 -2.86856836e-03 1.22859652e+02] [ 4.03686942e-01 9.14896219e-01 -1.32715502e-03 2.35499781e+01] [ 3.16020038e-03 5.61995542e-05 9.99995005e-01 2.54040218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720281693 meters 0.024692469588959112 Centerline is valid? [True, True] Translation: X:122.89, Y:23.56, Z:0.25 [[ 9.14449738e-01 -4.04687672e-01 -3.09256244e-03 1.22886214e+02] [ 4.04685145e-01 9.14454966e-01 -1.43117909e-03 2.35601542e+01] [ 3.40718961e-03 5.72272619e-05 9.99994194e-01 2.52496353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750281693 meters 0.024709854243469588 Centerline is valid? [True, True] Translation: X:122.91, Y:23.57, Z:0.25 [[ 9.14303381e-01 -4.05012985e-01 -3.71605864e-03 1.22910525e+02] [ 4.05009337e-01 9.14310930e-01 -1.72034800e-03 2.35730206e+01] [ 4.09439631e-03 6.78815460e-05 9.99991616e-01 2.51054678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780281693 meters 0.024631649274943473 Centerline is valid? [True, True] Translation: X:122.94, Y:23.59, Z:0.25 [[ 9.14190480e-01 -4.05263546e-01 -4.15010548e-03 1.22935563e+02] [ 4.05258996e-01 9.14199897e-01 -1.92202536e-03 2.35860048e+01] [ 4.57295282e-03 7.52297038e-05 9.99989541e-01 2.50887059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810281693 meters 0.025045533675537603 Centerline is valid? [True, True] Translation: X:122.96, Y:23.60, Z:0.25 [[ 9.14241962e-01 -4.05152358e-01 -3.63330722e-03 1.22959351e+02] [ 4.05148867e-01 9.14249179e-01 -1.68332594e-03 2.35992692e+01] [ 4.00375162e-03 6.69369037e-05 9.99991983e-01 2.52072032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840281693 meters 0.02707111367388924 Centerline is valid? [True, True] Translation: X:122.98, Y:23.62, Z:0.26 [[ 9.14620952e-01 -4.04310981e-01 -1.06954666e-03 1.22981902e+02] [ 4.04310678e-01 9.14621577e-01 -4.95545692e-04 2.36156453e+01] [ 1.17858502e-03 2.08073351e-05 9.99999305e-01 2.57312204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870281693 meters 0.02807181571572954 Centerline is valid? [True, True] Translation: X:123.01, Y:23.63, Z:0.26 [[ 9.14804302e-01 -4.03896781e-01 -6.93117302e-04 1.23005873e+02] [ 4.03896653e-01 9.14804564e-01 -3.21160622e-04 2.36290143e+01] [ 7.63782613e-04 1.38513597e-05 9.99999708e-01 2.58084533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900281693 meters 0.02774548888232839 Centerline is valid? [True, True] Translation: X:123.03, Y:23.64, Z:0.25 [[ 9.15157640e-01 -4.03092566e-01 -1.69643565e-03 1.23031349e+02] [ 4.03091801e-01 9.15159211e-01 -7.86332411e-04 2.36418926e+01] [ 1.86947346e-03 3.57988125e-05 9.99998252e-01 2.54872829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930281693 meters 0.030294403292671572 Centerline is valid? [True, True] Translation: X:123.05, Y:23.66, Z:0.25 [[ 9.15493986e-01 -4.02320034e-01 -3.05815680e-03 1.23054519e+02] [ 4.02317540e-01 9.15499091e-01 -1.41824184e-03 2.36585811e+01] [ 3.37032687e-03 6.80417525e-05 9.99994318e-01 2.53046049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960281693 meters 0.03119008675011593 Centerline is valid? [True, True] Translation: X:123.08, Y:23.67, Z:0.25 [[ 9.15961539e-01 -4.01246897e-01 -3.92258508e-03 1.23079263e+02] [ 4.01242781e-01 9.15969934e-01 -1.81969312e-03 2.36734079e+01] [ 4.32311622e-03 9.28599677e-05 9.99990651e-01 2.51352343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.990281693 meters 0.03435992158684522 Centerline is valid? [True, True] Translation: X:123.10, Y:23.69, Z:0.25 [[ 9.17048333e-01 -3.98751597e-01 -4.41807562e-03 1.23102599e+02] [ 3.98746345e-01 9.17058968e-01 -2.05001283e-03 2.36933777e+01] [ 4.86908175e-03 1.18269344e-04 9.99988139e-01 2.50824433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020281693 meters 0.03568173737249573 Centerline is valid? [True, True] Translation: X:123.13, Y:23.71, Z:0.25 [[ 9.17459976e-01 -3.97813373e-01 -3.42236023e-03 1.23127180e+02] [ 3.97810214e-01 9.17466354e-01 -1.58834160e-03 2.37093324e+01] [ 3.77176389e-03 9.57899961e-05 9.99992882e-01 2.52396227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.050281693 meters 0.03668306658391285 Centerline is valid? [True, True] Translation: X:123.15, Y:23.72, Z:0.26 [[ 9.17624640e-01 -3.97442307e-01 -2.15237492e-03 1.23150886e+02] [ 3.97441056e-01 9.17627162e-01 -9.99172485e-04 2.37243669e+01] [ 2.37219110e-03 6.14231326e-05 9.99997184e-01 2.55005941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080281693 meters 0.03562159990205105 Centerline is valid? [True, True] Translation: X:123.18, Y:23.74, Z:0.26 [[ 9.17467279e-01 -3.97808481e-01 -1.48492898e-03 1.23175529e+02] [ 3.97807886e-01 9.17468479e-01 -6.89345927e-04 2.37370234e+01] [ 1.63660319e-03 4.17358746e-05 9.99998660e-01 2.56792159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.110281693 meters 0.03412076607396528 Centerline is valid? [True, True] Translation: X:123.20, Y:23.75, Z:0.26 [[ 9.16470307e-01 -4.00100823e-01 -1.22760821e-03 1.23199615e+02] [ 4.00100418e-01 9.16471129e-01 -5.70162899e-04 2.37511069e+01] [ 1.35319012e-03 3.13708109e-05 9.99999084e-01 2.56965808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140281693 meters 0.0321613142873526 Centerline is valid? [True, True] Translation: X:123.23, Y:23.76, Z:0.26 [[ 9.15724360e-01 -4.01805621e-01 -1.06740448e-03 1.23226394e+02] [ 4.01805316e-01 9.15724982e-01 -4.95769025e-04 2.37621892e+01] [ 1.17665173e-03 2.50989809e-05 9.99999307e-01 2.57310089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.170281693 meters 0.029154630284047682 Centerline is valid? [True, True] Translation: X:123.25, Y:23.77, Z:0.26 [[ 9.14816252e-01 -4.03870307e-01 8.39833114e-06 1.23252706e+02] [ 4.03870307e-01 9.14816252e-01 4.24399077e-06 2.37733546e+01] [-9.39695168e-06 -4.90635151e-07 1.00000000e+00 2.60474063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200281693 meters 0.028901697848672987 Centerline is valid? [True, True] Translation: X:123.28, Y:23.79, Z:0.26 [[ 9.14607627e-01 -4.04341991e-01 6.65827160e-04 1.23276615e+02] [ 4.04341872e-01 9.14607869e-01 3.10114539e-04 2.37871773e+01] [-7.34363090e-04 -1.44113224e-05 9.99999730e-01 2.61597293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.230281693 meters 0.028375277147889736 Centerline is valid? [True, True] Translation: X:123.30, Y:23.80, Z:0.26 [[ 9.14577240e-01 -4.04411219e-01 1.93153734e-04 1.23299854e+02] [ 4.04411209e-01 9.14577261e-01 9.02861411e-05 2.38035522e+01] [-2.13166741e-04 -4.46011461e-06 9.99999977e-01 2.60521852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260281693 meters 0.0277282570757753 Centerline is valid? [True, True] Translation: X:123.32, Y:23.82, Z:0.26 [[ 9.14429313e-01 -4.04745255e-01 -5.57246637e-04 1.23324466e+02] [ 4.04745173e-01 9.14429482e-01 -2.59065329e-04 2.38163341e+01] [ 6.14418216e-04 1.13540443e-05 9.99999811e-01 2.58280450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.290281693 meters 0.026733970417922515 Centerline is valid? [True, True] Translation: X:123.35, Y:23.83, Z:0.26 [[ 9.14155111e-01 -4.05360996e-01 -1.70175638e-03 1.23350728e+02] [ 4.05360223e-01 9.14156694e-01 -7.92347379e-04 2.38282427e+01] [ 1.87685871e-03 3.45040610e-05 9.99998238e-01 2.55832956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320281693 meters 0.027769659655509617 Centerline is valid? [True, True] Translation: X:123.37, Y:23.84, Z:0.25 [[ 9.13596982e-01 -4.06610897e-01 -2.85183845e-03 1.23374851e+02] [ 4.06608730e-01 9.13601431e-01 -1.32850056e-03 2.38425125e+01] [ 3.14562649e-03 5.41316933e-05 9.99995051e-01 2.52819523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.350281693 meters 0.02221933202047981 Centerline is valid? [True, True] Translation: X:123.41, Y:23.85, Z:0.25 [[ 9.11789888e-01 -4.10627391e-01 -4.93407818e-03 1.23405036e+02] [ 4.10620962e-01 9.11803236e-01 -2.29888392e-03 2.38463493e+01] [ 5.44289315e-03 7.00631855e-05 9.99985185e-01 2.47963026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380281693 meters 0.020923252104000523 Centerline is valid? [True, True] Translation: X:123.43, Y:23.86, Z:0.25 [[ 9.10711490e-01 -4.13012203e-01 -5.05004988e-03 1.23431301e+02] [ 4.13005502e-01 9.10725490e-01 -2.35324435e-03 2.38553317e+01] [ 5.57112778e-03 5.74282780e-05 9.99984480e-01 2.47117109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.410281693 meters 0.018511801678771807 Centerline is valid? [True, True] Translation: X:123.46, Y:23.86, Z:0.25 [[ 9.09410740e-01 -4.15877784e-01 -4.21594996e-03 1.23459897e+02] [ 4.15873143e-01 9.09420512e-01 -1.96508451e-03 2.38632013e+01] [ 4.65130636e-03 3.37686048e-05 9.99989182e-01 2.49309705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440281693 meters 0.0159285186531396 Centerline is valid? [True, True] Translation: X:123.49, Y:23.87, Z:0.26 [[ 9.07296811e-01 -4.20488223e-01 -1.46660884e-03 1.23488966e+02] [ 4.20487667e-01 9.07297996e-01 -6.83671946e-04 2.38671810e+01] [ 1.61812727e-03 3.60244535e-06 9.99998691e-01 2.56108964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470281693 meters 0.01565698636508709 Centerline is valid? [True, True] Translation: X:123.52, Y:23.88, Z:0.26 [[ 9.06789274e-01 -4.21583677e-01 -6.45674231e-04 1.23515301e+02] [ 4.21583570e-01 9.06789503e-01 -3.00823308e-04 2.38769178e+01] [ 7.12312812e-04 5.77701770e-07 9.99999746e-01 2.57687307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500281693 meters 0.015752161967996003 Centerline is valid? [True, True] Translation: X:123.54, Y:23.89, Z:0.26 [[ 9.06686284e-01 -4.21805357e-01 -4.72952057e-04 1.23541290e+02] [ 4.21805299e-01 9.06686407e-01 -2.20349162e-04 2.38865638e+01] [ 5.21763658e-04 2.93878727e-07 9.99999864e-01 2.58141750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530281693 meters 0.015802664955633275 Centerline is valid? [True, True] Translation: X:123.57, Y:23.90, Z:0.26 [[ 9.06756048e-01 -4.21655313e-01 -5.16553516e-04 1.23567122e+02] [ 4.21655244e-01 9.06756195e-01 -2.40795567e-04 2.38975009e+01] [ 5.69920831e-04 5.35338339e-07 9.99999838e-01 2.57042730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560281693 meters 0.016024814891028177 Centerline is valid? [True, True] Translation: X:123.59, Y:23.91, Z:0.26 [[ 9.06930991e-01 -4.21277759e-01 -1.10763759e-03 1.23593200e+02] [ 4.21277442e-01 9.06931668e-01 -5.17013015e-04 2.39085273e+01] [ 1.22235769e-03 2.27239585e-06 9.99999253e-01 2.55854010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590281693 meters 0.016211954689260455 Centerline is valid? [True, True] Translation: X:123.62, Y:23.92, Z:0.26 [[ 9.07184431e-01 -4.20731124e-01 -1.31536912e-03 1.23619197e+02] [ 4.20730675e-01 9.07185384e-01 -6.14389773e-04 2.39172196e+01] [ 1.45177654e-03 3.94869968e-06 9.99998946e-01 2.55593059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620281693 meters 0.01606817234897846 Centerline is valid? [True, True] Translation: X:123.64, Y:23.93, Z:0.26 [[ 9.06997577e-01 -4.21134872e-01 -9.02532870e-04 1.23644986e+02] [ 4.21134661e-01 9.06998026e-01 -4.21484062e-04 2.39273180e+01] [ 9.96097168e-04 2.19714894e-06 9.99999504e-01 2.56720532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650281693 meters 0.01599811233683838 Centerline is valid? [True, True] Translation: X:123.67, Y:23.94, Z:0.26 [[ 9.06751050e-01 -4.21665653e-01 -7.81150985e-04 1.23670919e+02] [ 4.21665495e-01 9.06751387e-01 -3.64912368e-04 2.39368969e+01] [ 8.62180751e-04 1.50025625e-06 9.99999628e-01 2.57103899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680281693 meters 0.015979074400788676 Centerline is valid? [True, True] Translation: X:123.70, Y:23.94, Z:0.25 [[ 9.05781108e-01 -4.23743049e-01 -1.55320287e-03 1.23700224e+02] [ 4.23742427e-01 9.05782440e-01 -7.26279765e-04 2.39397763e+01] [ 1.71461989e-03 -3.07463154e-07 9.99998530e-01 2.54465403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710281693 meters 0.016023377312642306 Centerline is valid? [True, True] Translation: X:123.73, Y:23.95, Z:0.25 [[ 9.05277963e-01 -4.24814351e-01 -2.13937885e-03 1.23726819e+02] [ 4.24813172e-01 9.05280491e-01 -1.00099603e-03 2.39459823e+01] [ 2.36197541e-03 -2.65666837e-06 9.99997211e-01 2.52964158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740281693 meters 0.01596602143547626 Centerline is valid? [True, True] Translation: X:123.76, Y:23.95, Z:0.25 [[ 9.04981656e-01 -4.25448008e-01 -1.48142015e-03 1.23755238e+02] [ 4.25447443e-01 9.04982869e-01 -6.93263974e-04 2.39517378e+01] [ 1.63560764e-03 -2.87523672e-06 9.99998662e-01 2.53860180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.770281693 meters 0.01596602143547626 Centerline is valid? [True, True] Translation: X:123.78, Y:23.96, Z:0.25 [[ 9.04902450e-01 -4.25616450e-01 -1.48129111e-03 1.23780031e+02] [ 4.25615885e-01 9.04903662e-01 -6.93539583e-04 2.39635541e+01] [ 1.63560760e-03 -2.87535743e-06 9.99998662e-01 2.53914870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800281693 meters 0.0158266136288369 Centerline is valid? [True, True] Translation: X:123.81, Y:23.97, Z:0.26 [[ 9.05281599e-01 -4.24811202e-01 -8.18290358e-04 1.23805807e+02] [ 4.24811030e-01 9.05281968e-01 -3.83126318e-04 2.39747780e+01] [ 9.03539858e-04 -7.81563401e-07 9.99999592e-01 2.55960083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.830281693 meters 0.01596966128498687 Centerline is valid? [True, True] Translation: X:123.83, Y:23.99, Z:0.26 [[ 9.05901270e-01 -4.23488857e-01 -2.76252866e-04 1.23829685e+02] [ 4.23488838e-01 9.05901312e-01 -1.29329755e-04 2.39863459e+01] [ 3.05027544e-04 1.69983895e-07 9.99999953e-01 2.57653895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860281693 meters 0.01641877289138491 Centerline is valid? [True, True] Translation: X:123.85, Y:24.00, Z:0.26 [[ 9.06563491e-01 -4.22069399e-01 -2.44270255e-04 1.23854994e+02] [ 4.22069383e-01 9.06563524e-01 -1.14190465e-04 2.39989494e+01] [ 2.69642804e-04 4.21910420e-07 9.99999964e-01 2.57270419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.890281693 meters 0.01756821436878135 Centerline is valid? [True, True] Translation: X:123.88, Y:24.01, Z:0.25 [[ 9.07751920e-01 -4.19502996e-01 -1.92029901e-03 1.23881002e+02] [ 4.19502030e-01 9.07753951e-01 -9.00658896e-04 2.40102849e+01] [ 2.12098812e-03 1.20055108e-05 9.99997751e-01 2.53061459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920281693 meters 0.017899091047647423 Centerline is valid? [True, True] Translation: X:123.91, Y:24.02, Z:0.25 [[ 9.08174468e-01 -4.18583694e-01 -2.61268513e-03 1.23907089e+02] [ 4.18581899e-01 9.08178226e-01 -1.22603649e-03 2.40215983e+01] [ 2.88598263e-03 1.98323306e-05 9.99995835e-01 2.51781096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.950281693 meters 0.01922074774184905 Centerline is valid? [True, True] Translation: X:123.93, Y:24.03, Z:0.25 [[ 9.09133042e-01 -4.16498634e-01 -2.44949377e-03 1.23933078e+02] [ 4.16497047e-01 9.09136341e-01 -1.14991875e-03 2.40348864e+01] [ 2.70586339e-03 2.52222092e-05 9.99996339e-01 2.52760765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980281693 meters 0.020169122726748884 Centerline is valid? [True, True] Translation: X:123.96, Y:24.05, Z:0.25 [[ 9.09493387e-01 -4.15715505e-01 -1.54880219e-03 1.23957385e+02] [ 4.15714869e-01 9.09494705e-01 -7.27282575e-04 2.40476920e+01] [ 1.71097004e-03 1.75985907e-05 9.99998536e-01 2.54529986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.010281693 meters 0.020836195131596236 Centerline is valid? [True, True] Translation: X:123.98, Y:24.06, Z:0.26 [[ 9.09730548e-01 -4.15198422e-01 -7.74822870e-04 1.23982639e+02] [ 4.15198262e-01 9.09730878e-01 -3.63832922e-04 2.40600515e+01] [ 8.55943145e-04 9.28481413e-06 9.99999634e-01 2.56215487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040281693 meters 0.020852688910402418 Centerline is valid? [True, True] Translation: X:124.01, Y:24.07, Z:0.26 [[ 9.10036778e-01 -4.14527397e-01 -3.16847297e-04 1.24009252e+02] [ 4.14527370e-01 9.10036833e-01 -1.48533706e-04 2.40722350e+01] [ 3.49914001e-04 3.82925803e-06 9.99999939e-01 2.56968908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.070281693 meters 0.021784509026793457 Centerline is valid? [True, True] Translation: X:124.03, Y:24.09, Z:0.26 [[ 9.10279672e-01 -4.13993604e-01 -4.63809956e-04 1.24033401e+02] [ 4.13993547e-01 9.10279790e-01 -2.17863216e-04 2.40865376e+01] [ 5.12390808e-04 6.30212810e-06 9.99999869e-01 2.56309183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100281693 meters 0.02245496860734235 Centerline is valid? [True, True] Translation: X:124.06, Y:24.10, Z:0.26 [[ 9.10555088e-01 -4.13385713e-01 -1.29790871e-03 1.24058664e+02] [ 4.13385263e-01 9.10556013e-01 -6.09922530e-04 2.41002271e+01] [ 1.43395184e-03 1.88317288e-05 9.99998972e-01 2.55206863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.130281693 meters 0.022562333578165887 Centerline is valid? [True, True] Translation: X:124.08, Y:24.11, Z:0.25 [[ 9.10608231e-01 -4.13268510e-01 -1.33704272e-03 1.24083933e+02] [ 4.13268033e-01 9.10609213e-01 -6.28573488e-04 2.41125382e+01] [ 1.47729304e-03 1.98271792e-05 9.99998909e-01 2.53975188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160281693 meters 0.021448368262123402 Centerline is valid? [True, True] Translation: X:124.11, Y:24.12, Z:0.26 [[ 9.10278481e-01 -4.13995795e-01 -7.53754941e-04 1.24110849e+02] [ 4.13995644e-01 9.10278793e-01 -3.54373058e-04 2.41237990e+01] [ 8.32836094e-04 1.05269067e-05 9.99999653e-01 2.55692815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190281693 meters 0.02157421805066227 Centerline is valid? [True, True] Translation: X:124.14, Y:24.14, Z:0.26 [[ 9.10005034e-01 -4.14597200e-01 6.21821097e-06 1.24135729e+02] [ 4.14597200e-01 9.10005034e-01 3.05764286e-06 2.41370480e+01] [-6.92629345e-06 -2.04417537e-07 1.00000000e+00 2.57470077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220281693 meters 0.021228880924334732 Centerline is valid? [True, True] Translation: X:124.16, Y:24.15, Z:0.26 [[ 9.09727068e-01 -4.15206518e-01 4.57125861e-04 1.24160715e+02] [ 4.15206462e-01 9.09727183e-01 2.15683445e-04 2.41494999e+01] [-5.05412994e-04 -6.41145672e-06 9.99999872e-01 2.58437908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250281693 meters 0.020586219620426106 Centerline is valid? [True, True] Translation: X:124.19, Y:24.16, Z:0.26 [[ 9.09358366e-01 -4.16013646e-01 -8.94705476e-05 1.24187000e+02] [ 4.16013644e-01 9.09358371e-01 -4.17932102e-05 2.41608160e+01] [ 9.87473371e-05 7.84036838e-07 9.99999995e-01 2.57324688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280281693 meters 0.01993390242082796 Centerline is valid? [True, True] Translation: X:124.21, Y:24.17, Z:0.26 [[ 9.08777248e-01 -4.17281157e-01 -5.91513740e-04 1.24211773e+02] [ 4.17281064e-01 9.08777440e-01 -2.78595939e-04 2.41726664e+01] [ 6.53807178e-04 6.35416754e-06 9.99999786e-01 2.56764081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310281693 meters 0.019435998372672316 Centerline is valid? [True, True] Translation: X:124.24, Y:24.18, Z:0.26 [[ 9.08383328e-01 -4.18138347e-01 -2.30105837e-04 1.24237454e+02] [ 4.18138333e-01 9.08383357e-01 -1.08079938e-04 2.41848868e+01] [ 2.54216679e-04 1.96194232e-06 9.99999968e-01 2.57138491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340281693 meters 0.019099055774182676 Centerline is valid? [True, True] Translation: X:124.26, Y:24.20, Z:0.26 [[ 9.08078151e-01 -4.18800512e-01 4.51445615e-04 1.24263209e+02] [ 4.18800458e-01 9.08078263e-01 2.13317711e-04 2.41965235e+01] [-4.99285516e-04 -4.64352227e-06 9.99999875e-01 2.58130563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370281693 meters 0.01874768174351034 Centerline is valid? [True, True] Translation: X:124.29, Y:24.21, Z:0.26 [[ 9.07734473e-01 -4.19542979e-01 1.34735659e-03 1.24288595e+02] [ 4.19542497e-01 9.07735473e-01 6.35774112e-04 2.42066011e+01] [-1.48977794e-03 -1.18407279e-05 9.99998890e-01 2.59985696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400281693 meters 0.01878189353079736 Centerline is valid? [True, True] Translation: X:124.31, Y:24.22, Z:0.26 [[ 9.07595163e-01 -4.19843482e-01 1.57171876e-03 1.24312623e+02] [ 4.19842827e-01 9.07596524e-01 7.41762680e-04 2.42181797e+01] [-1.73791071e-03 -1.33453726e-05 9.99998490e-01 2.61124146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430281693 meters 0.018183931557219955 Centerline is valid? [True, True] Translation: X:124.34, Y:24.23, Z:0.26 [[ 9.07373241e-01 -4.20322603e-01 1.64657647e-03 1.24338659e+02] [ 4.20321884e-01 9.07374735e-01 7.77691862e-04 2.42289167e+01] [-1.82094336e-03 -1.35646604e-05 9.99998342e-01 2.60423123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460281693 meters 0.017997574102909725 Centerline is valid? [True, True] Translation: X:124.36, Y:24.24, Z:0.26 [[ 9.07101762e-01 -4.20911362e-01 1.38267652e-04 1.24364307e+02] [ 4.20911357e-01 9.07101772e-01 6.54070565e-05 2.42404958e+01] [-1.52953406e-04 -1.13243100e-06 9.99999988e-01 2.57115614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.490281693 meters 0.01807643709202752 Centerline is valid? [True, True] Translation: X:124.39, Y:24.25, Z:0.26 [[ 9.06991536e-01 -4.21148730e-01 -3.17190491e-04 1.24389224e+02] [ 4.21148704e-01 9.06991592e-01 -1.49429719e-04 2.42522244e+01] [ 3.50621244e-04 1.94712599e-06 9.99999939e-01 2.55884041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520281693 meters 0.01782262763691459 Centerline is valid? [True, True] Translation: X:124.41, Y:24.26, Z:0.26 [[ 9.06818484e-01 -4.21520727e-01 -7.17191921e-04 1.24414627e+02] [ 4.21520591e-01 9.06818767e-01 -3.38526004e-04 2.42636755e+01] [ 7.93058821e-04 4.67047488e-06 9.99999686e-01 2.55222210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.550281693 meters 0.0175053144917094 Centerline is valid? [True, True] Translation: X:124.44, Y:24.27, Z:0.25 [[ 9.06390044e-01 -4.22441150e-01 -7.50751112e-04 1.24441402e+02] [ 4.22441001e-01 9.06390355e-01 -3.54712761e-04 2.42728781e+01] [ 8.30318833e-04 4.36006399e-06 9.99999655e-01 2.54997989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580281693 meters 0.017157035429913925 Centerline is valid? [True, True] Translation: X:124.47, Y:24.28, Z:0.25 [[ 9.05887560e-01 -4.23517606e-01 -7.51712316e-04 1.24468195e+02] [ 4.23517458e-01 9.05887872e-01 -3.55220237e-04 2.42824098e+01] [ 8.31409095e-04 3.42630464e-06 9.99999654e-01 2.54879151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.610281693 meters 0.016685958548926565 Centerline is valid? [True, True] Translation: X:124.50, Y:24.29, Z:0.25 [[ 9.05200781e-01 -4.24982305e-01 -1.25958410e-03 1.24495427e+02] [ 4.24981888e-01 9.05201657e-01 -5.95304979e-04 2.42905355e+01] [ 1.39317170e-03 3.57010247e-06 9.99999030e-01 2.53595807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640281693 meters 0.016414479776350174 Centerline is valid? [True, True] Translation: X:124.52, Y:24.29, Z:0.25 [[ 9.03829357e-01 -4.27887060e-01 -2.27120835e-03 1.24524309e+02] [ 4.27885711e-01 9.03832210e-01 -1.07420601e-03 2.42947764e+01] [ 2.51243011e-03 -9.18677303e-07 9.99996844e-01 2.50789538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.670281693 meters 0.01651515864215469 Centerline is valid? [True, True] Translation: X:124.55, Y:24.30, Z:0.25 [[ 9.03282894e-01 -4.29039465e-01 -2.26966548e-03 1.24550903e+02] [ 4.29038120e-01 9.03285745e-01 -1.07396593e-03 2.43036677e+01] [ 2.51093025e-03 -3.67796002e-06 9.99996848e-01 2.50953525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700281693 meters 0.016719024976269956 Centerline is valid? [True, True] Translation: X:124.58, Y:24.31, Z:0.25 [[ 9.02635821e-01 -4.30402089e-01 -1.61737052e-03 1.24578803e+02] [ 4.30401408e-01 9.02637270e-01 -7.65574768e-04 2.43094866e+01] [ 1.78940389e-03 -5.08334030e-06 9.99998399e-01 2.52786868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.730281693 meters 0.016822675466070802 Centerline is valid? [True, True] Translation: X:124.61, Y:24.32, Z:0.25 [[ 9.02365159e-01 -4.30970811e-01 -1.13142222e-03 1.24605763e+02] [ 4.30970478e-01 9.02365868e-01 -5.35499860e-04 2.43182964e+01] [ 1.25174161e-03 -4.39315944e-06 9.99999217e-01 2.53669517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760281693 meters 0.017074813693088175 Centerline is valid? [True, True] Translation: X:124.63, Y:24.33, Z:0.25 [[ 9.02080409e-01 -4.31566482e-01 -1.14352844e-03 1.24632522e+02] [ 4.31566143e-01 9.02081133e-01 -5.41467849e-04 2.43275678e+01] [ 1.26523480e-03 -5.06061716e-06 9.99999200e-01 2.54205861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.790281693 meters 0.01750238954891595 Centerline is valid? [True, True] Translation: X:124.66, Y:24.33, Z:0.25 [[ 9.01565989e-01 -4.32637724e-01 -1.83510375e-03 1.24660545e+02] [ 4.32636851e-01 9.01567856e-01 -8.69546698e-04 2.43339359e+01] [ 2.03066926e-03 -9.97977690e-06 9.99997938e-01 2.52897557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820281693 meters 0.01784643097306477 Centerline is valid? [True, True] Translation: X:124.69, Y:24.34, Z:0.25 [[ 9.01152603e-01 -4.33498319e-01 -1.78685220e-03 1.24687293e+02] [ 4.33497492e-01 9.01154375e-01 -8.47049738e-04 2.43427295e+01] [ 1.97742432e-03 -1.12748705e-05 9.99998045e-01 2.53440036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.850281693 meters 0.017747385581438922 Centerline is valid? [True, True] Translation: X:124.71, Y:24.35, Z:0.25 [[ 9.00763375e-01 -4.34309080e-01 -9.82736941e-04 1.24713466e+02] [ 4.34308830e-01 9.00763911e-01 -4.65884165e-04 2.43528083e+01] [ 1.08755169e-03 -7.15993856e-06 9.99999409e-01 2.54971991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880281693 meters 0.019625266482855393 Centerline is valid? [True, True] Translation: X:124.74, Y:24.36, Z:0.26 [[ 8.99890465e-01 -4.36115961e-01 1.42819036e-04 1.24742011e+02] [ 4.36115955e-01 8.99890476e-01 6.79043190e-05 2.43567786e+01] [-1.58135647e-04 1.17921099e-06 9.99999987e-01 2.58740667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.910281693 meters 0.02007086375357373 Centerline is valid? [True, True] Translation: X:124.77, Y:24.37, Z:0.26 [[ 8.99590843e-01 -4.36733309e-01 5.75618993e-04 1.24769160e+02] [ 4.36733223e-01 8.99591028e-01 2.73597292e-04 2.43672149e+01] [-6.37310732e-04 5.26631933e-06 9.99999797e-01 2.59562645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940281693 meters 0.018550152330227502 Centerline is valid? [True, True] Translation: X:124.79, Y:24.38, Z:0.26 [[ 9.00184887e-01 -4.35507582e-01 5.61264385e-04 1.24794667e+02] [ 4.35507501e-01 9.00185062e-01 2.66913698e-04 2.43807797e+01] [-6.21484754e-04 4.16317226e-06 9.99999807e-01 2.58823159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970281693 meters 0.01768426410466911 Centerline is valid? [True, True] Translation: X:124.82, Y:24.39, Z:0.26 [[ 9.00879053e-01 -4.34070189e-01 5.60237357e-05 1.24818625e+02] [ 4.34070188e-01 9.00879055e-01 2.67362081e-05 2.43944021e+01] [-6.20760009e-05 2.32143704e-07 9.99999998e-01 2.58031654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000281693 meters 0.016902023570074188 Centerline is valid? [True, True] Translation: X:124.84, Y:24.41, Z:0.26 [[ 9.01674576e-01 -4.32414959e-01 -5.11801027e-04 1.24842796e+02] [ 4.32414891e-01 9.01674722e-01 -2.42858447e-04 2.44099812e+01] [ 5.66493674e-04 -2.33109766e-06 9.99999840e-01 2.57067943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030281693 meters 0.016506033297533727 Centerline is valid? [True, True] Translation: X:124.86, Y:24.43, Z:0.26 [[ 9.03693700e-01 -4.28177176e-01 -1.41486417e-03 1.24863817e+02] [ 4.28176648e-01 9.03694808e-01 -6.72255697e-04 2.44308091e+01] [ 1.56644995e-03 1.70144092e-06 9.99998773e-01 2.55904254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060281693 meters 0.01684718604861879 Centerline is valid? [True, True] Translation: X:124.89, Y:24.45, Z:0.26 [[ 9.04521738e-01 -4.26424972e-01 -1.47296852e-03 1.24887588e+02] [ 4.26424397e-01 9.04522937e-01 -7.00259626e-04 2.44467056e+01] [ 1.63094200e-03 5.29034239e-06 9.99998670e-01 2.55481689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090281693 meters 0.017764274637743858 Centerline is valid? [True, True] Translation: X:124.91, Y:24.46, Z:0.26 [[ 9.05165914e-01 -4.25055486e-01 -1.58176874e-03 1.24910503e+02] [ 4.25054821e-01 9.05167296e-01 -7.52103636e-04 2.44628766e+01] [ 1.75145111e-03 8.44014559e-06 9.99998466e-01 2.55356546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120281693 meters 0.018600150773128543 Centerline is valid? [True, True] Translation: X:124.93, Y:24.48, Z:0.26 [[ 9.06128781e-01 -4.23000109e-01 -1.24064047e-03 1.24933311e+02] [ 4.22999698e-01 9.06129631e-01 -5.89892644e-04 2.44811026e+01] [ 1.37370574e-03 9.72815937e-06 9.99999056e-01 2.55494250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150281693 meters 0.020612825387834117 Centerline is valid? [True, True] Translation: X:124.96, Y:24.50, Z:0.26 [[ 9.06647672e-01 -4.21888185e-01 -5.99260610e-04 1.24955581e+02] [ 4.21888089e-01 9.06647870e-01 -2.85017653e-04 2.44990556e+01] [ 6.63563936e-04 5.58967788e-06 9.99999780e-01 2.57729946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180281693 meters 0.02105446202833857 Centerline is valid? [True, True] Translation: X:124.98, Y:24.52, Z:0.26 [[ 9.07332817e-01 -4.20413055e-01 -1.47669614e-04 1.24979155e+02] [ 4.20413049e-01 9.07332829e-01 -6.99509515e-05 2.45160695e+01] [ 1.63393782e-04 1.38656091e-06 9.99999987e-01 2.57748078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210281693 meters 0.021646275421545083 Centerline is valid? [True, True] Translation: X:125.00, Y:24.53, Z:0.26 [[ 9.07674056e-01 -4.19675358e-01 -6.33403572e-04 1.25003130e+02] [ 4.19675250e-01 9.07674277e-01 -3.01427581e-04 2.45315928e+01] [ 7.01425858e-04 7.77419260e-06 9.99999754e-01 2.56417065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240281693 meters 0.02267910964156494 Centerline is valid? [True, True] Translation: X:125.03, Y:24.55, Z:0.25 [[ 9.08381305e-01 -4.18141623e-01 -9.93898797e-04 1.25025501e+02] [ 4.18141356e-01 9.08381848e-01 -4.73118108e-04 2.45505281e+01] [ 1.10067000e-03 1.41814532e-05 9.99999394e-01 2.54368673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.270281693 meters 0.02454758249748681 Centerline is valid? [True, True] Translation: X:125.05, Y:24.57, Z:0.25 [[ 9.08536382e-01 -4.17803218e-01 -1.45364547e-03 1.25047826e+02] [ 4.17802645e-01 9.08537545e-01 -6.92115538e-04 2.45672833e+01] [ 1.60985959e-03 2.14752224e-05 9.99998704e-01 2.53895195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300281693 meters 0.02340891753749677 Centerline is valid? [True, True] Translation: X:125.07, Y:24.58, Z:0.25 [[ 9.08486021e-01 -4.17909695e-01 -2.15313876e-03 1.25072788e+02] [ 4.17908438e-01 9.08488572e-01 -1.02552076e-03 2.45791092e+01] [ 2.38467702e-03 3.18564209e-05 9.99997156e-01 2.52757005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.330281693 meters 0.022582196483573243 Centerline is valid? [True, True] Translation: X:125.10, Y:24.59, Z:0.25 [[ 9.08395453e-01 -4.18103461e-01 -2.68278563e-03 1.25097864e+02] [ 4.18101509e-01 9.08399413e-01 -1.27849108e-03 2.45909126e+01] [ 2.97158244e-03 3.96987683e-05 9.99995584e-01 2.51859363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360281693 meters 0.023250170425867144 Centerline is valid? [True, True] Translation: X:125.12, Y:24.61, Z:0.25 [[ 9.08577804e-01 -4.17703885e-01 -3.13670537e-03 1.25120437e+02] [ 4.17701211e-01 9.08583217e-01 -1.49538989e-03 2.46073985e+01] [ 3.47458802e-03 4.84724288e-05 9.99993962e-01 2.51484306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.390281693 meters 0.024703993798707705 Centerline is valid? [True, True] Translation: X:125.14, Y:24.62, Z:0.25 [[ 9.08866147e-01 -4.17079774e-01 -2.60534034e-03 1.25143214e+02] [ 4.17077927e-01 9.08869881e-01 -1.24226053e-03 2.46243272e+01] [ 2.88603711e-03 4.24185974e-05 9.99995834e-01 2.52794611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420281693 meters 0.024160609739849574 Centerline is valid? [True, True] Translation: X:125.17, Y:24.64, Z:0.25 [[ 9.09105457e-01 -4.16561451e-01 -1.95577111e-03 1.25168228e+02] [ 4.16560408e-01 9.09107560e-01 -9.32713677e-04 2.46388220e+01] [ 2.16653886e-03 3.32382830e-05 9.99997653e-01 2.53601120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.450281693 meters 0.02483068730429019 Centerline is valid? [True, True] Translation: X:125.19, Y:24.66, Z:0.25 [[ 9.09219936e-01 -4.16312915e-01 -1.63242288e-03 1.25190783e+02] [ 4.16312188e-01 9.09221401e-01 -7.78794670e-04 2.46569181e+01] [ 1.80845609e-03 2.84981013e-05 9.99998364e-01 2.53711750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480281693 meters 0.024694517689045795 Centerline is valid? [True, True] Translation: X:125.22, Y:24.67, Z:0.25 [[ 9.08952988e-01 -4.16896487e-01 -1.33553786e-03 1.25215064e+02] [ 4.16896001e-01 9.08953969e-01 -6.37284085e-04 2.46716912e+01] [ 1.47962394e-03 2.24808786e-05 9.99998905e-01 2.54444987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.510281693 meters 0.02339436557705341 Centerline is valid? [True, True] Translation: X:125.24, Y:24.68, Z:0.26 [[ 9.08627093e-01 -4.17607082e-01 -1.06367994e-03 1.25241151e+02] [ 4.17606774e-01 9.08627715e-01 -5.07514354e-04 2.46848288e+01] [ 1.17843066e-03 1.69413451e-05 9.99999306e-01 2.55126755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540281693 meters 0.02245869254496697 Centerline is valid? [True, True] Translation: X:125.27, Y:24.70, Z:0.26 [[ 9.07676589e-01 -4.19668878e-01 -1.11447053e-03 1.25265330e+02] [ 4.19668541e-01 9.07677273e-01 -5.32057577e-04 2.46985597e+01] [ 1.23486758e-03 1.52279859e-05 9.99999237e-01 2.55520852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.570281693 meters 0.020808237617519695 Centerline is valid? [True, True] Translation: X:125.29, Y:24.71, Z:0.25 [[ 9.06944428e-01 -4.21248636e-01 -1.17974005e-03 1.25292182e+02] [ 4.21248259e-01 9.06945195e-01 -5.63294602e-04 2.47091917e+01] [ 1.30724665e-03 1.39134576e-05 9.99999145e-01 2.54975850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600281693 meters 0.01952128072093924 Centerline is valid? [True, True] Translation: X:125.32, Y:24.72, Z:0.25 [[ 9.06071484e-01 -4.23122047e-01 -1.48317430e-03 1.25318577e+02] [ 4.23121454e-01 9.06072698e-01 -7.08559974e-04 2.47197461e+01] [ 1.64367109e-03 1.44431198e-05 9.99998649e-01 2.54422781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.630281693 meters 0.016978800357002808 Centerline is valid? [True, True] Translation: X:125.35, Y:24.73, Z:0.25 [[ 9.03767513e-01 -4.28019879e-01 -1.80727785e-03 1.25345884e+02] [ 4.28019007e-01 9.03769320e-01 -8.63828667e-04 2.47269318e+01] [ 2.00309812e-03 7.15101379e-06 9.99997994e-01 2.53801666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660281693 meters 0.016978800357002808 Centerline is valid? [True, True] Translation: X:125.37, Y:24.74, Z:0.25 [[ 9.03689763e-01 -4.28184010e-01 -1.80722781e-03 1.25370575e+02] [ 4.28183138e-01 9.03691570e-01 -8.63933354e-04 2.47389555e+01] [ 2.00309898e-03 6.90325282e-06 9.99997994e-01 2.53856328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690281693 meters 0.016454151934955176 Centerline is valid? [True, True] Translation: X:125.40, Y:24.75, Z:0.25 [[ 9.02487511e-01 -4.30714106e-01 -1.28470959e-03 1.25397272e+02] [ 4.30713668e-01 9.02488426e-01 -6.14311711e-04 2.47477567e+01] [ 1.42402825e-03 1.06666834e-06 9.99998986e-01 2.54874265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720281693 meters 0.016937612443144425 Centerline is valid? [True, True] Translation: X:125.43, Y:24.75, Z:0.26 [[ 9.00609823e-01 -4.34627606e-01 -8.89972041e-04 1.25425086e+02] [ 4.34627397e-01 9.00610262e-01 -4.25786123e-04 2.47531973e+01] [ 9.86576357e-04 -3.33906700e-06 9.99999513e-01 2.55219451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750281693 meters 0.017565640606022094 Centerline is valid? [True, True] Translation: X:125.45, Y:24.76, Z:0.25 [[ 8.99569360e-01 -4.36775593e-01 -1.43151312e-03 1.25452640e+02] [ 4.36775055e-01 8.99570498e-01 -6.85009727e-04 2.47628033e+01] [ 1.58694250e-03 -9.03546135e-06 9.99998741e-01 2.53672420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780281693 meters 0.018670828699856895 Centerline is valid? [True, True] Translation: X:125.48, Y:24.77, Z:0.25 [[ 8.98563705e-01 -4.38837976e-01 -2.12108097e-03 1.25479574e+02] [ 4.38836801e-01 8.98566208e-01 -1.01554420e-03 2.47713864e+01] [ 2.35159105e-03 -1.82772279e-05 9.99997235e-01 2.52530491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810281693 meters 0.02161967303904803 Centerline is valid? [True, True] Translation: X:125.51, Y:24.78, Z:0.25 [[ 8.96485247e-01 -4.43065872e-01 -2.61422340e-03 1.25508957e+02] [ 4.43064105e-01 8.96489058e-01 -1.25190089e-03 2.47757538e+01] [ 2.89829723e-03 -3.59578720e-05 9.99995799e-01 2.52084030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840281693 meters 0.030997097626177517 Centerline is valid? [True, True] Translation: X:125.54, Y:24.79, Z:0.26 [[ 8.95670386e-01 -4.44712311e-01 -2.34949540e-03 1.25535590e+02] [ 4.44710889e-01 8.95673467e-01 -1.12541674e-03 2.47869733e+01] [ 2.60486737e-03 -3.68437451e-05 9.99996607e-01 2.60991744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870281693 meters 0.025217432843946633 Centerline is valid? [True, True] Translation: X:125.57, Y:24.79, Z:0.25 [[ 8.93953229e-01 -4.48157599e-01 -1.54634114e-03 1.25565117e+02] [ 4.48156988e-01 8.93954566e-01 -7.40934499e-04 2.47907555e+01] [ 1.71441415e-03 -3.06427989e-05 9.99998530e-01 2.53815868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900281693 meters 0.026828382895341604 Centerline is valid? [True, True] Translation: X:125.59, Y:24.80, Z:0.25 [[ 8.93424864e-01 -4.49210969e-01 -1.23197299e-03 1.25592040e+02] [ 4.49210582e-01 8.93425713e-01 -5.90347979e-04 2.47991259e+01] [ 1.36586713e-03 -2.59837387e-05 9.99999067e-01 2.54841315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930281693 meters 0.02836401624393588 Centerline is valid? [True, True] Translation: X:125.62, Y:24.81, Z:0.26 [[ 8.93612176e-01 -4.48838398e-01 -1.17156773e-03 1.25619625e+02] [ 4.48838047e-01 8.93612943e-01 -5.61459780e-04 2.48058815e+01] [ 1.29893279e-03 -2.41168745e-05 9.99999156e-01 2.55369551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960281693 meters 0.02533194785691696 Centerline is valid? [True, True] Translation: X:125.64, Y:24.82, Z:0.25 [[ 8.94145096e-01 -4.47772471e-01 -2.08834902e-03 1.25643930e+02] [ 4.47771354e-01 8.94147534e-01 -1.00121443e-03 2.48218011e+01] [ 2.31560839e-03 -3.98718925e-05 9.99997318e-01 2.53224028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.990281693 meters 0.02376234138455386 Centerline is valid? [True, True] Translation: X:125.67, Y:24.84, Z:0.25 [[ 8.94894144e-01 -4.46267564e-01 -3.11977052e-03 1.25668795e+02] [ 4.46265058e-01 8.94899580e-01 -1.49650363e-03 2.48363317e+01] [ 3.45972236e-03 -5.30322358e-05 9.99994014e-01 2.51719604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020281693 meters 0.022951103674572572 Centerline is valid? [True, True] Translation: X:125.69, Y:24.85, Z:0.25 [[ 8.95415876e-01 -4.45212497e-01 -4.03011372e-03 1.25693755e+02] [ 4.45208301e-01 8.95424943e-01 -1.93408932e-03 2.48499227e+01] [ 4.46974508e-03 -6.24258025e-05 9.99990009e-01 2.49945913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.050281693 meters 0.022828518729851748 Centerline is valid? [True, True] Translation: X:125.72, Y:24.86, Z:0.25 [[ 8.95387048e-01 -4.45262965e-01 -4.78809203e-03 1.25720618e+02] [ 4.45257036e-01 8.95399847e-01 -2.29896027e-03 2.48594125e+01] [ 5.31089874e-03 -7.34724179e-05 9.99985894e-01 2.47744231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080281693 meters 0.023705378051601587 Centerline is valid? [True, True] Translation: X:125.75, Y:24.87, Z:0.25 [[ 8.94720115e-01 -4.46598205e-01 -5.09493948e-03 1.25748389e+02] [ 4.46591507e-01 8.94734618e-01 -2.44739035e-03 2.48682553e+01] [ 5.65161886e-03 -8.56273224e-05 9.99984026e-01 2.46984954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.110281693 meters 0.02625242813758193 Centerline is valid? [True, True] Translation: X:125.78, Y:24.87, Z:0.25 [[ 8.93030530e-01 -4.49975757e-01 -4.27667887e-03 1.25778680e+02] [ 4.49971073e-01 8.93040766e-01 -2.05514070e-03 2.48715618e+01] [ 4.74401206e-03 -8.90783890e-05 9.99988743e-01 2.48402996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140281693 meters 0.026967914482548174 Centerline is valid? [True, True] Translation: X:125.81, Y:24.88, Z:0.25 [[ 8.92368331e-01 -4.51298095e-01 -2.96523262e-03 1.25806709e+02] [ 4.51295848e-01 8.92373255e-01 -1.42542429e-03 2.48803367e+01] [ 3.28938555e-03 -6.61936776e-05 9.99994588e-01 2.51545368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.170281693 meters 0.028088601656378144 Centerline is valid? [True, True] Translation: X:125.83, Y:24.89, Z:0.25 [[ 8.91893455e-01 -4.52242207e-01 -1.74665008e-03 1.25833130e+02] [ 4.52241429e-01 8.91895165e-01 -8.39849488e-04 2.48883412e+01] [ 1.93764415e-03 -4.08512654e-05 9.99998122e-01 2.54652350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200281693 meters 0.02705114241142344 Centerline is valid? [True, True] Translation: X:125.86, Y:24.90, Z:0.26 [[ 8.92480049e-01 -4.51084979e-01 -1.30561328e-03 1.25859159e+02] [ 4.51084542e-01 8.92481003e-01 -6.27865234e-04 2.48979614e+01] [ 1.44845563e-03 -2.85847758e-05 9.99998951e-01 2.55807182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.230281693 meters 0.025164287026583698 Centerline is valid? [True, True] Translation: X:125.88, Y:24.91, Z:0.26 [[ 8.93657843e-01 -4.48746024e-01 -1.63262116e-03 1.25883469e+02] [ 4.48745338e-01 8.93659334e-01 -7.85272999e-04 2.49123821e+01] [ 1.81139527e-03 -3.08657578e-05 9.99998359e-01 2.55402264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260281693 meters 0.019835122422021522 Centerline is valid? [True, True] Translation: X:125.90, Y:24.93, Z:0.25 [[ 8.97242555e-01 -4.41527939e-01 -2.97932171e-03 1.25904454e+02] [ 4.41525613e-01 8.97247501e-01 -1.43331166e-03 2.49345096e+01] [ 3.30603610e-03 -2.94186309e-05 9.99994535e-01 2.53223216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.290281693 meters 0.01758259507889738 Centerline is valid? [True, True] Translation: X:125.93, Y:24.95, Z:0.25 [[ 8.98996877e-01 -4.37944033e-01 -3.10479498e-03 1.25927137e+02] [ 4.37941485e-01 8.99002238e-01 -1.49401880e-03 2.49532507e+01] [ 3.44551426e-03 -1.66002899e-05 9.99994064e-01 2.53365959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320281693 meters 0.0166847627235519 Centerline is valid? [True, True] Translation: X:125.95, Y:24.97, Z:0.25 [[ 9.00615796e-01 -4.34608070e-01 -2.64825150e-03 1.25950258e+02] [ 4.34606200e-01 9.00619690e-01 -1.27480201e-03 2.49710502e+01] [ 2.93910669e-03 -2.83969216e-06 9.99995681e-01 2.54430814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.350281693 meters 0.0170688584287157 Centerline is valid? [True, True] Translation: X:125.97, Y:24.99, Z:0.26 [[ 9.02563504e-01 -4.30554996e-01 -1.23199220e-03 1.25973146e+02] [ 4.30554587e-01 9.02564344e-01 -5.93177816e-04 2.49879943e+01] [ 1.36734790e-03 4.94075523e-06 9.99999065e-01 2.56737147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380281693 meters 0.01716936956868964 Centerline is valid? [True, True] Translation: X:126.00, Y:25.00, Z:0.26 [[ 9.02616762e-01 -4.30442149e-01 -1.59282299e-03 1.25997841e+02] [ 4.30441465e-01 9.02618168e-01 -7.67055487e-04 2.49998974e+01] [ 1.76788398e-03 6.74007910e-06 9.99998437e-01 2.55993804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.410281693 meters 0.01699607309127394 Centerline is valid? [True, True] Translation: X:126.02, Y:25.01, Z:0.25 [[ 9.01843298e-01 -4.32050752e-01 -3.28830891e-03 1.26023294e+02] [ 4.32047848e-01 9.01849293e-01 -1.58415125e-03 2.50088039e+01] [ 3.64999281e-03 7.94940183e-06 9.99993339e-01 2.51634374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440281693 meters 0.01692840051820035 Centerline is valid? [True, True] Translation: X:126.05, Y:25.02, Z:0.25 [[ 9.01316105e-01 -4.33144900e-01 -3.84362264e-03 1.26049377e+02] [ 4.33140939e-01 9.01324301e-01 -1.85248793e-03 2.50192758e+01] [ 4.26674619e-03 4.84688408e-06 9.99990897e-01 2.50931668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470281693 meters 0.01684904620078911 Centerline is valid? [True, True] Translation: X:126.07, Y:25.03, Z:0.25 [[ 9.01287802e-01 -4.33201291e-01 -4.11563912e-03 1.26073559e+02] [ 4.33196747e-01 9.01297199e-01 -1.98428714e-03 2.50306890e+01] [ 4.56900977e-03 5.53231969e-06 9.99989562e-01 2.51052727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500281693 meters 0.01820431337237308 Centerline is valid? [True, True] Translation: X:126.10, Y:25.05, Z:0.25 [[ 9.03149912e-01 -4.29300165e-01 -4.64801804e-03 1.26096899e+02] [ 4.29294313e-01 9.03161872e-01 -2.24173583e-03 2.50491899e+01] [ 5.16029024e-03 2.92558085e-05 9.99986685e-01 2.51467391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530281693 meters 0.020073003694819232 Centerline is valid? [True, True] Translation: X:126.12, Y:25.07, Z:0.25 [[ 9.04410540e-01 -4.26634406e-01 -4.96570121e-03 1.26119322e+02] [ 4.26627682e-01 9.04424171e-01 -2.39571883e-03 2.50657118e+01] [ 5.51319628e-03 4.82077626e-05 9.99984801e-01 2.51089504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560281693 meters 0.02243034304031017 Centerline is valid? [True, True] Translation: X:126.14, Y:25.08, Z:0.25 [[ 9.05709685e-01 -4.23870796e-01 -4.84915827e-03 1.26142915e+02] [ 4.23864340e-01 9.05722664e-01 -2.34030069e-03 2.50829258e+01] [ 5.38397766e-03 6.42477293e-05 9.99985504e-01 2.51179305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590281693 meters 0.027134750408141044 Centerline is valid? [True, True] Translation: X:126.16, Y:25.10, Z:0.25 [[ 9.07854026e-01 -4.19273036e-01 -3.34500305e-03 1.26164815e+02] [ 4.19269931e-01 9.07860186e-01 -1.61467021e-03 2.51035590e+01] [ 3.71378278e-03 6.34256544e-05 9.99993102e-01 2.54037636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620281693 meters 0.029154281138560154 Centerline is valid? [True, True] Translation: X:126.19, Y:25.12, Z:0.26 [[ 9.08584648e-01 -4.17691975e-01 -2.71147671e-03 1.26188158e+02] [ 4.17689928e-01 9.08588692e-01 -1.30898379e-03 2.51192160e+01] [ 3.01036910e-03 5.67660687e-05 9.99995467e-01 2.55777900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650281693 meters 0.029591880313996965 Centerline is valid? [True, True] Translation: X:126.21, Y:25.13, Z:0.26 [[ 9.09226644e-01 -4.16290916e-01 -2.96359619e-03 1.26212322e+02] [ 4.16288461e-01 9.09231472e-01 -1.43106526e-03 2.51345813e+01] [ 3.29033439e-03 6.74517672e-05 9.99994585e-01 2.55426674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680281693 meters 0.0314969268549562 Centerline is valid? [True, True] Translation: X:126.24, Y:25.15, Z:0.26 [[ 9.09476534e-01 -4.15742600e-01 -3.24424359e-03 1.26235284e+02] [ 4.15739654e-01 9.09482317e-01 -1.56707944e-03 2.51512207e+01] [ 3.60208386e-03 7.64612643e-05 9.99993510e-01 2.55223211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710281693 meters 0.030403465034968175 Centerline is valid? [True, True] Translation: X:126.26, Y:25.16, Z:0.26 [[ 9.09765281e-01 -4.15110811e-01 -3.18564127e-03 1.26260774e+02] [ 4.15107965e-01 9.09770855e-01 -1.53899790e-03 2.51635230e+01] [ 3.53705825e-03 7.77417956e-05 9.99993742e-01 2.55337680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740281693 meters 0.03157838335632283 Centerline is valid? [True, True] Translation: X:126.28, Y:25.18, Z:0.26 [[ 9.09992216e-01 -4.14620089e-01 -2.08515846e-03 1.26283469e+02] [ 4.14618869e-01 9.09994604e-01 -1.00745940e-03 2.51793542e+01] [ 2.31519585e-03 5.22341684e-05 9.99997319e-01 2.57139176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.770281693 meters 0.03235396843450852 Centerline is valid? [True, True] Translation: X:126.31, Y:25.19, Z:0.26 [[ 9.09900897e-01 -4.14820173e-01 -2.14061359e-03 1.26307331e+02] [ 4.14818887e-01 9.09903413e-01 -1.03443579e-03 2.51939577e+01] [ 2.37685645e-03 5.32671057e-05 9.99997174e-01 2.57034322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800281693 meters 0.02933358881585241 Centerline is valid? [True, True] Translation: X:126.33, Y:25.20, Z:0.26 [[ 9.09458963e-01 -4.15783848e-01 -2.86118361e-03 1.26334424e+02] [ 4.15781553e-01 9.09463461e-01 -1.38303639e-03 2.52046928e+01] [ 3.17718614e-03 6.81874725e-05 9.99994950e-01 2.55760142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.830281693 meters 0.02777060145783636 Centerline is valid? [True, True] Translation: X:126.36, Y:25.22, Z:0.25 [[ 9.08205857e-01 -4.18499482e-01 -4.50603623e-03 1.26358848e+02] [ 4.18493820e-01 9.08217031e-01 -2.17890334e-03 2.52178016e+01] [ 5.00432877e-03 9.31444602e-05 9.99987474e-01 2.51421569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860281693 meters 0.027052277104298937 Centerline is valid? [True, True] Translation: X:126.38, Y:25.23, Z:0.25 [[ 9.07325132e-01 -4.20402885e-01 -4.74550517e-03 1.26383887e+02] [ 4.20396630e-01 9.07337537e-01 -2.29504678e-03 2.52295316e+01] [ 5.27061926e-03 8.73592463e-05 9.99986106e-01 2.50731390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.890281693 meters 0.02161206902594995 Centerline is valid? [True, True] Translation: X:126.41, Y:25.24, Z:0.25 [[ 9.05043200e-01 -4.25303075e-01 -3.75505390e-03 1.26413426e+02] [ 4.25299199e-01 9.05050989e-01 -1.81627712e-03 2.52359493e+01] [ 4.17098349e-03 4.67878353e-05 9.99991300e-01 2.53150645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920281693 meters 0.020088504166555065 Centerline is valid? [True, True] Translation: X:126.44, Y:25.25, Z:0.25 [[ 9.04142585e-01 -4.27218296e-01 -3.27317412e-03 1.26439369e+02] [ 4.27215363e-01 9.04148509e-01 -1.58340843e-03 2.52466291e+01] [ 3.63589655e-03 3.32767173e-05 9.99993390e-01 2.54560021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.950281693 meters 0.018927957297000517 Centerline is valid? [True, True] Translation: X:126.47, Y:25.26, Z:0.25 [[ 9.03572807e-01 -4.28422428e-01 -3.22577503e-03 1.26465983e+02] [ 4.28419586e-01 9.03578565e-01 -1.56088776e-03 2.52578104e+01] [ 3.58346050e-03 2.83905350e-05 9.99993579e-01 2.54869981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980281693 meters 0.018865217602257234 Centerline is valid? [True, True] Translation: X:126.49, Y:25.27, Z:0.25 [[ 9.03284204e-01 -4.29029511e-01 -3.36535444e-03 1.26490593e+02] [ 4.29026420e-01 9.03290473e-01 -1.62891314e-03 2.52709303e+01] [ 3.73874441e-03 2.75455480e-05 9.99993010e-01 2.54034594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.010281693 meters 0.018165915243552856 Centerline is valid? [True, True] Translation: X:126.52, Y:25.28, Z:0.25 [[ 9.02722980e-01 -4.30208184e-01 -3.48417924e-03 1.26516827e+02] [ 4.30204877e-01 9.02729704e-01 -1.68689304e-03 2.52832477e+01] [ 3.87098728e-03 2.38862074e-05 9.99992507e-01 2.54188226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040281693 meters 0.017568431305464177 Centerline is valid? [True, True] Translation: X:126.54, Y:25.29, Z:0.26 [[ 9.02263176e-01 -4.31179788e-01 -2.26986090e-03 1.26542522e+02] [ 4.31178387e-01 9.02266031e-01 -1.09930899e-03 2.52949348e+01] [ 2.52201820e-03 1.31510606e-05 9.99996820e-01 2.56419809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.070281693 meters 0.016704098102682755 Centerline is valid? [True, True] Translation: X:126.57, Y:25.30, Z:0.26 [[ 9.01290982e-01 -4.33213452e-01 -8.19024349e-04 1.26568863e+02] [ 4.33213270e-01 9.01291354e-01 -3.96702567e-04 2.53037738e+01] [ 9.10036453e-04 2.73223001e-06 9.99999586e-01 2.60228314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100281693 meters 0.0165098026269971 Centerline is valid? [True, True] Translation: X:126.60, Y:25.31, Z:0.26 [[ 9.00965111e-01 -4.33890723e-01 -8.42795939e-04 1.26595222e+02] [ 4.33890530e-01 9.00965505e-01 -4.08199332e-04 2.53140135e+01] [ 9.36443971e-04 2.09217925e-06 9.99999562e-01 2.59795703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.130281693 meters 0.016506510461929323 Centerline is valid? [True, True] Translation: X:126.62, Y:25.32, Z:0.26 [[ 9.00801321e-01 -4.34228078e-01 -1.71930941e-03 1.26621319e+02] [ 4.34227278e-01 9.00802962e-01 -8.33526762e-04 2.53224448e+01] [ 1.91069973e-03 4.27096365e-06 9.99998175e-01 2.58411029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160281693 meters 0.016568008785520703 Centerline is valid? [True, True] Translation: X:126.65, Y:25.33, Z:0.26 [[ 9.00856298e-01 -4.34112360e-01 -2.09503471e-03 1.26646330e+02] [ 4.34111171e-01 9.00858734e-01 -1.01607615e-03 2.53339612e+01] [ 2.32842153e-03 5.86062209e-06 9.99997289e-01 2.58510745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190281693 meters 0.016785650710096942 Centerline is valid? [True, True] Translation: X:126.67, Y:25.35, Z:0.26 [[ 9.01011585e-01 -4.33789078e-01 -2.27164003e-03 1.26670662e+02] [ 4.33787677e-01 9.01014448e-01 -1.10222957e-03 2.53454738e+01] [ 2.52491564e-03 7.71215441e-06 9.99996812e-01 2.58300706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220281693 meters 0.0169332026645165 Centerline is valid? [True, True] Translation: X:126.70, Y:25.36, Z:0.26 [[ 9.01233056e-01 -4.33328187e-01 -2.37914999e-03 1.26696055e+02] [ 4.33326648e-01 9.01236197e-01 -1.15481152e-03 2.53565808e+01] [ 2.64458847e-03 9.80522279e-06 9.99996503e-01 2.57852060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250281693 meters 0.01852265513672276 Centerline is valid? [True, True] Translation: X:126.72, Y:25.37, Z:0.26 [[ 9.02603987e-01 -4.30456554e-01 -3.63298674e-03 1.26720095e+02] [ 4.30452939e-01 9.02611298e-01 -1.76416369e-03 2.53700177e+01] [ 4.03857069e-03 2.85113575e-05 9.99991845e-01 2.55258291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280281693 meters 0.020026962998874603 Centerline is valid? [True, True] Translation: X:126.75, Y:25.39, Z:0.26 [[ 9.03532176e-01 -4.28501045e-01 -4.05720519e-03 1.26745041e+02] [ 4.28496515e-01 9.03541284e-01 -1.97074698e-03 2.53856027e+01] [ 4.51031953e-03 4.21350195e-05 9.99989828e-01 2.55190324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310281693 meters 0.024367558638757777 Centerline is valid? [True, True] Translation: X:126.77, Y:25.40, Z:0.26 [[ 9.05721921e-01 -4.23858505e-01 -3.43075280e-03 1.26767708e+02] [ 4.23855232e-01 9.05728416e-01 -1.66681863e-03 2.54049163e+01] [ 3.81382555e-03 5.55316492e-05 9.99992726e-01 2.57401216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340281693 meters 0.026587592259602118 Centerline is valid? [True, True] Translation: X:126.79, Y:25.42, Z:0.26 [[ 9.06616810e-01 -4.21947901e-01 -2.43484585e-03 1.26792454e+02] [ 4.21946245e-01 9.06620078e-01 -1.18313901e-03 2.54206286e+01] [ 2.70670316e-03 4.52796557e-05 9.99996336e-01 2.59225134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370281693 meters 0.02965901388562745 Centerline is valid? [True, True] Translation: X:126.82, Y:25.44, Z:0.26 [[ 9.07319982e-01 -4.20437791e-01 -1.58556197e-03 1.26815612e+02] [ 4.20437086e-01 9.07321367e-01 -7.70667235e-04 2.54367715e+01] [ 1.76263188e-03 3.26127276e-05 9.99998446e-01 2.61020442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400281693 meters 0.030753282085640578 Centerline is valid? [True, True] Translation: X:126.84, Y:25.45, Z:0.26 [[ 9.08154050e-01 -4.18633771e-01 -1.40962935e-03 1.26840250e+02] [ 4.18633212e-01 9.08155143e-01 -6.85237987e-04 2.54507813e+01] [ 1.56702591e-03 3.21839896e-05 9.99998772e-01 2.60944655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430281693 meters 0.031011285836636076 Centerline is valid? [True, True] Translation: X:126.87, Y:25.46, Z:0.26 [[ 9.08115603e-01 -4.18714115e-01 -2.13101460e-03 1.26865085e+02] [ 4.18712836e-01 9.08118102e-01 -1.03617336e-03 2.54645912e+01] [ 2.36907335e-03 4.86820325e-05 9.99997193e-01 2.59293613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460281693 meters 0.030856730023887065 Centerline is valid? [True, True] Translation: X:126.89, Y:25.48, Z:0.26 [[ 9.07973759e-01 -4.19018960e-01 -2.60073101e-03 1.26889510e+02] [ 4.19017054e-01 9.07977482e-01 -1.26522346e-03 2.54772253e+01] [ 2.89155781e-03 5.90390513e-05 9.99995818e-01 2.57848113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.490281693 meters 0.02711658721970991 Centerline is valid? [True, True] Translation: X:126.92, Y:25.48, Z:0.26 [[ 9.06910518e-01 -4.21320126e-01 -1.63203099e-03 1.26918336e+02] [ 4.21319379e-01 9.06911986e-01 -7.94193666e-04 2.54849952e+01] [ 1.81471824e-03 3.26563058e-05 9.99998353e-01 2.59401084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520281693 meters 0.023538793128048675 Centerline is valid? [True, True] Translation: X:126.95, Y:25.49, Z:0.26 [[ 9.05771962e-01 -4.23763777e-01 -1.18932107e-03 1.26946995e+02] [ 4.23763382e-01 9.05772743e-01 -5.78763160e-04 2.54914190e+01] [ 1.32251347e-03 2.02367225e-05 9.99999125e-01 2.60189538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.550281693 meters 0.01957357891561438 Centerline is valid? [True, True] Translation: X:126.98, Y:25.49, Z:0.26 [[ 9.03100644e-01 -4.29423415e-01 -2.18106562e-03 1.26977264e+02] [ 4.29422102e-01 9.03103278e-01 -1.06208729e-03 2.54934177e+01] [ 2.42581266e-03 2.25739356e-05 9.99997057e-01 2.57672568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580281693 meters 0.01957357891561438 Centerline is valid? [True, True] Translation: X:127.00, Y:25.51, Z:0.26 [[ 9.03021218e-01 -4.29590413e-01 -2.18097869e-03 1.27001873e+02] [ 4.29589100e-01 9.03023852e-01 -1.06226577e-03 2.55056209e+01] [ 2.42581497e-03 2.23238575e-05 9.99997057e-01 2.57727239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.610281693 meters 0.018251131682999484 Centerline is valid? [True, True] Translation: X:127.03, Y:25.51, Z:0.26 [[ 9.01473635e-01 -4.32822612e-01 -3.14211750e-03 1.27030003e+02] [ 4.32819903e-01 9.01479110e-01 -1.53125644e-03 2.55125467e+01] [ 3.49531570e-03 2.04163158e-05 9.99993891e-01 2.55586186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640281693 meters 0.016741790504927082 Centerline is valid? [True, True] Translation: X:127.06, Y:25.52, Z:0.25 [[ 8.99998991e-01 -4.35875007e-01 -3.84628223e-03 1.27059289e+02] [ 4.35870973e-01 9.00007210e-01 -1.87528815e-03 2.55173287e+01] [ 4.27907297e-03 1.12746639e-05 9.99990845e-01 2.54489435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.670281693 meters 0.01703911589445557 Centerline is valid? [True, True] Translation: X:127.09, Y:25.52, Z:0.25 [[ 8.97745536e-01 -4.40496226e-01 -4.00347637e-03 1.27088819e+02] [ 4.40491899e-01 8.97754462e-01 -1.95255325e-03 2.55181003e+01] [ 4.45423112e-03 -1.06029483e-05 9.99990080e-01 2.52518172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700281693 meters 0.017027767216651588 Centerline is valid? [True, True] Translation: X:127.12, Y:25.53, Z:0.26 [[ 8.97064510e-01 -4.41886681e-01 -3.38020361e-03 1.27115010e+02] [ 4.41883604e-01 8.97070878e-01 -1.64910236e-03 2.55276386e+01] [ 3.76099859e-03 -1.43053535e-05 9.99992927e-01 2.55098480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.730281693 meters 0.017217041538705978 Centerline is valid? [True, True] Translation: X:127.14, Y:25.54, Z:0.26 [[ 8.97040901e-01 -4.41937269e-01 -3.01193020e-03 1.27139980e+02] [ 4.41934825e-01 8.97045958e-01 -1.46992657e-03 2.55371092e+01] [ 3.35145514e-03 -1.24925852e-05 9.99994384e-01 2.55900256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760281693 meters 0.016953274251414047 Centerline is valid? [True, True] Translation: X:127.16, Y:25.55, Z:0.26 [[ 8.97388496e-01 -4.41229851e-01 -3.17879211e-03 1.27164963e+02] [ 4.41227123e-01 8.97394126e-01 -1.55168497e-03 2.55483325e+01] [ 3.53727910e-03 -1.01050614e-05 9.99993744e-01 2.55962928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.790281693 meters 0.016510027001451745 Centerline is valid? [True, True] Translation: X:127.19, Y:25.56, Z:0.26 [[ 8.98695204e-01 -4.38560389e-01 -3.42289672e-03 1.27189659e+02] [ 4.38557204e-01 8.98701722e-01 -1.67140423e-03 2.55619109e+01] [ 3.80917486e-03 9.46954965e-07 9.99992745e-01 2.57166404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820281693 meters 0.016647520392434043 Centerline is valid? [True, True] Translation: X:127.21, Y:25.58, Z:0.26 [[ 8.99435164e-01 -4.37042185e-01 -3.24260236e-03 1.27213249e+02] [ 4.37039314e-01 8.99441009e-01 -1.58409371e-03 2.55762595e+01] [ 3.60884532e-03 7.64487514e-06 9.99993488e-01 2.57624595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.850281693 meters 0.017755875741782435 Centerline is valid? [True, True] Translation: X:127.24, Y:25.59, Z:0.25 [[ 9.00506994e-01 -4.34822110e-01 -4.10928722e-03 1.27236664e+02] [ 4.34817474e-01 9.00516370e-01 -2.00818196e-03 2.55926363e+01] [ 4.57368233e-03 2.15920133e-05 9.99989540e-01 2.54806305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880281693 meters 0.01796219025015668 Centerline is valid? [True, True] Translation: X:127.26, Y:25.60, Z:0.25 [[ 9.00623416e-01 -4.34575637e-01 -4.63441963e-03 1.27261911e+02] [ 4.34569732e-01 9.00635340e-01 -2.26558273e-03 2.56049784e+01] [ 5.15848915e-03 2.64583635e-05 9.99986695e-01 2.53727502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.910281693 meters 0.017534439732111436 Centerline is valid? [True, True] Translation: X:127.29, Y:25.62, Z:0.25 [[ 9.00447305e-01 -4.34941059e-01 -4.57442537e-03 1.27287614e+02] [ 4.34935306e-01 9.00458924e-01 -2.23729593e-03 2.56158368e+01] [ 5.09217401e-03 2.49879917e-05 9.99987034e-01 2.54102166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940281693 meters 0.01694069159382106 Centerline is valid? [True, True] Translation: X:127.31, Y:25.63, Z:0.26 [[ 8.99898746e-01 -4.36087516e-01 -3.15040163e-03 1.27314268e+02] [ 4.36084792e-01 8.99904261e-01 -1.54138845e-03 2.56278065e+01] [ 3.50724011e-03 1.32512925e-05 9.99993850e-01 2.57543868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970281693 meters 0.016786364588138883 Centerline is valid? [True, True] Translation: X:127.34, Y:25.64, Z:0.26 [[ 8.99654528e-01 -4.36596435e-01 -2.29842690e-03 1.27339071e+02] [ 4.36594986e-01 8.99657464e-01 -1.12486148e-03 2.56391675e+01] [ 2.55890743e-03 8.50506035e-06 9.99996726e-01 2.59975018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000281693 meters 0.016560524098049464 Centerline is valid? [True, True] Translation: X:127.36, Y:25.65, Z:0.26 [[ 8.99280579e-01 -4.37367889e-01 -1.94168805e-03 1.27364511e+02] [ 4.37366857e-01 8.99282675e-01 -9.50439921e-04 2.56496806e+01] [ 2.16181832e-03 5.48216436e-06 9.99997663e-01 2.60420890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030281693 meters 0.016658483799207154 Centerline is valid? [True, True] Translation: X:127.39, Y:25.66, Z:0.26 [[ 8.98406155e-01 -4.39147834e-01 -3.94469488e-03 1.27392438e+02] [ 4.39143586e-01 8.98414815e-01 -1.93174532e-03 2.56561630e+01] [ 4.39229409e-03 3.20443577e-06 9.99990354e-01 2.55892668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060281693 meters 0.01671570898285957 Centerline is valid? [True, True] Translation: X:127.42, Y:25.67, Z:0.25 [[ 8.98069356e-01 -4.39821459e-01 -5.34008868e-03 1.27418061e+02] [ 4.39813677e-01 8.98085232e-01 -2.61643855e-03 2.56671135e+01] [ 5.94662060e-03 1.09924456e-06 9.99982319e-01 2.53108637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090281693 meters 0.017027882526795438 Centerline is valid? [True, True] Translation: X:127.44, Y:25.68, Z:0.25 [[ 8.98348040e-01 -4.39240006e-01 -6.24629534e-03 1.27441696e+02] [ 4.39229334e-01 8.98369755e-01 -3.06193131e-03 2.56797350e+01] [ 6.95640554e-03 7.12384821e-06 9.99975804e-01 2.51341014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120281693 meters 0.01699779166328893 Centerline is valid? [True, True] Translation: X:127.47, Y:25.69, Z:0.25 [[ 8.98686652e-01 -4.38556183e-01 -5.54765664e-03 1.27465991e+02] [ 4.38547744e-01 8.98703774e-01 -2.72065650e-03 2.56928972e+01] [ 6.17886070e-03 1.21053770e-05 9.99980911e-01 2.53049250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150281693 meters 0.016961817290230254 Centerline is valid? [True, True] Translation: X:127.49, Y:25.71, Z:0.26 [[ 8.99163249e-01 -4.37595184e-01 -3.98840035e-03 1.27490286e+02] [ 4.37590809e-01 8.99172094e-01 -1.95675157e-03 2.57064324e+01] [ 4.44252336e-03 1.41517606e-05 9.99990132e-01 2.56846786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180281693 meters 0.017399985330337008 Centerline is valid? [True, True] Translation: X:127.51, Y:25.72, Z:0.26 [[ 9.00108588e-01 -4.35664985e-01 -7.42840262e-04 1.27514701e+02] [ 4.35664832e-01 9.00108894e-01 -3.64446349e-04 2.57209561e+01] [ 8.27413640e-04 4.41190982e-06 9.99999658e-01 2.63987383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210281693 meters 0.01776345286537725 Centerline is valid? [True, True] Translation: X:127.54, Y:25.73, Z:0.26 [[ 9.00284610e-01 -4.35301722e-01 -1.78605787e-04 1.27539253e+02] [ 4.35301713e-01 9.00284628e-01 -8.75439649e-05 2.57336791e+01] [ 1.98904083e-04 1.06707926e-06 9.99999980e-01 2.64590319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240281693 meters 0.01782348689718154 Centerline is valid? [True, True] Translation: X:127.56, Y:25.74, Z:0.26 [[ 9.00229050e-01 -4.35416569e-01 -2.61759410e-04 1.27564227e+02] [ 4.35416550e-01 9.00229088e-01 -1.28338135e-04 2.57449854e+01] [ 2.91523985e-04 1.55933800e-06 9.99999958e-01 2.64448579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.270281693 meters 0.01764296916213048 Centerline is valid? [True, True] Translation: X:127.59, Y:25.75, Z:0.26 [[ 8.99904136e-01 -4.36087067e-01 -7.84889262e-04 1.27590586e+02] [ 4.36086897e-01 8.99904478e-01 -3.85119660e-04 2.57537160e+01] [ 8.74271065e-04 4.29085174e-06 9.99999618e-01 2.62116640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300281693 meters 0.017347538969593318 Centerline is valid? [True, True] Translation: X:127.62, Y:25.76, Z:0.26 [[ 8.99718395e-01 -4.36468428e-01 -1.45664962e-03 1.27617270e+02] [ 4.36467842e-01 8.99719574e-01 -7.15379078e-04 2.57639169e+01] [ 1.62281655e-03 7.85900094e-06 9.99998683e-01 2.60272637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.330281693 meters 0.01747995359261281 Centerline is valid? [True, True] Translation: X:127.64, Y:25.78, Z:0.26 [[ 8.99511706e-01 -4.36890888e-01 -2.24555488e-03 1.27641708e+02] [ 4.36889494e-01 8.99514509e-01 -1.10351988e-03 2.57753287e+01] [ 2.50202698e-03 1.15697132e-05 9.99996870e-01 2.58650388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360281693 meters 0.016799338642275743 Centerline is valid? [True, True] Translation: X:127.67, Y:25.78, Z:0.26 [[ 8.98659363e-01 -4.38639995e-01 -2.51057469e-03 1.27669962e+02] [ 4.38638259e-01 8.98662870e-01 -1.23411961e-03 2.57812112e+01] [ 2.79749447e-03 7.81903259e-06 9.99996087e-01 2.58264831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.390281693 meters 0.01645775648079525 Centerline is valid? [True, True] Translation: X:127.70, Y:25.79, Z:0.26 [[ 8.98090200e-01 -4.39805064e-01 -2.34509650e-03 1.27697715e+02] [ 4.39803552e-01 8.98093261e-01 -1.15326274e-03 2.57891950e+01] [ 2.61332615e-03 4.35219450e-06 9.99996585e-01 2.59153204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420281693 meters 0.016455777437301602 Centerline is valid? [True, True] Translation: X:127.73, Y:25.79, Z:0.26 [[ 8.97414789e-01 -4.41182819e-01 -2.10151766e-03 1.27725777e+02] [ 4.41181607e-01 8.97417250e-01 -1.03386756e-03 2.57921831e+01] [ 2.34206280e-03 6.57103956e-07 9.99997257e-01 2.59430991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.450281693 meters 0.016432145634333817 Centerline is valid? [True, True] Translation: X:127.75, Y:25.80, Z:0.26 [[ 8.97356783e-01 -4.41300597e-01 -2.14164199e-03 1.27751883e+02] [ 4.41299339e-01 8.97359339e-01 -1.05382002e-03 2.58010122e+01] [ 2.38687384e-03 5.47348786e-07 9.99997151e-01 2.58677991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480281693 meters 0.016492604586020188 Centerline is valid? [True, True] Translation: X:127.78, Y:25.81, Z:0.26 [[ 8.97390430e-01 -4.41230175e-01 -2.51974170e-03 1.27778188e+02] [ 4.41228432e-01 8.97393967e-01 -1.24023707e-03 2.58110296e+01] [ 2.80843102e-03 1.19519433e-06 9.99996056e-01 2.57945959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.510281693 meters 0.016644035698481687 Centerline is valid? [True, True] Translation: X:127.80, Y:25.82, Z:0.26 [[ 8.97617493e-01 -4.40764909e-01 -3.02172539e-03 1.27803253e+02] [ 4.40762398e-01 8.97622579e-01 -1.48791539e-03 2.58207921e+01] [ 3.36818983e-03 3.71595121e-06 9.99994328e-01 2.56346711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540281693 meters 0.016662613994446934 Centerline is valid? [True, True] Translation: X:127.83, Y:25.83, Z:0.26 [[ 8.97624955e-01 -4.40746331e-01 -3.48025055e-03 1.27831503e+02] [ 4.40742997e-01 8.97631702e-01 -1.71424552e-03 2.58269153e+01] [ 3.87953065e-03 4.85350114e-06 9.99992475e-01 2.55745671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.570281693 meters 0.016749722865153777 Centerline is valid? [True, True] Translation: X:127.86, Y:25.84, Z:0.26 [[ 8.97539484e-01 -4.40917074e-01 -3.87399026e-03 1.27857750e+02] [ 4.40912941e-01 8.97547845e-01 -1.90906102e-03 2.58362251e+01] [ 4.31882921e-03 5.36520607e-06 9.99990674e-01 2.55329107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600281693 meters 0.01703555985511981 Centerline is valid? [True, True] Translation: X:127.88, Y:25.84, Z:0.25 [[ 8.97850844e-01 -4.40276606e-01 -4.51358803e-03 1.27883847e+02] [ 4.40270983e-01 8.97862189e-01 -2.22512234e-03 2.58432542e+01] [ 5.03224934e-03 1.06261295e-05 9.99987338e-01 2.53761439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.630281693 meters 0.017061305531016556 Centerline is valid? [True, True] Translation: X:127.91, Y:25.85, Z:0.25 [[ 8.98060930e-01 -4.39850450e-01 -4.25989872e-03 1.27910366e+02] [ 4.39845433e-01 8.98071033e-01 -2.10086835e-03 2.58537798e+01] [ 4.74975953e-03 1.30107910e-05 9.99988720e-01 2.54232821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660281693 meters 0.01736894113186264 Centerline is valid? [True, True] Translation: X:127.93, Y:25.86, Z:0.26 [[ 8.98399416e-01 -4.39160220e-01 -4.09762872e-03 1.27934714e+02] [ 4.39155568e-01 8.98408760e-01 -2.02158138e-03 2.58647090e+01] [ 4.56914366e-03 1.66910604e-05 9.99989561e-01 2.55159524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690281693 meters 0.01871685942464114 Centerline is valid? [True, True] Translation: X:127.96, Y:25.88, Z:0.25 [[ 8.99653958e-01 -4.36584495e-01 -4.09082245e-03 1.27960049e+02] [ 4.36579828e-01 8.99663258e-01 -2.01894409e-03 2.58791883e+01] [ 4.56180234e-03 3.03804752e-05 9.99989594e-01 2.54994691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720281693 meters 0.02048175569882817 Centerline is valid? [True, True] Translation: X:127.98, Y:25.89, Z:0.25 [[ 9.00501379e-01 -4.34835395e-01 -3.93015936e-03 1.27984059e+02] [ 4.34831068e-01 9.00509954e-01 -1.94013260e-03 2.58936157e+01] [ 4.38278595e-03 3.81366903e-05 9.99990395e-01 2.54202110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750281693 meters 0.021940061104444086 Centerline is valid? [True, True] Translation: X:128.01, Y:25.91, Z:0.25 [[ 9.01205586e-01 -4.33377895e-01 -3.47731538e-03 1.28010188e+02] [ 4.33374495e-01 9.01212294e-01 -1.71701078e-03 2.59068067e+01] [ 3.87791389e-03 4.03999141e-05 9.99992480e-01 2.54578367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780281693 meters 0.024039598837114838 Centerline is valid? [True, True] Translation: X:128.04, Y:25.92, Z:0.26 [[ 9.02378984e-01 -4.30933081e-01 -2.97478137e-03 1.28036624e+02] [ 4.30930579e-01 9.02383886e-01 -1.46938509e-03 2.59188346e+01] [ 3.31760142e-03 4.40179620e-05 9.99994496e-01 2.57556556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810281693 meters 0.02497410660086143 Centerline is valid? [True, True] Translation: X:128.06, Y:25.93, Z:0.26 [[ 9.02701978e-01 -4.30254662e-01 -3.17242062e-03 1.28062450e+02] [ 4.30251809e-01 9.02707551e-01 -1.56763468e-03 2.59325040e+01] [ 3.53825018e-03 5.01672157e-05 9.99993739e-01 2.56797200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840281693 meters 0.02554400561561514 Centerline is valid? [True, True] Translation: X:128.09, Y:25.94, Z:0.25 [[ 9.02734846e-01 -4.30178833e-01 -3.99633165e-03 1.28087823e+02] [ 4.30174302e-01 9.02743689e-01 -1.97541691e-03 2.59434079e+01] [ 4.45744571e-03 6.41585012e-05 9.99990063e-01 2.54680160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870281693 meters 0.02445219143976054 Centerline is valid? [True, True] Translation: X:128.12, Y:25.95, Z:0.25 [[ 9.02464378e-01 -4.30744230e-01 -4.17784037e-03 1.28115434e+02] [ 4.30739282e-01 9.02474046e-01 -2.06558099e-03 2.59537410e+01] [ 4.66012959e-03 6.45533005e-05 9.99989139e-01 2.54583114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900281693 meters 0.024375182647769045 Centerline is valid? [True, True] Translation: X:128.14, Y:25.97, Z:0.25 [[ 9.02171362e-01 -4.31358401e-01 -4.09434009e-03 1.28140897e+02] [ 4.31353653e-01 9.02180651e-01 -2.02463912e-03 2.59656532e+01] [ 4.56717950e-03 6.04628718e-05 9.99989569e-01 2.54932439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930281693 meters 0.021415324735905315 Centerline is valid? [True, True] Translation: X:128.17, Y:25.97, Z:0.26 [[ 9.01784301e-01 -4.32171234e-01 -3.61910106e-03 1.28169005e+02] [ 4.32167530e-01 9.01791562e-01 -1.79012654e-03 2.59744605e+01] [ 4.03731600e-03 5.02500453e-05 9.99991849e-01 2.56949124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960281693 meters 0.02346473894591923 Centerline is valid? [True, True] Translation: X:128.19, Y:25.99, Z:0.26 [[ 9.01795086e-01 -4.32152272e-01 -3.16821569e-03 1.28191377e+02] [ 4.32149431e-01 9.01800650e-01 -1.56757567e-03 2.59897097e+01] [ 3.53453036e-03 4.44894315e-05 9.99993753e-01 2.57507816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.990281693 meters 0.022101161074220894 Centerline is valid? [True, True] Translation: X:128.22, Y:26.00, Z:0.26 [[ 9.01844336e-01 -4.32053145e-01 -2.62168522e-03 1.28217679e+02] [ 4.32051198e-01 9.01848146e-01 -1.29751186e-03 2.60001795e+01] [ 2.92495603e-03 3.74514814e-05 9.99995722e-01 2.58838700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020281693 meters 0.02268442518718976 Centerline is valid? [True, True] Translation: X:128.24, Y:26.02, Z:0.26 [[ 9.02230430e-01 -4.31250846e-01 -1.72034680e-03 1.28242405e+02] [ 4.31250006e-01 9.02232069e-01 -8.51685495e-04 2.60155967e+01] [ 1.91944214e-03 2.65170037e-05 9.99998158e-01 2.59689610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.050281693 meters 0.025667369160355273 Centerline is valid? [True, True] Translation: X:128.26, Y:26.03, Z:0.26 [[ 9.02458043e-01 -4.30774606e-01 -1.64924478e-03 1.28264119e+02] [ 4.30773833e-01 9.02459549e-01 -8.16827936e-04 2.60334128e+01] [ 1.84024543e-03 2.67014467e-05 9.99998306e-01 2.60051446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080281693 meters 0.025829293592303095 Centerline is valid? [True, True] Translation: X:128.29, Y:26.05, Z:0.26 [[ 9.02412870e-01 -4.30868268e-01 -1.88357468e-03 1.28288313e+02] [ 4.30867259e-01 9.02414835e-01 -9.33055680e-04 2.60486090e+01] [ 2.10178982e-03 3.04307956e-05 9.99997791e-01 2.59301079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.110281693 meters 0.024736064415023396 Centerline is valid? [True, True] Translation: X:128.31, Y:26.06, Z:0.26 [[ 9.02256779e-01 -4.31190817e-01 -2.68042552e-03 1.28313400e+02] [ 4.31188772e-01 9.02260759e-01 -1.32852536e-03 2.60603318e+01] [ 2.99129070e-03 4.29016197e-05 9.99995525e-01 2.57902988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140281693 meters 0.02261089264926672 Centerline is valid? [True, True] Translation: X:128.34, Y:26.07, Z:0.26 [[ 9.01731059e-01 -4.32285146e-01 -3.26345796e-03 1.28339823e+02] [ 4.32282120e-01 9.01736963e-01 -1.61828470e-03 2.60710649e+01] [ 3.64234110e-03 4.85230488e-05 9.99993365e-01 2.56433503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.170281693 meters 0.021753055214302503 Centerline is valid? [True, True] Translation: X:128.37, Y:26.08, Z:0.26 [[ 9.01137263e-01 -4.33522055e-01 -3.20333484e-03 1.28365937e+02] [ 4.33519144e-01 9.01142956e-01 -1.58912186e-03 2.60832239e+01] [ 3.57558200e-03 4.33099454e-05 9.99993607e-01 2.57090559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200281693 meters 0.0204854334097341 Centerline is valid? [True, True] Translation: X:128.39, Y:26.09, Z:0.26 [[ 9.00426559e-01 -4.34998914e-01 -2.82081730e-03 1.28392448e+02] [ 4.34996663e-01 9.00430977e-01 -1.39989851e-03 2.60944920e+01] [ 3.14890560e-03 3.34596890e-05 9.99995042e-01 2.57809292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.230281693 meters 0.020905121228724365 Centerline is valid? [True, True] Translation: X:128.42, Y:26.11, Z:0.26 [[ 8.99574336e-01 -4.36758403e-01 -2.84805547e-03 1.28417048e+02] [ 4.36756115e-01 8.99578844e-01 -1.41401008e-03 2.61087036e+01] [ 3.17963123e-03 2.81015408e-05 9.99994945e-01 2.57677227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260281693 meters 0.017749716620783996 Centerline is valid? [True, True] Translation: X:128.45, Y:26.12, Z:0.26 [[ 8.97979176e-01 -4.40033398e-01 -2.00197510e-03 1.28446073e+02] [ 4.40032275e-01 8.97981408e-01 -9.94246280e-04 2.61161692e+01] [ 2.23523798e-03 1.18787995e-05 9.99997502e-01 2.59501616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.290281693 meters 0.017150424840250186 Centerline is valid? [True, True] Translation: X:128.47, Y:26.13, Z:0.26 [[ 8.97243811e-01 -4.41532883e-01 -1.50240406e-03 1.28471651e+02] [ 4.41532253e-01 8.97245068e-01 -7.46375803e-04 2.61276481e+01] [ 1.67757410e-03 6.32121917e-06 9.99998593e-01 2.60539687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320281693 meters 0.016756828103044286 Centerline is valid? [True, True] Translation: X:128.50, Y:26.14, Z:0.26 [[ 8.96488146e-01 -4.43067153e-01 -7.08502509e-04 1.28497756e+02] [ 4.43067013e-01 8.96488426e-01 -3.51786650e-04 2.61386146e+01] [ 7.91029409e-04 1.45847125e-06 9.99999687e-01 2.62025508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.350281693 meters 0.01654168030371042 Centerline is valid? [True, True] Translation: X:128.52, Y:26.15, Z:0.26 [[ 8.95325964e-01 -4.45410608e-01 -8.99714171e-04 1.28524677e+02] [ 4.45410383e-01 8.95326416e-01 -4.47048001e-04 2.61475043e+01] [ 1.00465779e-03 -4.88351538e-07 9.99999495e-01 2.61325950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380281693 meters 0.016717084468220154 Centerline is valid? [True, True] Translation: X:128.55, Y:26.16, Z:0.26 [[ 8.94692844e-01 -4.46677486e-01 -1.98448459e-03 1.28550544e+02] [ 4.46676395e-01 8.94695045e-01 -9.87009416e-04 2.61579308e+01] [ 2.21638341e-03 -3.35216012e-06 9.99997544e-01 2.59547370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.410281693 meters 0.016933436817322588 Centerline is valid? [True, True] Translation: X:128.58, Y:26.17, Z:0.26 [[ 8.94127941e-01 -4.47803389e-01 -2.71120500e-03 1.28577015e+02] [ 4.47801357e-01 8.94132051e-01 -1.34923940e-03 2.61681764e+01] [ 3.02836927e-03 -7.68863008e-06 9.99995414e-01 2.57534538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440281693 meters 0.017789213546788175 Centerline is valid? [True, True] Translation: X:128.60, Y:26.17, Z:0.26 [[ 8.92890929e-01 -4.50265708e-01 -2.56547399e-03 1.28604544e+02] [ 4.50263897e-01 8.92894614e-01 -1.27716660e-03 2.61747949e+01] [ 2.86576224e-03 -1.47698434e-05 9.99995894e-01 2.58248911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470281693 meters 0.01808888114452391 Centerline is valid? [True, True] Translation: X:128.63, Y:26.19, Z:0.26 [[ 8.92276696e-01 -4.51486427e-01 -1.51788529e-03 1.28631316e+02] [ 4.51485794e-01 8.92277987e-01 -7.55669667e-04 2.61860920e+01] [ 1.69555023e-03 -1.10372110e-05 9.99998562e-01 2.60236162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500281693 meters 0.01808888114452391 Centerline is valid? [True, True] Translation: X:128.66, Y:26.20, Z:0.26 [[ 8.92192671e-01 -4.51652449e-01 -1.51776527e-03 1.28655835e+02] [ 4.51651817e-01 8.92193962e-01 -7.55910640e-04 2.61985238e+01] [ 1.69554990e-03 -1.10835086e-05 9.99998562e-01 2.60290854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530281693 meters 0.018684897087854434 Centerline is valid? [True, True] Translation: X:128.68, Y:26.21, Z:0.26 [[ 8.91583134e-01 -4.52856667e-01 -5.94701091e-04 1.28682947e+02] [ 4.52856571e-01 8.91583332e-01 -2.96106221e-04 2.62085353e+01] [ 6.64319257e-04 -5.31098363e-06 9.99999779e-01 2.62208864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560281693 meters 0.01868824841010372 Centerline is valid? [True, True] Translation: X:128.71, Y:26.22, Z:0.26 [[ 8.91553267e-01 -4.52915355e-01 -6.73201522e-04 1.28707640e+02] [ 4.52915230e-01 8.91553521e-01 -3.35427536e-04 2.62195575e+01] [ 7.52115469e-04 -5.85170691e-06 9.99999717e-01 2.61753419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590281693 meters 0.018538239702331726 Centerline is valid? [True, True] Translation: X:128.73, Y:26.23, Z:0.26 [[ 8.91674607e-01 -4.52676239e-01 -7.86159969e-04 1.28732105e+02] [ 4.52676069e-01 8.91674954e-01 -3.91883452e-04 2.62311875e+01] [ 8.78395481e-04 -6.44328100e-06 9.99999614e-01 2.61732670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620281693 meters 0.017715377496059448 Centerline is valid? [True, True] Translation: X:128.76, Y:26.25, Z:0.26 [[ 8.92180084e-01 -4.51677865e-01 -1.34340146e-03 1.28757173e+02] [ 4.51677368e-01 8.92181095e-01 -6.70043608e-04 2.62454596e+01] [ 1.50120125e-03 -8.98447305e-06 9.99998873e-01 2.61137844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650281693 meters 0.01741318902858358 Centerline is valid? [True, True] Translation: X:128.78, Y:26.26, Z:0.26 [[ 8.92655523e-01 -4.50738201e-01 -1.09103665e-03 1.28781947e+02] [ 4.50737873e-01 8.92656190e-01 -5.44422873e-04 2.62580325e+01] [ 1.21931280e-03 -5.78945342e-06 9.99999257e-01 2.61456621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680281693 meters 0.01711145425926773 Centerline is valid? [True, True] Translation: X:128.81, Y:26.27, Z:0.26 [[ 8.93174734e-01 -4.49708930e-01 -8.78789190e-04 1.28807087e+02] [ 4.49708716e-01 8.93175167e-01 -4.38552770e-04 2.62706021e+01] [ 9.82133778e-04 -3.49490496e-06 9.99999518e-01 2.62371061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710281693 meters 0.016643150821884542 Centerline is valid? [True, True] Translation: X:128.83, Y:26.28, Z:0.26 [[ 8.93866824e-01 -4.48332334e-01 -4.69071881e-04 1.28831931e+02] [ 4.48332273e-01 8.93866947e-01 -2.33847205e-04 2.62840764e+01] [ 5.24129113e-04 -1.27180420e-06 9.99999863e-01 2.61911173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740281693 meters 0.016591301689682557 Centerline is valid? [True, True] Translation: X:128.86, Y:26.30, Z:0.26 [[ 8.94296915e-01 -4.47470696e-01 -1.73328242e-03 1.28856283e+02] [ 4.47469859e-01 8.94298594e-01 -8.65641689e-04 2.62968381e+01] [ 1.93742132e-03 -1.45094653e-06 9.99998123e-01 2.59880571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.770281693 meters 0.01661492002971691 Centerline is valid? [True, True] Translation: X:128.88, Y:26.31, Z:0.26 [[ 8.94513860e-01 -4.47032846e-01 -2.56691617e-03 1.28881455e+02] [ 4.47031006e-01 8.94517543e-01 -1.28243090e-03 2.63083287e+01] [ 2.86944028e-03 -3.38905223e-07 9.99995883e-01 2.57977737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800281693 meters 0.016638138092717303 Centerline is valid? [True, True] Translation: X:128.91, Y:26.32, Z:0.26 [[ 8.94642737e-01 -4.46774702e-01 -2.59601026e-03 1.28906550e+02] [ 4.46772818e-01 8.94646503e-01 -1.29757219e-03 2.63207751e+01] [ 2.90223393e-03 1.03671294e-06 9.99995789e-01 2.58222059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.830281693 meters 0.01682342581455549 Centerline is valid? [True, True] Translation: X:128.93, Y:26.34, Z:0.26 [[ 8.95447449e-01 -4.45160294e-01 -2.48570855e-03 1.28931062e+02] [ 4.45158558e-01 8.95450899e-01 -1.24300444e-03 2.63350071e+01] [ 2.77916618e-03 6.51072444e-06 9.99996138e-01 2.58647692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860281693 meters 0.017320395006924637 Centerline is valid? [True, True] Translation: X:128.95, Y:26.35, Z:0.26 [[ 8.95943785e-01 -4.44160635e-01 -2.46252703e-03 1.28954772e+02] [ 4.44158927e-01 8.95947169e-01 -1.23188726e-03 2.63491788e+01] [ 2.75344995e-03 9.94837315e-06 9.99996209e-01 2.58614311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.890281693 meters 0.01719457166372426 Centerline is valid? [True, True] Translation: X:128.98, Y:26.36, Z:0.26 [[ 8.95957632e-01 -4.44134377e-01 -2.13936276e-03 1.28979744e+02] [ 4.44133087e-01 8.95960186e-01 -1.07041719e-03 2.63614713e+01] [ 2.39219293e-03 8.88666494e-06 9.99997139e-01 2.59158215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920281693 meters 0.016822403419889175 Centerline is valid? [True, True] Translation: X:129.01, Y:26.37, Z:0.26 [[ 8.95655010e-01 -4.44747706e-01 -1.25722641e-03 1.29005622e+02] [ 4.44747261e-01 8.95655893e-01 -6.29145184e-04 2.63727990e+01] [ 1.40585312e-03 4.34903413e-06 9.99999012e-01 2.60521666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.950281693 meters 0.016396365687338644 Centerline is valid? [True, True] Translation: X:129.03, Y:26.38, Z:0.26 [[ 8.94152493e-01 -4.47762135e-01 -6.23776451e-04 1.29032317e+02] [ 4.47762026e-01 8.94152711e-01 -3.12281673e-04 2.63809181e+01] [ 6.97579313e-04 -7.59714165e-08 9.99999757e-01 2.62070454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980281693 meters 0.016676397625807856 Centerline is valid? [True, True] Translation: X:129.06, Y:26.39, Z:0.26 [[ 8.93017462e-01 -4.50020580e-01 -1.13560166e-03 1.29058671e+02] [ 4.50020221e-01 8.93018184e-01 -5.68610173e-04 2.63900199e+01] [ 1.26999921e-03 -3.26489467e-06 9.99999194e-01 2.60976845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.010281693 meters 0.018013927765668316 Centerline is valid? [True, True] Translation: X:129.09, Y:26.40, Z:0.26 [[ 8.91039245e-01 -4.53917377e-01 -2.84253371e-03 1.29088255e+02] [ 4.53915142e-01 8.91043778e-01 -1.42457888e-03 2.63953353e+01] [ 3.17946308e-03 -2.09134047e-05 9.99994945e-01 2.57518224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040281693 meters 0.018747664341505273 Centerline is valid? [True, True] Translation: X:129.11, Y:26.40, Z:0.26 [[ 8.90415641e-01 -4.55137037e-01 -3.20369047e-03 1.29114840e+02] [ 4.55134204e-01 8.90421404e-01 -1.60610776e-03 2.64045358e+01] [ 3.58363370e-03 -2.80056368e-05 9.99993578e-01 2.56759045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.070281693 meters 0.019354886308168458 Centerline is valid? [True, True] Translation: X:129.14, Y:26.42, Z:0.26 [[ 8.89734317e-01 -4.56463919e-01 -3.67904159e-03 1.29141590e+02] [ 4.56460192e-01 8.89741923e-01 -1.84497096e-03 2.64150193e+01] [ 4.11556021e-03 -3.78020459e-05 9.99991530e-01 2.56423659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100281693 meters 0.022690310670742637 Centerline is valid? [True, True] Translation: X:129.17, Y:26.42, Z:0.26 [[ 8.88362157e-01 -4.59124622e-01 -4.15439030e-03 1.29170166e+02] [ 4.59119896e-01 8.88371869e-01 -2.08395348e-03 2.64200258e+01] [ 4.64743783e-03 -5.60578372e-05 9.99989199e-01 2.55226838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.130281693 meters 0.023723062990404133 Centerline is valid? [True, True] Translation: X:129.20, Y:26.43, Z:0.26 [[ 8.87543289e-01 -4.60708855e-01 -3.77653305e-03 1.29196907e+02] [ 4.60704962e-01 8.87551321e-01 -1.89467233e-03 2.64299204e+01] [ 4.22475922e-03 -5.82638054e-05 9.99991074e-01 2.55860465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160281693 meters 0.026939213518595424 Centerline is valid? [True, True] Translation: X:129.23, Y:26.43, Z:0.26 [[ 8.85980157e-01 -4.63713306e-01 -3.02191480e-03 1.29226165e+02] [ 4.63710830e-01 8.85985308e-01 -1.51627035e-03 2.64329974e+01] [ 3.38048686e-03 -5.79091838e-05 9.99994284e-01 2.56637918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190281693 meters 0.02607344005852463 Centerline is valid? [True, True] Translation: X:129.25, Y:26.44, Z:0.26 [[ 8.85378756e-01 -4.64861591e-01 -2.85654454e-03 1.29252555e+02] [ 4.64859384e-01 8.85383362e-01 -1.43363533e-03 2.64440338e+01] [ 3.19557901e-03 -5.85812646e-05 9.99994892e-01 2.57329938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220281693 meters 0.027521422277724267 Centerline is valid? [True, True] Translation: X:129.28, Y:26.45, Z:0.26 [[ 8.85152069e-01 -4.65292148e-01 -3.00534866e-03 1.29279483e+02] [ 4.65289706e-01 8.85157169e-01 -1.50883968e-03 2.64514564e+01] [ 3.36225716e-03 -6.28052287e-05 9.99994346e-01 2.57057060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250281693 meters 0.025928422369836574 Centerline is valid? [True, True] Translation: X:129.31, Y:26.46, Z:0.26 [[ 8.85569753e-01 -4.64499452e-01 -2.54407579e-03 1.29307285e+02] [ 4.64497697e-01 8.85573406e-01 -1.27757930e-03 2.64611709e+01] [ 2.84640075e-03 -5.03317624e-05 9.99995948e-01 2.58767509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280281693 meters 0.024748900982359646 Centerline is valid? [True, True] Translation: X:129.33, Y:26.47, Z:0.26 [[ 8.86042474e-01 -4.63602096e-01 -1.35324842e-03 1.29333178e+02] [ 4.63601599e-01 8.86043507e-01 -6.79677463e-04 2.64735331e+01] [ 1.51413688e-03 -2.51450327e-05 9.99998853e-01 2.61338120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310281693 meters 0.02408022209250215 Centerline is valid? [True, True] Translation: X:129.36, Y:26.48, Z:0.26 [[ 8.86668501e-01 -4.62405630e-01 -4.81598551e-05 1.29358493e+02] [ 4.62405629e-01 8.86668502e-01 -2.40749884e-05 2.64845599e+01] [ 5.38342368e-05 -9.22854271e-07 9.99999999e-01 2.64265749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340281693 meters 0.021118988455492135 Centerline is valid? [True, True] Translation: X:129.38, Y:26.50, Z:0.26 [[ 8.87928259e-01 -4.59980990e-01 9.46396690e-04 1.29384691e+02] [ 4.59980743e-01 8.87928764e-01 4.76180814e-04 2.64975980e+01] [-1.05936696e-03 1.25098520e-05 9.99999439e-01 2.64985096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370281693 meters 0.0192673369246863 Centerline is valid? [True, True] Translation: X:129.41, Y:26.51, Z:0.26 [[ 8.89277051e-01 -4.57366766e-01 -1.40309618e-03 1.29411260e+02] [ 4.57366222e-01 8.89278158e-01 -7.05387231e-04 2.65086110e+01] [ 1.57036346e-03 -1.44441234e-05 9.99998767e-01 2.60777493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400281693 meters 0.01862514876068768 Centerline is valid? [True, True] Translation: X:129.44, Y:26.52, Z:0.26 [[ 8.90008662e-01 -4.55936786e-01 -2.49589426e-03 1.29436577e+02] [ 4.55935058e-01 8.90012161e-01 -1.25550649e-03 2.65200387e+01] [ 2.79380783e-03 -2.05540447e-05 9.99996097e-01 2.58829755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430281693 meters 0.01812973484249126 Centerline is valid? [True, True] Translation: X:129.46, Y:26.53, Z:0.26 [[ 8.90077313e-01 -4.55801694e-01 -2.68190574e-03 1.29462512e+02] [ 4.55799697e-01 8.90081353e-01 -1.34949748e-03 2.65308930e+01] [ 3.00221753e-03 -2.12547284e-05 9.99995493e-01 2.58073812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460281693 meters 0.018608454809171407 Centerline is valid? [True, True] Translation: X:129.49, Y:26.54, Z:0.26 [[ 8.89925364e-01 -4.56098901e-01 -2.57661096e-03 1.29488416e+02] [ 4.56097057e-01 8.89929094e-01 -1.29704410e-03 2.65398032e+01] [ 2.88458145e-03 -2.09122366e-05 9.99995839e-01 2.58708603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.490281693 meters 0.01841831114488907 Centerline is valid? [True, True] Translation: X:129.51, Y:26.55, Z:0.26 [[ 8.89581998e-01 -4.56774329e-01 -1.04003282e-03 1.29514422e+02] [ 4.56774029e-01 8.89582606e-01 -5.23486004e-04 2.65495220e+01] [ 1.16431007e-03 -9.37625619e-06 9.99999322e-01 2.61480876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520281693 meters 0.01812157777214426 Centerline is valid? [True, True] Translation: X:129.54, Y:26.56, Z:0.26 [[ 8.89773078e-01 -4.56402619e-01 -7.20285959e-04 1.29539289e+02] [ 4.56402475e-01 8.89773369e-01 -3.62583306e-04 2.65620024e+01] [ 8.06375235e-04 -6.12343076e-06 9.99999675e-01 2.62059408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.550281693 meters 0.01663563307190581 Centerline is valid? [True, True] Translation: X:129.56, Y:26.58, Z:0.26 [[ 8.91767879e-01 -4.52487791e-01 -2.20209818e-03 1.29562168e+02] [ 4.52486430e-01 8.91770597e-01 -1.10983205e-03 2.65775942e+01] [ 2.46595186e-03 -6.70697286e-06 9.99996960e-01 2.59165558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580281693 meters 0.016222824862116927 Centerline is valid? [True, True] Translation: X:129.59, Y:26.59, Z:0.26 [[ 8.92839116e-01 -4.50369899e-01 -2.29519725e-03 1.29585311e+02] [ 4.50368412e-01 8.92842066e-01 -1.15701056e-03 2.65937159e+01] [ 2.57033138e-03 -6.60053566e-07 9.99996697e-01 2.59507705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.610281693 meters 0.016334788417003004 Centerline is valid? [True, True] Translation: X:129.61, Y:26.61, Z:0.26 [[ 8.93787892e-01 -4.48487785e-01 -1.38239904e-03 1.29607970e+02] [ 4.48487244e-01 8.93788961e-01 -6.97025692e-04 2.66101809e+01] [ 1.54818051e-03 3.00478840e-06 9.99998802e-01 2.61325259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640281693 meters 0.017674327190970455 Centerline is valid? [True, True] Translation: X:129.63, Y:26.63, Z:0.26 [[ 8.95405578e-01 -4.45251246e-01 -4.23814100e-04 1.29629319e+02] [ 4.45251195e-01 8.95405678e-01 -2.13722240e-04 2.66290759e+01] [ 4.74645645e-04 2.66435146e-06 9.99999887e-01 2.63165321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.670281693 meters 0.01793140574980736 Centerline is valid? [True, True] Translation: X:129.65, Y:26.64, Z:0.26 [[ 8.95805293e-01 -4.44445879e-01 -8.58404814e-04 1.29654314e+02] [ 4.44445669e-01 8.95805705e-01 -4.32949679e-04 2.66433278e+01] [ 9.61386630e-04 6.32431287e-06 9.99999538e-01 2.61643555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700281693 meters 0.01900985130859881 Centerline is valid? [True, True] Translation: X:129.68, Y:26.66, Z:0.26 [[ 8.96328233e-01 -4.43388937e-01 -1.39583635e-03 1.29677290e+02] [ 4.43388378e-01 8.96329320e-01 -7.04579318e-04 2.66599856e+01] [ 1.56353172e-03 1.26367200e-05 9.99998778e-01 2.60929727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.730281693 meters 0.018660592161723378 Centerline is valid? [True, True] Translation: X:129.70, Y:26.67, Z:0.26 [[ 8.96209535e-01 -4.43629219e-01 -1.25911542e-03 1.29701989e+02] [ 4.43628764e-01 8.96210419e-01 -6.35563507e-04 2.66731690e+01] [ 1.41038690e-03 1.10182561e-05 9.99999005e-01 2.60930409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760281693 meters 0.018042750094766344 Centerline is valid? [True, True] Translation: X:129.73, Y:26.69, Z:0.26 [[ 8.95895973e-01 -4.44262601e-01 -1.07073129e-03 1.29726957e+02] [ 4.44262272e-01 8.95896613e-01 -5.40652835e-04 2.66852996e+01] [ 1.19945637e-03 8.68318001e-06 9.99999281e-01 2.61196471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.790281693 meters 0.016995372114512356 Centerline is valid? [True, True] Translation: X:129.75, Y:26.70, Z:0.26 [[ 8.94700229e-01 -4.46665071e-01 -1.34669824e-03 1.29753076e+02] [ 4.46664553e-01 8.94701243e-01 -6.80450422e-04 2.66968137e+01] [ 1.50882603e-03 7.27677944e-06 9.99998862e-01 2.60188620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820281693 meters 0.016676403391222276 Centerline is valid? [True, True] Translation: X:129.78, Y:26.71, Z:0.26 [[ 8.94056327e-01 -4.47953411e-01 -1.01289662e-03 1.29777969e+02] [ 4.47953118e-01 8.94056901e-01 -5.12018390e-04 2.67096509e+01] [ 1.13494760e-03 4.04308095e-06 9.99999356e-01 2.61359849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.850281693 meters 0.01635545831910337 Centerline is valid? [True, True] Translation: X:129.80, Y:26.72, Z:0.26 [[ 8.93439280e-01 -4.49183576e-01 -6.06281976e-04 1.29802552e+02] [ 4.49183472e-01 8.93439486e-01 -3.06284589e-04 2.67221399e+01] [ 6.79254263e-04 1.31483967e-06 9.99999769e-01 2.62821971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880281693 meters 0.01619434742824811 Centerline is valid? [True, True] Translation: X:129.83, Y:26.74, Z:0.26 [[ 8.93092077e-01 -4.49873845e-01 2.56039613e-04 1.29827425e+02] [ 4.49873827e-01 8.93092113e-01 1.30011737e-04 2.67358406e+01] [-2.87155839e-04 -9.26932120e-07 9.99999959e-01 2.64788654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.910281693 meters 0.01635382814925714 Centerline is valid? [True, True] Translation: X:129.85, Y:26.75, Z:0.26 [[ 8.93232670e-01 -4.49594590e-01 3.19703217e-04 1.29850973e+02] [ 4.49594561e-01 8.93232727e-01 1.62023238e-04 2.67493437e+01] [-3.58414148e-04 -9.87622297e-07 9.99999936e-01 2.64570705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940281693 meters 0.0167343530843223 Centerline is valid? [True, True] Translation: X:129.87, Y:26.77, Z:0.27 [[ 8.93704884e-01 -4.48654328e-01 9.34558329e-04 1.29874307e+02] [ 4.48654078e-01 8.93705373e-01 4.73646604e-04 2.67669462e+01] [-1.04772340e-03 -4.00687723e-06 9.99999451e-01 2.65426912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970281693 meters 0.01677088469650395 Centerline is valid? [True, True] Translation: X:129.90, Y:26.78, Z:0.26 [[ 8.93801381e-01 -4.48462490e-01 6.97471527e-04 1.29898107e+02] [ 4.48462351e-01 8.93801653e-01 3.53810725e-04 2.67810352e+01] [-7.82072043e-04 -3.44679362e-06 9.99999694e-01 2.64900593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000281693 meters 0.016825051003807497 Centerline is valid? [True, True] Translation: X:129.92, Y:26.79, Z:0.26 [[ 8.93638855e-01 -4.48786648e-01 -3.76060312e-04 1.29921583e+02] [ 4.48786608e-01 8.93638934e-01 -1.90387975e-04 2.67943470e+01] [ 4.21505717e-04 1.36726043e-06 9.99999911e-01 2.63251384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030281693 meters 0.016344227812922527 Centerline is valid? [True, True] Translation: X:129.95, Y:26.81, Z:0.26 [[ 8.92751407e-01 -4.50547832e-01 -1.25538040e-03 1.29947417e+02] [ 4.50547383e-01 8.92752290e-01 -6.36061858e-04 2.68051372e+01] [ 1.40732002e-03 2.23676607e-06 9.99999010e-01 2.60932991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060281693 meters 0.01623807390075824 Centerline is valid? [True, True] Translation: X:129.97, Y:26.82, Z:0.26 [[ 8.92003573e-01 -4.52027464e-01 -8.93165929e-04 1.29972835e+02] [ 4.52027237e-01 8.92004020e-01 -4.52626154e-04 2.68170333e+01] [ 1.00130705e-03 8.82002102e-09 9.99999499e-01 2.61644287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090281693 meters 0.016217320595245423 Centerline is valid? [True, True] Translation: X:130.00, Y:26.83, Z:0.26 [[ 8.91421732e-01 -4.53174672e-01 1.12756831e-04 1.29997238e+02] [ 4.53174668e-01 8.91421739e-01 5.75021455e-05 2.68287258e+01] [-1.26572406e-04 -1.60122826e-07 9.99999992e-01 2.63555251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120281693 meters 0.01653313481522606 Centerline is valid? [True, True] Translation: X:130.02, Y:26.84, Z:0.27 [[ 8.90563588e-01 -4.54857497e-01 1.07406640e-03 1.30024097e+02] [ 4.54857169e-01 8.90564236e-01 5.45573118e-04 2.68404950e+01] [-1.20468315e-03 2.67924938e-06 9.99999274e-01 2.66086695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150281693 meters 0.016880897333771006 Centerline is valid? [True, True] Translation: X:130.05, Y:26.85, Z:0.27 [[ 8.90185676e-01 -4.55597531e-01 5.93199315e-04 1.30049071e+02] [ 4.55597432e-01 8.90185873e-01 3.01357193e-04 2.68517467e+01] [-6.65355243e-04 1.99622767e-06 9.99999779e-01 2.65253014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180281693 meters 0.017129016486084798 Centerline is valid? [True, True] Translation: X:130.07, Y:26.87, Z:0.26 [[ 8.89598060e-01 -4.56743510e-01 -8.11060014e-04 1.30073830e+02] [ 4.56743325e-01 8.89598430e-01 -4.11554199e-04 2.68653293e+01] [ 9.09492424e-04 -4.32843060e-06 9.99999586e-01 2.61817550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210281693 meters 0.016948781212417916 Centerline is valid? [True, True] Translation: X:130.10, Y:26.88, Z:0.26 [[ 8.89587803e-01 -4.56763079e-01 -1.01503929e-03 1.30097780e+02] [ 4.56762788e-01 8.89588382e-01 -5.15407367e-04 2.68796593e+01] [ 1.13838622e-03 -5.13207113e-06 9.99999352e-01 2.61310020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240281693 meters 0.017094140684491655 Centerline is valid? [True, True] Translation: X:130.12, Y:26.89, Z:0.26 [[ 8.89667402e-01 -4.56608259e-01 -9.00975976e-04 1.30121509e+02] [ 4.56608029e-01 8.89667858e-01 -4.57780134e-04 2.68935186e+01] [ 1.01059556e-03 -4.12080196e-06 9.99999489e-01 2.61961064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.270281693 meters 0.01705665435371908 Centerline is valid? [True, True] Translation: X:130.14, Y:26.91, Z:0.26 [[ 8.89784352e-01 -4.56380230e-01 -9.44766491e-04 1.30144730e+02] [ 4.56379977e-01 8.89784854e-01 -4.80141731e-04 2.69075696e+01] [ 1.05976611e-03 -3.94991064e-06 9.99999438e-01 2.62455362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300281693 meters 0.01687971637998845 Centerline is valid? [True, True] Translation: X:130.17, Y:26.92, Z:0.26 [[ 8.89890870e-01 -4.56172428e-01 -9.77258380e-04 1.30168489e+02] [ 4.56172158e-01 8.89891407e-01 -4.96762311e-04 2.69210342e+01] [ 1.09626310e-03 -3.73381912e-06 9.99999399e-01 2.62634423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.330281693 meters 0.016756252080230856 Centerline is valid? [True, True] Translation: X:130.19, Y:26.93, Z:0.26 [[ 8.90135230e-01 -4.55694626e-01 -1.29606732e-03 1.30191937e+02] [ 4.55694150e-01 8.90136174e-01 -6.59009575e-04 2.69342838e+01] [ 1.45398352e-03 -4.00265332e-06 9.99998943e-01 2.62013290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360281693 meters 0.016621639004128268 Centerline is valid? [True, True] Translation: X:130.22, Y:26.95, Z:0.26 [[ 8.90118888e-01 -4.55726413e-01 -1.34202444e-03 1.30216771e+02] [ 4.55725902e-01 8.90119900e-01 -6.82460785e-04 2.69476465e+01] [ 1.50557806e-03 -4.12406345e-06 9.99998867e-01 2.62251604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.390281693 meters 0.016621639004128268 Centerline is valid? [True, True] Translation: X:130.24, Y:26.96, Z:0.26 [[ 8.90034482e-01 -4.55891236e-01 -1.34189865e-03 1.30241186e+02] [ 4.55890725e-01 8.90035494e-01 -6.82708008e-04 2.69602974e+01] [ 1.50557803e-03 -4.12548078e-06 9.99998867e-01 2.62306294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420281693 meters 0.016731672986409478 Centerline is valid? [True, True] Translation: X:130.27, Y:26.97, Z:0.26 [[ 8.89721420e-01 -4.56502812e-01 -9.88823575e-04 1.30266035e+02] [ 4.56502535e-01 8.89721969e-01 -5.03192680e-04 2.69725434e+01] [ 1.10948693e-03 -3.69916243e-06 9.99999385e-01 2.62816178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.450281693 meters 0.01743735558468095 Centerline is valid? [True, True] Translation: X:130.29, Y:26.98, Z:0.27 [[ 8.88833822e-01 -4.58229442e-01 4.64128494e-04 1.30292370e+02] [ 4.58229381e-01 8.88833943e-01 2.36635971e-04 2.69812995e+01] [-5.20966728e-04 2.34725760e-06 9.99999864e-01 2.65140179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480281693 meters 0.017742782907605413 Centerline is valid? [True, True] Translation: X:130.32, Y:26.99, Z:0.27 [[ 8.88364203e-01 -4.59138493e-01 9.41395807e-04 1.30319268e+02] [ 4.59138242e-01 8.88364702e-01 4.80124314e-04 2.69922610e+01] [-1.05674636e-03 5.70556261e-06 9.99999442e-01 2.66024739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.510281693 meters 0.017951633499389177 Centerline is valid? [True, True] Translation: X:130.35, Y:27.00, Z:0.27 [[ 8.87938815e-01 -4.59960805e-01 8.47362988e-04 1.30346072e+02] [ 4.59960602e-01 8.87939220e-01 4.32458178e-04 2.70013059e+01] [-9.51320642e-04 5.75718752e-06 9.99999547e-01 2.65575599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540281693 meters 0.017725573924464107 Centerline is valid? [True, True] Translation: X:130.37, Y:27.01, Z:0.26 [[ 8.88142093e-01 -4.59568910e-01 1.99441662e-04 1.30370927e+02] [ 4.59568898e-01 8.88142115e-01 1.02153627e-04 2.70137450e+01] [-2.24079171e-04 9.30248527e-07 9.99999975e-01 2.63682731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.570281693 meters 0.017434971528506416 Centerline is valid? [True, True] Translation: X:130.40, Y:27.03, Z:0.26 [[ 8.88497996e-01 -4.58880484e-01 -1.13055306e-04 1.30395398e+02] [ 4.58880480e-01 8.88498003e-01 -5.74906132e-05 2.70265615e+01] [ 1.26830734e-04 -7.98578478e-07 9.99999992e-01 2.62921940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600281693 meters 0.016596435345172064 Centerline is valid? [True, True] Translation: X:130.42, Y:27.04, Z:0.27 [[ 8.89857971e-01 -4.56237298e-01 5.65803428e-04 1.30419174e+02] [ 4.56237207e-01 8.89858150e-01 2.88847384e-04 2.70401903e+01] [-6.35267742e-04 1.10742831e-06 9.99999798e-01 2.65619545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.630281693 meters 0.01640239742761302 Centerline is valid? [True, True] Translation: X:130.44, Y:27.05, Z:0.27 [[ 8.90588196e-01 -4.54809600e-01 9.44522159e-04 1.30443268e+02] [ 4.54809344e-01 8.90588697e-01 4.82604199e-04 2.70539286e+01] [-1.06067378e-03 -2.24100205e-07 9.99999437e-01 2.65831357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660281693 meters 0.016957185214983992 Centerline is valid? [True, True] Translation: X:130.47, Y:27.07, Z:0.27 [[ 8.92141051e-01 -4.51756503e-01 6.37722903e-04 1.30466397e+02] [ 4.51756385e-01 8.92141279e-01 3.25740389e-04 2.70698408e+01] [-7.16094265e-04 -2.51097959e-06 9.99999744e-01 2.65037402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690281693 meters 0.0177119243224108 Centerline is valid? [True, True] Translation: X:130.49, Y:27.09, Z:0.26 [[ 8.92881392e-01 -4.50291890e-01 1.82538425e-04 1.30491305e+02] [ 4.50291880e-01 8.92881411e-01 9.35950803e-05 2.70853602e+01] [-2.05130272e-04 -1.37373495e-06 9.99999979e-01 2.63456610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720281693 meters 0.018648904375547132 Centerline is valid? [True, True] Translation: X:130.52, Y:27.10, Z:0.26 [[ 8.93713775e-01 -4.48637586e-01 -6.60469883e-05 1.30515259e+02] [ 4.48637584e-01 8.93713778e-01 -3.36138780e-05 2.71003719e+01] [ 7.41075525e-05 4.10024534e-07 9.99999997e-01 2.62437264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750281693 meters 0.02077753961258247 Centerline is valid? [True, True] Translation: X:130.54, Y:27.12, Z:0.26 [[ 8.95086616e-01 -4.45892307e-01 3.64729486e-05 1.30538146e+02] [ 4.45892307e-01 8.95086616e-01 1.88246460e-05 2.71171534e+01] [-4.10402130e-05 -5.86681501e-07 9.99999999e-01 2.63070735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780281693 meters 0.021841269261215275 Centerline is valid? [True, True] Translation: X:130.56, Y:27.13, Z:0.26 [[ 8.95606459e-01 -4.44847133e-01 -3.15081792e-04 1.30562293e+02] [ 4.44847104e-01 8.95606514e-01 -1.60705664e-04 2.71323038e+01] [ 3.53678759e-04 3.76580778e-06 9.99999937e-01 2.62602522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810281693 meters 0.022667705736779377 Centerline is valid? [True, True] Translation: X:130.59, Y:27.15, Z:0.26 [[ 8.95993135e-01 -4.44067278e-01 -7.45330879e-04 1.30586975e+02] [ 4.44067115e-01 8.95993444e-01 -3.80782721e-04 2.71480143e+01] [ 8.36904728e-04 1.02017704e-05 9.99999650e-01 2.61084736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840281693 meters 0.023127755437629488 Centerline is valid? [True, True] Translation: X:130.61, Y:27.16, Z:0.26 [[ 8.95979665e-01 -4.44093029e-01 -1.34986673e-03 1.30609814e+02] [ 4.44092493e-01 8.95980681e-01 -6.90229261e-04 2.71619208e+01] [ 1.51598052e-03 1.89657009e-05 9.99998851e-01 2.59901377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870281693 meters 0.021819238182180678 Centerline is valid? [True, True] Translation: X:130.64, Y:27.17, Z:0.26 [[ 8.95188347e-01 -4.45685754e-01 -1.42544675e-03 1.30635246e+02] [ 4.45685158e-01 8.95189482e-01 -7.29035875e-04 2.71728921e+01] [ 1.60096584e-03 1.73239616e-05 9.99998718e-01 2.58907889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900281693 meters 0.020623058280485624 Centerline is valid? [True, True] Translation: X:130.66, Y:27.18, Z:0.26 [[ 8.94476446e-01 -4.47114216e-01 -8.75046058e-04 1.30661600e+02] [ 4.47113992e-01 8.94476874e-01 -4.47437793e-04 2.71844612e+01] [ 9.82764261e-04 8.97723081e-06 9.99999517e-01 2.60488454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930281693 meters 0.018552297639586005 Centerline is valid? [True, True] Translation: X:130.69, Y:27.19, Z:0.26 [[ 8.93121459e-01 -4.49815562e-01 1.42035820e-04 1.30688556e+02] [ 4.49815556e-01 8.93121470e-01 7.30656303e-05 2.71943385e+01] [-1.59721298e-04 -1.36656076e-06 9.99999987e-01 2.61911435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960281693 meters 0.01776920497511701 Centerline is valid? [True, True] Translation: X:130.72, Y:27.21, Z:0.26 [[ 8.92414841e-01 -4.51215797e-01 2.36581126e-04 1.30715499e+02] [ 4.51215781e-01 8.92414872e-01 1.21527458e-04 2.72057710e+01] [-2.65963624e-04 -1.70376977e-06 9.99999965e-01 2.61046201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.990281693 meters 0.017092109836863233 Centerline is valid? [True, True] Translation: X:130.74, Y:27.22, Z:0.26 [[ 8.91254418e-01 -4.53502975e-01 -7.83688159e-04 1.30741410e+02] [ 4.53502798e-01 8.91254762e-01 -4.01278332e-04 2.72152290e+01] [ 8.80446722e-04 2.23631337e-06 9.99999612e-01 2.59482359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020281693 meters 0.016687373581639645 Centerline is valid? [True, True] Translation: X:130.77, Y:27.23, Z:0.26 [[ 8.90170787e-01 -4.55625534e-01 -1.15859935e-03 1.30767937e+02] [ 4.55625147e-01 8.90171541e-01 -5.93397387e-04 2.72250185e+01] [ 1.30171917e-03 3.38018915e-07 9.99999153e-01 2.59504091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.050281693 meters 0.016978930989534697 Centerline is valid? [True, True] Translation: X:130.79, Y:27.23, Z:0.26 [[ 8.89017990e-01 -4.57871497e-01 -8.40098185e-04 1.30794069e+02] [ 4.57871295e-01 8.89018387e-01 -4.30272107e-04 2.72338990e+01] [ 9.43872067e-04 -2.13720009e-06 9.99999555e-01 2.60468529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080281693 meters 0.017537351725379964 Centerline is valid? [True, True] Translation: X:130.82, Y:27.24, Z:0.26 [[ 8.88113564e-01 -4.59623375e-01 -8.06760289e-04 1.30821170e+02] [ 4.59623189e-01 8.88113930e-01 -4.13293864e-04 2.72426640e+01] [ 9.06454572e-04 -3.75385033e-06 9.99999589e-01 2.60417843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.110281693 meters 0.019701291799179534 Centerline is valid? [True, True] Translation: X:130.85, Y:27.25, Z:0.26 [[ 8.86374223e-01 -4.62969211e-01 -4.96884630e-04 1.30850764e+02] [ 4.62969142e-01 8.86374362e-01 -2.54381340e-04 2.72475552e+01] [ 5.58196526e-04 -4.56518826e-06 9.99999844e-01 2.60906230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140281693 meters 0.019696327983854765 Centerline is valid? [True, True] Translation: X:130.88, Y:27.26, Z:0.26 [[ 8.85760176e-01 -4.64143166e-01 -1.79799198e-04 1.30876776e+02] [ 4.64143157e-01 8.85760194e-01 -9.18456503e-05 2.72593557e+01] [ 2.01888503e-04 -2.09934784e-06 9.99999980e-01 2.61355621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.170281693 meters 0.02021052075850098 Centerline is valid? [True, True] Translation: X:130.90, Y:27.27, Z:0.26 [[ 8.85418913e-01 -4.64793667e-01 4.42187986e-04 1.30903348e+02] [ 4.64793612e-01 8.85419023e-01 2.26927014e-04 2.72689678e+01] [-4.96995894e-04 4.60068120e-06 9.99999876e-01 2.62358701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200281693 meters 0.019722127163929227 Centerline is valid? [True, True] Translation: X:130.93, Y:27.28, Z:0.26 [[ 8.85458516e-01 -4.64718272e-01 3.78780108e-04 1.30928577e+02] [ 4.64718231e-01 8.85458597e-01 1.94786719e-04 2.72808861e+01] [-4.25915050e-04 3.55046280e-06 9.99999909e-01 2.61487707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.230281693 meters 0.01993344907636803 Centerline is valid? [True, True] Translation: X:130.95, Y:27.29, Z:0.26 [[ 8.85629193e-01 -4.64393074e-01 6.48610280e-05 1.30954631e+02] [ 4.64393073e-01 8.85629196e-01 3.34175881e-05 2.72912786e+01] [-7.29617165e-05 5.25420515e-07 9.99999997e-01 2.61513626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260281693 meters 0.018290059826284653 Centerline is valid? [True, True] Translation: X:130.98, Y:27.31, Z:0.26 [[ 8.86858867e-01 -4.62040408e-01 -1.07983315e-04 1.30979925e+02] [ 4.62040405e-01 8.86858873e-01 -5.50855547e-05 2.73052425e+01] [ 1.21217713e-04 -1.03954198e-06 9.99999993e-01 2.60868279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.290281693 meters 0.01737527237046006 Centerline is valid? [True, True] Translation: X:131.00, Y:27.32, Z:0.26 [[ 8.87742776e-01 -4.60339593e-01 -4.72611923e-04 1.31004208e+02] [ 4.60339529e-01 8.87742901e-01 -2.42386458e-04 2.73205053e+01] [ 5.31137963e-04 -2.38512327e-06 9.99999859e-01 2.60134711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320281693 meters 0.017009460784145995 Centerline is valid? [True, True] Translation: X:131.03, Y:27.34, Z:0.26 [[ 8.90397607e-01 -4.55182004e-01 -1.20191353e-03 1.31025522e+02] [ 4.55181585e-01 8.90398418e-01 -6.17256173e-04 2.73408323e+01] [ 1.35114581e-03 2.51451192e-06 9.99999087e-01 2.58440147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.350281693 meters 0.018287384880186264 Centerline is valid? [True, True] Translation: X:131.05, Y:27.36, Z:0.26 [[ 8.91901434e-01 -4.52227618e-01 -1.41868201e-03 1.31047296e+02] [ 4.52227031e-01 8.91902563e-01 -7.28765694e-04 2.73584947e+01] [ 1.59489409e-03 8.42081520e-06 9.99998728e-01 2.57966085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380281693 meters 0.02052653647771442 Centerline is valid? [True, True] Translation: X:131.07, Y:27.38, Z:0.26 [[ 8.93476119e-01 -4.49107870e-01 -1.59571799e-03 1.31070066e+02] [ 4.49107122e-01 8.93477544e-01 -8.19881634e-04 2.73779002e+01] [ 1.79395349e-03 1.58963453e-05 9.99998391e-01 2.57538203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.410281693 meters 0.025161442760661405 Centerline is valid? [True, True] Translation: X:131.09, Y:27.40, Z:0.26 [[ 8.96760086e-01 -4.42516365e-01 -7.83774838e-04 1.31089961e+02] [ 4.42516182e-01 8.96760429e-01 -4.02829941e-04 2.74028126e+01] [ 8.81117101e-04 1.44087641e-05 9.99999612e-01 2.59247156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440281693 meters 0.02730313462194074 Centerline is valid? [True, True] Translation: X:131.11, Y:27.42, Z:0.26 [[ 8.98180532e-01 -4.39626715e-01 -2.86795422e-04 1.31113381e+02] [ 4.39626691e-01 8.98180578e-01 -1.47329636e-04 2.74210617e+01] [ 3.22364122e-04 6.24568876e-06 9.99999948e-01 2.60224409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470281693 meters 0.028721725416204547 Centerline is valid? [True, True] Translation: X:131.14, Y:27.44, Z:0.26 [[ 8.99014763e-01 -4.37917861e-01 6.34695843e-04 1.31136629e+02] [ 4.37917740e-01 8.99014987e-01 3.26822173e-04 2.74381550e+01] [-7.13722342e-04 -1.58733894e-05 9.99999745e-01 2.61460677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500281693 meters 0.03130406469814453 Centerline is valid? [True, True] Translation: X:131.16, Y:27.46, Z:0.27 [[ 8.99539325e-01 -4.36834481e-01 2.15369476e-03 1.31157758e+02] [ 4.36833079e-01 8.99541902e-01 1.10802388e-03 2.74581053e+01] [-2.42136172e-03 -5.59059402e-05 9.99997067e-01 2.65541559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530281693 meters 0.03413863935618984 Centerline is valid? [True, True] Translation: X:131.18, Y:27.48, Z:0.27 [[ 8.99209530e-01 -4.37508541e-01 2.91496631e-03 1.31179606e+02] [ 4.37505976e-01 8.99214252e-01 1.49984119e-03 2.74769239e+01] [-3.27737258e-03 -7.33563093e-05 9.99994627e-01 2.67427027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560281693 meters 0.03271331412577669 Centerline is valid? [True, True] Translation: X:131.21, Y:27.49, Z:0.27 [[ 8.98610857e-01 -4.38735038e-01 3.17706545e-03 1.31205643e+02] [ 4.38731998e-01 8.98616470e-01 1.63505088e-03 2.74905701e+01] [-3.57231745e-03 -7.53941991e-05 9.99993616e-01 2.67241152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590281693 meters 0.02652741099695081 Centerline is valid? [True, True] Translation: X:131.23, Y:27.50, Z:0.27 [[ 8.97200758e-01 -4.41606677e-01 3.78724438e-03 1.31233980e+02] [ 4.41602379e-01 8.97208748e-01 1.94992819e-03 2.74998412e+01] [-4.25905009e-03 -7.70209198e-05 9.99990927e-01 2.66908212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620281693 meters 0.025849545355487346 Centerline is valid? [True, True] Translation: X:131.26, Y:27.51, Z:0.27 [[ 8.96571906e-01 -4.42886099e-01 3.27437208e-03 1.31257823e+02] [ 4.42882894e-01 8.96577883e-01 1.68594508e-03 2.75139794e+01] [-3.68241123e-03 -6.14076057e-05 9.99993218e-01 2.66432162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650281693 meters 0.02355210625741647 Centerline is valid? [True, True] Translation: X:131.28, Y:27.53, Z:0.26 [[ 8.95418481e-01 -4.45222661e-01 1.58907680e-03 1.31283475e+02] [ 4.45221909e-01 8.95419891e-01 8.18778209e-04 2.75280200e+01] [-1.78742959e-03 -2.56573355e-05 9.99998402e-01 2.62246183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680281693 meters 0.023386028577126464 Centerline is valid? [True, True] Translation: X:131.31, Y:27.54, Z:0.26 [[ 8.94721759e-01 -4.46623551e-01 6.14185354e-04 1.31307438e+02] [ 4.46623439e-01 8.94721970e-01 3.16589184e-04 2.75422546e+01] [-6.90921316e-04 -8.94965647e-06 9.99999761e-01 2.61034012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710281693 meters 0.02128145795153291 Centerline is valid? [True, True] Translation: X:131.33, Y:27.55, Z:0.26 [[ 8.93824478e-01 -4.48416697e-01 5.17778091e-04 1.31334182e+02] [ 4.48416617e-01 8.93824628e-01 2.67203636e-04 2.75535938e+01] [-5.82621381e-04 -6.65285110e-06 9.99999830e-01 2.60115952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740281693 meters 0.018947000065333598 Centerline is valid? [True, True] Translation: X:131.36, Y:27.56, Z:0.26 [[ 8.91859367e-01 -4.52312477e-01 5.41694541e-04 1.31359938e+02] [ 4.52312390e-01 8.91859531e-01 2.79412348e-04 2.75643701e+01] [-6.09497131e-04 -4.18136760e-06 9.99999814e-01 2.60497505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.770281693 meters 0.018075235896897617 Centerline is valid? [True, True] Translation: X:131.39, Y:27.58, Z:0.26 [[ 8.91004290e-01 -4.53994864e-01 -1.40105053e-04 1.31385359e+02] [ 4.53994858e-01 8.91004301e-01 -7.21030227e-05 2.75759776e+01] [ 1.57568606e-04 6.37129075e-07 9.99999988e-01 2.59205476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800281693 meters 0.017395002579074566 Centerline is valid? [True, True] Translation: X:131.41, Y:27.59, Z:0.26 [[ 8.89930687e-01 -4.56093361e-01 -1.48961354e-03 1.31412035e+02] [ 4.56092715e-01 8.89931933e-01 -7.67887252e-04 2.75861672e+01] [ 1.67588293e-03 3.96454792e-06 9.99998596e-01 2.56377569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.830281693 meters 0.017347617834471075 Centerline is valid? [True, True] Translation: X:131.44, Y:27.60, Z:0.26 [[ 8.89495886e-01 -4.56939666e-01 -1.79180765e-03 1.31437372e+02] [ 4.56938731e-01 8.89497691e-01 -9.24121038e-04 2.75983117e+01] [ 2.01607632e-03 3.25554844e-06 9.99997968e-01 2.56209809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860281693 meters 0.017276502586221043 Centerline is valid? [True, True] Translation: X:131.46, Y:27.61, Z:0.26 [[ 8.89257164e-01 -4.57401007e-01 -2.45258322e-03 1.31461540e+02] [ 4.57399256e-01 8.89260546e-01 -1.26561940e-03 2.76113483e+01] [ 2.75988108e-03 3.65138146e-06 9.99996192e-01 2.55242082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.890281693 meters 0.017441282433054314 Centerline is valid? [True, True] Translation: X:131.49, Y:27.63, Z:0.25 [[ 8.89134818e-01 -4.57632839e-01 -3.38527608e-03 1.31485726e+02] [ 4.57629502e-01 8.89141263e-01 -1.74772969e-03 2.76264720e+01] [ 3.80980715e-03 4.76511555e-06 9.99992743e-01 2.52929965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920281693 meters 0.01752533798366884 Centerline is valid? [True, True] Translation: X:131.51, Y:27.64, Z:0.25 [[ 8.89095424e-01 -4.57707441e-01 -3.63655557e-03 1.31509645e+02] [ 4.57703588e-01 8.89102861e-01 -1.87813271e-03 2.76395942e+01] [ 4.09290728e-03 5.37467032e-06 9.99991624e-01 2.51637174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.950281693 meters 0.017472185280314523 Centerline is valid? [True, True] Translation: X:131.54, Y:27.65, Z:0.25 [[ 8.88948250e-01 -4.57995187e-01 -3.37902125e-03 1.31535136e+02] [ 4.57991860e-01 8.88954672e-01 -1.74570380e-03 2.76515808e+01] [ 3.80332067e-03 4.27611252e-06 9.99992767e-01 2.52781827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980281693 meters 0.017413364890161865 Centerline is valid? [True, True] Translation: X:131.56, Y:27.66, Z:0.25 [[ 8.88974984e-01 -4.57944579e-01 -3.19995229e-03 1.31559891e+02] [ 4.57941593e-01 8.88980743e-01 -1.65376107e-03 2.76633437e+01] [ 3.60202688e-03 4.76097207e-06 9.99993513e-01 2.53194103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.010281693 meters 0.017363677787884214 Centerline is valid? [True, True] Translation: X:131.58, Y:27.68, Z:0.25 [[ 8.89061794e-01 -4.57778892e-01 -2.75898892e-03 1.31583739e+02] [ 4.57776670e-01 8.89066075e-01 -1.42613470e-03 2.76757873e+01] [ 3.10577781e-03 4.92111126e-06 9.99995177e-01 2.53635458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040281693 meters 0.017390101469937913 Centerline is valid? [True, True] Translation: X:131.61, Y:27.69, Z:0.25 [[ 8.89206671e-01 -4.57500845e-01 -2.11493274e-03 1.31608770e+02] [ 4.57499538e-01 8.89209186e-01 -1.09344100e-03 2.76892223e+01] [ 2.38086780e-03 4.71427660e-06 9.99997166e-01 2.54889982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.070281693 meters 0.017584664304596428 Centerline is valid? [True, True] Translation: X:131.63, Y:27.70, Z:0.26 [[ 8.89673667e-01 -4.56595852e-01 -9.97234612e-04 1.31633573e+02] [ 4.56595561e-01 8.89674226e-01 -5.15585656e-04 2.77015614e+01] [ 1.12262820e-03 3.37008458e-06 9.99999370e-01 2.57033867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100281693 meters 0.017769204491547477 Centerline is valid? [True, True] Translation: X:131.66, Y:27.71, Z:0.26 [[ 8.89922256e-01 -4.56111685e-01 -7.13807530e-04 1.31657468e+02] [ 4.56111535e-01 8.89922542e-01 -3.69265974e-04 2.77148646e+01] [ 8.03659937e-04 3.04216053e-06 9.99999677e-01 2.56978277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.130281693 meters 0.018201905375237203 Centerline is valid? [True, True] Translation: X:131.68, Y:27.73, Z:0.26 [[ 8.90130719e-01 -4.55704801e-01 -6.60954941e-04 1.31680675e+02] [ 4.55704673e-01 8.90130965e-01 -3.41962733e-04 2.77281338e+01] [ 7.44170518e-04 3.19127827e-06 9.99999723e-01 2.57372812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160281693 meters 0.017773937786598255 Centerline is valid? [True, True] Translation: X:131.71, Y:27.74, Z:0.26 [[ 8.89610804e-01 -4.56718595e-01 -8.61455749e-04 1.31707681e+02] [ 4.56718377e-01 8.89611221e-01 -4.45733120e-04 2.77373294e+01] [ 9.69935305e-04 3.08632719e-06 9.99999530e-01 2.56478180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190281693 meters 0.017427228578156033 Centerline is valid? [True, True] Translation: X:131.73, Y:27.75, Z:0.26 [[ 8.88992794e-01 -4.57919198e-01 -1.34941165e-03 1.31734287e+02] [ 4.57918665e-01 8.88993818e-01 -6.98721630e-04 2.77461454e+01] [ 1.51957666e-03 3.23771576e-06 9.99998845e-01 2.55102272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220281693 meters 0.017296813981020138 Centerline is valid? [True, True] Translation: X:131.76, Y:27.75, Z:0.25 [[ 8.88135517e-01 -4.59578315e-01 -1.75394758e-03 1.31761750e+02] [ 4.59577417e-01 8.88137248e-01 -9.08723955e-04 2.77548362e+01] [ 1.97537601e-03 9.95319036e-07 9.99998049e-01 2.54218400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250281693 meters 0.017912943110417356 Centerline is valid? [True, True] Translation: X:131.79, Y:27.76, Z:0.25 [[ 8.85697954e-01 -4.64259172e-01 -1.59864221e-03 1.31793261e+02] [ 4.64258433e-01 8.85699397e-01 -8.28610505e-04 2.77576254e+01] [ 1.80060647e-03 -8.28449934e-06 9.99998379e-01 2.54121713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280281693 meters 0.019269510943287285 Centerline is valid? [True, True] Translation: X:131.82, Y:27.76, Z:0.25 [[ 8.84314243e-01 -4.66888756e-01 -1.79130166e-03 1.31821571e+02] [ 4.66887832e-01 8.84316058e-01 -9.28887437e-04 2.77644812e+01] [ 2.01776392e-03 -1.49085556e-05 9.99997964e-01 2.53140443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310281693 meters 0.019269510943287285 Centerline is valid? [True, True] Translation: X:131.85, Y:27.78, Z:0.25 [[ 8.84226808e-01 -4.67054326e-01 -1.79124550e-03 1.31845892e+02] [ 4.67053402e-01 8.84228622e-01 -9.28995722e-04 2.77773192e+01] [ 2.01776201e-03 -1.51643813e-05 9.99997964e-01 2.53195157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340281693 meters 0.021900608529781405 Centerline is valid? [True, True] Translation: X:131.88, Y:27.78, Z:0.25 [[ 8.81851283e-01 -4.71524050e-01 -1.83975685e-03 1.31876960e+02] [ 4.71523084e-01 8.81853202e-01 -9.54602001e-04 2.77802734e+01] [ 2.07251327e-03 -2.56708262e-05 9.99997852e-01 2.53714059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370281693 meters 0.022978031493079632 Centerline is valid? [True, True] Translation: X:131.90, Y:27.79, Z:0.26 [[ 8.81327095e-01 -4.72505600e-01 -1.00527657e-03 1.31903391e+02] [ 4.72505312e-01 8.81327668e-01 -5.21760148e-04 2.77897195e+01] [ 1.13251265e-03 -1.51571630e-05 9.99999359e-01 2.56540219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400281693 meters 0.02376851361494373 Centerline is valid? [True, True] Translation: X:131.93, Y:27.80, Z:0.26 [[ 8.81444989e-01 -4.72286703e-01 -4.05240469e-05 1.31928301e+02] [ 4.72286703e-01 8.81444990e-01 -2.08602788e-05 2.78003196e+01] [ 4.55717504e-05 -7.51780295e-07 9.99999999e-01 2.59304828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430281693 meters 0.019723677293700795 Centerline is valid? [True, True] Translation: X:131.95, Y:27.82, Z:0.26 [[ 8.83554934e-01 -4.68323240e-01 2.00543008e-03 1.31950220e+02] [ 4.68322081e-01 8.83557210e-01 1.04210869e-03 2.78203636e+01] [-2.25995592e-03 1.84269145e-05 9.99997446e-01 2.63307128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460281693 meters 0.018314147558437528 Centerline is valid? [True, True] Translation: X:131.97, Y:27.84, Z:0.26 [[ 8.84875701e-01 -4.65823907e-01 1.75547499e-03 1.31972786e+02] [ 4.65823014e-01 8.84877442e-01 9.12160668e-04 2.78368586e+01] [-1.97828646e-03 1.05918389e-05 9.99998043e-01 2.63410647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.490281693 meters 0.017120231517631052 Centerline is valid? [True, True] Translation: X:131.99, Y:27.86, Z:0.26 [[ 8.87297031e-01 -4.61197580e-01 8.78202622e-04 1.31994027e+02] [ 4.61197354e-01 8.87297466e-01 4.56798207e-04 2.78588822e+01] [-9.89901189e-04 -2.90967683e-07 9.99999510e-01 2.61228154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520281693 meters 0.017290607777272243 Centerline is valid? [True, True] Translation: X:132.02, Y:27.87, Z:0.26 [[ 8.87921329e-01 -4.59994637e-01 8.04653902e-04 1.32017469e+02] [ 4.59994446e-01 8.87921694e-01 4.18814217e-04 2.78746228e+01] [-9.07121949e-04 -1.73775060e-06 9.99999589e-01 2.61193592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.550281693 meters 0.0173588090195484 Centerline is valid? [True, True] Translation: X:132.04, Y:27.89, Z:0.26 [[ 8.88121129e-01 -4.59608995e-01 6.58111504e-04 1.32041667e+02] [ 4.59608867e-01 8.88121372e-01 3.42773627e-04 2.78878982e+01] [-7.42024734e-04 -1.95061769e-06 9.99999725e-01 2.60363297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580281693 meters 0.017288061173496627 Centerline is valid? [True, True] Translation: X:132.07, Y:27.90, Z:0.26 [[ 8.87290948e-01 -4.61209913e-01 -4.35385442e-04 1.32068275e+02] [ 4.61209857e-01 8.87291055e-01 -2.26174004e-04 2.78963753e+01] [ 4.90627301e-04 -1.21911287e-07 9.99999880e-01 2.58204615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.610281693 meters 0.01726515885602787 Centerline is valid? [True, True] Translation: X:132.09, Y:27.91, Z:0.26 [[ 8.86504804e-01 -4.62717984e-01 -1.14051498e-03 1.32094607e+02] [ 4.62717603e-01 8.86505537e-01 -5.93426862e-04 2.79071634e+01] [ 1.28566212e-03 -1.66059321e-06 9.99999174e-01 2.55921777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640281693 meters 0.01761783662491551 Centerline is valid? [True, True] Translation: X:132.12, Y:27.92, Z:0.25 [[ 8.85697078e-01 -4.64258508e-01 -2.17334634e-03 1.32119693e+02] [ 4.64257129e-01 8.85699745e-01 -1.13172428e-03 2.79174932e+01] [ 2.45034492e-03 -6.62664567e-06 9.99996998e-01 2.54345878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.670281693 meters 0.01821797838610098 Centerline is valid? [True, True] Translation: X:132.15, Y:27.93, Z:0.25 [[ 8.84964733e-01 -4.65650505e-01 -2.65116775e-03 1.32145733e+02] [ 4.65648458e-01 8.84968704e-01 -1.38096440e-03 2.79276305e+01] [ 2.98924725e-03 -1.24073795e-05 9.99995532e-01 2.52855066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700281693 meters 0.017879150841635483 Centerline is valid? [True, True] Translation: X:132.17, Y:27.94, Z:0.25 [[ 8.85005710e-01 -4.65574384e-01 -2.32106881e-03 1.32170803e+02] [ 4.65572813e-01 8.85008753e-01 -1.20926313e-03 2.79409993e+01] [ 2.61716815e-03 -1.04217606e-05 9.99996575e-01 2.53592719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.730281693 meters 0.017485649129736325 Centerline is valid? [True, True] Translation: X:132.19, Y:27.95, Z:0.26 [[ 8.85674355e-01 -4.64304204e-01 -1.59446698e-03 1.32194981e+02] [ 4.64303461e-01 8.85675791e-01 -8.30957502e-04 2.79544547e+01] [ 1.79799786e-03 -4.35878708e-06 9.99998384e-01 2.55105442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760281693 meters 0.017429353496479755 Centerline is valid? [True, True] Translation: X:132.22, Y:27.97, Z:0.26 [[ 8.86039909e-01 -4.63606859e-01 -1.40009994e-03 1.32218656e+02] [ 4.63606284e-01 8.86041015e-01 -7.30000035e-04 2.79672052e+01] [ 1.57897900e-03 -2.28596620e-06 9.99998753e-01 2.55025933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.790281693 meters 0.01732332115926835 Centerline is valid? [True, True] Translation: X:132.24, Y:27.98, Z:0.25 [[ 8.86252122e-01 -4.63199587e-01 -1.82160963e-03 1.32243092e+02] [ 4.63198613e-01 8.86253994e-01 -9.50026690e-04 2.79802211e+01] [ 2.05446078e-03 -1.80388511e-06 9.99997890e-01 2.54770296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820281693 meters 0.017473801774182642 Centerline is valid? [True, True] Translation: X:132.27, Y:27.99, Z:0.25 [[ 8.86876825e-01 -4.61996593e-01 -2.94021492e-03 1.32268278e+02] [ 4.61994045e-01 8.86881699e-01 -1.53438101e-03 2.79922537e+01] [ 3.31650160e-03 2.44517076e-06 9.99994500e-01 2.52095345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.850281693 meters 0.017486845388752562 Centerline is valid? [True, True] Translation: X:132.29, Y:28.00, Z:0.25 [[ 8.86901325e-01 -4.61948418e-01 -3.11433730e-03 1.32293026e+02] [ 4.61945557e-01 8.86906793e-01 -1.62591651e-03 2.80042072e+01] [ 3.51321647e-03 3.37322612e-06 9.99993829e-01 2.51806563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880281693 meters 0.01759466076256583 Centerline is valid? [True, True] Translation: X:132.32, Y:28.02, Z:0.25 [[ 8.87057388e-01 -4.61650931e-01 -2.75839907e-03 1.32317469e+02] [ 4.61648684e-01 8.87061676e-01 -1.44044765e-03 2.80156927e+01] [ 3.11185411e-03 4.34842660e-06 9.99995158e-01 2.52051365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.910281693 meters 0.017629011596367525 Centerline is valid? [True, True] Translation: X:132.34, Y:28.03, Z:0.25 [[ 8.87181829e-01 -4.61411641e-01 -2.77485175e-03 1.32342674e+02] [ 4.61409365e-01 8.87186168e-01 -1.44946247e-03 2.80276248e+01] [ 3.13060894e-03 5.59418228e-06 9.99995100e-01 2.51710525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940281693 meters 0.017647209801175765 Centerline is valid? [True, True] Translation: X:132.37, Y:28.04, Z:0.25 [[ 8.87251888e-01 -4.61277453e-01 -2.68320090e-03 1.32367073e+02] [ 4.61275322e-01 8.87255945e-01 -1.40208747e-03 2.80390550e+01] [ 3.02743729e-03 6.31039720e-06 9.99995417e-01 2.52000362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970281693 meters 0.017766936860803693 Centerline is valid? [True, True] Translation: X:132.39, Y:28.05, Z:0.26 [[ 8.87767690e-01 -4.60290797e-01 -9.54450867e-04 1.32392948e+02] [ 4.60290527e-01 8.87768203e-01 -4.98618855e-04 2.80490515e+01] [ 1.07684080e-03 3.33301604e-06 9.99999420e-01 2.55510168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000281693 meters 0.01794626149366889 Centerline is valid? [True, True] Translation: X:132.42, Y:28.06, Z:0.26 [[ 8.88072522e-01 -4.59702998e-01 5.90272151e-04 1.32418964e+02] [ 4.59702894e-01 8.88072719e-01 3.09102860e-04 2.80615543e+01] [-6.66300105e-04 -3.15594049e-06 9.99999778e-01 2.58877448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030281693 meters 0.01822777802884634 Centerline is valid? [True, True] Translation: X:132.44, Y:28.07, Z:0.26 [[ 8.88441164e-01 -4.58986419e-01 1.94033393e-03 1.32444505e+02] [ 4.58985296e-01 8.88443283e-01 1.01515843e-03 2.80738739e+01] [-2.18982058e-03 -1.13237908e-05 9.99997602e-01 2.62401097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060281693 meters 0.018472248518722544 Centerline is valid? [True, True] Translation: X:132.47, Y:28.08, Z:0.26 [[ 8.88523657e-01 -4.58822576e-01 2.74872051e-03 1.32470873e+02] [ 4.58820322e-01 8.88527908e-01 1.43840794e-03 2.80840006e+01] [-3.10228892e-03 -1.68906522e-05 9.99995188e-01 2.63088505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090281693 meters 0.018164465761029702 Centerline is valid? [True, True] Translation: X:132.50, Y:28.09, Z:0.26 [[ 8.88154532e-01 -4.59540593e-01 1.99295031e-03 1.32497118e+02] [ 4.59539408e-01 8.88156767e-01 1.04364992e-03 2.80935273e+01] [-2.24965181e-03 -1.10831995e-05 9.99997469e-01 2.60727713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120281693 meters 0.018105005525254653 Centerline is valid? [True, True] Translation: X:132.52, Y:28.10, Z:0.26 [[ 8.87668616e-01 -4.60481958e-01 8.91425846e-04 1.32523745e+02] [ 4.60481721e-01 8.87669064e-01 4.67170880e-04 2.81037762e+01] [-1.00641491e-03 -4.20762074e-06 9.99999494e-01 2.58787448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150281693 meters 0.017389471697171033 Centerline is valid? [True, True] Translation: X:132.55, Y:28.11, Z:0.25 [[ 8.86294133e-01 -4.63122092e-01 -7.98736380e-04 1.32554932e+02] [ 4.63121904e-01 8.86294493e-01 -4.18080495e-04 2.81068352e+01] [ 9.01537968e-04 6.29976716e-07 9.99999594e-01 2.54681111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180281693 meters 0.01746642200841928 Centerline is valid? [True, True] Translation: X:132.58, Y:28.11, Z:0.25 [[ 8.85600564e-01 -4.64446195e-01 -1.17173495e-03 1.32582103e+02] [ 4.64445790e-01 8.85601339e-01 -6.13694512e-04 2.81149730e+01] [ 1.32271812e-03 -7.19157998e-07 9.99999125e-01 2.54063669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210281693 meters 0.017478884033724756 Centerline is valid? [True, True] Translation: X:132.61, Y:28.12, Z:0.25 [[ 8.85576032e-01 -4.64493176e-01 -1.08684169e-03 1.32607949e+02] [ 4.64492827e-01 8.85576699e-01 -5.69547962e-04 2.81247422e+01] [ 1.22703281e-03 -4.52142559e-07 9.99999247e-01 2.54618663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240281693 meters 0.017659621688585696 Centerline is valid? [True, True] Translation: X:132.63, Y:28.14, Z:0.26 [[ 8.86837355e-01 -4.62081707e-01 -4.60624856e-05 1.32632912e+02] [ 4.62081706e-01 8.86837356e-01 -2.37437194e-05 2.81372577e+01] [ 5.18214713e-05 -2.27814688e-07 9.99999999e-01 2.56994646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.270281693 meters 0.01844441054113689 Centerline is valid? [True, True] Translation: X:132.66, Y:28.15, Z:0.26 [[ 8.87846816e-01 -4.60138994e-01 -3.71027301e-04 1.32657476e+02] [ 4.60138953e-01 8.87846894e-01 -1.94297932e-04 2.81532131e+01] [ 4.18819492e-04 1.78268651e-06 9.99999912e-01 2.56678261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300281693 meters 0.019699599263019608 Centerline is valid? [True, True] Translation: X:132.68, Y:28.17, Z:0.26 [[ 8.89032389e-01 -4.57843914e-01 -6.01903224e-04 1.32681481e+02] [ 4.57843806e-01 8.89032592e-01 -3.15547347e-04 2.81703369e+01] [ 6.79583016e-04 4.95414887e-06 9.99999769e-01 2.55884415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.330281693 meters 0.024344549939771993 Centerline is valid? [True, True] Translation: X:132.70, Y:28.19, Z:0.26 [[ 8.92151806e-01 -4.51735509e-01 -4.29291380e-04 1.32702859e+02] [ 4.51735453e-01 8.92151909e-01 -2.25078686e-04 2.81934031e+01] [ 4.84669159e-04 6.87821999e-06 9.99999883e-01 2.56249248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360281693 meters 0.02778139331690677 Centerline is valid? [True, True] Translation: X:132.73, Y:28.21, Z:0.26 [[ 8.93760967e-01 -4.48543426e-01 -3.60245005e-04 1.32725460e+02] [ 4.48543386e-01 8.93761039e-01 -1.89062262e-04 2.82120184e+01] [ 4.06775585e-04 7.39095563e-06 9.99999917e-01 2.56093321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.390281693 meters 0.03148209659005838 Centerline is valid? [True, True] Translation: X:132.75, Y:28.23, Z:0.26 [[ 8.95246214e-01 -4.45571278e-01 -6.72897234e-04 1.32747430e+02] [ 4.45571139e-01 8.95246466e-01 -3.53239356e-04 2.82307541e+01] [ 7.59802182e-04 1.64126090e-05 9.99999711e-01 2.56197757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420281693 meters 0.036033583707254194 Centerline is valid? [True, True] Translation: X:132.77, Y:28.25, Z:0.26 [[ 8.97170606e-01 -4.41683786e-01 -5.79766169e-04 1.32769787e+02] [ 4.41683682e-01 8.97170793e-01 -3.04403012e-04 2.82512452e+01] [ 6.54599149e-04 1.70281786e-05 9.99999786e-01 2.56590317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.450281693 meters 0.03524835839584944 Centerline is valid? [True, True] Translation: X:132.80, Y:28.26, Z:0.26 [[ 8.97300404e-01 -4.41420297e-01 -3.25131923e-04 1.32795583e+02] [ 4.41420264e-01 8.97300463e-01 -1.70474169e-04 2.82639016e+01] [ 3.66991783e-04 9.44672182e-06 9.99999933e-01 2.56665080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480281693 meters 0.03379570269090959 Centerline is valid? [True, True] Translation: X:132.82, Y:28.28, Z:0.26 [[ 8.97142045e-01 -4.41741970e-01 -4.27757105e-04 1.32820682e+02] [ 4.41741914e-01 8.97142147e-01 -2.24434100e-04 2.82752997e+01] [ 4.82900889e-04 1.23910254e-05 9.99999883e-01 2.56021782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.510281693 meters 0.03638165046909837 Centerline is valid? [True, True] Translation: X:132.84, Y:28.29, Z:0.26 [[ 8.96709413e-01 -4.42619195e-01 -6.90285446e-04 1.32842489e+02] [ 4.42619047e-01 8.96709678e-01 -3.62773778e-04 2.82932398e+01] [ 7.79556278e-04 1.97691754e-05 9.99999696e-01 2.55835741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540281693 meters 0.03439706467332851 Centerline is valid? [True, True] Translation: X:132.87, Y:28.31, Z:0.26 [[ 8.96264899e-01 -4.43518579e-01 -7.07760604e-04 1.32868217e+02] [ 4.43518424e-01 8.96265178e-01 -3.71881696e-04 2.83056295e+01] [ 7.99277625e-04 1.93996427e-05 9.99999680e-01 2.56171031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.570281693 meters 0.03189588656240883 Centerline is valid? [True, True] Translation: X:132.89, Y:28.32, Z:0.26 [[ 8.95556063e-01 -4.44948664e-01 -1.55416467e-04 1.32894674e+02] [ 4.44948656e-01 8.95556077e-01 -8.14342514e-05 2.83182360e+01] [ 1.75418223e-04 3.77658959e-06 9.99999985e-01 2.56613769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600281693 meters 0.03168710800901493 Centerline is valid? [True, True] Translation: X:132.92, Y:28.33, Z:0.26 [[ 8.95353471e-01 -4.45356059e-01 -3.77779821e-04 1.32919060e+02] [ 4.45356015e-01 8.95353551e-01 -1.98434020e-04 2.83314461e+01] [ 4.26620297e-04 9.42207301e-06 9.99999909e-01 2.56249374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.630281693 meters 0.034469702207798575 Centerline is valid? [True, True] Translation: X:132.94, Y:28.35, Z:0.26 [[ 8.95355667e-01 -4.45350905e-01 -8.94983619e-04 1.32940086e+02] [ 4.45350656e-01 8.95356114e-01 -4.70988711e-04 2.83484790e+01] [ 1.01108430e-03 2.31208696e-05 9.99999489e-01 2.56122672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660281693 meters 0.03537575611609372 Centerline is valid? [True, True] Translation: X:132.96, Y:28.37, Z:0.25 [[ 8.96344802e-01 -4.43353952e-01 -1.80823172e-03 1.32963190e+02] [ 4.43352933e-01 8.96346624e-01 -9.51958864e-04 2.83676529e+01] [ 2.04285713e-03 5.15985417e-05 9.99997912e-01 2.54208191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690281693 meters 0.039479855893184236 Centerline is valid? [True, True] Translation: X:132.98, Y:28.39, Z:0.25 [[ 8.97016177e-01 -4.41993139e-01 -2.01070139e-03 1.32983031e+02] [ 4.41991875e-01 8.97018429e-01 -1.05893325e-03 2.83889498e+01] [ 2.27167743e-03 6.11665784e-05 9.99997418e-01 2.53605191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720281693 meters 0.043053894545689454 Centerline is valid? [True, True] Translation: X:133.00, Y:28.41, Z:0.26 [[ 8.98120363e-01 -4.39749011e-01 -7.87870107e-04 1.33002211e+02] [ 4.39748816e-01 8.98120708e-01 -4.14907223e-04 2.84128289e+01] [ 8.90057499e-04 2.61716794e-05 9.99999604e-01 2.55928598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750281693 meters 0.03856480309949089 Centerline is valid? [True, True] Translation: X:133.03, Y:28.42, Z:0.26 [[ 8.98253610e-01 -4.39476696e-01 8.27648434e-04 1.33028379e+02] [ 4.39476480e-01 8.98253991e-01 4.36519798e-04 2.84241906e+01] [-9.35278787e-04 -2.83734638e-05 9.99999562e-01 2.58686834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780281693 meters 0.04357444157753237 Centerline is valid? [True, True] Translation: X:133.05, Y:28.45, Z:0.26 [[ 8.98154185e-01 -4.39677043e-01 1.77673309e-03 1.33046716e+02] [ 4.39676050e-01 8.98155941e-01 9.36675969e-04 2.84466436e+01] [-2.00761830e-03 -6.00924557e-05 9.99997983e-01 2.61631283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810281693 meters 0.03862471260991337 Centerline is valid? [True, True] Translation: X:133.07, Y:28.46, Z:0.26 [[ 8.97890142e-01 -4.40218164e-01 1.12259886e-03 1.33073643e+02] [ 4.40217767e-01 8.97890843e-01 5.92291376e-04 2.84567937e+01] [-1.26870866e-03 -3.76246247e-05 9.99999194e-01 2.59605209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840281693 meters 0.03808128706019411 Centerline is valid? [True, True] Translation: X:133.10, Y:28.47, Z:0.25 [[ 8.96942808e-01 -4.42142672e-01 -1.85932831e-03 1.33096293e+02] [ 4.42141588e-01 8.96944733e-01 -9.80426071e-04 2.84742895e+01] [ 2.10120294e-03 5.72997393e-05 9.99997791e-01 2.53215286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870281693 meters 0.03313624410937381 Centerline is valid? [True, True] Translation: X:133.12, Y:28.48, Z:0.25 [[ 8.94985188e-01 -4.46090919e-01 -2.09903253e-03 1.33123013e+02] [ 4.46089548e-01 8.94987647e-01 -1.10721238e-03 2.84849653e+01] [ 2.37252557e-03 5.45822099e-05 9.99997184e-01 2.51874641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900281693 meters 0.0304807356286288 Centerline is valid? [True, True] Translation: X:133.15, Y:28.50, Z:0.25 [[ 8.93699725e-01 -4.48663659e-01 -1.31228919e-03 1.33149786e+02] [ 4.48663126e-01 8.93700688e-01 -6.92252556e-04 2.84954792e+01] [ 1.48338232e-03 2.98901487e-05 9.99998899e-01 2.53838870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930281693 meters 0.02839334089210049 Centerline is valid? [True, True] Translation: X:133.18, Y:28.51, Z:0.25 [[ 8.92534201e-01 -4.50978890e-01 -8.60966694e-04 1.33176049e+02] [ 4.50978661e-01 8.92534616e-01 -4.54061103e-04 2.85066086e+01] [ 9.73214549e-04 1.69874567e-05 9.99999526e-01 2.54961290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960281693 meters 0.026755129340817297 Centerline is valid? [True, True] Translation: X:133.20, Y:28.52, Z:0.26 [[ 8.91636528e-01 -4.52750622e-01 -1.08492403e-03 1.33202103e+02] [ 4.52750260e-01 8.91637188e-01 -5.72477159e-04 2.85189186e+01] [ 1.22654800e-03 1.92419091e-05 9.99999248e-01 2.55078862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.990281693 meters 0.025386651198653507 Centerline is valid? [True, True] Translation: X:133.23, Y:28.53, Z:0.25 [[ 8.90855395e-01 -4.54277532e-01 -2.93077653e-03 1.33226656e+02] [ 4.54274898e-01 8.90860215e-01 -1.54765020e-03 2.85348671e+01] [ 3.31397492e-03 4.73543271e-05 9.99994508e-01 2.51422673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020281693 meters 0.02511954271483793 Centerline is valid? [True, True] Translation: X:133.25, Y:28.55, Z:0.25 [[ 8.90549520e-01 -4.54864758e-01 -4.42770089e-03 1.33250513e+02] [ 4.54858748e-01 8.90560524e-01 -2.33927434e-03 2.85499708e+01] [ 5.00718908e-03 6.92611546e-05 9.99987462e-01 2.48316545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.050281693 meters 0.024840247378314036 Centerline is valid? [True, True] Translation: X:133.27, Y:28.57, Z:0.25 [[ 8.90192880e-01 -4.55553463e-01 -5.26116686e-03 1.33273342e+02] [ 4.55544985e-01 8.90208423e-01 -2.78034880e-03 2.85655910e+01] [ 5.95013258e-03 7.83485280e-05 9.99982295e-01 2.45480988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080281693 meters 0.023976212018583236 Centerline is valid? [True, True] Translation: X:133.30, Y:28.58, Z:0.25 [[ 8.89519266e-01 -4.56873801e-01 -4.66967081e-03 1.33297651e+02] [ 4.56867138e-01 8.89531521e-01 -2.46808164e-03 2.85785901e+01] [ 5.28142121e-03 6.19870259e-05 9.99986051e-01 2.46542286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.110281693 meters 0.021981125359000545 Centerline is valid? [True, True] Translation: X:133.32, Y:28.59, Z:0.25 [[ 8.88424103e-01 -4.59005800e-01 -4.03577979e-03 1.33324398e+02] [ 4.59000844e-01 8.88433269e-01 -2.13361360e-03 2.85889378e+01] [ 4.56486205e-03 4.31274167e-05 9.99989580e-01 2.48095034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140281693 meters 0.018561952534126906 Centerline is valid? [True, True] Translation: X:133.36, Y:28.59, Z:0.25 [[ 8.85065422e-01 -4.65454514e-01 -3.36078012e-03 1.33355274e+02] [ 4.65451120e-01 8.85071802e-01 -1.77736138e-03 2.85931967e+01] [ 3.80181259e-03 8.80222530e-06 9.99992773e-01 2.50460894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.170281693 meters 0.018332596749743774 Centerline is valid? [True, True] Translation: X:133.38, Y:28.60, Z:0.25 [[ 8.82923241e-01 -4.69508068e-01 -2.95372111e-03 1.33383373e+02] [ 4.69505467e-01 8.82928182e-01 -1.56268764e-03 2.86002780e+01] [ 3.34161806e-03 -7.05497273e-06 9.99994417e-01 2.51281859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200281693 meters 0.018332596749743774 Centerline is valid? [True, True] Translation: X:133.41, Y:28.61, Z:0.25 [[ 8.82830002e-01 -4.69683367e-01 -2.95341112e-03 1.33407594e+02] [ 4.69680765e-01 8.82834942e-01 -1.56327334e-03 2.86133030e+01] [ 3.34161802e-03 -7.05578888e-06 9.99994417e-01 2.51336549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.230281693 meters 0.01991592844150852 Centerline is valid? [True, True] Translation: X:133.44, Y:28.62, Z:0.25 [[ 8.80618525e-01 -4.73818012e-01 -2.73954672e-03 1.33435961e+02] [ 4.73815792e-01 8.80622786e-01 -1.45060297e-03 2.86185583e+01] [ 3.09982908e-03 -2.06126552e-05 9.99995195e-01 2.51563520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260281693 meters 0.024064235292422628 Centerline is valid? [True, True] Translation: X:133.47, Y:28.62, Z:0.25 [[ 8.77250787e-01 -4.80029232e-01 -1.72988546e-03 1.33467625e+02] [ 4.80028359e-01 8.77252492e-01 -9.16110869e-04 2.86200544e+01] [ 1.95730633e-03 -2.67350982e-05 9.99998084e-01 2.54551571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.290281693 meters 0.02622353738201065 Centerline is valid? [True, True] Translation: X:133.49, Y:28.63, Z:0.26 [[ 8.76520257e-01 -4.81363643e-01 -1.13232825e-03 1.33494403e+02] [ 4.81363270e-01 8.76520988e-01 -5.99696509e-04 2.86281740e+01] [ 1.28118157e-03 -1.94150895e-05 9.99999179e-01 2.56140741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320281693 meters 0.02529024387120159 Centerline is valid? [True, True] Translation: X:133.52, Y:28.64, Z:0.26 [[ 8.76500188e-01 -4.81400838e-01 -8.08518617e-04 1.33519694e+02] [ 4.81400648e-01 8.76500561e-01 -4.28117545e-04 2.86398945e+01] [ 9.14763166e-04 -1.39762772e-05 9.99999582e-01 2.56943877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.350281693 meters 0.02441393149331099 Centerline is valid? [True, True] Translation: X:133.54, Y:28.65, Z:0.26 [[ 8.76855014e-01 -4.80752655e-01 -1.47300701e-03 1.33544871e+02] [ 4.80752021e-01 8.76856251e-01 -7.80665004e-04 2.86529970e+01] [ 1.66692218e-03 -2.36210770e-05 9.99998610e-01 2.55583049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380281693 meters 0.02330059496692556 Centerline is valid? [True, True] Translation: X:133.57, Y:28.67, Z:0.25 [[ 8.77545675e-01 -4.79486851e-01 -2.43875588e-03 1.33570134e+02] [ 4.79485108e-01 8.77549063e-01 -1.29323863e-03 2.86663436e+01] [ 2.76021886e-03 -3.44711617e-05 9.99996190e-01 2.53982407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.410281693 meters 0.02100050387300359 Centerline is valid? [True, True] Translation: X:133.59, Y:28.68, Z:0.25 [[ 8.79274423e-01 -4.76299530e-01 -3.90478148e-03 1.33594075e+02] [ 4.76295027e-01 8.79283092e-01 -2.07146974e-03 2.86804195e+01] [ 4.42004840e-03 -3.84376437e-05 9.99990231e-01 2.51264363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440281693 meters 0.019902365832153112 Centerline is valid? [True, True] Translation: X:133.62, Y:28.70, Z:0.25 [[ 8.80168636e-01 -4.74641126e-01 -4.35597791e-03 1.33618898e+02] [ 4.74635498e-01 8.80179414e-01 -2.31158877e-03 2.86953841e+01] [ 4.93121718e-03 -3.29138080e-05 9.99987841e-01 2.51100767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470281693 meters 0.01911897890027082 Centerline is valid? [True, True] Translation: X:133.64, Y:28.71, Z:0.25 [[ 8.81056523e-01 -4.72993228e-01 -4.09994669e-03 1.33643132e+02] [ 4.72988221e-01 8.81066062e-01 -2.17656352e-03 2.87101272e+01] [ 4.64182369e-03 -2.15510036e-05 9.99989226e-01 2.50750320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500281693 meters 0.018269266327175068 Centerline is valid? [True, True] Translation: X:133.67, Y:28.73, Z:0.25 [[ 8.82586801e-01 -4.70140860e-01 -2.84770722e-03 1.33666923e+02] [ 4.70138428e-01 8.82591396e-01 -1.51227115e-03 2.87272961e+01] [ 3.22434235e-03 -4.10604039e-06 9.99994802e-01 2.53028333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530281693 meters 0.018232016380660104 Centerline is valid? [True, True] Translation: X:133.69, Y:28.74, Z:0.25 [[ 8.83237544e-01 -4.68921590e-01 -1.99576430e-03 1.33690072e+02] [ 4.68920392e-01 8.83239799e-01 -1.06015231e-03 2.87411500e+01] [ 2.25986676e-03 5.11743788e-07 9.99997447e-01 2.54885452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560281693 meters 0.018676463312199475 Centerline is valid? [True, True] Translation: X:133.71, Y:28.76, Z:0.26 [[ 8.84665359e-01 -4.66222695e-01 -1.89782526e-03 1.33713654e+02] [ 4.66221605e-01 8.84667394e-01 -1.00843522e-03 2.87585015e+01] [ 2.14909951e-03 7.32057050e-06 9.99997691e-01 2.55260782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590281693 meters 0.019149144050306013 Centerline is valid? [True, True] Translation: X:133.74, Y:28.77, Z:0.25 [[ 8.85230716e-01 -4.65146022e-01 -2.39947351e-03 1.33737372e+02] [ 4.65144273e-01 8.85233968e-01 -1.27550939e-03 2.87733105e+01] [ 2.71739358e-03 1.30187299e-05 9.99996308e-01 2.54188453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620281693 meters 0.019648543774777975 Centerline is valid? [True, True] Translation: X:133.76, Y:28.79, Z:0.25 [[ 8.85679481e-01 -4.64288916e-01 -2.76742635e-03 1.33762420e+02] [ 4.64286585e-01 8.85683805e-01 -1.47146277e-03 2.87876504e+01] [ 3.13424856e-03 1.83654542e-05 9.99995088e-01 2.53168715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650281693 meters 0.020013986709666563 Centerline is valid? [True, True] Translation: X:133.79, Y:28.80, Z:0.25 [[ 8.85974866e-01 -4.63721120e-01 -3.35568500e-03 1.33788728e+02] [ 4.63717685e-01 8.85981220e-01 -1.78500612e-03 2.88005020e+01] [ 3.80081892e-03 2.53800769e-05 9.99992777e-01 2.52152221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680281693 meters 0.02023930544722782 Centerline is valid? [True, True] Translation: X:133.81, Y:28.81, Z:0.25 [[ 8.85998763e-01 -4.63670219e-01 -4.01492426e-03 1.33812603e+02] [ 4.63665298e-01 8.86007859e-01 -2.13646553e-03 2.88130001e+01] [ 4.54786989e-03 3.13247651e-05 9.99989658e-01 2.50957746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710281693 meters 0.020606603311168252 Centerline is valid? [True, True] Translation: X:133.84, Y:28.83, Z:0.25 [[ 8.86067674e-01 -4.63533004e-01 -4.60763213e-03 1.33837391e+02] [ 4.63526516e-01 8.86079654e-01 -2.45283881e-03 2.88269848e+01] [ 5.21970083e-03 3.76215114e-05 9.99986377e-01 2.49664583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740281693 meters 0.021419100987270456 Centerline is valid? [True, True] Translation: X:133.86, Y:28.84, Z:0.25 [[ 8.86577034e-01 -4.62560107e-01 -4.39430142e-03 1.33861607e+02] [ 4.62554189e-01 8.86587923e-01 -2.34018995e-03 2.88420153e+01] [ 4.97841308e-03 4.21561335e-05 9.99987607e-01 2.49075126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.770281693 meters 0.02161247706695869 Centerline is valid? [True, True] Translation: X:133.89, Y:28.86, Z:0.25 [[ 8.86984967e-01 -4.61784574e-01 -3.56034205e-03 1.33886145e+02] [ 4.61780680e-01 8.86992112e-01 -1.89672190e-03 2.88564860e+01] [ 4.03387223e-03 3.82666405e-05 9.99991863e-01 2.51315298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800281693 meters 0.022435316826585876 Centerline is valid? [True, True] Translation: X:133.91, Y:28.87, Z:0.26 [[ 8.88027631e-01 -4.59786576e-01 -1.79771878e-03 1.33908778e+02] [ 4.59785578e-01 8.88029450e-01 -9.57895023e-04 2.88742497e+01] [ 2.03685449e-03 2.40720781e-05 9.99997925e-01 2.56156950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.830281693 meters 0.02449009163218238 Centerline is valid? [True, True] Translation: X:133.93, Y:28.89, Z:0.26 [[ 8.88725873e-01 -4.58434958e-01 -1.92667564e-03 1.33930443e+02] [ 4.58433809e-01 8.88727961e-01 -1.02676400e-03 2.88926525e+01] [ 2.18299502e-03 2.92584820e-05 9.99997617e-01 2.55947877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860281693 meters 0.02541171672866612 Centerline is valid? [True, True] Translation: X:133.95, Y:28.91, Z:0.25 [[ 8.89249190e-01 -4.57417303e-01 -2.29973011e-03 1.33954348e+02] [ 4.57415662e-01 8.89252163e-01 -1.22584123e-03 2.89090207e+01] [ 2.60576096e-03 3.81457510e-05 9.99996604e-01 2.54784786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.890281693 meters 0.026098410041419728 Centerline is valid? [True, True] Translation: X:133.98, Y:28.93, Z:0.25 [[ 8.89955631e-01 -4.56033344e-01 -3.54462146e-03 1.33977962e+02] [ 4.56029431e-01 8.89962687e-01 -1.89034605e-03 2.89262842e+01] [ 4.01664167e-03 6.58724030e-05 9.99991931e-01 2.52484064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920281693 meters 0.028212385130899728 Centerline is valid? [True, True] Translation: X:134.00, Y:28.94, Z:0.25 [[ 8.90285555e-01 -4.55384098e-01 -4.11764339e-03 1.33999527e+02] [ 4.55378807e-01 8.90295073e-01 -2.19654671e-03 2.89442611e+01] [ 4.66619007e-03 8.04662710e-05 9.99989110e-01 2.50740453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.950281693 meters 0.028335667170418515 Centerline is valid? [True, True] Translation: X:134.02, Y:28.96, Z:0.25 [[ 8.90349739e-01 -4.55256611e-01 -4.33124618e-03 1.34023387e+02] [ 4.55250753e-01 8.90360270e-01 -2.31114952e-03 2.89600040e+01] [ 4.90853562e-03 8.59282885e-05 9.99987949e-01 2.49690305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980281693 meters 0.027495094375465396 Centerline is valid? [True, True] Translation: X:134.05, Y:28.98, Z:0.25 [[ 8.90291128e-01 -4.55372242e-01 -4.22236624e-03 1.34047312e+02] [ 4.55366672e-01 8.90301137e-01 -2.25398116e-03 2.89754702e+01] [ 4.78557792e-03 8.39745631e-05 9.99988546e-01 2.50109908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.010281693 meters 0.027717173784765497 Centerline is valid? [True, True] Translation: X:134.07, Y:28.99, Z:0.25 [[ 8.90213567e-01 -4.55519115e-01 -4.70536324e-03 1.34070279e+02] [ 4.55512195e-01 8.90225998e-01 -2.51258322e-03 2.89899302e+01] [ 5.33336637e-03 9.33853341e-05 9.99985773e-01 2.49129605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040281693 meters 0.02733130455998591 Centerline is valid? [True, True] Translation: X:134.09, Y:29.01, Z:0.24 [[ 8.89555959e-01 -4.56779910e-01 -6.50461382e-03 1.34092962e+02] [ 4.56766714e-01 8.89579732e-01 -3.47412144e-03 2.90057150e+01] [ 7.37328150e-03 1.19334349e-04 9.99972810e-01 2.44424435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.070281693 meters 0.027087583095401983 Centerline is valid? [True, True] Translation: X:134.12, Y:29.02, Z:0.24 [[ 8.89057628e-01 -4.57741634e-01 -7.00930237e-03 1.34117031e+02] [ 4.57726336e-01 8.89085250e-01 -3.74426219e-03 2.90200091e+01] [ 7.94577204e-03 1.20522569e-04 9.99968425e-01 2.43274208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100281693 meters 0.025572645992139077 Centerline is valid? [True, True] Translation: X:134.14, Y:29.03, Z:0.24 [[ 8.88652377e-01 -4.58535333e-01 -6.50388784e-03 1.34143183e+02] [ 4.58522175e-01 8.88676171e-01 -3.47537089e-03 2.90322599e+01] [ 7.37343049e-03 1.06219804e-04 9.99972810e-01 2.44762872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.130281693 meters 0.026036962573460044 Centerline is valid? [True, True] Translation: X:134.17, Y:29.05, Z:0.25 [[ 8.88406036e-01 -4.59026648e-01 -5.40852791e-03 1.34166495e+02] [ 4.59017554e-01 8.88422495e-01 -2.89062848e-03 2.90469160e+01] [ 6.13193336e-03 8.54425382e-05 9.99981196e-01 2.47408374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160281693 meters 0.024978282611643192 Centerline is valid? [True, True] Translation: X:134.19, Y:29.06, Z:0.25 [[ 8.88135447e-01 -4.59564687e-01 -3.96563909e-03 1.34190822e+02] [ 4.59559801e-01 8.88144298e-01 -2.12000703e-03 2.90629362e+01] [ 4.49634011e-03 6.04050788e-05 9.99989890e-01 2.51875059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190281693 meters 0.024051567499229157 Centerline is valid? [True, True] Translation: X:134.21, Y:29.08, Z:0.25 [[ 8.88081701e-01 -4.59670534e-01 -3.72728092e-03 1.34214713e+02] [ 4.59666215e-01 8.88089521e-01 -1.99339447e-03 2.90777190e+01] [ 4.22646383e-03 5.69920392e-05 9.99991067e-01 2.52788329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220281693 meters 0.025689401124305504 Centerline is valid? [True, True] Translation: X:134.23, Y:29.10, Z:0.25 [[ 8.88281654e-01 -4.59286948e-01 -3.34707474e-03 1.34234662e+02] [ 4.59283461e-01 8.88287958e-01 -1.79055744e-03 2.91001526e+01] [ 3.79554584e-03 5.32632519e-05 9.99992795e-01 2.52810885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250281693 meters 0.026083431830542948 Centerline is valid? [True, True] Translation: X:134.26, Y:29.12, Z:0.25 [[ 8.88463674e-01 -4.58935950e-01 -3.17702282e-03 1.34257331e+02] [ 4.58932804e-01 8.88469353e-01 -1.69999569e-03 2.91178331e+01] [ 3.60287655e-03 5.23444276e-05 9.99993508e-01 2.53638862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280281693 meters 0.026844919782861888 Centerline is valid? [True, True] Translation: X:134.28, Y:29.14, Z:0.25 [[ 8.88798725e-01 -4.58285775e-01 -3.31285627e-03 1.34279514e+02] [ 4.58282348e-01 8.88804897e-01 -1.77315606e-03 2.91360937e+01] [ 3.75709507e-03 5.77552962e-05 9.99992940e-01 2.53092520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310281693 meters 0.0270927900014525 Centerline is valid? [True, True] Translation: X:134.30, Y:29.15, Z:0.25 [[ 8.88764700e-01 -4.58349642e-01 -3.59365246e-03 1.34300000e+02] [ 4.58345609e-01 8.88771963e-01 -1.92376541e-03 2.91542566e+01] [ 4.07569474e-03 6.26399651e-05 9.99991692e-01 2.52737451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340281693 meters 0.025809422879048666 Centerline is valid? [True, True] Translation: X:134.33, Y:29.17, Z:0.25 [[ 8.88065162e-01 -4.59703779e-01 -3.56428463e-03 1.34325364e+02] [ 4.59699820e-01 8.88072313e-01 -1.90857349e-03 2.91671530e+01] [ 4.04272094e-03 5.64366239e-05 9.99991827e-01 2.52596523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370281693 meters 0.02273402938802989 Centerline is valid? [True, True] Translation: X:134.35, Y:29.18, Z:0.25 [[ 8.86909456e-01 -4.61930714e-01 -3.41047188e-03 1.34353151e+02] [ 4.61927104e-01 8.86916012e-01 -1.82689127e-03 2.91768085e+01] [ 3.86869931e-03 4.48977465e-05 9.99992516e-01 2.53567823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400281693 meters 0.01913667450766842 Centerline is valid? [True, True] Translation: X:134.38, Y:29.18, Z:0.25 [[ 8.83662933e-01 -4.68115251e-01 -2.81637588e-03 1.34382631e+02] [ 4.68112819e-01 8.83667421e-01 -1.50902035e-03 2.91833576e+01] [ 3.19513505e-03 1.50836980e-05 9.99994895e-01 2.54366544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430281693 meters 0.01860864753972754 Centerline is valid? [True, True] Translation: X:134.41, Y:29.19, Z:0.25 [[ 8.82106335e-01 -4.71042135e-01 -2.77877218e-03 1.34409433e+02] [ 4.71039781e-01 8.82110711e-01 -1.48905440e-03 2.91929598e+01] [ 3.15259207e-03 4.59208113e-06 9.99995031e-01 2.53917181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460281693 meters 0.018632133985101763 Centerline is valid? [True, True] Translation: X:134.44, Y:29.20, Z:0.25 [[ 8.80497097e-01 -4.74036419e-01 -3.78618426e-03 1.34436651e+02] [ 4.74032074e-01 8.80505238e-01 -2.02958821e-03 2.92023972e+01] [ 4.29585380e-03 -7.72625330e-06 9.99990773e-01 2.52697230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.490281693 meters 0.018749407174366725 Centerline is valid? [True, True] Translation: X:134.46, Y:29.21, Z:0.25 [[ 8.80380355e-01 -4.74251518e-01 -3.99103910e-03 1.34461262e+02] [ 4.74246690e-01 8.80389401e-01 -2.14011388e-03 2.92145645e+01] [ 4.52862078e-03 -8.62287078e-06 9.99989746e-01 2.51800448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520281693 meters 0.01872934291682753 Centerline is valid? [True, True] Translation: X:134.48, Y:29.23, Z:0.25 [[ 8.80446851e-01 -4.74124388e-01 -4.40538994e-03 1.34484934e+02] [ 4.74118498e-01 8.80457872e-01 -2.36313304e-03 2.92286904e+01] [ 4.99917926e-03 -8.06382154e-06 9.99987504e-01 2.51601839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.550281693 meters 0.01884786218914133 Centerline is valid? [True, True] Translation: X:134.51, Y:29.24, Z:0.25 [[ 8.80972843e-01 -4.73135579e-01 -5.43816082e-03 1.34508831e+02] [ 4.73126578e-01 8.80989628e-01 -2.91849529e-03 2.92439267e+01] [ 6.17180724e-03 -1.82332381e-06 9.99980954e-01 2.48184175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580281693 meters 0.01882683031848825 Centerline is valid? [True, True] Translation: X:134.53, Y:29.26, Z:0.25 [[ 8.81045005e-01 -4.72997531e-01 -5.74759584e-03 1.34533520e+02] [ 4.72987464e-01 8.81063752e-01 -3.08598428e-03 2.92562258e+01] [ 6.52366130e-03 3.50254816e-07 9.99978721e-01 2.48024570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.610281693 meters 0.018885756353124308 Centerline is valid? [True, True] Translation: X:134.56, Y:29.27, Z:0.25 [[ 8.81314616e-01 -4.72494346e-01 -5.80007749e-03 1.34557765e+02] [ 4.72484077e-01 8.81333702e-01 -3.11503838e-03 2.92677967e+01] [ 6.58364178e-03 4.88459718e-06 9.99978328e-01 2.47716120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640281693 meters 0.01840600418532933 Centerline is valid? [True, True] Translation: X:134.58, Y:29.28, Z:0.25 [[ 8.81135977e-01 -4.72844824e-01 -4.14267078e-03 1.34584719e+02] [ 4.72839586e-01 8.81145716e-01 -2.22561407e-03 2.92770959e+01] [ 4.70266670e-03 2.24989671e-06 9.99988942e-01 2.53142537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.670281693 meters 0.01824170069361705 Centerline is valid? [True, True] Translation: X:134.61, Y:29.29, Z:0.26 [[ 8.80862231e-01 -4.73362048e-01 -3.17844881e-03 1.34610029e+02] [ 4.73358965e-01 8.80867965e-01 -1.70827151e-03 2.92890618e+01] [ 3.60842463e-03 2.04609511e-07 9.99993490e-01 2.55460612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700281693 meters 0.01820880433506482 Centerline is valid? [True, True] Translation: X:134.64, Y:29.30, Z:0.25 [[ 8.80771394e-01 -4.73530846e-01 -3.20755164e-03 1.34635247e+02] [ 4.73527706e-01 8.80777235e-01 -1.72450242e-03 2.92995313e+01] [ 3.64174355e-03 2.78324356e-08 9.99993369e-01 2.54868002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.730281693 meters 0.01832687702732229 Centerline is valid? [True, True] Translation: X:134.66, Y:29.31, Z:0.25 [[ 8.80956583e-01 -4.73183301e-01 -3.61419174e-03 1.34659956e+02] [ 4.73179308e-01 8.80963997e-01 -1.94378885e-03 2.93116682e+01] [ 4.10374122e-03 2.23284243e-06 9.99991580e-01 2.54036392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760281693 meters 0.018448692197063174 Centerline is valid? [True, True] Translation: X:134.68, Y:29.32, Z:0.25 [[ 8.81310240e-01 -4.72519391e-01 -4.20542898e-03 1.34683829e+02] [ 4.72513974e-01 8.81320274e-01 -2.26251286e-03 2.93243175e+01] [ 4.77541102e-03 6.85178957e-06 9.99988598e-01 2.52344654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.790281693 meters 0.01875359469208317 Centerline is valid? [True, True] Translation: X:134.71, Y:29.34, Z:0.25 [[ 8.82012793e-01 -4.71203023e-01 -4.59837076e-03 1.34707847e+02] [ 4.71196524e-01 8.82024779e-01 -2.47479299e-03 2.93381864e+01] [ 5.22200689e-03 1.60627557e-05 9.99986365e-01 2.51778699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820281693 meters 0.019100589646395005 Centerline is valid? [True, True] Translation: X:134.73, Y:29.35, Z:0.25 [[ 8.82323578e-01 -4.70622495e-01 -4.42402096e-03 1.34730635e+02] [ 4.70616469e-01 8.82334669e-01 -2.38164348e-03 2.93526439e+01] [ 5.02432206e-03 1.93630754e-05 9.99987378e-01 2.51446415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.850281693 meters 0.01944237400353438 Centerline is valid? [True, True] Translation: X:134.76, Y:29.37, Z:0.25 [[ 8.82936872e-01 -4.69465894e-01 -4.92491607e-03 1.34755219e+02] [ 4.69458403e-01 8.82950607e-01 -2.65217950e-03 2.93685662e+01] [ 5.59356545e-03 2.96638375e-05 9.99984355e-01 2.51326514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880281693 meters 0.019977516716296335 Centerline is valid? [True, True] Translation: X:134.78, Y:29.38, Z:0.25 [[ 8.83437499e-01 -4.68510625e-01 -5.99830567e-03 1.34778292e+02] [ 4.68499486e-01 8.83457861e-01 -3.23100256e-03 2.93845978e+01] [ 6.81300933e-03 4.41856939e-05 9.99976790e-01 2.49297578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.910281693 meters 0.020839146553925957 Centerline is valid? [True, True] Translation: X:134.80, Y:29.40, Z:0.25 [[ 8.84031678e-01 -4.67380997e-01 -6.55713730e-03 1.34801049e+02] [ 4.67367651e-01 8.84055994e-01 -3.53252657e-03 2.94007848e+01] [ 7.44791232e-03 5.82715342e-05 9.99972262e-01 2.47845644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940281693 meters 0.02210457839744021 Centerline is valid? [True, True] Translation: X:134.82, Y:29.42, Z:0.25 [[ 8.84838699e-01 -4.65861215e-01 -5.81427913e-03 1.34823930e+02] [ 4.65850686e-01 8.84857799e-01 -3.13274484e-03 2.94178594e+01] [ 6.60423456e-03 6.33879480e-05 9.99978190e-01 2.48839614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970281693 meters 0.021738831621787715 Centerline is valid? [True, True] Translation: X:134.85, Y:29.43, Z:0.25 [[ 8.84605083e-01 -4.66312402e-01 -5.15665266e-03 1.34848413e+02] [ 4.66304123e-01 8.84620111e-01 -2.77931716e-03 2.94309337e+01] [ 5.85770871e-03 5.40296927e-05 9.99982842e-01 2.50168222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000281693 meters 0.02072117211344829 Centerline is valid? [True, True] Translation: X:134.87, Y:29.44, Z:0.25 [[ 8.84072114e-01 -4.67320670e-01 -5.28097669e-03 1.34874366e+02] [ 4.67311998e-01 8.84087885e-01 -2.84748546e-03 2.94429729e+01] [ 5.99953632e-03 4.95187187e-05 9.99982001e-01 2.51160581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030281693 meters 0.020423927700513426 Centerline is valid? [True, True] Translation: X:134.90, Y:29.46, Z:0.25 [[ 8.83571305e-01 -4.68258654e-01 -5.96508091e-03 1.34899204e+02] [ 4.68247605e-01 8.83591439e-01 -3.21708685e-03 2.94558059e+01] [ 6.77712318e-03 4.93907744e-05 9.99977034e-01 2.49901843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060281693 meters 0.02059080072250624 Centerline is valid? [True, True] Translation: X:134.92, Y:29.47, Z:0.25 [[ 8.83424811e-01 -4.68522557e-01 -6.87147117e-03 1.34922431e+02] [ 4.68507897e-01 8.83451533e-01 -3.70664965e-03 2.94707188e+01] [ 7.80726071e-03 5.52077638e-05 9.99969521e-01 2.48352149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090281693 meters 0.020559334860536366 Centerline is valid? [True, True] Translation: X:134.95, Y:29.49, Z:0.25 [[ 8.83781878e-01 -4.67852420e-01 -6.61101557e-03 1.34946643e+02] [ 4.67838828e-01 8.83806602e-01 -3.56670819e-03 2.94855260e+01] [ 7.51155227e-03 5.93022849e-05 9.99971786e-01 2.49860366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120281693 meters 0.020559334860536366 Centerline is valid? [True, True] Translation: X:134.97, Y:29.50, Z:0.25 [[ 8.83694809e-01 -4.68016865e-01 -6.61047262e-03 1.34970746e+02] [ 4.68003271e-01 8.83719531e-01 -3.56771435e-03 2.94987537e+01] [ 7.51155425e-03 5.90478428e-05 9.99971786e-01 2.49915071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150281693 meters 0.022755703322589554 Centerline is valid? [True, True] Translation: X:134.99, Y:29.52, Z:0.25 [[ 8.85155563e-01 -4.65239551e-01 -7.19651882e-03 1.34990600e+02] [ 4.65223339e-01 8.85184812e-01 -3.88495289e-03 2.95193654e+01] [ 8.17768290e-03 9.07991471e-05 9.99966558e-01 2.47843479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180281693 meters 0.024123995779220492 Centerline is valid? [True, True] Translation: X:135.01, Y:29.54, Z:0.25 [[ 8.86004800e-01 -4.63615710e-01 -7.48115446e-03 1.35013335e+02] [ 4.63598121e-01 8.86036377e-01 -4.03997361e-03 2.95371857e+01] [ 8.50157023e-03 1.11186862e-04 9.99963855e-01 2.46380299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210281693 meters 0.026147659448922052 Centerline is valid? [True, True] Translation: X:135.04, Y:29.56, Z:0.25 [[ 8.87022852e-01 -4.61658688e-01 -7.85594835e-03 1.35035528e+02] [ 4.61639206e-01 8.87057629e-01 -4.24343621e-03 2.95554343e+01] [ 8.92769811e-03 1.37411131e-04 9.99960138e-01 2.45790043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240281693 meters 0.029257553901107413 Centerline is valid? [True, True] Translation: X:135.06, Y:29.58, Z:0.25 [[ 8.88420044e-01 -4.58966428e-01 -7.72289622e-03 1.35055204e+02] [ 4.58947492e-01 8.88453596e-01 -4.17219852e-03 2.95776375e+01] [ 8.77633397e-03 1.62260942e-04 9.99961474e-01 2.46199595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.270281693 meters 0.029928172069311795 Centerline is valid? [True, True] Translation: X:135.08, Y:29.59, Z:0.25 [[ 8.88717229e-01 -4.58405454e-01 -6.79170024e-03 1.35078179e+02] [ 4.58390784e-01 8.88743168e-01 -3.67027679e-03 2.95947578e+01] [ 7.71855208e-03 1.48585413e-04 9.99970200e-01 2.48048363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300281693 meters 0.027774353378228398 Centerline is valid? [True, True] Translation: X:135.10, Y:29.61, Z:0.25 [[ 8.88658582e-01 -4.58532134e-01 -5.84860173e-03 1.35103132e+02] [ 4.58521250e-01 8.88677819e-01 -3.16194339e-03 2.96074220e+01] [ 6.64737528e-03 1.28179962e-04 9.99977898e-01 2.50846730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.330281693 meters 0.030656236312768988 Centerline is valid? [True, True] Translation: X:135.12, Y:29.63, Z:0.25 [[ 8.88958171e-01 -4.57962565e-01 -4.86408135e-03 1.35122633e+02] [ 4.57955025e-01 8.88971471e-01 -2.63027825e-03 2.96302064e+01] [ 5.52859853e-03 1.10676846e-04 9.99984711e-01 2.52445600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360281693 meters 0.029518508275929205 Centerline is valid? [True, True] Translation: X:135.15, Y:29.65, Z:0.25 [[ 8.89274300e-01 -4.57348527e-01 -4.85227746e-03 1.35146682e+02] [ 4.57341010e-01 8.89287530e-01 -2.62469026e-03 2.96458566e+01] [ 5.51546806e-03 1.14924115e-04 9.99984783e-01 2.53015524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.390281693 meters 0.03162731120451879 Centerline is valid? [True, True] Translation: X:135.17, Y:29.67, Z:0.25 [[ 8.90144916e-01 -4.55646386e-01 -5.32909606e-03 1.35165922e+02] [ 4.55637285e-01 8.90160857e-01 -2.88329146e-03 2.96687117e+01] [ 6.05751405e-03 1.38412375e-04 9.99981644e-01 2.51164474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420281693 meters 0.03239425488652402 Centerline is valid? [True, True] Translation: X:135.19, Y:29.69, Z:0.25 [[ 8.90405014e-01 -4.55139989e-01 -5.14802544e-03 1.35188076e+02] [ 4.55131484e-01 8.90419885e-01 -2.78570740e-03 2.96853912e+01] [ 5.85179106e-03 1.37379380e-04 9.99982869e-01 2.51075757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.450281693 meters 0.031969865435836416 Centerline is valid? [True, True] Translation: X:135.21, Y:29.70, Z:0.25 [[ 8.90315896e-01 -4.55322495e-01 -4.36244891e-03 1.35211662e+02] [ 4.55316387e-01 8.90326576e-01 -2.36135906e-03 2.97009620e+01] [ 4.95918410e-03 1.16061038e-04 9.99987696e-01 2.52818765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480281693 meters 0.033360249498534035 Centerline is valid? [True, True] Translation: X:135.23, Y:29.72, Z:0.26 [[ 8.89403625e-01 -4.57113630e-01 -2.88459687e-03 1.35231775e+02] [ 4.57110967e-01 8.89408300e-01 -1.56177482e-03 2.97226437e+01] [ 3.27949296e-03 7.04673153e-05 9.99994620e-01 2.55838262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.510281693 meters 0.028126133925673053 Centerline is valid? [True, True] Translation: X:135.26, Y:29.73, Z:0.26 [[ 8.88228598e-01 -4.59394739e-01 -2.53608404e-03 1.35259345e+02] [ 4.59392690e-01 8.88232217e-01 -1.37324606e-03 2.97320553e+01] [ 2.88349356e-03 5.46979549e-05 9.99995841e-01 2.56301150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540281693 meters 0.026086017196184825 Centerline is valid? [True, True] Translation: X:135.29, Y:29.74, Z:0.25 [[ 8.86915105e-01 -4.61919501e-01 -3.45996780e-03 1.35285266e+02] [ 4.61915704e-01 8.86921852e-01 -1.87401394e-03 2.97447487e+01] [ 3.93436463e-03 6.38778055e-05 9.99992258e-01 2.54734477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.570281693 meters 0.022152462894172234 Centerline is valid? [True, True] Translation: X:135.31, Y:29.75, Z:0.25 [[ 8.84603116e-01 -4.66323933e-01 -4.39511505e-03 1.35313412e+02] [ 4.66317857e-01 8.84614032e-01 -2.38124929e-03 2.97544656e+01] [ 4.99841398e-03 5.69399106e-05 9.99987506e-01 2.53341174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600281693 meters 0.020769862667440266 Centerline is valid? [True, True] Translation: X:135.34, Y:29.77, Z:0.26 [[ 8.83651494e-01 -4.68133438e-01 -3.33475884e-03 1.35339273e+02] [ 4.68129952e-01 8.83657786e-01 -1.80707094e-03 2.97683069e+01] [ 3.79273594e-03 3.57204473e-05 9.99992807e-01 2.55230209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.630281693 meters 0.019390377242038986 Centerline is valid? [True, True] Translation: X:135.36, Y:29.78, Z:0.26 [[ 8.82222892e-01 -4.70829437e-01 -1.55233125e-03 1.35362775e+02] [ 4.70828686e-01 8.82224258e-01 -8.41243449e-04 2.97842986e+01] [ 1.76558647e-03 1.12821444e-05 9.99998441e-01 2.59624053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660281693 meters 0.019056796607346365 Centerline is valid? [True, True] Translation: X:135.39, Y:29.80, Z:0.26 [[ 8.81732411e-01 -4.71746749e-01 -1.72049024e-03 1.35387279e+02] [ 4.71745827e-01 8.81734089e-01 -9.32779397e-04 2.97980240e+01] [ 1.95705054e-03 1.08277360e-05 9.99998085e-01 2.59484613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690281693 meters 0.018573902326425834 Centerline is valid? [True, True] Translation: X:135.41, Y:29.81, Z:0.26 [[ 8.81080121e-01 -4.72960936e-01 -2.40294066e-03 1.35412564e+02] [ 4.72959139e-01 8.81083397e-01 -1.30350683e-03 2.98107216e+01] [ 2.73369893e-03 1.20012056e-05 9.99996263e-01 2.57305153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720281693 meters 0.017861114784269126 Centerline is valid? [True, True] Translation: X:135.44, Y:29.82, Z:0.25 [[ 8.79216185e-01 -4.76410119e-01 -3.50696357e-03 1.35439192e+02] [ 4.76406318e-01 8.79223179e-01 -1.90313176e-03 2.98205794e+01] [ 3.99007489e-03 2.52464123e-06 9.99992040e-01 2.54465977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750281693 meters 0.018081791592456906 Centerline is valid? [True, True] Translation: X:135.46, Y:29.83, Z:0.25 [[ 8.78181071e-01 -4.78313057e-01 -3.82441334e-03 1.35464851e+02] [ 4.78308552e-01 8.78189398e-01 -2.07604903e-03 2.98323490e+01] [ 4.35156061e-03 -6.10264362e-06 9.99990532e-01 2.53922778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780281693 meters 0.019504216736642984 Centerline is valid? [True, True] Translation: X:135.49, Y:29.84, Z:0.25 [[ 8.76007033e-01 -4.82273191e-01 -4.92417416e-03 1.35492532e+02] [ 4.82265779e-01 8.76020872e-01 -2.67395314e-03 2.98387852e+01] [ 5.60325526e-03 -3.23589357e-05 9.99984301e-01 2.51467939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810281693 meters 0.020497832879417508 Centerline is valid? [True, True] Translation: X:135.52, Y:29.85, Z:0.25 [[ 8.74850276e-01 -4.84366795e-01 -5.07955985e-03 1.35519245e+02] [ 4.84358938e-01 8.74865022e-01 -2.75922315e-03 2.98498724e+01] [ 5.78040531e-03 -4.64230831e-05 9.99983292e-01 2.51512040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840281693 meters 0.021708373766055503 Centerline is valid? [True, True] Translation: X:135.54, Y:29.86, Z:0.25 [[ 8.73959747e-01 -4.85971080e-01 -5.14489105e-03 1.35544594e+02] [ 4.85963043e-01 8.73974889e-01 -2.79551365e-03 2.98605141e+01] [ 5.85504437e-03 -5.70605115e-05 9.99982857e-01 2.51725439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870281693 meters 0.022205319920967123 Centerline is valid? [True, True] Translation: X:135.57, Y:29.87, Z:0.25 [[ 8.73100603e-01 -4.87520680e-01 -4.35021712e-03 1.35570344e+02] [ 4.87514951e-01 8.73111438e-01 -2.36410836e-03 2.98724770e+01] [ 4.95077604e-03 -5.66914528e-05 9.99987743e-01 2.53103764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900281693 meters 0.022491677898990835 Centerline is valid? [True, True] Translation: X:135.60, Y:29.88, Z:0.25 [[ 8.73153247e-01 -4.87432931e-01 -3.54173822e-03 1.35596036e+02] [ 4.87429132e-01 8.73160429e-01 -1.92498550e-03 2.98833977e+01] [ 4.03080699e-03 -4.55390524e-05 9.99991875e-01 2.54209963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930281693 meters 0.022168419510323178 Centerline is valid? [True, True] Translation: X:135.62, Y:29.90, Z:0.26 [[ 8.73312824e-01 -4.87152310e-01 -2.70880479e-03 1.35621241e+02] [ 4.87150085e-01 8.73317025e-01 -1.47259874e-03 2.98956719e+01] [ 3.08302521e-03 -3.35551177e-05 9.99995247e-01 2.55923859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960281693 meters 0.021705975601281124 Centerline is valid? [True, True] Translation: X:135.65, Y:29.91, Z:0.26 [[ 8.73398481e-01 -4.87000839e-01 -2.29695075e-03 1.35647478e+02] [ 4.86999237e-01 8.73401501e-01 -1.24917598e-03 2.99066984e+01] [ 2.61450999e-03 -2.75848582e-05 9.99996582e-01 2.57235554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.990281693 meters 0.021474766587080932 Centerline is valid? [True, True] Translation: X:135.67, Y:29.92, Z:0.26 [[ 8.73575360e-01 -4.86683570e-01 -2.27879241e-03 1.35672162e+02] [ 4.86681992e-01 8.73578332e-01 -1.23976110e-03 2.99188462e+01] [ 2.59407503e-03 -2.60224789e-05 9.99996635e-01 2.57249745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020281693 meters 0.020503373824003714 Centerline is valid? [True, True] Translation: X:135.70, Y:29.93, Z:0.26 [[ 8.74311330e-01 -4.85361324e-01 -2.02063913e-03 1.35697823e+02] [ 4.85360079e-01 8.74313665e-01 -1.09948837e-03 2.99299600e+01] [ 2.30032154e-03 -1.94424284e-05 9.99997354e-01 2.58018645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.050281693 meters 0.019617995406049624 Centerline is valid? [True, True] Translation: X:135.72, Y:29.94, Z:0.26 [[ 8.74595499e-01 -4.84851212e-01 -1.41999880e-03 1.35722084e+02] [ 4.84850596e-01 8.74596651e-01 -7.72671947e-04 2.99431150e+01] [ 1.61655713e-03 -1.27118598e-05 9.99998693e-01 2.59298427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080281693 meters 0.01942323259900586 Centerline is valid? [True, True] Translation: X:135.75, Y:29.96, Z:0.26 [[ 8.74943134e-01 -4.84224604e-01 -1.02231934e-03 1.35747573e+02] [ 4.84224284e-01 8.74943731e-01 -5.56529507e-04 2.99553957e+01] [ 1.16395717e-03 -8.10017787e-06 9.99999323e-01 2.60939365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.110281693 meters 0.01882719466945696 Centerline is valid? [True, True] Translation: X:135.77, Y:29.97, Z:0.26 [[ 8.75624328e-01 -4.82991356e-01 -1.17726283e-03 1.35772166e+02] [ 4.82990930e-01 8.75625120e-01 -6.40966605e-04 2.99690959e+01] [ 1.34042224e-03 -7.36131708e-06 9.99999102e-01 2.60949674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140281693 meters 0.017788621926756204 Centerline is valid? [True, True] Translation: X:135.80, Y:29.98, Z:0.26 [[ 8.77260542e-01 -4.80010959e-01 -1.84971063e-03 1.35796643e+02] [ 4.80009902e-01 8.77262492e-01 -1.00739998e-03 2.99836538e+01] [ 2.10624478e-03 -4.12716673e-06 9.99997782e-01 2.59513498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.170281693 meters 0.017558325496323312 Centerline is valid? [True, True] Translation: X:135.82, Y:30.00, Z:0.26 [[ 8.78215675e-01 -4.78261620e-01 -1.74650667e-03 1.35820111e+02] [ 4.78260674e-01 8.78217412e-01 -9.51520314e-04 2.99980243e+01] [ 1.98888822e-03 3.54598141e-07 9.99998022e-01 2.59726979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200281693 meters 0.018548507391831566 Centerline is valid? [True, True] Translation: X:135.84, Y:30.02, Z:0.26 [[ 8.80168548e-01 -4.74660371e-01 -9.27574905e-04 1.35843593e+02] [ 4.74660102e-01 8.80169036e-01 -5.05285758e-04 3.00154116e+01] [ 1.05626184e-03 4.45383279e-06 9.99999442e-01 2.61589943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.230281693 meters 0.019072745222458453 Centerline is valid? [True, True] Translation: X:135.87, Y:30.03, Z:0.26 [[ 8.81035015e-01 -4.73050473e-01 -7.42707627e-04 1.35868743e+02] [ 4.73050300e-01 8.81035328e-01 -4.04646499e-04 3.00295950e+01] [ 8.45769876e-04 5.16966909e-06 9.99999642e-01 2.61199028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260281693 meters 0.021408701619467018 Centerline is valid? [True, True] Translation: X:135.89, Y:30.04, Z:0.26 [[ 8.82184480e-01 -4.70898590e-01 -2.24982274e-03 1.35892699e+02] [ 4.70896992e-01 8.82187348e-01 -1.22690852e-03 3.00436817e+01] [ 2.56251465e-03 2.29248976e-05 9.99996716e-01 2.57312675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.290281693 meters 0.021670815068298432 Centerline is valid? [True, True] Translation: X:135.92, Y:30.06, Z:0.26 [[ 8.82159979e-01 -4.70940369e-01 -2.99015028e-03 1.35918442e+02] [ 4.70937545e-01 8.82165046e-01 -1.63108353e-03 3.00554885e+01] [ 3.40594914e-03 3.07025745e-05 9.99994199e-01 2.55309231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320281693 meters 0.020803029167406544 Centerline is valid? [True, True] Translation: X:135.95, Y:30.07, Z:0.25 [[ 8.81955985e-01 -4.71317145e-01 -3.71345737e-03 1.35945147e+02] [ 4.71312789e-01 8.81963802e-01 -2.02657935e-03 3.00656626e+01] [ 4.23029657e-03 3.71538381e-05 9.99991052e-01 2.54388664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.350281693 meters 0.020709470116809958 Centerline is valid? [True, True] Translation: X:135.97, Y:30.08, Z:0.25 [[ 8.81768546e-01 -4.71667550e-01 -3.73538151e-03 1.35970027e+02] [ 4.71663143e-01 8.81776457e-01 -2.03927515e-03 3.00773387e+01] [ 4.25563139e-03 3.63268936e-05 9.99990944e-01 2.54634866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380281693 meters 0.02025982393337321 Centerline is valid? [True, True] Translation: X:136.00, Y:30.09, Z:0.26 [[ 8.81602769e-01 -4.71990599e-01 -1.19658428e-03 1.35996396e+02] [ 4.71990147e-01 8.81603581e-01 -6.53217516e-04 3.00881657e+01] [ 1.36322551e-03 1.11023813e-05 9.99999071e-01 2.59880971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.410281693 meters 0.020326260801293333 Centerline is valid? [True, True] Translation: X:136.02, Y:30.10, Z:0.26 [[ 8.81694355e-01 -4.71820911e-01 -3.03206128e-04 1.36021277e+02] [ 4.71820882e-01 8.81694408e-01 -1.65285560e-04 3.01011624e+01] [ 3.45320330e-04 2.67236262e-06 9.99999940e-01 2.62497087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440281693 meters 0.021789632367892442 Centerline is valid? [True, True] Translation: X:136.04, Y:30.12, Z:0.26 [[ 8.82525811e-01 -4.70263902e-01 -2.34060305e-04 1.36044254e+02] [ 4.70263885e-01 8.82525842e-01 -1.27799053e-04 3.01162392e+01] [ 2.66663549e-04 2.71585488e-06 9.99999964e-01 2.62533216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470281693 meters 0.02269511128810796 Centerline is valid? [True, True] Translation: X:136.07, Y:30.13, Z:0.26 [[ 8.82987438e-01 -4.69395122e-01 -1.18459677e-03 1.36068214e+02] [ 4.69394676e-01 8.82988233e-01 -6.47403413e-04 3.01314932e+01] [ 1.34987301e-03 1.56056644e-05 9.99999089e-01 2.60046161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500281693 meters 0.023531173453601457 Centerline is valid? [True, True] Translation: X:136.09, Y:30.15, Z:0.26 [[ 8.83351521e-01 -4.68705169e-01 -2.35680528e-03 1.36092903e+02] [ 4.68703399e-01 8.83354665e-01 -1.28841138e-03 3.01467589e+01] [ 2.68578001e-03 3.34775093e-05 9.99996393e-01 2.57941772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530281693 meters 0.024436879489539112 Centerline is valid? [True, True] Translation: X:136.12, Y:30.16, Z:0.26 [[ 8.83934005e-01 -4.67606472e-01 -2.20485958e-03 1.36116397e+02] [ 4.67604919e-01 8.83936754e-01 -1.20577103e-03 3.01629596e+01] [ 2.51278276e-03 3.48188255e-05 9.99996842e-01 2.58060575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560281693 meters 0.024998788818957163 Centerline is valid? [True, True] Translation: X:136.14, Y:30.18, Z:0.26 [[ 8.84294619e-01 -4.66926736e-01 -1.56504976e-03 1.36141082e+02] [ 4.66925952e-01 8.84296004e-01 -8.56095087e-04 3.01788532e+01] [ 1.78370094e-03 2.62779280e-05 9.99998409e-01 2.59683583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590281693 meters 0.0257300513618347 Centerline is valid? [True, True] Translation: X:136.16, Y:30.19, Z:0.26 [[ 8.84446932e-01 -4.66639561e-01 -1.06976045e-03 1.36164698e+02] [ 4.66639194e-01 8.84447579e-01 -5.85339877e-04 3.01946643e+01] [ 1.21928979e-03 1.85099027e-05 9.99999256e-01 2.60980162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620281693 meters 0.02630865359040355 Centerline is valid? [True, True] Translation: X:136.19, Y:30.21, Z:0.26 [[ 8.84643439e-01 -4.66266685e-01 -1.16793755e-03 1.36187863e+02] [ 4.66266247e-01 8.84644210e-01 -6.39151948e-04 3.02121461e+01] [ 1.33122445e-03 2.08517178e-05 9.99999114e-01 2.60229062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650281693 meters 0.0261709190853474 Centerline is valid? [True, True] Translation: X:136.21, Y:30.23, Z:0.26 [[ 8.84472496e-01 -4.66588829e-01 -1.80793890e-03 1.36212290e+02] [ 4.66587780e-01 8.84474343e-01 -9.89948619e-04 3.02268918e+01] [ 2.06097454e-03 3.20201277e-05 9.99997876e-01 2.59189123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680281693 meters 0.02268857835776424 Centerline is valid? [True, True] Translation: X:136.24, Y:30.24, Z:0.26 [[ 8.82475021e-01 -4.70355390e-01 -1.90908565e-03 1.36239287e+02] [ 4.70354229e-01 8.82477085e-01 -1.04560837e-03 3.02367850e+01] [ 2.17653187e-03 2.47767578e-05 9.99997631e-01 2.58684987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710281693 meters 0.019595946244252586 Centerline is valid? [True, True] Translation: X:136.27, Y:30.24, Z:0.26 [[ 8.80800600e-01 -4.73485295e-01 -1.40674688e-03 1.36267586e+02] [ 4.73484668e-01 8.80801723e-01 -7.70479322e-04 3.02444217e+01] [ 1.60387570e-03 1.25655701e-05 9.99998714e-01 2.60134455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740281693 meters 0.018013565499057086 Centerline is valid? [True, True] Translation: X:136.30, Y:30.25, Z:0.26 [[ 8.79087727e-01 -4.76659525e-01 -6.82871539e-04 1.36295788e+02] [ 4.76659378e-01 8.79087992e-01 -3.73978869e-04 3.02532789e+01] [ 7.78564760e-04 3.26311048e-06 9.99999697e-01 2.61408292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.770281693 meters 0.017103236241355985 Centerline is valid? [True, True] Translation: X:136.32, Y:30.26, Z:0.26 [[ 8.76522319e-01 -4.81361213e-01 8.28561726e-05 1.36323938e+02] [ 4.81361210e-01 8.76522323e-01 4.55590236e-05 3.02590184e+01] [-9.45556318e-05 -4.97535284e-08 9.99999996e-01 2.64006230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800281693 meters 0.017231158234114346 Centerline is valid? [True, True] Translation: X:136.35, Y:30.27, Z:0.26 [[ 8.75888424e-01 -4.82513638e-01 2.38703344e-04 1.36348919e+02] [ 4.82513620e-01 8.75888457e-01 1.31351929e-04 3.02715862e+01] [-2.72456601e-04 1.27980326e-07 9.99999963e-01 2.64224165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.830281693 meters 0.0172403383494861 Centerline is valid? [True, True] Translation: X:136.37, Y:30.29, Z:0.26 [[ 8.75669475e-01 -4.82910910e-01 1.52745328e-04 1.36372020e+02] [ 4.82910903e-01 8.75669488e-01 8.39801161e-05 3.02854127e+01] [-1.74309338e-04 2.23560181e-07 9.99999985e-01 2.64638832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860281693 meters 0.017056466708626615 Centerline is valid? [True, True] Translation: X:136.39, Y:30.30, Z:0.27 [[ 8.76237827e-01 -4.81876728e-01 1.44558603e-03 1.36393818e+02] [ 4.81876074e-01 8.76239019e-01 7.93823320e-04 3.03036732e+01] [-1.64920387e-03 1.01530113e-06 9.99998640e-01 2.66689847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.890281693 meters 0.01705588915448645 Centerline is valid? [True, True] Translation: X:136.42, Y:30.32, Z:0.27 [[ 8.76522151e-01 -4.81358919e-01 1.58439293e-03 1.36416042e+02] [ 4.81358132e-01 8.76523583e-01 8.70134279e-04 3.03183251e+01] [-1.80760466e-03 -3.15502932e-08 9.99998366e-01 2.67155524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920281693 meters 0.017223612983840376 Centerline is valid? [True, True] Translation: X:136.44, Y:30.33, Z:0.26 [[ 8.76082148e-01 -4.82161432e-01 -6.51118691e-04 1.36440252e+02] [ 4.82161300e-01 8.76082390e-01 -3.57202410e-04 3.03324097e+01] [ 7.42662844e-04 -1.00557981e-06 9.99999724e-01 2.61527350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.950281693 meters 0.017452125446990357 Centerline is valid? [True, True] Translation: X:136.46, Y:30.34, Z:0.26 [[ 8.75636905e-01 -4.82965770e-01 -2.01870356e-03 1.36464752e+02] [ 4.82964497e-01 8.75639232e-01 -1.10880161e-03 3.03447122e+01] [ 2.30316926e-03 -4.05453939e-06 9.99997348e-01 2.58629883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980281693 meters 0.017753624782932634 Centerline is valid? [True, True] Translation: X:136.49, Y:30.36, Z:0.26 [[ 8.75065689e-01 -4.83996367e-01 -2.74906228e-03 1.36489655e+02] [ 4.83994010e-01 8.75070007e-01 -1.51045349e-03 3.03567660e+01] [ 3.13667595e-03 -8.78365106e-06 9.99995081e-01 2.57084370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.010281693 meters 0.017753624782932634 Centerline is valid? [True, True] Translation: X:136.51, Y:30.37, Z:0.26 [[ 8.74976820e-01 -4.84157008e-01 -2.74878471e-03 1.36513648e+02] [ 4.84154651e-01 8.74981138e-01 -1.51095849e-03 3.03701837e+01] [ 3.13667592e-03 -8.78324508e-06 9.99995081e-01 2.57139060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040281693 meters 0.018146948270071253 Centerline is valid? [True, True] Translation: X:136.54, Y:30.38, Z:0.26 [[ 8.74313542e-01 -4.85351401e-01 -3.13818116e-03 1.36539252e+02] [ 4.85348333e-01 8.74319174e-01 -1.72563538e-03 3.03813802e+01] [ 3.58131151e-03 -1.43646168e-05 9.99993587e-01 2.56746499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.070281693 meters 0.01917639002239973 Centerline is valid? [True, True] Translation: X:136.57, Y:30.39, Z:0.26 [[ 8.72715820e-01 -4.88218761e-01 -3.08839937e-03 1.36566411e+02] [ 4.88215806e-01 8.72721285e-01 -1.69874098e-03 3.03923501e+01] [ 3.52466908e-03 -2.52872599e-05 9.99993788e-01 2.56977702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100281693 meters 0.019973983112544738 Centerline is valid? [True, True] Translation: X:136.59, Y:30.40, Z:0.26 [[ 8.72297085e-01 -4.88966019e-01 -3.16674085e-03 1.36591447e+02] [ 4.88962915e-01 8.72302833e-01 -1.74232119e-03 3.04049041e+01] [ 3.61429287e-03 -2.85971448e-05 9.99993468e-01 2.57089782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.130281693 meters 0.0193904166749977 Centerline is valid? [True, True] Translation: X:136.61, Y:30.42, Z:0.26 [[ 8.72479467e-01 -4.88641317e-01 -3.04022691e-03 1.36613780e+02] [ 4.88638453e-01 8.72484764e-01 -1.67303610e-03 3.04228956e+01] [ 3.47006622e-03 -2.58821351e-05 9.99993979e-01 2.56904603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160281693 meters 0.018886985377340827 Centerline is valid? [True, True] Translation: X:136.64, Y:30.44, Z:0.26 [[ 8.72919098e-01 -4.87855557e-01 -3.03376532e-03 1.36636874e+02] [ 4.87852699e-01 8.72924369e-01 -1.67005761e-03 3.04392863e+01] [ 3.46299457e-03 -2.22054164e-05 9.99994004e-01 2.57054628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190281693 meters 0.01838622712344123 Centerline is valid? [True, True] Translation: X:136.66, Y:30.46, Z:0.26 [[ 8.73531105e-01 -4.86756912e-01 -3.33413311e-03 1.36661006e+02] [ 4.86753449e-01 8.73537468e-01 -1.83621312e-03 3.04552229e+01] [ 3.80627962e-03 -1.89115168e-05 9.99992756e-01 2.56282933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220281693 meters 0.01766990184571294 Centerline is valid? [True, True] Translation: X:136.68, Y:30.47, Z:0.26 [[ 8.74356429e-01 -4.85272815e-01 -3.33629787e-03 1.36684094e+02] [ 4.85269334e-01 8.74362794e-01 -1.83816693e-03 3.04717521e+01] [ 3.80914717e-03 -1.17899747e-05 9.99992745e-01 2.56247603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250281693 meters 0.017526609281188914 Centerline is valid? [True, True] Translation: X:136.71, Y:30.49, Z:0.26 [[ 8.74732444e-01 -4.84593461e-01 -3.51125783e-03 1.36707951e+02] [ 4.84589596e-01 8.74739491e-01 -1.93544471e-03 3.04871767e+01] [ 4.00933974e-03 -8.52272688e-06 9.99991963e-01 2.56928373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280281693 meters 0.017343516217830302 Centerline is valid? [True, True] Translation: X:136.73, Y:30.50, Z:0.26 [[ 8.75148585e-01 -4.83844589e-01 -3.06052576e-03 1.36731010e+02] [ 4.83841646e-01 8.75153937e-01 -1.68769045e-03 3.05037741e+01] [ 3.49501106e-03 -3.82991003e-06 9.99993892e-01 2.57018169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310281693 meters 0.01726835185343796 Centerline is valid? [True, True] Translation: X:136.75, Y:30.52, Z:0.26 [[ 8.75546920e-01 -4.83126306e-01 -2.56178754e-03 1.36753652e+02] [ 4.83124239e-01 8.75550668e-01 -1.41311173e-03 3.05192108e+01] [ 2.92568624e-03 -4.16030197e-07 9.99995720e-01 2.57863427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340281693 meters 0.0178697311446866 Centerline is valid? [True, True] Translation: X:136.77, Y:30.54, Z:0.26 [[ 8.77430956e-01 -4.79699982e-01 -1.68638215e-03 1.36773244e+02] [ 4.79699080e-01 8.77432577e-01 -9.30345474e-04 3.05405925e+01] [ 1.92597334e-03 7.35795512e-06 9.99998145e-01 2.59680515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370281693 meters 0.01847099447760675 Centerline is valid? [True, True] Translation: X:136.80, Y:30.56, Z:0.26 [[ 8.78306074e-01 -4.78095884e-01 -1.66291375e-03 1.36796510e+02] [ 4.78095004e-01 8.78307649e-01 -9.17511129e-04 3.05589865e+01] [ 1.89920816e-03 1.08248396e-05 9.99998196e-01 2.59437680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400281693 meters 0.018984051484669424 Centerline is valid? [True, True] Translation: X:136.82, Y:30.58, Z:0.26 [[ 8.78875591e-01 -4.77047839e-01 -1.74787717e-03 1.36820253e+02] [ 4.77046864e-01 8.78877329e-01 -9.64780911e-04 3.05763094e+01] [ 1.99641626e-03 1.41030732e-05 9.99998007e-01 2.59183624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430281693 meters 0.01982347934059658 Centerline is valid? [True, True] Translation: X:136.84, Y:30.59, Z:0.26 [[ 8.79131270e-01 -4.76576713e-01 -1.68705190e-03 1.36842701e+02] [ 4.76575803e-01 8.79132889e-01 -9.31567335e-04 3.05923136e+01] [ 1.92710611e-03 1.49618592e-05 9.99998143e-01 2.59498002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460281693 meters 0.018298187679272146 Centerline is valid? [True, True] Translation: X:136.87, Y:30.60, Z:0.26 [[ 8.77981406e-01 -4.78693041e-01 -1.27418119e-03 1.36869985e+02] [ 4.78692524e-01 8.77982330e-01 -7.03586296e-04 3.06025933e+01] [ 1.45551043e-03 7.79467726e-06 9.99998941e-01 2.59518745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.490281693 meters 0.017232935157574982 Centerline is valid? [True, True] Translation: X:136.90, Y:30.61, Z:0.26 [[ 8.76531507e-01 -4.81343096e-01 -1.15785303e-03 1.36896485e+02] [ 4.81342671e-01 8.76532272e-01 -6.39647383e-04 3.06126671e+01] [ 1.32278540e-03 3.34701359e-06 9.99999125e-01 2.59903005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520281693 meters 0.01707650521121475 Centerline is valid? [True, True] Translation: X:136.92, Y:30.62, Z:0.26 [[ 8.74805616e-01 -4.84473287e-01 -8.76580087e-04 1.36923872e+02] [ 4.84473045e-01 8.74806055e-01 -4.84153536e-04 3.06217905e+01] [ 1.00139702e-03 -1.13919138e-06 9.99999499e-01 2.60710337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.550281693 meters 0.019284253262269735 Centerline is valid? [True, True] Translation: X:136.95, Y:30.62, Z:0.26 [[ 8.71475773e-01 -4.90437938e-01 -7.78800765e-04 1.36954860e+02] [ 4.90437749e-01 8.71476121e-01 -4.30447162e-04 3.06234265e+01] [ 8.89813888e-04 -6.82902150e-06 9.99999604e-01 2.61287284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580281693 meters 0.020720934540221975 Centerline is valid? [True, True] Translation: X:136.98, Y:30.63, Z:0.26 [[ 8.70011331e-01 -4.93030226e-01 -1.21610918e-03 1.36983435e+02] [ 4.93029768e-01 8.70012181e-01 -6.72240061e-04 3.06319803e+01] [ 1.38946447e-03 -1.47215541e-05 9.99999035e-01 2.60958627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.610281693 meters 0.02292745857580683 Centerline is valid? [True, True] Translation: X:137.01, Y:30.64, Z:0.26 [[ 8.68689121e-01 -4.95353578e-01 -2.01075381e-03 1.37011686e+02] [ 4.95352331e-01 8.68691448e-01 -1.11213301e-03 3.06391725e+01] [ 2.29762370e-03 -2.99337435e-05 9.99997360e-01 2.59154927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640281693 meters 0.026390995984094317 Centerline is valid? [True, True] Translation: X:137.04, Y:30.64, Z:0.25 [[ 8.66941772e-01 -4.98393486e-01 -3.98709194e-03 1.37042078e+02] [ 4.98388611e-01 8.66950937e-01 -2.20568210e-03 3.06412368e+01] [ 4.55591068e-03 -7.49232680e-05 9.99989619e-01 2.54260997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.670281693 meters 0.02766339457262866 Centerline is valid? [True, True] Translation: X:137.07, Y:30.65, Z:0.25 [[ 8.66212147e-01 -4.99657061e-01 -4.39746897e-03 1.37070015e+02] [ 4.99651143e-01 8.66223305e-01 -2.43341111e-03 3.06498668e+01] [ 5.02506114e-03 -8.93501338e-05 9.99987370e-01 2.53796682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700281693 meters 0.028248483826426776 Centerline is valid? [True, True] Translation: X:137.10, Y:30.66, Z:0.25 [[ 8.65913381e-01 -5.00173671e-01 -4.50715932e-03 1.37097551e+02] [ 5.00167457e-01 8.65925106e-01 -2.49503757e-03 3.06601033e+01] [ 5.15081451e-03 -9.38479994e-05 9.99986730e-01 2.54078383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.730281693 meters 0.028052943402780747 Centerline is valid? [True, True] Translation: X:137.12, Y:30.67, Z:0.25 [[ 8.66173917e-01 -4.99723770e-01 -4.34721388e-03 1.37124277e+02] [ 4.99717980e-01 8.66184822e-01 -2.40712047e-03 3.06685624e+01] [ 4.96838600e-03 -8.73959720e-05 9.99987654e-01 2.54898524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760281693 meters 0.02670257358020726 Centerline is valid? [True, True] Translation: X:137.15, Y:30.68, Z:0.25 [[ 8.66769011e-01 -4.98686104e-01 -4.86327492e-03 1.37149313e+02] [ 4.98678837e-01 8.66782650e-01 -2.69371698e-03 3.06821605e+01] [ 5.55872155e-03 -9.03818766e-05 9.99984546e-01 2.54314333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.790281693 meters 0.023763943411010385 Centerline is valid? [True, True] Translation: X:137.17, Y:30.70, Z:0.25 [[ 8.67709517e-01 -4.97044886e-01 -5.15513725e-03 1.37173371e+02] [ 4.97036686e-01 8.67724826e-01 -2.85642540e-03 3.06992102e+01] [ 5.89301221e-03 -8.37448305e-05 9.99982633e-01 2.54363518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820281693 meters 0.020183130879665487 Centerline is valid? [True, True] Translation: X:137.20, Y:30.72, Z:0.25 [[ 8.70337901e-01 -4.92423987e-01 -5.52764160e-03 1.37195925e+02] [ 4.92414458e-01 8.70355453e-01 -3.06393929e-03 3.07189316e+01] [ 6.31977021e-03 -5.52281468e-05 9.99980029e-01 2.52977086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.850281693 meters 0.018745646465783982 Centerline is valid? [True, True] Translation: X:137.22, Y:30.74, Z:0.25 [[ 8.71696261e-01 -4.90019892e-01 -5.11206446e-03 1.37219705e+02] [ 4.90011695e-01 8.71711250e-01 -2.83462345e-03 3.07360384e+01] [ 5.84526598e-03 -3.40407005e-05 9.99982916e-01 2.53698900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880281693 meters 0.017677531970252333 Centerline is valid? [True, True] Translation: X:137.24, Y:30.75, Z:0.26 [[ 8.72703014e-01 -4.88232558e-01 -4.29160922e-03 1.37243620e+02] [ 4.88226755e-01 8.72713566e-01 -2.38054359e-03 3.07522339e+01] [ 4.90760447e-03 -1.77708706e-05 9.99987957e-01 2.55212974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.910281693 meters 0.017212429996152634 Centerline is valid? [True, True] Translation: X:137.27, Y:30.77, Z:0.26 [[ 8.73572089e-01 -4.86681456e-01 -3.60077795e-03 1.37267657e+02] [ 4.86677356e-01 8.73579510e-01 -1.99779629e-03 3.07669193e+01] [ 4.11785625e-03 -7.19801385e-06 9.99991522e-01 2.56383148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940281693 meters 0.017122964297815884 Centerline is valid? [True, True] Translation: X:137.29, Y:30.78, Z:0.26 [[ 8.74524693e-01 -4.84973164e-01 -2.75530259e-03 1.37291265e+02] [ 4.84970754e-01 8.74529033e-01 -1.52905198e-03 3.07823512e+01] [ 3.15114129e-03 9.52543787e-07 9.99995035e-01 2.57381798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970281693 meters 0.0171467534162505 Centerline is valid? [True, True] Translation: X:137.31, Y:30.80, Z:0.26 [[ 8.74949517e-01 -4.84207393e-01 -2.55784683e-03 1.37314669e+02] [ 4.84205311e-01 8.74953256e-01 -1.41999619e-03 3.07966884e+01] [ 2.92556907e-03 3.90195675e-06 9.99995721e-01 2.57879499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000281693 meters 0.017551613013419676 Centerline is valid? [True, True] Translation: X:137.34, Y:30.81, Z:0.26 [[ 8.75850696e-01 -4.82575698e-01 -2.50102819e-03 1.37337517e+02] [ 4.82573699e-01 8.75854266e-01 -1.38891113e-03 3.08132519e+01] [ 2.86079097e-03 9.54835736e-06 9.99995908e-01 2.58247393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030281693 meters 0.018139653247040206 Centerline is valid? [True, True] Translation: X:137.36, Y:30.83, Z:0.26 [[ 8.76418347e-01 -4.81540520e-01 -3.09971714e-03 1.37361556e+02] [ 4.81537441e-01 8.76423828e-01 -1.72217629e-03 3.08293920e+01] [ 3.54596362e-03 1.67170394e-05 9.99993713e-01 2.57446167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060281693 meters 0.018685912111539717 Centerline is valid? [True, True] Translation: X:137.39, Y:30.85, Z:0.26 [[ 8.77055908e-01 -4.80374145e-01 -3.68973601e-03 1.37385617e+02] [ 4.80369768e-01 8.77063669e-01 -2.05082431e-03 3.08452351e+01] [ 4.22129638e-03 2.62499421e-05 9.99991090e-01 2.56370861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090281693 meters 0.01968663263612156 Centerline is valid? [True, True] Translation: X:137.41, Y:30.86, Z:0.25 [[ 8.77646805e-01 -4.79288895e-01 -4.27099417e-03 1.37409303e+02] [ 4.79283015e-01 8.77657196e-01 -2.37451155e-03 3.08607640e+01] [ 4.88654578e-03 3.69675161e-05 9.99988060e-01 2.54693748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120281693 meters 0.020622109729073895 Centerline is valid? [True, True] Translation: X:137.43, Y:30.88, Z:0.26 [[ 8.78279773e-01 -4.78133268e-01 -3.63581622e-03 1.37433806e+02] [ 4.78128994e-01 8.78287298e-01 -2.02187954e-03 3.08757594e+01] [ 4.16001907e-03 3.73867554e-05 9.99991346e-01 2.56467452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150281693 meters 0.020140680286484126 Centerline is valid? [True, True] Translation: X:137.46, Y:30.89, Z:0.26 [[ 8.78450519e-01 -4.77825004e-01 -2.81989777e-03 1.37458168e+02] [ 4.77822430e-01 8.78455044e-01 -1.56869670e-03 3.08885408e+01] [ 3.22671593e-03 3.06120201e-05 9.99994794e-01 2.58780409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180281693 meters 0.020537799493884203 Centerline is valid? [True, True] Translation: X:137.48, Y:30.90, Z:0.26 [[ 8.78659544e-01 -4.77442771e-01 -2.40957609e-03 1.37482709e+02] [ 4.77440888e-01 8.78662848e-01 -1.34095462e-03 3.09031721e+01] [ 2.75743408e-03 2.78124207e-05 9.99996198e-01 2.59800605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210281693 meters 0.0247001707070835 Centerline is valid? [True, True] Translation: X:137.50, Y:30.92, Z:0.26 [[ 8.79587852e-01 -4.75728673e-01 -2.72777205e-03 1.37503623e+02] [ 4.75726251e-01 8.79592080e-01 -1.51853796e-03 3.09224474e+01] [ 3.12173875e-03 3.80147695e-05 9.99995127e-01 2.58557527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240281693 meters 0.022972953782578895 Centerline is valid? [True, True] Translation: X:137.53, Y:30.93, Z:0.26 [[ 8.80169461e-01 -4.74647999e-01 -3.31615249e-03 1.37530326e+02] [ 4.74644410e-01 8.80175706e-01 -1.84658925e-03 3.09339678e+01] [ 3.79527675e-03 5.13182234e-05 9.99992797e-01 2.58527935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.270281693 meters 0.0265810242892696 Centerline is valid? [True, True] Translation: X:137.55, Y:30.95, Z:0.26 [[ 8.81921775e-01 -4.71378684e-01 -4.01472488e-03 1.37551552e+02] [ 4.71373387e-01 8.81930910e-01 -2.23617743e-03 3.09542218e+01] [ 4.59479634e-03 7.96991081e-05 9.99989441e-01 2.57807343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300281693 meters 0.028086156319335316 Centerline is valid? [True, True] Translation: X:137.57, Y:30.97, Z:0.26 [[ 8.82882215e-01 -4.69575730e-01 -4.19860757e-03 1.37574885e+02] [ 4.69569914e-01 8.82892193e-01 -2.33899185e-03 3.09708099e+01] [ 4.80525165e-03 9.35145120e-05 9.99988450e-01 2.57895114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.330281693 meters 0.02961969959068492 Centerline is valid? [True, True] Translation: X:137.60, Y:30.99, Z:0.26 [[ 8.83615217e-01 -4.68190082e-01 -4.71128335e-03 1.37596953e+02] [ 4.68182736e-01 8.83627769e-01 -2.62509365e-03 3.09872490e+01] [ 5.39206360e-03 1.13831164e-04 9.99985456e-01 2.56716606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360281693 meters 0.03094532306714394 Centerline is valid? [True, True] Translation: X:137.62, Y:31.00, Z:0.25 [[ 8.83806896e-01 -4.67815167e-01 -5.86011051e-03 1.37619634e+02] [ 4.67803791e-01 8.83826311e-01 -3.26572058e-03 3.10031900e+01] [ 6.70707347e-03 1.44884463e-04 9.99977497e-01 2.54831489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.390281693 meters 0.02865225145005995 Centerline is valid? [True, True] Translation: X:137.65, Y:31.01, Z:0.25 [[ 8.82543644e-01 -4.70194883e-01 -5.78694614e-03 1.37645140e+02] [ 4.70183836e-01 8.82562608e-01 -3.22549463e-03 3.10147891e+01] [ 6.62395334e-03 1.25711244e-04 9.99978053e-01 2.53731202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420281693 meters 0.02623740665931444 Centerline is valid? [True, True] Translation: X:137.67, Y:31.03, Z:0.26 [[ 8.81383287e-01 -4.72380398e-01 -4.50115536e-03 1.37672173e+02] [ 4.72373740e-01 8.81394777e-01 -2.50954475e-03 3.10259886e+01] [ 5.15275457e-03 8.56432098e-05 9.99986721e-01 2.56349363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.450281693 meters 0.024104616489806698 Centerline is valid? [True, True] Translation: X:137.70, Y:31.04, Z:0.26 [[ 8.80179388e-01 -4.74631328e-01 -3.05730209e-03 1.37698324e+02] [ 4.74628268e-01 8.80184697e-01 -1.70507124e-03 3.10374355e+01] [ 3.50027074e-03 4.96865628e-05 9.99993873e-01 2.59470892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480281693 meters 0.0209838143673489 Centerline is valid? [True, True] Translation: X:137.72, Y:31.05, Z:0.26 [[ 8.78269712e-01 -4.78163616e-01 -1.36728847e-03 1.37724988e+02] [ 4.78163008e-01 8.78270776e-01 -7.62678196e-04 3.10471011e+01] [ 1.56553447e-03 1.60503935e-05 9.99998774e-01 2.63401738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.510281693 meters 0.02018849696739347 Centerline is valid? [True, True] Translation: X:137.75, Y:31.06, Z:0.26 [[ 8.77609625e-01 -4.79372732e-01 -1.76910346e-03 1.37750621e+02] [ 4.79371716e-01 8.77611408e-01 -9.86985841e-04 3.10602490e+01] [ 2.02571948e-03 1.81301140e-05 9.99997948e-01 2.62429098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540281693 meters 0.019905382943488394 Centerline is valid? [True, True] Translation: X:137.77, Y:31.07, Z:0.26 [[ 8.77276563e-01 -4.79975404e-01 -3.07312242e-03 1.37774831e+02] [ 4.79972339e-01 8.77281945e-01 -1.71544464e-03 3.10743943e+01] [ 3.51936605e-03 2.99056163e-05 9.99993807e-01 2.60141471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.570281693 meters 0.020354500118692855 Centerline is valid? [True, True] Translation: X:137.80, Y:31.09, Z:0.25 [[ 8.77126776e-01 -4.80225632e-01 -5.65349331e-03 1.37797476e+02] [ 4.80215259e-01 8.77144993e-01 -3.15687681e-03 3.10901610e+01] [ 6.47494652e-03 5.40874240e-05 9.99979036e-01 2.53172745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600281693 meters 0.02019500235293256 Centerline is valid? [True, True] Translation: X:137.82, Y:31.10, Z:0.25 [[ 8.76965634e-01 -4.80512709e-01 -6.22999906e-03 1.37821621e+02] [ 4.80500111e-01 8.76987761e-01 -3.47998968e-03 3.11041754e+01] [ 7.13581219e-03 5.83161152e-05 9.99974538e-01 2.52338497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.630281693 meters 0.01988447601800303 Centerline is valid? [True, True] Translation: X:137.85, Y:31.12, Z:0.25 [[ 8.76636721e-01 -4.81120392e-01 -5.58816148e-03 1.37845627e+02] [ 4.81110265e-01 8.76654530e-01 -3.12211486e-03 3.11175266e+01] [ 6.40100021e-03 4.84386833e-05 9.99979512e-01 2.54021396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660281693 meters 0.019259713130310507 Centerline is valid? [True, True] Translation: X:137.87, Y:31.13, Z:0.26 [[ 8.76261928e-01 -4.81809978e-01 -4.91722491e-03 1.37871238e+02] [ 4.81802143e-01 8.76275723e-01 -2.74801774e-03 3.11310696e+01] [ 5.63286718e-03 3.88538234e-05 9.99984135e-01 2.55894555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690281693 meters 0.018145081768647403 Centerline is valid? [True, True] Translation: X:137.90, Y:31.14, Z:0.26 [[ 8.75579331e-01 -4.83056091e-01 -4.20097536e-03 1.37898055e+02] [ 4.83050383e-01 8.75589408e-01 -2.34857380e-03 3.11430914e+01] [ 4.81282241e-03 2.70799164e-05 9.99988418e-01 2.57922883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720281693 meters 0.01790469480350452 Centerline is valid? [True, True] Translation: X:137.92, Y:31.16, Z:0.26 [[ 8.75025895e-01 -4.84065056e-01 -3.27194165e-03 1.37922482e+02] [ 4.84061598e-01 8.75032012e-01 -1.82960578e-03 3.11555349e+01] [ 3.74870191e-03 1.71311340e-05 9.99992973e-01 2.59057924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750281693 meters 0.017108780927530938 Centerline is valid? [True, True] Translation: X:137.95, Y:31.17, Z:0.26 [[ 8.73903042e-01 -4.86091585e-01 -2.90587259e-03 1.37948942e+02] [ 4.86088869e-01 8.73907873e-01 -1.62511174e-03 3.11651777e+01] [ 3.32941807e-03 7.67777474e-06 9.99994457e-01 2.60358758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780281693 meters 0.017052274309798963 Centerline is valid? [True, True] Translation: X:137.97, Y:31.18, Z:0.26 [[ 8.73573332e-01 -4.86681001e-01 -3.35214517e-03 1.37973119e+02] [ 4.86677389e-01 8.73579764e-01 -1.87499925e-03 3.11779426e+01] [ 3.84089269e-03 6.53608556e-06 9.99992624e-01 2.59647323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810281693 meters 0.01693898919699943 Centerline is valid? [True, True] Translation: X:138.00, Y:31.19, Z:0.26 [[ 8.73357019e-01 -4.87069827e-01 -3.24043113e-03 1.37997942e+02] [ 4.87066453e-01 8.73363031e-01 -1.81304259e-03 3.11917894e+01] [ 3.71315110e-03 5.12817212e-06 9.99993106e-01 2.59281826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840281693 meters 0.016974317560694445 Centerline is valid? [True, True] Translation: X:138.02, Y:31.20, Z:0.26 [[ 8.73325760e-01 -4.87129531e-01 -2.63375831e-03 1.38021531e+02] [ 4.87127301e-01 8.73329732e-01 -1.47403734e-03 3.12042007e+01] [ 3.01818655e-03 4.33920316e-06 9.99995445e-01 2.60702987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870281693 meters 0.016994967949788737 Centerline is valid? [True, True] Translation: X:138.05, Y:31.22, Z:0.26 [[ 8.73688561e-01 -4.86483112e-01 -1.57484959e-03 1.38045484e+02] [ 4.86482314e-01 8.73689980e-01 -8.81467290e-04 3.12188383e+01] [ 1.80474925e-03 3.99141816e-06 9.99998371e-01 2.63018006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900281693 meters 0.017655596596553306 Centerline is valid? [True, True] Translation: X:138.07, Y:31.24, Z:0.27 [[ 8.74611766e-01 -4.84823279e-01 -8.04145552e-04 1.38067371e+02] [ 4.84823070e-01 8.74612136e-01 -4.50233758e-04 3.12358039e+01] [ 9.21599266e-04 3.91142680e-06 9.99999575e-01 2.65761920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930281693 meters 0.017655596596553306 Centerline is valid? [True, True] Translation: X:138.09, Y:31.25, Z:0.27 [[ 8.74528332e-01 -4.84973763e-01 -8.04180951e-04 1.38091248e+02] [ 4.84973554e-01 8.74528701e-01 -4.50170583e-04 3.12494277e+01] [ 9.21600245e-04 3.68043527e-06 9.99999575e-01 2.65816618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960281693 meters 0.018761376912398996 Centerline is valid? [True, True] Translation: X:138.11, Y:31.27, Z:0.27 [[ 8.75756797e-01 -4.82751631e-01 -9.45976056e-04 1.38114286e+02] [ 4.82751341e-01 8.75757308e-01 -5.29842045e-04 3.12673261e+01] [ 1.08422756e-03 7.34156353e-06 9.99999412e-01 2.66118684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.990281693 meters 0.023194428040648 Centerline is valid? [True, True] Translation: X:138.13, Y:31.29, Z:0.26 [[ 8.78578516e-01 -4.77595171e-01 -1.62588632e-03 1.38132782e+02] [ 4.77594302e-01 8.78580020e-01 -9.11277461e-04 3.12917752e+01] [ 1.86369295e-03 2.41147565e-05 9.99998263e-01 2.64384074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020281693 meters 0.026223073636665428 Centerline is valid? [True, True] Translation: X:138.15, Y:31.31, Z:0.26 [[ 8.80044165e-01 -4.74887399e-01 -2.05558857e-03 1.38154805e+02] [ 4.74886003e-01 8.80046565e-01 -1.15233240e-03 3.13118103e+01] [ 2.35624179e-03 3.79331633e-05 9.99997223e-01 2.63436842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.050281693 meters 0.028442950531826532 Centerline is valid? [True, True] Translation: X:138.18, Y:31.33, Z:0.26 [[ 8.81181709e-01 -4.72770712e-01 -2.57879463e-03 1.38177048e+02] [ 4.72768503e-01 8.81185480e-01 -1.44625658e-03 3.13306156e+01] [ 2.95614414e-03 5.52419704e-05 9.99995629e-01 2.62354358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080281693 meters 0.03443847570587871 Centerline is valid? [True, True] Translation: X:138.19, Y:31.36, Z:0.26 [[ 8.82944059e-01 -4.69466402e-01 -3.32951567e-03 1.38194841e+02] [ 4.69462694e-01 8.82950333e-01 -1.86785649e-03 3.13575636e+01] [ 3.81669284e-03 8.61293985e-05 9.99992713e-01 2.60651684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.110281693 meters 0.034321727515033644 Centerline is valid? [True, True] Translation: X:138.22, Y:31.37, Z:0.26 [[ 8.83437157e-01 -4.68536900e-01 -3.45874869e-03 1.38218569e+02] [ 4.68532890e-01 8.83443923e-01 -1.94083398e-03 3.13741618e+01] [ 3.96496285e-03 9.40673323e-05 9.99992135e-01 2.60547006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140281693 meters 0.03533494792187012 Centerline is valid? [True, True] Translation: X:138.24, Y:31.39, Z:0.26 [[ 8.83768825e-01 -4.67912923e-01 -3.18767562e-03 1.38241201e+02] [ 4.67909511e-01 8.83774569e-01 -1.78920860e-03 3.13916548e+01] [ 3.65438047e-03 8.97030384e-05 9.99993319e-01 2.61270817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.170281693 meters 0.034880658055159906 Centerline is valid? [True, True] Translation: X:138.27, Y:31.41, Z:0.26 [[ 8.83677481e-01 -4.68085702e-01 -3.14419735e-03 1.38265137e+02] [ 4.68082381e-01 8.83683070e-01 -1.76531958e-03 3.14068128e+01] [ 3.60479482e-03 8.82297792e-05 9.99993499e-01 2.61313158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200281693 meters 0.03125752322811585 Centerline is valid? [True, True] Translation: X:138.29, Y:31.42, Z:0.26 [[ 8.82880515e-01 -4.69586274e-01 -3.27522298e-03 1.38290225e+02] [ 4.69582679e-01 8.82886586e-01 -1.83963534e-03 3.14203901e+01] [ 3.75551794e-03 8.61902193e-05 9.99992944e-01 2.61109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.230281693 meters 0.03134749709441328 Centerline is valid? [True, True] Translation: X:138.31, Y:31.44, Z:0.26 [[ 8.82294545e-01 -4.70687173e-01 -3.14965224e-03 1.38312871e+02] [ 4.70683853e-01 8.82300164e-01 -1.76956809e-03 3.14368465e+01] [ 3.61185169e-03 7.87898233e-05 9.99993474e-01 2.60422447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260281693 meters 0.02913121032879802 Centerline is valid? [True, True] Translation: X:138.34, Y:31.45, Z:0.26 [[ 8.81110147e-01 -4.72900843e-01 -3.11471687e-03 1.38336332e+02] [ 4.72897609e-01 8.81115650e-01 -1.75022098e-03 3.14526103e+01] [ 3.57210675e-03 6.91953023e-05 9.99993618e-01 2.60446575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.290281693 meters 0.02773998206904224 Centerline is valid? [True, True] Translation: X:138.36, Y:31.47, Z:0.26 [[ 8.80300582e-01 -4.74404495e-01 -3.35564585e-03 1.38360721e+02] [ 4.74400750e-01 8.80306975e-01 -1.88614132e-03 3.14671770e+01] [ 3.84879236e-03 6.84503934e-05 9.99992591e-01 2.59820002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320281693 meters 0.025734194561335865 Centerline is valid? [True, True] Translation: X:138.39, Y:31.48, Z:0.26 [[ 8.79414432e-01 -4.76043081e-01 -3.63893803e-03 1.38386532e+02] [ 4.76038689e-01 8.79421958e-01 -2.04613154e-03 3.14809400e+01] [ 4.17420877e-03 6.71223201e-05 9.99991286e-01 2.59166494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.350281693 meters 0.023463261174098585 Centerline is valid? [True, True] Translation: X:138.41, Y:31.49, Z:0.26 [[ 8.78416862e-01 -4.77880519e-01 -3.74508794e-03 1.38412575e+02] [ 4.77875880e-01 8.78424843e-01 -2.10659802e-03 3.14931265e+01] [ 4.29648045e-03 6.07840273e-05 9.99990768e-01 2.58984633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380281693 meters 0.021671118452412944 Centerline is valid? [True, True] Translation: X:138.44, Y:31.51, Z:0.26 [[ 8.76801741e-01 -4.80837806e-01 -3.70282752e-03 1.38438223e+02] [ 4.80833294e-01 8.76809559e-01 -2.08361955e-03 3.15050758e+01] [ 4.24855761e-03 4.64784937e-05 9.99990974e-01 2.58893461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.410281693 meters 0.020231434761554302 Centerline is valid? [True, True] Translation: X:138.46, Y:31.52, Z:0.26 [[ 8.76186568e-01 -4.81958004e-01 -3.68530128e-03 1.38463796e+02] [ 4.81953540e-01 8.76194317e-01 -2.07455427e-03 3.15178113e+01] [ 4.22888807e-03 4.15525821e-05 9.99991057e-01 2.59691524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440281693 meters 0.019621536916583863 Centerline is valid? [True, True] Translation: X:138.49, Y:31.53, Z:0.26 [[ 8.75414410e-01 -4.83351815e-01 -4.54236182e-03 1.38486264e+02] [ 4.83345050e-01 8.75426194e-01 -2.55770070e-03 3.15344252e+01] [ 5.21277180e-03 4.35199502e-05 9.99986412e-01 2.56983115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470281693 meters 0.019103494406704842 Centerline is valid? [True, True] Translation: X:138.51, Y:31.55, Z:0.25 [[ 8.74829900e-01 -4.84402707e-01 -5.16368889e-03 1.38510893e+02] [ 4.84393977e-01 8.74845138e-01 -2.90855257e-03 3.15476933e+01] [ 5.92633886e-03 4.32289551e-05 9.99982438e-01 2.54889202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500281693 meters 0.018925928684450106 Centerline is valid? [True, True] Translation: X:138.54, Y:31.56, Z:0.25 [[ 8.74138670e-01 -4.85647072e-01 -5.33921703e-03 1.38535570e+02] [ 4.85637757e-01 8.74154975e-01 -3.00813916e-03 3.15610064e+01] [ 6.12819710e-03 3.66053788e-05 9.99981222e-01 2.53651154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530281693 meters 0.01790849624384936 Centerline is valid? [True, True] Translation: X:138.56, Y:31.57, Z:0.26 [[ 8.73154607e-01 -4.87420447e-01 -4.72653522e-03 1.38562389e+02] [ 4.87413169e-01 8.73167399e-01 -2.66366971e-03 3.15729367e+01] [ 5.42538355e-03 2.20199667e-05 9.99985282e-01 2.55358700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560281693 meters 0.016695271053762003 Centerline is valid? [True, True] Translation: X:138.59, Y:31.58, Z:0.26 [[ 8.70905920e-01 -4.91440366e-01 -3.04045556e-03 1.38591213e+02] [ 4.91437377e-01 8.70911228e-01 -1.71397152e-03 3.15810344e+01] [ 3.49028167e-03 -1.48556071e-06 9.99993909e-01 2.60378313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590281693 meters 0.017004819680133648 Centerline is valid? [True, True] Translation: X:138.62, Y:31.59, Z:0.26 [[ 8.69855727e-01 -4.93296438e-01 -3.10448349e-03 1.38617506e+02] [ 4.93293332e-01 8.69861267e-01 -1.75054681e-03 3.15905896e+01] [ 3.56400845e-03 -8.69783154e-06 9.99993649e-01 2.59649590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620281693 meters 0.017587819574485557 Centerline is valid? [True, True] Translation: X:138.64, Y:31.60, Z:0.26 [[ 8.68791822e-01 -4.95165371e-01 -3.46779672e-03 1.38644670e+02] [ 4.95161508e-01 8.68798743e-01 -1.95592351e-03 3.16010291e+01] [ 3.98132302e-03 -1.78291024e-05 9.99992074e-01 2.58463229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650281693 meters 0.018385855081019743 Centerline is valid? [True, True] Translation: X:138.67, Y:31.61, Z:0.26 [[ 8.67968986e-01 -4.96604329e-01 -3.73899672e-03 1.38671089e+02] [ 4.96599849e-01 8.67977039e-01 -2.10943277e-03 3.16102202e+01] [ 4.29291674e-03 -2.58629882e-05 9.99990785e-01 2.57434799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680281693 meters 0.019607821539945905 Centerline is valid? [True, True] Translation: X:138.70, Y:31.62, Z:0.26 [[ 8.66844045e-01 -4.98567650e-01 -3.42064617e-03 1.38697890e+02] [ 4.98563915e-01 8.66850793e-01 -1.93009889e-03 3.16183817e+01] [ 3.92747471e-03 -3.23160166e-05 9.99992287e-01 2.58445760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710281693 meters 0.01961891830078537 Centerline is valid? [True, True] Translation: X:138.72, Y:31.63, Z:0.26 [[ 8.66858956e-01 -4.98543617e-01 -3.13235820e-03 1.38721409e+02] [ 4.98540484e-01 8.66864615e-01 -1.76771934e-03 3.16306607e+01] [ 3.59661568e-03 -2.92440345e-05 9.99993532e-01 2.60160057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740281693 meters 0.01836672009974727 Centerline is valid? [True, True] Translation: X:138.75, Y:31.65, Z:0.26 [[ 8.67722290e-01 -4.97047976e-01 -1.15647824e-03 1.38746201e+02] [ 4.97047548e-01 8.67723060e-01 -6.52595979e-04 3.16456148e+01] [ 1.32787435e-03 -8.55259839e-06 9.99999118e-01 2.64814884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.770281693 meters 0.017527902803373515 Centerline is valid? [True, True] Translation: X:138.77, Y:31.66, Z:0.27 [[ 8.68436692e-01 -4.95799823e-01 -4.98776102e-04 1.38770845e+02] [ 4.95799743e-01 8.68436835e-01 -2.81357625e-04 3.16609679e+01] [ 5.72652600e-04 -2.95177797e-06 9.99999836e-01 2.66323322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800281693 meters 0.017071242395496258 Centerline is valid? [True, True] Translation: X:138.79, Y:31.68, Z:0.26 [[ 8.69150938e-01 -4.94546170e-01 -8.55569634e-04 1.38794282e+02] [ 4.94545934e-01 8.69151359e-01 -4.83168075e-04 3.16759136e+01] [ 9.82568431e-04 -3.17249792e-06 9.99999517e-01 2.64811693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.830281693 meters 0.01686631919112845 Centerline is valid? [True, True] Translation: X:138.82, Y:31.69, Z:0.26 [[ 8.69861955e-01 -4.93292026e-01 -1.77630234e-03 1.38817121e+02] [ 4.93291006e-01 8.69863769e-01 -1.00341763e-03 3.16917432e+01] [ 2.04011897e-03 -3.39914682e-06 9.99997919e-01 2.62360665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860281693 meters 0.016967665830556294 Centerline is valid? [True, True] Translation: X:138.84, Y:31.71, Z:0.26 [[ 8.71469604e-01 -4.90442146e-01 -2.68901449e-03 1.38838837e+02] [ 4.90439791e-01 8.71473753e-01 -1.51983954e-03 3.17101714e+01] [ 3.08879891e-03 5.69425741e-06 9.99995230e-01 2.59925826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.890281693 meters 0.01766407758961811 Centerline is valid? [True, True] Translation: X:138.86, Y:31.73, Z:0.26 [[ 8.72516235e-01 -4.88577742e-01 -2.68514010e-03 1.38861712e+02] [ 4.88575383e-01 8.72520367e-01 -1.51825215e-03 3.17276433e+01] [ 3.08462363e-03 1.28062944e-05 9.99995242e-01 2.61066606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920281693 meters 0.01905749933836837 Centerline is valid? [True, True] Translation: X:138.88, Y:31.75, Z:0.26 [[ 8.73803209e-01 -4.86272160e-01 -2.70899740e-03 1.38884093e+02] [ 4.86269746e-01 8.73807408e-01 -1.53230009e-03 3.17472117e+01] [ 3.11225687e-03 2.16252544e-05 9.99995157e-01 2.62214029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.950281693 meters 0.023814611589633893 Centerline is valid? [True, True] Translation: X:138.90, Y:31.77, Z:0.26 [[ 8.76477793e-01 -4.81434982e-01 -2.65250707e-03 1.38901469e+02] [ 4.81432644e-01 8.76481806e-01 -1.50075845e-03 3.17734155e+01] [ 3.04739180e-03 3.83779598e-05 9.99995356e-01 2.62977505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980281693 meters 0.02468740993679549 Centerline is valid? [True, True] Translation: X:138.92, Y:31.79, Z:0.26 [[ 8.77067156e-01 -4.80360894e-01 -2.57195882e-03 1.38924905e+02] [ 4.80358691e-01 8.77070926e-01 -1.45547226e-03 3.17910172e+01] [ 2.95494226e-03 4.10841490e-05 9.99995633e-01 2.62424714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.010281693 meters 0.02550379757239866 Centerline is valid? [True, True] Translation: X:138.95, Y:31.81, Z:0.26 [[ 8.77259577e-01 -4.80010287e-01 -2.39985889e-03 1.38947161e+02] [ 4.80008367e-01 8.77262858e-01 -1.35845732e-03 3.18073544e+01] [ 2.75738056e-03 3.97673480e-05 9.99996198e-01 2.61815928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040281693 meters 0.02386684595273774 Centerline is valid? [True, True] Translation: X:138.97, Y:31.82, Z:0.26 [[ 8.76424752e-01 -4.81535741e-01 -1.72770940e-03 1.38970125e+02] [ 4.81534748e-01 8.76426454e-01 -9.78071677e-04 3.18239843e+01] [ 1.98518669e-03 2.52541177e-05 9.99998029e-01 2.63281652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.070281693 meters 0.022851743401032947 Centerline is valid? [True, True] Translation: X:138.99, Y:31.84, Z:0.26 [[ 8.75800108e-01 -4.82670650e-01 -1.79303652e-03 1.38994213e+02] [ 4.82669583e-01 8.75801943e-01 -1.01519472e-03 3.18391268e+01] [ 2.06034956e-03 2.36634620e-05 9.99997877e-01 2.63630569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100281693 meters 0.02175994148000213 Centerline is valid? [True, True] Translation: X:139.02, Y:31.85, Z:0.26 [[ 8.75074164e-01 -4.83985558e-01 -1.78522982e-03 1.39019260e+02] [ 4.83984502e-01 8.75075985e-01 -1.01112945e-03 3.18541762e+01] [ 2.05158380e-03 2.07896875e-05 9.99997895e-01 2.63842297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.130281693 meters 0.019808325419087797 Centerline is valid? [True, True] Translation: X:139.04, Y:31.87, Z:0.26 [[ 8.73767632e-01 -4.86340708e-01 -1.68562589e-03 1.39044054e+02] [ 4.86339770e-01 8.73769258e-01 -9.55031866e-04 3.18680343e+01] [ 1.93731896e-03 1.46890234e-05 9.99998123e-01 2.62592891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160281693 meters 0.0192549532868378 Centerline is valid? [True, True] Translation: X:139.07, Y:31.88, Z:0.26 [[ 8.73208258e-01 -4.87342069e-01 -2.24644989e-03 1.39068112e+02] [ 4.87340406e-01 8.73211147e-01 -1.27327426e-03 3.18818752e+01] [ 2.58214520e-03 1.70477971e-05 9.99996666e-01 2.61270472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190281693 meters 0.01817070547562574 Centerline is valid? [True, True] Translation: X:139.09, Y:31.90, Z:0.26 [[ 8.72500824e-01 -4.88603217e-01 -3.03449521e-03 1.39093664e+02] [ 4.88600189e-01 8.72506101e-01 -1.72035083e-03 3.18962591e+01] [ 3.48818453e-03 1.83525862e-05 9.99993916e-01 2.59541851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220281693 meters 0.0175999704089581 Centerline is valid? [True, True] Translation: X:139.12, Y:31.91, Z:0.25 [[ 8.71208002e-01 -4.90888131e-01 -5.04576862e-03 1.39116398e+02] [ 4.90879791e-01 8.71222614e-01 -2.86140965e-03 3.19127038e+01] [ 5.80061976e-03 1.60171385e-05 9.99983176e-01 2.54634152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250281693 meters 0.0171569086977097 Centerline is valid? [True, True] Translation: X:139.14, Y:31.92, Z:0.26 [[ 8.69897701e-01 -4.93208120e-01 -4.87230323e-03 1.39142126e+02] [ 4.93200376e-01 8.69911346e-01 -2.76386311e-03 3.19249713e+01] [ 5.60163159e-03 1.25638175e-06 9.99984311e-01 2.55202869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280281693 meters 0.017299022397555135 Centerline is valid? [True, True] Translation: X:139.17, Y:31.94, Z:0.26 [[ 8.68352632e-01 -4.95929480e-01 -4.20203855e-03 1.39168174e+02] [ 4.95923747e-01 8.68362799e-01 -2.38456178e-03 3.19360540e+01] [ 4.83146844e-03 -1.32502051e-05 9.99988328e-01 2.57883971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310281693 meters 0.02175507953928597 Centerline is valid? [True, True] Translation: X:139.20, Y:31.94, Z:0.26 [[ 8.64828551e-01 -5.02054231e-01 -3.62308032e-03 1.39198326e+02] [ 5.02050020e-01 8.64836139e-01 -2.05657394e-03 3.19389895e+01] [ 4.16588244e-03 -4.03836801e-05 9.99991322e-01 2.58508261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340281693 meters 0.02324515925740293 Centerline is valid? [True, True] Translation: X:139.22, Y:31.95, Z:0.26 [[ 8.62555458e-01 -5.05939593e-01 -4.81765289e-03 1.39224723e+02] [ 5.05932203e-01 8.62568909e-01 -2.73556432e-03 3.19508668e+01] [ 5.53958789e-03 -7.78298057e-05 9.99984653e-01 2.56730027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370281693 meters 0.031626556136819375 Centerline is valid? [True, True] Translation: X:139.26, Y:31.95, Z:0.25 [[ 8.60212650e-01 -5.09897834e-01 -6.19646993e-03 1.39256111e+02] [ 5.09885706e-01 8.60234957e-01 -3.51922870e-03 3.19533711e+01] [ 7.12486714e-03 -1.32206402e-04 9.99974609e-01 2.51652959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400281693 meters 0.03298903495308703 Centerline is valid? [True, True] Translation: X:139.28, Y:31.96, Z:0.25 [[ 8.57971430e-01 -5.13647382e-01 -7.16880033e-03 1.39283490e+02] [ 5.13631271e-01 8.58001359e-01 -4.07258230e-03 3.19648110e+01] [ 8.24271165e-03 -1.87960769e-04 9.99966011e-01 2.50319349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430281693 meters 0.038788342807412605 Centerline is valid? [True, True] Translation: X:139.32, Y:31.97, Z:0.25 [[ 8.54741364e-01 -5.19011560e-01 -6.64839170e-03 1.39315252e+02] [ 5.18997855e-01 8.54767192e-01 -3.77823648e-03 3.19673734e+01] [ 7.64377551e-03 -2.21086031e-04 9.99970761e-01 2.52335899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460281693 meters 0.04182883333791033 Centerline is valid? [True, True] Translation: X:139.34, Y:31.98, Z:0.25 [[ 8.54199953e-01 -5.19908081e-01 -6.16663200e-03 1.39342081e+02] [ 5.19896309e-01 8.54222185e-01 -3.50510749e-03 3.19756981e+01] [ 7.09000758e-03 -2.11946563e-04 9.99974843e-01 2.53971065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.490281693 meters 0.04020206692572121 Centerline is valid? [True, True] Translation: X:139.37, Y:31.99, Z:0.26 [[ 8.54131627e-01 -5.20025020e-01 -5.75698786e-03 1.39365888e+02] [ 5.20014755e-01 8.54151005e-01 -3.27332683e-03 3.19902914e+01] [ 6.61954882e-03 -1.97866662e-04 9.99978071e-01 2.55947898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520281693 meters 0.03980519487668305 Centerline is valid? [True, True] Translation: X:139.39, Y:32.00, Z:0.26 [[ 8.54618027e-01 -5.19224554e-01 -5.82150625e-03 1.39391151e+02] [ 5.19214035e-01 8.54637833e-01 -3.31071724e-03 3.20028689e+01] [ 6.69428517e-03 -1.93209118e-04 9.99977574e-01 2.56461057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.550281693 meters 0.034673352925224755 Centerline is valid? [True, True] Translation: X:139.42, Y:32.02, Z:0.26 [[ 8.56367095e-01 -5.16340037e-01 -5.32587051e-03 1.39415238e+02] [ 5.16331173e-01 8.56383642e-01 -3.02961286e-03 3.20186596e+01] [ 6.12529880e-03 -1.55452207e-04 9.99981228e-01 2.58390225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580281693 meters 0.030825921136865535 Centerline is valid? [True, True] Translation: X:139.44, Y:32.04, Z:0.26 [[ 8.57309635e-01 -5.14780724e-01 -4.58225433e-03 1.39439076e+02] [ 5.14774135e-01 8.57321871e-01 -2.60745183e-03 3.20359471e+01] [ 5.27073280e-03 -1.23432434e-04 9.99986102e-01 2.60487487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.610281693 meters 0.03242601160867304 Centerline is valid? [True, True] Translation: X:139.47, Y:32.05, Z:0.26 [[ 8.58327882e-01 -5.13090238e-01 -3.41387799e-03 1.39465175e+02] [ 5.13086566e-01 8.58334667e-01 -1.94299679e-03 3.20457853e+01] [ 3.92718252e-03 -8.38866135e-05 9.99992285e-01 2.62635067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.640281693 meters 0.027472233292630578 Centerline is valid? [True, True] Translation: X:139.49, Y:32.06, Z:0.27 [[ 8.59911534e-01 -5.10439898e-01 -1.80680526e-03 1.39489005e+02] [ 5.10438864e-01 8.59913431e-01 -1.02842020e-03 3.20615070e+01] [ 2.07864281e-03 -3.79132340e-05 9.99997839e-01 2.66434968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.670281693 meters 0.027845794433638726 Centerline is valid? [True, True] Translation: X:139.52, Y:32.07, Z:0.27 [[ 8.60479723e-01 -5.09481331e-01 -1.84941201e-03 1.39515456e+02] [ 5.09480244e-01 8.60481709e-01 -1.05297768e-03 3.20716953e+01] [ 2.12785768e-03 -3.61729384e-05 9.99997735e-01 2.66164599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.700281693 meters 0.02470506193550624 Centerline is valid? [True, True] Translation: X:139.54, Y:32.08, Z:0.27 [[ 8.61423383e-01 -5.07884112e-01 -1.86643935e-03 1.39541554e+02] [ 5.07883001e-01 8.61425405e-01 -1.06288965e-03 3.20844408e+01] [ 2.14762304e-03 -3.23348206e-05 9.99997693e-01 2.66822153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.730281693 meters 0.02285165240347027 Centerline is valid? [True, True] Translation: X:139.57, Y:32.10, Z:0.27 [[ 8.62006825e-01 -5.06895275e-01 -1.18896934e-03 1.39566756e+02] [ 5.06894823e-01 8.62007645e-01 -6.77199386e-04 3.20987431e+01] [ 1.36816983e-03 -1.89319106e-05 9.99999064e-01 2.67908505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.760281693 meters 0.021703538376221604 Centerline is valid? [True, True] Translation: X:139.59, Y:32.11, Z:0.27 [[ 8.62523771e-01 -5.06015093e-01 -1.21242965e-03 1.39592124e+02] [ 5.06014622e-01 8.62524623e-01 -6.90824894e-04 3.21115989e+01] [ 1.39531825e-03 -1.76542368e-05 9.99999026e-01 2.68470809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.790281693 meters 0.020506310963828902 Centerline is valid? [True, True] Translation: X:139.62, Y:32.12, Z:0.26 [[ 8.63322899e-01 -5.04643792e-01 -2.86623939e-03 1.39619044e+02] [ 5.04641147e-01 8.63327656e-01 -1.63426081e-03 3.21231883e+01] [ 3.29922331e-03 -3.55275546e-05 9.99994557e-01 2.64372861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.820281693 meters 0.020506310963828902 Centerline is valid? [True, True] Translation: X:139.64, Y:32.14, Z:0.26 [[ 8.63228548e-01 -5.04805170e-01 -2.86595768e-03 1.39642829e+02] [ 5.04802524e-01 8.63233305e-01 -1.63475474e-03 3.21369766e+01] [ 3.29922276e-03 -3.55757063e-05 9.99994557e-01 2.64427556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.850281693 meters 0.02045740400813273 Centerline is valid? [True, True] Translation: X:139.67, Y:32.15, Z:0.26 [[ 8.63610336e-01 -5.04148160e-01 -3.43792436e-03 1.39668567e+02] [ 5.04144345e-01 8.63617178e-01 -1.96165229e-03 3.21485292e+01] [ 3.95801393e-03 -3.91069307e-05 9.99992166e-01 2.63120427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.880281693 meters 0.020321225795906665 Centerline is valid? [True, True] Translation: X:139.69, Y:32.16, Z:0.26 [[ 8.63823154e-01 -5.03781469e-01 -3.71353552e-03 1.39693405e+02] [ 5.03777013e-01 8.63831135e-01 -2.11925790e-03 3.21601797e+01] [ 4.27551046e-03 -4.01297823e-05 9.99990859e-01 2.62304440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.910281693 meters 0.020187326226958718 Centerline is valid? [True, True] Translation: X:139.72, Y:32.17, Z:0.26 [[ 8.64082227e-01 -5.03338866e-01 -3.44839546e-03 1.39718483e+02] [ 5.03335019e-01 8.64089107e-01 -1.96826746e-03 3.21720121e+01] [ 3.97042647e-03 -3.49532581e-05 9.99992117e-01 2.62889272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940281693 meters 0.018665008997559972 Centerline is valid? [True, True] Translation: X:139.74, Y:32.19, Z:0.26 [[ 8.64664872e-01 -5.02339126e-01 -3.17187875e-03 1.39743037e+02] [ 5.02335863e-01 8.64670690e-01 -1.81090005e-03 3.21869869e+01] [ 3.65231654e-03 -2.75267876e-05 9.99993330e-01 2.63355410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970281693 meters 0.018556744462961013 Centerline is valid? [True, True] Translation: X:139.77, Y:32.20, Z:0.26 [[ 8.64917496e-01 -5.01899953e-01 -3.76329160e-03 1.39766934e+02] [ 5.01895352e-01 8.64925682e-01 -2.14922020e-03 3.21992274e+01] [ 4.33366107e-03 -2.98804058e-05 9.99990609e-01 2.62041583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000281693 meters 0.018367525416660625 Centerline is valid? [True, True] Translation: X:139.79, Y:32.21, Z:0.26 [[ 8.64969181e-01 -5.01805191e-01 -4.45712904e-03 1.39791338e+02] [ 5.01798732e-01 8.64980664e-01 -2.54636134e-03 3.22126686e+01] [ 5.13310777e-03 -3.40576154e-05 9.99986825e-01 2.60911564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030281693 meters 0.01817444851305278 Centerline is valid? [True, True] Translation: X:139.82, Y:32.23, Z:0.26 [[ 8.65144992e-01 -5.01501242e-01 -4.54398115e-03 1.39815914e+02] [ 5.01494518e-01 8.65156924e-01 -2.59710131e-03 3.22251080e+01] [ 5.23370629e-03 -3.19124397e-05 9.99986304e-01 2.60191805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060281693 meters 0.018220335427002157 Centerline is valid? [True, True] Translation: X:139.84, Y:32.24, Z:0.26 [[ 8.65184695e-01 -5.01430359e-01 -4.79985891e-03 1.39839884e+02] [ 5.01422851e-01 8.65198009e-01 -2.74412306e-03 3.22376925e+01] [ 5.52881498e-03 -3.25856641e-05 9.99984715e-01 2.59536314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090281693 meters 0.01847454704195001 Centerline is valid? [True, True] Translation: X:139.87, Y:32.25, Z:0.26 [[ 8.64902179e-01 -5.01914057e-01 -5.14786837e-03 1.39865754e+02] [ 5.01905423e-01 8.64917498e-01 -2.94410964e-03 3.22495719e+01] [ 5.93017145e-03 -3.73762120e-05 9.99982416e-01 2.58263545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120281693 meters 0.01837088731134334 Centerline is valid? [True, True] Translation: X:139.89, Y:32.26, Z:0.26 [[ 8.64626913e-01 -5.02386443e-01 -5.30689776e-03 1.39890407e+02] [ 5.02377269e-01 8.64643198e-01 -3.03638973e-03 3.22631381e+01] [ 6.11401409e-03 -4.07205211e-05 9.99981308e-01 2.58503140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150281693 meters 0.018349792765324113 Centerline is valid? [True, True] Translation: X:139.91, Y:32.28, Z:0.26 [[ 8.64519732e-01 -5.02575361e-01 -4.86209067e-03 1.39914395e+02] [ 5.02567657e-01 8.64533403e-01 -2.78307310e-03 3.22768670e+01] [ 5.60214376e-03 -3.75079035e-05 9.99984307e-01 2.59748335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180281693 meters 0.017937696210648193 Centerline is valid? [True, True] Translation: X:139.94, Y:32.29, Z:0.26 [[ 8.65220584e-01 -5.01365139e-01 -5.13216604e-03 1.39937580e+02] [ 5.01356528e-01 8.65235804e-01 -2.93852199e-03 3.22925679e+01] [ 5.91380630e-03 -3.05752339e-05 9.99982513e-01 2.59853420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210281693 meters 0.01758747855970152 Centerline is valid? [True, True] Translation: X:139.96, Y:32.31, Z:0.26 [[ 8.65691247e-01 -5.00546367e-01 -5.65679775e-03 1.39960439e+02] [ 5.00535881e-01 8.65709728e-01 -3.24011844e-03 3.23090939e+01] [ 6.51897436e-03 -2.64880725e-05 9.99978751e-01 2.59473840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.240281693 meters 0.01733655428335849 Centerline is valid? [True, True] Translation: X:139.98, Y:32.32, Z:0.26 [[ 8.66017051e-01 -4.99979154e-01 -5.94243348e-03 1.39982491e+02] [ 4.99967562e-01 8.66037439e-01 -3.40464010e-03 3.23249869e+01] [ 6.84861894e-03 -2.25475995e-05 9.99976548e-01 2.58236397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.270281693 meters 0.01748267693822453 Centerline is valid? [True, True] Translation: X:140.00, Y:32.34, Z:0.26 [[ 8.66017538e-01 -4.99974887e-01 -6.22378981e-03 1.40004658e+02] [ 4.99962165e-01 8.66039902e-01 -3.56679662e-03 3.23403052e+01] [ 7.17335906e-03 -2.27510033e-05 9.99974271e-01 2.56738057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.300281693 meters 0.018002640431756995 Centerline is valid? [True, True] Translation: X:140.03, Y:32.35, Z:0.26 [[ 8.65245286e-01 -5.01315275e-01 -5.79565918e-03 1.40028010e+02] [ 5.01304267e-01 8.65264696e-01 -3.32237013e-03 3.23545848e+01] [ 6.68033418e-03 -3.07235863e-05 9.99977686e-01 2.57255080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.330281693 meters 0.018456013712844818 Centerline is valid? [True, True] Translation: X:140.05, Y:32.37, Z:0.26 [[ 8.64468523e-01 -5.02656908e-01 -5.49585782e-03 1.40053333e+02] [ 5.02647030e-01 8.64485992e-01 -3.15156687e-03 3.23676824e+01] [ 6.33524896e-03 -3.80462528e-05 9.99979931e-01 2.58663254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.360281693 meters 0.019104267581111493 Centerline is valid? [True, True] Translation: X:140.08, Y:32.38, Z:0.26 [[ 8.63624020e-01 -5.04114619e-01 -4.69070289e-03 1.40079443e+02] [ 5.04107439e-01 8.63636758e-01 -2.69079514e-03 3.23807739e+01] [ 5.40753260e-03 -4.07829034e-05 9.99985378e-01 2.60794836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.390281693 meters 0.020673473387868208 Centerline is valid? [True, True] Translation: X:140.11, Y:32.39, Z:0.26 [[ 8.61828371e-01 -5.07183975e-01 -4.03408070e-03 1.40105503e+02] [ 5.07178695e-01 8.61837811e-01 -2.31494894e-03 3.23932487e+01] [ 4.65082829e-03 -5.09111127e-05 9.99989184e-01 2.62455346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.420281693 meters 0.022496300146126285 Centerline is valid? [True, True] Translation: X:140.13, Y:32.40, Z:0.26 [[ 8.61148465e-01 -5.08330731e-01 -4.81561123e-03 1.40130873e+02] [ 5.08323220e-01 8.61161926e-01 -2.76411981e-03 3.24046947e+01] [ 5.55210809e-03 -6.75694756e-05 9.99984585e-01 2.60416143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.450281693 meters 0.023416336413389294 Centerline is valid? [True, True] Translation: X:140.16, Y:32.42, Z:0.26 [[ 8.60671184e-01 -5.09128082e-01 -5.80595978e-03 1.40155548e+02] [ 5.09117180e-01 8.60690762e-01 -3.33303504e-03 3.24169589e+01] [ 6.69407769e-03 -8.72666546e-05 9.99977591e-01 2.58579574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.480281693 meters 0.022117098558551603 Centerline is valid? [True, True] Translation: X:140.18, Y:32.43, Z:0.26 [[ 8.60915642e-01 -5.08714241e-01 -5.83766517e-03 1.40179562e+02] [ 5.08703202e-01 8.60935430e-01 -3.35225248e-03 3.24335302e+01] [ 6.73119135e-03 -8.36323722e-05 9.99977342e-01 2.59409674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.510281693 meters 0.020837600539902124 Centerline is valid? [True, True] Translation: X:140.20, Y:32.45, Z:0.26 [[ 8.61762153e-01 -5.07287054e-01 -5.08299794e-03 1.40202254e+02] [ 5.07278657e-01 8.61777141e-01 -2.91959577e-03 3.24497895e+01] [ 5.86148457e-03 -6.24992278e-05 9.99982819e-01 2.61969126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.540281693 meters 0.017103996235320808 Centerline is valid? [True, True] Translation: X:140.22, Y:32.47, Z:0.27 [[ 8.65007670e-01 -5.01747777e-01 -3.30141647e-03 1.40222602e+02] [ 5.01744192e-01 8.65013970e-01 -1.89673835e-03 3.24719262e+01] [ 3.80745561e-03 -1.57733185e-05 9.99992751e-01 2.66573953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.570281693 meters 0.016365484987531223 Centerline is valid? [True, True] Translation: X:140.24, Y:32.49, Z:0.27 [[ 8.66879814e-01 -4.98509173e-01 -2.82713702e-03 1.40244558e+02] [ 4.98506526e-01 8.66884424e-01 -1.62464856e-03 3.24897046e+01] [ 3.26070326e-03 -9.71210725e-07 9.99994684e-01 2.66985053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.600281693 meters 0.0168594375750677 Centerline is valid? [True, True] Translation: X:140.27, Y:32.51, Z:0.27 [[ 8.68457340e-01 -4.95755081e-01 -2.95794691e-03 1.40266207e+02] [ 4.95752165e-01 8.68462377e-01 -1.70025653e-03 3.25085680e+01] [ 3.41177642e-03 1.01916751e-05 9.99994180e-01 2.67267384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.630281693 meters 0.017870411828291626 Centerline is valid? [True, True] Translation: X:140.29, Y:32.53, Z:0.27 [[ 8.69652043e-01 -4.93655930e-01 -3.02435355e-03 1.40288941e+02] [ 4.93652867e-01 8.69657302e-01 -1.73912245e-03 3.25265914e+01] [ 3.48867926e-03 1.94505899e-05 9.99993914e-01 2.66385546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.660281693 meters 0.020133051864190225 Centerline is valid? [True, True] Translation: X:140.31, Y:32.54, Z:0.26 [[ 8.71066034e-01 -4.91155560e-01 -3.19062874e-03 1.40311562e+02] [ 4.91152132e-01 8.71071877e-01 -1.83523205e-03 3.25423020e+01] [ 3.68065139e-03 3.15242013e-05 9.99993226e-01 2.64593555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690281693 meters 0.02046717232364508 Centerline is valid? [True, True] Translation: X:140.34, Y:32.56, Z:0.26 [[ 8.71466110e-01 -4.90445786e-01 -3.12244666e-03 1.40337543e+02] [ 4.90442497e-01 8.71471703e-01 -1.79643478e-03 3.25550501e+01] [ 3.60217778e-03 3.41514881e-05 9.99993512e-01 2.64767540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720281693 meters 0.020962441780682673 Centerline is valid? [True, True] Translation: X:140.36, Y:32.57, Z:0.26 [[ 8.71823739e-01 -4.89803169e-01 -4.02784570e-03 1.40362748e+02] [ 4.89797685e-01 8.71833042e-01 -2.31829594e-03 3.25688340e+01] [ 4.64711767e-03 4.83159299e-05 9.99989201e-01 2.63373290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750281693 meters 0.02438808874342709 Centerline is valid? [True, True] Translation: X:140.38, Y:32.59, Z:0.26 [[ 8.73416790e-01 -4.86930608e-01 -6.45705386e-03 1.40384336e+02] [ 4.86916428e-01 8.73440652e-01 -3.71741465e-03 3.25873050e+01] [ 7.44997631e-03 1.02806773e-04 9.99972243e-01 2.57536284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780281693 meters 0.026687046467486434 Centerline is valid? [True, True] Translation: X:140.41, Y:32.60, Z:0.26 [[ 8.74489518e-01 -4.84997576e-01 -6.74049897e-03 1.40406758e+02] [ 4.84982063e-01 8.74515486e-01 -3.88110279e-03 3.26038015e+01] [ 7.77699618e-03 1.24962609e-04 9.99969751e-01 2.56119549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810281693 meters 0.029118031434476176 Centerline is valid? [True, True] Translation: X:140.43, Y:32.62, Z:0.26 [[ 8.75620929e-01 -4.82953722e-01 -6.60992049e-03 1.40430127e+02] [ 4.82938737e-01 8.75645866e-01 -3.80704876e-03 3.26204117e+01] [ 7.62657792e-03 1.41344921e-04 9.99970907e-01 2.57904231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840281693 meters 0.032356725196129345 Centerline is valid? [True, True] Translation: X:140.45, Y:32.64, Z:0.26 [[ 8.76966564e-01 -4.80512578e-01 -6.10809670e-03 1.40453014e+02] [ 4.80499714e-01 8.76987822e-01 -3.51922974e-03 3.26381747e+01] [ 7.04776057e-03 1.51308090e-04 9.99975153e-01 2.59455119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870281693 meters 0.04182016536159324 Centerline is valid? [True, True] Translation: X:140.47, Y:32.67, Z:0.26 [[ 8.79851333e-01 -4.75215642e-01 -5.63250916e-03 1.40469772e+02] [ 4.75204591e-01 8.79869344e-01 -3.24579233e-03 3.26650183e+01] [ 6.49832342e-03 1.79220499e-04 9.99978870e-01 2.59955258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900281693 meters 0.04166327085093889 Centerline is valid? [True, True] Translation: X:140.49, Y:32.68, Z:0.26 [[ 8.81257849e-01 -4.72607874e-01 -5.13808014e-03 1.40494430e+02] [ 4.72598632e-01 8.81272809e-01 -2.96112616e-03 3.26807139e+01] [ 5.92750186e-03 1.81266018e-04 9.99982416e-01 2.60643203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930281693 meters 0.04279380707021809 Centerline is valid? [True, True] Translation: X:140.52, Y:32.70, Z:0.26 [[ 8.82215930e-01 -4.70821724e-01 -4.68585641e-03 1.40518001e+02] [ 4.70814011e-01 8.82228357e-01 -2.70072313e-03 3.26977278e+01] [ 5.40555452e-03 1.76454117e-04 9.99985374e-01 2.61094980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960281693 meters 0.044025069362723344 Centerline is valid? [True, True] Translation: X:140.54, Y:32.71, Z:0.26 [[ 8.82607256e-01 -4.70091436e-01 -4.29812912e-03 1.40540207e+02] [ 4.70084937e-01 8.82617706e-01 -2.47752566e-03 3.27147036e+01] [ 4.95826846e-03 1.66196374e-04 9.99987694e-01 2.61670136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.990281693 meters 0.04279889902715398 Centerline is valid? [True, True] Translation: X:140.57, Y:32.73, Z:0.26 [[ 8.82134126e-01 -4.70981787e-01 -3.94212016e-03 1.40565102e+02] [ 4.70976326e-01 8.82142922e-01 -2.27289707e-03 3.27291342e+01] [ 4.54800652e-03 1.48354802e-04 9.99989647e-01 2.62401868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.020281693 meters 0.04123085180252822 Centerline is valid? [True, True] Translation: X:140.59, Y:32.74, Z:0.26 [[ 8.80877306e-01 -4.73327695e-01 -4.00799846e-03 1.40588871e+02] [ 4.73322072e-01 8.80886414e-01 -2.31140556e-03 3.27442006e+01] [ 4.62464365e-03 1.38990564e-04 9.99989297e-01 2.62801740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.050281693 meters 0.04051914569813996 Centerline is valid? [True, True] Translation: X:140.61, Y:32.76, Z:0.26 [[ 8.80378093e-01 -4.74255535e-01 -4.01250519e-03 1.40613993e+02] [ 4.74249906e-01 8.80387227e-01 -2.31459340e-03 3.27587733e+01] [ 4.63026705e-03 1.34787112e-04 9.99989271e-01 2.63630680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.080281693 meters 0.03826080192249353 Centerline is valid? [True, True] Translation: X:140.64, Y:32.77, Z:0.26 [[ 8.79988360e-01 -4.74980493e-01 -3.74391825e-03 1.40640199e+02] [ 4.74975596e-01 8.79996316e-01 -2.16041408e-03 3.27715678e+01] [ 4.32078881e-03 1.22869442e-04 9.99990658e-01 2.64586130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.110281693 meters 0.036018375951148075 Centerline is valid? [True, True] Translation: X:140.66, Y:32.79, Z:0.27 [[ 8.78915400e-01 -4.76966685e-01 -3.24069611e-03 1.40664628e+02] [ 4.76963027e-01 8.78921368e-01 -1.87043535e-03 3.27868076e+01] [ 3.74045241e-03 9.82622093e-05 9.99993000e-01 2.65489203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.140281693 meters 0.033310920598066056 Centerline is valid? [True, True] Translation: X:140.69, Y:32.80, Z:0.27 [[ 8.78312110e-01 -4.78077200e-01 -3.16681295e-03 1.40690326e+02] [ 4.78073713e-01 8.78317814e-01 -1.82818183e-03 3.28007703e+01] [ 3.65548028e-03 9.17442177e-05 9.99993315e-01 2.65889012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.170281693 meters 0.03458549547682789 Centerline is valid? [True, True] Translation: X:140.71, Y:32.82, Z:0.27 [[ 8.77966143e-01 -4.78711664e-01 -3.25481520e-03 1.40711608e+02] [ 4.78707984e-01 8.77972172e-01 -1.87945713e-03 3.28188785e+01] [ 3.75735522e-03 9.19937065e-05 9.99992937e-01 2.65427319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.200281693 meters 0.03472224963053621 Centerline is valid? [True, True] Translation: X:140.73, Y:32.84, Z:0.26 [[ 8.77169398e-01 -4.80160896e-01 -4.40025702e-03 1.40733491e+02] [ 4.80154183e-01 8.77180426e-01 -2.54161157e-03 3.28375783e+01] [ 5.08020181e-03 1.16622072e-04 9.99987089e-01 2.63460744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.230281693 meters 0.02866221976441291 Centerline is valid? [True, True] Translation: X:140.76, Y:32.85, Z:0.26 [[ 8.76479034e-01 -4.81415042e-01 -4.90513829e-03 1.40762480e+02] [ 4.81406713e-01 8.76492751e-01 -2.83434629e-03 3.28455076e+01] [ 5.66381509e-03 1.22878591e-04 9.99983953e-01 2.63745960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.260281693 meters 0.03185004065167141 Centerline is valid? [True, True] Translation: X:140.78, Y:32.86, Z:0.26 [[ 8.75802448e-01 -4.82636416e-01 -5.67112139e-03 1.40783388e+02] [ 4.82625303e-01 8.75820799e-01 -3.27787045e-03 3.28641649e+01] [ 6.54890571e-03 1.33740279e-04 9.99978547e-01 2.60757915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.290281693 meters 0.02512291958407287 Centerline is valid? [True, True] Translation: X:140.81, Y:32.87, Z:0.26 [[ 8.73773577e-01 -4.86310246e-01 -4.69898058e-03 1.40813638e+02] [ 4.86302665e-01 8.73786208e-01 -2.71675367e-03 3.28703346e+01] [ 5.42708957e-03 8.87007937e-05 9.99985269e-01 2.63522778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.320281693 meters 0.025075851793454892 Centerline is valid? [True, True] Translation: X:140.84, Y:32.88, Z:0.26 [[ 8.72417396e-01 -4.88746779e-01 -3.80431864e-03 1.40837614e+02] [ 4.88741831e-01 8.72425689e-01 -2.20001933e-03 3.28839378e+01] [ 4.39423767e-03 6.00054769e-05 9.99990343e-01 2.64695441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.350281693 meters 0.018588290656680023 Centerline is valid? [True, True] Translation: X:140.87, Y:32.89, Z:0.27 [[ 8.69282770e-01 -4.94302659e-01 -3.51375203e-03 1.40869948e+02] [ 4.94298483e-01 8.69289871e-01 -2.03228155e-03 3.28852459e+01] [ 4.05903122e-03 2.97850385e-05 9.99991762e-01 2.65377070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.380281693 meters 0.01765963156168502 Centerline is valid? [True, True] Translation: X:140.90, Y:32.90, Z:0.26 [[ 8.67866216e-01 -4.96780874e-01 -4.12248813e-03 1.40895880e+02] [ 4.96775151e-01 8.67876006e-01 -2.38477324e-03 3.28954172e+01] [ 4.76251827e-03 2.17144628e-05 9.99988659e-01 2.63612875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.410281693 meters 0.017044396139857955 Centerline is valid? [True, True] Translation: X:140.92, Y:32.91, Z:0.26 [[ 8.66789441e-01 -4.98652721e-01 -4.63994970e-03 1.40922262e+02] [ 4.98645492e-01 8.66801860e-01 -2.68507908e-03 3.29061217e+01] [ 5.36083902e-03 1.37081900e-05 9.99985631e-01 2.63215676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440281693 meters 0.01685464203776849 Centerline is valid? [True, True] Translation: X:140.95, Y:32.92, Z:0.26 [[ 8.66073765e-01 -4.99895235e-01 -4.58119548e-03 1.40947449e+02] [ 4.99888199e-01 8.66085882e-01 -2.65223359e-03 3.29185166e+01] [ 5.29354766e-03 6.94437818e-06 9.99985989e-01 2.63899436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470281693 meters 0.016885210363995408 Centerline is valid? [True, True] Translation: X:140.97, Y:32.93, Z:0.26 [[ 8.65484574e-01 -5.00910499e-01 -5.01244593e-03 1.40973051e+02] [ 5.00902085e-01 8.65499089e-01 -2.90321505e-03 3.29301714e+01] [ 5.79251829e-03 1.94322208e-06 9.99983223e-01 2.63146276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500281693 meters 0.01702537454515287 Centerline is valid? [True, True] Translation: X:141.00, Y:32.94, Z:0.26 [[ 8.65574468e-01 -5.00750680e-01 -5.44036379e-03 1.40997611e+02] [ 5.00740757e-01 8.65591565e-01 -3.15248073e-03 3.29437641e+01] [ 6.28773988e-03 4.49495054e-06 9.99980232e-01 2.61990296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530281693 meters 0.017331533091953864 Centerline is valid? [True, True] Translation: X:141.02, Y:32.96, Z:0.26 [[ 8.66882733e-01 -4.98481639e-01 -5.51203695e-03 1.41020600e+02] [ 4.98471402e-01 8.66900257e-01 -3.19475208e-03 3.29601745e+01] [ 6.37091150e-03 2.18826305e-05 9.99979705e-01 2.61880429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560281693 meters 0.017820637475682705 Centerline is valid? [True, True] Translation: X:141.04, Y:32.98, Z:0.26 [[ 8.67585086e-01 -4.97255382e-01 -5.76232758e-03 1.41044547e+02] [ 4.97244159e-01 8.67604221e-01 -3.34087902e-03 3.29767462e+01] [ 6.66068981e-03 3.32130789e-05 9.99977817e-01 2.62188946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590281693 meters 0.018974610595158096 Centerline is valid? [True, True] Translation: X:141.07, Y:32.99, Z:0.26 [[ 8.68445340e-01 -4.95749769e-01 -5.90405799e-03 1.41066685e+02] [ 4.95737948e-01 8.68465408e-01 -3.42378924e-03 3.29940926e+01] [ 6.82481286e-03 4.65082149e-05 9.99976710e-01 2.61064774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620281693 meters 0.020564063674459215 Centerline is valid? [True, True] Translation: X:141.09, Y:33.01, Z:0.26 [[ 8.69937933e-01 -4.93131360e-01 -5.42717914e-03 1.41088272e+02] [ 4.93121314e-01 8.69954860e-01 -3.14818339e-03 3.30137068e+01] [ 6.27386883e-03 6.24664418e-05 9.99980317e-01 2.63048706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650281693 meters 0.022077341814664954 Centerline is valid? [True, True] Translation: X:141.11, Y:33.03, Z:0.26 [[ 8.70920225e-01 -4.91399114e-01 -4.98711967e-03 1.41111114e+02] [ 4.91390598e-01 8.70934501e-01 -2.89397107e-03 3.30326500e+01] [ 5.76554941e-03 6.97942188e-05 9.99983377e-01 2.64227130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680281693 meters 0.023639871186548655 Centerline is valid? [True, True] Translation: X:141.13, Y:33.05, Z:0.26 [[ 8.71894455e-01 -4.89668066e-01 -5.02440742e-03 1.41133627e+02] [ 4.89659386e-01 8.71908928e-01 -2.91670802e-03 3.30515314e+01] [ 5.80904446e-03 8.28133014e-05 9.99983124e-01 2.64977508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710281693 meters 0.02818105644623831 Centerline is valid? [True, True] Translation: X:141.15, Y:33.08, Z:0.26 [[ 8.73923005e-01 -4.86035081e-01 -5.33686733e-03 1.41152381e+02] [ 4.86025216e-01 8.73939293e-01 -3.09866380e-03 3.30769309e+01] [ 6.17015737e-03 1.14141482e-04 9.99980958e-01 2.64102321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.740281693 meters 0.02818105644623831 Centerline is valid? [True, True] Translation: X:141.18, Y:33.09, Z:0.26 [[ 8.73834824e-01 -4.86193605e-01 -5.33645114e-03 1.41176049e+02] [ 4.86183740e-01 8.73851112e-01 -3.09938044e-03 3.30909059e+01] [ 6.17016271e-03 1.13850795e-04 9.99980958e-01 2.64157016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.770281693 meters 0.029859074505409457 Centerline is valid? [True, True] Translation: X:141.20, Y:33.11, Z:0.26 [[ 8.74668774e-01 -4.84690833e-01 -5.41590999e-03 1.41198195e+02] [ 4.84680635e-01 8.74685532e-01 -3.14673998e-03 3.31096239e+01] [ 6.26241413e-03 1.27368510e-04 9.99980383e-01 2.64784510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.800281693 meters 0.029735746458361256 Centerline is valid? [True, True] Translation: X:141.22, Y:33.13, Z:0.27 [[ 8.74993908e-01 -4.84107898e-01 -5.02046567e-03 1.41221618e+02] [ 4.84099119e-01 8.75008302e-01 -2.91803926e-03 3.31258539e+01] [ 5.80559499e-03 1.22863568e-04 9.99983140e-01 2.65577502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.830281693 meters 0.029859328571826674 Centerline is valid? [True, True] Translation: X:141.24, Y:33.15, Z:0.27 [[ 8.74803262e-01 -4.84464185e-01 -3.70228696e-03 1.41242930e+02] [ 4.84459412e-01 8.74811091e-01 -2.15230632e-03 3.31451233e+01] [ 4.28151702e-03 8.92368253e-05 9.99990830e-01 2.67468621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.860281693 meters 0.030044517845084703 Centerline is valid? [True, True] Translation: X:141.27, Y:33.16, Z:0.27 [[ 8.74258561e-01 -4.85448258e-01 -3.45799102e-03 1.41265436e+02] [ 4.85444101e-01 8.74265396e-01 -2.01060745e-03 3.31622626e+01] [ 3.99924777e-03 7.91294273e-05 9.99992000e-01 2.66838018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.890281693 meters 0.02525180128096325 Centerline is valid? [True, True] Translation: X:141.29, Y:33.17, Z:0.27 [[ 8.72226968e-01 -4.89089832e-01 -3.35451944e-03 1.41292428e+02] [ 4.89085946e-01 8.72233416e-01 -1.95073342e-03 3.31729058e+01] [ 3.88000783e-03 6.08339809e-05 9.99992471e-01 2.67454092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.920281693 meters 0.02344489643724984 Centerline is valid? [True, True] Translation: X:141.32, Y:33.18, Z:0.27 [[ 8.71055075e-01 -4.91169812e-01 -3.90790450e-03 1.41319475e+02] [ 4.91164556e-01 8.71063839e-01 -2.27309449e-03 3.31845559e+01] [ 4.52050970e-03 6.05663138e-05 9.99989781e-01 2.66254894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.950281693 meters 0.02086585117096823 Centerline is valid? [True, True] Translation: X:141.35, Y:33.19, Z:0.27 [[ 8.69747813e-01 -4.93478541e-01 -4.20369126e-03 1.41347035e+02] [ 4.93472482e-01 8.69757970e-01 -2.44606232e-03 3.31948264e+01] [ 4.86327325e-03 5.30513965e-05 9.99988173e-01 2.66430824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.980281693 meters 0.020008480582581076 Centerline is valid? [True, True] Translation: X:141.37, Y:33.21, Z:0.27 [[ 8.68657647e-01 -4.95395329e-01 -4.16669966e-03 1.41371800e+02] [ 4.95389394e-01 8.68667639e-01 -2.42520428e-03 3.32079757e+01] [ 4.82091203e-03 4.25334221e-05 9.99988378e-01 2.66056694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.010281693 meters 0.018169369435020007 Centerline is valid? [True, True] Translation: X:141.40, Y:33.22, Z:0.27 [[ 8.67360514e-01 -4.97670915e-01 -3.06578720e-03 1.41397374e+02] [ 4.97667715e-01 8.67365932e-01 -1.78486859e-03 3.32207351e+01] [ 3.54743655e-03 2.23812305e-05 9.99993708e-01 2.69168046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.040281693 meters 0.018034586585160474 Centerline is valid? [True, True] Translation: X:141.42, Y:33.23, Z:0.27 [[ 8.66902435e-01 -4.98471166e-01 -2.58148210e-03 1.41421313e+02] [ 4.98468899e-01 8.66906279e-01 -1.50329668e-03 3.32340996e+01] [ 2.98725309e-03 1.64230111e-05 9.99995538e-01 2.70053546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.070281693 meters 0.017863329717239307 Centerline is valid? [True, True] Translation: X:141.45, Y:33.25, Z:0.27 [[ 8.66686338e-01 -4.98847811e-01 -2.37762602e-03 1.41445564e+02] [ 4.98845889e-01 8.66689599e-01 -1.38486588e-03 3.32486321e+01] [ 2.75150106e-03 1.41753749e-05 9.99996215e-01 2.71396912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.100281693 meters 0.01801807780659716 Centerline is valid? [True, True] Translation: X:141.47, Y:33.27, Z:0.27 [[ 8.66927059e-01 -4.98418533e-01 -4.05468998e-03 1.41468905e+02] [ 4.98412933e-01 8.66936540e-01 -2.36290308e-03 3.32662014e+01] [ 4.69287360e-03 2.75546956e-05 9.99988988e-01 2.68586803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.130281693 meters 0.018634035173695093 Centerline is valid? [True, True] Translation: X:141.49, Y:33.28, Z:0.27 [[ 8.67228088e-01 -4.97883946e-01 -5.19812866e-03 1.41491585e+02] [ 4.97874727e-01 8.67243665e-01 -3.03000310e-03 3.32821227e+01] [ 6.01663405e-03 3.96869091e-05 9.99981899e-01 2.65422536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.160281693 meters 0.019692872586467774 Centerline is valid? [True, True] Translation: X:141.51, Y:33.30, Z:0.26 [[ 8.67461703e-01 -4.97469727e-01 -5.83657052e-03 1.41513911e+02] [ 4.97458092e-01 8.67481336e-01 -3.40261956e-03 3.32984184e+01] [ 6.75581622e-03 4.81929162e-05 9.99977178e-01 2.62292360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190281693 meters 0.018739309022060634 Centerline is valid? [True, True] Translation: X:141.54, Y:33.31, Z:0.26 [[ 8.66956354e-01 -4.98351784e-01 -5.67275053e-03 1.41539055e+02] [ 4.98340805e-01 8.66974912e-01 -3.30820323e-03 3.33101501e+01] [ 6.56678137e-03 4.11047450e-05 9.99978438e-01 2.62935818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220281693 meters 0.018217473791282524 Centerline is valid? [True, True] Translation: X:141.56, Y:33.32, Z:0.26 [[ 8.66435294e-01 -4.99254077e-01 -5.93704078e-03 1.41563843e+02] [ 4.99242063e-01 8.66455634e-01 -3.46380572e-03 3.33234614e+01] [ 6.87350156e-03 3.71430386e-05 9.99976377e-01 2.63215664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250281693 meters 0.017766708279619688 Centerline is valid? [True, True] Translation: X:141.59, Y:33.34, Z:0.26 [[ 8.65926876e-01 -5.00138697e-01 -5.65052053e-03 1.41588114e+02] [ 5.00127824e-01 8.65945311e-01 -3.29802144e-03 3.33367043e+01] [ 6.54250991e-03 2.98628642e-05 9.99978597e-01 2.64781307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280281693 meters 0.017537856260956868 Centerline is valid? [True, True] Translation: X:141.61, Y:33.35, Z:0.27 [[ 8.65766984e-01 -5.00426274e-01 -4.59056076e-03 1.41612533e+02] [ 5.00419096e-01 8.65779154e-01 -2.68042461e-03 3.33502451e+01] [ 5.31576671e-03 2.34188581e-05 9.99985871e-01 2.66842328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310281693 meters 0.01771566077438652 Centerline is valid? [True, True] Translation: X:141.64, Y:33.36, Z:0.27 [[ 8.66051910e-01 -4.99942631e-01 -3.38460994e-03 1.41635621e+02] [ 4.99938723e-01 8.66058523e-01 -1.97677052e-03 3.33642638e+01] [ 3.91954214e-03 1.98883160e-05 9.99992318e-01 2.68838669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340281693 meters 0.01811021333971343 Centerline is valid? [True, True] Translation: X:141.66, Y:33.38, Z:0.27 [[ 8.66428884e-01 -4.99292904e-01 -2.75427559e-03 1.41659507e+02] [ 4.99290311e-01 8.66433261e-01 -1.60903494e-03 3.33792848e+01] [ 3.18977571e-03 1.89312309e-05 9.99994912e-01 2.69941007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370281693 meters 0.02001189343643099 Centerline is valid? [True, True] Translation: X:141.68, Y:33.40, Z:0.27 [[ 8.67935794e-01 -4.96664329e-01 -3.46421435e-03 1.41680822e+02] [ 4.96660205e-01 8.67942707e-01 -2.02444748e-03 3.33976080e+01] [ 4.01221043e-03 3.65530262e-05 9.99991950e-01 2.68034146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400281693 meters 0.021337230596803466 Centerline is valid? [True, True] Translation: X:141.70, Y:33.41, Z:0.27 [[ 8.68943764e-01 -4.94890606e-01 -4.47463539e-03 1.41703745e+02] [ 4.94883699e-01 8.68955283e-01 -2.61542253e-03 3.34144171e+01] [ 5.18260611e-03 5.82309878e-05 9.99986569e-01 2.66455784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430281693 meters 0.023437915837941192 Centerline is valid? [True, True] Translation: X:141.73, Y:33.43, Z:0.27 [[ 8.70018232e-01 -4.92995300e-01 -4.88991346e-03 1.41725478e+02] [ 4.92987018e-01 8.70031970e-01 -2.85862337e-03 3.34326269e+01] [ 5.66366893e-03 7.63905966e-05 9.99983958e-01 2.65328656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460281693 meters 0.028511436203487 Centerline is valid? [True, True] Translation: X:141.75, Y:33.46, Z:0.27 [[ 8.72413248e-01 -4.88750877e-01 -4.20771548e-03 1.41745085e+02] [ 4.88744694e-01 8.72423390e-01 -2.46004488e-03 3.34557849e+01] [ 4.87325850e-03 8.96771259e-05 9.99988122e-01 2.67190134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.490281693 meters 0.028594202581915213 Centerline is valid? [True, True] Translation: X:141.77, Y:33.47, Z:0.27 [[ 8.73150713e-01 -4.87434038e-01 -3.98629823e-03 1.41769514e+02] [ 4.87428472e-01 8.73159808e-01 -2.33116817e-03 3.34718774e+01] [ 4.61696611e-03 9.24258934e-05 9.99989337e-01 2.68511064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.520281693 meters 0.03079400394166324 Centerline is valid? [True, True] Translation: X:141.79, Y:33.49, Z:0.27 [[ 8.73233945e-01 -4.87286925e-01 -3.73232821e-03 1.41790526e+02] [ 4.87282042e-01 8.73241917e-01 -2.18324108e-03 3.34907306e+01] [ 4.32309027e-03 8.77837044e-05 9.99990652e-01 2.68207733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.550281693 meters 0.02899856896577167 Centerline is valid? [True, True] Translation: X:141.82, Y:33.50, Z:0.27 [[ 8.72333697e-01 -4.88898672e-01 -3.46544219e-03 1.41816021e+02] [ 4.88894473e-01 8.72340577e-01 -2.02767893e-03 3.35044653e+01] [ 4.01437538e-03 7.45771211e-05 9.99991940e-01 2.68598431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.580281693 meters 0.02578505931481295 Centerline is valid? [True, True] Translation: X:141.84, Y:33.52, Z:0.27 [[ 8.70511126e-01 -4.92139178e-01 -3.06754659e-03 1.41841439e+02] [ 4.92135906e-01 8.70516529e-01 -1.79541485e-03 3.35173030e+01] [ 3.55394400e-03 5.32787836e-05 9.99993683e-01 2.69620247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.610281693 meters 0.02253247512211725 Centerline is valid? [True, True] Translation: X:141.87, Y:33.53, Z:0.27 [[ 8.69579435e-01 -4.93781057e-01 -3.44597866e-03 1.41868203e+02] [ 4.93776938e-01 8.69586261e-01 -2.01762706e-03 3.35280969e+01] [ 3.99284172e-03 5.29422075e-05 9.99992027e-01 2.69550426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.640281693 meters 0.02164217171841622 Centerline is valid? [True, True] Translation: X:141.89, Y:33.54, Z:0.27 [[ 8.68531013e-01 -4.95618103e-01 -4.07119239e-03 1.41892840e+02] [ 4.95612371e-01 8.68540553e-01 -2.38441915e-03 3.35415793e+01] [ 4.71775699e-03 5.32086663e-05 9.99988870e-01 2.67813856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.670281693 meters 0.0198630113646853 Centerline is valid? [True, True] Translation: X:141.92, Y:33.55, Z:0.27 [[ 8.67231492e-01 -4.97883994e-01 -4.58986260e-03 1.41919380e+02] [ 4.97876735e-01 8.67243637e-01 -2.68905051e-03 3.35532195e+01] [ 5.31936434e-03 4.68434774e-05 9.99985851e-01 2.67545977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.700281693 meters 0.017709837987023604 Centerline is valid? [True, True] Translation: X:141.95, Y:33.56, Z:0.27 [[ 8.64792414e-01 -5.02104604e-01 -5.00478017e-03 1.41946265e+02] [ 5.02096037e-01 8.64806895e-01 -2.93326513e-03 3.35632177e+01] [ 5.80097433e-03 2.37851452e-05 9.99983174e-01 2.67079381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.730281693 meters 0.017048003029681142 Centerline is valid? [True, True] Translation: X:141.97, Y:33.58, Z:0.27 [[ 8.63607128e-01 -5.04144316e-01 -4.60848952e-03 1.41972678e+02] [ 5.04137075e-01 8.63619424e-01 -2.70197156e-03 3.35758435e+01] [ 5.34216467e-03 1.01314716e-05 9.99985730e-01 2.68118433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.760281693 meters 0.01692254775643946 Centerline is valid? [True, True] Translation: X:142.00, Y:33.59, Z:0.27 [[ 8.61925728e-01 -5.07022437e-01 -3.50549122e-03 1.41998286e+02] [ 5.07018268e-01 8.61932856e-01 -2.05601347e-03 3.35873669e+01] [ 4.06394302e-03 -5.21717707e-06 9.99991742e-01 2.70405195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.790281693 meters 0.017021302919049654 Centerline is valid? [True, True] Translation: X:142.02, Y:33.60, Z:0.27 [[ 8.61539996e-01 -5.07678945e-01 -3.30520751e-03 1.42022176e+02] [ 5.07675242e-01 8.61546336e-01 -1.93912669e-03 3.35999431e+01] [ 3.83204321e-03 -7.33681850e-06 9.99992658e-01 2.70296670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.820281693 meters 0.0170920743517556 Centerline is valid? [True, True] Translation: X:142.05, Y:33.61, Z:0.27 [[ 8.60977642e-01 -5.08628297e-01 -3.84132013e-03 1.42046703e+02] [ 5.08623301e-01 8.60986211e-01 -2.25439296e-03 3.36136895e+01] [ 4.45397171e-03 -1.28029922e-05 9.99990081e-01 2.69849074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.850281693 meters 0.017976526025811672 Centerline is valid? [True, True] Translation: X:142.07, Y:33.63, Z:0.27 [[ 8.60045668e-01 -5.10182896e-01 -5.90437115e-03 1.42072187e+02] [ 5.10171119e-01 8.60065934e-01 -3.46670936e-03 3.36271463e+01] [ 6.84680431e-03 -3.07112667e-05 9.99976560e-01 2.66042749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.880281693 meters 0.01845732499727401 Centerline is valid? [True, True] Translation: X:142.10, Y:33.64, Z:0.26 [[ 8.59981431e-01 -5.10280799e-01 -6.74121241e-03 1.42096781e+02] [ 5.10265443e-01 8.60007851e-01 -3.95887023e-03 3.36405396e+01] [ 7.81763107e-03 -3.52528596e-05 9.99969441e-01 2.62701889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.910281693 meters 0.018173191486747804 Centerline is valid? [True, True] Translation: X:142.12, Y:33.66, Z:0.26 [[ 8.60059350e-01 -5.10142597e-01 -7.24183231e-03 1.42119768e+02] [ 5.10124859e-01 8.60089838e-01 -4.25433483e-03 3.36560406e+01] [ 8.39894380e-03 -3.52582351e-05 9.99964728e-01 2.62828720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940281693 meters 0.017884985613870672 Centerline is valid? [True, True] Translation: X:142.14, Y:33.67, Z:0.26 [[ 8.60496772e-01 -5.09392818e-01 -8.01638327e-03 1.42142564e+02] [ 5.09371030e-01 8.60534111e-01 -4.71139033e-03 3.36729105e+01] [ 9.29831964e-03 -2.91772363e-05 9.99956769e-01 2.62501948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970281693 meters 0.017770017964238705 Centerline is valid? [True, True] Translation: X:142.17, Y:33.69, Z:0.26 [[ 8.60776335e-01 -5.08924417e-01 -7.74846669e-03 1.42166292e+02] [ 5.08904034e-01 8.60811209e-01 -4.55481452e-03 3.36881950e+01] [ 8.98802330e-03 -2.25494062e-05 9.99959607e-01 2.62602507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000281693 meters 0.01682549377577212 Centerline is valid? [True, True] Translation: X:142.19, Y:33.71, Z:0.27 [[ 8.62122874e-01 -5.06678694e-01 -4.56616932e-03 1.42188710e+02] [ 5.06671581e-01 8.62134967e-01 -2.68484324e-03 3.37073233e+01] [ 5.29700710e-03 1.11654030e-06 9.99985971e-01 2.71555293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030281693 meters 0.01680926190465061 Centerline is valid? [True, True] Translation: X:142.21, Y:33.72, Z:0.27 [[ 8.62910845e-01 -5.05343339e-01 -3.60324764e-03 1.42210949e+02] [ 5.05338895e-01 8.62918368e-01 -2.11941418e-03 3.37248201e+01] [ 4.18034041e-03 8.00429770e-06 9.99991262e-01 2.74172137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060281693 meters 0.01726422605250217 Centerline is valid? [True, True] Translation: X:142.23, Y:33.74, Z:0.27 [[ 8.63661785e-01 -5.04058575e-01 -3.64329139e-03 1.42233493e+02] [ 5.04054016e-01 8.63669470e-01 -2.14387360e-03 3.37423715e+01] [ 4.22723741e-03 1.51660428e-05 9.99991065e-01 2.73976554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090281693 meters 0.017879620290175834 Centerline is valid? [True, True] Translation: X:142.26, Y:33.76, Z:0.27 [[ 8.64369947e-01 -5.02841665e-01 -3.85413881e-03 1.42255663e+02] [ 5.02836548e-01 8.64378540e-01 -2.26856235e-03 3.37599701e+01] [ 4.47216254e-03 2.28752696e-05 9.99990000e-01 2.72442728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120281693 meters 0.01838498599937718 Centerline is valid? [True, True] Translation: X:142.28, Y:33.78, Z:0.27 [[ 8.64992521e-01 -5.01765303e-01 -4.41800163e-03 1.42278511e+02] [ 5.01758562e-01 8.65003803e-01 -2.60120979e-03 3.37776862e+01] [ 5.12678503e-03 3.32568661e-05 9.99986857e-01 2.71809323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150281693 meters 0.01899429380171879 Centerline is valid? [True, True] Translation: X:142.30, Y:33.79, Z:0.27 [[ 8.65074731e-01 -5.01621836e-01 -4.60905329e-03 1.42300295e+02] [ 5.01614492e-01 8.65087009e-01 -2.71459952e-03 3.37939115e+01] [ 5.34893452e-03 3.63635282e-05 9.99985694e-01 2.71276636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180281693 meters 0.018976669119135516 Centerline is valid? [True, True] Translation: X:142.32, Y:33.81, Z:0.27 [[ 8.65140318e-01 -5.01504021e-01 -5.09379528e-03 1.42323729e+02] [ 5.01495042e-01 8.65155313e-01 -3.00126899e-03 3.38093124e+01] [ 5.91207252e-03 4.20057299e-05 9.99982523e-01 2.71000324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210281693 meters 0.017964204692801362 Centerline is valid? [True, True] Translation: X:142.35, Y:33.82, Z:0.27 [[ 8.64037328e-01 -5.03412909e-01 -3.86505598e-03 1.42347881e+02] [ 5.03407757e-01 8.64045972e-01 -2.27778412e-03 3.38227623e+01] [ 4.48625198e-03 2.23913411e-05 9.99989936e-01 2.73809949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.240281693 meters 0.01711659290041611 Centerline is valid? [True, True] Translation: X:142.37, Y:33.83, Z:0.28 [[ 8.63061575e-01 -5.05089641e-01 -3.02875821e-03 1.42373954e+02] [ 5.05086486e-01 8.63066889e-01 -1.78531180e-03 3.38343834e+01] [ 3.51576342e-03 1.10491703e-05 9.99993820e-01 2.75744454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.270281693 meters 0.01665451015834544 Centerline is valid? [True, True] Translation: X:142.40, Y:33.85, Z:0.28 [[ 8.61965857e-01 -5.06959446e-01 -2.64203978e-03 1.42399956e+02] [ 5.06957053e-01 8.61969906e-01 -1.55791184e-03 3.38451721e+01] [ 3.06715691e-03 3.46611510e-06 9.99995296e-01 2.76519560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.300281693 meters 0.0169209625444332 Centerline is valid? [True, True] Translation: X:142.43, Y:33.85, Z:0.28 [[ 8.59998742e-01 -5.10288817e-01 -2.73608782e-03 1.42427381e+02] [ 5.10286265e-01 8.60003095e-01 -1.61408272e-03 3.38538304e+01] [ 3.17669236e-03 -8.07892645e-06 9.99994954e-01 2.75706586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.330281693 meters 0.01719358521657854 Centerline is valid? [True, True] Translation: X:142.45, Y:33.87, Z:0.27 [[ 8.59267940e-01 -5.11515468e-01 -3.24537125e-03 1.42452313e+02] [ 5.11511882e-01 8.59274069e-01 -1.91542938e-03 3.38662935e+01] [ 3.76843511e-03 -1.41789002e-05 9.99992899e-01 2.73933356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.360281693 meters 0.018156419481740578 Centerline is valid? [True, True] Translation: X:142.48, Y:33.88, Z:0.27 [[ 8.58296714e-01 -5.13123157e-01 -5.60150607e-03 1.42478521e+02] [ 5.13112500e-01 8.58314991e-01 -3.30723894e-03 3.38759950e+01] [ 6.50487752e-03 -3.56104675e-05 9.99978842e-01 2.69008734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.390281693 meters 0.01946101507934161 Centerline is valid? [True, True] Translation: X:142.51, Y:33.89, Z:0.27 [[ 8.57642235e-01 -5.14206065e-01 -6.47452274e-03 1.42505129e+02] [ 5.14191853e-01 8.57666672e-01 -3.82329221e-03 3.38855097e+01] [ 7.51894241e-03 -5.01299725e-05 9.99971731e-01 2.65832624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.420281693 meters 0.01973866582165593 Centerline is valid? [True, True] Translation: X:142.53, Y:33.90, Z:0.27 [[ 8.57141149e-01 -5.15034232e-01 -6.98504615e-03 1.42531435e+02] [ 5.15017708e-01 8.57169607e-01 -4.12603053e-03 3.38979020e+01] [ 8.11241623e-03 -6.08319097e-05 9.99967092e-01 2.65349738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.450281693 meters 0.01958288760143777 Centerline is valid? [True, True] Translation: X:142.56, Y:33.91, Z:0.27 [[ 8.56737531e-01 -5.15710977e-01 -6.55671965e-03 1.42557103e+02] [ 5.15696426e-01 8.56762618e-01 -3.87457707e-03 3.39100956e+01] [ 7.61571422e-03 -6.17812899e-05 9.99970998e-01 2.68212839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.480281693 meters 0.019657032758890906 Centerline is valid? [True, True] Translation: X:142.58, Y:33.92, Z:0.27 [[ 8.56832680e-01 -5.15556693e-01 -6.24946204e-03 1.42581416e+02] [ 5.15543460e-01 8.56855468e-01 -3.69419292e-03 3.39228808e+01] [ 7.25945160e-03 -5.65640641e-05 9.99973648e-01 2.68255465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.510281693 meters 0.019326707015734176 Centerline is valid? [True, True] Translation: X:142.61, Y:33.94, Z:0.27 [[ 8.56912580e-01 -5.15424177e-01 -6.22477098e-03 1.42606398e+02] [ 5.15411035e-01 8.56935187e-01 -3.68100962e-03 3.39361445e+01] [ 7.23150664e-03 -5.40122067e-05 9.99973851e-01 2.68874875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.540281693 meters 0.019450700678918558 Centerline is valid? [True, True] Translation: X:142.63, Y:33.95, Z:0.27 [[ 8.56766210e-01 -5.15670227e-01 -5.98989842e-03 1.42631150e+02] [ 5.15658058e-01 8.56787146e-01 -3.54298989e-03 3.39481843e+01] [ 6.95908238e-03 -5.32253756e-05 9.99975784e-01 2.68526881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.570281693 meters 0.021477088653471664 Centerline is valid? [True, True] Translation: X:142.66, Y:33.96, Z:0.27 [[ 8.54955662e-01 -5.18676234e-01 -5.07740467e-03 1.42660588e+02] [ 5.18667538e-01 8.54970736e-01 -3.00413792e-03 3.39552930e+01] [ 5.89920735e-03 -6.50802556e-05 9.99982597e-01 2.69029603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.600281693 meters 0.023855854565907716 Centerline is valid? [True, True] Translation: X:142.69, Y:33.96, Z:0.27 [[ 8.53588832e-01 -5.20919467e-01 -5.38657785e-03 1.42688818e+02] [ 5.20909720e-01 8.53605824e-01 -3.18773881e-03 3.39628749e+01] [ 6.25856943e-03 -8.49025120e-05 9.99980411e-01 2.68022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.630281693 meters 0.023855854565907716 Centerline is valid? [True, True] Translation: X:142.71, Y:33.98, Z:0.27 [[ 8.53495601e-01 -5.21072210e-01 -5.38613127e-03 1.42712371e+02] [ 5.21062461e-01 8.53512592e-01 -3.18849327e-03 3.39770457e+01] [ 6.25856610e-03 -8.51458364e-05 9.99980411e-01 2.68077074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.660281693 meters 0.03064467840912973 Centerline is valid? [True, True] Translation: X:142.75, Y:33.98, Z:0.26 [[ 8.49973407e-01 -5.26779763e-01 -6.94901298e-03 1.42746525e+02] [ 5.26763713e-01 8.50001797e-01 -4.11530962e-03 3.39750698e+01] [ 8.07453535e-03 -1.62584139e-04 9.99967387e-01 2.63929234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690281693 meters 0.03358006651863878 Centerline is valid? [True, True] Translation: X:142.78, Y:33.98, Z:0.26 [[ 8.48189120e-01 -5.29641170e-01 -7.44630874e-03 1.42775795e+02] [ 5.29622837e-01 8.48221781e-01 -4.41137368e-03 3.39830589e+01] [ 8.65256638e-03 -2.02055994e-04 9.99962545e-01 2.63353050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720281693 meters 0.036691506642411095 Centerline is valid? [True, True] Translation: X:142.80, Y:33.99, Z:0.26 [[ 8.46879629e-01 -5.31726073e-01 -7.89161521e-03 1.42804312e+02] [ 5.31705562e-01 8.46916364e-01 -4.67632031e-03 3.39902905e+01] [ 9.17005950e-03 -2.35735294e-04 9.99957926e-01 2.63140762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750281693 meters 0.03719082750692229 Centerline is valid? [True, True] Translation: X:142.83, Y:34.00, Z:0.27 [[ 8.45944129e-01 -5.33221091e-01 -7.33477411e-03 1.42834453e+02] [ 5.33203416e-01 8.45975895e-01 -4.34774721e-03 3.39967573e+01] [ 8.52335260e-03 -2.32975387e-04 9.99963648e-01 2.65308046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780281693 meters 0.03625372857479059 Centerline is valid? [True, True] Translation: X:142.86, Y:34.01, Z:0.27 [[ 8.46372095e-01 -5.32546396e-01 -6.97227009e-03 1.42860587e+02] [ 5.32530391e-01 8.46400786e-01 -4.13433141e-03 3.40082786e+01] [ 8.10305818e-03 -2.13762977e-04 9.99967147e-01 2.66511183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810281693 meters 0.03701997776265696 Centerline is valid? [True, True] Translation: X:142.89, Y:34.02, Z:0.27 [[ 8.47127783e-01 -5.31338174e-01 -7.36645308e-03 1.42887426e+02] [ 5.31320248e-01 8.47159784e-01 -4.36964183e-03 3.40186504e+01] [ 8.56232032e-03 -2.12300684e-04 9.99963320e-01 2.65017328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840281693 meters 0.030699782295456935 Centerline is valid? [True, True] Translation: X:142.91, Y:34.04, Z:0.26 [[ 8.49678677e-01 -5.27235129e-01 -8.32247082e-03 1.42910534e+02] [ 5.27212034e-01 8.49719414e-01 -4.93854179e-03 3.40359636e+01] [ 9.67553775e-03 -1.91533120e-04 9.99953173e-01 2.63322592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870281693 meters 0.02753026658694693 Centerline is valid? [True, True] Translation: X:142.93, Y:34.05, Z:0.26 [[ 8.51192759e-01 -5.24789995e-01 -8.14541700e-03 1.42934409e+02] [ 5.24767744e-01 8.51231717e-01 -4.83518589e-03 3.40522019e+01] [ 9.47109448e-03 -1.58776884e-04 9.99955136e-01 2.64268225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900281693 meters 0.024634228603552338 Centerline is valid? [True, True] Translation: X:142.96, Y:34.07, Z:0.27 [[ 8.52730914e-01 -5.22296094e-01 -7.53523401e-03 1.42957948e+02] [ 5.22276940e-01 8.52764197e-01 -4.47453148e-03 3.40689752e+01] [ 8.76280809e-03 -1.19907647e-04 9.99961599e-01 2.65956963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930281693 meters 0.02099859006762379 Centerline is valid? [True, True] Translation: X:142.98, Y:34.09, Z:0.27 [[ 8.54316499e-01 -5.19713380e-01 -6.42816866e-03 1.42980086e+02] [ 5.19699358e-01 8.54340679e-01 -3.81848732e-03 3.40879942e+01] [ 7.47636493e-03 -7.85184128e-05 9.99972049e-01 2.69298932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960281693 meters 0.01793944155977826 Centerline is valid? [True, True] Translation: X:143.00, Y:34.11, Z:0.27 [[ 8.57237900e-01 -5.14895761e-01 -5.05359738e-03 1.43001839e+02] [ 5.14887005e-01 8.57252795e-01 -3.00295425e-03 3.41070585e+01] [ 5.87841889e-03 -2.77854199e-05 9.99982722e-01 2.71860759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.990281693 meters 0.01728395280138717 Centerline is valid? [True, True] Translation: X:143.02, Y:34.12, Z:0.27 [[ 8.58318376e-01 -5.13091479e-01 -5.16722440e-03 1.43024508e+02] [ 5.13082288e-01 8.58333929e-01 -3.07110607e-03 3.41228572e+01] [ 6.01096238e-03 -1.52245408e-05 9.99981934e-01 2.70897752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.020281693 meters 0.017496434068102137 Centerline is valid? [True, True] Translation: X:143.05, Y:34.14, Z:0.27 [[ 8.60221022e-01 -5.09876452e-01 -6.76732329e-03 1.43045931e+02] [ 5.09860582e-01 8.60247641e-01 -4.02286806e-03 3.41417613e+01] [ 7.87273959e-03 1.01642823e-05 9.99969009e-01 2.66352594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.050281693 meters 0.018141190714172296 Centerline is valid? [True, True] Translation: X:143.07, Y:34.16, Z:0.26 [[ 8.61113604e-01 -5.08354884e-01 -7.65986819e-03 1.43069054e+02] [ 5.08334478e-01 8.61147671e-01 -4.55489843e-03 3.41598208e+01] [ 8.91178252e-03 2.85099032e-05 9.99960289e-01 2.64907420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.080281693 meters 0.018651667074938025 Centerline is valid? [True, True] Translation: X:143.09, Y:34.18, Z:0.27 [[ 8.62103015e-01 -5.06667359e-01 -8.15955974e-03 1.43092249e+02] [ 5.06644111e-01 8.62141627e-01 -4.85384272e-03 3.41769891e+01] [ 9.49397978e-03 5.05195484e-05 9.99954930e-01 2.65648460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.110281693 meters 0.020705558668154034 Centerline is valid? [True, True] Translation: X:143.11, Y:34.20, Z:0.27 [[ 8.64442949e-01 -5.02678453e-01 -7.26372521e-03 1.43112979e+02] [ 5.02659875e-01 8.64473462e-01 -4.32253730e-03 3.41984502e+01] [ 8.45214404e-03 8.54036800e-05 9.99964276e-01 2.68416874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.140281693 meters 0.024391640139938477 Centerline is valid? [True, True] Translation: X:143.13, Y:34.22, Z:0.27 [[ 8.65717458e-01 -5.00496185e-01 -6.07062618e-03 1.43132398e+02] [ 5.00483151e-01 8.65738737e-01 -3.61321506e-03 3.42198051e+01] [ 7.06397660e-03 8.97772375e-05 9.99975046e-01 2.69224036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.170281693 meters 0.024462853651980518 Centerline is valid? [True, True] Translation: X:143.16, Y:34.24, Z:0.27 [[ 8.66980241e-01 -4.98316346e-01 -5.10698058e-03 1.43156363e+02] [ 4.98307078e-01 8.66995278e-01 -3.04052861e-03 3.42360147e+01] [ 5.94287315e-03 9.12336546e-05 9.99982337e-01 2.71972323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.200281693 meters 0.02926078471301067 Centerline is valid? [True, True] Translation: X:143.18, Y:34.26, Z:0.27 [[ 8.68126985e-01 -4.96312698e-01 -5.40763554e-03 1.43175279e+02] [ 4.96302264e-01 8.68143820e-01 -3.22028277e-03 3.42574864e+01] [ 6.29287261e-03 1.11792619e-04 9.99980193e-01 2.70029147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.230281693 meters 0.030642262423888927 Centerline is valid? [True, True] Translation: X:143.20, Y:34.28, Z:0.27 [[ 8.68533107e-01 -4.95592195e-01 -6.21434531e-03 1.43196850e+02] [ 4.95578392e-01 8.68555328e-01 -3.70119648e-03 3.42759406e+01] [ 7.23178682e-03 1.34916425e-04 9.99973841e-01 2.68452220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.260281693 meters 0.02703470135329348 Centerline is valid? [True, True] Translation: X:143.22, Y:34.29, Z:0.27 [[ 8.67886871e-01 -4.96729864e-01 -5.64108512e-03 1.43223573e+02] [ 4.96718508e-01 8.67905196e-01 -3.36073208e-03 3.42878778e+01] [ 6.56530307e-03 1.14703864e-04 9.99978442e-01 2.70556118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.290281693 meters 0.02365629569163694 Centerline is valid? [True, True] Translation: X:143.25, Y:34.30, Z:0.27 [[ 8.65928149e-01 -5.00143538e-01 -4.98825148e-03 1.43250159e+02] [ 5.00134709e-01 8.65942513e-01 -2.97272290e-03 3.42991963e+01] [ 5.80632717e-03 7.93667350e-05 9.99983140e-01 2.70912126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.320281693 meters 0.022322027913309252 Centerline is valid? [True, True] Translation: X:143.28, Y:34.31, Z:0.27 [[ 8.64789052e-01 -5.02105987e-01 -5.42898087e-03 1.43275430e+02] [ 5.02095564e-01 8.64806090e-01 -3.23599902e-03 3.43110024e+01] [ 6.31983020e-03 7.25893121e-05 9.99980027e-01 2.69499362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.350281693 meters 0.020340459747621442 Centerline is valid? [True, True] Translation: X:143.30, Y:34.32, Z:0.27 [[ 8.63531004e-01 -5.04252495e-01 -6.60509640e-03 1.43302446e+02] [ 5.04237120e-01 8.63556262e-01 -3.93827151e-03 3.43213633e+01] [ 7.68975559e-03 7.02847652e-05 9.99970431e-01 2.67643696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.380281693 meters 0.018759745278649976 Centerline is valid? [True, True] Translation: X:143.33, Y:34.33, Z:0.27 [[ 8.61637351e-01 -5.07465826e-01 -7.71434236e-03 1.43328310e+02] [ 5.07444974e-01 8.61671883e-01 -4.60056444e-03 3.43316764e+01] [ 8.98186114e-03 4.94138973e-05 9.99959661e-01 2.66233793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.410281693 meters 0.01824444578048393 Centerline is valid? [True, True] Translation: X:143.35, Y:34.35, Z:0.27 [[ 8.61290747e-01 -5.08066823e-01 -6.80825570e-03 1.43351601e+02] [ 5.08050597e-01 8.61317654e-01 -4.06071632e-03 3.43462623e+01] [ 7.92718607e-03 3.85190203e-05 9.99968579e-01 2.68085684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440281693 meters 0.018294397520410795 Centerline is valid? [True, True] Translation: X:143.37, Y:34.36, Z:0.27 [[ 8.61681672e-01 -5.07424024e-01 -5.05520241e-03 1.43372937e+02] [ 5.07415065e-01 8.61696500e-01 -3.01555909e-03 3.43637306e+01] [ 5.88621736e-03 3.33661420e-05 9.99982676e-01 2.72324159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470281693 meters 0.01892390372366169 Centerline is valid? [True, True] Translation: X:143.39, Y:34.38, Z:0.27 [[ 8.62091625e-01 -5.06731101e-01 -4.64990629e-03 1.43394555e+02] [ 5.06723508e-01 8.62104164e-01 -2.77424404e-03 3.43798872e+01] [ 5.41449931e-03 3.54357258e-05 9.99985341e-01 2.73314345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500281693 meters 0.01910464621817876 Centerline is valid? [True, True] Translation: X:143.42, Y:34.40, Z:0.27 [[ 8.62304939e-01 -5.06367273e-01 -4.73052381e-03 1.43418059e+02] [ 5.06359403e-01 8.62317913e-01 -2.82325112e-03 3.43960518e+01] [ 5.50881739e-03 3.91581689e-05 9.99984826e-01 2.73086957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530281693 meters 0.019417099390698432 Centerline is valid? [True, True] Translation: X:143.44, Y:34.41, Z:0.27 [[ 8.62425935e-01 -5.06159499e-01 -4.90598256e-03 1.43441759e+02] [ 5.06151025e-01 8.62439888e-01 -2.92917938e-03 3.44113295e+01] [ 5.71374701e-03 4.30321636e-05 9.99983675e-01 2.72327825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560281693 meters 0.019998050207013215 Centerline is valid? [True, True] Translation: X:143.47, Y:34.43, Z:0.27 [[ 8.62636082e-01 -5.05787851e-01 -6.13520337e-03 1.43465167e+02] [ 5.05774583e-01 8.62657897e-01 -3.66395974e-03 3.44267039e+01] [ 7.14576795e-03 5.76339532e-05 9.99974467e-01 2.69231388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590281693 meters 0.019955895268387727 Centerline is valid? [True, True] Translation: X:143.49, Y:34.44, Z:0.27 [[ 8.62402342e-01 -5.06177955e-01 -6.78806735e-03 1.43489216e+02] [ 5.06161715e-01 8.62429054e-01 -4.05522977e-03 3.44417600e+01] [ 7.90689442e-03 6.13798456e-05 9.99968738e-01 2.67453329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620281693 meters 0.019527960592789575 Centerline is valid? [True, True] Translation: X:143.51, Y:34.45, Z:0.26 [[ 8.61591192e-01 -5.07532302e-01 -8.46047369e-03 1.43513576e+02] [ 5.07507117e-01 8.61632728e-01 -5.05649088e-03 3.44546961e+01] [ 9.85615348e-03 6.28774005e-05 9.99951425e-01 2.64071237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650281693 meters 0.01863406338582587 Centerline is valid? [True, True] Translation: X:143.54, Y:34.47, Z:0.26 [[ 8.60810902e-01 -5.08860834e-01 -8.07726234e-03 1.43539717e+02] [ 5.08837921e-01 8.60848796e-01 -4.82922522e-03 3.44663189e+01] [ 9.41070513e-03 4.70323406e-05 9.99955717e-01 2.64967776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680281693 meters 0.01791778085325778 Centerline is valid? [True, True] Translation: X:143.57, Y:34.48, Z:0.27 [[ 8.60100632e-01 -5.10074541e-01 -7.13204119e-03 1.43566578e+02] [ 5.10056706e-01 8.60130200e-01 -4.26560536e-03 3.44775792e+01] [ 8.31026072e-03 3.11044307e-05 9.99965469e-01 2.68717687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710281693 meters 0.0171228369863991 Centerline is valid? [True, True] Translation: X:143.59, Y:34.49, Z:0.27 [[ 8.59242203e-01 -5.11540058e-01 -5.44105970e-03 1.43593431e+02] [ 5.11529704e-01 8.59259430e-01 -3.25481850e-03 3.44875978e+01] [ 6.34025190e-03 1.34137654e-05 9.99979900e-01 2.71724818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.740281693 meters 0.01699612705726029 Centerline is valid? [True, True] Translation: X:143.62, Y:34.50, Z:0.27 [[ 8.58965590e-01 -5.12008851e-01 -5.00516771e-03 1.43617941e+02] [ 5.12000091e-01 8.58980172e-01 -2.99500675e-03 3.45002167e+01] [ 5.83280978e-03 9.96141503e-06 9.99982989e-01 2.72413663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.770281693 meters 0.017065494114302186 Centerline is valid? [True, True] Translation: X:143.64, Y:34.51, Z:0.27 [[ 8.58840680e-01 -5.12219199e-01 -4.91719443e-03 1.43642347e+02] [ 5.12210744e-01 8.58854756e-01 -2.94312440e-03 3.45121176e+01] [ 5.73068064e-03 9.03514030e-06 9.99983579e-01 2.72116456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.800281693 meters 0.01701840648799657 Centerline is valid? [True, True] Translation: X:143.67, Y:34.52, Z:0.27 [[ 8.58697159e-01 -5.12459642e-01 -4.93005829e-03 1.43667949e+02] [ 5.12451140e-01 8.58711311e-01 -2.95179857e-03 3.45242184e+01] [ 5.74617446e-03 8.28705102e-06 9.99983491e-01 2.72493285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.830281693 meters 0.01692637562998243 Centerline is valid? [True, True] Translation: X:143.69, Y:34.54, Z:0.27 [[ 8.58704618e-01 -5.12444625e-01 -5.18513615e-03 1.43694026e+02] [ 5.12435213e-01 8.58720272e-01 -3.10584688e-03 3.45351425e+01] [ 6.04415607e-03 9.95871122e-06 9.99981734e-01 2.73297177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.860281693 meters 0.01720938570954498 Centerline is valid? [True, True] Translation: X:143.72, Y:34.55, Z:0.27 [[ 8.59275724e-01 -5.11487964e-01 -5.02914826e-03 1.43716606e+02] [ 5.11479089e-01 8.59290441e-01 -3.01319965e-03 3.45492847e+01] [ 5.86271438e-03 1.68651437e-05 9.99982814e-01 2.73249698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.890281693 meters 0.018338628504698255 Centerline is valid? [True, True] Translation: X:143.74, Y:34.57, Z:0.27 [[ 8.60872332e-01 -5.08791335e-01 -5.49597014e-03 1.43740323e+02] [ 5.08780674e-01 8.60889874e-01 -3.29394625e-03 3.45653827e+01] [ 6.40735636e-03 3.94237917e-05 9.99979472e-01 2.73499849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.920281693 meters 0.018955421846734745 Centerline is valid? [True, True] Translation: X:143.76, Y:34.58, Z:0.27 [[ 8.61517516e-01 -5.07699164e-01 -5.39701510e-03 1.43764962e+02] [ 5.07688855e-01 8.61534420e-01 -3.23583794e-03 3.45804100e+01] [ 6.29254649e-03 4.77266556e-05 9.99980201e-01 2.73082448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.950281693 meters 0.01937419496970471 Centerline is valid? [True, True] Translation: X:143.79, Y:34.59, Z:0.27 [[ 8.61730962e-01 -5.07340792e-01 -5.00706057e-03 1.43789752e+02] [ 5.07331908e-01 8.61745507e-01 -3.00275593e-03 3.45919849e+01] [ 5.83823252e-03 4.73261627e-05 9.99982956e-01 2.72764163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.980281693 meters 0.018943879552806544 Centerline is valid? [True, True] Translation: X:143.82, Y:34.60, Z:0.27 [[ 8.61177389e-01 -5.08276165e-01 -5.37072575e-03 1.43815127e+02] [ 5.08265958e-01 8.61194135e-01 -3.22142581e-03 3.46031571e+01] [ 6.26261148e-03 4.44620018e-05 9.99980389e-01 2.72022910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.010281693 meters 0.018230093769081496 Centerline is valid? [True, True] Translation: X:143.84, Y:34.61, Z:0.27 [[ 8.60315170e-01 -5.09728398e-01 -5.89653135e-03 1.43841406e+02] [ 5.09716125e-01 8.60335376e-01 -3.53732499e-03 3.46134738e+01] [ 6.87606951e-03 3.76572426e-05 9.99976359e-01 2.70366300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.040281693 meters 0.017661647345493556 Centerline is valid? [True, True] Translation: X:143.87, Y:34.62, Z:0.27 [[ 8.59264852e-01 -5.11487625e-01 -6.65756836e-03 1.43867208e+02] [ 5.11472028e-01 8.59290643e-01 -3.99453614e-03 3.46235439e+01] [ 7.76394199e-03 2.72045148e-05 9.99969860e-01 2.67942725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.070281693 meters 0.017398382054399624 Centerline is valid? [True, True] Translation: X:143.90, Y:34.63, Z:0.27 [[ 8.57648260e-01 -5.14163719e-01 -8.66790700e-03 1.43896549e+02] [ 5.14137398e-01 8.57692060e-01 -5.20246443e-03 3.46313156e+01] [ 1.01093135e-02 5.38941123e-06 9.99948900e-01 2.65344087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.100281693 meters 0.01786875570279481 Centerline is valid? [True, True] Translation: X:143.92, Y:34.65, Z:0.26 [[ 8.57709454e-01 -5.14045326e-01 -9.58616981e-03 1.43921790e+02] [ 5.14013102e-01 8.57763023e-01 -5.75569707e-03 3.46461353e+01] [ 1.11813512e-02 9.29891031e-06 9.99937487e-01 2.63188159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.130281693 meters 0.017816717028056896 Centerline is valid? [True, True] Translation: X:143.94, Y:34.66, Z:0.26 [[ 8.58148359e-01 -5.13313003e-01 -9.54745601e-03 1.43944329e+02] [ 5.13280978e-01 8.58201468e-01 -5.73387154e-03 3.46615162e+01] [ 1.11369116e-02 1.99848899e-05 9.99937982e-01 2.63223368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.160281693 meters 0.017760842681881113 Centerline is valid? [True, True] Translation: X:143.97, Y:34.68, Z:0.27 [[ 8.59351420e-01 -5.11339964e-01 -6.82478939e-03 1.43965982e+02] [ 5.11323527e-01 8.59378520e-01 -4.10001993e-03 3.46806818e+01] [ 7.96158145e-03 3.36825712e-05 9.99968306e-01 2.70681025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190281693 meters 0.0174281455552043 Centerline is valid? [True, True] Translation: X:143.99, Y:34.70, Z:0.27 [[ 8.59568787e-01 -5.10996034e-01 -4.95526180e-03 1.43989621e+02] [ 5.10987357e-01 8.59583069e-01 -2.97789777e-03 3.46970708e+01] [ 5.78115310e-03 2.76318358e-05 9.99983289e-01 2.74152485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220281693 meters 0.01709606563551505 Centerline is valid? [True, True] Translation: X:144.01, Y:34.71, Z:0.28 [[ 8.59222896e-01 -5.11586701e-01 -3.88092579e-03 1.44013702e+02] [ 5.11581383e-01 8.59231661e-01 -2.33274349e-03 3.47102447e+01] [ 4.52801485e-03 1.89372345e-05 9.99989748e-01 2.75244262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250281693 meters 0.016879002293109974 Centerline is valid? [True, True] Translation: X:144.04, Y:34.72, Z:0.27 [[ 8.58478753e-01 -5.12832457e-01 -4.13553624e-03 1.44039422e+02] [ 5.12826429e-01 8.58488714e-01 -2.48654373e-03 3.47222787e+01] [ 4.82549152e-03 1.38326772e-05 9.99988357e-01 2.73771289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280281693 meters 0.016859244015166076 Centerline is valid? [True, True] Translation: X:144.06, Y:34.73, Z:0.27 [[ 8.57736988e-01 -5.14062796e-01 -5.16742712e-03 1.44064132e+02] [ 5.14053401e-01 8.57752553e-01 -3.10790093e-03 3.47339252e+01] [ 6.03003004e-03 9.42809182e-06 9.99981819e-01 2.71286243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310281693 meters 0.01736664986541352 Centerline is valid? [True, True] Translation: X:144.09, Y:34.74, Z:0.27 [[ 8.56227487e-01 -5.16539875e-01 -7.81328609e-03 1.44092229e+02] [ 5.16518485e-01 8.56263135e-01 -4.70078253e-03 3.47439647e+01] [ 9.11837046e-03 -1.07674840e-05 9.99958427e-01 2.65460013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340281693 meters 0.0176044473699707 Centerline is valid? [True, True] Translation: X:144.12, Y:34.76, Z:0.26 [[ 8.55555298e-01 -5.17636471e-01 -8.80998334e-03 1.44118334e+02] [ 5.17609314e-01 8.55600656e-01 -5.30236265e-03 3.47570753e+01] [ 1.02825238e-02 -2.36649693e-05 9.99947133e-01 2.64387577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370281693 meters 0.017722503522929645 Centerline is valid? [True, True] Translation: X:144.14, Y:34.77, Z:0.27 [[ 8.54398998e-01 -5.19559294e-01 -7.77769157e-03 1.44144712e+02] [ 5.19538191e-01 8.54434397e-01 -4.68294617e-03 3.47678587e+01] [ 9.07859541e-03 -3.97032926e-05 9.99958788e-01 2.67801041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400281693 meters 0.017199473332252906 Centerline is valid? [True, True] Translation: X:144.17, Y:34.78, Z:0.27 [[ 8.54155401e-01 -5.19980500e-01 -6.23151417e-03 1.44169780e+02] [ 5.19966954e-01 8.54178131e-01 -3.75341247e-03 3.47821557e+01] [ 7.27452442e-03 -3.41839137e-05 9.99973540e-01 2.71674148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430281693 meters 0.017359717699817215 Centerline is valid? [True, True] Translation: X:144.19, Y:34.79, Z:0.27 [[ 8.54130618e-01 -5.20028337e-01 -5.60508191e-03 1.44193203e+02] [ 5.20017373e-01 8.54149008e-01 -3.37691397e-03 3.47948403e+01] [ 6.54366610e-03 -3.04143556e-05 9.99978590e-01 2.72643298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460281693 meters 0.017124360907440128 Centerline is valid? [True, True] Translation: X:144.22, Y:34.81, Z:0.27 [[ 8.54263308e-01 -5.19818861e-01 -4.74893248e-03 1.44216598e+02] [ 5.19810982e-01 8.54276508e-01 -2.86205751e-03 3.48098554e+01] [ 5.54465293e-03 -2.35965416e-05 9.99984628e-01 2.74603789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.490281693 meters 0.016960544895587227 Centerline is valid? [True, True] Translation: X:144.24, Y:34.83, Z:0.27 [[ 8.54528610e-01 -5.19381284e-01 -4.89252950e-03 1.44239098e+02] [ 5.19372910e-01 8.54542615e-01 -2.94940610e-03 3.48251021e+01] [ 5.71274128e-03 -2.06953956e-05 9.99983682e-01 2.74423319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.520281693 meters 0.016960544895587227 Centerline is valid? [True, True] Translation: X:144.26, Y:34.84, Z:0.27 [[ 8.54434432e-01 -5.19536205e-01 -4.89209697e-03 1.44262538e+02] [ 5.19527829e-01 8.54448437e-01 -2.95012343e-03 3.48394767e+01] [ 5.71274054e-03 -2.08934765e-05 9.99983682e-01 2.74478023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.550281693 meters 0.01672370400996819 Centerline is valid? [True, True] Translation: X:144.29, Y:34.86, Z:0.28 [[ 8.54470222e-01 -5.19482974e-01 -4.25196056e-03 1.44285552e+02] [ 5.19476641e-01 8.54480801e-01 -2.56508292e-03 3.48564835e+01] [ 4.96573557e-03 -1.70072205e-05 9.99987671e-01 2.76390562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.580281693 meters 0.016372672223512033 Centerline is valid? [True, True] Translation: X:144.31, Y:34.87, Z:0.28 [[ 8.54898549e-01 -5.18787448e-01 -2.83817057e-03 1.44306969e+02] [ 5.18784621e-01 8.54903260e-01 -1.71275478e-03 3.48741939e+01] [ 3.31491696e-03 -8.16766646e-06 9.99994506e-01 2.79686960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.610281693 meters 0.01625071320739497 Centerline is valid? [True, True] Translation: X:144.33, Y:34.89, Z:0.28 [[ 8.54987669e-01 -5.18645110e-01 -1.82610146e-03 1.44329265e+02] [ 5.18643939e-01 8.54989620e-01 -1.10231501e-03 3.48913274e+01] [ 2.13300808e-03 -4.63071060e-06 9.99997725e-01 2.81710195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.640281693 meters 0.01631466413827544 Centerline is valid? [True, True] Translation: X:144.35, Y:34.91, Z:0.28 [[ 8.54949617e-01 -5.18704140e-01 -2.67715604e-03 1.44349835e+02] [ 5.18701620e-01 8.54953809e-01 -1.61680938e-03 3.49091064e+01] [ 3.12749047e-03 -6.35461831e-06 9.99995109e-01 2.80068535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.670281693 meters 0.016634340280335735 Centerline is valid? [True, True] Translation: X:144.37, Y:34.92, Z:0.28 [[ 8.54491946e-01 -5.19447989e-01 -4.15938562e-03 1.44372464e+02] [ 5.19441911e-01 8.54502069e-01 -2.51290511e-03 3.49248782e+01] [ 4.85952713e-03 -1.33020377e-05 9.99988192e-01 2.77212813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.700281693 meters 0.01711065518273124 Centerline is valid? [True, True] Translation: X:144.40, Y:34.94, Z:0.27 [[ 8.54031876e-01 -5.20192498e-01 -5.41484842e-03 1.44396181e+02] [ 5.20182206e-01 8.54049041e-01 -3.27227128e-03 3.49401201e+01] [ 6.32675708e-03 -2.20838187e-05 9.99979986e-01 2.74454288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.730281693 meters 0.017524145841725864 Centerline is valid? [True, True] Translation: X:144.42, Y:34.96, Z:0.27 [[ 8.53299608e-01 -5.21391146e-01 -5.57231695e-03 1.44419976e+02] [ 5.21380270e-01 8.53317802e-01 -3.36787813e-03 3.49555517e+01] [ 6.51093909e-03 -3.14870242e-05 9.99978803e-01 2.74513960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.760281693 meters 0.018655235309370265 Centerline is valid? [True, True] Translation: X:144.44, Y:34.97, Z:0.28 [[ 8.51992077e-01 -5.23537902e-01 -4.19109239e-03 1.44443625e+02] [ 5.23531774e-01 8.52002385e-01 -2.53336877e-03 3.49698752e+01] [ 4.89713528e-03 -3.57599185e-05 9.99988008e-01 2.77876715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.790281693 meters 0.01944234881139578 Centerline is valid? [True, True] Translation: X:144.47, Y:34.99, Z:0.28 [[ 8.51040338e-01 -5.25086325e-01 -3.83338799e-03 1.44468395e+02] [ 5.25081211e-01 8.51048970e-01 -2.31774253e-03 3.49854020e+01] [ 4.47941581e-03 -4.03476210e-05 9.99989967e-01 2.78785143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.820281693 meters 0.021111187265143314 Centerline is valid? [True, True] Translation: X:144.49, Y:35.00, Z:0.28 [[ 8.50070337e-01 -5.26650797e-01 -4.40005445e-03 1.44493008e+02] [ 5.26644077e-01 8.50081722e-01 -2.66100515e-03 3.49982291e+01] [ 5.14182635e-03 -5.52210735e-05 9.99986779e-01 2.76727950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.850281693 meters 0.023610274885471055 Centerline is valid? [True, True] Translation: X:144.52, Y:35.01, Z:0.27 [[ 8.48016729e-01 -5.29938563e-01 -5.72255237e-03 1.44517504e+02] [ 5.29927268e-01 8.48036031e-01 -3.46129719e-03 3.50128323e+01] [ 6.68720546e-03 -9.72986222e-05 9.99977636e-01 2.74411189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.880281693 meters 0.02443341914714509 Centerline is valid? [True, True] Translation: X:144.54, Y:35.03, Z:0.27 [[ 8.47342304e-01 -5.31008189e-01 -6.42827685e-03 1.44541675e+02] [ 5.30993958e-01 8.47366679e-01 -3.88936543e-03 3.50282523e+01] [ 7.51239250e-03 -1.17752305e-04 9.99971775e-01 2.73903471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.910281693 meters 0.025063062474663 Centerline is valid? [True, True] Translation: X:144.56, Y:35.04, Z:0.27 [[ 8.47497902e-01 -5.30761086e-01 -6.32263422e-03 1.44564351e+02] [ 5.30747306e-01 8.47521479e-01 -3.82626719e-03 3.50435316e+01] [ 7.38940203e-03 -1.12967659e-04 9.99972692e-01 2.73519685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940281693 meters 0.023808315081015486 Centerline is valid? [True, True] Translation: X:144.59, Y:35.06, Z:0.28 [[ 8.47568537e-01 -5.30656705e-01 -5.57107207e-03 1.44587798e+02] [ 5.30645997e-01 8.47586840e-01 -3.37244726e-03 3.50613031e+01] [ 6.51157912e-03 -9.78868996e-05 9.99978795e-01 2.76008783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970281693 meters 0.024199880702395798 Centerline is valid? [True, True] Translation: X:144.61, Y:35.08, Z:0.28 [[ 8.47387908e-01 -5.30950077e-01 -5.07431333e-03 1.44611639e+02] [ 5.30941193e-01 8.47403096e-01 -3.07292745e-03 3.50763661e+01] [ 5.93155989e-03 -9.02004057e-05 9.99982404e-01 2.76692355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000281693 meters 0.026440321660270404 Centerline is valid? [True, True] Translation: X:144.64, Y:35.09, Z:0.27 [[ 8.46509469e-01 -5.32338498e-01 -6.11908679e-03 1.44636378e+02] [ 5.32325605e-01 8.46531576e-01 -3.70674947e-03 3.50883509e+01] [ 7.15324563e-03 -1.19548054e-04 9.99974408e-01 2.73508275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030281693 meters 0.02714664469230793 Centerline is valid? [True, True] Translation: X:144.66, Y:35.10, Z:0.27 [[ 8.45842470e-01 -5.33393530e-01 -6.46981106e-03 1.44661914e+02] [ 5.33379139e-01 8.45867202e-01 -3.92049068e-03 3.51016382e+01] [ 7.56376535e-03 -1.34744740e-04 9.99971385e-01 2.73008986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060281693 meters 0.02762075079476429 Centerline is valid? [True, True] Translation: X:144.69, Y:35.12, Z:0.27 [[ 8.45287527e-01 -5.34273259e-01 -6.40947608e-03 1.44687794e+02] [ 5.34259150e-01 8.45311815e-01 -3.88532853e-03 3.51151061e+01] [ 7.49383300e-03 -1.40101497e-04 9.99971911e-01 2.73672377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090281693 meters 0.0276367025532357 Centerline is valid? [True, True] Translation: X:144.71, Y:35.13, Z:0.28 [[ 8.45424416e-01 -5.34067182e-01 -5.45914605e-03 1.44713011e+02] [ 5.34056935e-01 8.45442033e-01 -3.31038724e-03 3.51281437e+01] [ 6.38336072e-03 -1.16812614e-04 9.99979619e-01 2.75693166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120281693 meters 0.02667771791218103 Centerline is valid? [True, True] Translation: X:144.74, Y:35.14, Z:0.27 [[ 8.45998126e-01 -5.33156164e-01 -5.62818733e-03 1.44736522e+02] [ 5.33145244e-01 8.46016839e-01 -3.41411320e-03 3.51441973e+01] [ 6.58179675e-03 -1.12307937e-04 9.99978333e-01 2.74777844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150281693 meters 0.025131995631840175 Centerline is valid? [True, True] Translation: X:144.76, Y:35.16, Z:0.28 [[ 8.46847668e-01 -5.31804899e-01 -5.70761879e-03 1.44760531e+02] [ 5.31793631e-01 8.46866895e-01 -3.46346125e-03 3.51610847e+01] [ 6.67547906e-03 -1.02251238e-04 9.99977714e-01 2.75356414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180281693 meters 0.020310622267135408 Centerline is valid? [True, True] Translation: X:144.78, Y:35.18, Z:0.28 [[ 8.49643976e-01 -5.27340441e-01 -4.14407879e-03 1.44781847e+02] [ 5.27334444e-01 8.49654081e-01 -2.51541939e-03 3.51822504e+01] [ 4.84751582e-03 -4.81045521e-05 9.99988250e-01 2.79160632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210281693 meters 0.018039210337998567 Centerline is valid? [True, True] Translation: X:144.80, Y:35.20, Z:0.28 [[ 8.51499592e-01 -5.24342583e-01 -3.64702609e-03 1.44803351e+02] [ 5.24337909e-01 8.51507401e-01 -2.21416325e-03 3.52005527e+01] [ 4.26644979e-03 -2.69149317e-05 9.99990898e-01 2.80711325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.240281693 meters 0.016313951643983988 Centerline is valid? [True, True] Translation: X:144.82, Y:35.23, Z:0.28 [[ 8.55239390e-01 -5.18224701e-01 -2.95725078e-03 1.44822282e+02] [ 5.18221590e-01 8.55244503e-01 -1.79577070e-03 3.52254297e+01] [ 3.45978520e-03 3.30263661e-06 9.99994015e-01 2.81391770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.270281693 meters 0.016836298579730385 Centerline is valid? [True, True] Translation: X:144.85, Y:35.24, Z:0.28 [[ 8.56567506e-01 -5.16026047e-01 -3.03744022e-03 1.44845097e+02] [ 5.16022748e-01 8.56572892e-01 -1.84515366e-03 3.52441657e+01] [ 3.55393630e-03 1.31104184e-05 9.99993685e-01 2.81159007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.300281693 meters 0.01779371653251953 Centerline is valid? [True, True] Translation: X:144.87, Y:35.26, Z:0.28 [[ 8.57690513e-01 -5.14154014e-01 -3.55431988e-03 1.44866739e+02] [ 5.14149479e-01 8.57697877e-01 -2.15975226e-03 3.52612712e+01] [ 4.15897791e-03 2.49473128e-05 9.99991351e-01 2.79846245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.330281693 meters 0.018568394059486727 Centerline is valid? [True, True] Translation: X:144.89, Y:35.28, Z:0.28 [[ 8.58318668e-01 -5.13097518e-01 -4.47231707e-03 1.44889201e+02] [ 5.13090321e-01 8.58330318e-01 -2.71796497e-03 3.52778636e+01] [ 5.23330641e-03 3.81774719e-05 9.99986305e-01 2.78253900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.360281693 meters 0.0195309910637835 Centerline is valid? [True, True] Translation: X:144.91, Y:35.30, Z:0.28 [[ 8.59088200e-01 -5.11806755e-01 -4.61625009e-03 1.44911980e+02] [ 5.11799064e-01 8.59100601e-01 -2.80623370e-03 3.52960090e+01] [ 5.40207259e-03 4.82097856e-05 9.99985408e-01 2.78341960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.390281693 meters 0.020016754454872943 Centerline is valid? [True, True] Translation: X:144.93, Y:35.31, Z:0.28 [[ 8.59230821e-01 -5.11567741e-01 -4.56535913e-03 1.44934456e+02] [ 5.11560212e-01 8.59242948e-01 -2.77598883e-03 3.53119729e+01] [ 5.34285897e-03 4.97590751e-05 9.99985726e-01 2.78401293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.420281693 meters 0.019053136418159422 Centerline is valid? [True, True] Translation: X:144.96, Y:35.32, Z:0.28 [[ 8.58821951e-01 -5.12245720e-01 -5.40172128e-03 1.44959810e+02] [ 5.12235185e-01 8.58838937e-01 -3.28575214e-03 3.53244716e+01] [ 6.32232103e-03 5.49243677e-05 9.99980012e-01 2.76908540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.450281693 meters 0.01912128604715246 Centerline is valid? [True, True] Translation: X:144.98, Y:35.34, Z:0.27 [[ 8.58340225e-01 -5.13045446e-01 -6.03561908e-03 1.44983678e+02] [ 5.13032305e-01 8.58361443e-01 -3.67234975e-03 3.53379226e+01] [ 7.06482502e-03 5.56579392e-05 9.99975042e-01 2.74514066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.480281693 meters 0.018645964128680564 Centerline is valid? [True, True] Translation: X:145.01, Y:35.35, Z:0.27 [[ 8.57665630e-01 -5.14168320e-01 -6.37229027e-03 1.45008627e+02] [ 5.14153700e-01 8.57689300e-01 -3.87777687e-03 3.53509751e+01] [ 7.45927521e-03 4.94993182e-05 9.99972178e-01 2.73842090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.510281693 meters 0.01717206899585189 Centerline is valid? [True, True] Translation: X:145.04, Y:35.36, Z:0.28 [[ 8.55972922e-01 -5.16990514e-01 -5.58251538e-03 1.45035343e+02] [ 5.16979347e-01 8.55991126e-01 -3.39814201e-03 3.53627727e+01] [ 6.53539081e-03 2.26723905e-05 9.99978644e-01 2.75643096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.540281693 meters 0.0166837613522138 Centerline is valid? [True, True] Translation: X:145.06, Y:35.38, Z:0.28 [[ 8.55047415e-01 -5.18525553e-01 -5.01689566e-03 1.45060500e+02] [ 5.18516556e-01 8.55062133e-01 -3.05443792e-03 3.53751722e+01] [ 5.87356161e-03 1.03457888e-05 9.99982750e-01 2.76519106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.570281693 meters 0.016459435964126218 Centerline is valid? [True, True] Translation: X:145.09, Y:35.39, Z:0.28 [[ 8.53956546e-01 -5.20323396e-01 -4.66708200e-03 1.45086166e+02] [ 5.20315632e-01 8.53969299e-01 -2.84233804e-03 3.53867239e+01] [ 5.46447972e-03 -1.12255002e-06 9.99985070e-01 2.76714182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.600281693 meters 0.016631386680607284 Centerline is valid? [True, True] Translation: X:145.11, Y:35.40, Z:0.28 [[ 8.52889007e-01 -5.22073358e-01 -4.44427940e-03 1.45111985e+02] [ 5.22066338e-01 8.52900586e-01 -2.70736207e-03 3.53966757e+01] [ 5.20397011e-03 -1.11293209e-05 9.99986459e-01 2.77199055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.630281693 meters 0.01668433532116879 Centerline is valid? [True, True] Translation: X:145.14, Y:35.41, Z:0.28 [[ 8.52971140e-01 -5.21936667e-01 -4.72756495e-03 1.45135939e+02] [ 5.21928716e-01 8.52984241e-01 -2.88087677e-03 3.54121043e+01] [ 5.53617362e-03 -1.01471632e-05 9.99984675e-01 2.76581244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.660281693 meters 0.016567699121145977 Centerline is valid? [True, True] Translation: X:145.16, Y:35.43, Z:0.28 [[ 8.53704587e-01 -5.20728776e-01 -5.47903185e-03 1.45158630e+02] [ 5.20718063e-01 8.53722169e-01 -3.34022437e-03 3.54289115e+01] [ 6.41692190e-03 -1.46598498e-06 9.99979411e-01 2.75465097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690281693 meters 0.016394721647896158 Centerline is valid? [True, True] Translation: X:145.18, Y:35.44, Z:0.28 [[ 8.53594569e-01 -5.20910632e-01 -5.33152095e-03 1.45182768e+02] [ 5.20900483e-01 8.53611219e-01 -3.25164414e-03 3.54424598e+01] [ 6.24486210e-03 -1.60605934e-06 9.99980501e-01 2.76556891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720281693 meters 0.016383813936133647 Centerline is valid? [True, True] Translation: X:145.21, Y:35.46, Z:0.28 [[ 8.53051155e-01 -5.21806255e-01 -4.68610102e-03 1.45207875e+02] [ 5.21798422e-01 8.53064026e-01 -2.85917543e-03 3.54552145e+01] [ 5.48947983e-03 -6.17721197e-06 9.99984933e-01 2.78181364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750281693 meters 0.016762574682937896 Centerline is valid? [True, True] Translation: X:145.23, Y:35.47, Z:0.28 [[ 8.51886235e-01 -5.23712456e-01 -3.88655877e-03 1.45233395e+02] [ 5.23707084e-01 8.51895101e-01 -2.37210256e-03 3.54657203e+01] [ 4.55324003e-03 -1.46568417e-05 9.99989634e-01 2.79457458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780281693 meters 0.016771917375871696 Centerline is valid? [True, True] Translation: X:145.26, Y:35.48, Z:0.28 [[ 8.51608229e-01 -5.24163472e-01 -4.00982411e-03 1.45257963e+02] [ 5.24157755e-01 8.51617669e-01 -2.44823701e-03 3.54792666e+01] [ 4.69811347e-03 -1.68416199e-05 9.99988964e-01 2.78891607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810281693 meters 0.016888654227331774 Centerline is valid? [True, True] Translation: X:145.28, Y:35.49, Z:0.28 [[ 8.51434879e-01 -5.24440792e-01 -4.52796396e-03 1.45282645e+02] [ 5.24433499e-01 8.51446919e-01 -2.76580107e-03 3.54929491e+01] [ 5.30581987e-03 -1.97164879e-05 9.99985924e-01 2.77748791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840281693 meters 0.01689451265285567 Centerline is valid? [True, True] Translation: X:145.31, Y:35.51, Z:0.28 [[ 8.51507250e-01 -5.24319423e-01 -4.95429352e-03 1.45305945e+02] [ 5.24310686e-01 8.51521663e-01 -3.02704987e-03 3.55065470e+01] [ 5.80582930e-03 -2.00341181e-05 9.99983146e-01 2.77833831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870281693 meters 0.016356516096384926 Centerline is valid? [True, True] Translation: X:145.33, Y:35.52, Z:0.28 [[ 8.52070015e-01 -5.23410842e-01 -4.21656966e-03 1.45327937e+02] [ 5.23404498e-01 8.52080448e-01 -2.57712233e-03 3.55236608e+01] [ 4.94175034e-03 -1.10828607e-05 9.99987789e-01 2.80494785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900281693 meters 0.016073786973761963 Centerline is valid? [True, True] Translation: X:145.35, Y:35.55, Z:0.28 [[ 8.54102669e-01 -5.20095573e-01 -3.03756156e-03 1.45346695e+02] [ 5.20092258e-01 8.54108070e-01 -1.85699526e-03 3.55455127e+01] [ 3.56022086e-03 6.25235813e-06 9.99993662e-01 2.83745262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930281693 meters 0.016635989488465508 Centerline is valid? [True, True] Translation: X:145.37, Y:35.56, Z:0.28 [[ 8.55196012e-01 -5.18296728e-01 -2.87799714e-03 1.45368992e+02] [ 5.18293741e-01 8.55200854e-01 -1.75989674e-03 3.55634276e+01] [ 3.37341434e-03 1.34087738e-05 9.99994310e-01 2.84531320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960281693 meters 0.017228345866634378 Centerline is valid? [True, True] Translation: X:145.39, Y:35.58, Z:0.29 [[ 8.56001040e-01 -5.16968514e-01 -2.40319250e-03 1.45391448e+02] [ 5.16966424e-01 8.56004413e-01 -1.46996266e-03 3.55800280e+01] [ 2.81706780e-03 1.59197290e-05 9.99996032e-01 2.85206489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.990281693 meters 0.018101197294252497 Centerline is valid? [True, True] Translation: X:145.41, Y:35.60, Z:0.29 [[ 8.56334813e-01 -5.16420826e-01 -4.67254060e-04 1.45413305e+02] [ 5.16420747e-01 8.56334940e-01 -2.85747514e-04 3.55977853e+01] [ 5.47691945e-04 3.39585348e-06 9.99999850e-01 2.88396883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.020281693 meters 0.01734329435345261 Centerline is valid? [True, True] Translation: X:145.44, Y:35.61, Z:0.29 [[ 8.56094429e-01 -5.16819417e-01 1.39571162e-04 1.45437582e+02] [ 5.16819410e-01 8.56094440e-01 8.58666555e-05 3.56112190e+01] [-1.63863651e-04 -1.37687990e-06 9.99999987e-01 2.88816546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.050281693 meters 0.01738581434795159 Centerline is valid? [True, True] Translation: X:145.46, Y:35.63, Z:0.29 [[ 8.55808973e-01 -5.17291765e-01 -4.80088681e-04 1.45460039e+02] [ 5.17291682e-01 8.55809108e-01 -2.93725706e-04 3.56257479e+01] [ 5.62806155e-04 3.02721371e-06 9.99999842e-01 2.87682807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.080281693 meters 0.017410367426992285 Centerline is valid? [True, True] Translation: X:145.48, Y:35.64, Z:0.28 [[ 8.55647538e-01 -5.17546249e-01 -3.62928801e-03 1.45483803e+02] [ 5.17541478e-01 8.55655234e-01 -2.22234987e-03 3.56405669e+01] [ 4.25558812e-03 2.32411102e-05 9.99990945e-01 2.81360091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.110281693 meters 0.017713312983771115 Centerline is valid? [True, True] Translation: X:145.51, Y:35.66, Z:0.28 [[ 8.55784067e-01 -5.17313330e-01 -4.53314223e-03 1.45506420e+02] [ 5.17305879e-01 8.55796072e-01 -2.77668793e-03 3.56560632e+01] [ 5.31586300e-03 3.12241616e-05 9.99985870e-01 2.79909454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.140281693 meters 0.019231125438431702 Centerline is valid? [True, True] Translation: X:145.53, Y:35.68, Z:0.28 [[ 8.57001533e-01 -5.15299544e-01 -3.84094029e-03 1.45527104e+02] [ 5.15294173e-01 8.57010139e-01 -2.35302983e-03 3.56752879e+01] [ 4.50423997e-03 3.73360229e-05 9.99989855e-01 2.81979885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.170281693 meters 0.01977946945780156 Centerline is valid? [True, True] Translation: X:145.55, Y:35.69, Z:0.28 [[ 8.57815812e-01 -5.13941472e-01 -4.02445940e-03 1.45551479e+02] [ 5.13935557e-01 8.57825251e-01 -2.46612511e-03 3.56910627e+01] [ 4.71972686e-03 4.71683249e-05 9.99988861e-01 2.81612880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.200281693 meters 0.021946690149739337 Centerline is valid? [True, True] Translation: X:145.57, Y:35.71, Z:0.28 [[ 8.58800413e-01 -5.12290580e-01 -4.49586912e-03 1.45573742e+02] [ 5.12283172e-01 8.58812178e-01 -2.75576925e-03 3.57085354e+01] [ 5.27286178e-03 6.34976785e-05 9.99986096e-01 2.80191680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.230281693 meters 0.023369483271622332 Centerline is valid? [True, True] Translation: X:145.60, Y:35.73, Z:0.28 [[ 8.59538463e-01 -5.11048676e-01 -4.78341925e-03 1.45596988e+02] [ 5.11040266e-01 8.59551770e-01 -2.93291542e-03 3.57259358e+01] [ 5.61045903e-03 7.64337677e-05 9.99984258e-01 2.79719957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.260281693 meters 0.02318153262642582 Centerline is valid? [True, True] Translation: X:145.62, Y:35.74, Z:0.28 [[ 8.60137113e-01 -5.10050831e-01 -3.50666715e-03 1.45621514e+02] [ 5.10046300e-01 8.60144259e-01 -2.15077015e-03 3.57417971e+01] [ 4.11324172e-03 6.13946176e-05 9.99991539e-01 2.82329234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.290281693 meters 0.023208303192851238 Centerline is valid? [True, True] Translation: X:145.65, Y:35.76, Z:0.28 [[ 8.60020560e-01 -5.10252285e-01 -2.69131949e-03 1.45645578e+02] [ 5.10249615e-01 8.60024769e-01 -1.65124409e-03 3.57558167e+01] [ 3.15715249e-03 4.68591311e-05 9.99995015e-01 2.83640011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.320281693 meters 0.023221234617177917 Centerline is valid? [True, True] Translation: X:145.67, Y:35.77, Z:0.28 [[ 8.59866606e-01 -5.10509080e-01 -3.14638519e-03 1.45669644e+02] [ 5.10505430e-01 8.59872361e-01 -1.93112786e-03 3.57673299e+01] [ 3.69134797e-03 5.42656404e-05 9.99993185e-01 2.82355359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.350281693 meters 0.024290854657458005 Centerline is valid? [True, True] Translation: X:145.69, Y:35.78, Z:0.28 [[ 8.60198544e-01 -5.09943437e-01 -4.01949489e-03 1.45693037e+02] [ 5.09937472e-01 8.60207932e-01 -2.46744059e-03 3.57832889e+01] [ 4.71585652e-03 7.27977340e-05 9.99988878e-01 2.80287050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.380281693 meters 0.026293743596610658 Centerline is valid? [True, True] Translation: X:145.72, Y:35.80, Z:0.28 [[ 8.61290445e-01 -5.08079246e-01 -5.85226469e-03 1.45715751e+02] [ 5.08066551e-01 8.61310319e-01 -3.59365002e-03 3.58015091e+01] [ 6.86647496e-03 1.21836486e-04 9.99976418e-01 2.77195210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.410281693 meters 0.02780054023314776 Centerline is valid? [True, True] Translation: X:145.74, Y:35.82, Z:0.28 [[ 8.61967924e-01 -5.06928779e-01 -5.87466107e-03 1.45738175e+02] [ 5.06915955e-01 8.61987932e-01 -3.60811695e-03 3.58185127e+01] [ 6.89294527e-03 1.32121646e-04 9.99976235e-01 2.76875674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440281693 meters 0.02780054023314776 Centerline is valid? [True, True] Translation: X:145.76, Y:35.83, Z:0.28 [[ 8.61874272e-01 -5.07087995e-01 -5.87412670e-03 1.45761497e+02] [ 5.07075169e-01 8.61894279e-01 -3.60898681e-03 3.58330671e+01] [ 6.89295008e-03 1.31869093e-04 9.99976235e-01 2.76930377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470281693 meters 0.029798570960531543 Centerline is valid? [True, True] Translation: X:145.78, Y:35.85, Z:0.28 [[ 8.62486189e-01 -5.06049975e-01 -5.56743236e-03 1.45782971e+02] [ 5.06038426e-01 8.62504148e-01 -3.42150266e-03 3.58503589e+01] [ 6.53338484e-03 1.33664083e-04 9.99978648e-01 2.77517254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500281693 meters 0.029725603621457198 Centerline is valid? [True, True] Translation: X:145.81, Y:35.87, Z:0.28 [[ 8.62873960e-01 -5.05404196e-01 -3.88956992e-03 1.45807059e+02] [ 5.05398549e-01 8.62882721e-01 -2.39101621e-03 3.58657095e+01] [ 4.56467230e-03 9.73626311e-05 9.99989577e-01 2.81139612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530281693 meters 0.03056008065494825 Centerline is valid? [True, True] Translation: X:145.83, Y:35.88, Z:0.28 [[ 8.62873742e-01 -5.05408706e-01 -3.30845787e-03 1.45829065e+02] [ 5.05404619e-01 8.62880080e-01 -2.03429361e-03 3.58809979e+01] [ 3.88295209e-03 8.32286542e-05 9.99992458e-01 2.82240005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560281693 meters 0.029054123123151147 Centerline is valid? [True, True] Translation: X:145.85, Y:35.89, Z:0.28 [[ 8.62065613e-01 -5.06788477e-01 -2.88398387e-03 1.45854806e+02] [ 5.06785378e-01 8.62070435e-01 -1.77371698e-03 3.58946679e+01] [ 3.38509655e-03 6.74995619e-05 9.99994268e-01 2.83458025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590281693 meters 0.028329400286481347 Centerline is valid? [True, True] Translation: X:145.88, Y:35.91, Z:0.28 [[ 8.61517723e-01 -5.07718119e-01 -3.08632019e-03 1.45879940e+02] [ 5.07714573e-01 8.61523248e-01 -1.89885608e-03 3.59093095e+01] [ 3.62302023e-03 6.89284309e-05 9.99993434e-01 2.83137923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620281693 meters 0.026370697877204797 Centerline is valid? [True, True] Translation: X:145.91, Y:35.92, Z:0.28 [[ 8.60938358e-01 -5.08700217e-01 -3.03864963e-03 1.45905730e+02] [ 5.08696783e-01 8.60943718e-01 -1.87019188e-03 3.59229302e+01] [ 3.56747332e-03 6.43686354e-05 9.99993634e-01 2.83667695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650281693 meters 0.02693663202912678 Centerline is valid? [True, True] Translation: X:145.93, Y:35.94, Z:0.28 [[ 8.60557077e-01 -5.09345728e-01 -2.90632618e-03 1.45928422e+02] [ 5.09342589e-01 8.60561983e-01 -1.78921199e-03 3.59391123e+01] [ 3.41240130e-03 5.94033397e-05 9.99994176e-01 2.84576143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680281693 meters 0.024867470352848624 Centerline is valid? [True, True] Translation: X:145.96, Y:35.95, Z:0.28 [[ 8.59908155e-01 -5.10439942e-01 -3.00499377e-03 1.45955333e+02] [ 5.10436591e-01 8.59913404e-01 -1.85036570e-03 3.59512706e+01] [ 3.52853498e-03 5.72857740e-05 9.99993773e-01 2.83490161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710281693 meters 0.024546037298018183 Centerline is valid? [True, True] Translation: X:145.98, Y:35.96, Z:0.28 [[ 8.59293253e-01 -5.11468069e-01 -3.93951902e-03 1.45979951e+02] [ 5.11462318e-01 8.59302280e-01 -2.42653805e-03 3.59640892e+01] [ 4.62633441e-03 7.01922446e-05 9.99989296e-01 2.81181553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.740281693 meters 0.024272955987773754 Centerline is valid? [True, True] Translation: X:146.00, Y:35.98, Z:0.28 [[ 8.58558561e-01 -5.12691916e-01 -4.91891525e-03 1.46004137e+02] [ 5.12682966e-01 8.58572649e-01 -3.03041957e-03 3.59782174e+01] [ 5.77691771e-03 7.99486066e-05 9.99983310e-01 2.78199051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.770281693 meters 0.023155649845635996 Centerline is valid? [True, True] Translation: X:146.03, Y:35.99, Z:0.28 [[ 8.58732223e-01 -5.12404096e-01 -4.58381497e-03 1.46029006e+02] [ 5.12396316e-01 8.58744453e-01 -2.82480724e-03 3.59927120e+01] [ 5.38376849e-03 7.70230981e-05 9.99985504e-01 2.80527386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.800281693 meters 0.02449631857042703 Centerline is valid? [True, True] Translation: X:146.05, Y:36.01, Z:0.28 [[ 8.59162757e-01 -5.11688852e-01 -3.72509292e-03 1.46050668e+02] [ 5.11683704e-01 8.59170829e-01 -2.29616727e-03 3.60103244e+01] [ 4.37541436e-03 6.67120558e-05 9.99990426e-01 2.82800476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.830281693 meters 0.023954503914285198 Centerline is valid? [True, True] Translation: X:146.07, Y:36.03, Z:0.28 [[ 8.59590868e-01 -5.10973109e-01 -3.16563303e-03 1.46073739e+02] [ 5.10969385e-01 8.59596695e-01 -1.95182481e-03 3.60280846e+01] [ 3.71849768e-03 6.02292240e-05 9.99993085e-01 2.84344413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.860281693 meters 0.025017588328468895 Centerline is valid? [True, True] Translation: X:146.10, Y:36.05, Z:0.28 [[ 8.59975044e-01 -5.10319626e-01 -4.09908132e-03 1.46095541e+02] [ 5.10313371e-01 8.59984809e-01 -2.52806095e-03 3.60466098e+01] [ 4.81526678e-03 8.22533251e-05 9.99988403e-01 2.82115204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.890281693 meters 0.028030584155276386 Centerline is valid? [True, True] Translation: X:146.12, Y:36.07, Z:0.28 [[ 8.60208155e-01 -5.09919970e-01 -4.85332218e-03 1.46115523e+02] [ 5.09911192e-01 8.60221840e-01 -2.99365160e-03 3.60671076e+01] [ 5.70145647e-03 1.00400222e-04 9.99983742e-01 2.79309689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.920281693 meters 0.027730252093063443 Centerline is valid? [True, True] Translation: X:146.14, Y:36.08, Z:0.28 [[ 8.59727953e-01 -5.10736141e-01 -4.05471825e-03 1.46137834e+02] [ 5.10730022e-01 8.59737511e-01 -2.50134583e-03 3.60834666e+01] [ 4.76352109e-03 7.96105936e-05 9.99988651e-01 2.79926173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.950281693 meters 0.024387858343532045 Centerline is valid? [True, True] Translation: X:146.16, Y:36.10, Z:0.28 [[ 8.58703870e-01 -5.12461729e-01 -3.26177517e-03 1.46164453e+02] [ 5.12457780e-01 8.58710063e-01 -2.01262622e-03 3.60954552e+01] [ 3.83231308e-03 5.67278580e-05 9.99992655e-01 2.82831339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.980281693 meters 0.01904777852915492 Centerline is valid? [True, True] Translation: X:146.19, Y:36.10, Z:0.28 [[ 8.55593731e-01 -5.17639303e-01 -2.98648742e-03 1.46193400e+02] [ 5.17636022e-01 8.55598943e-01 -1.84337532e-03 3.61046444e+01] [ 3.50943900e-03 3.12669033e-05 9.99993841e-01 2.83375369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.010281693 meters 0.017876803839956077 Centerline is valid? [True, True] Translation: X:146.22, Y:36.12, Z:0.28 [[ 8.53804361e-01 -5.20580228e-01 -3.78666800e-03 1.46219529e+02] [ 5.20574979e-01 8.53812758e-01 -2.33789921e-03 3.61156126e+01] [ 4.45016955e-03 2.48639317e-05 9.99990098e-01 2.80216993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.040281693 meters 0.016386914366804037 Centerline is valid? [True, True] Translation: X:146.25, Y:36.12, Z:0.28 [[ 8.51691206e-01 -5.24019427e-01 -5.07242814e-03 1.46249070e+02] [ 5.24010063e-01 8.51706311e-01 -3.13268201e-03 3.61233298e+01] [ 5.96180529e-03 1.00743275e-05 9.99982228e-01 2.77799226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.070281693 meters 0.017646893688021262 Centerline is valid? [True, True] Translation: X:146.28, Y:36.13, Z:0.27 [[ 8.48204428e-01 -5.29623138e-01 -6.96987855e-03 1.46278613e+02] [ 5.29605639e-01 8.48233063e-01 -4.30548239e-03 3.61279205e+01] [ 8.19236453e-03 -3.93577527e-05 9.99966441e-01 2.73954554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.100281693 meters 0.018632555961095924 Centerline is valid? [True, True] Translation: X:146.30, Y:36.14, Z:0.27 [[ 8.47026599e-01 -5.31501903e-01 -7.18801989e-03 1.46304648e+02] [ 5.31483348e-01 8.47057096e-01 -4.44159451e-03 3.61411364e+01] [ 8.44937919e-03 -5.81641796e-05 9.99964302e-01 2.73951975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.130281693 meters 0.01939984291955485 Centerline is valid? [True, True] Translation: X:146.33, Y:36.15, Z:0.27 [[ 8.46349397e-01 -5.32575762e-01 -7.46704512e-03 1.46329310e+02] [ 5.32555771e-01 8.46382333e-01 -4.61494403e-03 3.61532805e+01] [ 8.77778240e-03 -7.07628706e-05 9.99961472e-01 2.74833416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.160281693 meters 0.019332139987001288 Centerline is valid? [True, True] Translation: X:146.35, Y:36.17, Z:0.28 [[ 8.46485799e-01 -5.32362703e-01 -7.19338112e-03 1.46352369e+02] [ 5.32344136e-01 8.46516360e-01 -4.44664677e-03 3.61673120e+01] [ 8.45654369e-03 -6.53309092e-05 9.99964241e-01 2.75112828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190281693 meters 0.0174030693409892 Centerline is valid? [True, True] Translation: X:146.37, Y:36.19, Z:0.28 [[ 8.48244534e-01 -5.29564763e-01 -6.50934196e-03 1.46373630e+02] [ 5.29549468e-01 8.48269509e-01 -4.02497002e-03 3.61886014e+01] [ 7.65315860e-03 -3.28597519e-05 9.99970714e-01 2.76097577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220281693 meters 0.01671151396532137 Centerline is valid? [True, True] Translation: X:146.39, Y:36.21, Z:0.28 [[ 8.49214554e-01 -5.28006376e-01 -6.62629689e-03 1.46394399e+02] [ 5.27990466e-01 8.49240406e-01 -4.09891840e-03 3.62078179e+01] [ 7.79157411e-03 -1.77604144e-05 9.99969645e-01 2.76347195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250281693 meters 0.01670787192172237 Centerline is valid? [True, True] Translation: X:146.42, Y:36.23, Z:0.28 [[ 8.50041729e-01 -5.26668533e-01 -7.02253187e-03 1.46415505e+02] [ 5.26650602e-01 8.50070736e-01 -4.34586760e-03 3.62260075e+01] [ 8.25848055e-03 -4.25183214e-06 9.99965898e-01 2.75357460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280281693 meters 0.016704862356677223 Centerline is valid? [True, True] Translation: X:146.44, Y:36.24, Z:0.27 [[ 8.50566587e-01 -5.25820166e-01 -7.04512586e-03 1.46437145e+02] [ 5.25802082e-01 8.50595764e-01 -4.36089412e-03 3.62432010e+01] [ 8.28560028e-03 4.88898700e-06 9.99965674e-01 2.74966587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310281693 meters 0.016395180397878382 Centerline is valid? [True, True] Translation: X:146.46, Y:36.26, Z:0.28 [[ 8.50904577e-01 -5.25293100e-01 -5.34411015e-03 1.46458705e+02] [ 5.25282682e-01 8.50921359e-01 -3.30840185e-03 3.62606129e+01] [ 6.28529813e-03 7.96577186e-06 9.99980247e-01 2.79107456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340281693 meters 0.016182420928934522 Centerline is valid? [True, True] Translation: X:146.48, Y:36.27, Z:0.28 [[ 8.50496473e-01 -5.25961360e-01 -4.51636267e-03 1.46483261e+02] [ 5.25953924e-01 8.50508464e-01 -2.79676267e-03 3.62749095e+01] [ 5.31219377e-03 3.23812399e-06 9.99985890e-01 2.80888644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370281693 meters 0.016499092383201436 Centerline is valid? [True, True] Translation: X:146.51, Y:36.29, Z:0.28 [[ 8.48944638e-01 -5.28457197e-01 -5.09839398e-03 1.46508993e+02] [ 5.28447760e-01 8.48959947e-01 -3.15817169e-03 3.62852597e+01] [ 5.99729084e-03 -1.31219567e-05 9.99982016e-01 2.79448093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400281693 meters 0.016860782509992248 Centerline is valid? [True, True] Translation: X:146.53, Y:36.30, Z:0.28 [[ 8.48236084e-01 -5.29586936e-01 -5.76397455e-03 1.46534261e+02] [ 5.29574892e-01 8.48255667e-01 -3.57161141e-03 3.62997838e+01] [ 6.78080282e-03 -2.28865219e-05 9.99977010e-01 2.78315662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430281693 meters 0.016830312433699927 Centerline is valid? [True, True] Translation: X:146.56, Y:36.32, Z:0.28 [[ 8.48035856e-01 -5.29906191e-01 -5.88346444e-03 1.46557054e+02] [ 5.29893641e-01 8.48056264e-01 -3.64708478e-03 3.63161236e+01] [ 6.92212168e-03 -2.47517343e-05 9.99976042e-01 2.79229803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460281693 meters 0.016148558098940814 Centerline is valid? [True, True] Translation: X:146.58, Y:36.34, Z:0.28 [[ 8.49366592e-01 -5.27774926e-01 -5.47904943e-03 1.46577508e+02] [ 5.27763993e-01 8.49384264e-01 -3.39709407e-03 3.63355511e+01] [ 6.44671944e-03 -6.26678629e-06 9.99979220e-01 2.81337107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.490281693 meters 0.016119785304967663 Centerline is valid? [True, True] Translation: X:146.60, Y:36.35, Z:0.28 [[ 8.50402987e-01 -5.26109980e-01 -4.80100591e-03 1.46599021e+02] [ 5.26101553e-01 8.50416539e-01 -2.97759786e-03 3.63530293e+01] [ 5.64939878e-03 6.34144529e-06 9.99984042e-01 2.82850625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.520281693 meters 0.01636833038420438 Centerline is valid? [True, True] Translation: X:146.62, Y:36.37, Z:0.28 [[ 8.51241343e-01 -5.24756255e-01 -4.36455025e-03 1.46620414e+02] [ 5.24749270e-01 8.51252532e-01 -2.70758755e-03 3.63702808e+01] [ 5.13615795e-03 1.45159056e-05 9.99986810e-01 2.84347446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.550281693 meters 0.016736616012170507 Centerline is valid? [True, True] Translation: X:146.64, Y:36.39, Z:0.28 [[ 8.51827015e-01 -5.23803743e-01 -4.51395019e-03 1.46642765e+02] [ 5.23796253e-01 8.51838975e-01 -2.80119013e-03 3.63880798e+01] [ 5.31243257e-03 2.17392302e-05 9.99985889e-01 2.84450028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.580281693 meters 0.018453961851079947 Centerline is valid? [True, True] Translation: X:146.66, Y:36.41, Z:0.28 [[ 8.53388799e-01 -5.21248320e-01 -5.26757267e-03 1.46661664e+02] [ 5.21238067e-01 8.53405054e-01 -3.26965720e-03 3.64100242e+01] [ 6.19967647e-03 4.46294325e-05 9.99980781e-01 2.82323151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.610281693 meters 0.020228373009020653 Centerline is valid? [True, True] Translation: X:146.68, Y:36.43, Z:0.28 [[ 8.54639752e-01 -5.19197327e-01 -5.00298285e-03 1.46682105e+02] [ 5.19188040e-01 8.54654394e-01 -3.10581147e-03 3.64296223e+01] [ 5.88835029e-03 5.68610853e-05 9.99982662e-01 2.83182585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.640281693 meters 0.02404205016684069 Centerline is valid? [True, True] Translation: X:146.70, Y:36.45, Z:0.28 [[ 8.56850107e-01 -5.15539964e-01 -5.14193403e-03 1.46700109e+02] [ 5.15530087e-01 8.56865531e-01 -3.19247306e-03 3.64531156e+01] [ 6.05179348e-03 8.46491824e-05 9.99981684e-01 2.82385666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.670281693 meters 0.023516853441187587 Centerline is valid? [True, True] Translation: X:146.72, Y:36.47, Z:0.28 [[ 8.57128329e-01 -5.15073952e-01 -5.46370390e-03 1.46723295e+02] [ 5.15062784e-01 8.57145737e-01 -3.39324695e-03 3.64699347e+01] [ 6.43096363e-03 9.42975452e-05 9.99979317e-01 2.81520339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.700281693 meters 0.024932960225869664 Centerline is valid? [True, True] Translation: X:146.74, Y:36.49, Z:0.28 [[ 8.57115928e-01 -5.15092109e-01 -5.69251593e-03 1.46743234e+02] [ 5.15079980e-01 8.57134826e-01 -3.53620342e-03 3.64884212e+01] [ 6.70072412e-03 9.88352844e-05 9.99977545e-01 2.80355324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.730281693 meters 0.023293916720705788 Centerline is valid? [True, True] Translation: X:146.77, Y:36.50, Z:0.28 [[ 8.56771817e-01 -5.15665442e-01 -5.58618536e-03 1.46767285e+02] [ 5.15653767e-01 8.56790023e-01 -3.47121691e-03 3.65043741e+01] [ 6.57617448e-03 9.35033005e-05 9.99978372e-01 2.82044760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.760281693 meters 0.023961054515767403 Centerline is valid? [True, True] Translation: X:146.79, Y:36.52, Z:0.28 [[ 8.56326765e-01 -5.16412371e-01 -4.76813199e-03 1.46789024e+02] [ 5.16403873e-01 8.56340036e-01 -2.96345721e-03 3.65223121e+01] [ 5.61350829e-03 7.54058928e-05 9.99984241e-01 2.83808709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.790281693 meters 0.021703357889773775 Centerline is valid? [True, True] Translation: X:146.81, Y:36.54, Z:0.29 [[ 8.55568712e-01 -5.17676392e-01 -3.65143850e-03 1.46813539e+02] [ 5.17671418e-01 8.55576502e-01 -2.26995405e-03 3.65372390e+01] [ 4.29918660e-03 5.18563184e-05 9.99990757e-01 2.86370064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.820281693 meters 0.018225753609243917 Centerline is valid? [True, True] Translation: X:146.84, Y:36.55, Z:0.29 [[ 8.53005500e-01 -5.21889461e-01 -3.60655606e-03 1.46839225e+02] [ 5.21884642e-01 8.53013124e-01 -2.24284752e-03 3.65500489e+01] [ 4.24695814e-03 3.09550552e-05 9.99990981e-01 2.86508041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.850281693 meters 0.017101631468049352 Centerline is valid? [True, True] Translation: X:146.86, Y:36.56, Z:0.28 [[ 8.51532843e-01 -5.24280560e-01 -4.65959587e-03 1.46864564e+02] [ 5.24272549e-01 8.51545591e-01 -2.89843292e-03 3.65614845e+01] [ 5.48745036e-03 2.52126221e-05 9.99984944e-01 2.83653441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.880281693 meters 0.016455454310190454 Centerline is valid? [True, True] Translation: X:146.89, Y:36.57, Z:0.28 [[ 8.48444888e-01 -5.29242169e-01 -6.63316003e-03 1.46892743e+02] [ 5.29226074e-01 8.48470817e-01 -4.12748234e-03 3.65684990e+01] [ 7.81248041e-03 -8.49994529e-06 9.99969482e-01 2.78613787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.910281693 meters 0.017192859990913422 Centerline is valid? [True, True] Translation: X:146.92, Y:36.58, Z:0.28 [[ 8.47026881e-01 -5.31501417e-01 -7.19069220e-03 1.46917975e+02] [ 5.31482576e-01 8.47057402e-01 -4.47528798e-03 3.65801066e+01] [ 8.46955096e-03 -3.10383915e-05 9.99964132e-01 2.77378074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940281693 meters 0.017952244801471864 Centerline is valid? [True, True] Translation: X:146.94, Y:36.59, Z:0.28 [[ 8.45594625e-01 -5.33780116e-01 -6.96544492e-03 1.46944174e+02] [ 5.33762508e-01 8.45623312e-01 -4.33590539e-03 3.65930393e+01] [ 8.20456268e-03 -5.14750537e-05 9.99966341e-01 2.78995660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970281693 meters 0.021332101269755387 Centerline is valid? [True, True] Translation: X:146.97, Y:36.60, Z:0.28 [[ 8.42959208e-01 -5.37955557e-01 -4.85723910e-03 1.46973301e+02] [ 5.37947061e-01 8.42973199e-01 -3.02410868e-03 3.65988076e+01] [ 5.72135846e-03 -6.37372417e-05 9.99983631e-01 2.83713221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000281693 meters 0.022987286125644033 Centerline is valid? [True, True] Translation: X:147.00, Y:36.61, Z:0.29 [[ 8.41700251e-01 -5.39931322e-01 -3.85416011e-03 1.47000160e+02] [ 5.39925990e-01 8.41709073e-01 -2.40022146e-03 3.66099158e+01] [ 4.54003628e-03 -6.06942017e-05 9.99989692e-01 2.86687747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030281693 meters 0.023442129029634773 Centerline is valid? [True, True] Translation: X:147.03, Y:36.62, Z:0.29 [[ 8.40713137e-01 -5.41469229e-01 -3.53492254e-03 1.47025860e+02] [ 5.41464755e-01 8.40720566e-01 -2.20215849e-03 3.66236556e+01] [ 4.16428314e-03 -6.26523987e-05 9.99991327e-01 2.88046117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060281693 meters 0.024653092996166 Centerline is valid? [True, True] Translation: X:147.05, Y:36.64, Z:0.29 [[ 8.39823624e-01 -5.42845989e-01 -3.80962107e-03 1.47052200e+02] [ 5.42840803e-01 8.39832261e-01 -2.37417049e-03 3.66355590e+01] [ 4.48825160e-03 -7.41332904e-05 9.99989925e-01 2.86651218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090281693 meters 0.026237237866017067 Centerline is valid? [True, True] Translation: X:147.08, Y:36.65, Z:0.29 [[ 8.39550386e-01 -5.43269002e-01 -3.73379291e-03 1.47078711e+02] [ 5.43264021e-01 8.39558685e-01 -2.32752886e-03 3.66452428e+01] [ 4.39921255e-03 -7.43575951e-05 9.99990321e-01 2.85881890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120281693 meters 0.029677806690555447 Centerline is valid? [True, True] Translation: X:147.11, Y:36.65, Z:0.29 [[ 8.38404079e-01 -5.45035625e-01 -3.84289855e-03 1.47109224e+02] [ 5.45030365e-01 8.38412882e-01 -2.39603792e-03 3.66480875e+01] [ 4.52786167e-03 -8.56484256e-05 9.99989746e-01 2.85805691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150281693 meters 0.027431996986766464 Centerline is valid? [True, True] Translation: X:147.13, Y:36.66, Z:0.29 [[ 8.37821983e-01 -5.45923946e-01 -4.62275458e-03 1.47133726e+02] [ 5.45916343e-01 8.37834729e-01 -2.88321225e-03 3.66638873e+01] [ 5.44711894e-03 -1.08018667e-04 9.99985159e-01 2.85860149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180281693 meters 0.02950059466193624 Centerline is valid? [True, True] Translation: X:147.16, Y:36.67, Z:0.28 [[ 8.37778807e-01 -5.45980868e-01 -5.61798327e-03 1.47159077e+02] [ 5.45969635e-01 8.37797633e-01 -3.50480896e-03 3.66738698e+01] [ 6.62029173e-03 -1.30993604e-04 9.99978077e-01 2.83683989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210281693 meters 0.025714616496875304 Centerline is valid? [True, True] Translation: X:147.18, Y:36.69, Z:0.29 [[ 8.39545022e-01 -5.43266439e-01 -5.07273423e-03 1.47183440e+02] [ 5.43257226e-01 8.39560341e-01 -3.16549412e-03 3.66903511e+01] [ 5.97857320e-03 -9.82247003e-05 9.99982123e-01 2.86249881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.240281693 meters 0.02293214893402327 Centerline is valid? [True, True] Translation: X:147.21, Y:36.71, Z:0.29 [[ 8.40911602e-01 -5.41156835e-01 -4.11797912e-03 1.47207455e+02] [ 5.41150734e-01 8.40921682e-01 -2.57048173e-03 3.67073147e+01] [ 4.85393168e-03 -6.68995089e-05 9.99988217e-01 2.88924219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.270281693 meters 0.02063952402383967 Centerline is valid? [True, True] Translation: X:147.23, Y:36.72, Z:0.29 [[ 8.42242533e-01 -5.39088826e-01 -3.27923993e-03 1.47231119e+02] [ 5.39084939e-01 8.42248916e-01 -2.04753489e-03 3.67246603e+01] [ 3.86573946e-03 -4.32678886e-05 9.99992527e-01 2.90097175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.300281693 meters 0.01760679401523404 Centerline is valid? [True, True] Translation: X:147.25, Y:36.75, Z:0.29 [[ 8.44623602e-01 -5.35351097e-01 -3.18979595e-03 1.47251448e+02] [ 5.35347390e-01 8.44629625e-01 -1.99235575e-03 3.67458472e+01] [ 3.76080599e-03 -2.48582522e-05 9.99992928e-01 2.89947763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.330281693 meters 0.01760679401523404 Centerline is valid? [True, True] Translation: X:147.27, Y:36.76, Z:0.29 [[ 8.44526037e-01 -5.35504995e-01 -3.18945715e-03 1.47274655e+02] [ 5.35501287e-01 8.44532060e-01 -1.99289802e-03 3.67605814e+01] [ 3.76080566e-03 -2.49041457e-05 9.99992928e-01 2.90002455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.360281693 meters 0.017124196088133942 Centerline is valid? [True, True] Translation: X:147.30, Y:36.78, Z:0.29 [[ 8.45180460e-01 -5.34469212e-01 -3.55681622e-03 1.47298076e+02] [ 5.34464589e-01 8.45187944e-01 -2.22332738e-03 3.67765071e+01] [ 4.19447822e-03 -2.18794617e-05 9.99991203e-01 2.88794479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.390281693 meters 0.016821063485934772 Centerline is valid? [True, True] Translation: X:147.32, Y:36.79, Z:0.29 [[ 8.45533580e-01 -5.33906919e-01 -4.04564589e-03 1.47322759e+02] [ 5.33900926e-01 8.45543258e-01 -2.52990440e-03 3.67891324e+01] [ 4.77150207e-03 -2.08549644e-05 9.99988616e-01 2.88269108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.420281693 meters 0.016729377314995606 Centerline is valid? [True, True] Translation: X:147.35, Y:36.80, Z:0.29 [[ 8.45325816e-01 -5.34237124e-01 -3.86785256e-03 1.47346411e+02] [ 5.34231644e-01 8.45334665e-01 -2.41969128e-03 3.68043794e+01] [ 4.56231875e-03 -2.09017287e-05 9.99989592e-01 2.89324771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.450281693 meters 0.016756466954245108 Centerline is valid? [True, True] Translation: X:147.37, Y:36.82, Z:0.29 [[ 8.45223160e-01 -5.34398945e-01 -3.94680640e-03 1.47369522e+02] [ 5.34393237e-01 8.45232374e-01 -2.47011269e-03 3.68211338e+01] [ 4.65599416e-03 -2.13502001e-05 9.99989161e-01 2.89205024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.480281693 meters 0.016986789435427908 Centerline is valid? [True, True] Translation: X:147.39, Y:36.84, Z:0.29 [[ 8.45314585e-01 -5.34245688e-01 -4.97970285e-03 1.47391230e+02] [ 5.34236591e-01 8.45329252e-01 -3.11768110e-03 3.68373464e+01] [ 5.87509617e-03 -2.49181678e-05 9.99982741e-01 2.86466697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.510281693 meters 0.01695391342894049 Centerline is valid? [True, True] Translation: X:147.41, Y:36.86, Z:0.28 [[ 8.46224501e-01 -5.32774223e-01 -7.46473269e-03 1.47412968e+02] [ 5.32753709e-01 8.46257424e-01 -4.67523984e-03 3.68572246e+01] [ 8.80793273e-03 -2.05615302e-05 9.99961209e-01 2.81707536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.540281693 meters 0.01664530016952955 Centerline is valid? [True, True] Translation: X:147.44, Y:36.88, Z:0.28 [[ 8.46606301e-01 -5.32172941e-01 -7.05209509e-03 1.47435149e+02] [ 5.32154598e-01 8.46635672e-01 -4.41855966e-03 3.68754263e+01] [ 8.32199316e-03 -1.20243736e-05 9.99965372e-01 2.83805648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.570281693 meters 0.01625812124523246 Centerline is valid? [True, True] Translation: X:147.45, Y:36.90, Z:0.29 [[ 8.47787929e-01 -5.30311562e-01 -5.02746178e-03 1.47452771e+02] [ 5.30302203e-01 8.47802835e-01 -3.15059062e-03 3.68991142e+01] [ 5.93309098e-03 4.95864290e-06 9.99982399e-01 2.88309169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.600281693 meters 0.016364418011375344 Centerline is valid? [True, True] Translation: X:147.47, Y:36.92, Z:0.29 [[ 8.48486558e-01 -5.29199039e-01 -4.35176866e-03 1.47473578e+02] [ 5.29192008e-01 8.48497718e-01 -2.72796028e-03 3.69187772e+01] [ 5.13609973e-03 1.17164366e-05 9.99986810e-01 2.89770234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.630281693 meters 0.016960330261567604 Centerline is valid? [True, True] Translation: X:147.49, Y:36.94, Z:0.29 [[ 8.49315660e-01 -5.27863501e-01 -4.79932557e-03 1.47494188e+02] [ 5.27854923e-01 8.49329220e-01 -3.00937707e-03 3.69383989e+01] [ 5.66474776e-03 2.25634450e-05 9.99983955e-01 2.88866295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.660281693 meters 0.017516262572246765 Centerline is valid? [True, True] Translation: X:147.51, Y:36.96, Z:0.29 [[ 8.49933289e-01 -5.26862356e-01 -5.42788017e-03 1.47514080e+02] [ 5.26851357e-01 8.49950620e-01 -3.40458281e-03 3.69618058e+01] [ 6.40717664e-03 3.39822291e-05 9.99979473e-01 2.87838290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690281693 meters 0.016882689397759127 Centerline is valid? [True, True] Translation: X:147.54, Y:36.98, Z:0.29 [[ 8.49077657e-01 -5.28242463e-01 -5.19932636e-03 1.47537053e+02] [ 5.28232392e-01 8.49093575e-01 -3.26187105e-03 3.69784363e+01] [ 6.13777341e-03 2.31292249e-05 9.99981163e-01 2.88303435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720281693 meters 0.016283841258632883 Centerline is valid? [True, True] Translation: X:147.56, Y:36.99, Z:0.29 [[ 8.47911245e-01 -5.30116099e-01 -4.84163373e-03 1.47561943e+02] [ 5.30107393e-01 8.47925068e-01 -3.03829164e-03 3.69937705e+01] [ 5.71598992e-03 9.61581316e-06 9.99983664e-01 2.89090130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750281693 meters 0.016427984178696578 Centerline is valid? [True, True] Translation: X:147.59, Y:37.01, Z:0.29 [[ 8.45520703e-01 -5.33918825e-01 -5.04270715e-03 1.47585858e+02] [ 5.33909440e-01 8.45535740e-01 -3.16571398e-03 3.70077406e+01] [ 5.95402341e-03 -1.56722441e-05 9.99982275e-01 2.89508514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780281693 meters 0.016869969949998252 Centerline is valid? [True, True] Translation: X:147.61, Y:37.02, Z:0.29 [[ 8.44624722e-01 -5.35332355e-01 -5.32432240e-03 1.47609397e+02] [ 5.35321913e-01 8.44641503e-01 -3.34377960e-03 3.70241436e+01] [ 6.28717709e-03 -2.59875330e-05 9.99980235e-01 2.89352815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810281693 meters 0.01723795507989538 Centerline is valid? [True, True] Translation: X:147.63, Y:37.04, Z:0.29 [[ 8.44185603e-01 -5.36024082e-01 -5.37133721e-03 1.47631690e+02] [ 5.36013464e-01 8.44202691e-01 -3.37404379e-03 3.70400456e+01] [ 6.34306605e-03 -3.07898677e-05 9.99979882e-01 2.88816988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840281693 meters 0.01710176748180168 Centerline is valid? [True, True] Translation: X:147.65, Y:37.06, Z:0.29 [[ 8.44287774e-01 -5.35869587e-01 -4.68410837e-03 1.47652729e+02] [ 5.35861507e-01 8.44300767e-01 -2.94281565e-03 3.70568619e+01] [ 5.53176170e-03 -2.54500947e-05 9.99984699e-01 2.91238141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870281693 meters 0.016920759945100446 Centerline is valid? [True, True] Translation: X:147.68, Y:37.07, Z:0.29 [[ 8.44248929e-01 -5.35937345e-01 -3.86109747e-03 1.47676340e+02] [ 5.35931853e-01 8.44257758e-01 -2.42644180e-03 3.70720327e+01] [ 4.56018227e-03 -2.07642353e-05 9.99989602e-01 2.93645574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900281693 meters 0.016823416823466032 Centerline is valid? [True, True] Translation: X:147.70, Y:37.09, Z:0.29 [[ 8.44135982e-01 -5.36117965e-01 -3.45981258e-03 1.47699556e+02] [ 5.36113553e-01 8.44143072e-01 -2.17507424e-03 3.70877933e+01] [ 4.08667320e-03 -1.87939831e-05 9.99991649e-01 2.93950660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930281693 meters 0.016835118824999974 Centerline is valid? [True, True] Translation: X:147.72, Y:37.10, Z:0.29 [[ 8.44048094e-01 -5.36253302e-01 -3.90014921e-03 1.47722448e+02] [ 5.36247692e-01 8.44057105e-01 -2.45294466e-03 3.71036336e+01] [ 4.60734832e-03 -2.10427483e-05 9.99989386e-01 2.92808346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96028169299998 meters 0.01711320396225 Centerline is valid? [True, True] Translation: X:147.75, Y:37.12, Z:0.29 [[ 8.43984330e-01 -5.36348289e-01 -4.57848235e-03 1.47746058e+02] [ 5.36340555e-01 8.43996749e-01 -2.88041200e-03 3.71174435e+01] [ 5.40912827e-03 -2.46031753e-05 9.99985370e-01 2.90430795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.990281693 meters 0.017038451879785203 Centerline is valid? [True, True] Translation: X:147.77, Y:37.13, Z:0.29 [[ 8.44048876e-01 -5.36242418e-01 -5.05607745e-03 1.47769086e+02] [ 5.36232978e-01 8.44064019e-01 -3.18193023e-03 3.71333927e+01] [ 5.97393901e-03 -2.55308364e-05 9.99982156e-01 2.89384374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.020281693 meters 0.01690020621540808 Centerline is valid? [True, True] Translation: X:147.79, Y:37.15, Z:0.29 [[ 8.43890885e-01 -5.36491238e-01 -5.03242057e-03 1.47792131e+02] [ 5.36481883e-01 8.43905890e-01 -3.16834106e-03 3.71490679e+01] [ 5.94667658e-03 -2.60683179e-05 9.99982318e-01 2.89424027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.050281693 meters 0.017219124339875984 Centerline is valid? [True, True] Translation: X:147.81, Y:37.16, Z:0.29 [[ 8.43777336e-01 -5.36666498e-01 -5.37375753e-03 1.47814699e+02] [ 5.36655829e-01 8.43794447e-01 -3.38413408e-03 3.71631628e+01] [ 6.35049815e-03 -2.84026647e-05 9.99979835e-01 2.88372961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.080281693 meters 0.017092881413994957 Centerline is valid? [True, True] Translation: X:147.84, Y:37.18, Z:0.29 [[ 8.43720089e-01 -5.36756940e-01 -5.32899375e-03 1.47837663e+02] [ 5.36746442e-01 8.43736918e-01 -3.35709002e-03 3.71783648e+01] [ 6.29821012e-03 -2.78741451e-05 9.99980166e-01 2.89095646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.110281693 meters 0.016770165924837568 Centerline is valid? [True, True] Translation: X:147.86, Y:37.19, Z:0.29 [[ 8.44190096e-01 -5.36020854e-01 -4.97246563e-03 1.47860491e+02] [ 5.36011697e-01 8.44204741e-01 -3.13325808e-03 3.71939214e+01] [ 5.87727072e-03 -2.02342975e-05 9.99982728e-01 2.89990066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.140281693 meters 0.01661554819866353 Centerline is valid? [True, True] Translation: X:147.88, Y:37.21, Z:0.29 [[ 8.44680643e-01 -5.35246993e-01 -5.02672763e-03 1.47882832e+02] [ 5.35237617e-01 8.44695600e-01 -3.16801300e-03 3.72098474e+01] [ 5.94172414e-03 -1.45344652e-05 9.99982348e-01 2.89812532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.170281693 meters 0.016503978353309908 Centerline is valid? [True, True] Translation: X:147.90, Y:37.23, Z:0.29 [[ 8.45633390e-01 -5.33737270e-01 -5.35685319e-03 1.47903203e+02] [ 5.33726586e-01 8.45650357e-01 -3.37724147e-03 3.72293879e+01] [ 6.33258445e-03 -3.18680845e-06 9.99979949e-01 2.89345494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.200281693 meters 0.016816479286286344 Centerline is valid? [True, True] Translation: X:147.93, Y:37.24, Z:0.29 [[ 8.45618631e-01 -5.33751979e-01 -6.16081070e-03 1.47926025e+02] [ 5.33737839e-01 8.45641073e-01 -3.88509119e-03 3.72445214e+01] [ 7.28350968e-03 -2.95229894e-06 9.99973475e-01 2.86034299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.230281693 meters 0.01691523472739048 Centerline is valid? [True, True] Translation: X:147.95, Y:37.26, Z:0.29 [[ 8.45298680e-01 -5.34244946e-01 -7.24426052e-03 1.47950449e+02] [ 5.34225401e-01 8.45329721e-01 -4.56982804e-03 3.72597706e+01] [ 8.56519626e-03 -7.19837218e-06 9.99963318e-01 2.85251597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.260281693 meters 0.017127426395155555 Centerline is valid? [True, True] Translation: X:147.97, Y:37.28, Z:0.28 [[ 8.45036046e-01 -5.34639540e-01 -8.63964320e-03 1.47972659e+02] [ 5.34611750e-01 8.45080210e-01 -5.45109793e-03 3.72759913e+01] [ 1.02155640e-02 -1.24805283e-05 9.99947820e-01 2.81809696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.290281693 meters 0.017210037721899496 Centerline is valid? [True, True] Translation: X:147.99, Y:37.29, Z:0.28 [[ 8.45216895e-01 -5.34353255e-01 -8.66019626e-03 1.47994074e+02] [ 5.34325308e-01 8.45261261e-01 -5.46497179e-03 3.72929555e+01] [ 1.02403539e-02 -8.27555008e-06 9.99947566e-01 2.81964425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.320281693 meters 0.016999487794272405 Centerline is valid? [True, True] Translation: X:148.02, Y:37.31, Z:0.28 [[ 8.45502728e-01 -5.33906158e-01 -8.32772764e-03 1.48016138e+02] [ 5.33880275e-01 8.45543739e-01 -5.25709902e-03 3.73105420e+01] [ 9.84825551e-03 -1.11796189e-06 9.99951505e-01 2.83885832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.350281693 meters 0.01682592358005652 Centerline is valid? [True, True] Translation: X:148.04, Y:37.33, Z:0.29 [[ 8.45868068e-01 -5.33345034e-01 -7.09120950e-03 1.48038588e+02] [ 5.33326234e-01 8.45897792e-01 -4.47813850e-03 3.73295033e+01] [ 8.38683139e-03 5.98630371e-06 9.99964830e-01 2.86363609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.380281693 meters 0.016684336081589358 Centerline is valid? [True, True] Translation: X:148.06, Y:37.34, Z:0.29 [[ 8.45590372e-01 -5.33794452e-01 -6.35656885e-03 1.48061193e+02] [ 5.33779351e-01 8.45614264e-01 -4.01506576e-03 3.73447418e+01] [ 7.51842511e-03 2.09575606e-06 9.99971736e-01 2.87241728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.410281693 meters 0.01649864886677617 Centerline is valid? [True, True] Translation: X:148.08, Y:37.36, Z:0.29 [[ 8.44348254e-01 -5.35769237e-01 -5.22979657e-03 1.48084079e+02] [ 5.35759050e-01 8.44364450e-01 -3.30389064e-03 3.73587208e+01] [ 6.18597727e-03 -1.22765510e-05 9.99980867e-01 2.90867271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440281693 meters 0.01662993939242323 Centerline is valid? [True, True] Translation: X:148.11, Y:37.37, Z:0.29 [[ 8.43703384e-01 -5.36787838e-01 -4.83912993e-03 1.48107984e+02] [ 5.36779127e-01 8.43717261e-01 -3.05808930e-03 3.73733166e+01] [ 5.72440260e-03 -1.74236562e-05 9.99983615e-01 2.91780827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470281693 meters 0.01691551936459512 Centerline is valid? [True, True] Translation: X:148.13, Y:37.39, Z:0.29 [[ 8.43190977e-01 -5.37592069e-01 -4.87269642e-03 1.48131681e+02] [ 5.37583246e-01 8.43205056e-01 -3.08010408e-03 3.73863176e+01] [ 5.76452178e-03 -2.23639890e-05 9.99983385e-01 2.92044233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500281693 meters 0.017224325615385217 Centerline is valid? [True, True] Translation: X:148.15, Y:37.40, Z:0.29 [[ 8.42821367e-01 -5.38167229e-01 -5.30825930e-03 1.48154790e+02] [ 5.38156766e-01 8.42838082e-01 -3.35598362e-03 3.74001518e+01] [ 6.28008349e-03 -2.81809535e-05 9.99980280e-01 2.91028729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530281693 meters 0.017600239252531888 Centerline is valid? [True, True] Translation: X:148.18, Y:37.42, Z:0.29 [[ 8.42805156e-01 -5.38181137e-01 -6.36646443e-03 1.48177563e+02] [ 5.38166083e-01 8.42829201e-01 -4.02556652e-03 3.74163931e+01] [ 7.53232610e-03 -3.34470046e-05 9.99971631e-01 2.89126026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560281693 meters 0.01727274074666792 Centerline is valid? [True, True] Translation: X:148.20, Y:37.43, Z:0.29 [[ 8.43231076e-01 -5.37505232e-01 -7.03412613e-03 1.48199625e+02] [ 5.37486818e-01 8.43260413e-01 -4.44922931e-03 3.74331109e+01] [ 8.32308414e-03 -2.90216580e-05 9.99965362e-01 2.88193297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590281693 meters 0.01683605537668982 Centerline is valid? [True, True] Translation: X:148.22, Y:37.45, Z:0.29 [[ 8.44892283e-01 -5.34879918e-01 -7.77841212e-03 1.48220109e+02] [ 5.34857271e-01 8.44928088e-01 -4.92202379e-03 3.74532414e+01] [ 9.20489056e-03 -1.76036414e-06 9.99957634e-01 2.86876560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620281693 meters 0.016918832197337877 Centerline is valid? [True, True] Translation: X:148.24, Y:37.47, Z:0.29 [[ 8.45665277e-01 -5.33660502e-01 -7.53046414e-03 1.48241248e+02] [ 5.33639218e-01 8.45698805e-01 -4.76618728e-03 3.74708999e+01] [ 8.91203042e-03 1.20480933e-05 9.99960287e-01 2.87336597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650281693 meters 0.017141467047280718 Centerline is valid? [True, True] Translation: X:148.26, Y:37.49, Z:0.29 [[ 8.46907631e-01 -5.31715103e-01 -5.14910470e-03 1.48263136e+02] [ 5.31705111e-01 8.46923284e-01 -3.25987314e-03 3.74909656e+01] [ 6.09422044e-03 2.30061551e-05 9.99981430e-01 2.92323242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680281693 meters 0.01756479666632019 Centerline is valid? [True, True] Translation: X:148.29, Y:37.51, Z:0.29 [[ 8.47549951e-01 -5.30692723e-01 -4.93101284e-03 1.48285391e+02] [ 5.30683538e-01 8.47564294e-01 -3.12244250e-03 3.75074267e+01] [ 5.83640793e-03 2.96186523e-05 9.99982968e-01 2.93526836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71028169299998 meters 0.018337089852677697 Centerline is valid? [True, True] Translation: X:148.31, Y:37.52, Z:0.29 [[ 8.48218590e-01 -5.29621137e-01 -5.16477304e-03 1.48308415e+02] [ 5.29611037e-01 8.48234313e-01 -3.27102532e-03 3.75240024e+01] [ 6.11334186e-03 3.92236838e-05 9.99981313e-01 2.93236299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.740281693 meters 0.019758401228530016 Centerline is valid? [True, True] Translation: X:148.33, Y:37.54, Z:0.29 [[ 8.49784134e-01 -5.27099137e-01 -5.78144414e-03 1.48332023e+02] [ 5.27086414e-01 8.49803799e-01 -3.66275204e-03 3.75412738e+01] [ 6.84372663e-03 6.52279083e-05 9.99976579e-01 2.93302097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.770281693 meters 0.02150475308495263 Centerline is valid? [True, True] Translation: X:148.35, Y:37.56, Z:0.29 [[ 8.50473831e-01 -5.25991225e-01 -5.24335258e-03 1.48353911e+02] [ 5.25980736e-01 8.50489992e-01 -3.32249786e-03 3.75581433e+01] [ 6.20702361e-03 6.77950379e-05 9.99980734e-01 2.93284084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.800281693 meters 0.022301371895651335 Centerline is valid? [True, True] Translation: X:148.38, Y:37.57, Z:0.29 [[ 8.50875900e-01 -5.25346417e-01 -4.62009765e-03 1.48377825e+02] [ 5.25338259e-01 8.50888440e-01 -2.92833356e-03 3.75737594e+01] [ 5.46957723e-03 6.45343955e-05 9.99985040e-01 2.94767521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.830281693 meters 0.023435474942111463 Centerline is valid? [True, True] Translation: X:148.40, Y:37.59, Z:0.30 [[ 8.51553162e-01 -5.24253042e-01 -3.99501617e-03 1.48400816e+02] [ 5.24246928e-01 8.51562531e-01 -2.53264112e-03 3.75904506e+01] [ 4.72975089e-03 6.23035972e-05 9.99988813e-01 2.96557586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.860281693 meters 0.023978482920042142 Centerline is valid? [True, True] Translation: X:148.42, Y:37.61, Z:0.30 [[ 8.51850343e-01 -5.23768706e-01 -4.16371476e-03 1.48424399e+02] [ 5.23762055e-01 8.51860516e-01 -2.64027194e-03 3.76071441e+01] [ 4.92979602e-03 6.83207535e-05 9.99987846e-01 2.96294890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.890281693 meters 0.027084077437619373 Centerline is valid? [True, True] Translation: X:148.44, Y:37.63, Z:0.29 [[ 8.53139491e-01 -5.21652510e-01 -5.62747784e-03 1.48444338e+02] [ 5.21640309e-01 8.53158043e-01 -3.56950977e-03 3.76268299e+01] [ 6.66317171e-03 1.09770469e-04 9.99977795e-01 2.93324634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.920281693 meters 0.026483337410107013 Centerline is valid? [True, True] Translation: X:148.47, Y:37.64, Z:0.29 [[ 8.53656864e-01 -5.20801544e-01 -5.97579997e-03 1.48468771e+02] [ 5.20787756e-01 8.53677771e-01 -3.79168481e-03 3.76418511e+01] [ 7.07612290e-03 1.24674304e-04 9.99974956e-01 2.93178405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.950281693 meters 0.02685762290618231 Centerline is valid? [True, True] Translation: X:148.49, Y:37.66, Z:0.29 [[ 8.53864187e-01 -5.20462133e-01 -5.92615147e-03 1.48492512e+02] [ 5.20448555e-01 8.53884742e-01 -3.76155207e-03 3.76580508e+01] [ 7.01799573e-03 1.27597629e-04 9.99975365e-01 2.92719853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.980281693 meters 0.028121021370047506 Centerline is valid? [True, True] Translation: X:148.51, Y:37.67, Z:0.29 [[ 8.53621217e-01 -5.20859336e-01 -6.03078114e-03 1.48514935e+02] [ 5.20845278e-01 8.53642510e-01 -3.82890600e-03 3.76741126e+01] [ 7.14245259e-03 1.27331516e-04 9.99974484e-01 2.91176081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.010281693 meters 0.024339184540196263 Centerline is valid? [True, True] Translation: X:148.54, Y:37.69, Z:0.29 [[ 8.51999122e-01 -5.23504662e-01 -6.35335868e-03 1.48542833e+02] [ 5.23489124e-01 8.52022802e-01 -4.03492713e-03 3.76850240e+01] [ 7.52550963e-03 1.11840192e-04 9.99971677e-01 2.91726858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.040281693 meters 0.023297912855690824 Centerline is valid? [True, True] Translation: X:148.57, Y:37.70, Z:0.29 [[ 8.51218747e-01 -5.24772689e-01 -6.34577087e-03 1.48567638e+02] [ 5.24757213e-01 8.51242395e-01 -4.03153705e-03 3.77003554e+01] [ 7.51742973e-03 1.01730885e-04 9.99971739e-01 2.92437256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.070281693 meters 0.02981493718370109 Centerline is valid? [True, True] Translation: X:148.59, Y:37.72, Z:0.30 [[ 8.50983752e-01 -5.25163330e-01 -5.48911393e-03 1.48591396e+02] [ 5.25151750e-01 8.51001451e-01 -3.48850151e-03 3.77171069e+01] [ 6.50327699e-03 8.60403189e-05 9.99978850e-01 3.01685240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.100281693 meters 0.024156572951049414 Centerline is valid? [True, True] Translation: X:148.61, Y:37.73, Z:0.30 [[ 8.51304431e-01 -5.24648048e-01 -5.01911029e-03 1.48613348e+02] [ 5.24638354e-01 8.51319223e-01 -3.19042344e-03 3.77348392e+01] [ 5.94671450e-03 8.28038505e-05 9.99982315e-01 2.95261666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.130281693 meters 0.024278760870797035 Centerline is valid? [True, True] Translation: X:148.64, Y:37.75, Z:0.30 [[ 8.51549009e-01 -5.24249489e-01 -5.17284072e-03 1.48636842e+02] [ 5.24239179e-01 8.51564716e-01 -3.28907117e-03 3.77512080e+01] [ 6.12930252e-03 8.89995205e-05 9.99981212e-01 2.95438991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.160281693 meters 0.025449297154059844 Centerline is valid? [True, True] Translation: X:148.66, Y:37.77, Z:0.29 [[ 8.51964621e-01 -5.23553540e-01 -6.92644412e-03 1.48656871e+02] [ 5.23535022e-01 8.51992767e-01 -4.40521043e-03 3.77708498e+01] [ 8.20764380e-03 1.26847354e-04 9.99966309e-01 2.91425861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190281693 meters 0.026028339622522923 Centerline is valid? [True, True] Translation: X:148.68, Y:37.79, Z:0.29 [[ 8.52052060e-01 -5.23399827e-01 -7.74003190e-03 1.48678537e+02] [ 5.23376688e-01 8.52087203e-01 -4.92360144e-03 3.77885092e+01] [ 9.17219426e-03 1.44212494e-04 9.99957924e-01 2.89992093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220281693 meters 0.024840610040332237 Centerline is valid? [True, True] Translation: X:148.70, Y:37.80, Z:0.29 [[ 8.52114431e-01 -5.23304096e-01 -7.33623771e-03 1.48702179e+02] [ 5.23283290e-01 8.52145999e-01 -4.66845304e-03 3.78039397e+01] [ 8.69456622e-03 1.39125599e-04 9.99962192e-01 2.91633593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250281693 meters 0.025691076825201692 Centerline is valid? [True, True] Translation: X:148.72, Y:37.82, Z:0.29 [[ 8.52431848e-01 -5.22795010e-01 -6.73218764e-03 1.48724721e+02] [ 5.22777467e-01 8.52458421e-01 -4.28490012e-03 3.78212096e+01] [ 7.97903445e-03 1.33149326e-04 9.99968158e-01 2.92646421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280281693 meters 0.025691076825201692 Centerline is valid? [True, True] Translation: X:148.75, Y:37.84, Z:0.29 [[ 8.52333860e-01 -5.22954757e-01 -6.73152116e-03 1.48747790e+02] [ 5.22937211e-01 8.52360431e-01 -4.28594702e-03 3.78361274e+01] [ 7.97903866e-03 1.32894863e-04 9.99968158e-01 2.92701097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310281693 meters 0.02600762536031569 Centerline is valid? [True, True] Translation: X:148.77, Y:37.85, Z:0.29 [[ 8.52243241e-01 -5.23103290e-01 -6.66375346e-03 1.48769767e+02] [ 5.23086092e-01 8.52269283e-01 -4.24380778e-03 3.78515310e+01] [ 7.89926220e-03 1.31039744e-04 9.99968792e-01 2.92360751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340281693 meters 0.02550421780524761 Centerline is valid? [True, True] Translation: X:148.79, Y:37.87, Z:0.29 [[ 8.51932366e-01 -5.23603973e-01 -7.07976426e-03 1.48792765e+02] [ 5.23584564e-01 8.51961772e-01 -4.51036704e-03 3.78671483e+01] [ 8.39333461e-03 1.35672377e-04 9.99964766e-01 2.91477544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370281693 meters 0.02437061026533679 Centerline is valid? [True, True] Translation: X:148.81, Y:37.88, Z:0.29 [[ 8.50831808e-01 -5.25393922e-01 -6.81631529e-03 1.48814948e+02] [ 5.25375981e-01 8.50859103e-01 -4.34337305e-03 3.78836537e+01] [ 8.08170572e-03 1.14351609e-04 9.99967336e-01 2.92110592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400281693 meters 0.023132257612705015 Centerline is valid? [True, True] Translation: X:148.84, Y:37.90, Z:0.29 [[ 8.50086845e-01 -5.26607834e-01 -6.04518825e-03 1.48839924e+02] [ 5.26593746e-01 8.50108335e-01 -3.85303269e-03 3.78989390e+01] [ 7.16810211e-03 9.20540753e-05 9.99974305e-01 2.94451885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430281693 meters 0.021196659445328572 Centerline is valid? [True, True] Translation: X:148.87, Y:37.91, Z:0.30 [[ 8.48948138e-01 -5.28455770e-01 -4.64304366e-03 1.48865009e+02] [ 5.28447484e-01 8.48960833e-01 -2.95995566e-03 3.79139699e+01] [ 5.50596786e-03 5.92441067e-05 9.99984840e-01 2.98408919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46028169299998 meters 0.021253189871290323 Centerline is valid? [True, True] Translation: X:148.89, Y:37.93, Z:0.30 [[ 8.48744769e-01 -5.28783647e-01 -4.49130847e-03 1.48886687e+02] [ 5.28775895e-01 8.48756651e-01 -2.86371786e-03 3.79307999e+01] [ 5.32631511e-03 5.56698985e-05 9.99985814e-01 2.98735092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.490281693 meters 0.021239110870917163 Centerline is valid? [True, True] Translation: X:148.91, Y:37.95, Z:0.30 [[ 8.48783346e-01 -5.28721724e-01 -4.49107771e-03 1.48908806e+02] [ 5.28713967e-01 8.48795226e-01 -2.86446184e-03 3.79486093e+01] [ 5.32650852e-03 5.68119882e-05 9.99985812e-01 2.99056843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.520281693 meters 0.020655253926867796 Centerline is valid? [True, True] Translation: X:148.93, Y:37.96, Z:0.30 [[ 8.48889945e-01 -5.28544133e-01 -5.19233349e-03 1.48932171e+02] [ 5.28533754e-01 8.48905822e-01 -3.31304149e-03 3.79646878e+01] [ 6.15889078e-03 6.80841017e-05 9.99981032e-01 2.98105742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.550281693 meters 0.02113948340900686 Centerline is valid? [True, True] Translation: X:148.95, Y:37.98, Z:0.29 [[ 8.48338364e-01 -5.29412893e-01 -6.63386350e-03 1.48953276e+02] [ 5.29395966e-01 8.48364298e-01 -4.23423578e-03 3.79817669e+01] [ 7.86959196e-03 8.01240762e-05 9.99969031e-01 2.94851293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.580281693 meters 0.01920963780613269 Centerline is valid? [True, True] Translation: X:148.98, Y:37.99, Z:0.30 [[ 8.47407588e-01 -5.30908451e-01 -6.04943522e-03 1.48978977e+02] [ 5.30894404e-01 8.47429179e-01 -3.86251285e-03 3.79945633e+01] [ 7.17710864e-03 6.15113936e-05 9.99974242e-01 2.97471179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.610281693 meters 0.016979273454433046 Centerline is valid? [True, True] Translation: X:149.01, Y:38.01, Z:0.30 [[ 8.44843836e-01 -5.34990749e-01 -4.87760222e-03 1.49005516e+02] [ 5.34981681e-01 8.44857916e-01 -3.11489006e-03 3.80051724e+01] [ 5.78731821e-03 2.21678332e-05 9.99983253e-01 2.99142577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.640281693 meters 0.016532945222677165 Centerline is valid? [True, True] Translation: X:149.03, Y:38.02, Z:0.30 [[ 8.43315883e-01 -5.37394318e-01 -5.06635469e-03 1.49031936e+02] [ 5.37384576e-01 8.43331102e-01 -3.23585225e-03 3.80159629e+01] [ 6.01154310e-03 6.26473514e-06 9.99981930e-01 2.98554248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.670281693 meters 0.016821437738613977 Centerline is valid? [True, True] Translation: X:149.06, Y:38.02, Z:0.30 [[ 8.41173022e-01 -5.40740084e-01 -5.30170451e-03 1.49059957e+02] [ 5.40729475e-01 8.41189730e-01 -3.38726494e-03 3.80232824e+01] [ 6.29136932e-03 -1.75120068e-05 9.99980209e-01 2.98241054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.700281693 meters 0.017058013716255323 Centerline is valid? [True, True] Translation: X:149.08, Y:38.04, Z:0.30 [[ 8.40796422e-01 -5.41323817e-01 -5.46832470e-03 1.49084069e+02] [ 5.41312533e-01 8.40814204e-01 -3.49516461e-03 3.80369848e+01] [ 6.48986092e-03 -2.13507964e-05 9.99978940e-01 2.98192393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.730281693 meters 0.016706875362475216 Centerline is valid? [True, True] Translation: X:149.11, Y:38.05, Z:0.30 [[ 8.41142777e-01 -5.40786820e-01 -5.33321036e-03 1.49107064e+02] [ 5.40776068e-01 8.41159684e-01 -3.41020487e-03 3.80536419e+01] [ 6.33027539e-03 -1.56033314e-05 9.99979963e-01 2.99412126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.760281693 meters 0.016866144813033713 Centerline is valid? [True, True] Translation: X:149.13, Y:38.07, Z:0.30 [[ 8.43370731e-01 -5.37304720e-01 -5.42655235e-03 1.49127334e+02] [ 5.37293506e-01 8.43388189e-01 -3.47134288e-03 3.80746423e+01] [ 6.44185907e-03 1.19776462e-05 9.99979251e-01 2.99266011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.790281693 meters 0.017467051229348753 Centerline is valid? [True, True] Translation: X:149.15, Y:38.09, Z:0.30 [[ 8.44677802e-01 -5.35247468e-01 -5.43676391e-03 1.49148983e+02] [ 5.35236164e-01 8.44695298e-01 -3.47879115e-03 3.80920828e+01] [ 6.45442307e-03 2.85050002e-05 9.99979170e-01 2.99278817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.820281693 meters 0.01857036632764106 Centerline is valid? [True, True] Translation: X:149.17, Y:38.11, Z:0.30 [[ 8.45893794e-01 -5.33323118e-01 -5.49014677e-03 1.49170351e+02] [ 5.33311546e-01 8.45911609e-01 -3.51347378e-03 3.81100785e+01] [ 6.51799568e-03 4.40670021e-05 9.99978757e-01 2.99145675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.850281693 meters 0.019402268738437332 Centerline is valid? [True, True] Translation: X:149.19, Y:38.13, Z:0.30 [[ 8.46785393e-01 -5.31906963e-01 -5.42957836e-03 1.49193594e+02] [ 5.31895610e-01 8.46802798e-01 -3.47571507e-03 3.81276758e+01] [ 6.44653920e-03 5.52158568e-05 9.99979219e-01 2.99115096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.880281693 meters 0.01954135948833811 Centerline is valid? [True, True] Translation: X:149.22, Y:38.14, Z:0.30 [[ 8.46456245e-01 -5.32431934e-01 -5.29718629e-03 1.49215938e+02] [ 5.32421132e-01 8.46472819e-01 -3.39199079e-03 3.81436052e+01] [ 6.28992842e-03 5.08378655e-05 9.99980217e-01 2.98502740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.910281693 meters 0.01834102889769255 Centerline is valid? [True, True] Translation: X:149.24, Y:38.16, Z:0.30 [[ 8.45145042e-01 -5.34509954e-01 -5.38211606e-03 1.49242725e+02] [ 5.34498837e-01 8.45162179e-01 -3.44744433e-03 3.81561483e+01] [ 6.39145425e-03 3.68557025e-05 9.99979574e-01 2.97576202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940281693 meters 0.0171490027778895 Centerline is valid? [True, True] Translation: X:149.28, Y:38.16, Z:0.29 [[ 8.41106817e-01 -5.40828136e-01 -6.65213073e-03 1.49275007e+02] [ 5.40811338e-01 8.41133121e-01 -4.26246278e-03 3.81592061e+01] [ 7.90058728e-03 -1.23612262e-05 9.99968790e-01 2.93541012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970281693 meters 0.018345001716136053 Centerline is valid? [True, True] Translation: X:149.30, Y:38.17, Z:0.29 [[ 8.38635528e-01 -5.44635022e-01 -7.94630259e-03 1.49303163e+02] [ 5.44611205e-01 8.38673172e-01 -5.09364219e-03 3.81683450e+01] [ 9.43852673e-03 -5.59361202e-05 9.99955455e-01 2.93031898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000281693 meters 0.021314934713587773 Centerline is valid? [True, True] Translation: X:149.33, Y:38.18, Z:0.29 [[ 8.36254341e-01 -5.48261882e-01 -9.35873096e-03 1.49330796e+02] [ 5.48229055e-01 8.36306700e-01 -6.00061183e-03 3.81758812e+01] [ 1.11166761e-02 -1.12690531e-04 9.99938202e-01 2.89336833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030281693 meters 0.025037149679469406 Centerline is valid? [True, True] Translation: X:149.36, Y:38.18, Z:0.29 [[ 8.33728462e-01 -5.52083732e-01 -1.00201998e-02 1.49358554e+02] [ 5.52046360e-01 8.33788656e-01 -6.42599791e-03 3.81839219e+01] [ 1.19024178e-02 -1.74077484e-04 9.99929149e-01 2.87890018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060281693 meters 0.032498916820423634 Centerline is valid? [True, True] Translation: X:149.39, Y:38.18, Z:0.29 [[ 8.29321518e-01 -5.58706433e-01 -8.54058070e-03 1.49391870e+02] [ 5.58679616e-01 8.29365462e-01 -5.47882755e-03 3.81841572e+01] [ 1.01443189e-02 -2.27738763e-04 9.99948519e-01 2.90908053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090281693 meters 0.03550807879908325 Centerline is valid? [True, True] Translation: X:149.42, Y:38.19, Z:0.29 [[ 8.27571564e-01 -5.61316980e-01 -6.96815633e-03 1.49420285e+02] [ 5.61299212e-01 8.27600872e-01 -4.47104103e-03 3.81927405e+01] [ 8.27652350e-03 -2.11114244e-04 9.99965727e-01 2.94905519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120281693 meters 0.03918409137516403 Centerline is valid? [True, True] Translation: X:149.45, Y:38.20, Z:0.30 [[ 8.25087448e-01 -5.64988638e-01 -4.30611178e-03 1.49451418e+02] [ 5.64981900e-01 8.25098670e-01 -2.76364727e-03 3.81983980e+01] [ 5.11439641e-03 -1.52624536e-04 9.99986910e-01 3.02151911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150281693 meters 0.039961001981685826 Centerline is valid? [True, True] Translation: X:149.48, Y:38.21, Z:0.30 [[ 8.24290029e-01 -5.66156246e-01 -3.61286587e-03 1.49477667e+02] [ 5.66151510e-01 8.24297936e-01 -2.31945004e-03 3.82102121e+01] [ 4.29124901e-03 -1.33529932e-04 9.99990784e-01 3.04088385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180281693 meters 0.04253880256499712 Centerline is valid? [True, True] Translation: X:149.50, Y:38.22, Z:0.30 [[ 8.24004686e-01 -5.66573197e-01 -3.33007235e-03 1.49503946e+02] [ 5.66569176e-01 8.24011406e-01 -2.13836881e-03 3.82200351e+01] [ 3.95556005e-03 -1.24690425e-04 9.99992169e-01 3.04781034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21028169299998 meters 0.03823895808944733 Centerline is valid? [True, True] Translation: X:149.53, Y:38.24, Z:0.31 [[ 8.25155540e-01 -5.64893898e-01 -3.63561148e-03 1.49526106e+02] [ 5.64889086e-01 8.25163540e-01 -2.33514678e-03 3.82383400e+01] [ 4.31908420e-03 -1.26857945e-04 9.99990665e-01 3.05203854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.240281693 meters 0.03661254325200531 Centerline is valid? [True, True] Translation: X:149.55, Y:38.26, Z:0.30 [[ 8.25775351e-01 -5.63984823e-01 -4.02361579e-03 1.49549596e+02] [ 5.63978913e-01 8.25785142e-01 -2.58529621e-03 3.82553229e+01] [ 4.78070996e-03 -1.34360573e-04 9.99988563e-01 3.04024088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.270281693 meters 0.038314165840232325 Centerline is valid? [True, True] Translation: X:149.58, Y:38.27, Z:0.30 [[ 8.25357382e-01 -5.64587814e-01 -5.07855212e-03 1.49576493e+02] [ 5.64578406e-01 8.25372989e-01 -3.26386423e-03 3.82654469e+01] [ 6.03443771e-03 -1.73386421e-04 9.99981778e-01 3.01620353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.300281693 meters 0.03994724060292246 Centerline is valid? [True, True] Translation: X:149.60, Y:38.28, Z:0.30 [[ 8.24480924e-01 -5.65864782e-01 -5.31541025e-03 1.49602950e+02] [ 5.65854500e-01 8.24498036e-01 -3.41651069e-03 3.82769107e+01] [ 6.31582839e-03 -1.90900922e-04 9.99980037e-01 3.01216010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.330281693 meters 0.041880318240241986 Centerline is valid? [True, True] Translation: X:149.63, Y:38.29, Z:0.30 [[ 8.23662068e-01 -5.67053942e-01 -5.53400901e-03 1.49629383e+02] [ 5.67042817e-01 8.23680632e-01 -3.55799424e-03 3.82888375e+01] [ 6.57583070e-03 -2.07435162e-04 9.99978357e-01 3.01804172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.360281693 meters 0.045177576014602754 Centerline is valid? [True, True] Translation: X:149.66, Y:38.30, Z:0.30 [[ 8.23498104e-01 -5.67291146e-01 -5.62391751e-03 1.49655253e+02] [ 5.67279657e-01 8.23517280e-01 -3.61660185e-03 3.82994302e+01] [ 6.68305946e-03 -2.12069231e-04 9.99977646e-01 3.02258765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.390281693 meters 0.039097963724857895 Centerline is valid? [True, True] Translation: X:149.68, Y:38.32, Z:0.30 [[ 8.24171566e-01 -5.66310972e-01 -5.75431976e-03 1.49675383e+02] [ 5.66298913e-01 8.24191628e-01 -3.70156216e-03 3.83215757e+01] [ 6.83889744e-03 -2.07942741e-04 9.99976593e-01 3.02540565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.420281693 meters 0.039025707928826904 Centerline is valid? [True, True] Translation: X:149.70, Y:38.34, Z:0.30 [[ 8.25170748e-01 -5.64854185e-01 -5.74342471e-03 1.49699614e+02] [ 5.64842127e-01 8.25190712e-01 -3.69583899e-03 3.83363929e+01] [ 6.82703085e-03 -1.94430010e-04 9.99976677e-01 3.01121691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.450281693 meters 0.033540784859668674 Centerline is valid? [True, True] Translation: X:149.72, Y:38.36, Z:0.30 [[ 8.28208310e-01 -5.60392092e-01 -5.63017079e-03 1.49720025e+02] [ 5.60380396e-01 8.28227432e-01 -3.62383014e-03 3.83585333e+01] [ 6.69382764e-03 -1.53751101e-04 9.99977584e-01 3.01648045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.480281693 meters 0.028960914260433526 Centerline is valid? [True, True] Translation: X:149.74, Y:38.38, Z:0.30 [[ 8.30068603e-01 -5.57631970e-01 -5.71851915e-03 1.49740744e+02] [ 5.57619831e-01 8.30088290e-01 -3.68174368e-03 3.83806662e+01] [ 6.79993376e-03 -1.32659850e-04 9.99976871e-01 3.02839534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.510281693 meters 0.026067756493685704 Centerline is valid? [True, True] Translation: X:149.76, Y:38.40, Z:0.30 [[ 8.31823256e-01 -5.55004659e-01 -6.31664294e-03 1.49761725e+02] [ 5.54989761e-01 8.31847230e-01 -4.06823859e-03 3.84004979e+01] [ 7.51237330e-03 -1.21616688e-04 9.99971774e-01 3.01623089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.540281693 meters 0.022641543164132635 Centerline is valid? [True, True] Translation: X:149.78, Y:38.42, Z:0.30 [[ 8.34224526e-01 -5.51364876e-01 -8.13718124e-03 1.49782514e+02] [ 5.51339971e-01 8.34264203e-01 -5.24174127e-03 3.84198598e+01] [ 9.67867104e-03 -1.13564138e-04 9.99953154e-01 2.97037358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.570281693 meters 0.022395677169257906 Centerline is valid? [True, True] Translation: X:149.81, Y:38.43, Z:0.30 [[ 8.34367171e-01 -5.51138548e-01 -8.81614693e-03 1.49806538e+02] [ 5.51109281e-01 8.34413738e-01 -5.68105006e-03 3.84344530e+01] [ 1.04873598e-02 -1.18578728e-04 9.99944999e-01 2.95563314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.600281693 meters 0.02262422132023452 Centerline is valid? [True, True] Translation: X:149.83, Y:38.45, Z:0.30 [[ 8.34135725e-01 -5.51490604e-01 -8.70085740e-03 1.49831083e+02] [ 5.51462094e-01 8.34181095e-01 -5.60893747e-03 3.84478804e+01] [ 1.03513671e-02 -1.19577915e-04 9.99946416e-01 2.95597408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.630281693 meters 0.02356313725010613 Centerline is valid? [True, True] Translation: X:149.86, Y:38.46, Z:0.30 [[ 8.33529524e-01 -5.52418909e-01 -7.86649534e-03 1.49857490e+02] [ 5.52395634e-01 8.33566635e-01 -5.07233826e-03 3.84575096e+01] [ 9.35930361e-03 -1.17473985e-04 9.99956194e-01 2.96526661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.660281693 meters 0.024402945658523297 Centerline is valid? [True, True] Translation: X:149.88, Y:38.47, Z:0.30 [[ 8.33000789e-01 -5.53217150e-01 -7.77634924e-03 1.49883734e+02] [ 5.53194425e-01 8.33037076e-01 -5.01576607e-03 3.84701579e+01] [ 9.25279504e-03 -1.23695954e-04 9.99957184e-01 2.96853153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690281693 meters 0.026862616020264476 Centerline is valid? [True, True] Translation: X:149.91, Y:38.48, Z:0.30 [[ 8.31537240e-01 -5.55418684e-01 -7.47689411e-03 1.49911477e+02] [ 5.55397758e-01 8.31570842e-01 -4.82340905e-03 3.84785159e+01] [ 8.89657863e-03 -1.41805980e-04 9.99960415e-01 2.98328948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720281693 meters 0.028316664714061666 Centerline is valid? [True, True] Translation: X:149.94, Y:38.49, Z:0.30 [[ 8.30584527e-01 -5.56842731e-01 -7.45098292e-03 1.49937798e+02] [ 5.56821994e-01 8.30617932e-01 -4.80806734e-03 3.84909413e+01] [ 8.86625737e-03 -1.55364834e-04 9.99960682e-01 2.99267207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750281693 meters 0.030103821191947332 Centerline is valid? [True, True] Translation: X:149.96, Y:38.50, Z:0.30 [[ 8.29822066e-01 -5.57981693e-01 -7.19513490e-03 1.49963761e+02] [ 5.57962390e-01 8.29853243e-01 -4.64395296e-03 3.85020385e+01] [ 8.56214677e-03 -1.60960029e-04 9.99963331e-01 2.99671512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780281693 meters 0.03291186598098582 Centerline is valid? [True, True] Translation: X:149.99, Y:38.51, Z:0.30 [[ 8.28429404e-01 -5.60060040e-01 -6.12157373e-03 1.49992975e+02] [ 5.60046117e-01 8.28452007e-01 -3.95214891e-03 3.85104001e+01] [ 7.28487072e-03 -1.54287233e-04 9.99973453e-01 3.02612762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810281693 meters 0.03428574680554792 Centerline is valid? [True, True] Translation: X:150.02, Y:38.52, Z:0.30 [[ 8.27595616e-01 -5.61298380e-01 -5.44281975e-03 1.50020040e+02] [ 5.61287393e-01 8.27613501e-01 -3.51504958e-03 3.85222700e+01] [ 6.47754274e-03 -1.45946483e-04 9.99979010e-01 3.04259426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840281693 meters 0.03666348645721286 Centerline is valid? [True, True] Translation: X:150.05, Y:38.53, Z:0.30 [[ 8.26555561e-01 -5.62830761e-01 -5.23826315e-03 1.50046852e+02] [ 5.62820610e-01 8.26572145e-01 -3.38372089e-03 3.85326479e+01] [ 6.23426462e-03 -1.51369148e-04 9.99980555e-01 3.04938138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870281693 meters 0.04049142961142679 Centerline is valid? [True, True] Translation: X:150.08, Y:38.54, Z:0.30 [[ 8.24795499e-01 -5.65394701e-01 -6.42005602e-03 1.50076604e+02] [ 5.65379521e-01 8.24820458e-01 -4.14835710e-03 3.85401565e+01] [ 7.64085267e-03 -2.08221938e-04 9.99970787e-01 3.02326689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900281693 meters 0.041270597408151546 Centerline is valid? [True, True] Translation: X:150.10, Y:38.55, Z:0.30 [[ 8.24313837e-01 -5.66087639e-01 -7.17520979e-03 1.50102356e+02] [ 5.66068694e-01 8.24345030e-01 -4.63741102e-03 3.85524130e+01] [ 8.54002958e-03 -2.38979563e-04 9.99963505e-01 3.00486487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930281693 meters 0.03639879631759802 Centerline is valid? [True, True] Translation: X:150.12, Y:38.57, Z:0.30 [[ 8.24159657e-01 -5.66306075e-01 -7.63472464e-03 1.50124934e+02] [ 5.66284620e-01 8.24194980e-01 -4.93598860e-03 3.85712016e+01] [ 9.08778204e-03 -2.55384474e-04 9.99958673e-01 3.01566800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96028169299998 meters 0.0367081659810501 Centerline is valid? [True, True] Translation: X:150.15, Y:38.58, Z:0.30 [[ 8.23929209e-01 -5.66642273e-01 -7.56253648e-03 1.50152496e+02] [ 5.66621222e-01 8.23963876e-01 -4.89103659e-03 3.85819818e+01] [ 9.00272496e-03 -2.55225745e-04 9.99959442e-01 3.02422282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.990281693 meters 0.03601873154078746 Centerline is valid? [True, True] Translation: X:150.18, Y:38.60, Z:0.30 [[ 8.24166407e-01 -5.66302960e-01 -7.11982269e-03 1.50177303e+02] [ 5.66284275e-01 8.24197126e-01 -4.60631010e-03 3.85966027e+01] [ 8.47670444e-03 -2.35477584e-04 9.99964044e-01 3.03873111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.020281693 meters 0.04099899297082925 Centerline is valid? [True, True] Translation: X:150.21, Y:38.60, Z:0.30 [[ 8.24756293e-01 -5.65452372e-01 -6.37742629e-03 1.50205226e+02] [ 5.65437349e-01 8.24780925e-01 -4.12672115e-03 3.86039834e+01] [ 7.59344381e-03 -2.02495776e-04 9.99971149e-01 3.04036313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.050281693 meters 0.03271257992396639 Centerline is valid? [True, True] Translation: X:150.23, Y:38.63, Z:0.31 [[ 8.26250384e-01 -5.63275309e-01 -5.58827895e-03 1.50225951e+02] [ 5.63263721e-01 8.26269266e-01 -3.61663875e-03 3.86261403e+01] [ 6.65458646e-03 -1.59425645e-04 9.99977845e-01 3.07101917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.080281693 meters 0.031393691416328175 Centerline is valid? [True, True] Translation: X:150.25, Y:38.64, Z:0.30 [[ 8.27068259e-01 -5.62061526e-01 -6.70341312e-03 1.50250186e+02] [ 5.62044801e-01 8.27095405e-01 -4.33960800e-03 3.86428099e+01] [ 7.98348888e-03 -1.78466459e-04 9.99968116e-01 3.04240900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.110281693 meters 0.02966400161675444 Centerline is valid? [True, True] Translation: X:150.27, Y:38.66, Z:0.30 [[ 8.28073930e-01 -5.60560418e-01 -8.09839673e-03 1.50273794e+02] [ 5.60535920e-01 8.28113506e-01 -5.24443951e-03 3.86602563e+01] [ 9.64621692e-03 -1.96658626e-04 9.99953455e-01 3.00916170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.140281693 meters 0.02966400161675444 Centerline is valid? [True, True] Translation: X:150.30, Y:38.68, Z:0.30 [[ 8.27972625e-01 -5.60710053e-01 -8.09748582e-03 1.50296769e+02] [ 5.60685547e-01 8.28012197e-01 -5.24584581e-03 3.86753709e+01] [ 9.64621550e-03 -1.96726539e-04 9.99953455e-01 3.00970876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.170281693 meters 0.024873057615268795 Centerline is valid? [True, True] Translation: X:150.32, Y:38.70, Z:0.30 [[ 8.30858445e-01 -5.56426907e-01 -7.95871413e-03 1.50318217e+02] [ 5.56403020e-01 8.30896550e-01 -5.15779263e-03 3.86954861e+01] [ 9.48280271e-03 -1.42857009e-04 9.99955027e-01 3.01798547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.200281693 meters 0.024528504905950124 Centerline is valid? [True, True] Translation: X:150.34, Y:38.71, Z:0.30 [[ 8.32254208e-01 -5.54348156e-01 -7.14523271e-03 1.50341765e+02] [ 5.54328819e-01 8.32284873e-01 -4.63137716e-03 3.87105584e+01] [ 8.51426449e-03 -1.06325283e-04 9.99963747e-01 3.02358668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.230281693 meters 0.019372630277129495 Centerline is valid? [True, True] Translation: X:150.36, Y:38.73, Z:0.31 [[ 8.34431043e-01 -5.51073392e-01 -6.55374259e-03 1.50361330e+02] [ 5.51057013e-01 8.34456777e-01 -4.24918157e-03 3.87335590e+01] [ 7.81042582e-03 -6.58368053e-05 9.99969496e-01 3.05574255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.260281693 meters 0.01864510721921371 Centerline is valid? [True, True] Translation: X:150.38, Y:38.75, Z:0.30 [[ 8.35325314e-01 -5.49712280e-01 -6.93033711e-03 1.50383533e+02] [ 5.49693909e-01 8.35354060e-01 -4.49443927e-03 3.87497064e+01] [ 8.25993370e-03 -5.52452056e-05 9.99965885e-01 3.04410613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.290281693 meters 0.017804694821359778 Centerline is valid? [True, True] Translation: X:150.41, Y:38.77, Z:0.30 [[ 8.36007731e-01 -5.48668381e-01 -7.35400328e-03 1.50406499e+02] [ 5.48647640e-01 8.36040074e-01 -4.77087841e-03 3.87664942e+01] [ 8.76587159e-03 -4.62653121e-05 9.99961578e-01 3.03535458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.320281693 meters 0.01672887270980913 Centerline is valid? [True, True] Translation: X:150.43, Y:38.79, Z:0.30 [[ 8.37876791e-01 -5.45806649e-01 -7.58849856e-03 1.50427480e+02] [ 5.45784438e-01 8.37911154e-01 -4.92391484e-03 3.87851589e+01] [ 9.04599304e-03 -1.60504573e-05 9.99959084e-01 3.03832557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.350281693 meters 0.01651236662654009 Centerline is valid? [True, True] Translation: X:150.45, Y:38.80, Z:0.30 [[ 8.38595473e-01 -5.44703375e-01 -7.47436559e-03 1.50449148e+02] [ 5.44681769e-01 8.38628782e-01 -4.85145698e-03 3.88029143e+01] [ 8.91082310e-03 -2.74081049e-06 9.99960298e-01 3.04113105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.380281693 meters 0.01653014961999884 Centerline is valid? [True, True] Translation: X:150.47, Y:38.82, Z:0.30 [[ 8.39288139e-01 -5.43637811e-01 -7.30413764e-03 1.50470407e+02] [ 5.43617128e-01 8.39319921e-01 -4.74214762e-03 3.88202121e+01] [ 8.70851898e-03 9.37392189e-06 9.99962080e-01 3.04416121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.410281693 meters 0.016703712120845267 Centerline is valid? [True, True] Translation: X:150.49, Y:38.84, Z:0.30 [[ 8.39377718e-01 -5.43494510e-01 -7.66581129e-03 1.50493672e+02] [ 5.43471705e-01 8.39412722e-01 -4.97869849e-03 3.88358959e+01] [ 9.14067482e-03 1.28570431e-05 9.99958223e-01 3.03560338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440281693 meters 0.016986639178388226 Centerline is valid? [True, True] Translation: X:150.52, Y:38.85, Z:0.30 [[ 8.39380120e-01 -5.43484220e-01 -8.11896276e-03 1.50516703e+02] [ 5.43458626e-01 8.39419384e-01 -5.27436452e-03 3.88507028e+01] [ 9.68174861e-03 1.48763786e-05 9.99953131e-01 3.02452725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470281693 meters 0.016892372610545076 Centerline is valid? [True, True] Translation: X:150.54, Y:38.87, Z:0.30 [[ 8.39152329e-01 -5.43828733e-01 -8.58360260e-03 1.50539925e+02] [ 5.43800123e-01 8.39196228e-01 -5.57826513e-03 3.88661930e+01] [ 1.02369478e-02 1.32500203e-05 9.99947601e-01 3.03448761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500281693 meters 0.01660004689014694 Centerline is valid? [True, True] Translation: X:150.56, Y:38.88, Z:0.30 [[ 8.38673921e-01 -5.44568641e-01 -8.42908690e-03 1.50563113e+02] [ 5.44541067e-01 8.38716278e-01 -5.48003189e-03 3.88815636e+01] [ 1.00538659e-02 5.97585901e-06 9.99949459e-01 3.04487970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530281693 meters 0.016433861331069183 Centerline is valid? [True, True] Translation: X:150.59, Y:38.90, Z:0.31 [[ 8.37906964e-01 -5.45760917e-01 -7.54588538e-03 1.50587659e+02] [ 5.45738852e-01 8.37940941e-01 -4.90758902e-03 3.88966757e+01] [ 9.00137659e-03 -5.97980584e-06 9.99959487e-01 3.06504102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560281693 meters 0.016732668427491108 Centerline is valid? [True, True] Translation: X:150.61, Y:38.91, Z:0.31 [[ 8.36152130e-01 -5.48457078e-01 -6.66705399e-03 1.50613213e+02] [ 5.48439930e-01 8.36178709e-01 -4.33708361e-03 3.89069227e+01] [ 7.95355280e-03 -3.00169212e-05 9.99968370e-01 3.09055829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590281693 meters 0.017234170673253463 Centerline is valid? [True, True] Translation: X:150.64, Y:38.92, Z:0.31 [[ 8.34994193e-01 -5.50221968e-01 -6.36270153e-03 1.50638760e+02] [ 5.50206391e-01 8.35018433e-01 -4.14042259e-03 3.89203141e+01] [ 7.59112453e-03 -4.35702305e-05 9.99971186e-01 3.10748699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620281693 meters 0.01915981592481227 Centerline is valid? [True, True] Translation: X:150.67, Y:38.93, Z:0.31 [[ 8.32955337e-01 -5.53303914e-01 -6.33918247e-03 1.50665320e+02] [ 5.53288530e-01 8.32979456e-01 -4.12660903e-03 3.89316979e+01] [ 7.56367770e-03 -7.01159365e-05 9.99971393e-01 3.10538533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650281693 meters 0.020586170670319065 Centerline is valid? [True, True] Translation: X:150.69, Y:38.94, Z:0.31 [[ 8.32313617e-01 -5.54268416e-01 -6.36910367e-03 1.50690567e+02] [ 5.54252907e-01 8.32337982e-01 -4.14703424e-03 3.89443650e+01] [ 7.59981700e-03 -7.84611582e-05 9.99971118e-01 3.10208476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680281693 meters 0.02022597045060954 Centerline is valid? [True, True] Translation: X:150.71, Y:38.96, Z:0.31 [[ 8.31782386e-01 -5.55066448e-01 -6.26906977e-03 1.50714767e+02] [ 5.55051436e-01 8.31806006e-01 -4.08318129e-03 3.89599691e+01] [ 7.48108682e-03 -8.33379041e-05 9.99972013e-01 3.11439786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71028169299998 meters 0.021580908656566623 Centerline is valid? [True, True] Translation: X:150.74, Y:38.97, Z:0.31 [[ 8.31221554e-01 -5.55904213e-01 -6.42142128e-03 1.50740026e+02] [ 5.55888480e-01 8.31246352e-01 -4.18337706e-03 3.89727541e+01] [ 7.66333994e-03 -9.22809290e-05 9.99970632e-01 3.10355200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.740281693 meters 0.023595753108153684 Centerline is valid? [True, True] Translation: X:150.77, Y:38.99, Z:0.31 [[ 8.29844293e-01 -5.57944951e-01 -7.47532507e-03 1.50765757e+02] [ 5.57923704e-01 8.29877952e-01 -4.87091261e-03 3.89850335e+01] [ 8.92130855e-03 -1.28562020e-04 9.99960196e-01 3.07549889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.770281693 meters 0.024352312859425733 Centerline is valid? [True, True] Translation: X:150.79, Y:39.00, Z:0.31 [[ 8.29370764e-01 -5.58641372e-01 -7.99702552e-03 1.50791084e+02] [ 5.58617072e-01 8.29409306e-01 -5.21252055e-03 3.89995570e+01] [ 9.54473702e-03 -1.44162830e-04 9.99954438e-01 3.06282938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.800281693 meters 0.024385255672163587 Centerline is valid? [True, True] Translation: X:150.81, Y:39.01, Z:0.31 [[ 8.29499824e-01 -5.58446599e-01 -8.21204322e-03 1.50814506e+02] [ 5.58420952e-01 8.29540460e-01 -5.35396891e-03 3.90135763e+01] [ 9.80212784e-03 -1.44660730e-04 9.99951948e-01 3.06509066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.830281693 meters 0.02305666028989939 Centerline is valid? [True, True] Translation: X:150.84, Y:39.03, Z:0.31 [[ 8.29811560e-01 -5.57986532e-01 -7.98781797e-03 1.50837626e+02] [ 5.57962229e-01 8.29849994e-01 -5.20947656e-03 3.90306200e+01] [ 9.53550846e-03 -1.34016848e-04 9.99954527e-01 3.08128867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.860281693 meters 0.022382988708523645 Centerline is valid? [True, True] Translation: X:150.86, Y:39.05, Z:0.31 [[ 8.30163675e-01 -5.57464991e-01 -7.81386937e-03 1.50861655e+02] [ 5.57441695e-01 8.30200439e-01 -5.09784735e-03 3.90468881e+01] [ 9.32894920e-03 -1.23728892e-04 9.99956477e-01 3.09236921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.890281693 meters 0.02028591598581737 Centerline is valid? [True, True] Translation: X:150.88, Y:39.06, Z:0.31 [[ 8.31698059e-01 -5.55177437e-01 -7.50681956e-03 1.50883685e+02] [ 5.55155835e-01 8.31731931e-01 -4.89838407e-03 3.90636356e+01] [ 8.96313384e-03 -9.34781589e-05 9.99959826e-01 3.10243212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.920281693 meters 0.018952352671457603 Centerline is valid? [True, True] Translation: X:150.91, Y:39.08, Z:0.31 [[ 8.32926611e-01 -5.53331130e-01 -7.61065289e-03 1.50905505e+02] [ 5.53308836e-01 8.32961377e-01 -4.96756250e-03 3.90824171e+01] [ 9.08808688e-03 -7.34264961e-05 9.99958700e-01 3.10121967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.950281693 meters 0.01758719879046609 Centerline is valid? [True, True] Translation: X:150.93, Y:39.10, Z:0.31 [[ 8.34338263e-01 -5.51195203e-01 -7.96940648e-03 1.50926779e+02] [ 5.51170643e-01 8.34376321e-01 -5.20357764e-03 3.91018247e+01] [ 9.51767110e-03 -5.09589684e-05 9.99954705e-01 3.09419727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.980281693 meters 0.016644623088482635 Centerline is valid? [True, True] Translation: X:150.95, Y:39.12, Z:0.31 [[ 8.37371905e-01 -5.46566543e-01 -8.56188615e-03 1.50946040e+02] [ 5.46537942e-01 8.37415676e-01 -5.59143380e-03 3.91225833e+01] [ 1.02259483e-02 2.71393924e-06 9.99947714e-01 3.07610757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.010281693 meters 0.016901599178425694 Centerline is valid? [True, True] Translation: X:150.97, Y:39.14, Z:0.31 [[ 8.38271194e-01 -5.45182767e-01 -8.78385258e-03 1.50968689e+02] [ 5.45152567e-01 8.38317213e-01 -5.73842119e-03 3.91392899e+01] [ 1.04921432e-02 2.18134066e-05 9.99944956e-01 3.07185906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.040281693 meters 0.017285990748421253 Centerline is valid? [True, True] Translation: X:150.99, Y:39.16, Z:0.31 [[ 8.38980187e-01 -5.44088791e-01 -8.92370145e-03 1.50992330e+02] [ 5.44057536e-01 8.39027643e-01 -5.83191386e-03 3.91561690e+01] [ 1.06603112e-02 3.78531601e-05 9.99943177e-01 3.06711877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.070281693 meters 0.01830904993462159 Centerline is valid? [True, True] Translation: X:151.01, Y:39.17, Z:0.31 [[ 8.40428788e-01 -5.41849366e-01 -8.87224167e-03 1.51013956e+02] [ 5.41818335e-01 8.40475616e-01 -5.79925970e-03 3.91741836e+01] [ 1.05992280e-02 6.67215905e-05 9.99943824e-01 3.07496471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.100281693 meters 0.019596174288111074 Centerline is valid? [True, True] Translation: X:151.04, Y:39.19, Z:0.31 [[ 8.41436897e-01 -5.40284109e-01 -8.77667240e-03 1.51035813e+02] [ 5.40253651e-01 8.41482664e-01 -5.73750531e-03 3.91919480e+01] [ 1.04853006e-02 8.61193629e-05 9.99945024e-01 3.07549551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.130281693 meters 0.020921072553130103 Centerline is valid? [True, True] Translation: X:151.06, Y:39.21, Z:0.31 [[ 8.42563805e-01 -5.38526852e-01 -8.66396667e-03 1.51058325e+02] [ 5.38497060e-01 8.42608342e-01 -5.66556683e-03 3.92095109e+01] [ 1.03513905e-02 1.08080966e-04 9.99946417e-01 3.08069819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.160281693 meters 0.024989653205828456 Centerline is valid? [True, True] Translation: X:151.08, Y:39.23, Z:0.31 [[ 8.44928411e-01 -5.34803827e-01 -8.99148035e-03 1.51077571e+02] [ 5.34771515e-01 8.44976237e-01 -5.88099038e-03 3.92311759e+01] [ 1.07427634e-02 1.60628289e-04 9.99942282e-01 3.06811553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190281693 meters 0.02572141391231259 Centerline is valid? [True, True] Translation: X:151.10, Y:39.25, Z:0.31 [[ 8.46127968e-01 -5.32900084e-01 -9.21752672e-03 1.51101180e+02] [ 5.32865992e-01 8.46178151e-01 -6.03082586e-03 3.92484329e+01] [ 1.10134973e-02 1.91143909e-04 9.99939331e-01 3.07347641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220281693 meters 0.029854598592946004 Centerline is valid? [True, True] Translation: X:151.12, Y:39.27, Z:0.31 [[ 8.48179807e-01 -5.29617676e-01 -9.80467767e-03 1.51121175e+02] [ 5.29578871e-01 8.48236438e-01 -6.41594319e-03 3.92696739e+01] [ 1.17146818e-02 2.49523331e-04 9.99931350e-01 3.06436414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250281693 meters 0.03070604882358044 Centerline is valid? [True, True] Translation: X:151.14, Y:39.29, Z:0.31 [[ 8.49216324e-01 -5.27954405e-01 -9.78681283e-03 1.51143805e+02] [ 5.27915607e-01 8.49272672e-01 -6.40629999e-03 3.92872540e+01] [ 1.16939070e-02 2.73723289e-04 9.99931586e-01 3.07777260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280281693 meters 0.03619964921516413 Centerline is valid? [True, True] Translation: X:151.16, Y:39.31, Z:0.31 [[ 8.50546574e-01 -5.25820794e-01 -9.11148155e-03 1.51161275e+02] [ 5.25787031e-01 8.50595328e-01 -5.96533481e-03 3.93108016e+01] [ 1.08868807e-02 2.83096244e-04 9.99940696e-01 3.07695596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310281693 meters 0.03764127915634503 Centerline is valid? [True, True] Translation: X:151.18, Y:39.33, Z:0.31 [[ 8.52089426e-01 -5.23330838e-01 -8.27310462e-03 1.51182125e+02] [ 5.23302880e-01 8.52129539e-01 -5.41703535e-03 3.93312915e+01] [ 9.88465848e-03 2.86459070e-04 9.99951105e-01 3.10041612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340281693 meters 0.04482802129716509 Centerline is valid? [True, True] Translation: X:151.20, Y:39.36, Z:0.31 [[ 8.54790455e-01 -5.18920318e-01 -7.41488250e-03 1.51195751e+02] [ 5.18897687e-01 8.54822561e-01 -4.85584594e-03 3.93612787e+01] [ 8.85820597e-03 3.03165383e-04 9.99960719e-01 3.11302304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370281693 meters 0.043241227206626404 Centerline is valid? [True, True] Translation: X:151.22, Y:39.38, Z:0.31 [[ 8.55520499e-01 -5.17713073e-01 -7.60584395e-03 1.51219331e+02] [ 5.17689199e-01 8.55554246e-01 -4.98247339e-03 3.93775698e+01] [ 9.08670370e-03 3.25144859e-04 9.99958662e-01 3.12627919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400281693 meters 0.045569456197418236 Centerline is valid? [True, True] Translation: X:151.24, Y:39.40, Z:0.31 [[ 8.56181778e-01 -5.16621691e-01 -7.40213783e-03 1.51237974e+02] [ 5.16599031e-01 8.56213712e-01 -4.84987821e-03 3.94005177e+01] [ 8.84336419e-03 3.28440116e-04 9.99960843e-01 3.14026966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430281693 meters 0.044351046666024976 Centerline is valid? [True, True] Translation: X:151.26, Y:39.42, Z:0.32 [[ 8.55622068e-01 -5.17558123e-01 -6.66832743e-03 1.51260480e+02] [ 5.17539750e-01 8.55648004e-01 -4.37036023e-03 3.94185466e+01] [ 7.96765649e-03 2.88252140e-04 9.99968216e-01 3.16238565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46028169299998 meters 0.039833393371220285 Centerline is valid? [True, True] Translation: X:151.29, Y:39.43, Z:0.32 [[ 8.53398494e-01 -5.21236508e-01 -4.84897658e-03 1.51285025e+02] [ 5.21226847e-01 8.53412250e-01 -3.17893618e-03 3.94348247e+01] [ 5.79515361e-03 1.85482578e-04 9.99983191e-01 3.19311634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.490281693 meters 0.042553118696124784 Centerline is valid? [True, True] Translation: X:151.31, Y:39.45, Z:0.32 [[ 8.51940933e-01 -5.23615134e-01 -4.88251859e-03 1.51306124e+02] [ 5.23605373e-01 8.51954906e-01 -3.20173851e-03 3.94545668e+01] [ 5.83616440e-03 1.71179128e-04 9.99982955e-01 3.18255299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.520281693 meters 0.035984240289240035 Centerline is valid? [True, True] Translation: X:151.33, Y:39.46, Z:0.32 [[ 8.50380905e-01 -5.26137526e-01 -5.62321434e-03 1.51334102e+02] [ 5.26124628e-01 8.50399478e-01 -3.68838427e-03 3.94643067e+01] [ 6.72257591e-03 1.78020005e-04 9.99977387e-01 3.17122052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.550281693 meters 0.032058239819152484 Centerline is valid? [True, True] Translation: X:151.36, Y:39.48, Z:0.31 [[ 8.49007803e-01 -5.28330068e-01 -7.28631724e-03 1.51360102e+02] [ 5.28308483e-01 8.49039042e-01 -4.78026112e-03 3.94778408e+01] [ 8.71192350e-03 2.09055777e-04 9.99962029e-01 3.14515981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.580281693 meters 0.030073523409401955 Centerline is valid? [True, True] Translation: X:151.38, Y:39.49, Z:0.31 [[ 8.46942560e-01 -5.31603232e-01 -9.28999225e-03 1.51383198e+02] [ 5.31568327e-01 8.46993479e-01 -6.09593207e-03 3.94933391e+01] [ 1.11091800e-02 2.24638672e-04 9.99938266e-01 3.09792480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.610281693 meters 0.028134172584033282 Centerline is valid? [True, True] Translation: X:151.41, Y:39.51, Z:0.31 [[ 8.45823705e-01 -5.33385057e-01 -9.09063931e-03 1.51409067e+02] [ 5.33351717e-01 8.45872532e-01 -5.96699043e-03 3.95066322e+01] [ 1.08722256e-02 1.98513869e-04 9.99940876e-01 3.10237973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.640281693 meters 0.025792101222020896 Centerline is valid? [True, True] Translation: X:151.44, Y:39.52, Z:0.31 [[ 8.44491928e-01 -5.35496808e-01 -8.74939693e-03 1.51435209e+02] [ 5.35466016e-01 8.44537235e-01 -5.74496703e-03 3.95189854e+01] [ 1.04656030e-02 1.66573569e-04 9.99945220e-01 3.11000437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.670281693 meters 0.0207961443769304 Centerline is valid? [True, True] Translation: X:151.46, Y:39.53, Z:0.31 [[ 8.41488039e-01 -5.40209525e-01 -8.45862832e-03 1.51464927e+02] [ 5.40180965e-01 8.41530545e-01 -5.55585623e-03 3.95271165e+01] [ 1.01195205e-02 1.05996557e-04 9.99948791e-01 3.11549722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.700281693 meters 0.01940259774479908 Centerline is valid? [True, True] Translation: X:151.49, Y:39.54, Z:0.31 [[ 8.40281709e-01 -5.42090192e-01 -8.05437797e-03 1.51490851e+02] [ 5.42064365e-01 8.40320306e-01 -5.29213417e-03 3.95391678e+01] [ 9.63707139e-03 8.08922665e-05 9.99953559e-01 3.12039112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.730281693 meters 0.018417301930328065 Centerline is valid? [True, True] Translation: X:151.52, Y:39.55, Z:0.31 [[ 8.39499851e-01 -5.43310307e-01 -7.34237695e-03 1.51516670e+02] [ 5.43288884e-01 8.39531957e-01 -4.82512153e-03 3.95499892e+01] [ 8.78569835e-03 6.16570295e-05 9.99961403e-01 3.14791524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.760281693 meters 0.019267511535200524 Centerline is valid? [True, True] Translation: X:151.54, Y:39.57, Z:0.31 [[ 8.39826647e-01 -5.42801280e-01 -7.61399975e-03 1.51538796e+02] [ 5.42778214e-01 8.39861159e-01 -5.00443279e-03 3.95671534e+01] [ 9.11111517e-03 7.01428259e-05 9.99958490e-01 3.14116934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.790281693 meters 0.020026830074966254 Centerline is valid? [True, True] Translation: X:151.56, Y:39.59, Z:0.31 [[ 8.40426297e-01 -5.41868259e-01 -7.90122442e-03 1.51561507e+02] [ 5.41843364e-01 8.40463433e-01 -5.19481556e-03 3.95855853e+01] [ 9.45559587e-03 8.46335789e-05 9.99955291e-01 3.13542717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.820281693 meters 0.021995352219062438 Centerline is valid? [True, True] Translation: X:151.58, Y:39.60, Z:0.31 [[ 8.41835106e-01 -5.39685736e-01 -7.27742941e-03 1.51583405e+02] [ 5.39664521e-01 8.41866555e-01 -4.78629701e-03 3.96046875e+01] [ 8.70972065e-03 1.01902392e-04 9.99962064e-01 3.14156879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.850281693 meters 0.022371906570638034 Centerline is valid? [True, True] Translation: X:151.61, Y:39.62, Z:0.32 [[ 8.42139728e-01 -5.39219265e-01 -6.57745685e-03 1.51607269e+02] [ 5.39201908e-01 8.42165408e-01 -4.32753740e-03 3.96200403e+01] [ 7.87279817e-03 9.78138837e-05 9.99969004e-01 3.16768369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.880281693 meters 0.021877212845484686 Centerline is valid? [True, True] Translation: X:151.63, Y:39.64, Z:0.32 [[ 8.42524978e-01 -5.38631258e-01 -5.29432201e-03 1.51631082e+02] [ 5.38619993e-01 8.42541608e-01 -3.48464345e-03 3.96350389e+01] [ 6.33762446e-03 8.42714582e-05 9.99979914e-01 3.20519683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.910281693 meters 0.023730999274885093 Centerline is valid? [True, True] Translation: X:151.65, Y:39.65, Z:0.32 [[ 8.43300963e-01 -5.37423373e-01 -4.42760294e-03 1.51652022e+02] [ 5.37415475e-01 8.43312582e-01 -2.91478875e-03 3.96536414e+01] [ 5.30032887e-03 7.85818202e-05 9.99985950e-01 3.22091983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940281693 meters 0.028146078271701503 Centerline is valid? [True, True] Translation: X:151.67, Y:39.68, Z:0.32 [[ 8.45501265e-01 -5.33949580e-01 -5.04538830e-03 1.51671880e+02] [ 5.33939259e-01 8.45516311e-01 -3.32199072e-03 3.96753069e+01] [ 6.03973365e-03 1.14816476e-04 9.99981754e-01 3.20374630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970281693 meters 0.03208604052209178 Centerline is valid? [True, True] Translation: X:151.69, Y:39.70, Z:0.32 [[ 8.46525469e-01 -5.32316355e-01 -5.82490685e-03 1.51692151e+02] [ 5.32302555e-01 8.46545496e-01 -3.83577007e-03 3.96957848e+01] [ 6.97289180e-03 1.46464255e-04 9.99975678e-01 3.17931477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000281693 meters 0.03461313222633605 Centerline is valid? [True, True] Translation: X:151.71, Y:39.72, Z:0.32 [[ 8.47470831e-01 -5.30803085e-01 -6.42456209e-03 1.51713376e+02] [ 5.30786245e-01 8.47495164e-01 -4.23182544e-03 3.97160968e+01] [ 7.69105130e-03 1.76279435e-04 9.99970408e-01 3.17141883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030281693 meters 0.03650251529047943 Centerline is valid? [True, True] Translation: X:151.73, Y:39.74, Z:0.32 [[ 8.49057821e-01 -5.28265080e-01 -6.06807415e-03 1.51733002e+02] [ 5.28249983e-01 8.49079484e-01 -3.99826040e-03 3.97393700e+01] [ 7.26441861e-03 1.89294200e-04 9.99973596e-01 3.18497056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060281693 meters 0.03917410572867396 Centerline is valid? [True, True] Translation: X:151.75, Y:39.76, Z:0.32 [[ 8.49519106e-01 -5.27525913e-01 -5.80517431e-03 1.51752781e+02] [ 5.27512074e-01 8.49538919e-01 -3.82569242e-03 3.97592601e+01] [ 6.94987340e-03 1.87699265e-04 9.99975832e-01 3.17931586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090281693 meters 0.03917410572867396 Centerline is valid? [True, True] Translation: X:151.78, Y:39.77, Z:0.32 [[ 8.49427753e-01 -5.27673004e-01 -5.80464103e-03 1.51775613e+02] [ 5.27659163e-01 8.49447565e-01 -3.82650146e-03 3.97745630e+01] [ 6.94987971e-03 1.87464507e-04 9.99975832e-01 3.17986284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120281693 meters 0.038037815384576 Centerline is valid? [True, True] Translation: X:151.80, Y:39.79, Z:0.32 [[ 8.48575960e-01 -5.29044060e-01 -5.58773082e-03 1.51798543e+02] [ 5.29031255e-01 8.48594340e-01 -3.68475740e-03 3.97911890e+01] [ 6.69111576e-03 1.70712294e-04 9.99977600e-01 3.17872903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150281693 meters 0.03527031164613723 Centerline is valid? [True, True] Translation: X:151.82, Y:39.81, Z:0.32 [[ 8.47243166e-01 -5.31177306e-01 -5.44857812e-03 1.51822790e+02] [ 5.31165168e-01 8.47260672e-01 -3.59415844e-03 3.98056369e+01] [ 6.52550135e-03 1.51031263e-04 9.99978697e-01 3.18387544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180281693 meters 0.03203709162533326 Centerline is valid? [True, True] Translation: X:151.85, Y:39.82, Z:0.32 [[ 8.45568006e-01 -5.33842443e-01 -5.19554594e-03 1.51847595e+02] [ 5.33831449e-01 8.45583958e-01 -3.42833887e-03 3.98196771e+01] [ 6.22346309e-03 1.25347843e-04 9.99980626e-01 3.18915798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21028169299998 meters 0.02391448494958217 Centerline is valid? [True, True] Translation: X:151.88, Y:39.83, Z:0.32 [[ 8.42581285e-01 -5.38546375e-01 -4.95770646e-03 1.51877397e+02] [ 5.38536440e-01 8.42595866e-01 -3.27240043e-03 3.98263976e+01] [ 5.93968236e-03 8.73577746e-05 9.99982356e-01 3.18988382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.240281693 meters 0.022133923710317548 Centerline is valid? [True, True] Translation: X:151.90, Y:39.84, Z:0.32 [[ 8.41321119e-01 -5.40511607e-01 -5.09680060e-03 1.51902852e+02] [ 5.40501135e-01 8.41336554e-01 -3.36533917e-03 3.98390816e+01] [ 6.10712954e-03 7.65044056e-05 9.99981348e-01 3.18568735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.270281693 meters 0.02075820027682834 Centerline is valid? [True, True] Translation: X:151.93, Y:39.85, Z:0.32 [[ 8.40426070e-01 -5.41902507e-01 -5.06890395e-03 1.51927718e+02] [ 5.41892168e-01 8.40441353e-01 -3.34806840e-03 3.98540650e+01] [ 6.07444315e-03 6.70046215e-05 9.99981548e-01 3.18507919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.300281693 meters 0.02123225045861096 Centerline is valid? [True, True] Translation: X:151.95, Y:39.87, Z:0.32 [[ 8.39730569e-01 -5.42972001e-01 -5.82899210e-03 1.51949343e+02] [ 5.42958349e-01 8.39750797e-01 -3.85088347e-03 3.98715793e+01] [ 6.98582267e-03 6.88046399e-05 9.99975596e-01 3.16520978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.330281693 meters 0.021486062643379596 Centerline is valid? [True, True] Translation: X:151.97, Y:39.89, Z:0.31 [[ 8.39311172e-01 -5.43586540e-01 -8.39225209e-03 1.51971607e+02] [ 5.43558256e-01 8.39353123e-01 -5.54588877e-03 3.98900654e+01] [ 1.00587335e-02 9.30484907e-05 9.99949405e-01 3.09845543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.360281693 meters 0.021542756498153955 Centerline is valid? [True, True] Translation: X:152.00, Y:39.91, Z:0.31 [[ 8.39198491e-01 -5.43751691e-01 -8.94378226e-03 1.51995709e+02] [ 5.43719556e-01 8.39246143e-01 -5.91226576e-03 3.99063717e+01] [ 1.07208393e-02 9.86551794e-05 9.99942525e-01 3.08000002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.390281693 meters 0.01986063794242434 Centerline is valid? [True, True] Translation: X:152.02, Y:39.92, Z:0.31 [[ 8.38958135e-01 -5.44152171e-01 -6.90379748e-03 1.52021093e+02] [ 5.44133026e-01 8.38986537e-01 -4.56517180e-03 3.99198736e+01] [ 8.27634129e-03 7.34038025e-05 9.99965748e-01 3.14411173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.420281693 meters 0.018860384658226783 Centerline is valid? [True, True] Translation: X:152.05, Y:39.94, Z:0.32 [[ 8.38530209e-01 -5.44823169e-01 -5.89939703e-03 1.52045548e+02] [ 5.44809196e-01 8.38550959e-01 -3.90228269e-03 3.99350845e+01] [ 7.07299906e-03 5.81361701e-05 9.99974984e-01 3.17438964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.450281693 meters 0.019320503294821958 Centerline is valid? [True, True] Translation: X:152.07, Y:39.95, Z:0.32 [[ 8.38092654e-01 -5.45500773e-01 -5.44140301e-03 1.52067694e+02] [ 5.45488897e-01 8.38110317e-01 -3.59998451e-03 3.99514876e+01] [ 6.52429034e-03 4.88956480e-05 9.99978715e-01 3.17955021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.480281693 meters 0.01872551468116313 Centerline is valid? [True, True] Translation: X:152.09, Y:39.96, Z:0.32 [[ 8.37567238e-01 -5.46317553e-01 -4.27251370e-03 1.52093263e+02] [ 5.46310238e-01 8.37578134e-01 -2.82731135e-03 3.99648855e+01] [ 5.12317387e-03 3.39453861e-05 9.99986876e-01 3.20810273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.510281693 meters 0.01717620967987188 Centerline is valid? [True, True] Translation: X:152.12, Y:39.98, Z:0.32 [[ 8.36894973e-01 -5.47346670e-01 -4.29260902e-03 1.52119609e+02] [ 5.47339294e-01 8.36905982e-01 -2.84162908e-03 3.99757793e+01] [ 5.14786638e-03 2.86315008e-05 9.99986749e-01 3.21311958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.540281693 meters 0.01677658339222513 Centerline is valid? [True, True] Translation: X:152.14, Y:39.99, Z:0.32 [[ 8.36061926e-01 -5.48613956e-01 -4.81482645e-03 1.52144176e+02] [ 5.48604693e-01 8.36075790e-01 -3.18818919e-03 3.99881607e+01] [ 5.77464492e-03 2.40872117e-05 9.99983326e-01 3.19627452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.570281693 meters 0.015968587728429982 Centerline is valid? [True, True] Translation: X:152.17, Y:40.00, Z:0.32 [[ 8.34557283e-01 -5.50892571e-01 -5.61391425e-03 1.52171437e+02] [ 5.50880021e-01 8.34576165e-01 -3.71856401e-03 3.99974476e+01] [ 6.73376831e-03 1.07614751e-05 9.99977328e-01 3.18399602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.600281693 meters 0.015845155761439026 Centerline is valid? [True, True] Translation: X:152.20, Y:40.01, Z:0.32 [[ 8.34056516e-01 -5.51653948e-01 -5.25834888e-03 1.52196914e+02] [ 5.51642944e-01 8.34073091e-01 -3.48438098e-03 4.00102624e+01] [ 6.30801983e-03 5.43960483e-06 9.99980104e-01 3.19728607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.630281693 meters 0.01583477647063007 Centerline is valid? [True, True] Translation: X:152.22, Y:40.02, Z:0.32 [[ 8.33937428e-01 -5.51835852e-01 -5.05550495e-03 1.52220593e+02] [ 5.51825678e-01 8.33952752e-01 -3.35086482e-03 4.00231982e+01] [ 6.06517961e-03 4.65414073e-06 9.99981607e-01 3.20819791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.660281693 meters 0.016089470471915328 Centerline is valid? [True, True] Translation: X:152.24, Y:40.04, Z:0.32 [[ 8.34730827e-01 -5.50634782e-01 -5.07777036e-03 1.52244790e+02] [ 5.50624489e-01 8.34746271e-01 -3.36676818e-03 4.00381861e+01] [ 6.09250953e-03 1.44004693e-05 9.99981440e-01 3.21786152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690281693 meters 0.016247096647133204 Centerline is valid? [True, True] Translation: X:152.27, Y:40.05, Z:0.32 [[ 8.35121156e-01 -5.50044086e-01 -4.91506054e-03 1.52267792e+02] [ 5.50034424e-01 8.35135620e-01 -3.26020687e-03 4.00535029e+01] [ 5.89799964e-03 1.92152346e-05 9.99982606e-01 3.22313168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720281693 meters 0.016837644963572283 Centerline is valid? [True, True] Translation: X:152.29, Y:40.07, Z:0.32 [[ 8.35730852e-01 -5.49123785e-01 -4.12455926e-03 1.52290765e+02] [ 5.49116966e-01 8.35741030e-01 -2.73653574e-03 4.00682579e+01] [ 4.94976027e-03 2.21418788e-05 9.99987750e-01 3.22845324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750281693 meters 0.01646920206923961 Centerline is valid? [True, True] Translation: X:152.32, Y:40.08, Z:0.32 [[ 8.35840563e-01 -5.48959938e-01 -3.67964460e-03 1.52315662e+02] [ 5.48954506e-01 8.35848662e-01 -2.44208361e-03 4.00812064e+01] [ 4.41623208e-03 2.12350512e-05 9.99990248e-01 3.24529176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780281693 meters 0.016669742341699892 Centerline is valid? [True, True] Translation: X:152.34, Y:40.09, Z:0.32 [[ 8.35815820e-01 -5.48999767e-01 -3.34228521e-03 1.52339413e+02] [ 5.48995284e-01 8.35822502e-01 -2.21880848e-03 4.00945849e+01] [ 4.01168252e-03 1.96164155e-05 9.99991953e-01 3.24391440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810281693 meters 0.01638398026129114 Centerline is valid? [True, True] Translation: X:152.37, Y:40.11, Z:0.32 [[ 8.35450463e-01 -5.49555623e-01 -3.33771974e-03 1.52365223e+02] [ 5.49551154e-01 8.35457130e-01 -2.21644823e-03 4.01070569e+01] [ 4.00658335e-03 1.74849694e-05 9.99991973e-01 3.24137144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840281693 meters 0.016109415108378072 Centerline is valid? [True, True] Translation: X:152.39, Y:40.12, Z:0.32 [[ 8.34531999e-01 -5.50942936e-01 -4.26903498e-03 1.52392085e+02] [ 5.50935638e-01 8.34542918e-01 -2.83580887e-03 4.01159795e+01] [ 5.12506177e-03 1.46097321e-05 9.99986867e-01 3.21727771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870281693 meters 0.015998033294690756 Centerline is valid? [True, True] Translation: X:152.42, Y:40.13, Z:0.32 [[ 8.34311164e-01 -5.51278489e-01 -4.11216020e-03 1.52417491e+02] [ 5.51271717e-01 8.34321298e-01 -2.73243074e-03 4.01286772e+01] [ 4.93719312e-03 1.27798614e-05 9.99987812e-01 3.23032481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900281693 meters 0.016118110235545505 Centerline is valid? [True, True] Translation: X:152.44, Y:40.14, Z:0.32 [[ 8.34683224e-01 -5.50714083e-01 -4.23250705e-03 1.52441921e+02] [ 5.50706896e-01 8.34693955e-01 -2.81354332e-03 4.01432849e+01] [ 5.08230597e-03 1.75465874e-05 9.99987085e-01 3.23391276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930281693 meters 0.017840663101887713 Centerline is valid? [True, True] Translation: X:152.46, Y:40.16, Z:0.32 [[ 8.36798058e-01 -5.47496608e-01 -4.05877117e-03 1.52464021e+02] [ 5.47489958e-01 8.36807901e-01 -2.69869128e-03 4.01597382e+01] [ 4.87393611e-03 3.61231644e-05 9.99988122e-01 3.23503738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96028169299998 meters 0.018306380652819674 Centerline is valid? [True, True] Translation: X:152.49, Y:40.18, Z:0.32 [[ 8.37572346e-01 -5.46315709e-01 -3.42212733e-03 1.52488638e+02] [ 5.46310969e-01 8.37579337e-01 -2.27593925e-03 4.01752885e+01] [ 4.10968450e-03 3.67180759e-05 9.99991555e-01 3.23662217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.990281693 meters 0.019095128040116854 Centerline is valid? [True, True] Translation: X:152.51, Y:40.19, Z:0.32 [[ 8.37891552e-01 -5.45825481e-01 -3.50586669e-03 1.52513760e+02] [ 5.45820499e-01 8.37898886e-01 -2.33229409e-03 4.01871666e+01] [ 4.21058733e-03 4.06356083e-05 9.99991135e-01 3.22997891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.020281693 meters 0.01862391186770135 Centerline is valid? [True, True] Translation: X:152.54, Y:40.20, Z:0.32 [[ 8.37379418e-01 -5.46608295e-01 -3.88368306e-03 1.52539377e+02] [ 5.46602186e-01 8.37388423e-01 -2.58448605e-03 4.01999093e+01] [ 4.66485275e-03 4.13657695e-05 9.99989119e-01 3.21733603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.050281693 meters 0.018466512583306657 Centerline is valid? [True, True] Translation: X:152.56, Y:40.21, Z:0.32 [[ 8.36862696e-01 -5.47389773e-01 -5.02640384e-03 1.52563566e+02] [ 5.47379549e-01 8.36877789e-01 -3.34591944e-03 4.02124080e+01] [ 6.03800782e-03 4.87244912e-05 9.99981770e-01 3.19790227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.080281693 meters 0.018675209425359194 Centerline is valid? [True, True] Translation: X:152.59, Y:40.23, Z:0.32 [[ 8.36818174e-01 -5.47442290e-01 -6.50256376e-03 1.52589573e+02] [ 5.47425170e-01 8.36843435e-01 -4.32994899e-03 4.02256072e+01] [ 7.81202498e-03 6.37129348e-05 9.99969484e-01 3.17158748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.110281693 meters 0.01892089184368248 Centerline is valid? [True, True] Translation: X:152.61, Y:40.24, Z:0.32 [[ 8.37153630e-01 -5.46922405e-01 -7.04859477e-03 1.52613981e+02] [ 5.46902255e-01 8.37183300e-01 -4.69527850e-03 4.02402162e+01] [ 8.46891884e-03 7.57770621e-05 9.99964135e-01 3.15920604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.140281693 meters 0.02036266658370821 Centerline is valid? [True, True] Translation: X:152.64, Y:40.26, Z:0.31 [[ 8.37819112e-01 -5.45895405e-01 -7.57239698e-03 1.52636915e+02] [ 5.45872099e-01 8.37853327e-01 -5.04514406e-03 4.02563892e+01] [ 9.09867897e-03 9.33578836e-05 9.99958602e-01 3.14506801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.170281693 meters 0.021236084415739157 Centerline is valid? [True, True] Translation: X:152.66, Y:40.27, Z:0.32 [[ 8.38613752e-01 -5.44676789e-01 -7.35997299e-03 1.52660443e+02] [ 5.44654720e-01 8.38646042e-01 -4.90423544e-03 4.02721209e+01] [ 8.84363543e-03 1.04115253e-04 9.99960889e-01 3.15586668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.200281693 meters 0.026692452010713012 Centerline is valid? [True, True] Translation: X:152.68, Y:40.29, Z:0.32 [[ 8.41586138e-01 -5.40098504e-01 -5.13597659e-03 1.52679321e+02] [ 5.40087668e-01 8.41601803e-01 -3.42291794e-03 4.02947185e+01] [ 6.17116002e-03 1.06802669e-04 9.99980953e-01 3.20585114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.230281693 meters 0.03055567829424432 Centerline is valid? [True, True] Translation: X:152.70, Y:40.32, Z:0.32 [[ 8.43829381e-01 -5.36598586e-01 -3.73268095e-03 1.52700399e+02] [ 5.36592826e-01 8.43837631e-01 -2.48832058e-03 4.03158453e+01] [ 4.48500595e-03 9.67882025e-05 9.99989938e-01 3.23976750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.260281693 meters 0.0356898153184984 Centerline is valid? [True, True] Translation: X:152.72, Y:40.34, Z:0.33 [[ 8.46348709e-01 -5.32623194e-01 -2.52894746e-03 1.52720382e+02] [ 5.32620530e-01 8.46352484e-01 -1.68631551e-03 4.03384608e+01] [ 3.03855172e-03 8.02416149e-05 9.99995380e-01 3.26002413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.290281693 meters 0.04322087725414361 Centerline is valid? [True, True] Translation: X:152.74, Y:40.37, Z:0.33 [[ 8.51192155e-01 -5.24849619e-01 -2.18931591e-03 1.52736854e+02] [ 5.24847596e-01 8.51194965e-01 -1.46028783e-03 4.03660226e+01] [ 2.62996619e-03 9.39283513e-05 9.99996537e-01 3.26723594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.320281693 meters 0.05004873692664669 Centerline is valid? [True, True] Translation: X:152.75, Y:40.39, Z:0.32 [[ 8.52953935e-01 -5.21972928e-01 -3.72107568e-03 1.52753319e+02] [ 5.21967053e-01 8.52962034e-01 -2.48280142e-03 4.03913144e+01] [ 4.46989141e-03 1.75436339e-04 9.99989995e-01 3.23718023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.350281693 meters 0.052174386114935585 Centerline is valid? [True, True] Translation: X:152.77, Y:40.42, Z:0.32 [[ 8.55109886e-01 -5.18411026e-01 -6.09015906e-03 1.52772875e+02] [ 5.18395193e-01 8.55131514e-01 -4.06413221e-03 4.04151104e+01] [ 7.31477789e-03 3.18170447e-04 9.99973196e-01 3.19130662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.380281693 meters 0.0547653605239248 Centerline is valid? [True, True] Translation: X:152.79, Y:40.44, Z:0.32 [[ 8.55686572e-01 -5.17458506e-01 -6.09795089e-03 1.52791553e+02] [ 5.17442604e-01 8.55708237e-01 -4.06992269e-03 4.04363366e+01] [ 7.32408292e-03 3.27238604e-04 9.99973125e-01 3.19754824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.410281693 meters 0.053957388632841934 Centerline is valid? [True, True] Translation: X:152.81, Y:40.45, Z:0.32 [[ 8.56067269e-01 -5.16837264e-01 -5.29848971e-03 1.52814194e+02] [ 5.16825240e-01 8.56083617e-01 -3.53733074e-03 4.04546952e+01] [ 6.36417458e-03 2.89799851e-04 9.99979706e-01 3.21969138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440281693 meters 0.053837699518333886 Centerline is valid? [True, True] Translation: X:152.83, Y:40.48, Z:0.33 [[ 8.55901012e-01 -5.17131769e-01 -2.86200872e-03 1.52833751e+02] [ 5.17128261e-01 8.55905783e-01 -1.91119705e-03 4.04768024e+01] [ 3.43795053e-03 1.55769899e-04 9.99994078e-01 3.26266743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470281693 meters 0.05268943261661791 Centerline is valid? [True, True] Translation: X:152.86, Y:40.49, Z:0.33 [[ 8.55346918e-01 -5.18053843e-01 -1.36589705e-03 1.52855831e+02] [ 5.18053045e-01 8.55348005e-01 -9.12280610e-04 4.04939622e+01] [ 1.64092780e-03 7.27092796e-05 9.99998651e-01 3.29144764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500281693 meters 0.050639942290666054 Centerline is valid? [True, True] Translation: X:152.88, Y:40.51, Z:0.33 [[ 8.54668728e-01 -5.19173706e-01 -1.68139992e-04 1.52878758e+02] [ 5.19173694e-01 8.54668745e-01 -1.12176229e-04 4.05112661e+01] [ 2.01942944e-04 8.57965414e-06 9.99999980e-01 3.31100027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530281693 meters 0.047858682028891306 Centerline is valid? [True, True] Translation: X:152.90, Y:40.53, Z:0.33 [[ 8.52996376e-01 -5.21915602e-01 -1.13428459e-03 1.52898761e+02] [ 5.21915055e-01 8.52997129e-01 -7.57695658e-04 4.05341803e+01] [ 1.36299468e-03 5.43114484e-05 9.99999070e-01 3.29443583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560281693 meters 0.04689784184469963 Centerline is valid? [True, True] Translation: X:152.92, Y:40.55, Z:0.33 [[ 8.52131432e-01 -5.23320445e-01 -2.78087103e-03 1.52920046e+02] [ 5.23317161e-01 8.52135960e-01 -1.85861652e-03 4.05525912e+01] [ 3.34233223e-03 1.28508029e-04 9.99994406e-01 3.25549949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590281693 meters 0.04508698187689847 Centerline is valid? [True, True] Translation: X:152.94, Y:40.57, Z:0.32 [[ 8.49802148e-01 -5.27074168e-01 -5.39723471e-03 1.52941759e+02] [ 5.27061866e-01 8.49819259e-01 -3.60790646e-03 4.05703997e+01] [ 6.48830830e-03 2.21330063e-04 9.99978926e-01 3.20413132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620281693 meters 0.03915940178806472 Centerline is valid? [True, True] Translation: X:152.97, Y:40.58, Z:0.32 [[ 8.48570112e-01 -5.29061369e-01 -4.77836332e-03 1.52968894e+02] [ 5.29051754e-01 8.48583546e-01 -3.19499324e-03 4.05824089e+01] [ 5.74518799e-03 1.83174276e-04 9.99983479e-01 3.22937839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650281693 meters 0.037641569425511445 Centerline is valid? [True, True] Translation: X:152.99, Y:40.60, Z:0.33 [[ 8.47562015e-01 -5.30686328e-01 -3.26364501e-03 1.52990899e+02] [ 5.30681853e-01 8.47568291e-01 -2.18263610e-03 4.05997505e+01] [ 3.92445716e-03 1.17962270e-04 9.99992292e-01 3.26115103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680281693 meters 0.03672928096416142 Centerline is valid? [True, True] Translation: X:153.01, Y:40.62, Z:0.33 [[ 8.46796324e-01 -5.31915558e-01 -1.35111093e-03 1.53009336e+02] [ 5.31914792e-01 8.46797400e-01 -9.03596209e-04 4.06229203e+01] [ 1.62475410e-03 4.64860590e-05 9.99998679e-01 3.30261066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71028169299998 meters 0.0383976112887561 Centerline is valid? [True, True] Translation: X:153.03, Y:40.64, Z:0.33 [[ 8.46954387e-01 -5.31662862e-01 -1.69327753e-03 1.53029285e+02] [ 5.31661658e-01 8.46956078e-01 -1.13292002e-03 4.06439292e+01] [ 2.03646320e-03 5.92808440e-05 9.99997925e-01 3.29391706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.740281693 meters 0.03917241757634969 Centerline is valid? [True, True] Translation: X:153.05, Y:40.66, Z:0.33 [[ 8.46755077e-01 -5.31979187e-01 -1.99630362e-03 1.53049958e+02] [ 5.31977514e-01 8.46757427e-01 -1.33585595e-03 4.06631036e+01] [ 2.40103248e-03 6.91541660e-05 9.99997115e-01 3.28041786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.770281693 meters 0.034648317111283425 Centerline is valid? [True, True] Translation: X:153.08, Y:40.68, Z:0.33 [[ 8.46015088e-01 -5.33155109e-01 -2.02493925e-03 1.53075775e+02] [ 5.33153391e-01 8.46017509e-01 -1.35524241e-03 4.06760296e+01] [ 2.43568848e-03 6.69522938e-05 9.99997031e-01 3.27810768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.800281693 meters 0.03051616124878636 Centerline is valid? [True, True] Translation: X:153.10, Y:40.69, Z:0.33 [[ 8.43394483e-01 -5.37289476e-01 -2.40093686e-03 1.53099864e+02] [ 5.37287076e-01 8.43397898e-01 -1.60741710e-03 4.06899402e+01] [ 2.88859340e-03 6.56943733e-05 9.99995826e-01 3.26850666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.830281693 meters 0.027567792064830555 Centerline is valid? [True, True] Translation: X:153.13, Y:40.70, Z:0.33 [[ 8.41857391e-01 -5.39692843e-01 -2.78724324e-03 1.53125844e+02] [ 5.39689620e-01 8.41862002e-01 -1.86645036e-03 4.07031284e+01] [ 3.35378407e-03 6.70387911e-05 9.99994374e-01 3.25655377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.860281693 meters 0.0254408292734312 Centerline is valid? [True, True] Translation: X:153.15, Y:40.72, Z:0.32 [[ 8.40392595e-01 -5.41967518e-01 -3.39052507e-03 1.53151230e+02] [ 5.41962763e-01 8.40399431e-01 -2.27127950e-03 4.07172619e+01] [ 4.08035506e-03 7.12281317e-05 9.99991673e-01 3.24572268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.890281693 meters 0.021948657478086823 Centerline is valid? [True, True] Translation: X:153.18, Y:40.73, Z:0.33 [[ 8.38446610e-01 -5.44975410e-01 -3.01396479e-03 1.53177407e+02] [ 5.44971670e-01 8.38452026e-01 -2.01968637e-03 4.07297723e+01] [ 3.62774430e-03 5.08737697e-05 9.99993418e-01 3.25338397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.920281693 meters 0.02140683325046815 Centerline is valid? [True, True] Translation: X:153.20, Y:40.75, Z:0.33 [[ 8.37625301e-01 -5.46241166e-01 -2.10790690e-03 1.53199862e+02] [ 5.46239340e-01 8.37627953e-01 -1.41283083e-03 4.07458472e+01] [ 2.53738810e-03 3.20011757e-05 9.99996780e-01 3.27608395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.950281693 meters 0.02140683325046815 Centerline is valid? [True, True] Translation: X:153.22, Y:40.76, Z:0.33 [[ 8.37523488e-01 -5.46397258e-01 -2.10778390e-03 1.53222570e+02] [ 5.46395432e-01 8.37526140e-01 -1.41301430e-03 4.07613138e+01] [ 2.53739125e-03 3.17491675e-05 9.99996780e-01 3.27663074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.980281693 meters 0.020064945455885816 Centerline is valid? [True, True] Translation: X:153.25, Y:40.78, Z:0.33 [[ 8.36363260e-01 -5.48174841e-01 -9.16814315e-04 1.53246932e+02] [ 5.48174496e-01 8.36363763e-01 -6.14715893e-04 4.07754233e+01] [ 1.10376206e-03 1.15515630e-05 9.99999391e-01 3.30639438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.010281693 meters 0.018769300779218498 Centerline is valid? [True, True] Translation: X:153.27, Y:40.79, Z:0.33 [[ 8.35477336e-01 -5.49524796e-01 -3.46136725e-04 1.53272935e+02] [ 5.49524747e-01 8.35477408e-01 -2.31856190e-04 4.07885699e+01] [ 4.16600139e-04 3.49989590e-06 9.99999913e-01 3.31199593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.040281693 meters 0.017525143599305976 Centerline is valid? [True, True] Translation: X:153.30, Y:40.80, Z:0.33 [[ 8.34276145e-01 -5.51346446e-01 -6.40261863e-04 1.53299351e+02] [ 5.51346279e-01 8.34276391e-01 -4.29348867e-04 4.08001840e+01] [ 7.70875328e-04 5.18952242e-06 9.99999703e-01 3.30860916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.070281693 meters 0.015245758179794016 Centerline is valid? [True, True] Translation: X:153.33, Y:40.81, Z:0.33 [[ 8.31043113e-01 -5.56205962e-01 -1.50735319e-03 1.53330671e+02] [ 5.56205041e-01 8.31044480e-01 -1.01166820e-03 4.08051605e+01] [ 1.81537343e-03 2.34244929e-06 9.99998352e-01 3.27983856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.100281693 meters 0.015385146142065906 Centerline is valid? [True, True] Translation: X:153.36, Y:40.81, Z:0.33 [[ 8.29086681e-01 -5.59118647e-01 -1.27082202e-03 1.53358121e+02] [ 5.59117996e-01 8.29087654e-01 -8.53136240e-04 4.08142675e+01] [ 1.53062723e-03 -3.21557046e-06 9.99998829e-01 3.28211657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.130281693 meters 0.01623207755975851 Centerline is valid? [True, True] Translation: X:153.39, Y:40.82, Z:0.33 [[ 8.27500776e-01 -5.61463078e-01 -1.29482964e-03 1.53385182e+02] [ 5.61462405e-01 8.27501789e-01 -8.69662751e-04 4.08234205e+01] [ 1.55975737e-03 -7.35156223e-06 9.99998784e-01 3.28715855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.160281693 meters 0.018335842769341026 Centerline is valid? [True, True] Translation: X:153.42, Y:40.83, Z:0.33 [[ 8.25451946e-01 -5.64468306e-01 -2.14871200e-03 1.53415682e+02] [ 5.64466460e-01 8.25454742e-01 -1.44359496e-03 4.08290209e+01] [ 2.58852811e-03 -2.12575880e-05 9.99996650e-01 3.27581965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190281693 meters 0.01824947130506835 Centerline is valid? [True, True] Translation: X:153.44, Y:40.84, Z:0.33 [[ 8.25461345e-01 -5.64448353e-01 -3.40949107e-03 1.53440349e+02] [ 5.64443702e-01 8.25468386e-01 -2.29168464e-03 4.08421436e+01] [ 4.10796471e-03 -3.27686780e-05 9.99991562e-01 3.25102086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220281693 meters 0.017323671734322657 Centerline is valid? [True, True] Translation: X:153.46, Y:40.86, Z:0.32 [[ 8.26140927e-01 -5.63446452e-01 -4.38909066e-03 1.53463616e+02] [ 5.63438723e-01 8.26152586e-01 -2.95139061e-03 4.08575729e+01] [ 5.28900916e-03 -3.47190621e-05 9.99986012e-01 3.23093361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250281693 meters 0.015585942086334372 Centerline is valid? [True, True] Translation: X:153.49, Y:40.87, Z:0.32 [[ 8.28951390e-01 -5.59302778e-01 -4.47155832e-03 1.53485348e+02] [ 5.59294692e-01 8.28963451e-01 -3.00751909e-03 4.08744857e+01] [ 5.38887220e-03 -7.83169805e-06 9.99985480e-01 3.22310639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280281693 meters 0.01558871236222001 Centerline is valid? [True, True] Translation: X:153.51, Y:40.89, Z:0.32 [[ 8.30825628e-01 -5.56519818e-01 -3.80366697e-03 1.53506357e+02] [ 5.56513936e-01 8.30834335e-01 -2.55871287e-03 4.08912499e+01] [ 4.58419154e-03 9.05054864e-06 9.99989493e-01 3.24391139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310281693 meters 0.0187642607354798 Centerline is valid? [True, True] Translation: X:153.53, Y:40.91, Z:0.33 [[ 8.34420013e-01 -5.51124359e-01 -2.27659995e-03 1.53526913e+02] [ 5.51122231e-01 8.34423119e-01 -1.53173859e-03 4.09118163e+01] [ 2.74382608e-03 2.34284854e-05 9.99996235e-01 3.27932607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340281693 meters 0.021469124817302947 Centerline is valid? [True, True] Translation: X:153.55, Y:40.93, Z:0.33 [[ 8.36222824e-01 -5.48386681e-01 -1.85390366e-03 1.53548494e+02] [ 5.48385262e-01 8.36224879e-01 -1.24769395e-03 4.09309114e+01] [ 2.23449911e-03 2.66967151e-05 9.99997503e-01 3.28357232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370281693 meters 0.024322575742409067 Centerline is valid? [True, True] Translation: X:153.57, Y:40.95, Z:0.33 [[ 8.37946970e-01 -5.45749093e-01 -1.67415473e-03 1.53570440e+02] [ 5.45747930e-01 8.37948642e-01 -1.12706730e-03 4.09498117e+01] [ 2.01795164e-03 3.07561511e-05 9.99997963e-01 3.28278438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400281693 meters 0.025872944423119458 Centerline is valid? [True, True] Translation: X:153.59, Y:40.97, Z:0.33 [[ 8.39448686e-01 -5.43437642e-01 -1.19677047e-03 1.53593727e+02] [ 5.43437045e-01 8.39449539e-01 -8.05847269e-04 4.09667469e+01] [ 1.44255616e-03 2.60980259e-05 9.99998959e-01 3.29755804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430281693 meters 0.03380946618467077 Centerline is valid? [True, True] Translation: X:153.61, Y:40.99, Z:0.33 [[ 8.42215016e-01 -5.39141153e-01 -8.27217912e-04 1.53611313e+02] [ 5.39140866e-01 8.42215422e-01 -5.57184142e-04 4.09904354e+01] [ 9.97096583e-04 2.32818700e-05 9.99999503e-01 3.31216024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46028169299998 meters 0.03688220735427939 Centerline is valid? [True, True] Translation: X:153.63, Y:41.01, Z:0.33 [[ 8.43512089e-01 -5.37107633e-01 -1.65717874e-03 1.53631856e+02] [ 5.37106475e-01 8.43513715e-01 -1.11660298e-03 4.10090621e+01] [ 1.99758898e-03 5.17866820e-05 9.99998003e-01 3.28628792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.490281693 meters 0.0403537395184557 Centerline is valid? [True, True] Translation: X:153.65, Y:41.03, Z:0.33 [[ 8.44825528e-01 -5.35037164e-01 -2.24969745e-03 1.53651921e+02] [ 5.35035021e-01 8.44828520e-01 -1.51622833e-03 4.10284096e+01] [ 2.71184707e-03 7.72814786e-05 9.99996320e-01 3.26674352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.520281693 meters 0.047055635084598514 Centerline is valid? [True, True] Translation: X:153.67, Y:41.05, Z:0.33 [[ 8.47398820e-01 -5.30951911e-01 -2.30401439e-03 1.53669232e+02] [ 5.30949648e-01 8.47401947e-01 -1.55311828e-03 4.10521783e+01] [ 2.77705740e-03 9.27949673e-05 9.99996140e-01 3.26375468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.550281693 meters 0.04858329177781852 Centerline is valid? [True, True] Translation: X:153.69, Y:41.07, Z:0.33 [[ 8.48246634e-01 -5.29596829e-01 -2.20171674e-03 1.53691045e+02] [ 5.29594757e-01 8.48249486e-01 -1.48440405e-03 4.10716248e+01] [ 2.65374077e-03 9.31230958e-05 9.99996474e-01 3.26921553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.580281693 meters 0.046964294116499876 Centerline is valid? [True, True] Translation: X:153.71, Y:41.09, Z:0.33 [[ 8.49345009e-01 -5.27835105e-01 -1.77685202e-03 1.53713155e+02] [ 5.27833751e-01 8.49346864e-01 -1.19824660e-03 4.10904908e+01] [ 2.14164031e-03 7.98423074e-05 9.99997704e-01 3.29961201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.610281693 meters 0.05128643367285169 Centerline is valid? [True, True] Translation: X:153.73, Y:41.11, Z:0.33 [[ 8.49737021e-01 -5.27204721e-01 -1.47557165e-03 1.53730624e+02] [ 5.27203786e-01 8.49738299e-01 -9.95138421e-04 4.11136148e+01] [ 1.77849142e-03 6.76789953e-05 9.99998416e-01 3.30960291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.640281693 meters 0.05264394928717979 Centerline is valid? [True, True] Translation: X:153.75, Y:41.13, Z:0.33 [[ 8.50137534e-01 -5.26559623e-01 -1.06665016e-03 1.53750019e+02] [ 5.26559134e-01 8.50138201e-01 -7.19448536e-04 4.11336680e+01] [ 1.28563260e-03 4.99758198e-05 9.99999172e-01 3.30739585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.670281693 meters 0.0511734183884871 Centerline is valid? [True, True] Translation: X:153.77, Y:41.15, Z:0.33 [[ 8.50731644e-01 -5.25599025e-01 -1.15546424e-03 1.53773077e+02] [ 5.25598450e-01 8.50732427e-01 -7.79487388e-04 4.11516000e+01] [ 1.39268871e-03 5.58243715e-05 9.99999029e-01 3.30419307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.700281693 meters 0.0516225533085731 Centerline is valid? [True, True] Translation: X:153.79, Y:41.17, Z:0.33 [[ 8.50714740e-01 -5.25626974e-01 -8.45742460e-04 1.53790863e+02] [ 5.25626665e-01 8.50715160e-01 -5.70729938e-04 4.11738264e+01] [ 1.01947698e-03 4.09835819e-05 9.99999479e-01 3.29616049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.730281693 meters 0.050005163313509876 Centerline is valid? [True, True] Translation: X:153.81, Y:41.19, Z:0.33 [[ 8.49949666e-01 -5.26863741e-01 -4.06100094e-04 1.53813584e+02] [ 5.26863670e-01 8.49949762e-01 -2.73876496e-04 4.11925851e+01] [ 4.89460273e-04 1.88218500e-05 9.99999880e-01 3.31328288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.760281693 meters 0.046878629199387865 Centerline is valid? [True, True] Translation: X:153.83, Y:41.21, Z:0.33 [[ 8.47885348e-01 -5.30179082e-01 -7.60193336e-04 1.53833497e+02] [ 5.30178835e-01 8.47885688e-01 -5.13134635e-04 4.12126536e+01] [ 9.16610300e-04 3.20409217e-05 9.99999579e-01 3.30108999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.790281693 meters 0.04487919419317978 Centerline is valid? [True, True] Translation: X:153.86, Y:41.23, Z:0.33 [[ 8.46759653e-01 -5.31973634e-01 -1.46406059e-03 1.53857359e+02] [ 5.31972718e-01 8.46760916e-01 -9.88894870e-04 4.12294900e+01] [ 1.76577528e-03 5.85159871e-05 9.99998439e-01 3.28722061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.820281693 meters 0.042854202775827334 Centerline is valid? [True, True] Translation: X:153.88, Y:41.25, Z:0.33 [[ 8.45697993e-01 -5.33658523e-01 -1.86662839e-03 1.53881947e+02] [ 5.33657038e-01 8.45700051e-01 -1.26129140e-03 4.12454149e+01] [ 2.25170663e-03 7.05322339e-05 9.99997462e-01 3.27408376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.850281693 meters 0.038132693597087826 Centerline is valid? [True, True] Translation: X:153.91, Y:41.26, Z:0.33 [[ 8.43719681e-01 -5.36780820e-01 -1.85761619e-03 1.53906954e+02] [ 5.36779356e-01 8.43721724e-01 -1.25557295e-03 4.12593543e+01] [ 2.24127862e-03 6.22215905e-05 9.99997486e-01 3.27555084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.880281693 meters 0.036633862629029214 Centerline is valid? [True, True] Translation: X:153.93, Y:41.28, Z:0.33 [[ 8.42786327e-01 -5.38246792e-01 -1.26442734e-03 1.53929897e+02] [ 5.38246115e-01 8.42787274e-01 -8.54755216e-04 4.12756368e+01] [ 1.52571252e-03 3.98029057e-05 9.99998835e-01 3.28521697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.910281693 meters 0.03541107214487659 Centerline is valid? [True, True] Translation: X:153.95, Y:41.29, Z:0.33 [[ 8.42178658e-01 -5.39198187e-01 -6.50920555e-04 1.53953020e+02] [ 5.39198008e-01 8.42178909e-01 -4.39867256e-04 4.12925042e+01] [ 7.85367189e-04 1.94717492e-05 9.99999691e-01 3.29660931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940281693 meters 0.03348168631910302 Centerline is valid? [True, True] Translation: X:153.98, Y:41.31, Z:0.33 [[ 8.41565659e-01 -5.40153180e-01 -1.33569120e-03 1.53976400e+02] [ 5.40152426e-01 8.41566718e-01 -9.03332151e-04 4.13087457e+01] [ 1.61201100e-03 3.87364726e-05 9.99998700e-01 3.27385947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970281693 meters 0.032387662622264134 Centerline is valid? [True, True] Translation: X:154.00, Y:41.32, Z:0.32 [[ 8.41012829e-01 -5.41009158e-01 -2.55197635e-03 1.54000644e+02] [ 5.41006408e-01 8.41016698e-01 -1.72650469e-03 4.13242203e+01] [ 3.08030957e-03 7.13770312e-05 9.99995253e-01 3.24414921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000281693 meters 0.03401033438834577 Centerline is valid? [True, True] Translation: X:154.02, Y:41.34, Z:0.32 [[ 8.40561475e-01 -5.41705157e-01 -3.45398204e-03 1.54021806e+02] [ 5.41700122e-01 8.40568566e-01 -2.33740934e-03 4.13428491e+01] [ 4.16949542e-03 9.37137535e-05 9.99991303e-01 3.22426988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030281693 meters 0.0324059933383454 Centerline is valid? [True, True] Translation: X:154.05, Y:41.36, Z:0.32 [[ 8.40182116e-01 -5.42296304e-01 -2.95468497e-03 1.54045626e+02] [ 5.42292622e-01 8.40187308e-01 -1.99992987e-03 4.13586492e+01] [ 3.56704339e-03 7.80014501e-05 9.99993635e-01 3.23847400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060281693 meters 0.03156666479876512 Centerline is valid? [True, True] Translation: X:154.07, Y:41.37, Z:0.32 [[ 8.39593593e-01 -5.43208853e-01 -2.59647429e-03 1.54069039e+02] [ 5.43206012e-01 8.39597605e-01 -1.75787046e-03 4.13729116e+01] [ 3.13488439e-03 6.54763297e-05 9.99995084e-01 3.24782967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090281693 meters 0.028975913665039998 Centerline is valid? [True, True] Translation: X:154.10, Y:41.39, Z:0.32 [[ 8.38303919e-01 -5.45198855e-01 -2.17904377e-03 1.54095964e+02] [ 5.45196860e-01 8.38306750e-01 -1.47548190e-03 4.13855058e+01] [ 2.63113814e-03 4.88944324e-05 9.99996537e-01 3.24909815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120281693 meters 0.025452192705350752 Centerline is valid? [True, True] Translation: X:154.12, Y:41.40, Z:0.32 [[ 8.36795820e-01 -5.47511378e-01 -2.01160032e-03 1.54124016e+02] [ 5.47509684e-01 8.36798237e-01 -1.36245928e-03 4.13965114e+01] [ 2.42926556e-03 3.87295771e-05 9.99997049e-01 3.24926604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150281693 meters 0.02228504010614606 Centerline is valid? [True, True] Translation: X:154.15, Y:41.41, Z:0.32 [[ 8.34592122e-01 -5.50860942e-01 -2.86591164e-03 1.54151511e+02] [ 5.50857522e-01 8.34597041e-01 -1.94145068e-03 4.14052794e+01] [ 3.46135072e-03 4.16104552e-05 9.99994009e-01 3.22251344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180281693 meters 0.02108336719345784 Centerline is valid? [True, True] Translation: X:154.18, Y:41.42, Z:0.32 [[ 8.33787659e-01 -5.52075064e-01 -3.35618120e-03 1.54177535e+02] [ 5.52070382e-01 8.33794412e-01 -2.27410522e-03 4.14186081e+01] [ 4.05384191e-03 4.32726302e-05 9.99991782e-01 3.21189373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21028169299998 meters 0.019376967706206897 Centerline is valid? [True, True] Translation: X:154.21, Y:41.43, Z:0.32 [[ 8.33122137e-01 -5.53078822e-01 -3.36492270e-03 1.54205226e+02] [ 5.53074120e-01 8.33128931e-01 -2.28076012e-03 4.14300118e+01] [ 4.06485457e-03 3.91000813e-05 9.99991738e-01 3.22677748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.240281693 meters 0.019315996483170814 Centerline is valid? [True, True] Translation: X:154.23, Y:41.44, Z:0.32 [[ 8.32996522e-01 -5.53270367e-01 -2.94891272e-03 1.54228265e+02] [ 5.53266756e-01 8.33001741e-01 -1.99927990e-03 4.14432480e+01] [ 3.56259175e-03 3.38578233e-05 9.99993653e-01 3.24161960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.270281693 meters 0.02077008449961791 Centerline is valid? [True, True] Translation: X:154.25, Y:41.46, Z:0.33 [[ 8.33117588e-01 -5.53091046e-01 -2.31950512e-03 1.54250450e+02] [ 5.53088810e-01 8.33120816e-01 -1.57284061e-03 4.14594406e+01] [ 2.80235206e-03 2.74688462e-05 9.99996073e-01 3.25896561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.300281693 meters 0.022034216711028898 Centerline is valid? [True, True] Translation: X:154.28, Y:41.48, Z:0.33 [[ 8.33700320e-01 -5.52215750e-01 -1.24144426e-03 1.54275070e+02] [ 5.52215109e-01 8.33701244e-01 -8.41857631e-04 4.14750205e+01] [ 1.49988067e-03 1.63126997e-05 9.99998875e-01 3.28849488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.330281693 meters 0.02200921870913217 Centerline is valid? [True, True] Translation: X:154.30, Y:41.49, Z:0.33 [[ 8.34498438e-01 -5.51009530e-01 -9.24647619e-04 1.54300067e+02] [ 5.51009173e-01 8.34498950e-01 -6.27126239e-04 4.14899288e+01] [ 1.11717000e-03 1.38465472e-05 9.99999376e-01 3.29601923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.360281693 meters 0.02353114625129337 Centerline is valid? [True, True] Translation: X:154.32, Y:41.51, Z:0.33 [[ 8.35218226e-01 -5.49917868e-01 -9.24178658e-04 1.54323401e+02] [ 5.49917510e-01 8.35218737e-01 -6.27018270e-04 4.15071663e+01] [ 1.11669988e-03 1.54750601e-05 9.99999376e-01 3.29721857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.390281693 meters 0.025299324807364777 Centerline is valid? [True, True] Translation: X:154.35, Y:41.52, Z:0.33 [[ 8.36284252e-01 -5.48293962e-01 -1.54307728e-03 1.54347496e+02] [ 5.48292963e-01 8.36285675e-01 -1.04751354e-03 4.15226222e+01] [ 1.86479877e-03 2.99606611e-05 9.99998261e-01 3.27542269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.420281693 meters 0.027155082314735873 Centerline is valid? [True, True] Translation: X:154.37, Y:41.54, Z:0.33 [[ 8.36749107e-01 -5.47583363e-01 -1.84164100e-03 1.54369337e+02] [ 5.47581936e-01 8.36751133e-01 -1.25066678e-03 4.15393664e+01] [ 2.22583952e-03 3.80449678e-05 9.99997522e-01 3.27567859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.450281693 meters 0.030113323019993178 Centerline is valid? [True, True] Translation: X:154.39, Y:41.56, Z:0.33 [[ 8.38038837e-01 -5.45605980e-01 -2.24099342e-03 1.54390499e+02] [ 5.45603859e-01 8.38041832e-01 -1.52216879e-03 4.15571117e+01] [ 2.70855063e-03 5.29419060e-05 9.99996330e-01 3.26592956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.480281693 meters 0.033071567866344645 Centerline is valid? [True, True] Translation: X:154.41, Y:41.57, Z:0.33 [[ 8.38726302e-01 -5.44547903e-01 -2.40240035e-03 1.54412146e+02] [ 5.44545461e-01 8.38729741e-01 -1.63202998e-03 4.15749874e+01] [ 2.90368312e-03 6.06102661e-05 9.99995782e-01 3.25759119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.510281693 meters 0.03370169731208457 Centerline is valid? [True, True] Translation: X:154.44, Y:41.59, Z:0.32 [[ 8.38853396e-01 -5.44350370e-01 -2.76657599e-03 1.54436175e+02] [ 5.44347129e-01 8.38857956e-01 -1.87981547e-03 4.15905086e+01] [ 3.34404252e-03 7.09118927e-05 9.99994406e-01 3.24540055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.540281693 meters 0.03193165646779037 Centerline is valid? [True, True] Translation: X:154.46, Y:41.60, Z:0.33 [[ 8.37922526e-01 -5.45783990e-01 -2.38252936e-03 1.54462815e+02] [ 5.45781591e-01 8.37925911e-01 -1.61932609e-03 4.16027729e+01] [ 2.88018534e-03 5.65291406e-05 9.99995851e-01 3.25959542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.570281693 meters 0.027001186951928487 Centerline is valid? [True, True] Translation: X:154.49, Y:41.61, Z:0.33 [[ 8.36985309e-01 -5.47222563e-01 -1.74921266e-03 1.54491219e+02] [ 5.47221272e-01 8.36987136e-01 -1.18916146e-03 4.16130615e+01] [ 2.11480447e-03 3.81042924e-05 9.99997763e-01 3.27561350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.600281693 meters 0.02554202750594159 Centerline is valid? [True, True] Translation: X:154.52, Y:41.63, Z:0.33 [[ 8.36083978e-01 -5.48599737e-01 -1.38206672e-03 1.54517192e+02] [ 5.48598932e-01 8.36085120e-01 -9.39788019e-04 4.16269636e+01] [ 1.67109288e-03 2.75413774e-05 9.99998603e-01 3.28715994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.630281693 meters 0.02360889915087362 Centerline is valid? [True, True] Translation: X:154.54, Y:41.64, Z:0.33 [[ 8.35002362e-01 -5.50243782e-01 -1.68405185e-03 1.54544351e+02] [ 5.50242590e-01 8.35004060e-01 -1.14557105e-03 4.16381045e+01] [ 2.03653348e-03 2.99174870e-05 9.99997926e-01 3.27750414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.660281693 meters 0.02343286336507781 Centerline is valid? [True, True] Translation: X:154.57, Y:41.65, Z:0.33 [[ 8.34886115e-01 -5.50416721e-01 -2.57078924e-03 1.54568296e+02] [ 5.50413942e-01 8.34890071e-01 -1.74960065e-03 4.16528581e+01] [ 3.10933586e-03 4.57190511e-05 9.99995165e-01 3.25624988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690281693 meters 0.02382027037478336 Centerline is valid? [True, True] Translation: X:154.59, Y:41.67, Z:0.32 [[ 8.34938866e-01 -5.50332747e-01 -3.31015201e-03 1.54591009e+02] [ 5.50328136e-01 8.34945426e-01 -2.25360684e-03 4.16679711e+01] [ 4.00402993e-03 5.99541541e-05 9.99991982e-01 3.24200295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720281693 meters 0.023761578475344467 Centerline is valid? [True, True] Translation: X:154.62, Y:41.68, Z:0.33 [[ 8.35248839e-01 -5.49862690e-01 -3.22490762e-03 1.54615379e+02] [ 5.49858307e-01 8.35255062e-01 -2.19618832e-03 4.16832683e+01] [ 3.90122243e-03 6.11215029e-05 9.99992388e-01 3.25565961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750281693 meters 0.025336361891899094 Centerline is valid? [True, True] Translation: X:154.64, Y:41.70, Z:0.33 [[ 8.35519055e-01 -5.49453963e-01 -2.87246150e-03 1.54636547e+02] [ 5.49450482e-01 8.35523991e-01 -1.95664056e-03 4.17007606e+01] [ 3.47509440e-03 5.65351133e-05 9.99993960e-01 3.26639934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780281693 meters 0.0260672967007167 Centerline is valid? [True, True] Translation: X:154.66, Y:41.72, Z:0.33 [[ 8.36841799e-01 -5.47440494e-01 -2.17001009e-03 1.54659448e+02] [ 5.47438501e-01 8.36844611e-01 -1.47832069e-03 4.17173623e+01] [ 2.62525386e-03 4.91734793e-05 9.99996553e-01 3.27840936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810281693 meters 0.02897607832687155 Centerline is valid? [True, True] Translation: X:154.68, Y:41.74, Z:0.33 [[ 8.37899669e-01 -5.45818499e-01 -2.51205848e-03 1.54679921e+02] [ 5.45815819e-01 8.37903432e-01 -1.71161577e-03 4.17363936e+01] [ 3.03909398e-03 6.30410261e-05 9.99995380e-01 3.26630010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840281693 meters 0.03384877738707894 Centerline is valid? [True, True] Translation: X:154.70, Y:41.76, Z:0.32 [[ 8.39350037e-01 -5.43581634e-01 -3.24385355e-03 1.54699069e+02] [ 5.43577147e-01 8.39356300e-01 -2.21062319e-03 4.17577238e+01] [ 3.92440308e-03 9.22019969e-05 9.99992295e-01 3.24573393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870281693 meters 0.03731423349616383 Centerline is valid? [True, True] Translation: X:154.72, Y:41.78, Z:0.32 [[ 8.40813056e-01 -5.41311491e-01 -3.90839644e-03 1.54719938e+02] [ 5.41304949e-01 8.40822130e-01 -2.66413867e-03 4.17787530e+01] [ 4.72839510e-03 1.24408242e-04 9.99988813e-01 3.23723260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900281693 meters 0.03731423349616383 Centerline is valid? [True, True] Translation: X:154.74, Y:41.79, Z:0.32 [[ 8.40718662e-01 -5.41458086e-01 -3.90796028e-03 1.54742527e+02] [ 5.41451543e-01 8.40727736e-01 -2.66477839e-03 4.17944078e+01] [ 4.72839640e-03 1.24357798e-04 9.99988813e-01 3.23777966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930281693 meters 0.040957576665887535 Centerline is valid? [True, True] Translation: X:154.76, Y:41.82, Z:0.32 [[ 8.42080524e-01 -5.39336517e-01 -4.06347578e-03 1.54761086e+02] [ 5.39329415e-01 8.42090316e-01 -2.77147484e-03 4.18157931e+01] [ 4.91657120e-03 1.42252970e-04 9.99987903e-01 3.23575759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96028169299998 meters 0.04367984536629765 Centerline is valid? [True, True] Translation: X:154.78, Y:41.84, Z:0.33 [[ 8.44667289e-01 -5.35282599e-01 -3.11607718e-03 1.54779393e+02] [ 5.35278394e-01 8.44673027e-01 -2.12575653e-03 4.18397360e+01] [ 3.76994683e-03 1.27588218e-04 9.99992886e-01 3.25614615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.990281693 meters 0.04539808289086964 Centerline is valid? [True, True] Translation: X:154.80, Y:41.86, Z:0.33 [[ 8.45639332e-01 -5.33749032e-01 -2.46804986e-03 1.54800540e+02] [ 5.33746386e-01 8.45642927e-01 -1.68415906e-03 4.18607979e+01] [ 2.98600718e-03 1.06878454e-04 9.99995536e-01 3.27185485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.020281693 meters 0.047800822581784454 Centerline is valid? [True, True] Translation: X:154.82, Y:41.88, Z:0.33 [[ 8.46522681e-01 -5.32341662e-01 -3.42143858e-03 1.54817605e+02] [ 5.32336562e-01 8.46529581e-01 -2.33545546e-03 4.18848278e+01] [ 4.13960921e-03 1.55659160e-04 9.99991420e-01 3.25543427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.050281693 meters 0.04839174828828086 Centerline is valid? [True, True] Translation: X:154.84, Y:41.90, Z:0.32 [[ 8.46219936e-01 -5.32813266e-01 -4.67364216e-03 1.54837552e+02] [ 5.32803754e-01 8.46232816e-01 -3.19072434e-03 4.19041631e+01] [ 5.65504962e-03 2.09920460e-04 9.99983988e-01 3.22571789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.080281693 meters 0.04644197870711741 Centerline is valid? [True, True] Translation: X:154.86, Y:41.92, Z:0.32 [[ 8.45257492e-01 -5.34332725e-01 -5.32077624e-03 1.54860735e+02] [ 5.34320420e-01 8.45274208e-01 -3.63340819e-03 4.19208538e+01] [ 6.43896382e-03 2.28166102e-04 9.99979244e-01 3.20154578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.110281693 meters 0.03762941484257112 Centerline is valid? [True, True] Translation: X:154.89, Y:41.93, Z:0.32 [[ 8.41045942e-01 -5.40942847e-01 -4.74959108e-03 1.54888995e+02] [ 5.40933144e-01 8.41059338e-01 -3.24400443e-03 4.19310732e+01] [ 5.74950892e-03 1.59145524e-04 9.99983459e-01 3.20627625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.140281693 meters 0.032949751469521955 Centerline is valid? [True, True] Translation: X:154.91, Y:41.94, Z:0.32 [[ 8.38397427e-01 -5.45041579e-01 -4.40811801e-03 1.54914836e+02] [ 5.45033273e-01 8.38409006e-01 -3.01154653e-03 4.19430100e+01] [ 5.33722392e-03 1.22301879e-04 9.99985749e-01 3.21199292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.170281693 meters 0.02442787992069018 Centerline is valid? [True, True] Translation: X:154.94, Y:41.95, Z:0.32 [[ 8.33654245e-01 -5.52266574e-01 -4.71494240e-03 1.54943142e+02] [ 5.52257182e-01 8.33667574e-01 -3.22179691e-03 4.19504487e+01] [ 5.70998534e-03 8.20038624e-05 9.99983695e-01 3.21029463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.200281693 meters 0.020028414847357578 Centerline is valid? [True, True] Translation: X:154.97, Y:41.96, Z:0.32 [[ 8.31711187e-01 -5.55190992e-01 -4.41178825e-03 1.54970118e+02] [ 5.55182806e-01 8.31722886e-01 -3.01542338e-03 4.19619796e+01] [ 5.34352116e-03 5.86123741e-05 9.99985722e-01 3.22224698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.230281693 meters 0.018336023612564614 Centerline is valid? [True, True] Translation: X:154.99, Y:41.98, Z:0.32 [[ 8.30005801e-01 -5.57741904e-01 -3.78672376e-03 1.54994027e+02] [ 5.57735897e-01 8.30014438e-01 -2.58879114e-03 4.19759274e+01] [ 4.58691270e-03 3.67198892e-05 9.99989479e-01 3.23100984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.260281693 meters 0.015886848357934594 Centerline is valid? [True, True] Translation: X:155.02, Y:41.99, Z:0.33 [[ 8.28485313e-01 -5.60001194e-01 -3.27860703e-03 1.55020486e+02] [ 5.59996706e-01 8.28491800e-01 -2.24198289e-03 4.19881008e+01] [ 3.97181213e-03 2.14407604e-05 9.99992112e-01 3.25148785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.290281693 meters 0.014562329429139239 Centerline is valid? [True, True] Translation: X:155.05, Y:42.00, Z:0.33 [[ 8.26244630e-01 -5.63303698e-01 -2.95889914e-03 1.55046940e+02] [ 5.63300061e-01 8.26249928e-01 -2.02402955e-03 4.20002671e+01] [ 3.58493353e-03 5.59548412e-06 9.99993574e-01 3.25820764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.320281693 meters 0.014521681921042478 Centerline is valid? [True, True] Translation: X:155.07, Y:42.01, Z:0.33 [[ 8.25319439e-01 -5.64656523e-01 -3.29153387e-03 1.55071602e+02] [ 5.64652030e-01 8.25326003e-01 -2.25245655e-03 4.20145556e+01] [ 3.98845278e-03 4.24897874e-07 9.99992046e-01 3.25134584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.350281693 meters 0.014509448909213796 Centerline is valid? [True, True] Translation: X:155.10, Y:42.03, Z:0.33 [[ 8.24363246e-01 -5.66050881e-01 -3.41148685e-03 1.55097505e+02] [ 5.66046063e-01 8.24370305e-01 -2.33548756e-03 4.20268867e+01] [ 4.13433325e-03 -5.76859755e-06 9.99991454e-01 3.25764752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.380281693 meters 0.014564053573173077 Centerline is valid? [True, True] Translation: X:155.12, Y:42.04, Z:0.33 [[ 8.23725016e-01 -5.66983691e-01 -2.56736435e-03 1.55122380e+02] [ 5.66980965e-01 8.23729017e-01 -1.75819711e-03 4.20404210e+01] [ 3.11168160e-03 -7.37577041e-06 9.99995159e-01 3.27619258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.410281693 meters 0.014866098810986206 Centerline is valid? [True, True] Translation: X:155.15, Y:42.05, Z:0.33 [[ 8.23035998e-01 -5.67986716e-01 -1.68449985e-03 1.55146399e+02] [ 5.67985544e-01 8.23037721e-01 -1.15389233e-03 4.20525055e+01] [ 2.04180243e-03 -7.07663865e-06 9.99997915e-01 3.29680087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440281693 meters 0.016696122141473917 Centerline is valid? [True, True] Translation: X:155.18, Y:42.06, Z:0.33 [[ 8.20923260e-01 -5.71037834e-01 -8.90926827e-04 1.55175529e+02] [ 5.71037508e-01 8.20923743e-01 -6.10301791e-04 4.20595997e+01] [ 1.07988840e-03 -7.74169969e-06 9.99999417e-01 3.31441024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470281693 meters 0.01775923157609861 Centerline is valid? [True, True] Translation: X:155.20, Y:42.07, Z:0.33 [[ 8.19880504e-01 -5.72533968e-01 -9.02255695e-04 1.55202730e+02] [ 5.72533635e-01 8.19881000e-01 -6.18096461e-04 4.20715146e+01] [ 1.09362352e-03 -9.80649436e-06 9.99999402e-01 3.31301413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500281693 meters 0.018347457120653648 Centerline is valid? [True, True] Translation: X:155.23, Y:42.08, Z:0.33 [[ 8.19469236e-01 -5.73121188e-01 -1.50804025e-03 1.55227322e+02] [ 5.73120256e-01 8.19470624e-01 -1.03370766e-03 4.20831281e+01] [ 1.82823445e-03 -1.71967871e-05 9.99998329e-01 3.30883080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530281693 meters 0.01685516568637269 Centerline is valid? [True, True] Translation: X:155.25, Y:42.10, Z:0.33 [[ 8.20546143e-01 -5.71572016e-01 -3.07537129e-03 1.55251997e+02] [ 5.71568126e-01 8.20551906e-01 -2.10889544e-03 4.20978901e+01] [ 3.72888739e-03 -2.73381856e-05 9.99993047e-01 3.27281606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560281693 meters 0.015018968098936313 Centerline is valid? [True, True] Translation: X:155.28, Y:42.11, Z:0.33 [[ 8.22951590e-01 -5.68097396e-01 -4.00368367e-03 1.55275876e+02] [ 5.68090757e-01 8.22961328e-01 -2.74654050e-03 4.21146267e+01] [ 4.85517934e-03 -1.41858217e-05 9.99988213e-01 3.25943160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590281693 meters 0.014737207955029537 Centerline is valid? [True, True] Translation: X:155.30, Y:42.13, Z:0.33 [[ 8.24119774e-01 -5.66399885e-01 -4.21521505e-03 1.55298205e+02] [ 5.66392500e-01 8.24130554e-01 -2.89244147e-03 4.21296883e+01] [ 5.11216603e-03 -3.74798059e-06 9.99986933e-01 3.25419252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620281693 meters 0.014876385186744223 Centerline is valid? [True, True] Translation: X:155.32, Y:42.15, Z:0.33 [[ 8.25216711e-01 -5.64799961e-01 -4.28766483e-03 1.55320655e+02] [ 5.64792294e-01 8.25227850e-01 -2.94288558e-03 4.21451763e+01] [ 5.20044209e-03 6.87830752e-06 9.99986478e-01 3.25407884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650281693 meters 0.015054838201083578 Centerline is valid? [True, True] Translation: X:155.34, Y:42.16, Z:0.33 [[ 8.26004891e-01 -5.63650264e-01 -3.78160972e-03 1.55344070e+02] [ 5.63644284e-01 8.26013547e-01 -2.59638545e-03 4.21600502e+01] [ 4.58711420e-03 1.31443789e-05 9.99989479e-01 3.26072788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680281693 meters 0.015370281157075116 Centerline is valid? [True, True] Translation: X:155.37, Y:42.17, Z:0.33 [[ 8.26341050e-01 -5.63157605e-01 -3.73914660e-03 1.55370423e+02] [ 5.63151749e-01 8.26349509e-01 -2.56822190e-03 4.21714954e+01] [ 4.53615565e-03 1.65202327e-05 9.99989711e-01 3.26081970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71028169299998 meters 0.01551078544137843 Centerline is valid? [True, True] Translation: X:155.40, Y:42.18, Z:0.33 [[ 8.26620451e-01 -5.62743870e-01 -4.23866671e-03 1.55395171e+02] [ 5.62736334e-01 8.26631318e-01 -2.91254299e-03 4.21848702e+01] [ 5.14283036e-03 2.23158323e-05 9.99986775e-01 3.26048248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.740281693 meters 0.01784987269170042 Centerline is valid? [True, True] Translation: X:155.42, Y:42.20, Z:0.32 [[ 8.28121907e-01 -5.60529288e-01 -4.58525135e-03 1.55417123e+02] [ 5.60520430e-01 8.28134600e-01 -3.15145147e-03 4.22027824e+01] [ 5.56368614e-03 3.96589394e-05 9.99984522e-01 3.24039865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.770281693 meters 0.018698894777373215 Centerline is valid? [True, True] Translation: X:155.44, Y:42.22, Z:0.32 [[ 8.29003660e-01 -5.59220174e-01 -5.07231143e-03 1.55439832e+02] [ 5.59209304e-01 8.29019176e-01 -3.48716557e-03 4.22199634e+01] [ 6.15513678e-03 5.43892802e-05 9.99981055e-01 3.23604689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.800281693 meters 0.020791830548324973 Centerline is valid? [True, True] Translation: X:155.46, Y:42.24, Z:0.32 [[ 8.30151182e-01 -5.57512563e-01 -5.36253503e-03 1.55460787e+02] [ 5.57500373e-01 8.30168499e-01 -3.68740191e-03 4.22383383e+01] [ 6.50758054e-03 7.14857757e-05 9.99978823e-01 3.22547079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.830281693 meters 0.02281747241471178 Centerline is valid? [True, True] Translation: X:155.48, Y:42.26, Z:0.32 [[ 8.32331080e-01 -5.54256534e-01 -4.96667055e-03 1.55483066e+02] [ 5.54246014e-01 8.32345893e-01 -3.41613517e-03 4.22566265e+01] [ 6.02740308e-03 9.05981225e-05 9.99981831e-01 3.24279284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.860281693 meters 0.02956926704526903 Centerline is valid? [True, True] Translation: X:155.50, Y:42.28, Z:0.32 [[ 8.33063580e-01 -5.53160324e-01 -4.32754395e-03 1.55499964e+02] [ 5.53152320e-01 8.33074815e-01 -2.97711886e-03 4.22814224e+01] [ 5.25199191e-03 8.63383223e-05 9.99986204e-01 3.24250008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.890281693 meters 0.025702241449661295 Centerline is valid? [True, True] Translation: X:155.53, Y:42.29, Z:0.33 [[ 8.33354953e-01 -5.52728203e-01 -3.32500888e-03 1.55526258e+02] [ 5.52723472e-01 8.33361583e-01 -2.28793118e-03 4.22942356e+01] [ 4.03553875e-03 6.88483302e-05 9.99991855e-01 3.27497254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.920281693 meters 0.025461570124534975 Centerline is valid? [True, True] Translation: X:155.55, Y:42.31, Z:0.33 [[ 8.32558864e-01 -5.53931751e-01 -2.31376638e-03 1.55550183e+02] [ 5.53929464e-01 8.32562078e-01 -1.59241978e-03 4.23090893e+01] [ 2.80844602e-03 4.41198340e-05 9.99996055e-01 3.28662692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.950281693 meters 0.023576221310289424 Centerline is valid? [True, True] Translation: X:155.58, Y:42.32, Z:0.33 [[ 8.31322150e-01 -5.55780491e-01 -3.39537063e-03 1.55576275e+02] [ 5.55775578e-01 8.31329082e-01 -2.33741259e-03 4.23213520e+01] [ 4.12175867e-03 5.60787860e-05 9.99991504e-01 3.25798175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.980281693 meters 0.019810035198748393 Centerline is valid? [True, True] Translation: X:155.60, Y:42.33, Z:0.32 [[ 8.29734771e-01 -5.58136299e-01 -4.90733983e-03 1.55604019e+02] [ 5.58126071e-01 8.29749280e-01 -3.37958739e-03 4.23311619e+01] [ 5.95813209e-03 6.52468649e-05 9.99982248e-01 3.23427567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.010281693 meters 0.01715154956578565 Centerline is valid? [True, True] Translation: X:155.63, Y:42.34, Z:0.32 [[ 8.27224564e-01 -5.61844991e-01 -5.45219149e-03 1.55631792e+02] [ 5.61832437e-01 8.27242531e-01 -3.75617455e-03 4.23417862e+01] [ 6.62067254e-03 4.39818297e-05 9.99978082e-01 3.22284783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.040281693 meters 0.01657475485154505 Centerline is valid? [True, True] Translation: X:155.66, Y:42.36, Z:0.32 [[ 8.26324729e-01 -5.63169261e-01 -5.27511972e-03 1.55656385e+02] [ 5.63157530e-01 8.26341566e-01 -3.63508884e-03 4.23551084e+01] [ 6.40622098e-03 3.30404031e-05 9.99979479e-01 3.22171229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.070281693 meters 0.01575498039690165 Centerline is valid? [True, True] Translation: X:155.68, Y:42.37, Z:0.32 [[ 8.25550961e-01 -5.64302597e-01 -5.30933441e-03 1.55681639e+02] [ 5.64290729e-01 8.25568034e-01 -3.65993098e-03 4.23669762e+01] [ 6.44852532e-03 2.54513540e-05 9.99979208e-01 3.22964878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.100281693 meters 0.01587702096843011 Centerline is valid? [True, True] Translation: X:155.70, Y:42.38, Z:0.32 [[ 8.25449431e-01 -5.64442916e-01 -6.11817631e-03 1.55704337e+02] [ 5.64427151e-01 8.25472104e-01 -4.21874639e-03 4.23813041e+01] [ 7.43162538e-03 2.90969896e-05 9.99972385e-01 3.22133357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.130281693 meters 0.016578802435471766 Centerline is valid? [True, True] Translation: X:155.73, Y:42.40, Z:0.32 [[ 8.26174669e-01 -5.63379534e-01 -6.23827614e-03 1.55726482e+02] [ 5.63363103e-01 8.26198220e-01 -4.30295032e-03 4.23991673e+01] [ 7.57824679e-03 4.05739506e-05 9.99971284e-01 3.22016959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.160281693 meters 0.018338576539996286 Centerline is valid? [True, True] Translation: X:155.75, Y:42.42, Z:0.32 [[ 8.27980986e-01 -5.60723040e-01 -6.09577273e-03 1.55748396e+02] [ 5.60707268e-01 8.28003423e-01 -4.20613371e-03 4.24181209e+01] [ 7.40579676e-03 6.46546630e-05 9.99972575e-01 3.22622175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190281693 meters 0.019920444436037053 Centerline is valid? [True, True] Translation: X:155.77, Y:42.44, Z:0.32 [[ 8.28950881e-01 -5.59294879e-01 -5.44743519e-03 1.55769776e+02] [ 5.59282247e-01 8.28968777e-01 -3.75967637e-03 4.24362588e+01] [ 6.61852143e-03 6.99332493e-05 9.99978095e-01 3.23465445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220281693 meters 0.02191981904114124 Centerline is valid? [True, True] Translation: X:155.79, Y:42.46, Z:0.33 [[ 8.30207336e-01 -5.57431171e-01 -5.12534249e-03 1.55790240e+02] [ 5.57419948e-01 8.30223153e-01 -3.53803685e-03 4.24551964e+01] [ 6.22739003e-03 8.03359956e-05 9.99980606e-01 3.25195965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250281693 meters 0.028634950306148228 Centerline is valid? [True, True] Translation: X:155.81, Y:42.48, Z:0.32 [[ 8.33618863e-01 -5.52315381e-01 -5.22591618e-03 1.55805470e+02] [ 5.52303610e-01 8.33635235e-01 -3.60799833e-03 4.24822360e+01] [ 6.34926084e-03 1.21403097e-04 9.99979836e-01 3.24906523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280281693 meters 0.030870044922276147 Centerline is valid? [True, True] Translation: X:155.83, Y:42.50, Z:0.32 [[ 8.35452496e-01 -5.49536881e-01 -5.32379959e-03 1.55826704e+02] [ 5.49524603e-01 8.35469446e-01 -3.67648517e-03 4.25015109e+01] [ 6.46823609e-03 1.45969860e-04 9.99979070e-01 3.24638351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310281693 meters 0.03358641572804679 Centerline is valid? [True, True] Translation: X:155.85, Y:42.52, Z:0.33 [[ 8.37479713e-01 -5.46455049e-01 -3.82224355e-03 1.55848384e+02] [ 5.46448685e-01 8.37488426e-01 -2.64027307e-03 4.25215063e+01] [ 4.64387529e-03 1.22515174e-04 9.99989210e-01 3.27020608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340281693 meters 0.03303684966225528 Centerline is valid? [True, True] Translation: X:155.87, Y:42.54, Z:0.33 [[ 8.37443113e-01 -5.46514873e-01 -3.24451760e-03 1.55871115e+02] [ 5.46510284e-01 8.37449391e-01 -2.24195730e-03 4.25376377e+01] [ 3.94238230e-03 1.04349468e-04 9.99992223e-01 3.28653608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370281693 meters 0.03568991294515955 Centerline is valid? [True, True] Translation: X:155.89, Y:42.56, Z:0.33 [[ 8.37361679e-01 -5.46640132e-01 -3.15992655e-03 1.55890576e+02] [ 5.46635777e-01 8.37367635e-01 -2.18424110e-03 4.25570428e+01] [ 3.84001406e-03 1.01670893e-04 9.99992622e-01 3.28612487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400281693 meters 0.03346730898225258 Centerline is valid? [True, True] Translation: X:155.92, Y:42.57, Z:0.33 [[ 8.37344681e-01 -5.46665814e-01 -3.22072361e-03 1.55915120e+02] [ 5.46661288e-01 8.37350868e-01 -2.22702401e-03 4.25707717e+01] [ 3.91431361e-03 1.04141791e-04 9.99992334e-01 3.29197056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430281693 meters 0.03345859098267628 Centerline is valid? [True, True] Translation: X:155.94, Y:42.59, Z:0.33 [[ 8.37181056e-01 -5.46921864e-01 -2.08644099e-03 1.55937394e+02] [ 5.46919964e-01 8.37183654e-01 -1.44312395e-03 4.25874439e+01] [ 2.53601033e-03 6.70397991e-05 9.99996782e-01 3.31567934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46028169299998 meters 0.03187154745626618 Centerline is valid? [True, True] Translation: X:155.96, Y:42.60, Z:0.33 [[ 8.36525620e-01 -5.47925534e-01 -1.57985361e-03 1.55962096e+02] [ 5.47924446e-01 8.36527111e-01 -1.09306384e-03 4.26031420e+01] [ 1.92050797e-03 4.87354961e-05 9.99998155e-01 3.32579833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.490281693 meters 0.03021114593753893 Centerline is valid? [True, True] Translation: X:155.99, Y:42.62, Z:0.33 [[ 8.34329921e-01 -5.51263858e-01 -1.31976733e-03 1.55986565e+02] [ 5.51263102e-01 8.34330964e-01 -9.13369664e-04 4.26177737e+01] [ 1.60463044e-03 3.45126047e-05 9.99998712e-01 3.32584136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.520281693 meters 0.028203336403498234 Centerline is valid? [True, True] Translation: X:156.01, Y:42.63, Z:0.33 [[ 8.32996880e-01 -5.53274397e-01 -1.90790148e-03 1.56011539e+02] [ 5.53272822e-01 8.32999063e-01 -1.32085448e-03 4.26306772e+01] [ 2.32007511e-03 4.46776224e-05 9.99997308e-01 3.31336430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.550281693 meters 0.024415848740238878 Centerline is valid? [True, True] Translation: X:156.04, Y:42.64, Z:0.33 [[ 8.31505688e-01 -5.55507500e-01 -3.11585639e-03 1.56039257e+02] [ 5.55503312e-01 8.31511524e-01 -2.15781623e-03 4.26419008e+01] [ 3.78955359e-03 6.33679239e-05 9.99992818e-01 3.29093840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.580281693 meters 0.02054037055912636 Centerline is valid? [True, True] Translation: X:156.07, Y:42.65, Z:0.33 [[ 8.28656634e-01 -5.59739905e-01 -4.40688116e-03 1.56067249e+02] [ 5.59731584e-01 8.28668350e-01 -3.05268848e-03 4.26502447e+01] [ 5.36055450e-03 6.29599836e-05 9.99985630e-01 3.25782765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.610281693 meters 0.018856178004957227 Centerline is valid? [True, True] Translation: X:156.09, Y:42.66, Z:0.33 [[ 8.27237177e-01 -5.61836006e-01 -4.35384851e-03 1.56094206e+02] [ 5.61827909e-01 8.27248633e-01 -3.01674794e-03 4.26620845e+01] [ 5.29663284e-03 4.94524500e-05 9.99985972e-01 3.25388501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.640281693 meters 0.01759463991165442 Centerline is valid? [True, True] Translation: X:156.12, Y:42.67, Z:0.33 [[ 8.26073016e-01 -5.63547392e-01 -4.20831133e-03 1.56121390e+02] [ 5.63539844e-01 8.26083734e-01 -2.91686195e-03 4.26742771e+01] [ 5.12020748e-03 3.79898409e-05 9.99986891e-01 3.25643180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.670281693 meters 0.01697562611973249 Centerline is valid? [True, True] Translation: X:156.15, Y:42.68, Z:0.33 [[ 8.25274042e-01 -5.64716613e-01 -4.23111897e-03 1.56148800e+02] [ 5.64708995e-01 8.25284888e-01 -2.93340887e-03 4.26834268e+01] [ 5.14842327e-03 3.15152539e-05 9.99986746e-01 3.25759952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.700281693 meters 0.016752322831775066 Centerline is valid? [True, True] Translation: X:156.17, Y:42.70, Z:0.32 [[ 8.25042376e-01 -5.65050699e-01 -4.77342283e-03 1.56173688e+02] [ 5.65041003e-01 8.25056184e-01 -3.31051181e-03 4.26961836e+01] [ 5.80894904e-03 3.41329029e-05 9.99983127e-01 3.24999126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.730281693 meters 0.017054869533970004 Centerline is valid? [True, True] Translation: X:156.20, Y:42.71, Z:0.32 [[ 8.25112276e-01 -5.64946582e-01 -5.00916972e-03 1.56197518e+02] [ 5.64935896e-01 8.25127480e-01 -3.47500293e-03 4.27100444e+01] [ 6.09639462e-03 3.74077923e-05 9.99981416e-01 3.24849531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.760281693 meters 0.017054869533970004 Centerline is valid? [True, True] Translation: X:156.22, Y:42.73, Z:0.32 [[ 8.25008399e-01 -5.65098270e-01 -5.00862089e-03 1.56219985e+02] [ 5.65087582e-01 8.25023602e-01 -3.47579389e-03 4.27258832e+01] [ 6.09639556e-03 3.72496893e-05 9.99981416e-01 3.24904225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.790281693 meters 0.018380076832576177 Centerline is valid? [True, True] Translation: X:156.24, Y:42.74, Z:0.33 [[ 8.26440614e-01 -5.63009419e-01 -4.03807780e-03 1.56244886e+02] [ 5.63002442e-01 8.26450478e-01 -2.80321144e-03 4.27400212e+01] [ 4.91550577e-03 4.32401200e-05 9.99987918e-01 3.28588862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.820281693 meters 0.020149389642946908 Centerline is valid? [True, True] Translation: X:156.27, Y:42.76, Z:0.33 [[ 8.27626421e-01 -5.61271138e-01 -3.03595441e-03 1.56266567e+02] [ 5.61267181e-01 8.27631988e-01 -2.10795843e-03 4.27571270e+01] [ 3.69578921e-03 4.06205222e-05 9.99993170e-01 3.30136503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.850281693 meters 0.023644050788711374 Centerline is valid? [True, True] Translation: X:156.29, Y:42.78, Z:0.33 [[ 8.29789810e-01 -5.58070583e-01 -2.46915286e-03 1.56288261e+02] [ 5.58067950e-01 8.29793482e-01 -1.71459808e-03 4.27755781e+01] [ 3.00575370e-03 4.48009369e-05 9.99995482e-01 3.30244148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.880281693 meters 0.024755133122856116 Centerline is valid? [True, True] Translation: X:156.31, Y:42.79, Z:0.33 [[ 8.30377988e-01 -5.57193180e-01 -2.85610262e-03 1.56312493e+02] [ 5.57189651e-01 8.30382898e-01 -1.98375409e-03 4.27918158e+01] [ 3.47699302e-03 5.58749038e-05 9.99993954e-01 3.28840582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.910281693 meters 0.025927410527609936 Centerline is valid? [True, True] Translation: X:156.34, Y:42.81, Z:0.33 [[ 8.30804894e-01 -5.56552283e-01 -3.57551025e-03 1.56335602e+02] [ 5.56546744e-01 8.30812585e-01 -2.48415266e-03 4.28076176e+01] [ 4.35313975e-03 7.39075944e-05 9.99990522e-01 3.27686814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940281693 meters 0.027056641922802407 Centerline is valid? [True, True] Translation: X:156.36, Y:42.82, Z:0.33 [[ 8.31380807e-01 -5.55689029e-01 -3.95688430e-03 1.56358882e+02] [ 5.55682231e-01 8.31390219e-01 -2.74988295e-03 4.28249248e+01] [ 4.81779469e-03 8.74296106e-05 9.99988391e-01 3.27325728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970281693 meters 0.03124593129702787 Centerline is valid? [True, True] Translation: X:156.38, Y:42.85, Z:0.33 [[ 8.33205454e-01 -5.52957181e-01 -2.65088510e-03 1.56377971e+02] [ 5.52954116e-01 8.33209668e-01 -1.84266199e-03 4.28454643e+01] [ 3.22765627e-03 6.94981907e-05 9.99994789e-01 3.30953179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000281693 meters 0.03232736369377233 Centerline is valid? [True, True] Translation: X:156.40, Y:42.86, Z:0.33 [[ 8.34359564e-01 -5.51217710e-01 -1.77614548e-03 1.56401279e+02] [ 5.51216329e-01 8.34361453e-01 -1.23480907e-03 4.28630268e+01] [ 2.16259595e-03 5.12343677e-05 9.99997660e-01 3.32430036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030281693 meters 0.037439811877924375 Centerline is valid? [True, True] Translation: X:156.42, Y:42.88, Z:0.33 [[ 8.36405034e-01 -5.48110801e-01 -1.08105715e-03 1.56419940e+02] [ 5.48110287e-01 8.36405732e-01 -7.51754237e-04 4.28842049e+01] [ 1.31624701e-03 3.62324848e-05 9.99999133e-01 3.34229509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060281693 meters 0.03728187918954448 Centerline is valid? [True, True] Translation: X:156.44, Y:42.90, Z:0.33 [[ 8.37149116e-01 -5.46972245e-01 -1.64947049e-03 1.56442755e+02] [ 5.46971045e-01 8.37150739e-01 -1.14725180e-03 4.29019353e+01] [ 2.00837033e-03 5.82082293e-05 9.99997982e-01 3.33219238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090281693 meters 0.037838892082101144 Centerline is valid? [True, True] Translation: X:156.46, Y:42.92, Z:0.33 [[ 8.37892325e-01 -5.45830117e-01 -2.43631343e-03 1.56464670e+02] [ 5.45827492e-01 8.37895862e-01 -1.69528869e-03 4.29213392e+01] [ 2.96671656e-03 9.06625323e-05 9.99995595e-01 3.31896801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120281693 meters 0.045989637002094956 Centerline is valid? [True, True] Translation: X:156.48, Y:42.95, Z:0.33 [[ 8.40059503e-01 -5.42480012e-01 -3.93303928e-03 1.56478189e+02] [ 5.42473130e-01 8.40068693e-01 -2.73759658e-03 4.29502767e+01] [ 4.78911459e-03 1.66175894e-04 9.99988518e-01 3.28712640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150281693 meters 0.046355500030644405 Centerline is valid? [True, True] Translation: X:156.50, Y:42.97, Z:0.33 [[ 8.40950997e-01 -5.41096756e-01 -3.96489778e-03 1.56499758e+02] [ 5.41089746e-01 8.40960326e-01 -2.76008102e-03 4.29692081e+01] [ 4.82779261e-03 1.75727356e-04 9.99988331e-01 3.28592690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180281693 meters 0.04770574083246493 Centerline is valid? [True, True] Translation: X:156.52, Y:42.99, Z:0.33 [[ 8.41365048e-01 -5.40451834e-01 -4.08307880e-03 1.56520313e+02] [ 5.40444387e-01 8.41374935e-01 -2.84304548e-03 4.29899069e+01] [ 4.97192930e-03 1.85362079e-04 9.99987623e-01 3.28480516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21028169299998 meters 0.045380211800431634 Centerline is valid? [True, True] Translation: X:156.54, Y:43.01, Z:0.33 [[ 8.41376440e-01 -5.40439589e-01 -3.27665175e-03 1.56540785e+02] [ 5.40434791e-01 8.41382807e-01 -2.28228467e-03 4.30102431e+01] [ 3.99035544e-03 1.49443950e-04 9.99992027e-01 3.30791524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.240281693 meters 0.04894490186060898 Centerline is valid? [True, True] Translation: X:156.56, Y:43.03, Z:0.33 [[ 8.41352114e-01 -5.40478327e-01 -3.13023540e-03 1.56557790e+02] [ 5.40473946e-01 8.41357925e-01 -2.18090562e-03 4.30324081e+01] [ 3.81238058e-03 1.43098874e-04 9.99992723e-01 3.30943010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.270281693 meters 0.04881946773512018 Centerline is valid? [True, True] Translation: X:156.58, Y:43.05, Z:0.33 [[ 8.41093685e-01 -5.40879763e-01 -3.23943762e-03 1.56577266e+02] [ 5.40875072e-01 8.41099911e-01 -2.25755718e-03 4.30549172e+01] [ 3.94575768e-03 1.46686034e-04 9.99992205e-01 3.29787968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.300281693 meters 0.04868823043794809 Centerline is valid? [True, True] Translation: X:156.60, Y:43.07, Z:0.33 [[ 8.40767651e-01 -5.41383487e-01 -3.69831758e-03 1.56597917e+02] [ 5.41377375e-01 8.40775768e-01 -2.57794409e-03 4.30745055e+01] [ 4.50511216e-03 1.65266534e-04 9.99989838e-01 3.28610283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.330281693 meters 0.04461591214658766 Centerline is valid? [True, True] Translation: X:156.62, Y:43.09, Z:0.33 [[ 8.40378645e-01 -5.41981799e-01 -4.41166413e-03 1.56622545e+02] [ 5.41973104e-01 8.40390202e-01 -3.07600861e-03 4.30896836e+01] [ 5.37465999e-03 1.94008648e-04 9.99985538e-01 3.27246322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.360281693 meters 0.04522818278927306 Centerline is valid? [True, True] Translation: X:156.64, Y:43.11, Z:0.32 [[ 8.38594614e-01 -5.44732317e-01 -5.07702009e-03 1.56641566e+02] [ 5.44720848e-01 8.38609958e-01 -3.54066845e-03 4.31111703e+01] [ 6.18635613e-03 2.03626811e-04 9.99980844e-01 3.24738146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.390281693 meters 0.044093387827330285 Centerline is valid? [True, True] Translation: X:156.66, Y:43.13, Z:0.33 [[ 8.36962851e-01 -5.47239305e-01 -4.72534067e-03 1.56663539e+02] [ 5.47229405e-01 8.36976172e-01 -3.29629912e-03 4.31280639e+01] [ 5.75886199e-03 1.73034543e-04 9.99983403e-01 3.25700535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.420281693 meters 0.032753086212028854 Centerline is valid? [True, True] Translation: X:156.69, Y:43.13, Z:0.33 [[ 8.33356193e-01 -5.52729540e-01 -2.74063119e-03 1.56693597e+02] [ 5.52726238e-01 8.33360696e-01 -1.91229814e-03 4.31345740e+01] [ 3.34091799e-03 7.88067270e-05 9.99994416e-01 3.30756179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.450281693 meters 0.02879552361645835 Centerline is valid? [True, True] Translation: X:156.72, Y:43.15, Z:0.33 [[ 8.31438102e-01 -5.55612990e-01 -2.21102100e-03 1.56719847e+02] [ 5.55610850e-01 8.31441040e-01 -1.54320344e-03 4.31467873e+01] [ 2.69575747e-03 5.46108816e-05 9.99996365e-01 3.32376458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.480281693 meters 0.02580044648485851 Centerline is valid? [True, True] Translation: X:156.75, Y:43.16, Z:0.33 [[ 8.29222017e-01 -5.58916064e-01 -1.91822489e-03 1.56745566e+02] [ 5.58914461e-01 8.29224235e-01 -1.33924756e-03 4.31594251e+01] [ 2.33916554e-03 3.84099338e-05 9.99997263e-01 3.33191256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.510281693 meters 0.018595789152867644 Centerline is valid? [True, True] Translation: X:156.78, Y:43.16, Z:0.33 [[ 8.24524135e-01 -5.65821909e-01 -2.34898541e-03 1.56776539e+02] [ 5.65819531e-01 8.24527481e-01 -1.64063440e-03 4.31649616e+01] [ 2.86510991e-03 2.36408309e-05 9.99995895e-01 3.32196979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.540281693 meters 0.01659617693127197 Centerline is valid? [True, True] Translation: X:156.80, Y:43.17, Z:0.33 [[ 8.22347416e-01 -5.68980964e-01 -2.32178662e-03 1.56803620e+02] [ 5.68978652e-01 8.22350693e-01 -1.62207828e-03 4.31745639e+01] [ 2.83225449e-03 1.28648601e-05 9.99995989e-01 3.30748233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.570281693 meters 0.015514241485753453 Centerline is valid? [True, True] Translation: X:156.83, Y:43.18, Z:0.33 [[ 8.20417096e-01 -5.71759892e-01 -2.53251754e-03 1.56832682e+02] [ 5.71757154e-01 8.20421005e-01 -1.76965885e-03 4.31836173e+01] [ 3.08955054e-03 3.87335253e-06 9.99995227e-01 3.30025909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.600281693 meters 0.016168175688224866 Centerline is valid? [True, True] Translation: X:156.87, Y:43.19, Z:0.33 [[ 8.17389410e-01 -5.76075263e-01 -3.44146010e-03 1.56866008e+02] [ 5.76070240e-01 8.17396655e-01 -2.40573938e-03 4.31857617e+01] [ 4.19892491e-03 -1.60968535e-05 9.99991184e-01 3.28404655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.630281693 meters 0.017070732080770545 Centerline is valid? [True, True] Translation: X:156.89, Y:43.20, Z:0.33 [[ 8.16282744e-01 -5.77637608e-01 -4.15641708e-03 1.56891562e+02] [ 5.77630296e-01 8.16293325e-01 -2.90658345e-03 4.31960016e+01] [ 5.07180743e-03 -2.82785101e-05 9.99987138e-01 3.27361239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.660281693 meters 0.017769151845014115 Centerline is valid? [True, True] Translation: X:156.92, Y:43.20, Z:0.33 [[ 8.16026443e-01 -5.78001728e-01 -3.85320700e-03 1.56918911e+02] [ 5.77995444e-01 8.16035539e-01 -2.69543399e-03 4.32037810e+01] [ 4.70231936e-03 -2.75906800e-05 9.99988944e-01 3.27883197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690281693 meters 0.016296786846939956 Centerline is valid? [True, True] Translation: X:156.94, Y:43.22, Z:0.33 [[ 8.16988854e-01 -5.76645492e-01 -3.03150587e-03 1.56941369e+02] [ 5.76641590e-01 8.16994478e-01 -2.12130014e-03 4.32199448e+01] [ 3.69996172e-03 -1.50137970e-05 9.99993155e-01 3.31050950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720281693 meters 0.015447975517467691 Centerline is valid? [True, True] Translation: X:156.96, Y:43.24, Z:0.33 [[ 8.18260862e-01 -5.74842036e-01 -2.40741722e-03 1.56963273e+02] [ 5.74839566e-01 8.18264403e-01 -1.68513656e-03 4.32366167e+01] [ 2.93859115e-03 -4.99738007e-06 9.99995682e-01 3.32475904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750281693 meters 0.015301374748883228 Centerline is valid? [True, True] Translation: X:156.98, Y:43.26, Z:0.33 [[ 8.19588665e-01 -5.72948817e-01 -2.01834577e-03 1.56984449e+02] [ 5.72947074e-01 8.19591150e-01 -1.41325609e-03 4.32554964e+01] [ 2.46394174e-03 1.88336463e-06 9.99996964e-01 3.33294981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780281693 meters 0.017088263185459338 Centerline is valid? [True, True] Translation: X:157.00, Y:43.28, Z:0.33 [[ 8.22091663e-01 -5.69351537e-01 -2.03107950e-03 1.57004295e+02] [ 5.69349759e-01 8.22094172e-01 -1.42268630e-03 4.32780303e+01] [ 2.47974725e-03 1.31839221e-05 9.99996925e-01 3.32705258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810281693 meters 0.017155071546751773 Centerline is valid? [True, True] Translation: X:157.03, Y:43.29, Z:0.33 [[ 8.22587561e-01 -5.68635095e-01 -1.95785857e-03 1.57027989e+02] [ 5.68633440e-01 8.22589891e-01 -1.37183279e-03 4.32939033e+01] [ 2.39058694e-03 1.51487327e-05 9.99997142e-01 3.33285877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840281693 meters 0.01773572553361164 Centerline is valid? [True, True] Translation: X:157.05, Y:43.31, Z:0.34 [[ 8.22981816e-01 -5.68067607e-01 -3.51869855e-04 1.57049945e+02] [ 5.68067554e-01 8.22981891e-01 -2.46462331e-04 4.33105065e+01] [ 4.29589786e-04 2.94816934e-06 9.99999908e-01 3.37900436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870281693 meters 0.017795291776436666 Centerline is valid? [True, True] Translation: X:157.07, Y:43.33, Z:0.34 [[ 8.23123952e-01 -5.67861477e-01 5.50154598e-04 1.57071768e+02] [ 5.67861346e-01 8.23124135e-01 3.85999599e-04 4.33273509e+01] [-6.72039831e-04 -5.31398417e-06 9.99999774e-01 3.39555526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900281693 meters 0.017206657202322565 Centerline is valid? [True, True] Translation: X:157.10, Y:43.34, Z:0.34 [[ 8.22316228e-01 -5.69030771e-01 5.41896480e-05 1.57095312e+02] [ 5.69030770e-01 8.22316230e-01 3.82334681e-05 4.33417624e+01] [-6.63170468e-05 -6.04424177e-07 9.99999998e-01 3.37425090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930281693 meters 0.01619949245165692 Centerline is valid? [True, True] Translation: X:157.12, Y:43.35, Z:0.34 [[ 8.21114356e-01 -5.70762875e-01 -9.77610137e-04 1.57122199e+02] [ 5.70762463e-01 8.21114938e-01 -6.85445172e-04 4.33544118e+01] [ 1.19395694e-03 4.84570041e-06 9.99999287e-01 3.35064404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96028169299998 meters 0.015424199402994542 Centerline is valid? [True, True] Translation: X:157.15, Y:43.37, Z:0.33 [[ 8.19574915e-01 -5.72968922e-01 -1.89048531e-03 1.57148273e+02] [ 5.72967387e-01 8.19577095e-01 -1.32628517e-03 4.33652808e+01] [ 2.30931864e-03 3.80362847e-06 9.99997334e-01 3.33056675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.990281693 meters 0.015401989337735397 Centerline is valid? [True, True] Translation: X:157.17, Y:43.38, Z:0.33 [[ 8.18334706e-01 -5.74737357e-01 -2.29781031e-03 1.57173611e+02] [ 5.74735095e-01 8.18337932e-01 -1.61250156e-03 4.33775435e+01] [ 2.80715022e-03 -1.06623451e-06 9.99996060e-01 3.31847150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.020281693 meters 0.015597161974235756 Centerline is valid? [True, True] Translation: X:157.20, Y:43.39, Z:0.33 [[ 8.17580992e-01 -5.75807530e-01 -2.64768560e-03 1.57198561e+02] [ 5.75804530e-01 8.17585279e-01 -1.85879202e-03 4.33911606e+01] [ 3.23501522e-03 -4.83633895e-06 9.99994767e-01 3.30465430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.050281693 meters 0.015677371755344872 Centerline is valid? [True, True] Translation: X:157.22, Y:43.41, Z:0.33 [[ 8.17716358e-01 -5.75614819e-01 -2.74543866e-03 1.57222029e+02] [ 5.75611590e-01 8.17720967e-01 -1.92814218e-03 4.34055623e+01] [ 3.35486997e-03 -3.63290709e-06 9.99994372e-01 3.30190664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.080281693 meters 0.01549642239656786 Centerline is valid? [True, True] Translation: X:157.25, Y:43.42, Z:0.33 [[ 8.18585543e-01 -5.74377186e-01 -2.92527785e-03 1.57245720e+02] [ 5.74373509e-01 8.18590770e-01 -2.05522538e-03 4.34199276e+01] [ 3.57508001e-03 2.17568436e-06 9.99993609e-01 3.31138028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.110281693 meters 0.015683642436941602 Centerline is valid? [True, True] Translation: X:157.27, Y:43.44, Z:0.33 [[ 8.19516689e-01 -5.73049755e-01 -2.52486161e-03 1.57266695e+02] [ 5.73047007e-01 8.19520579e-01 -1.77443577e-03 4.34364624e+01] [ 3.08601603e-03 7.31533628e-06 9.99995238e-01 3.32636192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.140281693 meters 0.01651149701219048 Centerline is valid? [True, True] Translation: X:157.29, Y:43.46, Z:0.33 [[ 8.20845036e-01 -5.71148793e-01 -1.57567955e-03 1.57289004e+02] [ 5.71147720e-01 8.20846548e-01 -1.10751015e-03 4.34551834e+01] [ 1.92594421e-03 9.14842984e-06 9.99998145e-01 3.34254684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.170281693 meters 0.019917530068482625 Centerline is valid? [True, True] Translation: X:157.31, Y:43.48, Z:0.34 [[ 8.23968785e-01 -5.66634760e-01 -7.00350356e-04 1.57308096e+02] [ 5.66634546e-01 8.23969082e-01 -4.92355359e-04 4.34758617e+01] [ 8.56052701e-04 8.84274027e-06 9.99999634e-01 3.35366235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.200281693 meters 0.022895551928865398 Centerline is valid? [True, True] Translation: X:157.33, Y:43.50, Z:0.33 [[ 8.25213028e-01 -5.64820185e-01 -1.27182284e-03 1.57328092e+02] [ 5.64819477e-01 8.25214007e-01 -8.94315476e-04 4.34958154e+01] [ 1.55465345e-03 1.96504713e-05 9.99998791e-01 3.33722536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.230281693 meters 0.023701051766558772 Centerline is valid? [True, True] Translation: X:157.35, Y:43.51, Z:0.33 [[ 8.26313622e-01 -5.63206196e-01 -2.13968704e-03 1.57350471e+02] [ 5.63204186e-01 8.26316392e-01 -1.50496579e-03 4.35133396e+01] [ 2.61566453e-03 3.84930378e-05 9.99996578e-01 3.32300224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.260281693 meters 0.027441763293594684 Centerline is valid? [True, True] Translation: X:157.37, Y:43.54, Z:0.33 [[ 8.28194914e-01 -5.60429734e-01 -3.42013970e-03 1.57368928e+02] [ 5.60424575e-01 8.28201972e-01 -2.40601261e-03 4.35354610e+01] [ 4.18096745e-03 7.59170678e-05 9.99991257e-01 3.29389458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.290281693 meters 0.02891528903205116 Centerline is valid? [True, True] Translation: X:157.39, Y:43.55, Z:0.33 [[ 8.28884622e-01 -5.59406877e-01 -3.77218378e-03 1.57389891e+02] [ 5.59400588e-01 8.28893201e-01 -2.65405864e-03 4.35546964e+01] [ 4.61143614e-03 8.97465699e-05 9.99989363e-01 3.27339415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.320281693 meters 0.03035622267311222 Centerline is valid? [True, True] Translation: X:157.41, Y:43.58, Z:0.33 [[ 8.29479704e-01 -5.58524730e-01 -3.68057170e-03 1.57411318e+02] [ 5.58518731e-01 8.29487865e-01 -2.59020932e-03 4.35750337e+01] [ 4.49968552e-03 9.28578258e-05 9.99989872e-01 3.26195451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.350281693 meters 0.030626010790336815 Centerline is valid? [True, True] Translation: X:157.43, Y:43.59, Z:0.33 [[ 8.29392551e-01 -5.58655975e-01 -3.39089587e-03 1.57433531e+02] [ 5.58650881e-01 8.29399478e-01 -2.38716150e-03 4.35922413e+01] [ 4.14600930e-03 8.55670002e-05 9.99991402e-01 3.27472982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.380281693 meters 0.030143374726161565 Centerline is valid? [True, True] Translation: X:157.45, Y:43.61, Z:0.33 [[ 8.29414998e-01 -5.58623739e-01 -3.20633236e-03 1.57454166e+02] [ 5.58619181e-01 8.29421191e-01 -2.25805834e-03 4.36107512e+01] [ 3.92080500e-03 8.17486975e-05 9.99992310e-01 3.28788741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.410281693 meters 0.030735187900049945 Centerline is valid? [True, True] Translation: X:157.48, Y:43.63, Z:0.33 [[ 8.29660917e-01 -5.58256795e-01 -3.48040488e-03 1.57475734e+02] [ 5.58251418e-01 8.29668212e-01 -2.45198135e-03 4.36302617e+01] [ 4.25641655e-03 9.13721357e-05 9.99990937e-01 3.27537135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440281693 meters 0.03229626882225445 Centerline is valid? [True, True] Translation: X:157.49, Y:43.65, Z:0.33 [[ 8.29528671e-01 -5.58449589e-01 -4.02997110e-03 1.57494055e+02] [ 5.58442377e-01 8.29538454e-01 -2.83994697e-03 4.36504677e+01] [ 4.92898321e-03 1.05310790e-04 9.99987847e-01 3.25276350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470281693 meters 0.029016834511733192 Centerline is valid? [True, True] Translation: X:157.52, Y:43.67, Z:0.32 [[ 8.28609961e-01 -5.59810107e-01 -4.26346868e-03 1.57516639e+02] [ 5.59802049e-01 8.28620923e-01 -3.00536760e-03 4.36688112e+01] [ 5.21523451e-03 1.03579026e-04 9.99986395e-01 3.24191447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500281693 meters 0.027660900730839596 Centerline is valid? [True, True] Translation: X:157.54, Y:43.69, Z:0.32 [[ 8.27627615e-01 -5.61263047e-01 -4.04019443e-03 1.57539119e+02] [ 5.61255824e-01 8.27637471e-01 -2.84891264e-03 4.36858990e+01] [ 4.94280569e-03 9.02561174e-05 9.99987780e-01 3.24980715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530281693 meters 0.024394566540210084 Centerline is valid? [True, True] Translation: X:157.56, Y:43.70, Z:0.33 [[ 8.25697456e-01 -5.64102776e-01 -3.43070907e-03 1.57563073e+02] [ 5.64097589e-01 8.25704581e-01 -2.41988924e-03 4.37022496e+01] [ 4.19781843e-03 6.28416691e-05 9.99991187e-01 3.27426019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560281693 meters 0.022600450068267434 Centerline is valid? [True, True] Translation: X:157.59, Y:43.72, Z:0.33 [[ 8.24429539e-01 -5.65950566e-01 -3.98644419e-03 1.57585726e+02] [ 5.65943581e-01 8.24439175e-01 -2.81252631e-03 4.37177425e+01] [ 4.87833161e-03 6.26272680e-05 9.99988099e-01 3.26518954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590281693 meters 0.021055251946984814 Centerline is valid? [True, True] Translation: X:157.61, Y:43.73, Z:0.32 [[ 8.23090107e-01 -5.67889410e-01 -4.92884678e-03 1.57608610e+02] [ 5.67878763e-01 8.23104862e-01 -3.47803612e-03 4.37330196e+01] [ 6.03209762e-03 6.37497099e-05 9.99981805e-01 3.23682867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620281693 meters 0.018838966280035317 Centerline is valid? [True, True] Translation: X:157.63, Y:43.75, Z:0.32 [[ 8.21484644e-01 -5.70203578e-01 -5.55519626e-03 1.57633156e+02] [ 5.70190097e-01 8.21503425e-01 -3.92121441e-03 4.37481589e+01] [ 6.79950324e-03 5.36995218e-05 9.99976882e-01 3.22889941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650281693 meters 0.01661928044737675 Centerline is valid? [True, True] Translation: X:157.66, Y:43.76, Z:0.33 [[ 8.18839394e-01 -5.74011410e-01 -3.59842679e-03 1.57656851e+02] [ 5.74005787e-01 8.18847300e-01 -2.54072484e-03 4.37638240e+01] [ 4.40496711e-03 1.49277904e-05 9.99990298e-01 3.27278192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680281693 meters 0.015971983683047076 Centerline is valid? [True, True] Translation: X:157.68, Y:43.78, Z:0.33 [[ 8.17968999e-01 -5.75257919e-01 -2.24572964e-03 1.57680252e+02] [ 5.75255733e-01 8.17972082e-01 -1.58604355e-03 4.37788827e+01] [ 2.74932826e-03 5.46560491e-06 9.99996221e-01 3.30718663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71028169299998 meters 0.015971983683047076 Centerline is valid? [True, True] Translation: X:157.70, Y:43.79, Z:0.33 [[ 8.17864452e-01 -5.75406548e-01 -2.24544124e-03 1.57702581e+02] [ 5.75404361e-01 8.17867535e-01 -1.58645178e-03 4.37949090e+01] [ 2.74932823e-03 5.46583528e-06 9.99996221e-01 3.30773352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.740281693 meters 0.01561779453460405 Centerline is valid? [True, True] Translation: X:157.73, Y:43.81, Z:0.33 [[ 8.16525914e-01 -5.77304785e-01 -2.14856143e-03 1.57726359e+02] [ 5.77302788e-01 8.16528741e-01 -1.51850373e-03 4.38080272e+01] [ 2.63100162e-03 -4.72859290e-07 9.99996539e-01 3.30756392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.770281693 meters 0.015783993341713404 Centerline is valid? [True, True] Translation: X:157.75, Y:43.82, Z:0.33 [[ 8.15770475e-01 -5.78368709e-01 -2.85822041e-03 1.57750100e+02] [ 5.78365179e-01 8.15775482e-01 -2.02070252e-03 4.38227708e+01] [ 3.50037724e-03 -4.66570625e-06 9.99993874e-01 3.28984235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.800281693 meters 0.016263412502461508 Centerline is valid? [True, True] Translation: X:157.77, Y:43.84, Z:0.33 [[ 8.15062529e-01 -5.79360337e-01 -3.83074851e-03 1.57774127e+02] [ 5.79354001e-01 8.15071531e-01 -2.70943627e-03 4.38375542e+01] [ 4.69207396e-03 -1.09994962e-05 9.99988992e-01 3.26597361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.830281693 meters 0.01659828682862087 Centerline is valid? [True, True] Translation: X:157.80, Y:43.85, Z:0.32 [[ 8.14317259e-01 -5.80403165e-01 -4.42352198e-03 1.57798068e+02] [ 5.80394726e-01 8.14329274e-01 -3.12995084e-03 4.38515840e+01] [ 5.41883682e-03 -1.86158358e-05 9.99985318e-01 3.24503156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.860281693 meters 0.016839620672493404 Centerline is valid? [True, True] Translation: X:157.82, Y:43.86, Z:0.32 [[ 8.13949748e-01 -5.80918694e-01 -4.39082436e-03 1.57822204e+02] [ 5.80910380e-01 8.13961591e-01 -3.10792014e-03 4.38646470e+01] [ 5.37941129e-03 -2.09846289e-05 9.99985531e-01 3.24458054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.890281693 meters 0.016362405017015295 Centerline is valid? [True, True] Translation: X:157.85, Y:43.88, Z:0.33 [[ 8.14397722e-01 -5.80294673e-01 -3.80046470e-03 1.57845118e+02] [ 5.80288433e-01 8.14406589e-01 -2.69097318e-03 4.38811131e+01] [ 4.65668089e-03 -1.38432808e-05 9.99989158e-01 3.26577542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.920281693 meters 0.015796804592026953 Centerline is valid? [True, True] Translation: X:157.87, Y:43.90, Z:0.33 [[ 8.15929852e-01 -5.78142186e-01 -3.17647473e-03 1.57866047e+02] [ 5.78137808e-01 8.15936035e-01 -2.24992136e-03 4.38983510e+01] [ 3.89257465e-03 -6.62137159e-07 9.99992424e-01 3.27935540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.950281693 meters 0.01581963904578985 Centerline is valid? [True, True] Translation: X:157.89, Y:43.91, Z:0.33 [[ 8.16147355e-01 -5.77834948e-01 -3.20425564e-03 1.57888705e+02] [ 5.77830487e-01 8.16153645e-01 -2.27044710e-03 4.39142000e+01] [ 3.92710860e-03 1.50279836e-06 9.99992289e-01 3.27245870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.980281693 meters 0.015822676103902887 Centerline is valid? [True, True] Translation: X:157.91, Y:43.93, Z:0.33 [[ 8.15916752e-01 -5.78161350e-01 -3.05079812e-03 1.57912939e+02] [ 5.78157305e-01 8.15922456e-01 -2.16249178e-03 4.39292095e+01] [ 3.73948387e-03 5.72051645e-07 9.99993008e-01 3.26927287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.010281693 meters 0.01614834888567873 Centerline is valid? [True, True] Translation: X:157.94, Y:43.94, Z:0.32 [[ 8.14747395e-01 -5.79803703e-01 -3.78805629e-03 1.57938256e+02] [ 5.79797480e-01 8.14756201e-01 -2.68612567e-03 4.39398692e+01] [ 4.64376796e-03 -7.79159559e-06 9.99989218e-01 3.24247610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.040281693 meters 0.01648419799515041 Centerline is valid? [True, True] Translation: X:157.96, Y:43.95, Z:0.32 [[ 8.13807818e-01 -5.81117163e-01 -4.43611446e-03 1.57963767e+02] [ 5.81108643e-01 8.13819908e-01 -3.14679345e-03 4.39537348e+01] [ 5.43885394e-03 -1.69793436e-05 9.99985209e-01 3.24170891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.070281693 meters 0.017390542771718916 Centerline is valid? [True, True] Translation: X:157.99, Y:43.97, Z:0.32 [[ 8.12740562e-01 -5.82600625e-01 -5.41212556e-03 1.57989341e+02] [ 5.82587969e-01 8.12758581e-01 -3.84026585e-03 4.39655295e+01] [ 6.63609278e-03 -3.18994152e-05 9.99977980e-01 3.23018416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.100281693 meters 0.017087225856890605 Centerline is valid? [True, True] Translation: X:158.01, Y:43.98, Z:0.32 [[ 8.12643312e-01 -5.82732881e-01 -5.76511551e-03 1.58011158e+02] [ 5.82718513e-01 8.12663761e-01 -4.09220460e-03 4.39829366e+01] [ 7.06976263e-03 -3.39368359e-05 9.99975008e-01 3.23371672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.130281693 meters 0.01741046859225133 Centerline is valid? [True, True] Translation: X:158.03, Y:44.00, Z:0.32 [[ 8.12906727e-01 -5.82361672e-01 -6.12660860e-03 1.58032899e+02] [ 5.82345425e-01 8.12929813e-01 -4.35015370e-03 4.39989033e+01] [ 7.51386556e-03 -3.15332853e-05 9.99971770e-01 3.21125071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.160281693 meters 0.016678460165075886 Centerline is valid? [True, True] Translation: X:158.05, Y:44.02, Z:0.32 [[ 8.13734110e-01 -5.81207541e-01 -5.88144756e-03 1.58053611e+02] [ 5.81192528e-01 8.13755365e-01 -4.17752632e-03 4.40181779e+01] [ 7.21406931e-03 -1.88577137e-05 9.99973978e-01 3.23368869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190281693 meters 0.016420112112503556 Centerline is valid? [True, True] Translation: X:158.08, Y:44.04, Z:0.33 [[ 8.13756343e-01 -5.81180117e-01 -5.50336150e-03 1.58075701e+02] [ 5.81166961e-01 8.13774952e-01 -3.91049011e-03 4.40352814e+01] [ 6.75119684e-03 -1.61857532e-05 9.99977210e-01 3.25297070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220281693 meters 0.017792811911488966 Centerline is valid? [True, True] Translation: X:158.10, Y:44.05, Z:0.33 [[ 8.12084657e-01 -5.83529303e-01 -3.47314528e-03 1.58101925e+02] [ 5.83524083e-01 8.12092083e-01 -2.46847724e-03 4.40454426e+01] [ 4.26094259e-03 -2.20514179e-05 9.99990922e-01 3.28125814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250281693 meters 0.01861381583271906 Centerline is valid? [True, True] Translation: X:158.13, Y:44.06, Z:0.33 [[ 8.10225810e-01 -5.86111616e-01 -2.70382935e-03 1.58127212e+02] [ 5.86108465e-01 8.10230321e-01 -1.92215844e-03 4.40590395e+01] [ 3.31732391e-03 -2.73548938e-05 9.99994497e-01 3.30997266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280281693 meters 0.02060615023039465 Centerline is valid? [True, True] Translation: X:158.15, Y:44.07, Z:0.33 [[ 8.08022951e-01 -5.89144171e-01 -2.83856041e-03 1.58153569e+02] [ 5.89140714e-01 8.08027935e-01 -2.01864784e-03 4.40713668e+01] [ 3.48291072e-03 -4.11977165e-05 9.99993934e-01 3.30750388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310281693 meters 0.028720494920169176 Centerline is valid? [True, True] Translation: X:158.19, Y:44.07, Z:0.33 [[ 8.04280986e-01 -5.94230348e-01 -4.73171879e-03 1.58185069e+02] [ 5.94220824e-01 8.04294898e-01 -3.36594235e-03 4.40747488e+01] [ 5.80584237e-03 -1.04522406e-04 9.99983140e-01 3.26277818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340281693 meters 0.03509927881450127 Centerline is valid? [True, True] Translation: X:158.21, Y:44.08, Z:0.32 [[ 8.02710573e-01 -5.96345775e-01 -5.23959183e-03 1.58213881e+02] [ 5.96334134e-01 8.02727662e-01 -3.72832266e-03 4.40820795e+01] [ 6.42933476e-03 -1.31783435e-04 9.99979323e-01 3.24221134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370281693 meters 0.03501268211989657 Centerline is valid? [True, True] Translation: X:158.24, Y:44.09, Z:0.32 [[ 8.01076083e-01 -5.98537437e-01 -5.48135074e-03 1.58239396e+02] [ 5.98524739e-01 8.01094821e-01 -3.90176771e-03 4.40947475e+01] [ 6.72643574e-03 -1.55111226e-04 9.99977365e-01 3.24966290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400281693 meters 0.031475307541383946 Centerline is valid? [True, True] Translation: X:158.26, Y:44.11, Z:0.33 [[ 8.00804715e-01 -5.98898753e-01 -5.66496905e-03 1.58260462e+02] [ 5.98885189e-01 8.00824736e-01 -4.03399653e-03 4.41134715e+01] [ 6.95260284e-03 -1.62222617e-04 9.99975817e-01 3.26511193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430281693 meters 0.03128744440995515 Centerline is valid? [True, True] Translation: X:158.28, Y:44.13, Z:0.33 [[ 8.00827192e-01 -5.98869602e-01 -5.56858878e-03 1.58284591e+02] [ 5.98856484e-01 8.00846537e-01 -3.96689462e-03 4.41283487e+01] [ 6.83523763e-03 -1.57988421e-04 9.99976627e-01 3.27003653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46028169299998 meters 0.030490283478056403 Centerline is valid? [True, True] Translation: X:158.31, Y:44.14, Z:0.33 [[ 8.01408650e-01 -5.98099079e-01 -4.65471961e-03 1.58309721e+02] [ 5.98089895e-01 8.01422158e-01 -3.31699273e-03 4.41419803e+01] [ 5.71428574e-03 -1.25674093e-04 9.99983665e-01 3.29608046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.490281693 meters 0.032372655563716886 Centerline is valid? [True, True] Translation: X:158.33, Y:44.15, Z:0.33 [[ 8.02238889e-01 -5.96991767e-01 -3.68705302e-03 1.58334891e+02] [ 5.96985990e-01 8.02247357e-01 -2.62802799e-03 4.41544352e+01] [ 4.52683962e-03 -9.28127398e-05 9.99989750e-01 3.31414714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.520281693 meters 0.027614754764492665 Centerline is valid? [True, True] Translation: X:158.36, Y:44.18, Z:0.33 [[ 8.03354664e-01 -5.95494640e-01 -2.72360953e-03 1.58355296e+02] [ 5.95491478e-01 8.03359278e-01 -1.94172349e-03 4.41762960e+01] [ 3.34432291e-03 -6.19936431e-05 9.99994406e-01 3.33677139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.550281693 meters 0.025090992264746176 Centerline is valid? [True, True] Translation: X:158.38, Y:44.20, Z:0.33 [[ 8.06083495e-01 -5.91795228e-01 -2.79434425e-03 1.58376157e+02] [ 5.91791874e-01 8.06088337e-01 -1.99281722e-03 4.41950337e+01] [ 3.43182803e-03 -4.72931475e-05 9.99994110e-01 3.32709171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.580281693 meters 0.02173328447648212 Centerline is valid? [True, True] Translation: X:158.40, Y:44.22, Z:0.33 [[ 8.07315548e-01 -5.90110615e-01 -3.32684543e-03 1.58396800e+02] [ 5.90105844e-01 8.07322401e-01 -2.37346522e-03 4.42154875e+01] [ 4.08644386e-03 -4.70555538e-05 9.99991649e-01 3.31564080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.610281693 meters 0.019160159300967594 Centerline is valid? [True, True] Translation: X:158.42, Y:44.23, Z:0.33 [[ 8.09010162e-01 -5.87772544e-01 -5.09849032e-03 1.58418887e+02] [ 5.87761282e-01 8.09026226e-01 -3.63882851e-03 4.42341257e+01] [ 6.26361587e-03 -5.28459700e-05 9.99980382e-01 3.28891061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.640281693 meters 0.01873727538993113 Centerline is valid? [True, True] Translation: X:158.44, Y:44.25, Z:0.33 [[ 8.09611922e-01 -5.86939527e-01 -5.52515309e-03 1.58440677e+02] [ 5.86926273e-01 8.09630773e-01 -3.94467579e-03 4.42501735e+01] [ 6.78862011e-03 -4.92009672e-05 9.99976956e-01 3.27355394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.670281693 meters 0.018108097250982058 Centerline is valid? [True, True] Translation: X:158.46, Y:44.27, Z:0.33 [[ 8.10032603e-01 -5.86358672e-01 -5.53982247e-03 1.58462844e+02] [ 5.86345325e-01 8.10051545e-01 -3.95658513e-03 4.42673558e+01] [ 6.80751975e-03 -4.32860527e-05 9.99976828e-01 3.27548026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.700281693 meters 0.017804646810785824 Centerline is valid? [True, True] Translation: X:158.48, Y:44.28, Z:0.33 [[ 8.10455681e-01 -5.85778524e-01 -5.01091998e-03 1.58484554e+02] [ 5.85767585e-01 8.10471172e-01 -3.58000280e-03 4.42829291e+01] [ 6.15829494e-03 -3.38008845e-05 9.99981037e-01 3.28371952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.730281693 meters 0.016670822751365895 Centerline is valid? [True, True] Translation: X:158.51, Y:44.30, Z:0.33 [[ 8.11590679e-01 -5.84210533e-01 -4.31533759e-03 1.58506408e+02] [ 5.84202394e-01 8.11602152e-01 -3.08391806e-03 4.42991968e+01] [ 5.30399469e-03 -1.81513952e-05 9.99985934e-01 3.30147806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.760281693 meters 0.016203252440230454 Centerline is valid? [True, True] Translation: X:158.53, Y:44.32, Z:0.33 [[ 8.12343367e-01 -5.83161534e-01 -4.56949046e-03 1.58527986e+02] [ 5.83152384e-01 8.12356218e-01 -3.26668185e-03 4.43173504e+01] [ 5.61705719e-03 -1.10419197e-05 9.99984224e-01 3.30112440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.790281693 meters 0.0162685122866941 Centerline is valid? [True, True] Translation: X:158.55, Y:44.34, Z:0.33 [[ 8.13859589e-01 -5.81046343e-01 -4.20903053e-03 1.58546976e+02] [ 5.81038547e-01 8.13870473e-01 -3.01000139e-03 4.43374439e+01] [ 5.17455597e-03 4.10950985e-06 9.99986612e-01 3.29987278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.820281693 meters 0.016561500769177274 Centerline is valid? [True, True] Translation: X:158.57, Y:44.35, Z:0.33 [[ 8.14381631e-01 -5.80312079e-01 -4.52211800e-03 1.58569102e+02] [ 5.80303062e-01 8.14394186e-01 -3.23507505e-03 4.43549959e+01] [ 5.56013974e-03 1.03867747e-05 9.99984542e-01 3.28232897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.850281693 meters 0.016953271007429844 Centerline is valid? [True, True] Translation: X:158.59, Y:44.37, Z:0.33 [[ 8.14833087e-01 -5.79672987e-01 -5.12522772e-03 1.58591545e+02] [ 5.79661383e-01 8.14849205e-01 -3.66793188e-03 4.43711077e+01] [ 6.30248876e-03 1.78556733e-05 9.99980139e-01 3.26344984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.880281693 meters 0.017329430409479478 Centerline is valid? [True, True] Translation: X:158.62, Y:44.39, Z:0.32 [[ 8.15031169e-01 -5.79384811e-01 -6.11836925e-03 1.58615258e+02] [ 5.79368253e-01 8.15054133e-01 -4.38033084e-03 4.43858531e+01] [ 7.52469930e-03 2.53172590e-05 9.99971689e-01 3.23979826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.910281693 meters 0.017486030276971272 Centerline is valid? [True, True] Translation: X:158.64, Y:44.40, Z:0.32 [[ 8.15125962e-01 -5.79252685e-01 -5.99939563e-03 1.58638355e+02] [ 5.79236750e-01 8.15148039e-01 -4.29669650e-03 4.44022502e+01] [ 7.37926857e-03 2.72784403e-05 9.99972772e-01 3.24797529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940281693 meters 0.017835743498372827 Centerline is valid? [True, True] Translation: X:158.66, Y:44.42, Z:0.33 [[ 8.15529093e-01 -5.78691240e-01 -5.36164495e-03 1.58660036e+02] [ 5.78678494e-01 8.15546717e-01 -3.84098783e-03 4.44183991e+01] [ 6.59541795e-03 2.97686999e-05 9.99978250e-01 3.26032367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970281693 meters 0.01795754277297525 Centerline is valid? [True, True] Translation: X:158.68, Y:44.43, Z:0.33 [[ 8.15913001e-01 -5.78154086e-01 -4.88135722e-03 1.58684220e+02] [ 5.78143505e-01 8.15927602e-01 -3.49804809e-03 4.44331387e+01] [ 6.00524488e-03 3.19779423e-05 9.99981968e-01 3.28211612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000281693 meters 0.017990675049918973 Centerline is valid? [True, True] Translation: X:158.71, Y:44.45, Z:0.33 [[ 8.16069692e-01 -5.77934866e-01 -4.64214971e-03 1.58707292e+02] [ 5.77925285e-01 8.16082894e-01 -3.32785522e-03 4.44487592e+01] [ 5.71166253e-03 3.29460883e-05 9.99983688e-01 3.28849148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030281693 meters 0.019426451275404998 Centerline is valid? [True, True] Translation: X:158.73, Y:44.46, Z:0.33 [[ 8.17357859e-01 -5.76113533e-01 -4.39632101e-03 1.58729621e+02] [ 5.76104910e-01 8.17369681e-01 -3.15237705e-03 4.44649737e+01] [ 5.40954658e-03 4.38780371e-05 9.99985367e-01 3.29758789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060281693 meters 0.019787574459263067 Centerline is valid? [True, True] Translation: X:158.75, Y:44.48, Z:0.33 [[ 8.18124103e-01 -5.75024158e-01 -4.49103069e-03 1.58753234e+02] [ 5.75015140e-01 8.18136428e-01 -3.22090795e-03 4.44806582e+01] [ 5.52637569e-03 5.26917884e-05 9.99984728e-01 3.30424461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090281693 meters 0.021281071316709785 Centerline is valid? [True, True] Translation: X:158.78, Y:44.50, Z:0.33 [[ 8.19033550e-01 -5.73724812e-01 -4.88701863e-03 1.58775235e+02] [ 5.73714107e-01 8.19048127e-01 -3.50544788e-03 4.44982148e+01] [ 6.01386589e-03 6.73278935e-05 9.99981914e-01 3.29464701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120281693 meters 0.023882203342784448 Centerline is valid? [True, True] Translation: X:158.80, Y:44.52, Z:0.33 [[ 8.20587164e-01 -5.71490609e-01 -5.93210359e-03 1.58796489e+02] [ 5.71474769e-01 8.20608600e-01 -4.25609807e-03 4.45171517e+01] [ 7.30025530e-03 1.02451916e-04 9.99973348e-01 3.26341560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150281693 meters 0.02452318749872219 Centerline is valid? [True, True] Translation: X:158.82, Y:44.53, Z:0.33 [[ 8.20834267e-01 -5.71136781e-01 -5.82088239e-03 1.58818906e+02] [ 5.71121515e-01 8.20854900e-01 -4.17720850e-03 4.45336711e+01] [ 7.16385725e-03 1.04364713e-04 9.99974334e-01 3.26328835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180281693 meters 0.023768165966348547 Centerline is valid? [True, True] Translation: X:158.84, Y:44.55, Z:0.33 [[ 8.21131944e-01 -5.70712483e-01 -5.43989417e-03 1.58843235e+02] [ 5.70699132e-01 8.21149957e-01 -3.90497799e-03 4.45488410e+01] [ 6.69558855e-03 1.01959287e-04 9.99977579e-01 3.28738294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21028169299998 meters 0.027004251197769703 Centerline is valid? [True, True] Translation: X:158.86, Y:44.57, Z:0.33 [[ 8.22375339e-01 -5.68934860e-01 -3.45365385e-03 1.58862501e+02] [ 5.68929461e-01 8.22382587e-01 -2.47959564e-03 4.45696391e+01] [ 4.25095319e-03 7.42728745e-05 9.99990962e-01 3.31976513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.240281693 meters 0.029747025074525462 Centerline is valid? [True, True] Translation: X:158.88, Y:44.59, Z:0.33 [[ 8.23043198e-01 -5.67972760e-01 -2.61496759e-03 1.58882573e+02] [ 5.67969659e-01 8.23047350e-01 -1.87769246e-03 4.45901262e+01] [ 3.21872031e-03 6.01997609e-05 9.99994818e-01 3.34005066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.270281693 meters 0.031136911108921 Centerline is valid? [True, True] Translation: X:158.90, Y:44.61, Z:0.33 [[ 8.24473663e-01 -5.65893268e-01 -2.82614808e-03 1.58902976e+02] [ 5.65889633e-01 8.24478504e-01 -2.02973224e-03 4.46103119e+01] [ 3.47871015e-03 7.41728706e-05 9.99993947e-01 3.34204704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.300281693 meters 0.032918441872153224 Centerline is valid? [True, True] Translation: X:158.92, Y:44.63, Z:0.33 [[ 8.24987220e-01 -5.65137975e-01 -3.89304000e-03 1.58923374e+02] [ 5.65131066e-01 8.24996398e-01 -2.79656408e-03 4.46296668e+01] [ 4.79218854e-03 1.07051783e-04 9.99988512e-01 3.31393884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.330281693 meters 0.03510766782953739 Centerline is valid? [True, True] Translation: X:158.94, Y:44.65, Z:0.33 [[ 8.25061409e-01 -5.65017664e-01 -5.35823513e-03 1.58943477e+02] [ 5.65004568e-01 8.25078794e-01 -3.84980152e-03 4.46493632e+01] [ 6.59617204e-03 1.48895337e-04 9.99978234e-01 3.27889087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.360281693 meters 0.03163834052271685 Centerline is valid? [True, True] Translation: X:158.97, Y:44.66, Z:0.33 [[ 8.24094337e-01 -5.66418911e-01 -6.17582406e-03 1.58969093e+02] [ 5.66401543e-01 8.24117462e-01 -4.43850685e-03 4.46632618e+01] [ 7.60365866e-03 1.59752079e-04 9.99971079e-01 3.26238569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.390281693 meters 0.02852040801313072 Centerline is valid? [True, True] Translation: X:158.99, Y:44.68, Z:0.33 [[ 8.23100798e-01 -5.67873806e-01 -4.94132129e-03 1.58994190e+02] [ 5.67862707e-01 8.23115622e-01 -3.55238768e-03 4.46776146e+01] [ 6.08458666e-03 1.17981055e-04 9.99981482e-01 3.30007429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.420281693 meters 0.029385640283660596 Centerline is valid? [True, True] Translation: X:159.01, Y:44.70, Z:0.33 [[ 8.22243365e-01 -5.69128033e-01 -3.02171086e-03 1.59014904e+02] [ 5.69123889e-01 8.22248915e-01 -2.17271169e-03 4.46958195e+01] [ 3.72114960e-03 6.67699358e-05 9.99993074e-01 3.34509521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.450281693 meters 0.025554833997550343 Centerline is valid? [True, True] Translation: X:159.04, Y:44.71, Z:0.34 [[ 8.20520695e-01 -5.71614934e-01 -1.46849106e-03 1.59040184e+02] [ 5.71613959e-01 8.20522009e-01 -1.05592658e-03 4.47097506e+01] [ 1.80851264e-03 2.69996180e-05 9.99998364e-01 3.39871245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.480281693 meters 0.022617663253261464 Centerline is valid? [True, True] Translation: X:159.07, Y:44.72, Z:0.34 [[ 8.19715728e-01 -5.72764623e-01 -2.61006113e-03 1.59065879e+02] [ 5.72761547e-01 8.19719882e-01 -1.87771531e-03 4.47238892e+01] [ 3.21500790e-03 4.42501243e-05 9.99994831e-01 3.37119413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.510281693 meters 0.023304236575681463 Centerline is valid? [True, True] Translation: X:159.09, Y:44.74, Z:0.33 [[ 8.18477092e-01 -5.74518103e-01 -4.91924094e-03 1.59085938e+02] [ 5.74507201e-01 8.18491872e-01 -3.54002168e-03 4.47440971e+01] [ 6.06016526e-03 7.12873075e-05 9.99981634e-01 3.29457436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.540281693 meters 0.022277267484307757 Centerline is valid? [True, True] Translation: X:159.11, Y:44.76, Z:0.33 [[ 8.17697853e-01 -5.75625073e-01 -5.09862945e-03 1.59109394e+02] [ 5.75613376e-01 8.17713746e-01 -3.67014926e-03 4.47604420e+01] [ 6.28184933e-03 6.62338553e-05 9.99980267e-01 3.29296190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.570281693 meters 0.022277267484307757 Centerline is valid? [True, True] Translation: X:159.13, Y:44.78, Z:0.33 [[ 8.17599093e-01 -5.75765346e-01 -5.09800425e-03 1.59131582e+02] [ 5.75753647e-01 8.17614984e-01 -3.67101760e-03 4.47766791e+01] [ 6.28184938e-03 6.62261175e-05 9.99980267e-01 3.29350883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.600281693 meters 0.021157473342723162 Centerline is valid? [True, True] Translation: X:159.15, Y:44.79, Z:0.33 [[ 8.16694976e-01 -5.77049123e-01 -4.86062121e-03 1.59154221e+02] [ 5.77038505e-01 8.16709438e-01 -3.50102812e-03 4.47914176e+01] [ 5.98998042e-03 5.45064780e-05 9.99982058e-01 3.30474382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.630281693 meters 0.01783438995834441 Centerline is valid? [True, True] Translation: X:159.18, Y:44.80, Z:0.33 [[ 8.14405075e-01 -5.80279314e-01 -4.50459530e-03 1.59182537e+02] [ 5.80270238e-01 8.14417532e-01 -3.24555369e-03 4.48017002e+01] [ 5.55194906e-03 2.93128101e-05 9.99984587e-01 3.33587320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.660281693 meters 0.017055045077016686 Centerline is valid? [True, True] Translation: X:159.21, Y:44.82, Z:0.33 [[ 8.13082107e-01 -5.82134610e-01 -4.09663489e-03 1.59207330e+02] [ 5.82127125e-01 8.13092427e-01 -2.95219998e-03 4.48154210e+01] [ 5.04952059e-03 1.56186892e-05 9.99987251e-01 3.34608526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690281693 meters 0.01656576873257164 Centerline is valid? [True, True] Translation: X:159.23, Y:44.83, Z:0.34 [[ 8.11564700e-01 -5.84257886e-01 -2.33686783e-03 1.59231755e+02] [ 5.84255458e-01 8.11568064e-01 -1.68432087e-03 4.48289020e+01] [ 2.88060506e-03 1.60757930e-06 9.99995851e-01 3.37506411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720281693 meters 0.01654940597696976 Centerline is valid? [True, True] Translation: X:159.25, Y:44.85, Z:0.34 [[ 8.11709453e-01 -5.84057923e-01 -2.02644589e-03 1.59252991e+02] [ 5.84056096e-01 8.11711982e-01 -1.46106939e-03 4.48460534e+01] [ 2.49823956e-03 2.40576247e-06 9.99996879e-01 3.38524622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750281693 meters 0.016957104895562198 Centerline is valid? [True, True] Translation: X:159.27, Y:44.87, Z:0.34 [[ 8.12576503e-01 -5.82848603e-01 -2.63298523e-03 1.59273029e+02] [ 5.82845509e-01 8.12580769e-01 -1.89919126e-03 4.48660404e+01] [ 3.24645413e-03 8.61457735e-06 9.99994730e-01 3.37870735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780281693 meters 0.01965482200248346 Centerline is valid? [True, True] Translation: X:159.29, Y:44.89, Z:0.33 [[ 8.15415583e-01 -5.78852659e-01 -5.19861262e-03 1.59287960e+02] [ 5.78840507e-01 8.15432153e-01 -3.75118198e-03 4.48926860e+01] [ 6.41049755e-03 4.96046830e-05 9.99979451e-01 3.33258203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810281693 meters 0.02073045929144529 Centerline is valid? [True, True] Translation: X:159.31, Y:44.91, Z:0.33 [[ 8.16688461e-01 -5.77050721e-01 -5.69419913e-03 1.59309502e+02] [ 5.77036088e-01 8.16708308e-01 -4.11004642e-03 4.49126436e+01] [ 7.02220499e-03 7.08690936e-05 9.99975342e-01 3.32471502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840281693 meters 0.022231255634489414 Centerline is valid? [True, True] Translation: X:159.33, Y:44.93, Z:0.34 [[ 8.17431619e-01 -5.76015693e-01 -3.38685445e-03 1.59328625e+02] [ 5.76010505e-01 8.17438634e-01 -2.44511896e-03 4.49333609e+01] [ 4.17697257e-03 4.78538084e-05 9.99991275e-01 3.36484454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870281693 meters 0.021606097046230174 Centerline is valid? [True, True] Translation: X:159.35, Y:44.95, Z:0.34 [[ 8.16908350e-01 -5.76764094e-01 -1.98171817e-03 1.59351335e+02] [ 5.76762320e-01 8.16910754e-01 -1.43092777e-03 4.49503747e+01] [ 2.44419465e-03 2.59564736e-05 9.99997013e-01 3.39113237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900281693 meters 0.02022992421268942 Centerline is valid? [True, True] Translation: X:159.38, Y:44.97, Z:0.34 [[ 8.16160806e-01 -5.77821206e-01 -2.04747641e-03 1.59375916e+02] [ 5.77819314e-01 8.16163374e-01 -1.47895697e-03 4.49660277e+01] [ 2.52564795e-03 2.39952934e-05 9.99996810e-01 3.39189705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930281693 meters 0.018761799260237997 Centerline is valid? [True, True] Translation: X:159.40, Y:44.98, Z:0.33 [[ 8.14463039e-01 -5.80192152e-01 -5.19851919e-03 1.59401204e+02] [ 5.80179989e-01 8.14479628e-01 -3.75695243e-03 4.49798631e+01] [ 6.41384229e-03 4.38220897e-05 9.99979430e-01 3.31588065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96028169299998 meters 0.01857164576231804 Centerline is valid? [True, True] Translation: X:159.42, Y:45.00, Z:0.33 [[ 8.13787760e-01 -5.81125291e-01 -6.54810402e-03 1.59424504e+02] [ 5.81106009e-01 8.13814103e-01 -4.73422193e-03 4.49954435e+01] [ 8.08011549e-03 4.75092657e-05 9.99967354e-01 3.29039921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.990281693 meters 0.018580440738314698 Centerline is valid? [True, True] Translation: X:159.45, Y:45.01, Z:0.33 [[ 8.13331066e-01 -5.81761453e-01 -6.79620685e-03 1.59445809e+02] [ 5.81740693e-01 8.13359459e-01 -4.91488426e-03 4.50115303e+01] [ 8.38704934e-03 4.37979672e-05 9.99964827e-01 3.27701716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.020281693 meters 0.01841773776442593 Centerline is valid? [True, True] Translation: X:159.47, Y:45.03, Z:0.33 [[ 8.12976271e-01 -5.82269453e-01 -5.64507155e-03 1.59467589e+02] [ 5.82255134e-01 8.12995869e-01 -4.08352883e-03 4.50283861e+01] [ 6.96713395e-03 3.29401427e-05 9.99975729e-01 3.30865212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.050281693 meters 0.018355925291471804 Centerline is valid? [True, True] Translation: X:159.49, Y:45.04, Z:0.33 [[ 8.12877419e-01 -5.82413610e-01 -4.96875955e-03 1.59489307e+02] [ 5.82402513e-01 8.12892604e-01 -3.59542684e-03 4.50449613e+01] [ 6.13309341e-03 2.88232422e-05 9.99981192e-01 3.32350109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.080281693 meters 0.018189614538256314 Centerline is valid? [True, True] Translation: X:159.51, Y:45.06, Z:0.34 [[ 8.12951077e-01 -5.82316956e-01 -4.18438948e-03 1.59511309e+02] [ 5.82309079e-01 8.12961845e-01 -3.02887999e-03 4.50625467e+01] [ 5.16551717e-03 2.57232678e-05 9.99986658e-01 3.35172494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.110281693 meters 0.0181631667549368 Centerline is valid? [True, True] Translation: X:159.53, Y:45.08, Z:0.34 [[ 8.13104442e-01 -5.82105077e-01 -3.85306603e-03 1.59532896e+02] [ 5.82098391e-01 8.13113571e-01 -2.79008273e-03 4.50808823e+01] [ 4.75710160e-03 2.57651244e-05 9.99988685e-01 3.35945772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.140281693 meters 0.018669589093301072 Centerline is valid? [True, True] Translation: X:159.55, Y:45.10, Z:0.34 [[ 8.13348661e-01 -5.81765726e-01 -3.54907553e-03 1.59552655e+02] [ 5.81760047e-01 8.13356404e-01 -2.57067275e-03 4.50992676e+01] [ 4.38219261e-03 2.61428919e-05 9.99990398e-01 3.36590203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.170281693 meters 0.018834329439406734 Centerline is valid? [True, True] Translation: X:159.57, Y:45.12, Z:0.34 [[ 8.13595371e-01 -5.81421563e-01 -3.39673980e-03 1.59573796e+02] [ 5.81416355e-01 8.13602461e-01 -2.46107010e-03 4.51171071e+01] [ 4.19451509e-03 2.73951699e-05 9.99991203e-01 3.37548559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.200281693 meters 0.019153761436435636 Centerline is valid? [True, True] Translation: X:159.59, Y:45.14, Z:0.34 [[ 8.13889114e-01 -5.81011947e-01 -3.10288763e-03 1.59593263e+02] [ 5.81007596e-01 8.13895028e-01 -2.24880888e-03 4.51365982e+01] [ 3.83200964e-03 2.74797870e-05 9.99992657e-01 3.38197247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.230281693 meters 0.01862285673781269 Centerline is valid? [True, True] Translation: X:159.61, Y:45.15, Z:0.34 [[ 8.13149001e-01 -5.82046901e-01 -3.17921693e-03 1.59614430e+02] [ 5.82042338e-01 8.13155215e-01 -2.30482119e-03 4.51547462e+01] [ 3.92671085e-03 2.37241933e-05 9.99992290e-01 3.38574009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.260281693 meters 0.01826428622206872 Centerline is valid? [True, True] Translation: X:159.64, Y:45.17, Z:0.34 [[ 8.12675147e-01 -5.82709660e-01 -2.92536268e-03 1.59635486e+02] [ 5.82705799e-01 8.12680412e-01 -2.12144191e-03 4.51709337e+01] [ 3.61356963e-03 1.94173180e-05 9.99993471e-01 3.38639994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.290281693 meters 0.017882798238949362 Centerline is valid? [True, True] Translation: X:159.66, Y:45.19, Z:0.34 [[ 8.12003977e-01 -5.83645219e-01 -2.79273534e-03 1.59656904e+02] [ 5.83641703e-01 8.12008780e-01 -2.02583392e-03 4.51868303e+01] [ 3.45009389e-03 1.50283897e-05 9.99994048e-01 3.38399211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.320281693 meters 0.01736181348472364 Centerline is valid? [True, True] Translation: X:159.68, Y:45.20, Z:0.34 [[ 8.11236632e-01 -5.84711208e-01 -2.81626616e-03 1.59679682e+02] [ 5.84707636e-01 8.11241520e-01 -2.04362243e-03 4.52027988e+01] [ 3.47960098e-03 1.11690504e-05 9.99993946e-01 3.38491608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.350281693 meters 0.016975147719675242 Centerline is valid? [True, True] Translation: X:159.70, Y:45.22, Z:0.34 [[ 8.09152164e-01 -5.87594312e-01 -2.38753749e-03 1.59704468e+02] [ 5.87591756e-01 8.09155686e-01 -1.73310538e-03 4.52169462e+01] [ 2.95025240e-03 -5.51381934e-07 9.99995648e-01 3.39932652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.380281693 meters 0.0169690015245434 Centerline is valid? [True, True] Translation: X:159.73, Y:45.23, Z:0.34 [[ 8.07979784e-01 -5.89206943e-01 -1.96141080e-03 1.59727991e+02] [ 5.89205222e-01 8.07982165e-01 -1.42423453e-03 4.52310177e+01] [ 2.42395381e-03 -4.92077989e-06 9.99997062e-01 3.41248121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.410281693 meters 0.01779571421609522 Centerline is valid? [True, True] Translation: X:159.75, Y:45.24, Z:0.34 [[ 8.06273910e-01 -5.91539201e-01 -1.93772234e-03 1.59753727e+02] [ 5.91537527e-01 8.06276239e-01 -1.40751582e-03 4.52435381e+01] [ 2.39494026e-03 -1.13921996e-05 9.99997132e-01 3.41039098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440281693 meters 0.017978609004966485 Centerline is valid? [True, True] Translation: X:159.78, Y:45.26, Z:0.34 [[ 8.05719238e-01 -5.92294342e-01 -1.98043696e-03 1.59777115e+02] [ 5.92292594e-01 8.05721672e-01 -1.43907835e-03 4.52585553e+01] [ 2.44803894e-03 -1.35050251e-05 9.99997003e-01 3.40710580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470281693 meters 0.018482008048828057 Centerline is valid? [True, True] Translation: X:159.80, Y:45.27, Z:0.34 [[ 8.05087745e-01 -5.93150866e-01 -2.40273157e-03 1.59801275e+02] [ 5.93148295e-01 8.05091330e-01 -1.74671217e-03 4.52728333e+01] [ 2.97048220e-03 -1.89195750e-05 9.99995588e-01 3.39691027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500281693 meters 0.019228809093671004 Centerline is valid? [True, True] Translation: X:159.83, Y:45.29, Z:0.34 [[ 8.04614680e-01 -5.93783637e-01 -4.02598119e-03 1.59825954e+02] [ 5.93776419e-01 8.04624751e-01 -2.92813178e-03 4.52856334e+01] [ 4.97808086e-03 -3.45148731e-05 9.99987609e-01 3.36462994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530281693 meters 0.018354836531787128 Centerline is valid? [True, True] Translation: X:159.85, Y:45.30, Z:0.34 [[ 8.05129976e-01 -5.93080184e-01 -4.64947997e-03 1.59847024e+02] [ 5.93070536e-01 8.05143400e-01 -3.38295761e-03 4.53038045e+01] [ 5.74986323e-03 -3.37490038e-05 9.99983469e-01 3.35702791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560281693 meters 0.017422703209626307 Centerline is valid? [True, True] Translation: X:159.86, Y:45.33, Z:0.34 [[ 8.08597637e-01 -5.88343001e-01 -4.73026345e-03 1.59863550e+02] [ 5.88332929e-01 8.08611473e-01 -3.44249105e-03 4.53281644e+01] [ 5.85031081e-03 6.20381843e-07 9.99982887e-01 3.35101016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590281693 meters 0.0182922783740944 Centerline is valid? [True, True] Translation: X:159.88, Y:45.35, Z:0.34 [[ 8.10951699e-01 -5.85096254e-01 -4.44015320e-03 1.59881606e+02] [ 5.85087327e-01 8.10963854e-01 -3.23225738e-03 4.53515859e+01] [ 5.49198544e-03 2.33272444e-05 9.99984919e-01 3.36099728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620281693 meters 0.021064489553628815 Centerline is valid? [True, True] Translation: X:159.90, Y:45.38, Z:0.34 [[ 8.13621850e-01 -5.81378157e-01 -4.35018111e-03 1.59898143e+02] [ 5.81369529e-01 8.13633478e-01 -3.16764323e-03 4.53753887e+01] [ 5.38105157e-03 4.82009954e-05 9.99985521e-01 3.36562969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650281693 meters 0.028441060840950026 Centerline is valid? [True, True] Translation: X:159.91, Y:45.41, Z:0.34 [[ 8.19063337e-01 -5.73690375e-01 -3.82152729e-03 1.59909353e+02] [ 5.73683631e-01 8.19072247e-01 -2.78321502e-03 4.54083048e+01] [ 4.72681062e-03 8.72817306e-05 9.99988825e-01 3.38820870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680281693 meters 0.03413006540900172 Centerline is valid? [True, True] Translation: X:159.92, Y:45.44, Z:0.34 [[ 8.21666764e-01 -5.69954771e-01 -3.90987222e-03 1.59924572e+02] [ 5.69947665e-01 8.21676059e-01 -2.84833402e-03 4.54354334e+01] [ 4.83606996e-03 1.11958859e-04 9.99988300e-01 3.38566428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71028169299998 meters 0.041598039536185245 Centerline is valid? [True, True] Translation: X:159.94, Y:45.47, Z:0.34 [[ 8.25366809e-01 -5.64577943e-01 -4.62361471e-03 1.59936241e+02] [ 5.64567913e-01 8.25379741e-01 -3.36949996e-03 4.54679190e+01] [ 5.71858327e-03 1.70728914e-04 9.99983634e-01 3.35574371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.740281693 meters 0.04284819354096086 Centerline is valid? [True, True] Translation: X:159.96, Y:45.49, Z:0.33 [[ 8.26047587e-01 -5.63579463e-01 -4.85518469e-03 1.59955447e+02] [ 5.63568379e-01 8.26061834e-01 -3.53944468e-03 4.54899363e+01] [ 6.00544110e-03 1.87521176e-04 9.99981950e-01 3.34890267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.770281693 meters 0.04358272987193378 Centerline is valid? [True, True] Translation: X:159.97, Y:45.51, Z:0.34 [[ 8.26177237e-01 -5.63392835e-01 -4.43695729e-03 1.59974930e+02] [ 5.63383571e-01 8.26189133e-01 -3.23557870e-03 4.55119562e+01] [ 5.48866776e-03 1.73452630e-04 9.99984922e-01 3.35771340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.800281693 meters 0.0421993610835385 Centerline is valid? [True, True] Translation: X:159.99, Y:45.54, Z:0.34 [[ 8.25342326e-01 -5.64628547e-01 -2.15630159e-03 1.59992575e+02] [ 5.64626362e-01 8.25345139e-01 -1.57270285e-03 4.55351129e+01] [ 2.66768596e-03 8.05135094e-05 9.99996438e-01 3.42075983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.830281693 meters 0.04211882576255911 Centerline is valid? [True, True] Translation: X:160.01, Y:45.55, Z:0.34 [[ 8.24585938e-01 -5.65734826e-01 -1.46183424e-03 1.60012340e+02] [ 5.65733824e-01 8.24587232e-01 -1.06629511e-03 4.55548840e+01] [ 1.80865012e-03 5.22428794e-05 9.99998363e-01 3.43637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.860281693 meters 0.03815992361468342 Centerline is valid? [True, True] Translation: X:160.03, Y:45.58, Z:0.34 [[ 8.22844300e-01 -5.68263864e-01 -1.85425096e-03 1.60033790e+02] [ 5.68262257e-01 8.22846387e-01 -1.35306376e-03 4.55751038e+01] [ 2.29466095e-03 5.96599696e-05 9.99997365e-01 3.41464512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.890281693 meters 0.03723888467763603 Centerline is valid? [True, True] Translation: X:160.05, Y:45.59, Z:0.34 [[ 8.21844060e-01 -5.69706203e-01 -2.68009935e-03 1.60054300e+02] [ 5.69702850e-01 8.21848426e-01 -1.95628949e-03 4.55940757e+01] [ 3.31714569e-03 8.09046627e-05 9.99994495e-01 3.38370751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.920281693 meters 0.034860894460037886 Centerline is valid? [True, True] Translation: X:160.08, Y:45.61, Z:0.34 [[ 8.20344681e-01 -5.71857213e-01 -3.73256685e-03 1.60077201e+02] [ 5.71850728e-01 8.20353167e-01 -2.72519306e-03 4.56112134e+01] [ 4.62044434e-03 1.01126563e-04 9.99989321e-01 3.36213994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.950281693 meters 0.02769366866193816 Centerline is valid? [True, True] Translation: X:160.10, Y:45.62, Z:0.33 [[ 8.16449070e-01 -5.77396024e-01 -4.97469125e-03 1.60104925e+02] [ 5.77384601e-01 8.16464220e-01 -3.63330858e-03 4.56225766e+01] [ 6.15951534e-03 9.41012863e-05 9.99981026e-01 3.33585502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.980281693 meters 0.024281630748208383 Centerline is valid? [True, True] Translation: X:160.13, Y:45.64, Z:0.34 [[ 8.14365559e-01 -5.80335461e-01 -4.41456956e-03 1.60130514e+02] [ 5.80326502e-01 8.14377522e-01 -3.22521294e-03 4.56358796e+01] [ 5.46683166e-03 6.46106295e-05 9.99985055e-01 3.35446841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.010281693 meters 0.021479603241278223 Centerline is valid? [True, True] Translation: X:160.16, Y:45.65, Z:0.34 [[ 8.12501698e-01 -5.82950011e-01 -3.20546019e-03 1.60156171e+02] [ 5.82945305e-01 8.12508021e-01 -2.34248409e-03 4.56502530e+01] [ 3.97001324e-03 3.46643281e-05 9.99992119e-01 3.38392454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.040281693 meters 0.018857803556336195 Centerline is valid? [True, True] Translation: X:160.18, Y:45.66, Z:0.34 [[ 8.10329532e-01 -5.85972775e-01 -1.39913484e-03 1.60180009e+02] [ 5.85971883e-01 8.10330739e-01 -1.02259222e-03 4.56642686e+01] [ 1.73297317e-03 8.78299831e-06 9.99998498e-01 3.42482779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.070281693 meters 0.018349688725974634 Centerline is valid? [True, True] Translation: X:160.20, Y:45.68, Z:0.34 [[ 8.09579897e-01 -5.87007492e-01 -1.61097132e-03 1.60202718e+02] [ 5.87006311e-01 8.09581500e-01 -1.17757140e-03 4.56814639e+01] [ 1.99545581e-03 7.68779778e-06 9.99998009e-01 3.41675552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.100281693 meters 0.017706819642914474 Centerline is valid? [True, True] Translation: X:160.22, Y:45.70, Z:0.34 [[ 8.08170988e-01 -5.88942741e-01 -2.47030971e-03 1.60224650e+02] [ 5.88939970e-01 8.08174763e-01 -1.80655239e-03 4.56989317e+01] [ 3.06039789e-03 5.13910220e-06 9.99995317e-01 3.40208747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.130281693 meters 0.01743238622982784 Centerline is valid? [True, True] Translation: X:160.25, Y:45.71, Z:0.34 [[ 8.07137586e-01 -5.90358532e-01 -2.39167382e-03 1.60247308e+02] [ 5.90355940e-01 8.07141130e-01 -1.74963814e-03 4.57141132e+01] [ 2.96333211e-03 2.59866143e-07 9.99995609e-01 3.40145151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.160281693 meters 0.01746474813365872 Centerline is valid? [True, True] Translation: X:160.27, Y:45.73, Z:0.34 [[ 8.06092315e-01 -5.91783287e-01 -2.77852738e-03 1.60270850e+02] [ 5.91779794e-01 8.06097104e-01 -2.03341566e-03 4.57293541e+01] [ 3.44310428e-03 -5.15562120e-06 9.99994072e-01 3.38453631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190281693 meters 0.018453460176953353 Centerline is valid? [True, True] Translation: X:160.30, Y:45.74, Z:0.33 [[ 8.04101820e-01 -5.94473249e-01 -4.67112186e-03 1.60296094e+02] [ 5.94463415e-01 8.04115387e-01 -3.41952362e-03 4.57416044e+01] [ 5.78893628e-03 -2.71658883e-05 9.99983244e-01 3.32879082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220281693 meters 0.019901337900633042 Centerline is valid? [True, True] Translation: X:160.32, Y:45.75, Z:0.33 [[ 8.03139645e-01 -5.95768279e-01 -5.18346779e-03 1.60320922e+02] [ 5.95756192e-01 8.03156371e-01 -3.79519112e-03 4.57548537e+01] [ 6.42418966e-03 -4.00145840e-05 9.99979364e-01 3.30926801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250281693 meters 0.0200135508915539 Centerline is valid? [True, True] Translation: X:160.34, Y:45.77, Z:0.34 [[ 8.02735717e-01 -5.96321666e-01 -3.97979514e-03 1.60343379e+02] [ 5.96314544e-01 8.02745582e-01 -2.91465276e-03 4.57716087e+01] [ 4.93283355e-03 -3.35138459e-05 9.99987833e-01 3.36536898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280281693 meters 0.018824054395731104 Centerline is valid? [True, True] Translation: X:160.36, Y:45.79, Z:0.34 [[ 8.02647962e-01 -5.96446819e-01 -2.72787458e-03 1.60364740e+02] [ 5.96443472e-01 8.02652597e-01 -1.99839316e-03 4.57903472e+01] [ 3.38147086e-03 -2.30167860e-05 9.99994283e-01 3.40497382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310281693 meters 0.020378044498736102 Centerline is valid? [True, True] Translation: X:160.39, Y:45.80, Z:0.34 [[ 8.01732831e-01 -5.97681281e-01 -1.24656484e-03 1.60391190e+02] [ 5.97680583e-01 8.01733800e-01 -9.13376372e-04 4.58020438e+01] [ 1.54532113e-03 -1.27637778e-05 9.99998806e-01 3.42096387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340281693 meters 0.021997018445752622 Centerline is valid? [True, True] Translation: X:160.42, Y:45.81, Z:0.34 [[ 8.00544816e-01 -5.99271701e-01 -1.19427176e-03 1.60416204e+02] [ 5.99271062e-01 8.00545706e-01 -8.75185660e-04 4.58141311e+01] [ 1.48054313e-03 -1.50671641e-05 9.99998904e-01 3.41661358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370281693 meters 0.021928461118669924 Centerline is valid? [True, True] Translation: X:160.44, Y:45.83, Z:0.34 [[ 7.99016497e-01 -6.01306791e-01 -1.66780992e-03 1.60440354e+02] [ 6.01305549e-01 7.99018237e-01 -1.22256022e-03 4.58290994e+01] [ 2.06774430e-03 -2.60175739e-05 9.99997862e-01 3.40678661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400281693 meters 0.02964366612206606 Centerline is valid? [True, True] Translation: X:160.47, Y:45.83, Z:0.34 [[ 7.96112157e-01 -6.05144870e-01 -2.26253071e-03 1.60474698e+02] [ 6.05142599e-01 7.96115371e-01 -1.65879285e-03 4.58296973e+01] [ 2.80504546e-03 -4.85685561e-05 9.99996065e-01 3.40191253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430281693 meters 0.029049352495393598 Centerline is valid? [True, True] Translation: X:160.50, Y:45.84, Z:0.34 [[ 7.94658808e-01 -6.07050178e-01 -2.73144182e-03 1.60499910e+02] [ 6.07046877e-01 7.94663499e-01 -2.00310443e-03 4.58437455e+01] [ 3.38656201e-03 -6.63286464e-05 9.99994263e-01 3.39853958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46028169299998 meters 0.03477128309990192 Centerline is valid? [True, True] Translation: X:160.53, Y:45.85, Z:0.34 [[ 7.93369827e-01 -6.08734238e-01 -2.63523392e-03 1.60529563e+02] [ 6.08731173e-01 7.93374201e-01 -1.93302838e-03 4.58494834e+01] [ 3.26742717e-03 -7.05426387e-05 9.99994659e-01 3.39455379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.490281693 meters 0.03477128309990192 Centerline is valid? [True, True] Translation: X:160.55, Y:45.87, Z:0.34 [[ 7.93269552e-01 -6.08864906e-01 -2.63503103e-03 1.60551603e+02] [ 6.08861841e-01 7.93273925e-01 -1.93330492e-03 4.58659181e+01] [ 3.26742293e-03 -7.07379174e-05 9.99994659e-01 3.39510084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.520281693 meters 0.03622724433928848 Centerline is valid? [True, True] Translation: X:160.58, Y:45.88, Z:0.34 [[ 7.92647008e-01 -6.09673152e-01 -3.06059105e-03 1.60580267e+02] [ 6.09669020e-01 7.92652913e-01 -2.24635589e-03 4.58754141e+01] [ 3.79552928e-03 -8.53802693e-05 9.99992793e-01 3.37880525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.550281693 meters 0.031423973987709096 Centerline is valid? [True, True] Translation: X:160.60, Y:45.90, Z:0.34 [[ 7.93208973e-01 -6.08936462e-01 -3.98884010e-03 1.60600350e+02] [ 6.08929428e-01 7.93218995e-01 -2.92878101e-03 4.58961033e+01] [ 4.94746529e-03 -1.05786744e-04 9.99987756e-01 3.36813548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.580281693 meters 0.025328891212248836 Centerline is valid? [True, True] Translation: X:160.62, Y:45.92, Z:0.34 [[ 7.96357993e-01 -6.04807237e-01 -4.70679130e-03 1.60620820e+02] [ 6.04797363e-01 7.96371897e-01 -3.45721362e-03 4.59168607e+01] [ 5.83930413e-03 -9.34752608e-05 9.99982947e-01 3.35872008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.610281693 meters 0.023668663765068997 Centerline is valid? [True, True] Translation: X:160.64, Y:45.93, Z:0.34 [[ 7.97720727e-01 -6.03009474e-01 -4.60619465e-03 1.60643416e+02] [ 6.02999983e-01 7.97734021e-01 -3.38398650e-03 4.59332387e+01] [ 5.71509410e-03 -7.80591300e-05 9.99983666e-01 3.36362239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.640281693 meters 0.022678775732442973 Centerline is valid? [True, True] Translation: X:160.67, Y:45.95, Z:0.34 [[ 7.98541606e-01 -6.01926211e-01 -4.01744949e-03 1.60665882e+02] [ 6.01918975e-01 7.98551709e-01 -2.95206660e-03 4.59483714e+01] [ 4.98506742e-03 -6.08310781e-05 9.99987573e-01 3.36656410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.670281693 meters 0.022381321519201167 Centerline is valid? [True, True] Translation: X:160.69, Y:45.96, Z:0.34 [[ 7.99257051e-01 -6.00982081e-01 -2.95042655e-03 1.60691120e+02] [ 6.00978170e-01 7.99262496e-01 -2.16852034e-03 4.59600021e+01] [ 3.66140716e-03 -3.99367788e-05 9.99993296e-01 3.38058322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.700281693 meters 0.023732717489500874 Centerline is valid? [True, True] Translation: X:160.72, Y:45.97, Z:0.34 [[ 7.99257669e-01 -6.00981011e-01 -3.00032160e-03 1.60715082e+02] [ 6.00976964e-01 7.99263300e-01 -2.20585928e-03 4.59723233e+01] [ 3.72372649e-03 -4.00742192e-05 9.99993066e-01 3.38037868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.730281693 meters 0.02417426443788145 Centerline is valid? [True, True] Translation: X:160.74, Y:45.99, Z:0.34 [[ 7.99047013e-01 -6.01258170e-01 -3.53320371e-03 1.60739878e+02] [ 6.01252557e-01 7.99054823e-01 -2.59857731e-03 4.59855972e+01] [ 4.38563931e-03 -4.79623259e-05 9.99990382e-01 3.36194813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.760281693 meters 0.022385056089386336 Centerline is valid? [True, True] Translation: X:160.76, Y:46.00, Z:0.34 [[ 7.98601616e-01 -6.01849651e-01 -3.52945170e-03 1.60761635e+02] [ 6.01844051e-01 7.98609414e-01 -2.59675203e-03 4.60033194e+01] [ 4.38150766e-03 -5.04091419e-05 9.99990400e-01 3.36568236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.790281693 meters 0.023218591566560715 Centerline is valid? [True, True] Translation: X:160.79, Y:46.02, Z:0.34 [[ 7.97924648e-01 -6.02747475e-01 -3.42600317e-03 1.60786435e+02] [ 6.02742203e-01 7.97932001e-01 -2.52151329e-03 4.60162833e+01] [ 4.25355333e-03 -5.30190971e-05 9.99990952e-01 3.37073370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.820281693 meters 0.024022201440588534 Centerline is valid? [True, True] Translation: X:160.81, Y:46.03, Z:0.34 [[ 7.96037510e-01 -6.05244697e-01 -1.77212061e-03 1.60812557e+02] [ 6.05243292e-01 7.96039481e-01 -1.30451488e-03 4.60288415e+01] [ 2.20022869e-03 -3.41213376e-05 9.99997579e-01 3.41236818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.850281693 meters 0.026393938875529578 Centerline is valid? [True, True] Translation: X:160.84, Y:46.04, Z:0.34 [[ 7.95437984e-01 -6.06033300e-01 -1.43290157e-03 1.60838766e+02] [ 6.06032382e-01 7.95439274e-01 -1.05511415e-03 4.60408764e+01] [ 1.77922049e-03 -2.91068795e-05 9.99998417e-01 3.42344831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.880281693 meters 0.027759639729234835 Centerline is valid? [True, True] Translation: X:160.87, Y:46.05, Z:0.34 [[ 7.94692472e-01 -6.07010447e-01 -1.48093137e-03 1.60865514e+02] [ 6.07009468e-01 7.94693851e-01 -1.09068043e-03 4.60510873e+01] [ 1.83894147e-03 -3.21838397e-05 9.99998309e-01 3.42086529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.910281693 meters 0.02825467158989838 Centerline is valid? [True, True] Translation: X:160.89, Y:46.06, Z:0.34 [[ 7.94563994e-01 -6.07177548e-01 -1.86647974e-03 1.60888910e+02] [ 6.07175993e-01 7.94566186e-01 -1.37495950e-03 4.60648253e+01] [ 2.31788622e-03 -4.07883724e-05 9.99997313e-01 3.41088120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940281693 meters 0.027235550537410176 Centerline is valid? [True, True] Translation: X:160.91, Y:46.08, Z:0.34 [[ 7.94763459e-01 -6.06913460e-01 -2.66384470e-03 1.60911611e+02] [ 6.06910287e-01 7.94767921e-01 -1.96319226e-03 4.60818188e+01] [ 3.30862612e-03 -5.64412856e-05 9.99994525e-01 3.40382935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970281693 meters 0.02741771778126895 Centerline is valid? [True, True] Translation: X:160.93, Y:46.10, Z:0.34 [[ 7.95210541e-01 -6.06324311e-01 -3.32050072e-03 1.60933855e+02] [ 6.06319372e-01 7.95217471e-01 -2.44803938e-03 4.60973679e+01] [ 4.12482598e-03 -6.65771910e-05 9.99991491e-01 3.38423906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000281693 meters 0.0242547529798499 Centerline is valid? [True, True] Translation: X:160.95, Y:46.12, Z:0.34 [[ 7.97167955e-01 -6.03744164e-01 -4.02948358e-03 1.60953336e+02] [ 6.03736853e-01 7.97178136e-01 -2.97178183e-03 4.61182676e+01] [ 5.00641214e-03 -6.37384964e-05 9.99987466e-01 3.36813775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030281693 meters 0.02230693728671337 Centerline is valid? [True, True] Translation: X:160.97, Y:46.14, Z:0.34 [[ 7.98550118e-01 -6.01912473e-01 -4.36861595e-03 1.60973223e+02] [ 6.01903846e-01 7.98562065e-01 -3.22305113e-03 4.61380570e+01] [ 5.42860565e-03 -5.57188799e-05 9.99985263e-01 3.36013984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060281693 meters 0.018801991204438845 Centerline is valid? [True, True] Translation: X:160.99, Y:46.16, Z:0.34 [[ 8.01495087e-01 -5.97990683e-01 -3.57342230e-03 1.60990243e+02] [ 5.97984868e-01 8.01503052e-01 -2.63721180e-03 4.61619482e+01] [ 4.44113697e-03 -2.31401592e-05 9.99990138e-01 3.38004805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090281693 meters 0.017843319025914864 Centerline is valid? [True, True] Translation: X:161.01, Y:46.18, Z:0.34 [[ 8.02513834e-01 -5.96626581e-01 -2.87575090e-03 1.61010387e+02] [ 5.96622804e-01 8.02518986e-01 -2.12298563e-03 4.61822596e+01] [ 3.57447435e-03 -1.20132329e-05 9.99993611e-01 3.39878570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120281693 meters 0.017415574374718894 Centerline is valid? [True, True] Translation: X:161.03, Y:46.20, Z:0.34 [[ 8.03338492e-01 -5.95520223e-01 -1.71216178e-03 1.61030158e+02] [ 5.95518881e-01 8.03340316e-01 -1.26426265e-03 4.62019224e+01] [ 2.12834256e-03 -3.99381833e-06 9.99997735e-01 3.41888255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150281693 meters 0.01740740209058724 Centerline is valid? [True, True] Translation: X:161.05, Y:46.22, Z:0.34 [[ 8.03931335e-01 -5.94721576e-01 -8.10325727e-04 1.61049184e+02] [ 5.94721275e-01 8.03931743e-01 -5.98408372e-04 4.62208500e+01] [ 1.00733294e-03 -8.38708071e-07 9.99999493e-01 3.43028957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180281693 meters 0.017435411542810884 Centerline is valid? [True, True] Translation: X:161.07, Y:46.24, Z:0.34 [[ 8.04054024e-01 -5.94554732e-01 -1.34056434e-03 1.61070935e+02] [ 5.94553907e-01 8.04055142e-01 -9.90429175e-04 4.62391932e+01] [ 1.66675200e-03 -6.79203338e-07 9.99998611e-01 3.42072755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21028169299998 meters 0.0180435362546337 Centerline is valid? [True, True] Translation: X:161.09, Y:46.26, Z:0.34 [[ 8.05191486e-01 -5.93002976e-01 -3.76050671e-03 1.61088456e+02] [ 5.92996459e-01 8.05200267e-01 -2.78013821e-03 4.62602518e+01] [ 4.67659124e-03 8.57645303e-06 9.99989065e-01 3.36888290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.240281693 meters 0.018552058692819635 Centerline is valid? [True, True] Translation: X:161.11, Y:46.28, Z:0.33 [[ 8.05635218e-01 -5.92394747e-01 -4.51207274e-03 1.61107854e+02] [ 5.92385348e-01 8.05647853e-01 -3.33700483e-03 4.62795697e+01] [ 5.61196585e-03 1.55228405e-05 9.99984253e-01 3.34382192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.270281693 meters 0.01838867923155894 Centerline is valid? [True, True] Translation: X:161.13, Y:46.30, Z:0.33 [[ 8.05537049e-01 -5.92529582e-01 -4.33101487e-03 1.61129774e+02] [ 5.92520918e-01 8.05548692e-01 -3.20419683e-03 4.62966235e+01] [ 5.38742477e-03 1.48823491e-05 9.99985488e-01 3.34864681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.300281693 meters 0.01784704979394881 Centerline is valid? [True, True] Translation: X:161.15, Y:46.31, Z:0.34 [[ 8.04011987e-01 -5.94603145e-01 -3.43857178e-03 1.61152776e+02] [ 5.94597700e-01 8.04019340e-01 -2.54470741e-03 4.63116789e+01] [ 4.27776925e-03 1.40838459e-06 9.99990850e-01 3.35794365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.330281693 meters 0.01782507375177738 Centerline is valid? [True, True] Translation: X:161.17, Y:46.33, Z:0.34 [[ 8.03412571e-01 -5.95415160e-01 -3.00465956e-03 1.61174903e+02] [ 5.95411005e-01 8.03418190e-01 -2.22426721e-03 4.63279584e+01] [ 3.73836056e-03 -2.00313171e-06 9.99993012e-01 3.35749560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.360281693 meters 0.017701280739797105 Centerline is valid? [True, True] Translation: X:161.20, Y:46.35, Z:0.34 [[ 8.03109790e-01 -5.95826286e-01 -2.38791027e-03 1.61197533e+02] [ 5.95823662e-01 8.03113340e-01 -1.76823681e-03 4.63452059e+01] [ 2.97132456e-03 -2.68514155e-06 9.99995586e-01 3.37551758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.390281693 meters 0.01747754181712689 Centerline is valid? [True, True] Translation: X:161.22, Y:46.36, Z:0.34 [[ 8.03367976e-01 -5.95480918e-01 -1.54007684e-03 1.61218648e+02] [ 5.95479825e-01 8.03369452e-01 -1.14069632e-03 4.63615299e+01] [ 1.91651358e-03 -6.85796752e-07 9.99998163e-01 3.40383303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.420281693 meters 0.01759014708194762 Centerline is valid? [True, True] Translation: X:161.24, Y:46.38, Z:0.34 [[ 8.03204379e-01 -5.95698414e-01 -2.47465559e-03 1.61241257e+02] [ 5.95695592e-01 8.03208192e-01 -1.83364626e-03 4.63776178e+01] [ 3.07996381e-03 -1.34871452e-06 9.99995257e-01 3.38484930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.450281693 meters 0.017677874668819652 Centerline is valid? [True, True] Translation: X:161.26, Y:46.39, Z:0.34 [[ 8.03097885e-01 -5.95839091e-01 -3.09289169e-03 1.61264048e+02] [ 5.95834680e-01 8.03103840e-01 -2.29271418e-03 4.63943317e+01] [ 3.85000193e-03 -1.57821685e-06 9.99992589e-01 3.37334179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.480281693 meters 0.01770471679023537 Centerline is valid? [True, True] Translation: X:161.29, Y:46.41, Z:0.34 [[ 8.03271622e-01 -5.95602077e-01 -3.58716518e-03 1.61286203e+02] [ 5.95596137e-01 8.03279631e-01 -2.66013992e-03 4.64103637e+01] [ 4.46588158e-03 3.13182907e-07 9.99990028e-01 3.36253812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.510281693 meters 0.017877424817022806 Centerline is valid? [True, True] Translation: X:161.31, Y:46.43, Z:0.34 [[ 8.03809152e-01 -5.94872917e-01 -4.13036714e-03 1.61308070e+02] [ 5.94865025e-01 8.03819764e-01 -3.06413558e-03 4.64270656e+01] [ 5.14284200e-03 5.96926668e-06 9.99986775e-01 3.35662224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.540281693 meters 0.018306207446573824 Centerline is valid? [True, True] Translation: X:161.33, Y:46.44, Z:0.34 [[ 8.05093951e-01 -5.93136356e-01 -3.60464510e-03 1.61329489e+02] [ 5.93130324e-01 8.05102020e-01 -2.67508888e-03 4.64448180e+01] [ 4.48879953e-03 1.56735561e-05 9.99989925e-01 3.36132192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.570281693 meters 0.01870068683966441 Centerline is valid? [True, True] Translation: X:161.35, Y:46.46, Z:0.34 [[ 8.05816605e-01 -5.92159233e-01 -2.65372445e-03 1.61350954e+02] [ 5.92155956e-01 8.05820974e-01 -1.97002814e-03 4.64628263e+01] [ 3.30499717e-03 1.60626444e-05 9.99994538e-01 3.37908804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.600281693 meters 0.02008866085119141 Centerline is valid? [True, True] Translation: X:161.37, Y:46.48, Z:0.34 [[ 8.07660088e-01 -5.89646425e-01 -1.50842468e-03 1.61372154e+02] [ 5.89645362e-01 8.07661497e-01 -1.12003636e-03 4.64824154e+01] [ 1.87872197e-03 1.51730510e-05 9.99998235e-01 3.41108434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.630281693 meters 0.02188796624646789 Centerline is valid? [True, True] Translation: X:161.39, Y:46.50, Z:0.34 [[ 8.08323450e-01 -5.88736952e-01 -1.41456256e-03 1.61392114e+02] [ 5.88736015e-01 8.08324688e-01 -1.05070048e-03 4.65015748e+01] [ 1.76201204e-03 1.65019101e-05 9.99998448e-01 3.41107526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.660281693 meters 0.022431966486412575 Centerline is valid? [True, True] Translation: X:161.41, Y:46.52, Z:0.34 [[ 8.08632337e-01 -5.88312233e-01 -1.56872088e-03 1.61414287e+02] [ 5.88311079e-01 8.08633858e-01 -1.16542239e-03 4.65190946e+01] [ 1.95415307e-03 1.95023547e-05 9.99998090e-01 3.41161057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690281693 meters 0.023113251588975262 Centerline is valid? [True, True] Translation: X:161.44, Y:46.54, Z:0.34 [[ 8.09576553e-01 -5.87010832e-01 -2.02184649e-03 1.61436716e+02] [ 5.87008909e-01 8.09579078e-01 -1.50269517e-03 4.65375197e+01] [ 2.51894296e-03 2.97048787e-05 9.99996827e-01 3.40576391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720281693 meters 0.023379462784371266 Centerline is valid? [True, True] Translation: X:161.46, Y:46.56, Z:0.34 [[ 8.10243993e-01 -5.86088956e-01 -2.09923161e-03 1.61459182e+02] [ 5.86086879e-01 8.10246712e-01 -1.56074409e-03 4.65557794e+01] [ 2.61563038e-03 3.42514247e-05 9.99996579e-01 3.40652799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750281693 meters 0.025381064672489725 Centerline is valid? [True, True] Translation: X:161.48, Y:46.58, Z:0.34 [[ 8.11437341e-01 -5.84436923e-01 -1.71009237e-03 1.61478026e+02] [ 5.84435541e-01 8.11439142e-01 -1.27176741e-03 4.65773016e+01] [ 2.13090372e-03 3.25208101e-05 9.99997729e-01 3.40772733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780281693 meters 0.02633857710619573 Centerline is valid? [True, True] Translation: X:161.50, Y:46.60, Z:0.34 [[ 8.11685361e-01 -5.84092994e-01 -1.49957949e-03 1.61498258e+02] [ 5.84091930e-01 8.11686746e-01 -1.11532670e-03 4.65962325e+01] [ 1.86864331e-03 2.94020759e-05 9.99998254e-01 3.41275696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810281693 meters 0.025517500212304204 Centerline is valid? [True, True] Translation: X:161.52, Y:46.61, Z:0.34 [[ 8.11797751e-01 -5.83937322e-01 -1.27067223e-03 1.61521850e+02] [ 5.83936558e-01 8.11798745e-01 -9.45160240e-04 4.66130816e+01] [ 1.58344446e-03 2.52869906e-05 9.99998746e-01 3.41793037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840281693 meters 0.029629413457337356 Centerline is valid? [True, True] Translation: X:161.54, Y:46.64, Z:0.34 [[ 8.11865793e-01 -5.83840789e-01 -1.96628425e-03 1.61537968e+02] [ 5.83838957e-01 8.11868174e-01 -1.46327335e-03 4.66358573e+01] [ 2.45068227e-03 3.99882308e-05 9.99996996e-01 3.40841545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870281693 meters 0.025666139069466125 Centerline is valid? [True, True] Translation: X:161.56, Y:46.65, Z:0.34 [[ 8.11702932e-01 -5.84065713e-01 -2.36497336e-03 1.61562974e+02] [ 5.84063062e-01 8.11706376e-01 -1.76051668e-03 4.66484868e+01] [ 2.94792139e-03 4.77229705e-05 9.99995654e-01 3.40375153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900281693 meters 0.02690532506382703 Centerline is valid? [True, True] Translation: X:161.58, Y:46.67, Z:0.34 [[ 8.11433988e-01 -5.84438306e-01 -2.59792982e-03 1.61581728e+02] [ 5.84435107e-01 8.11438145e-01 -1.93458835e-03 4.66683333e+01] [ 3.23870690e-03 5.14693434e-05 9.99994754e-01 3.38898505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930281693 meters 0.026770609940636358 Centerline is valid? [True, True] Translation: X:161.60, Y:46.69, Z:0.34 [[ 8.11176251e-01 -5.84797527e-01 -2.22319739e-03 1.61603734e+02] [ 5.84795185e-01 8.11179296e-01 -1.65582332e-03 4.66860424e+01] [ 2.77173308e-03 4.30494280e-05 9.99996158e-01 3.39408436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96028169299998 meters 0.025552828998581356 Centerline is valid? [True, True] Translation: X:161.63, Y:46.70, Z:0.34 [[ 8.10563695e-01 -5.85646058e-01 -2.27854980e-03 1.61626348e+02] [ 5.85643600e-01 8.10566896e-01 -1.69744447e-03 4.67048021e+01] [ 2.84101870e-03 4.14687498e-05 9.99995963e-01 3.39291023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.990281693 meters 0.026432894544935 Centerline is valid? [True, True] Translation: X:161.65, Y:46.72, Z:0.34 [[ 8.10072568e-01 -5.86323130e-01 -2.76079784e-03 1.61646254e+02] [ 5.86319523e-01 8.10077271e-01 -2.05724587e-03 4.67240208e+01] [ 3.44267042e-03 4.78087735e-05 9.99994073e-01 3.38414777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.020281693 meters 0.023888085670746174 Centerline is valid? [True, True] Translation: X:161.67, Y:46.74, Z:0.34 [[ 8.09436616e-01 -5.87198322e-01 -3.23969387e-03 1.61671108e+02] [ 5.87193360e-01 8.09443097e-01 -2.41467518e-03 4.67384637e+01] [ 4.04024105e-03 5.21997764e-05 9.99991837e-01 3.37924157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.050281693 meters 0.021918942512243342 Centerline is valid? [True, True] Translation: X:161.70, Y:46.75, Z:0.34 [[ 8.07900570e-01 -5.89308349e-01 -3.51272156e-03 1.61695499e+02] [ 5.89302531e-01 8.07908205e-01 -2.61884749e-03 4.67547371e+01] [ 4.38126526e-03 4.57126668e-05 9.99990401e-01 3.37468319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.080281693 meters 0.02090565339309222 Centerline is valid? [True, True] Translation: X:161.72, Y:46.77, Z:0.34 [[ 8.06816621e-01 -5.90793019e-01 -3.24791710e-03 1.61717996e+02] [ 5.90788056e-01 8.06823157e-01 -2.42186161e-03 4.67708891e+01] [ 4.05131367e-03 3.51675682e-05 9.99991793e-01 3.37532815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.110281693 meters 0.019820001743838807 Centerline is valid? [True, True] Translation: X:161.74, Y:46.79, Z:0.34 [[ 8.05834814e-01 -5.92135541e-01 -2.39875402e-03 1.61740214e+02] [ 5.92132839e-01 8.05838384e-01 -1.78891799e-03 4.67870973e+01] [ 2.99228999e-03 2.11913684e-05 9.99995523e-01 3.39487362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.140281693 meters 0.018540339174053545 Centerline is valid? [True, True] Translation: X:161.76, Y:46.80, Z:0.34 [[ 8.04043521e-01 -5.94567472e-01 -1.88112418e-03 1.61761801e+02] [ 5.94565816e-01 8.04045721e-01 -1.40305775e-03 4.68040227e+01] [ 2.34672235e-03 9.66736209e-06 9.99997246e-01 3.41423693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.170281693 meters 0.018138539311072177 Centerline is valid? [True, True] Translation: X:161.78, Y:46.82, Z:0.34 [[ 8.03295191e-01 -5.95576054e-01 -2.44958842e-03 1.61783534e+02] [ 5.95573250e-01 8.03298926e-01 -1.82769699e-03 4.68205964e+01] [ 3.05628431e-03 9.27086585e-06 9.99995330e-01 3.40774017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.200281693 meters 0.01790790015772801 Centerline is valid? [True, True] Translation: X:161.80, Y:46.84, Z:0.34 [[ 8.02759986e-01 -5.96298205e-01 -2.20369269e-03 1.61803731e+02] [ 5.96295937e-01 8.02763010e-01 -1.64473646e-03 4.68401984e+01] [ 2.74979638e-03 6.27561594e-06 9.99996219e-01 3.41560380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.230281693 meters 0.017935582325349145 Centerline is valid? [True, True] Translation: X:161.82, Y:46.86, Z:0.34 [[ 8.02662278e-01 -5.96432438e-01 -1.27064790e-03 1.61824878e+02] [ 5.96431684e-01 8.02663284e-01 -9.48519601e-04 4.68592415e+01] [ 1.58563027e-03 3.48623907e-06 9.99998743e-01 3.42911396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.260281693 meters 0.017742105765655738 Centerline is valid? [True, True] Translation: X:161.85, Y:46.88, Z:0.34 [[ 8.02397877e-01 -5.96789021e-01 -7.15675320e-04 1.61846158e+02] [ 5.96788781e-01 8.02398196e-01 -5.34246643e-04 4.68778382e+01] [ 8.93089116e-04 1.57137006e-06 9.99999601e-01 3.44981756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.290281693 meters 0.017562270793262325 Centerline is valid? [True, True] Translation: X:161.87, Y:46.90, Z:0.35 [[ 8.02143683e-01 -5.97130860e-01 -4.97042836e-04 1.61867936e+02] [ 5.97130745e-01 8.02143837e-01 -3.71042468e-04 4.68960855e+01] [ 6.20260756e-04 8.29812891e-07 9.99999808e-01 3.45326834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.320281693 meters 0.017465483620869932 Centerline is valid? [True, True] Translation: X:161.89, Y:46.91, Z:0.34 [[ 8.01373603e-01 -5.98160427e-01 -2.10983810e-03 1.61888865e+02] [ 5.98158348e-01 8.01376381e-01 -1.57701842e-03 4.69143162e+01] [ 2.63408443e-03 1.76366153e-06 9.99996531e-01 3.41617620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.350281693 meters 0.01770401758270439 Centerline is valid? [True, True] Translation: X:161.91, Y:46.94, Z:0.34 [[ 8.02066103e-01 -5.97231181e-01 -2.20990412e-03 1.61905806e+02] [ 5.97228895e-01 8.02069147e-01 -1.65240652e-03 4.69374510e+01] [ 2.75936461e-03 5.52066151e-06 9.99996193e-01 3.42347825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.380281693 meters 0.01770401758270439 Centerline is valid? [True, True] Translation: X:161.93, Y:46.95, Z:0.34 [[ 8.01955004e-01 -5.97380355e-01 -2.20969305e-03 1.61927690e+02] [ 5.97378069e-01 8.01958048e-01 -1.65268872e-03 4.69540686e+01] [ 2.75936491e-03 5.35982074e-06 9.99996193e-01 3.42402510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.410281693 meters 0.018700658689116054 Centerline is valid? [True, True] Translation: X:161.94, Y:46.98, Z:0.34 [[ 8.03289649e-01 -5.95586059e-01 -1.72798370e-03 1.61944844e+02] [ 5.95584656e-01 8.03291507e-01 -1.29278398e-03 4.69775800e+01] [ 2.15803874e-03 9.31940909e-06 9.99997671e-01 3.42881100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440281693 meters 0.019840505054349915 Centerline is valid? [True, True] Translation: X:161.96, Y:47.00, Z:0.34 [[ 8.04661513e-01 -5.93731498e-01 -1.66049836e-03 1.61962257e+02] [ 5.93730198e-01 8.04663226e-01 -1.24249804e-03 4.70005449e+01] [ 2.07385219e-03 1.39023312e-05 9.99997849e-01 3.43303208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470281693 meters 0.020819602404824965 Centerline is valid? [True, True] Translation: X:161.98, Y:47.02, Z:0.34 [[ 8.05960945e-01 -5.91966680e-01 -1.55051533e-03 1.61982444e+02] [ 5.91965543e-01 8.05962437e-01 -1.16036994e-03 4.70220925e+01] [ 1.93655746e-03 1.73612025e-05 9.99998125e-01 3.43223251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500281693 meters 0.023735521237493357 Centerline is valid? [True, True] Translation: X:162.00, Y:47.05, Z:0.35 [[ 8.07351493e-01 -5.90070270e-01 -8.02394103e-04 1.61997356e+02] [ 5.90069964e-01 8.07351891e-01 -6.00629918e-04 4.70489355e+01] [ 1.00222825e-03 1.14508005e-05 9.99999498e-01 3.45071935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530281693 meters 0.0228284021238776 Centerline is valid? [True, True] Translation: X:162.02, Y:47.07, Z:0.35 [[ 8.07740136e-01 -5.89538260e-01 -7.15903736e-04 1.62018554e+02] [ 5.89538017e-01 8.07740453e-01 -5.35790816e-04 4.70679619e+01] [ 8.94133593e-04 1.07272782e-05 9.99999600e-01 3.45047066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560281693 meters 0.024443704299937474 Centerline is valid? [True, True] Translation: X:162.03, Y:47.09, Z:0.34 [[ 8.08446681e-01 -5.88567594e-01 -1.46688254e-03 1.62034256e+02] [ 5.88566569e-01 8.08448011e-01 -1.09865621e-03 4.70935441e+01] [ 1.83253171e-03 2.48469400e-05 9.99998321e-01 3.42753020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590281693 meters 0.023995069431279492 Centerline is valid? [True, True] Translation: X:162.06, Y:47.11, Z:0.34 [[ 8.08426715e-01 -5.88593260e-01 -2.05437170e-03 1.62055178e+02] [ 5.88591249e-01 8.08429325e-01 -1.53900817e-03 4.71126527e+01] [ 2.56666416e-03 3.49901175e-05 9.99996706e-01 3.41206500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620281693 meters 0.02464244845985885 Centerline is valid? [True, True] Translation: X:162.07, Y:47.13, Z:0.34 [[ 8.08197960e-01 -5.88905917e-01 -2.42480077e-03 1.62073841e+02] [ 5.88903114e-01 8.08201596e-01 -1.81718711e-03 4.71322904e+01] [ 3.02988009e-03 4.06741863e-05 9.99995409e-01 3.40115051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650281693 meters 0.022485232916230592 Centerline is valid? [True, True] Translation: X:162.09, Y:47.15, Z:0.34 [[ 8.06563493e-01 -5.91139952e-01 -2.98129208e-03 1.62094325e+02] [ 5.91135730e-01 8.06569002e-01 -2.23470589e-03 4.71538141e+01] [ 3.72564171e-03 4.00839242e-05 9.99993059e-01 3.39057701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680281693 meters 0.021108208915482804 Centerline is valid? [True, True] Translation: X:162.12, Y:47.17, Z:0.34 [[ 8.05594904e-01 -5.92457357e-01 -3.33634433e-03 1.62117094e+02] [ 5.92452077e-01 8.05601812e-01 -2.50151408e-03 4.71720314e+01] [ 4.16980546e-03 3.85828668e-05 9.99991306e-01 3.38723316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71028169299998 meters 0.01922906406646119 Centerline is valid? [True, True] Translation: X:162.14, Y:47.19, Z:0.34 [[ 8.03285992e-01 -5.95581825e-01 -3.72888937e-03 1.62140134e+02] [ 5.95575259e-01 8.03294646e-01 -2.79682323e-03 4.71883978e+01] [ 4.66113395e-03 2.58146678e-05 9.99989137e-01 3.37487562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.740281693 meters 0.01806424960894376 Centerline is valid? [True, True] Translation: X:162.16, Y:47.20, Z:0.34 [[ 8.01453479e-01 -5.98044598e-01 -3.87030904e-03 1.62163839e+02] [ 5.98037550e-01 8.01462824e-01 -2.90350961e-03 4.72024149e+01] [ 4.83833705e-03 1.24377442e-05 9.99988295e-01 3.37043089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.770281693 meters 0.0176664017793995 Centerline is valid? [True, True] Translation: X:162.19, Y:47.22, Z:0.34 [[ 7.99448798e-01 -6.00720920e-01 -3.99944237e-03 1.62187383e+02] [ 6.00713423e-01 7.99458802e-01 -3.00122406e-03 4.72169775e+01] [ 5.00028748e-03 -3.19375049e-06 9.99987498e-01 3.37290820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.800281693 meters 0.019336892750271128 Centerline is valid? [True, True] Translation: X:162.21, Y:47.23, Z:0.34 [[ 7.95632275e-01 -6.05768840e-01 -3.66002456e-03 1.62212575e+02] [ 6.05762612e-01 7.95640692e-01 -2.74712648e-03 4.72291953e+01] [ 4.57618809e-03 -3.14035493e-05 9.99989529e-01 3.38276227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.830281693 meters 0.02239472789955156 Centerline is valid? [True, True] Translation: X:162.24, Y:47.24, Z:0.34 [[ 7.93879533e-01 -6.08063952e-01 -3.67659630e-03 1.62238572e+02] [ 6.08057690e-01 7.93888045e-01 -2.76002439e-03 4.72400790e+01] [ 4.59707718e-03 -4.44557814e-05 9.99989432e-01 3.37102553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.860281693 meters 0.023534101694365612 Centerline is valid? [True, True] Translation: X:162.26, Y:47.26, Z:0.34 [[ 7.92130807e-01 -6.10340450e-01 -3.64973499e-03 1.62262617e+02] [ 6.10334299e-01 7.92139213e-01 -2.74058217e-03 4.72557648e+01] [ 4.56378636e-03 -5.66588838e-05 9.99989584e-01 3.37969805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.890281693 meters 0.024964411413553333 Centerline is valid? [True, True] Translation: X:162.29, Y:47.27, Z:0.34 [[ 7.90051652e-01 -6.13033396e-01 -2.90560758e-03 1.62286229e+02] [ 6.13029514e-01 7.90056993e-01 -2.18243939e-03 4.72719708e+01] [ 3.63350382e-03 -5.69833506e-05 9.99993397e-01 3.39319033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.920281693 meters 0.026955779474334408 Centerline is valid? [True, True] Translation: X:162.31, Y:47.29, Z:0.34 [[ 7.89558960e-01 -6.13669635e-01 -2.49572429e-03 1.62310060e+02] [ 6.13666772e-01 7.89562902e-01 -1.87503913e-03 4.72861280e+01] [ 3.12118589e-03 -5.10891259e-05 9.99995128e-01 3.39603675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.950281693 meters 0.02634863747583654 Centerline is valid? [True, True] Translation: X:162.33, Y:47.30, Z:0.34 [[ 7.89186248e-01 -6.14145954e-01 -3.13257407e-03 1.62332774e+02] [ 6.14141445e-01 7.89192463e-01 -2.35417190e-03 4.73045216e+01] [ 3.91800899e-03 -6.59634789e-05 9.99992322e-01 3.38834002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.980281693 meters 0.026621417079662493 Centerline is valid? [True, True] Translation: X:162.36, Y:47.32, Z:0.34 [[ 7.88881976e-01 -6.14534287e-01 -3.58298890e-03 1.62356007e+02] [ 6.14528389e-01 7.88890109e-01 -2.69359999e-03 4.73220371e+01] [ 4.48189405e-03 -7.69159168e-05 9.99989953e-01 3.38188641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.010281693 meters 0.027404034624298624 Centerline is valid? [True, True] Translation: X:162.38, Y:47.34, Z:0.34 [[ 7.88378183e-01 -6.15177958e-01 -3.99013483e-03 1.62379275e+02] [ 6.15170646e-01 7.88388275e-01 -3.00070105e-03 4.73385934e+01] [ 4.99174066e-03 -8.89265795e-05 9.99987537e-01 3.36961764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.040281693 meters 0.02880385657212453 Centerline is valid? [True, True] Translation: X:162.40, Y:47.35, Z:0.34 [[ 7.87538091e-01 -6.16253856e-01 -3.86536174e-03 1.62404199e+02] [ 6.16247004e-01 7.87547571e-01 -2.90756392e-03 4.73521728e+01] [ 4.83595373e-03 -9.22002533e-05 9.99988302e-01 3.37186971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.070281693 meters 0.029164111758894936 Centerline is valid? [True, True] Translation: X:162.43, Y:47.37, Z:0.34 [[ 7.87202362e-01 -6.16685691e-01 -3.34667765e-03 1.62427534e+02] [ 6.16680555e-01 7.87209472e-01 -2.51807837e-03 4.73676150e+01] [ 4.18739924e-03 -8.15937918e-05 9.99991229e-01 3.38916385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.100281693 meters 0.02911409665216556 Centerline is valid? [True, True] Translation: X:162.45, Y:47.38, Z:0.34 [[ 7.86497973e-01 -6.17586685e-01 -2.76143543e-03 1.62451387e+02] [ 6.17583191e-01 7.86502818e-01 -2.07838311e-03 4.73845410e+01] [ 3.45545848e-03 -7.07719977e-05 9.99994027e-01 3.41255193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.130281693 meters 0.032547782809835966 Centerline is valid? [True, True] Translation: X:162.48, Y:47.40, Z:0.34 [[ 7.85885368e-01 -6.18367318e-01 -2.45937980e-03 1.62476843e+02] [ 6.18364550e-01 7.85889213e-01 -1.85146822e-03 4.73963122e+01] [ 3.07768750e-03 -6.57515002e-05 9.99995262e-01 3.41586796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.160281693 meters 0.03275344915102219 Centerline is valid? [True, True] Translation: X:162.50, Y:47.41, Z:0.34 [[ 7.85214024e-01 -6.19220430e-01 -2.23498911e-03 1.62501004e+02] [ 6.19218147e-01 7.85217202e-01 -1.68282244e-03 4.74126739e+01] [ 2.79698993e-03 -6.25700411e-05 9.99996086e-01 3.42870060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190281693 meters 0.032367766363919116 Centerline is valid? [True, True] Translation: X:162.53, Y:47.43, Z:0.34 [[ 7.83447376e-01 -6.21454451e-01 -2.13864063e-03 1.62525389e+02] [ 6.21452367e-01 7.83450292e-01 -1.61077588e-03 4.74281654e+01] [ 2.67654247e-03 -6.71051422e-05 9.99996416e-01 3.43171210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220281693 meters 0.03465529121359363 Centerline is valid? [True, True] Translation: X:162.55, Y:47.44, Z:0.34 [[ 7.82521494e-01 -6.22619388e-01 -2.28232422e-03 1.62550362e+02] [ 6.22617018e-01 7.82524819e-01 -1.71948338e-03 4.74413841e+01] [ 2.85655904e-03 -7.54811956e-05 9.99995917e-01 3.42463995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250281693 meters 0.0389368412713699 Centerline is valid? [True, True] Translation: X:162.58, Y:47.45, Z:0.34 [[ 7.81838861e-01 -6.23473673e-01 -2.92808948e-03 1.62576915e+02] [ 6.23469778e-01 7.81844338e-01 -2.20632292e-03 4.74515592e+01] [ 3.66489443e-03 -1.00586301e-04 9.99993279e-01 3.40601890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280281693 meters 0.036203662618882214 Centerline is valid? [True, True] Translation: X:162.60, Y:47.47, Z:0.34 [[ 7.81386227e-01 -6.24027926e-01 -4.97101971e-03 1.62600280e+02] [ 6.24016702e-01 7.81402020e-01 -3.74680232e-03 4.74686046e+01] [ 6.22247413e-03 -1.74299596e-04 9.99980625e-01 3.36972541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310281693 meters 0.03744331865046728 Centerline is valid? [True, True] Translation: X:162.62, Y:47.48, Z:0.34 [[ 7.81673370e-01 -6.23664473e-01 -5.41914076e-03 1.62624387e+02] [ 6.23651120e-01 7.81692133e-01 -4.08533387e-03 4.74831738e+01] [ 6.78397730e-03 -1.86256509e-04 9.99976971e-01 3.36311553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340281693 meters 0.03462358679924729 Centerline is valid? [True, True] Translation: X:162.65, Y:47.50, Z:0.34 [[ 7.82468884e-01 -6.22673564e-01 -4.48093877e-03 1.62645193e+02] [ 6.22664414e-01 7.82481700e-01 -3.37888184e-03 4.75033840e+01] [ 5.61019298e-03 -1.46251210e-04 9.99984252e-01 3.39441151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370281693 meters 0.03509645554859799 Centerline is valid? [True, True] Translation: X:162.67, Y:47.52, Z:0.34 [[ 7.82922005e-01 -6.22110512e-01 -3.41257230e-03 1.62667674e+02] [ 6.22105197e-01 7.82929434e-01 -2.57390480e-03 4.75194038e+01] [ 4.27305653e-03 -1.07812254e-04 9.99990865e-01 3.41663159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400281693 meters 0.032619531109288835 Centerline is valid? [True, True] Translation: X:162.69, Y:47.54, Z:0.34 [[ 7.83726538e-01 -6.21103363e-01 -1.82364312e-03 1.62689797e+02] [ 6.21101842e-01 7.83728658e-01 -1.37565488e-03 4.75386591e+01] [ 2.28366524e-03 -5.45308620e-05 9.99997391e-01 3.44724645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430281693 meters 0.03544722905391115 Centerline is valid? [True, True] Translation: X:162.71, Y:47.55, Z:0.35 [[ 7.83628948e-01 -6.21227573e-01 -1.40505481e-03 1.62714378e+02] [ 6.21226670e-01 7.83630207e-01 -1.06001602e-03 4.75514840e+01] [ 1.75955457e-03 -4.21982793e-05 9.99998451e-01 3.45548877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46028169299998 meters 0.0367108002227085 Centerline is valid? [True, True] Translation: X:162.74, Y:47.57, Z:0.35 [[ 7.83296969e-01 -6.21646870e-01 -1.01383614e-03 1.62737435e+02] [ 6.21646400e-01 7.83297624e-01 -7.65023725e-04 4.75663337e+01] [ 1.26971004e-03 -3.10068194e-05 9.99999193e-01 3.47101894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.490281693 meters 0.03180819973585336 Centerline is valid? [True, True] Translation: X:162.76, Y:47.59, Z:0.35 [[ 7.82522266e-01 -6.22621905e-01 -9.30823351e-04 1.62756639e+02] [ 6.22621509e-01 7.82522819e-01 -7.02555394e-04 4.75883669e+01] [ 1.16581689e-03 -2.97854006e-05 9.99999320e-01 3.47968521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.520281693 meters 0.031922827971892775 Centerline is valid? [True, True] Translation: X:162.78, Y:47.61, Z:0.35 [[ 7.82208143e-01 -6.23016368e-01 -1.01304825e-03 1.62780273e+02] [ 6.23015899e-01 7.82208798e-01 -7.64914117e-04 4.76051427e+01] [ 1.26896927e-03 -3.28231180e-05 9.99999194e-01 3.47897724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.550281693 meters 0.03912849926394013 Centerline is valid? [True, True] Translation: X:162.81, Y:47.61, Z:0.35 [[ 7.82300689e-01 -6.22900445e-01 -8.17159529e-04 1.62809304e+02] [ 6.22900140e-01 7.82301115e-01 -6.17229411e-04 4.76119120e+01] [ 1.02373729e-03 -2.61497914e-05 9.99999476e-01 3.48054903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.580281693 meters 0.03513013442846052 Centerline is valid? [True, True] Translation: X:162.83, Y:47.63, Z:0.35 [[ 7.82827403e-01 -6.22238720e-01 -4.81578872e-04 1.62829394e+02] [ 6.22238614e-01 7.82827551e-01 -3.63623158e-04 4.76332844e+01] [ 6.03253618e-04 -1.50027977e-05 9.99999818e-01 3.48750048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.610281693 meters 0.030362654818051133 Centerline is valid? [True, True] Translation: X:162.85, Y:47.66, Z:0.35 [[ 7.83483297e-01 -6.21412556e-01 -5.99670011e-04 1.62848009e+02] [ 6.21412391e-01 7.83483526e-01 -4.53005899e-04 4.76559038e+01] [ 7.51335128e-04 -1.77198201e-05 9.99999718e-01 3.49251124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.640281693 meters 0.03186908824862177 Centerline is valid? [True, True] Translation: X:162.87, Y:47.67, Z:0.35 [[ 7.84762168e-01 -6.19796094e-01 -1.06846997e-03 1.62871935e+02] [ 6.19795568e-01 7.84762895e-01 -8.07828190e-04 4.76707897e+01] [ 1.33918435e-03 -2.82799526e-05 9.99999103e-01 3.48711880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.670281693 meters 0.026937571171335915 Centerline is valid? [True, True] Translation: X:162.89, Y:47.69, Z:0.35 [[ 7.87963222e-01 -6.15716433e-01 -2.68970717e-03 1.62888671e+02] [ 6.15713075e-01 7.87967811e-01 -2.03422267e-03 4.76940765e+01] [ 3.37190700e-03 -5.31952219e-05 9.99994314e-01 3.45867210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.700281693 meters 0.022530673798950615 Centerline is valid? [True, True] Translation: X:162.91, Y:47.72, Z:0.35 [[ 7.89773490e-01 -6.13391402e-01 -2.97027146e-03 1.62906520e+02] [ 6.13387287e-01 7.89779074e-01 -2.24720688e-03 4.77184166e+01] [ 3.72427562e-03 -4.71423352e-05 9.99993064e-01 3.45201387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.730281693 meters 0.019225566016922803 Centerline is valid? [True, True] Translation: X:162.92, Y:47.74, Z:0.34 [[ 7.93668384e-01 -6.08341602e-01 -3.31526971e-03 1.62922491e+02] [ 6.08336430e-01 7.93675308e-01 -2.50882784e-03 4.77428925e+01] [ 4.15747206e-03 -2.56220025e-05 9.99991357e-01 3.43703939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.760281693 meters 0.017983325262845896 Centerline is valid? [True, True] Translation: X:162.94, Y:47.77, Z:0.34 [[ 7.95087193e-01 -6.06485500e-01 -3.41963872e-03 1.62941857e+02] [ 6.06479977e-01 7.95094546e-01 -2.58841586e-03 4.77652686e+01] [ 4.28877279e-03 -1.59261109e-05 9.99990803e-01 3.44295405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.790281693 meters 0.017739479239638947 Centerline is valid? [True, True] Translation: X:162.96, Y:47.79, Z:0.34 [[ 7.96027868e-01 -6.05249858e-01 -3.49910632e-03 1.62961849e+02] [ 6.05244059e-01 7.96035558e-01 -2.64951943e-03 4.77855544e+01] [ 4.38903431e-03 -8.72200856e-06 9.99990368e-01 3.43630147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.820281693 meters 0.017688325626217038 Centerline is valid? [True, True] Translation: X:162.98, Y:47.81, Z:0.34 [[ 7.97028903e-01 -6.03930595e-01 -3.57272527e-03 1.62979147e+02] [ 6.03924533e-01 7.97036910e-01 -2.70603054e-03 4.78070210e+01] [ 4.48184855e-03 -8.71885668e-07 9.99989956e-01 3.42425781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.850281693 meters 0.017637131513869173 Centerline is valid? [True, True] Translation: X:163.00, Y:47.83, Z:0.34 [[ 7.97539560e-01 -6.03257057e-01 -3.40182175e-03 1.62999161e+02] [ 6.03251552e-01 7.97546815e-01 -2.57733678e-03 4.78276311e+01] [ 4.26790870e-03 3.37379458e-06 9.99990892e-01 3.43721162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.880281693 meters 0.017948225381238626 Centerline is valid? [True, True] Translation: X:163.02, Y:47.85, Z:0.34 [[ 7.98187466e-01 -6.02401103e-01 -3.11134356e-03 1.63017982e+02] [ 6.02396488e-01 7.98193530e-01 -2.35791523e-03 4.78481273e+01] [ 3.90386504e-03 7.79594595e-06 9.99992380e-01 3.43668819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.910281693 meters 0.018472842246570354 Centerline is valid? [True, True] Translation: X:163.04, Y:47.87, Z:0.35 [[ 7.99529207e-01 -6.00623224e-01 -2.18852361e-03 1.63036063e+02] [ 6.00620933e-01 7.99532203e-01 -1.65888521e-03 4.78717119e+01] [ 2.74616009e-03 1.18540862e-05 9.99996229e-01 3.46750870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940281693 meters 0.018838461659161667 Centerline is valid? [True, True] Translation: X:163.06, Y:47.89, Z:0.35 [[ 8.00034593e-01 -5.99951083e-01 -1.82986742e-03 1.63055301e+02] [ 5.99949479e-01 8.00036685e-01 -1.38742312e-03 4.78920636e+01] [ 2.29634707e-03 1.21584806e-05 9.99997363e-01 3.48287216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970281693 meters 0.019492505613597014 Centerline is valid? [True, True] Translation: X:163.07, Y:47.92, Z:0.35 [[ 8.00684675e-01 -5.99082239e-01 -2.12671136e-03 1.63073720e+02] [ 5.99080067e-01 8.00687499e-01 -1.61314775e-03 4.79151309e+01] [ 2.66923937e-03 1.75522976e-05 9.99996437e-01 3.47778472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000281693 meters 0.019735524093470236 Centerline is valid? [True, True] Translation: X:163.09, Y:47.93, Z:0.34 [[ 8.00746923e-01 -5.98994618e-01 -3.13252491e-03 1.63093504e+02] [ 5.98989903e-01 8.00753050e-01 -2.37689533e-03 4.79330814e+01] [ 3.93212639e-03 2.69408328e-05 9.99992269e-01 3.44868522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030281693 meters 0.019562538526074764 Centerline is valid? [True, True] Translation: X:163.12, Y:47.95, Z:0.34 [[ 8.00453980e-01 -5.99383436e-01 -3.59462348e-03 1.63115831e+02] [ 5.99377227e-01 8.00462051e-01 -2.72837375e-03 4.79503920e+01] [ 4.51270172e-03 2.94021758e-05 9.99989817e-01 3.42654169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060281693 meters 0.018671141615662135 Centerline is valid? [True, True] Translation: X:163.14, Y:47.97, Z:0.34 [[ 7.99412754e-01 -6.00773872e-01 -3.16300543e-03 1.63139316e+02] [ 6.00769072e-01 7.99419011e-01 -2.40153889e-03 4.79662915e+01] [ 3.97134849e-03 1.95849817e-05 9.99992114e-01 3.44045926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090281693 meters 0.018136078395741738 Centerline is valid? [True, True] Translation: X:163.16, Y:47.98, Z:0.34 [[ 7.98635848e-01 -6.01806938e-01 -3.03194805e-03 1.63161919e+02] [ 6.01802532e-01 7.98641603e-01 -2.30279743e-03 4.79821409e+01] [ 3.80727932e-03 1.44625628e-05 9.99992752e-01 3.44984654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120281693 meters 0.017599724948632493 Centerline is valid? [True, True] Translation: X:163.18, Y:48.00, Z:0.35 [[ 7.97578482e-01 -6.03207860e-01 -2.97384054e-03 1.63184348e+02] [ 6.03203629e-01 7.97584026e-01 -2.25927338e-03 4.79974404e+01] [ 3.73469917e-03 8.11642483e-06 9.99993026e-01 3.46220981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150281693 meters 0.01760448914694096 Centerline is valid? [True, True] Translation: X:163.20, Y:48.01, Z:0.35 [[ 7.97427360e-01 -6.03408427e-01 -2.80650631e-03 1.63204965e+02] [ 6.03404658e-01 7.97432298e-01 -2.13264214e-03 4.80142368e+01] [ 3.52485302e-03 7.16820588e-06 9.99993788e-01 3.47968314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180281693 meters 0.017361594158506244 Centerline is valid? [True, True] Translation: X:163.23, Y:48.03, Z:0.35 [[ 7.97386236e-01 -6.03465283e-01 -2.20061898e-03 1.63226658e+02] [ 6.03462965e-01 7.97389272e-01 -1.67270434e-03 4.80325920e+01] [ 2.76416897e-03 5.79936390e-06 9.99996180e-01 3.49359585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21028169299998 meters 0.01717719463181548 Centerline is valid? [True, True] Translation: X:163.25, Y:48.05, Z:0.35 [[ 7.96774739e-01 -6.04275582e-01 -1.01769150e-03 1.63248108e+02] [ 6.04275087e-01 7.96775389e-01 -7.73615565e-04 4.80496094e+01] [ 1.27834854e-03 1.43171864e-06 9.99999183e-01 3.52846026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.240281693 meters 0.01705361539014721 Centerline is valid? [True, True] Translation: X:163.27, Y:48.07, Z:0.35 [[ 7.95780359e-01 -6.05584477e-01 -1.03066910e-03 1.63271594e+02] [ 6.05583969e-01 7.95781026e-01 -7.83721354e-04 4.80653506e+01] [ 1.29479640e-03 -4.86626733e-07 9.99999162e-01 3.52671479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.270281693 meters 0.017137056291503285 Centerline is valid? [True, True] Translation: X:163.30, Y:48.08, Z:0.35 [[ 7.94794225e-01 -6.06877404e-01 -1.39881030e-03 1.63295576e+02] [ 6.06876471e-01 7.94795455e-01 -1.06418170e-03 4.80801097e+01] [ 1.75759590e-03 -3.09959012e-06 9.99998455e-01 3.51385665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.300281693 meters 0.017137056291503285 Centerline is valid? [True, True] Translation: X:163.32, Y:48.10, Z:0.35 [[ 7.94691463e-01 -6.07011962e-01 -1.39863006e-03 1.63317305e+02] [ 6.07011029e-01 7.94692694e-01 -1.06441854e-03 4.80969131e+01] [ 1.75759587e-03 -3.09954007e-06 9.99998455e-01 3.51440354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.330281693 meters 0.017689790377268817 Centerline is valid? [True, True] Translation: X:163.34, Y:48.11, Z:0.35 [[ 7.93150674e-01 -6.09020416e-01 -2.47814764e-03 1.63342944e+02] [ 6.09017493e-01 7.93154545e-01 -1.88694906e-03 4.81102938e+01] [ 3.11474457e-03 -1.26003476e-05 9.99995149e-01 3.49146544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.360281693 meters 0.018138834693628213 Centerline is valid? [True, True] Translation: X:163.37, Y:48.13, Z:0.35 [[ 7.92572518e-01 -6.09773931e-01 -2.13452996e-03 1.63366127e+02] [ 6.09771764e-01 7.92575392e-01 -1.62572995e-03 4.81251258e+01] [ 2.68310366e-03 -1.30672189e-05 9.99996400e-01 3.49843795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.390281693 meters 0.01991142793682954 Centerline is valid? [True, True] Translation: X:163.39, Y:48.14, Z:0.35 [[ 7.90665827e-01 -6.12247094e-01 -1.02325428e-03 1.63391913e+02] [ 6.12246598e-01 7.90666489e-01 -7.79390072e-04 4.81368503e+01] [ 1.28623218e-03 -1.02468563e-05 9.99999173e-01 3.52118580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.420281693 meters 0.021630330246114313 Centerline is valid? [True, True] Translation: X:163.42, Y:48.15, Z:0.35 [[ 7.89283846e-01 -6.14028042e-01 -7.57308658e-04 1.63417373e+02] [ 6.14027771e-01 7.89284210e-01 -5.76794753e-04 4.81502897e+01] [ 9.51899918e-04 -9.75376612e-06 9.99999547e-01 3.52210240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.450281693 meters 0.023687747770885774 Centerline is valid? [True, True] Translation: X:163.44, Y:48.16, Z:0.35 [[ 7.88039953e-01 -6.15622920e-01 -1.20569509e-03 1.63442668e+02] [ 6.15622234e-01 7.88040875e-01 -9.18831142e-04 4.81627942e+01] [ 1.51579052e-03 -1.81770547e-05 9.99998851e-01 3.51254053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.480281693 meters 0.024017820173111167 Centerline is valid? [True, True] Translation: X:163.47, Y:48.18, Z:0.35 [[ 7.86487174e-01 -6.17602592e-01 -2.22789098e-03 1.63466344e+02] [ 6.17600258e-01 7.86490328e-01 -1.69826072e-03 4.81785939e+01] [ 2.80106493e-03 -4.02857691e-05 9.99996076e-01 3.49079978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.510281693 meters 0.027831244207073044 Centerline is valid? [True, True] Translation: X:163.49, Y:48.19, Z:0.35 [[ 7.85686497e-01 -6.18618249e-01 -2.86191180e-03 1.63492605e+02] [ 6.18614403e-01 7.85691707e-01 -2.18190996e-03 4.81893844e+01] [ 3.59834968e-03 -5.61226698e-05 9.99993524e-01 3.47378310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.540281693 meters 0.026830491867976113 Centerline is valid? [True, True] Translation: X:163.52, Y:48.20, Z:0.35 [[ 7.84578702e-01 -6.20019357e-01 -3.50110997e-03 1.63517039e+02] [ 6.20013613e-01 7.84586510e-01 -2.66996343e-03 4.82049690e+01] [ 4.40235266e-03 -7.59393976e-05 9.99990307e-01 3.46891395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.570281693 meters 0.026828265381287894 Centerline is valid? [True, True] Translation: X:163.54, Y:48.22, Z:0.35 [[ 7.84280228e-01 -6.20397013e-01 -3.47437210e-03 1.63539691e+02] [ 6.20391356e-01 7.84287920e-01 -2.65044548e-03 4.82205827e+01] [ 4.36923652e-03 -7.67784370e-05 9.99990452e-01 3.47947077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.600281693 meters 0.0306981820665903 Centerline is valid? [True, True] Translation: X:163.57, Y:48.23, Z:0.35 [[ 7.84040323e-01 -6.20701849e-01 -3.16026446e-03 1.63565397e+02] [ 6.20697168e-01 7.84046689e-01 -2.41159854e-03 4.82312920e+01] [ 3.97467856e-03 -7.07767034e-05 9.99992098e-01 3.48411323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.630281693 meters 0.02577883938225351 Centerline is valid? [True, True] Translation: X:163.58, Y:48.25, Z:0.35 [[ 7.84410325e-01 -6.20237061e-01 -2.53578505e-03 1.63584800e+02] [ 6.20234043e-01 7.84414422e-01 -1.93560406e-03 4.82541649e+01] [ 3.18963974e-03 -5.44724024e-05 9.99994912e-01 3.50624584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.660281693 meters 0.02872037162558474 Centerline is valid? [True, True] Translation: X:163.61, Y:48.27, Z:0.35 [[ 7.85097294e-01 -6.19366297e-01 -2.76208339e-03 1.63610431e+02] [ 6.19362709e-01 7.85102151e-01 -2.10891912e-03 4.82670804e+01] [ 3.47471103e-03 -5.50247603e-05 9.99993962e-01 3.49667694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690281693 meters 0.024382150575155626 Centerline is valid? [True, True] Translation: X:163.63, Y:48.29, Z:0.35 [[ 7.85718041e-01 -6.18574172e-01 -3.62674742e-03 1.63628371e+02] [ 6.18567974e-01 7.85726408e-01 -2.76997865e-03 4.82902551e+01] [ 4.56306848e-03 -6.69676058e-05 9.99989587e-01 3.47842578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720281693 meters 0.026403006523967848 Centerline is valid? [True, True] Translation: X:163.65, Y:48.31, Z:0.34 [[ 7.86464060e-01 -6.17616178e-01 -4.95367316e-03 1.63651209e+02] [ 6.17604587e-01 7.86479657e-01 -3.78464429e-03 4.83053297e+01] [ 6.23342070e-03 -8.29245540e-05 9.99980569e-01 3.42417634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750281693 meters 0.02606460899420691 Centerline is valid? [True, True] Translation: X:163.67, Y:48.32, Z:0.34 [[ 7.86508253e-01 -6.17560775e-01 -4.84320113e-03 1.63672686e+02] [ 6.17549688e-01 7.86523161e-01 -3.70137844e-03 4.83230942e+01] [ 6.09511600e-03 -7.97526581e-05 9.99981421e-01 3.43354761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780281693 meters 0.022512731195082597 Centerline is valid? [True, True] Translation: X:163.69, Y:48.35, Z:0.35 [[ 7.87286564e-01 -6.16574439e-01 -3.97823566e-03 1.63690938e+02] [ 6.16566941e-01 7.87296613e-01 -3.04126302e-03 4.83463853e+01] [ 5.00721651e-03 -5.85030790e-05 9.99987462e-01 3.47516423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810281693 meters 0.021606794695981462 Centerline is valid? [True, True] Translation: X:163.71, Y:48.37, Z:0.35 [[ 7.87846325e-01 -6.15860068e-01 -3.81366206e-03 1.63711743e+02] [ 6.15853165e-01 7.87855554e-01 -2.91641494e-03 4.83653044e+01] [ 4.80071834e-03 -5.09690599e-05 9.99988475e-01 3.48511629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840281693 meters 0.021108850710799123 Centerline is valid? [True, True] Translation: X:163.73, Y:48.38, Z:0.35 [[ 7.88026786e-01 -6.15627500e-01 -4.07018636e-03 1.63733166e+02] [ 6.15619628e-01 7.88037295e-01 -3.11371959e-03 4.83831696e+01] [ 5.12435005e-03 -5.19921710e-05 9.99986869e-01 3.48406600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870281693 meters 0.021390907228752865 Centerline is valid? [True, True] Translation: X:163.76, Y:48.40, Z:0.35 [[ 7.87850805e-01 -6.15849904e-01 -4.47254495e-03 1.63755159e+02] [ 6.15840396e-01 7.87863498e-01 -3.42272790e-03 4.83989794e+01] [ 5.63164156e-03 -5.77749168e-05 9.99984141e-01 3.47174080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900281693 meters 0.022303625445883254 Centerline is valid? [True, True] Translation: X:163.78, Y:48.41, Z:0.35 [[ 7.86988627e-01 -6.16951461e-01 -4.44926313e-03 1.63779773e+02] [ 6.16942062e-01 7.87001201e-01 -3.40600088e-03 4.84149375e+01] [ 5.60291265e-03 -6.44536134e-05 9.99984301e-01 3.47063227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930281693 meters 0.022195784029313274 Centerline is valid? [True, True] Translation: X:163.80, Y:48.43, Z:0.35 [[ 7.86677005e-01 -6.17355747e-01 -3.34219818e-03 1.63802003e+02] [ 6.17350444e-01 7.86684104e-01 -2.55929759e-03 4.84316657e+01] [ 4.20925125e-03 -4.99669628e-05 9.99991140e-01 3.48753812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96028169299998 meters 0.025594153583419658 Centerline is valid? [True, True] Translation: X:163.83, Y:48.44, Z:0.35 [[ 7.86331915e-01 -6.17793400e-01 -3.66517106e-03 1.63827044e+02] [ 6.17787023e-01 7.86340455e-01 -2.80761666e-03 4.84437444e+01] [ 4.61659932e-03 -5.65765373e-05 9.99989342e-01 3.47253643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.990281693 meters 0.02182915948003056 Centerline is valid? [True, True] Translation: X:163.85, Y:48.47, Z:0.35 [[ 7.85880120e-01 -6.18365641e-01 -4.04614764e-03 1.63845903e+02] [ 6.18357871e-01 7.85890533e-01 -3.10052849e-03 4.84660510e+01] [ 5.09708942e-03 -6.53235387e-05 9.99987008e-01 3.48401673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.020281693 meters 0.02330353570200988 Centerline is valid? [True, True] Translation: X:163.87, Y:48.48, Z:0.35 [[ 7.85686371e-01 -6.18609885e-01 -4.32857270e-03 1.63869545e+02] [ 6.18600991e-01 7.85698291e-01 -3.31794033e-03 4.84792523e+01] [ 5.45346286e-03 -7.07988685e-05 9.99985127e-01 3.47176567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.050281693 meters 0.02541586015328437 Centerline is valid? [True, True] Translation: X:163.90, Y:48.49, Z:0.35 [[ 7.86438397e-01 -6.17652903e-01 -4.42027489e-03 1.63896342e+02] [ 6.17643608e-01 7.86450817e-01 -3.38906830e-03 4.84894720e+01] [ 5.56959667e-03 -6.48610901e-05 9.99984488e-01 3.45691456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.080281693 meters 0.021072851426006633 Centerline is valid? [True, True] Translation: X:163.92, Y:48.51, Z:0.35 [[ 7.86963848e-01 -6.16984095e-01 -4.30451385e-03 1.63915779e+02] [ 6.16975265e-01 7.86975618e-01 -3.30134689e-03 4.85109208e+01] [ 5.42442597e-03 -5.77379225e-05 9.99985286e-01 3.48868332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.110281693 meters 0.020195535746284406 Centerline is valid? [True, True] Translation: X:163.94, Y:48.53, Z:0.35 [[ 7.87774090e-01 -6.15953620e-01 -3.62234569e-03 1.63939817e+02] [ 6.15947353e-01 7.87782417e-01 -2.77890168e-03 4.85250122e+01] [ 4.56529479e-03 -4.20274924e-05 9.99989578e-01 3.51400594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.140281693 meters 0.01949845795311495 Centerline is valid? [True, True] Translation: X:163.96, Y:48.54, Z:0.35 [[ 7.88452381e-01 -6.15087242e-01 -3.24463936e-03 1.63962099e+02] [ 6.15082204e-01 7.88459056e-01 -2.48985284e-03 4.85413374e+01] [ 4.08974201e-03 -3.25895328e-05 9.99991636e-01 3.51938333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.170281693 meters 0.01735144356133561 Centerline is valid? [True, True] Translation: X:163.98, Y:48.56, Z:0.35 [[ 7.90391239e-01 -6.12593177e-01 -3.35985450e-03 1.63983650e+02] [ 6.12587748e-01 7.90398380e-01 -2.57915897e-03 4.85605487e+01] [ 4.23559875e-03 -1.96610478e-05 9.99991030e-01 3.53134277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.200281693 meters 0.01722132319966092 Centerline is valid? [True, True] Translation: X:164.01, Y:48.58, Z:0.35 [[ 7.91294280e-01 -6.11428788e-01 -2.86345837e-03 1.64006400e+02] [ 6.11424835e-01 7.91299461e-01 -2.19860950e-03 4.85753385e+01] [ 3.61014621e-03 -1.10424473e-05 9.99993483e-01 3.52991206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.230281693 meters 0.016481212436201185 Centerline is valid? [True, True] Translation: X:164.03, Y:48.59, Z:0.36 [[ 7.91938319e-01 -6.10596253e-01 -2.43193851e-03 1.64027760e+02] [ 6.10593396e-01 7.91942053e-01 -1.86769917e-03 4.85927444e+01] [ 3.06636449e-03 -5.82304835e-06 9.99995299e-01 3.55121574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.260281693 meters 0.01668251713969295 Centerline is valid? [True, True] Translation: X:164.05, Y:48.61, Z:0.35 [[ 7.92440760e-01 -6.09931981e-01 -4.54101902e-03 1.64052981e+02] [ 6.09922003e-01 7.92453771e-01 -3.48874465e-03 4.86057346e+01] [ 5.72644458e-03 -5.04396017e-06 9.99983604e-01 3.50268243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.290281693 meters 0.016956334748143596 Centerline is valid? [True, True] Translation: X:164.08, Y:48.62, Z:0.35 [[ 7.92415901e-01 -6.09954236e-01 -5.73319260e-03 1.64076184e+02] [ 6.09938322e-01 7.92436641e-01 -4.40603271e-03 4.86199188e+01] [ 7.23067020e-03 -5.48349073e-06 9.99973858e-01 3.47230681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.320281693 meters 0.01708704208326699 Centerline is valid? [True, True] Translation: X:164.10, Y:48.63, Z:0.35 [[ 7.92388353e-01 -6.09991440e-01 -5.58039669e-03 1.64101058e+02] [ 6.09976353e-01 7.92408003e-01 -4.29013938e-03 4.86329378e+01] [ 7.03889929e-03 -4.45354189e-06 9.99975227e-01 3.49079186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.350281693 meters 0.017070899579877757 Centerline is valid? [True, True] Translation: X:164.12, Y:48.65, Z:0.35 [[ 7.92717450e-01 -6.09566316e-01 -5.28689207e-03 1.64123041e+02] [ 6.09552757e-01 7.92735080e-01 -4.06563886e-03 4.86484910e+01] [ 6.66938131e-03 2.63228598e-07 9.99977759e-01 3.48747339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.380281693 meters 0.017076867551130356 Centerline is valid? [True, True] Translation: X:164.15, Y:48.67, Z:0.35 [[ 7.93284425e-01 -6.08828713e-01 -5.23633192e-03 1.64145899e+02] [ 6.08815388e-01 7.93301707e-01 -4.02806639e-03 4.86652171e+01] [ 6.60639353e-03 7.44287806e-06 9.99978178e-01 3.49381187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.410281693 meters 0.017371816619334814 Centerline is valid? [True, True] Translation: X:164.17, Y:48.68, Z:0.35 [[ 7.94093367e-01 -6.07767940e-01 -5.81849198e-03 1.64168123e+02] [ 6.07751447e-01 7.94114683e-01 -4.47755193e-03 4.86819834e+01] [ 7.34186243e-03 1.93973668e-05 9.99973048e-01 3.48200529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440281693 meters 0.018489395859240126 Centerline is valid? [True, True] Translation: X:164.19, Y:48.70, Z:0.35 [[ 7.95817745e-01 -6.05507786e-01 -5.86846916e-03 1.64189808e+02] [ 6.05490939e-01 7.95839381e-01 -4.51698663e-03 4.87001702e+01] [ 7.40542943e-03 4.13932078e-05 9.99972579e-01 3.47182979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470281693 meters 0.020279949198592058 Centerline is valid? [True, True] Translation: X:164.21, Y:48.72, Z:0.35 [[ 7.97634593e-01 -6.03119909e-01 -5.04293263e-03 1.64209748e+02] [ 6.03107415e-01 7.97650533e-01 -3.88258355e-03 4.87209559e+01] [ 6.36416134e-03 5.54528915e-05 9.99979747e-01 3.50021442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500281693 meters 0.022399566025338477 Centerline is valid? [True, True] Translation: X:164.23, Y:48.74, Z:0.35 [[ 7.98665439e-01 -6.01758447e-01 -4.50415155e-03 1.64229485e+02] [ 6.01748454e-01 7.98678138e-01 -3.46842286e-03 4.87401883e+01] [ 5.68452012e-03 5.97432337e-05 9.99983841e-01 3.51165860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530281693 meters 0.02548582466762145 Centerline is valid? [True, True] Translation: X:164.25, Y:48.76, Z:0.35 [[ 7.99808785e-01 -6.00240500e-01 -4.15321213e-03 1.64248820e+02] [ 6.00231980e-01 7.99819566e-01 -3.19868058e-03 4.87606626e+01] [ 5.24179796e-03 6.54420877e-05 9.99986260e-01 3.52034569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560281693 meters 0.02301532197941023 Centerline is valid? [True, True] Translation: X:164.27, Y:48.77, Z:0.35 [[ 8.00751077e-01 -5.98983474e-01 -4.06326809e-03 1.64274096e+02] [ 5.98975299e-01 8.00761383e-01 -3.13027677e-03 4.87744990e+01] [ 5.12869223e-03 7.27752787e-05 9.99986846e-01 3.53425753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590281693 meters 0.02688381123255221 Centerline is valid? [True, True] Translation: X:164.29, Y:48.80, Z:0.35 [[ 8.02488095e-01 -5.96657404e-01 -3.57758746e-03 1.64291897e+02] [ 5.96651041e-01 8.02496066e-01 -2.75667385e-03 4.87965038e+01] [ 4.51578973e-03 7.76266687e-05 9.99989801e-01 3.53446836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620281693 meters 0.027647613385723736 Centerline is valid? [True, True] Translation: X:164.31, Y:48.81, Z:0.36 [[ 8.02811679e-01 -5.96227441e-01 -2.49952322e-03 1.64312646e+02] [ 5.96224332e-01 8.02815568e-01 -1.92620198e-03 4.88145912e+01] [ 3.15511063e-03 5.61008861e-05 9.99995021e-01 3.55405316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650281693 meters 0.027344764775421464 Centerline is valid? [True, True] Translation: X:164.34, Y:48.83, Z:0.36 [[ 8.02798155e-01 -5.96250114e-01 -9.60517044e-04 1.64335321e+02] [ 5.96249656e-01 8.02798730e-01 -7.40099697e-04 4.88314329e+01] [ 1.21238639e-03 2.14427154e-05 9.99999265e-01 3.59361016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680281693 meters 0.028240943410058353 Centerline is valid? [True, True] Translation: X:164.36, Y:48.85, Z:0.36 [[ 8.03021027e-01 -5.95949047e-01 -1.40088759e-03 1.64357091e+02] [ 5.95948070e-01 8.03022249e-01 -1.08005529e-03 4.88492631e+01] [ 1.76860182e-03 3.24508536e-05 9.99998436e-01 3.59146184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71028169299998 meters 0.034323769500170416 Centerline is valid? [True, True] Translation: X:164.37, Y:48.87, Z:0.35 [[ 8.04692223e-01 -5.93679813e-01 -3.83486608e-03 1.64373043e+02] [ 5.93672456e-01 8.04701354e-01 -2.95737983e-03 4.88731491e+01] [ 4.84165863e-03 1.03126186e-04 9.99988274e-01 3.53482186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.740281693 meters 0.03721663084794713 Centerline is valid? [True, True] Translation: X:164.39, Y:48.89, Z:0.35 [[ 8.06059639e-01 -5.91815002e-01 -4.78136829e-03 1.64393059e+02] [ 5.91803526e-01 8.06073807e-01 -3.68826469e-03 4.88944143e+01] [ 6.03690612e-03 1.43330696e-04 9.99981767e-01 3.50805151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.770281693 meters 0.03463009708037319 Centerline is valid? [True, True] Translation: X:164.42, Y:48.91, Z:0.35 [[ 8.07480372e-01 -5.89874770e-01 -4.81705783e-03 1.64417213e+02] [ 5.89863083e-01 8.07494724e-01 -3.71660942e-03 4.89094746e+01] [ 6.08208292e-03 1.59684571e-04 9.99981491e-01 3.51674591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.800281693 meters 0.0461592475099909 Centerline is valid? [True, True] Translation: X:164.43, Y:48.94, Z:0.35 [[ 8.09645713e-01 -5.86907144e-01 -3.71793801e-03 1.64428806e+02] [ 5.86900147e-01 8.09654237e-01 -2.86931761e-03 4.89407323e+01] [ 4.69426727e-03 1.41072339e-04 9.99988972e-01 3.52756193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.830281693 meters 0.05021849456914869 Centerline is valid? [True, True] Translation: X:164.45, Y:48.96, Z:0.35 [[ 8.10208043e-01 -5.86128310e-01 -4.06586968e-03 1.64448097e+02] [ 5.86119928e-01 8.10218229e-01 -3.13886922e-03 4.89623985e+01] [ 5.13402185e-03 1.60049846e-04 9.99986808e-01 3.52228453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.860281693 meters 0.049235548001377215 Centerline is valid? [True, True] Translation: X:164.47, Y:48.98, Z:0.35 [[ 8.10600137e-01 -5.85581475e-01 -4.66419620e-03 1.64472116e+02] [ 5.85570429e-01 8.10613534e-01 -3.60165505e-03 4.89775272e+01] [ 5.88992304e-03 1.88286709e-04 9.99982637e-01 3.50257606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.890281693 meters 0.04993728199614486 Centerline is valid? [True, True] Translation: X:164.50, Y:48.99, Z:0.35 [[ 8.10807789e-01 -5.85293861e-01 -4.67166755e-03 1.64496887e+02] [ 5.85282770e-01 8.10821225e-01 -3.60837588e-03 4.89927828e+01] [ 5.89984746e-03 1.91452750e-04 9.99982577e-01 3.49455621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.920281693 meters 0.04335251697909635 Centerline is valid? [True, True] Translation: X:164.53, Y:49.00, Z:0.35 [[ 8.10636555e-01 -5.85540268e-01 -3.31217208e-03 1.64525663e+02] [ 5.85534692e-01 8.10643310e-01 -2.55899856e-03 4.90023574e+01] [ 4.18338684e-03 1.35026121e-04 9.99991240e-01 3.52741976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.950281693 meters 0.039745999829508286 Centerline is valid? [True, True] Translation: X:164.55, Y:49.02, Z:0.36 [[ 8.10493919e-01 -5.85743894e-01 -1.92300374e-03 1.64551008e+02] [ 5.85742014e-01 8.10496197e-01 -1.48605256e-03 4.90153080e+01] [ 2.42903342e-03 7.80524775e-05 9.99997047e-01 3.55984034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.980281693 meters 0.04443266633775707 Centerline is valid? [True, True] Translation: X:164.57, Y:49.04, Z:0.36 [[ 8.11034183e-01 -5.84998487e-01 -5.69370158e-04 1.64569249e+02] [ 5.84998322e-01 8.11034383e-01 -4.39995855e-04 4.90373733e+01] [ 7.19175685e-04 2.37710920e-05 9.99999741e-01 3.59724091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.010281693 meters 0.04210502370652814 Centerline is valid? [True, True] Translation: X:164.59, Y:49.05, Z:0.36 [[ 8.11601853e-01 -5.84209910e-01 -1.10155834e-03 1.64594267e+02] [ 5.84209291e-01 8.11602599e-01 -8.51558056e-04 4.90520610e+01] [ 1.39151627e-03 4.75854801e-05 9.99999031e-01 3.58160346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.040281693 meters 0.046177780899660736 Centerline is valid? [True, True] Translation: X:164.61, Y:49.07, Z:0.35 [[ 8.13042361e-01 -5.82189603e-01 -4.16967022e-03 1.64613971e+02] [ 5.82180701e-01 8.13053029e-01 -3.22531803e-03 4.90716038e+01] [ 5.26790963e-03 1.94818656e-04 9.99986105e-01 3.51688480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.070281693 meters 0.0482260943366222 Centerline is valid? [True, True] Translation: X:164.64, Y:49.09, Z:0.35 [[ 8.13997144e-01 -5.80843112e-01 -5.47062237e-03 1.64635426e+02] [ 5.80827751e-01 8.14015483e-01 -4.23282567e-03 4.90907174e+01] [ 6.91177895e-03 2.68018722e-04 9.99976077e-01 3.49149921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.100281693 meters 0.05028866687957116 Centerline is valid? [True, True] Translation: X:164.66, Y:49.11, Z:0.35 [[ 8.14921740e-01 -5.79545104e-01 -5.48002242e-03 1.64656843e+02] [ 5.79529651e-01 8.14940117e-01 -4.24142645e-03 4.91106910e+01] [ 6.92398804e-03 2.80595139e-04 9.99975990e-01 3.48864021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.130281693 meters 0.051427234298776686 Centerline is valid? [True, True] Translation: X:164.68, Y:49.13, Z:0.35 [[ 8.16597290e-01 -5.77196897e-01 -3.55071229e-03 1.64678988e+02] [ 5.77190384e-01 8.16604986e-01 -2.74894081e-03 4.91297507e+01] [ 4.48620947e-03 1.95340623e-04 9.99989918e-01 3.54112958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.160281693 meters 0.05995275063819 Centerline is valid? [True, True] Translation: X:164.69, Y:49.16, Z:0.36 [[ 8.17258501e-01 -5.76265628e-01 -2.54326566e-03 1.64693635e+02] [ 5.76262281e-01 8.17262445e-01 -1.96936033e-03 4.91565359e+01] [ 3.21339019e-03 1.43888401e-04 9.99994827e-01 3.55813706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190281693 meters 0.05995275063819 Centerline is valid? [True, True] Translation: X:164.72, Y:49.17, Z:0.36 [[ 8.17159319e-01 -5.76406264e-01 -2.54306577e-03 1.64715249e+02] [ 5.76402916e-01 8.17163263e-01 -1.96961843e-03 4.91735333e+01] [ 3.21340032e-03 1.43661524e-04 9.99994827e-01 3.55868430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220281693 meters 0.05769572317916415 Centerline is valid? [True, True] Translation: X:164.74, Y:49.19, Z:0.36 [[ 8.17870509e-01 -5.75400666e-01 -1.37990701e-03 1.64738951e+02] [ 5.75399679e-01 8.17871669e-01 -1.06893304e-03 4.91905488e+01] [ 1.74365163e-03 8.02507622e-05 9.99998477e-01 3.59098443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250281693 meters 0.059489954036772846 Centerline is valid? [True, True] Translation: X:164.76, Y:49.21, Z:0.36 [[ 8.17937817e-01 -5.75305323e-01 -1.23008343e-03 1.64758873e+02] [ 5.75304538e-01 8.17938739e-01 -9.53173490e-04 4.92105334e+01] [ 1.55449867e-03 7.19640655e-05 9.99998789e-01 3.59239730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280281693 meters 0.05931218483876633 Centerline is valid? [True, True] Translation: X:164.78, Y:49.23, Z:0.36 [[ 8.17610243e-01 -5.75766127e-01 -2.61871258e-03 1.64780457e+02] [ 5.75762569e-01 8.17614423e-01 -2.02990151e-03 4.92303647e+01] [ 3.30984571e-03 1.51911588e-04 9.99994511e-01 3.55805128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310281693 meters 0.058388047817459786 Centerline is valid? [True, True] Translation: X:164.80, Y:49.25, Z:0.35 [[ 8.17112786e-01 -5.76469807e-01 -3.04233232e-03 1.64803422e+02] [ 5.76465007e-01 8.17118432e-01 -2.35905625e-03 4.92486136e+01] [ 3.84587052e-03 1.73816906e-04 9.99992590e-01 3.54287086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340281693 meters 0.053035930936372655 Centerline is valid? [True, True] Translation: X:164.83, Y:49.26, Z:0.35 [[ 8.16552350e-01 -5.77262816e-01 -3.14648407e-03 1.64829487e+02] [ 5.77257684e-01 8.16558393e-01 -2.44059431e-03 4.92616424e+01] [ 3.97815232e-03 1.76540917e-04 9.99992072e-01 3.54557265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370281693 meters 0.05069334623919668 Centerline is valid? [True, True] Translation: X:164.85, Y:49.28, Z:0.36 [[ 8.14967804e-01 -5.79502267e-01 -2.14473628e-03 1.64852254e+02] [ 5.79499890e-01 8.14970619e-01 -1.66391161e-03 4.92772532e+01] [ 2.71213760e-03 1.13159957e-04 9.99996316e-01 3.57776200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400281693 meters 0.05204194110296307 Centerline is valid? [True, True] Translation: X:164.87, Y:49.30, Z:0.36 [[ 8.14048399e-01 -5.80792092e-01 -2.39793596e-03 1.64873309e+02] [ 5.80789124e-01 8.14051922e-01 -1.86072394e-03 4.92960053e+01] [ 3.03273812e-03 1.22024225e-04 9.99995394e-01 3.57870795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430281693 meters 0.05101711222682924 Centerline is valid? [True, True] Translation: X:164.90, Y:49.31, Z:0.36 [[ 8.12184099e-01 -5.83397454e-01 -2.09751977e-03 1.64896899e+02] [ 5.83395190e-01 8.12186802e-01 -1.62807953e-03 4.93106971e+01] [ 2.65339533e-03 9.86173635e-05 9.99996475e-01 3.57412664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46028169299998 meters 0.048322728223829325 Centerline is valid? [True, True] Translation: X:164.92, Y:49.32, Z:0.36 [[ 8.10745920e-01 -5.85394646e-01 -2.03995118e-03 1.64922097e+02] [ 5.85392511e-01 8.10748481e-01 -1.58385566e-03 4.93248556e+01] [ 2.58106794e-03 8.99323753e-05 9.99996665e-01 3.57114659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.490281693 meters 0.04640709166423298 Centerline is valid? [True, True] Translation: X:164.95, Y:49.34, Z:0.36 [[ 8.09269927e-01 -5.87435206e-01 -1.43670133e-03 1.64946096e+02] [ 5.87434150e-01 8.09271200e-01 -1.11572020e-03 4.93393221e+01] [ 1.81809434e-03 5.89513806e-05 9.99998346e-01 3.58456543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.520281693 meters 0.042341514651692516 Centerline is valid? [True, True] Translation: X:164.97, Y:49.35, Z:0.36 [[ 8.07297620e-01 -5.90143135e-01 -1.27784685e-03 1.64973245e+02] [ 5.90142302e-01 8.07298630e-01 -9.92622665e-04 4.93503047e+01] [ 1.61739347e-03 4.72304311e-05 9.99998691e-01 3.59525185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.550281693 meters 0.04207226333291428 Centerline is valid? [True, True] Translation: X:165.00, Y:49.37, Z:0.36 [[ 8.06866505e-01 -5.90732677e-01 -1.16110298e-03 1.64995903e+02] [ 5.90731989e-01 8.06867339e-01 -9.02223018e-04 4.93652875e+01] [ 1.46982869e-03 4.20728581e-05 9.99998919e-01 3.59904536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.580281693 meters 0.035665169297596215 Centerline is valid? [True, True] Translation: X:165.03, Y:49.37, Z:0.36 [[ 8.07293325e-01 -5.90147545e-01 -1.83381192e-03 1.65025672e+02] [ 5.90145827e-01 8.07295405e-01 -1.42551439e-03 4.93734539e+01] [ 2.32169176e-03 6.85917945e-05 9.99997303e-01 3.58655678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.610281693 meters 0.04503244987218684 Centerline is valid? [True, True] Translation: X:165.04, Y:49.40, Z:0.36 [[ 8.07926872e-01 -5.89278413e-01 -2.26318840e-03 1.65040405e+02] [ 5.89275792e-01 8.07930037e-01 -1.75988009e-03 4.94005121e+01] [ 2.86555723e-03 8.82122751e-05 9.99995890e-01 3.57055756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.640281693 meters 0.04667377793312226 Centerline is valid? [True, True] Translation: X:165.06, Y:49.42, Z:0.36 [[ 8.08500410e-01 -5.88490437e-01 -2.46823105e-03 1.65060817e+02] [ 5.88487315e-01 8.08504172e-01 -1.91964325e-03 4.94193934e+01] [ 3.12526679e-03 9.95096958e-05 9.99995111e-01 3.57092382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.670281693 meters 0.049783246994473514 Centerline is valid? [True, True] Translation: X:165.08, Y:49.44, Z:0.36 [[ 8.09680254e-01 -5.86867478e-01 -2.10925547e-03 1.65079657e+02] [ 5.86865192e-01 8.09682996e-01 -1.64082075e-03 4.94409966e+01] [ 2.67077262e-03 9.06915467e-05 9.99996429e-01 3.58628062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.700281693 meters 0.05098920984889459 Centerline is valid? [True, True] Translation: X:165.10, Y:49.46, Z:0.36 [[ 8.10063111e-01 -5.86340565e-01 -1.58050987e-03 1.65101162e+02] [ 5.86339279e-01 8.10064650e-01 -1.22979976e-03 4.94604828e+01] [ 2.00139666e-03 6.95004046e-05 9.99997995e-01 3.59695930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.730281693 meters 0.052206109293622974 Centerline is valid? [True, True] Translation: X:165.12, Y:49.48, Z:0.36 [[ 8.10335964e-01 -5.85965016e-01 -7.91115337e-04 1.65121527e+02] [ 5.85964693e-01 8.10336349e-01 -6.15675471e-04 4.94788705e+01] [ 1.00183380e-03 3.53383212e-05 9.99999498e-01 3.61149512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.760281693 meters 0.05207824191767622 Centerline is valid? [True, True] Translation: X:165.14, Y:49.50, Z:0.36 [[ 8.09994253e-01 -5.86437364e-01 -7.26541503e-04 1.65142913e+02] [ 5.86437092e-01 8.09994578e-01 -5.65348423e-04 4.94966003e+01] [ 9.20036117e-04 3.18580874e-05 9.99999576e-01 3.61588831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.790281693 meters 0.03995484273995023 Centerline is valid? [True, True] Translation: X:165.17, Y:49.50, Z:0.36 [[ 8.09525424e-01 -5.87084586e-01 -5.25201252e-04 1.65174769e+02] [ 5.87084445e-01 8.09525594e-01 -4.08690843e-04 4.95025931e+01] [ 6.65099950e-04 2.25081425e-05 9.99999779e-01 3.61238618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.820281693 meters 0.0400829295099764 Centerline is valid? [True, True] Translation: X:165.19, Y:49.52, Z:0.36 [[ 8.08763443e-01 -5.88132950e-01 -1.15192940e-03 1.65194388e+02] [ 5.88132267e-01 8.08764262e-01 -8.97267734e-04 4.95232327e+01] [ 1.45935205e-03 4.81904944e-05 9.99998934e-01 3.59750085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.850281693 meters 0.04080065050464738 Centerline is valid? [True, True] Translation: X:165.21, Y:49.54, Z:0.36 [[ 8.08383821e-01 -5.88653112e-01 -1.76397861e-03 1.65214672e+02] [ 5.88651512e-01 8.08385743e-01 -1.37425565e-03 4.95430536e+01] [ 2.23493503e-03 7.25573610e-05 9.99997500e-01 3.58954776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.880281693 meters 0.0502444943067633 Centerline is valid? [True, True] Translation: X:165.22, Y:49.57, Z:0.36 [[ 8.08254027e-01 -5.88826140e-01 -3.03384037e-03 1.65224818e+02] [ 5.88821408e-01 8.08259711e-01 -2.36404641e-03 4.95740845e+01] [ 3.84414327e-03 1.24359869e-04 9.99992604e-01 3.55811088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.910281693 meters 0.042787605051769276 Centerline is valid? [True, True] Translation: X:165.25, Y:49.59, Z:0.36 [[ 8.08190653e-01 -5.88911115e-01 -3.40101041e-03 1.65250094e+02] [ 5.88905165e-01 8.08197797e-01 -2.65096162e-03 4.95865622e+01] [ 4.30986989e-03 1.39609808e-04 9.99990703e-01 3.56207116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940281693 meters 0.039990191313252765 Centerline is valid? [True, True] Translation: X:165.27, Y:49.60, Z:0.36 [[ 8.08032177e-01 -5.89127920e-01 -3.50634156e-03 1.65271598e+02] [ 5.89121593e-01 8.08039772e-01 -2.73411249e-03 4.96041178e+01] [ 4.44400544e-03 1.43589336e-04 9.99990115e-01 3.56257020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970281693 meters 0.0404164743432116 Centerline is valid? [True, True] Translation: X:165.29, Y:49.63, Z:0.36 [[ 8.07765983e-01 -5.89493779e-01 -3.34669160e-03 1.65287924e+02] [ 5.89488016e-01 8.07772905e-01 -2.61023966e-03 4.96287568e+01] [ 4.24208683e-03 1.35628212e-04 9.99990993e-01 3.56305802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000281693 meters 0.03910902920569923 Centerline is valid? [True, True] Translation: X:165.31, Y:49.65, Z:0.36 [[ 8.07043524e-01 -5.90484215e-01 -3.02350779e-03 1.65308422e+02] [ 5.90479516e-01 8.07049179e-01 -2.35868613e-03 4.96487535e+01] [ 3.83288641e-03 1.18242956e-04 9.99992647e-01 3.55943138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030281693 meters 0.037567622643606 Centerline is valid? [True, True] Translation: X:165.33, Y:49.67, Z:0.35 [[ 8.04757136e-01 -5.93594811e-01 -3.33966565e-03 1.65325270e+02] [ 5.93589100e-01 8.04764057e-01 -2.60625950e-03 4.96727434e+01] [ 4.23470499e-03 1.15016803e-04 9.99991027e-01 3.54190399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060281693 meters 0.032785464319362904 Centerline is valid? [True, True] Translation: X:165.35, Y:49.69, Z:0.36 [[ 8.03006463e-01 -5.95962145e-01 -3.12121326e-03 1.65349358e+02] [ 5.95957171e-01 8.03012523e-01 -2.43658337e-03 4.96887063e+01] [ 3.95848479e-03 9.64827646e-05 9.99992161e-01 3.55248649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090281693 meters 0.02980573893792096 Centerline is valid? [True, True] Translation: X:165.37, Y:49.70, Z:0.36 [[ 8.01093146e-01 -5.98532890e-01 -2.85501247e-03 1.65372216e+02] [ 5.98528743e-01 8.01098230e-01 -2.22926717e-03 4.97048872e+01] [ 3.62143515e-03 7.70436257e-05 9.99993440e-01 3.55716222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120281693 meters 0.022717906548523514 Centerline is valid? [True, True] Translation: X:165.40, Y:49.72, Z:0.36 [[ 7.96505166e-01 -6.04624790e-01 -2.89568933e-03 1.65398281e+02] [ 6.04620562e-01 7.96510428e-01 -2.26148264e-03 4.97167265e+01] [ 3.67379521e-03 5.04892985e-05 9.99993250e-01 3.56197915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150281693 meters 0.019597552049392907 Centerline is valid? [True, True] Translation: X:165.42, Y:49.73, Z:0.36 [[ 7.94294194e-01 -6.07528393e-01 -2.44635568e-03 1.65422829e+02] [ 6.07525388e-01 7.94297961e-01 -1.91109423e-03 4.97316631e+01] [ 3.10417934e-03 3.17478675e-05 9.99995182e-01 3.57525579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180281693 meters 0.016506521992742322 Centerline is valid? [True, True] Translation: X:165.45, Y:49.75, Z:0.36 [[ 7.91343239e-01 -6.11371446e-01 -9.13229862e-04 1.65446921e+02] [ 6.11371029e-01 7.91343766e-01 -7.13507351e-04 4.97454217e+01] [ 1.15889678e-03 6.30693717e-06 9.99999328e-01 3.61415773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21028169299998 meters 0.015582970406398925 Centerline is valid? [True, True] Translation: X:165.47, Y:49.76, Z:0.36 [[ 7.89937312e-01 -6.13187396e-01 -5.09810448e-04 1.65471260e+02] [ 6.13187267e-01 7.89937477e-01 -3.98125000e-04 4.97607677e+01] [ 6.46843612e-04 1.88451727e-06 9.99999791e-01 3.61973805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.240281693 meters 0.014996995995624587 Centerline is valid? [True, True] Translation: X:165.50, Y:49.77, Z:0.36 [[ 7.87231178e-01 -6.16657709e-01 -5.84416616e-04 1.65496571e+02] [ 6.16657540e-01 7.87231395e-01 -4.56708192e-04 4.97715179e+01] [ 7.41703735e-04 -8.49983998e-07 9.99999725e-01 3.61424192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.270281693 meters 0.015399432002515114 Centerline is valid? [True, True] Translation: X:165.52, Y:49.79, Z:0.36 [[ 7.85781021e-01 -6.18504266e-01 -8.12369860e-04 1.65520491e+02] [ 6.18503940e-01 7.85781441e-01 -6.34957194e-04 4.97854170e+01] [ 1.03106889e-03 -3.51664740e-06 9.99999468e-01 3.61369729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.300281693 meters 0.016051917275879776 Centerline is valid? [True, True] Translation: X:165.54, Y:49.80, Z:0.36 [[ 7.84625804e-01 -6.19969093e-01 -8.19607587e-04 1.65544550e+02] [ 6.19968761e-01 7.84626232e-01 -6.40819154e-04 4.98001408e+01] [ 1.04037368e-03 -5.32785637e-06 9.99999459e-01 3.60661894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.330281693 meters 0.017578392515468045 Centerline is valid? [True, True] Translation: X:165.57, Y:49.81, Z:0.36 [[ 7.82882683e-01 -6.22168523e-01 -1.01608513e-03 1.65570965e+02] [ 6.22168016e-01 7.82883343e-01 -7.94913249e-04 4.98119810e+01] [ 1.29004613e-03 -9.85185227e-06 9.99999168e-01 3.59925692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.360281693 meters 0.018976045455611323 Centerline is valid? [True, True] Translation: X:165.60, Y:49.83, Z:0.36 [[ 7.81608008e-01 -6.23769422e-01 -7.93257158e-04 1.65596195e+02] [ 6.23769114e-01 7.81608411e-01 -6.20557387e-04 4.98269157e+01] [ 1.00710119e-03 -9.77669130e-06 9.99999493e-01 3.60740520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.390281693 meters 0.02311163783564509 Centerline is valid? [True, True] Translation: X:165.62, Y:49.84, Z:0.36 [[ 7.78550432e-01 -6.27582046e-01 -3.21863381e-05 1.65624351e+02] [ 6.27582045e-01 7.78550433e-01 -2.48134883e-05 4.98372676e+01] [ 4.06311871e-05 -8.81015863e-07 9.99999999e-01 3.61460205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.420281693 meters 0.025613151772795467 Centerline is valid? [True, True] Translation: X:165.65, Y:49.85, Z:0.36 [[ 7.76863879e-01 -6.29668506e-01 -2.93851404e-04 1.65649441e+02] [ 6.29668464e-01 7.76863934e-01 -2.29847412e-04 4.98512739e+01] [ 3.73010234e-04 -6.46881054e-06 9.99999930e-01 3.60886026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.450281693 meters 0.027215171726703558 Centerline is valid? [True, True] Translation: X:165.67, Y:49.87, Z:0.36 [[ 7.75419806e-01 -6.31445538e-01 -8.10783278e-04 1.65674263e+02] [ 6.31445219e-01 7.75420230e-01 -6.34835819e-04 4.98664107e+01] [ 1.02956200e-03 -1.97009571e-05 9.99999470e-01 3.59891777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.480281693 meters 0.03310129448661662 Centerline is valid? [True, True] Translation: X:165.70, Y:49.87, Z:0.36 [[ 7.72879898e-01 -6.34546949e-01 -2.61396644e-03 1.65702947e+02] [ 6.34543648e-01 7.72884314e-01 -2.04825810e-03 4.98746375e+01] [ 3.32000959e-03 -7.56182936e-05 9.99994486e-01 3.55978268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.510281693 meters 0.03520126185205887 Centerline is valid? [True, True] Translation: X:165.73, Y:49.89, Z:0.35 [[ 7.71443197e-01 -6.36289247e-01 -3.37460677e-03 1.65727613e+02] [ 6.36283757e-01 7.71450571e-01 -2.64524186e-03 4.98889635e+01] [ 4.28648127e-03 -1.06553636e-04 9.99990807e-01 3.54619071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.540281693 meters 0.03937691296818166 Centerline is valid? [True, True] Translation: X:165.75, Y:49.90, Z:0.36 [[ 7.69312376e-01 -6.38864257e-01 -3.30603141e-03 1.65754680e+02] [ 6.38859008e-01 7.69319470e-01 -2.59233306e-03 4.98985021e+01] [ 4.19954326e-03 -1.17774047e-04 9.99991175e-01 3.55032065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.570281693 meters 0.04007152826256386 Centerline is valid? [True, True] Translation: X:165.78, Y:49.91, Z:0.36 [[ 7.68681326e-01 -6.39623855e-01 -3.21619983e-03 1.65779397e+02] [ 6.39618891e-01 7.68688045e-01 -2.52275059e-03 4.99129292e+01] [ 4.08586582e-03 -1.17950899e-04 9.99991646e-01 3.55689756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.600281693 meters 0.04143766351129457 Centerline is valid? [True, True] Translation: X:165.80, Y:49.93, Z:0.36 [[ 7.68010669e-01 -6.40429978e-01 -3.00935846e-03 1.65803910e+02] [ 6.40425635e-01 7.68016556e-01 -2.36124902e-03 4.99257288e+01] [ 3.82345178e-03 -1.13805861e-04 9.99992684e-01 3.55825421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.630281693 meters 0.04543982264900977 Centerline is valid? [True, True] Translation: X:165.83, Y:49.93, Z:0.36 [[ 7.66075653e-01 -6.42746764e-01 -2.16595134e-03 1.65833081e+02] [ 6.42744522e-01 7.66078710e-01 -1.69988073e-03 4.99322393e+01] [ 2.75188204e-03 -8.99161203e-05 9.99996210e-01 3.58566674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.660281693 meters 0.047489586936412656 Centerline is valid? [True, True] Translation: X:165.86, Y:49.94, Z:0.36 [[ 7.65119051e-01 -6.43887312e-01 -1.40263577e-03 1.65859289e+02] [ 6.43886373e-01 7.65120334e-01 -1.10096966e-03 4.99449596e+01] [ 1.78208554e-03 -6.07651975e-05 9.99998410e-01 3.60453996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690281693 meters 0.04105780018451274 Centerline is valid? [True, True] Translation: X:165.88, Y:49.96, Z:0.36 [[ 7.64813181e-01 -6.44252087e-01 -2.16911722e-04 1.65880712e+02] [ 6.44252064e-01 7.64813212e-01 -1.69939952e-04 4.99641210e+01] [ 2.75381119e-04 -9.77350937e-06 9.99999962e-01 3.62956383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720281693 meters 0.04516066517780575 Centerline is valid? [True, True] Translation: X:165.91, Y:49.97, Z:0.36 [[ 7.65428228e-01 -6.43521114e-01 -4.51600088e-04 1.65907940e+02] [ 6.43521017e-01 7.65428361e-01 -3.54626913e-04 4.99745039e+01] [ 5.73877421e-04 -1.91726981e-05 9.99999835e-01 3.62901007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750281693 meters 0.04571820172291055 Centerline is valid? [True, True] Translation: X:165.93, Y:49.99, Z:0.36 [[ 7.66404228e-01 -6.42358433e-01 -4.50610205e-04 1.65931266e+02] [ 6.42358336e-01 7.66404360e-01 -3.53813605e-04 4.99882647e+01] [ 5.72624779e-04 -1.82889781e-05 9.99999836e-01 3.63351695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780281693 meters 0.040223749263997285 Centerline is valid? [True, True] Translation: X:165.95, Y:50.01, Z:0.37 [[ 7.68385396e-01 -6.39987336e-01 3.05074071e-04 1.65952520e+02] [ 6.39987291e-01 7.68385457e-01 2.40211378e-04 5.00067601e+01] [-3.88146720e-04 1.06686134e-05 9.99999925e-01 3.65581163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810281693 meters 0.03807824582387981 Centerline is valid? [True, True] Translation: X:165.97, Y:50.02, Z:0.37 [[ 7.68924330e-01 -6.39339746e-01 2.52251478e-04 1.65974873e+02] [ 6.39339715e-01 7.68924372e-01 1.98758243e-04 5.00234229e+01] [-3.21036354e-04 8.44433898e-06 9.99999948e-01 3.65067841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840281693 meters 0.033737579902997854 Centerline is valid? [True, True] Translation: X:166.00, Y:50.04, Z:0.36 [[ 7.69309866e-01 -6.38875336e-01 -7.96975465e-04 1.65995373e+02] [ 6.38875029e-01 7.69310278e-01 -6.26426068e-04 5.00426121e+01] [ 1.01332958e-03 -2.72519691e-05 9.99999486e-01 3.62206884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870281693 meters 0.032441163084072556 Centerline is valid? [True, True] Translation: X:166.02, Y:50.05, Z:0.35 [[ 7.70834116e-01 -6.37023389e-01 -3.99587820e-03 1.66020397e+02] [ 6.37015646e-01 7.70844463e-01 -3.14330419e-03 5.00548152e+01] [ 5.08255887e-03 -1.22470824e-04 9.99987076e-01 3.54932279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900281693 meters 0.03347816019461259 Centerline is valid? [True, True] Translation: X:166.05, Y:50.07, Z:0.35 [[ 7.71860219e-01 -6.35778222e-01 -4.22536985e-03 1.66045070e+02] [ 6.35769543e-01 7.71871775e-01 -3.32425979e-03 5.00678994e+01] [ 5.37493571e-03 -1.20497573e-04 9.99985548e-01 3.53912176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930281693 meters 0.027987259576033045 Centerline is valid? [True, True] Translation: X:166.07, Y:50.09, Z:0.36 [[ 7.74967024e-01 -6.31998245e-01 -2.08065080e-03 1.66065407e+02] [ 6.31996127e-01 7.74969816e-01 -1.63714728e-03 5.00861683e+01] [ 2.64711577e-03 -4.62280930e-05 9.99996495e-01 3.59569296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96028169299998 meters 0.023007091059480636 Centerline is valid? [True, True] Translation: X:166.08, Y:50.11, Z:0.36 [[ 7.76808855e-01 -6.29734717e-01 -1.47966319e-03 1.66084084e+02] [ 6.29733640e-01 7.76810264e-01 -1.16456366e-03 5.01076900e+01] [ 1.88278372e-03 -2.71503197e-05 9.99998227e-01 3.61296493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.990281693 meters 0.01710982630642658 Centerline is valid? [True, True] Translation: X:166.10, Y:50.13, Z:0.36 [[ 7.81145386e-01 -6.24341083e-01 -3.17778867e-03 1.66102007e+02] [ 6.24336069e-01 7.81151849e-01 -2.50226188e-03 5.01315610e+01] [ 4.04460039e-03 -2.93777590e-05 9.99991820e-01 3.56568623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.020281693 meters 0.015589913875581661 Centerline is valid? [True, True] Translation: X:166.12, Y:50.15, Z:0.35 [[ 7.83594429e-01 -6.21259302e-01 -4.08054207e-03 1.66120014e+02] [ 6.21250989e-01 7.83605053e-01 -3.21398152e-03 5.01521499e+01] [ 5.19424930e-03 -1.65827814e-05 9.99986510e-01 3.54367562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.050281693 meters 0.015301275113967129 Centerline is valid? [True, True] Translation: X:166.14, Y:50.17, Z:0.35 [[ 7.85961157e-01 -6.18257414e-01 -4.77817838e-03 1.66137355e+02] [ 6.18245951e-01 7.85975681e-01 -3.76472274e-03 5.01738428e+01] [ 6.08309975e-03 4.83640618e-06 9.99981498e-01 3.53245695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.080281693 meters 0.017587467908197905 Centerline is valid? [True, True] Translation: X:166.15, Y:50.20, Z:0.35 [[ 7.89816672e-01 -6.13323766e-01 -4.85619938e-03 1.66152955e+02] [ 6.13311825e-01 7.89831600e-01 -3.82746908e-03 5.02004052e+01] [ 6.18305748e-03 4.46343817e-05 9.99980884e-01 3.53299680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.110281693 meters 0.017587467908197905 Centerline is valid? [True, True] Translation: X:166.17, Y:50.22, Z:0.35 [[ 7.89703965e-01 -6.13468884e-01 -4.85552521e-03 1.66174412e+02] [ 6.13456940e-01 7.89718891e-01 -3.82832425e-03 5.02175802e+01] [ 6.18305779e-03 4.45872027e-05 9.99980884e-01 3.53354371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.140281693 meters 0.01969701793527226 Centerline is valid? [True, True] Translation: X:166.19, Y:50.24, Z:0.35 [[ 7.91382801e-01 -6.11304418e-01 -4.49117457e-03 1.66191856e+02] [ 6.11294159e-01 7.91395543e-01 -3.54192939e-03 5.02397244e+01] [ 5.71949262e-03 5.75932199e-05 9.99983642e-01 3.54029268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.170281693 meters 0.02653381058715983 Centerline is valid? [True, True] Translation: X:166.20, Y:50.27, Z:0.35 [[ 7.93680527e-01 -6.08322159e-01 -3.92068509e-03 1.66203359e+02] [ 6.08314302e-01 7.93690208e-01 -3.09257879e-03 5.02706200e+01] [ 4.99309357e-03 6.95107565e-05 9.99987532e-01 3.53874032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.200281693 meters 0.026940340537817353 Centerline is valid? [True, True] Translation: X:166.22, Y:50.29, Z:0.36 [[ 7.94341292e-01 -6.07460833e-01 -3.63967744e-03 1.66223752e+02] [ 6.07454050e-01 7.94349628e-01 -2.87167282e-03 5.02906143e+01] [ 4.63560518e-03 7.01515008e-05 9.99989253e-01 3.55422551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.230281693 meters 0.026063157888224664 Centerline is valid? [True, True] Translation: X:166.25, Y:50.31, Z:0.36 [[ 7.94728516e-01 -6.06957063e-01 -3.11615410e-03 1.66245470e+02] [ 6.06952083e-01 7.94734622e-01 -2.45937636e-03 5.03082847e+01] [ 3.96925140e-03 6.31803065e-05 9.99992121e-01 3.57985692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.260281693 meters 0.023161290497067135 Centerline is valid? [True, True] Translation: X:166.27, Y:50.33, Z:0.37 [[ 7.94528543e-01 -6.07226483e-01 -6.26740745e-04 1.66267242e+02] [ 6.07226282e-01 7.94528790e-01 -4.94461414e-04 5.03253292e+01] [ 7.98213631e-04 1.22902545e-05 9.99999681e-01 3.65111591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.290281693 meters 0.023375639217771846 Centerline is valid? [True, True] Translation: X:166.29, Y:50.34, Z:0.37 [[ 7.93982748e-01 -6.07939552e-01 9.46816929e-04 1.66286886e+02] [ 6.07939092e-01 7.93983313e-01 7.47906012e-04 5.03445344e+01] [-1.20643849e-03 -1.82174471e-05 9.99999272e-01 3.68230463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.320281693 meters 0.02145942496579531 Centerline is valid? [True, True] Translation: X:166.31, Y:50.36, Z:0.37 [[ 7.92589340e-01 -6.09755507e-01 6.00460264e-04 1.66308251e+02] [ 6.09755322e-01 7.92589567e-01 4.74413062e-04 5.03620078e+01] [-7.65194517e-04 -9.88089416e-06 9.99999707e-01 3.67733630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.350281693 meters 0.020234744889268155 Centerline is valid? [True, True] Translation: X:166.33, Y:50.38, Z:0.36 [[ 7.91637882e-01 -6.10990461e-01 -3.46322260e-04 1.66329725e+02] [ 6.10990400e-01 7.91637958e-01 -2.73285057e-04 5.03782153e+01] [ 4.41136410e-04 4.74322802e-06 9.99999903e-01 3.64952209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.380281693 meters 0.01780737723944812 Centerline is valid? [True, True] Translation: X:166.35, Y:50.39, Z:0.36 [[ 7.90187623e-01 -6.12864229e-01 -9.78658641e-04 1.66353648e+02] [ 6.12863742e-01 7.90188228e-01 -7.73039819e-04 5.03938886e+01] [ 1.24709299e-03 1.10621002e-05 9.99999222e-01 3.63520989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.410281693 meters 0.014976831199391244 Centerline is valid? [True, True] Translation: X:166.38, Y:50.41, Z:0.36 [[ 7.86559487e-01 -6.17513377e-01 -1.18432486e-03 1.66378204e+02] [ 6.17512668e-01 7.86560379e-01 -9.35939568e-04 5.04079040e+01] [ 1.50949821e-03 4.83654450e-06 9.99998861e-01 3.64001296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440281693 meters 0.014344488904575453 Centerline is valid? [True, True] Translation: X:166.40, Y:50.42, Z:0.36 [[ 7.84467635e-01 -6.20167891e-01 -1.52195404e-03 1.66402990e+02] [ 6.20166724e-01 7.84469112e-01 -1.20305928e-03 5.04219777e+01] [ 1.94002467e-03 -1.04184135e-07 9.99998118e-01 3.62952472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470281693 meters 0.016913170343085402 Centerline is valid? [True, True] Translation: X:166.43, Y:50.43, Z:0.36 [[ 7.79583835e-01 -6.26296368e-01 -1.37971579e-03 1.66432478e+02] [ 6.26295418e-01 7.79585056e-01 -1.09101638e-03 5.04292125e+01] [ 1.75890541e-03 -1.35709474e-05 9.99998453e-01 3.63409616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500281693 meters 0.019405476146558718 Centerline is valid? [True, True] Translation: X:166.46, Y:50.44, Z:0.36 [[ 7.77398147e-01 -6.29007551e-01 -1.27331149e-03 1.66457933e+02] [ 6.29006745e-01 7.77399190e-01 -1.00703970e-03 5.04429347e+01] [ 1.62330690e-03 -1.80507208e-05 9.99998682e-01 3.63543185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530281693 meters 0.021340132505537585 Centerline is valid? [True, True] Translation: X:166.48, Y:50.46, Z:0.36 [[ 7.75807622e-01 -6.30968608e-01 -1.07253281e-03 1.66482428e+02] [ 6.30968038e-01 7.75808363e-01 -8.48460640e-04 5.04584369e+01] [ 1.36743195e-03 -1.84916889e-05 9.99999065e-01 3.64263385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560281693 meters 0.02337180749140382 Centerline is valid? [True, True] Translation: X:166.51, Y:50.47, Z:0.36 [[ 7.74557048e-01 -6.32501559e-01 -1.77670931e-03 1.66507814e+02] [ 6.32499997e-01 7.74559085e-01 -1.40622068e-03 5.04718238e+01] [ 2.26560311e-03 -3.45704900e-05 9.99997433e-01 3.61258201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590281693 meters 0.023882688764399255 Centerline is valid? [True, True] Translation: X:166.53, Y:50.49, Z:0.36 [[ 7.74292159e-01 -6.32821682e-01 -2.89316492e-03 1.66530915e+02] [ 6.32817539e-01 7.74297562e-01 -2.29064957e-03 5.04877709e+01] [ 3.68974326e-03 -5.72135003e-05 9.99993191e-01 3.58194081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620281693 meters 0.02433102359432541 Centerline is valid? [True, True] Translation: X:166.55, Y:50.50, Z:0.35 [[ 7.73986297e-01 -6.33186401e-01 -4.49384249e-03 1.66553606e+02] [ 6.33176402e-01 7.73999337e-01 -3.55949559e-03 5.05049759e+01] [ 5.73205531e-03 -9.03942110e-05 9.99983568e-01 3.54030281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650281693 meters 0.024209663462103834 Centerline is valid? [True, True] Translation: X:166.58, Y:50.52, Z:0.35 [[ 7.74118206e-01 -6.33025192e-01 -4.48430927e-03 1.66575609e+02] [ 6.33015226e-01 7.74131190e-01 -3.55321800e-03 5.05219897e+01] [ 5.72072017e-03 -8.80253010e-05 9.99983633e-01 3.53901828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680281693 meters 0.022249068421897708 Centerline is valid? [True, True] Translation: X:166.60, Y:50.54, Z:0.36 [[ 7.74422971e-01 -6.32654818e-01 -4.11620448e-03 1.66596781e+02] [ 6.32646410e-01 7.74433906e-01 -3.26271165e-03 5.05402271e+01] [ 5.25189856e-03 -7.73831377e-05 9.99986206e-01 3.55475334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71028169299998 meters 0.023725829339604133 Centerline is valid? [True, True] Translation: X:166.62, Y:50.55, Z:0.36 [[ 7.74327309e-01 -6.32776452e-01 -3.34361745e-03 1.66621736e+02] [ 6.32770902e-01 7.74334525e-01 -2.65117380e-03 5.05515745e+01] [ 4.26667878e-03 -6.28675538e-05 9.99990896e-01 3.56493365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.740281693 meters 0.025413816573531846 Centerline is valid? [True, True] Translation: X:166.65, Y:50.56, Z:0.35 [[ 7.73444914e-01 -6.33851503e-01 -3.90355411e-03 1.66646438e+02] [ 6.33843945e-01 7.73454760e-01 -3.09624160e-03 5.05638831e+01] [ 4.98177990e-03 -7.94718178e-05 9.99987588e-01 3.54110875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.770281693 meters 0.025595076339257873 Centerline is valid? [True, True] Translation: X:166.67, Y:50.58, Z:0.35 [[ 7.73209687e-01 -6.34135880e-01 -4.29727194e-03 1.66670218e+02] [ 6.34126719e-01 7.73221623e-01 -3.40974707e-03 5.05790896e+01] [ 5.48498654e-03 -8.85654933e-05 9.99984953e-01 3.53453147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.800281693 meters 0.0257401104168602 Centerline is valid? [True, True] Translation: X:166.69, Y:50.59, Z:0.35 [[ 7.73136404e-01 -6.34226240e-01 -4.14470331e-03 1.66693681e+02] [ 6.34217712e-01 7.73147508e-01 -3.28988567e-03 5.05936650e+01] [ 5.29099885e-03 -8.51138782e-05 9.99985999e-01 3.53694593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.830281693 meters 0.02504695818947243 Centerline is valid? [True, True] Translation: X:166.72, Y:50.61, Z:0.36 [[ 7.73447792e-01 -6.33849236e-01 -3.69577753e-03 1.66716322e+02] [ 6.33842447e-01 7.73456619e-01 -2.93456266e-03 5.06100148e+01] [ 4.71859389e-03 -7.28096585e-05 9.99988865e-01 3.55094075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.860281693 meters 0.020634223499542467 Centerline is valid? [True, True] Translation: X:166.73, Y:50.63, Z:0.36 [[ 7.74990669e-01 -6.31961070e-01 -3.83007808e-03 1.66734793e+02] [ 6.31953750e-01 7.75000131e-01 -3.04225885e-03 5.06330003e+01] [ 4.89090016e-03 -6.27099842e-05 9.99988038e-01 3.56278968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.890281693 meters 0.01835855009506873 Centerline is valid? [True, True] Translation: X:166.75, Y:50.65, Z:0.36 [[ 7.77131701e-01 -6.29324714e-01 -4.08954720e-03 1.66754690e+02] [ 6.29316326e-01 7.77142459e-01 -3.24947034e-03 5.06534721e+01] [ 5.22313276e-03 -4.83524054e-05 9.99986358e-01 3.55710520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.920281693 meters 0.01748103606976164 Centerline is valid? [True, True] Translation: X:166.78, Y:50.67, Z:0.36 [[ 7.77644277e-01 -6.28695772e-01 -3.31725222e-03 1.66776299e+02] [ 6.28690244e-01 7.77651352e-01 -2.63667255e-03 5.06713907e+01] [ 4.23733056e-03 -3.51307925e-05 9.99991022e-01 3.57529672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.950281693 meters 0.01722628520783525 Centerline is valid? [True, True] Translation: X:166.80, Y:50.69, Z:0.36 [[ 7.77626726e-01 -6.28722036e-01 -2.29691842e-03 1.66798208e+02] [ 6.28719384e-01 7.77630118e-01 -1.82621205e-03 5.06888959e+01] [ 2.93433270e-03 -2.40058330e-05 9.99995695e-01 3.60235014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.980281693 meters 0.017806857926751646 Centerline is valid? [True, True] Translation: X:166.82, Y:50.71, Z:0.36 [[ 7.76835397e-01 -6.29703371e-01 -6.56456751e-04 1.66820809e+02] [ 6.29703155e-01 7.76835674e-01 -5.21801669e-04 5.07052097e+01] [ 8.38539292e-04 -8.01888079e-06 9.99999648e-01 3.64182169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.010281693 meters 0.018494212534233584 Centerline is valid? [True, True] Translation: X:166.84, Y:50.72, Z:0.37 [[ 7.76252640e-01 -6.30421918e-01 -2.09413791e-04 1.66843864e+02] [ 6.30421897e-01 7.76252668e-01 -1.66208353e-04 5.07210124e+01] [ 2.67339403e-04 -2.99936597e-06 9.99999964e-01 3.65516403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.040281693 meters 0.01886577771460405 Centerline is valid? [True, True] Translation: X:166.87, Y:50.74, Z:0.37 [[ 7.75759375e-01 -6.31028830e-01 -9.02418643e-05 1.66866592e+02] [ 6.31028826e-01 7.75759380e-01 -7.13862792e-05 5.07370914e+01] [ 1.15052773e-04 -1.56664232e-06 9.99999993e-01 3.66097706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.070281693 meters 0.018945456105349687 Centerline is valid? [True, True] Translation: X:166.89, Y:50.75, Z:0.37 [[ 7.75706415e-01 -6.31093770e-01 -4.58797400e-04 1.66887852e+02] [ 6.31093665e-01 7.75706551e-01 -3.65048032e-04 5.07530773e+01] [ 5.86271687e-04 -6.37403212e-06 9.99999828e-01 3.65612722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.100281693 meters 0.018433888000667708 Centerline is valid? [True, True] Translation: X:166.91, Y:50.77, Z:0.37 [[ 7.76035805e-01 -6.30688595e-01 -5.71395193e-04 1.66908998e+02] [ 6.30688431e-01 7.76036015e-01 -4.54742381e-04 5.07708970e+01] [ 7.30224082e-04 -7.47596756e-06 9.99999733e-01 3.65330106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.130281693 meters 0.017157993505968323 Centerline is valid? [True, True] Translation: X:166.93, Y:50.79, Z:0.37 [[ 7.77147284e-01 -6.29318478e-01 -5.93207292e-04 1.66931249e+02] [ 6.29318301e-01 7.77147511e-01 -4.72302967e-04 5.07881912e+01] [ 7.58238555e-04 -6.26723684e-06 9.99999713e-01 3.66024898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.160281693 meters 0.0169137718735501 Centerline is valid? [True, True] Translation: X:166.95, Y:50.80, Z:0.37 [[ 7.77193124e-01 -6.29261888e-01 -5.68986076e-04 1.66954315e+02] [ 6.29261725e-01 7.77193333e-01 -4.53152678e-04 5.08042371e+01] [ 7.27363895e-04 -5.85401440e-06 9.99999735e-01 3.66119337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190281693 meters 0.01716231597693997 Centerline is valid? [True, True] Translation: X:166.98, Y:50.82, Z:0.37 [[ 7.76975208e-01 -6.29530642e-01 -8.35027129e-04 1.66976923e+02] [ 6.29530290e-01 7.76975656e-01 -6.65514698e-04 5.08186717e+01] [ 1.06775765e-03 -8.58645039e-06 9.99999430e-01 3.65329243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220281693 meters 0.01794156043074401 Centerline is valid? [True, True] Translation: X:167.00, Y:50.83, Z:0.36 [[ 7.76253304e-01 -6.30417832e-01 -2.04082428e-03 1.67002878e+02] [ 6.30415731e-01 7.76255986e-01 -1.62767616e-03 5.08309564e+01] [ 2.61031814e-03 -2.30787296e-05 9.99996593e-01 3.60679937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250281693 meters 0.017911150350116305 Centerline is valid? [True, True] Translation: X:167.03, Y:50.85, Z:0.36 [[ 7.76314771e-01 -6.30341122e-01 -2.33358411e-03 1.67025727e+02] [ 6.30338373e-01 7.76318278e-01 -1.86184043e-03 5.08452549e+01] [ 2.98519858e-03 -2.55733824e-05 9.99995544e-01 3.60072738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280281693 meters 0.0156916039872015 Centerline is valid? [True, True] Translation: X:167.05, Y:50.86, Z:0.36 [[ 7.78406591e-01 -6.27753604e-01 -2.93111397e-03 1.67046728e+02] [ 6.27749245e-01 7.78412110e-01 -2.33939228e-03 5.08635892e+01] [ 3.75017655e-03 -1.90062145e-05 9.99992968e-01 3.59807853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310281693 meters 0.014566562229266665 Centerline is valid? [True, True] Translation: X:167.06, Y:50.89, Z:0.36 [[ 7.80456760e-01 -6.25200416e-01 -3.41827322e-03 1.67064560e+02] [ 6.25194459e-01 7.80464246e-01 -2.72926785e-03 5.08854362e+01] [ 4.37417943e-03 -7.00992733e-06 9.99990433e-01 3.59341201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340281693 meters 0.014759152928214093 Centerline is valid? [True, True] Translation: X:167.08, Y:50.91, Z:0.36 [[ 7.82790832e-01 -6.22274052e-01 -3.67658841e-03 1.67081358e+02] [ 6.22267123e-01 7.82799466e-01 -2.93662078e-03 5.09086334e+01] [ 4.70541436e-03 1.09397290e-05 9.99988929e-01 3.59111300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370281693 meters 0.020712623806800893 Centerline is valid? [True, True] Translation: X:167.09, Y:50.94, Z:0.36 [[ 7.88201275e-01 -6.15414297e-01 -1.99812864e-03 1.67092462e+02] [ 6.15412228e-01 7.88203807e-01 -1.59633368e-03 5.09391436e+01] [ 2.55733917e-03 2.85594499e-05 9.99996730e-01 3.62505568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400281693 meters 0.024862713093777383 Centerline is valid? [True, True] Translation: X:167.11, Y:50.96, Z:0.36 [[ 7.90499594e-01 -6.12461609e-01 -1.08137075e-03 1.67108866e+02] [ 6.12461000e-01 7.90500334e-01 -8.64019709e-04 5.09631809e+01] [ 1.38400284e-03 2.07098199e-05 9.99999042e-01 3.64686431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430281693 meters 0.027554421435912402 Centerline is valid? [True, True] Translation: X:167.13, Y:50.99, Z:0.37 [[ 7.93761463e-01 -6.08228789e-01 -6.93480133e-04 1.67125710e+02] [ 6.08228536e-01 7.93761766e-01 -5.54106429e-04 5.09883303e+01] [ 8.87481497e-04 1.80339233e-05 9.99999606e-01 3.65053376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46028169299998 meters 0.0313958356831206 Centerline is valid? [True, True] Translation: X:167.14, Y:51.01, Z:0.36 [[ 7.95244452e-01 -6.06287090e-01 -1.49193890e-03 1.67142383e+02] [ 6.06285918e-01 7.95245850e-01 -1.19294974e-03 5.10124298e+01] [ 1.90972825e-03 4.41451156e-05 9.99998175e-01 3.63034001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.490281693 meters 0.03370868268347093 Centerline is valid? [True, True] Translation: X:167.16, Y:51.03, Z:0.36 [[ 7.96471468e-01 -6.04670594e-01 -2.58330814e-03 1.67161276e+02] [ 6.04667070e-01 7.96475653e-01 -2.06617228e-03 5.10349337e+01] [ 3.30689566e-03 8.36059057e-05 9.99994529e-01 3.59906658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.520281693 meters 0.03595787103860079 Centerline is valid? [True, True] Translation: X:167.18, Y:51.06, Z:0.36 [[ 7.98517486e-01 -6.01961463e-01 -3.49599858e-03 1.67178727e+02] [ 6.01954978e-01 7.98525128e-01 -2.79722447e-03 5.10592857e+01] [ 4.47546405e-03 1.29198909e-04 9.99989977e-01 3.58289577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.550281693 meters 0.0395823705150819 Centerline is valid? [True, True] Translation: X:167.19, Y:51.09, Z:0.36 [[ 8.00657511e-01 -5.99115458e-01 -2.86662235e-03 1.67194132e+02] [ 5.99111077e-01 8.00662634e-01 -2.29432673e-03 5.10867939e+01] [ 3.66976401e-03 1.19544725e-04 9.99993259e-01 3.60461723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.580281693 meters 0.043778689022883205 Centerline is valid? [True, True] Translation: X:167.21, Y:51.11, Z:0.36 [[ 8.01632853e-01 -5.97809176e-01 -2.99322271e-03 1.67210168e+02] [ 5.97804387e-01 8.01638430e-01 -2.39624608e-03 5.11113194e+01] [ 3.83198025e-03 1.31547913e-04 9.99992649e-01 3.60572738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.610281693 meters 0.042771029366410876 Centerline is valid? [True, True] Translation: X:167.23, Y:51.13, Z:0.36 [[ 8.02348516e-01 -5.96845232e-01 -3.55363520e-03 1.67231198e+02] [ 5.96838471e-01 8.02356369e-01 -2.84564826e-03 5.11309736e+01] [ 4.54969343e-03 1.62255461e-04 9.99989637e-01 3.60130433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.640281693 meters 0.042784381465924136 Centerline is valid? [True, True] Translation: X:167.25, Y:51.15, Z:0.36 [[ 8.02821092e-01 -5.96204960e-01 -4.23552315e-03 1.67251524e+02] [ 5.96195339e-01 8.02832240e-01 -3.39290774e-03 5.11520856e+01] [ 5.42328297e-03 1.98698734e-04 9.99985274e-01 3.59154553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.670281693 meters 0.04745682325076843 Centerline is valid? [True, True] Translation: X:167.26, Y:51.18, Z:0.36 [[ 8.02817347e-01 -5.96206509e-01 -4.70176893e-03 1.67264384e+02] [ 5.96194648e-01 8.02831084e-01 -3.76722464e-03 5.11799102e+01] [ 6.02077010e-03 2.21223819e-04 9.99981851e-01 3.56766480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.700281693 meters 0.04378485171394856 Centerline is valid? [True, True] Translation: X:167.29, Y:51.20, Z:0.36 [[ 8.02096252e-01 -5.97178852e-01 -4.36135252e-03 1.67288437e+02] [ 5.97168656e-01 8.02108084e-01 -3.49538056e-03 5.11963503e+01] [ 5.58564347e-03 1.99168625e-04 9.99984380e-01 3.57157014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.730281693 meters 0.0379197922594279 Centerline is valid? [True, True] Translation: X:167.31, Y:51.21, Z:0.36 [[ 7.98921969e-01 -6.01431071e-01 -2.08655781e-03 1.67313446e+02] [ 6.01428751e-01 7.98924690e-01 -1.67252929e-03 5.12116631e+01] [ 2.67291364e-03 8.13045382e-05 9.99996424e-01 3.61560511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.760281693 meters 0.03964691045591096 Centerline is valid? [True, True] Translation: X:167.33, Y:51.23, Z:0.36 [[ 7.97054724e-01 -6.03905873e-01 -1.20973302e-03 1.67332541e+02] [ 6.03905096e-01 7.97055641e-01 -9.69759641e-04 5.12322172e+01] [ 1.54986807e-03 4.23875700e-05 9.99998798e-01 3.64143643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.790281693 meters 0.03170257650462632 Centerline is valid? [True, True] Translation: X:167.36, Y:51.24, Z:0.36 [[ 7.95227934e-01 -6.06309235e-01 -1.28260405e-03 1.67360598e+02] [ 6.06308364e-01 7.95228967e-01 -1.02835464e-03 5.12429473e+01] [ 1.64346481e-03 4.01227771e-05 9.99998649e-01 3.63922530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.820281693 meters 0.02866771595493571 Centerline is valid? [True, True] Translation: X:167.38, Y:51.26, Z:0.36 [[ 7.92728169e-01 -6.09566363e-01 -3.30128778e-03 1.67383418e+02] [ 6.09560617e-01 7.92735039e-01 -2.64811795e-03 5.12586112e+01] [ 4.23125012e-03 8.69026824e-05 9.99991044e-01 3.59589224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.850281693 meters 0.027284780813852872 Centerline is valid? [True, True] Translation: X:167.40, Y:51.28, Z:0.36 [[ 7.91469903e-01 -6.11195036e-01 -4.00254205e-03 1.67404696e+02] [ 6.11186609e-01 7.91480018e-01 -3.21103859e-03 5.12762330e+01] [ 5.13050290e-03 9.51403037e-05 9.99986834e-01 3.58291901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.880281693 meters 0.02649873728830288 Centerline is valid? [True, True] Translation: X:167.43, Y:51.29, Z:0.36 [[ 7.91161991e-01 -6.11597839e-01 -3.28444503e-03 1.67426848e+02] [ 6.11592165e-01 7.91168804e-01 -2.63557883e-03 5.12939335e+01] [ 4.21046477e-03 7.64289407e-05 9.99991133e-01 3.59628026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.910281693 meters 0.027077802540851008 Centerline is valid? [True, True] Translation: X:167.45, Y:51.31, Z:0.36 [[ 7.91038038e-01 -6.11761196e-01 -2.65720706e-03 1.67446998e+02] [ 6.11757481e-01 7.91042499e-01 -2.13292391e-03 5.13113982e+01] [ 3.40680380e-03 6.16576427e-05 9.99994195e-01 3.61254116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940281693 meters 0.027140170048707935 Centerline is valid? [True, True] Translation: X:167.47, Y:51.33, Z:0.36 [[ 7.91108472e-01 -6.11674299e-01 -1.39217541e-03 1.67469671e+02] [ 6.11673278e-01 7.91109696e-01 -1.11766037e-03 5.13273893e+01] [ 1.78500758e-03 3.26340924e-05 9.99998406e-01 3.64893914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970281693 meters 0.02635028544232023 Centerline is valid? [True, True] Translation: X:167.49, Y:51.34, Z:0.37 [[ 7.90749595e-01 -6.12138311e-01 -1.32905752e-03 1.67492602e+02] [ 6.12137381e-01 7.90750711e-01 -1.06736080e-03 5.13441008e+01] [ 1.70432562e-03 3.04493271e-05 9.99998547e-01 3.65417449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000281693 meters 0.02254892657417055 Centerline is valid? [True, True] Translation: X:167.52, Y:51.36, Z:0.36 [[ 7.88208114e-01 -6.15405927e-01 -1.87479918e-03 1.67518757e+02] [ 6.15404084e-01 7.88210343e-01 -1.50638223e-03 5.13572884e+01] [ 2.40477266e-03 3.35836204e-05 9.99997108e-01 3.63275632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030281693 meters 0.02254892657417055 Centerline is valid? [True, True] Translation: X:167.54, Y:51.37, Z:0.36 [[ 7.88096563e-01 -6.15548775e-01 -1.87455087e-03 1.67540044e+02] [ 6.15546932e-01 7.88098791e-01 -1.50669118e-03 5.13746636e+01] [ 2.40477318e-03 3.35441014e-05 9.99997108e-01 3.63330325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060281693 meters 0.019481916989446672 Centerline is valid? [True, True] Translation: X:167.57, Y:51.39, Z:0.36 [[ 7.86443381e-01 -6.17659941e-01 -1.73378697e-03 1.67567073e+02] [ 6.17658368e-01 7.86445292e-01 -1.39402839e-03 5.13876176e+01] [ 2.22456409e-03 2.54363736e-05 9.99997525e-01 3.62981032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090281693 meters 0.01784209980429342 Centerline is valid? [True, True] Translation: X:167.59, Y:51.40, Z:0.36 [[ 7.84989506e-01 -6.19508364e-01 -9.28434849e-04 1.67592947e+02] [ 6.19507914e-01 7.84990055e-01 -7.46551255e-04 5.14009218e+01] [ 1.19130687e-03 1.08621643e-05 9.99999290e-01 3.64451693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120281693 meters 0.016048897624482587 Centerline is valid? [True, True] Translation: X:167.62, Y:51.41, Z:0.37 [[ 7.83110921e-01 -6.21881943e-01 -3.67928254e-04 1.67619540e+02] [ 6.21881872e-01 7.83111007e-01 -2.95903017e-04 5.14120152e+01] [ 4.72145408e-04 2.91697291e-06 9.99999889e-01 3.66400963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150281693 meters 0.015703297153262148 Centerline is valid? [True, True] Translation: X:167.64, Y:51.43, Z:0.36 [[ 7.82536523e-01 -6.22602957e-01 -1.46556457e-03 1.67642194e+02] [ 6.22601840e-01 7.82537895e-01 -1.17924172e-03 5.14282240e+01] [ 1.88105920e-03 1.03365135e-05 9.99998231e-01 3.64953757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180281693 meters 0.015870597220938445 Centerline is valid? [True, True] Translation: X:167.67, Y:51.44, Z:0.36 [[ 7.82157305e-01 -6.23068591e-01 -3.93466259e-03 1.67665154e+02] [ 6.23060538e-01 7.82167201e-01 -3.16790235e-03 5.14431594e+01] [ 5.05138448e-03 2.62649731e-05 9.99987241e-01 3.59442195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21028169299998 meters 0.01560681366919928 Centerline is valid? [True, True] Translation: X:167.69, Y:51.46, Z:0.36 [[ 7.81835089e-01 -6.23473306e-01 -3.86388788e-03 1.67688850e+02] [ 6.23465540e-01 7.81844637e-01 -3.11205393e-03 5.14584253e+01] [ 4.96124257e-03 2.41120216e-05 9.99987693e-01 3.59663507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.240281693 meters 0.01525121279495415 Centerline is valid? [True, True] Translation: X:167.71, Y:51.47, Z:0.36 [[ 7.81456858e-01 -6.23951010e-01 -3.21175373e-03 1.67711948e+02] [ 6.23945644e-01 7.81463458e-01 -2.58771784e-03 5.14740826e+01] [ 4.12447733e-03 1.82301031e-05 9.99991494e-01 3.61794954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.270281693 meters 0.015120669444208437 Centerline is valid? [True, True] Translation: X:167.73, Y:51.49, Z:0.36 [[ 7.81108282e-01 -6.24392415e-01 -1.99090215e-03 1.67734292e+02] [ 6.24390354e-01 7.81110819e-01 -1.60448908e-03 5.14900059e+01] [ 2.55694602e-03 1.01796120e-05 9.99996731e-01 3.64653498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.300281693 meters 0.01512609179268567 Centerline is valid? [True, True] Translation: X:167.76, Y:51.51, Z:0.36 [[ 7.80976508e-01 -6.24555565e-01 -2.45781980e-03 1.67756030e+02] [ 6.24552421e-01 7.80980375e-01 -1.98154594e-03 5.15058192e+01] [ 3.15709457e-03 1.25035256e-05 9.99995016e-01 3.63515525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.330281693 meters 0.015123719228369956 Centerline is valid? [True, True] Translation: X:167.78, Y:51.52, Z:0.36 [[ 7.80724677e-01 -6.24866125e-01 -3.36223612e-03 1.67780161e+02] [ 6.24860241e-01 7.80731917e-01 -2.71164233e-03 5.15196158e+01] [ 4.31941849e-03 1.61184054e-05 9.99990671e-01 3.60760807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.360281693 meters 0.014728676545744153 Centerline is valid? [True, True] Translation: X:167.80, Y:51.54, Z:0.36 [[ 7.80044564e-01 -6.25716745e-01 -3.00559170e-03 1.67802428e+02] [ 6.25712047e-01 7.80050354e-01 -2.42472345e-03 5.15359223e+01] [ 3.86170294e-03 1.07574093e-05 9.99992544e-01 3.61918931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.390281693 meters 0.014477751782246697 Centerline is valid? [True, True] Translation: X:167.82, Y:51.55, Z:0.36 [[ 7.79385646e-01 -6.26538566e-01 -2.72760009e-03 1.67823922e+02] [ 6.26534699e-01 7.79390419e-01 -2.20119127e-03 5.15528024e+01] [ 3.50499660e-03 6.64077852e-06 9.99993857e-01 3.63193158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.420281693 meters 0.014350474923824089 Centerline is valid? [True, True] Translation: X:167.85, Y:51.57, Z:0.36 [[ 7.77883862e-01 -6.28402801e-01 -2.57235357e-03 1.67848568e+02] [ 6.28399370e-01 7.77888115e-01 -2.07659633e-03 5.15669182e+01] [ 3.30594222e-03 -1.11458808e-06 9.99994535e-01 3.62653049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.450281693 meters 0.014465194519127995 Centerline is valid? [True, True] Translation: X:167.87, Y:51.58, Z:0.36 [[ 7.77059674e-01 -6.29419289e-01 -3.10191213e-03 1.67873517e+02] [ 6.29414304e-01 7.77065865e-01 -2.50510577e-03 5.15811887e+01] [ 3.98715193e-03 -5.77119203e-06 9.99992051e-01 3.60797034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.480281693 meters 0.015124291407673159 Centerline is valid? [True, True] Translation: X:167.90, Y:51.59, Z:0.36 [[ 7.75647710e-01 -6.31154960e-01 -3.74781661e-03 1.67898611e+02] [ 6.31147697e-01 7.75656764e-01 -3.02788181e-03 5.15931384e+01] [ 4.81808193e-03 -1.68562335e-05 9.99988393e-01 3.59816831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.510281693 meters 0.01520398296137782 Centerline is valid? [True, True] Translation: X:167.92, Y:51.61, Z:0.36 [[ 7.75302263e-01 -6.31583449e-01 -2.95781226e-03 1.67919952e+02] [ 6.31578926e-01 7.75307904e-01 -2.39024252e-03 5.16093031e+01] [ 3.80285284e-03 -1.49314604e-05 9.99992769e-01 3.61681213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.540281693 meters 0.015199357536141916 Centerline is valid? [True, True] Translation: X:167.94, Y:51.63, Z:0.37 [[ 7.74658202e-01 -6.32378741e-01 -1.34090788e-03 1.67942946e+02] [ 6.32377813e-01 7.74659362e-01 -1.08368022e-03 5.16256998e+01] [ 1.72404318e-03 -8.47862613e-06 9.99998514e-01 3.65774328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.570281693 meters 0.015332513768119966 Centerline is valid? [True, True] Translation: X:167.97, Y:51.64, Z:0.37 [[ 7.74347681e-01 -6.32759850e-01 -8.01019391e-04 1.67966282e+02] [ 6.32759519e-01 7.74348095e-01 -6.47414418e-04 5.16420388e+01] [ 1.02992569e-03 -5.52879179e-06 9.99999470e-01 3.66512597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.600281693 meters 0.01606903275010876 Centerline is valid? [True, True] Translation: X:167.99, Y:51.66, Z:0.36 [[ 7.73237620e-01 -6.34114181e-01 -1.67006107e-03 1.67990650e+02] [ 6.34112742e-01 7.73239423e-01 -1.35083787e-03 5.16562884e+01] [ 2.14794251e-03 -1.44883428e-05 9.99997693e-01 3.64814201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.630281693 meters 0.01707056726820209 Centerline is valid? [True, True] Translation: X:168.02, Y:51.67, Z:0.36 [[ 7.71931809e-01 -6.35701982e-01 -2.06671571e-03 1.68015517e+02] [ 6.35699783e-01 7.71934576e-01 -1.67238796e-03 5.16718761e+01] [ 2.65850966e-03 -2.28412680e-05 9.99996466e-01 3.63707578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.660281693 meters 0.0189117098223726 Centerline is valid? [True, True] Translation: X:168.04, Y:51.69, Z:0.36 [[ 7.70280199e-01 -6.37703202e-01 -1.74384095e-03 1.68041339e+02] [ 6.37701641e-01 7.70282172e-01 -1.41152666e-03 5.16855759e+01] [ 2.24338466e-03 -2.47791934e-05 9.99997483e-01 3.64278277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690281693 meters 0.022761132795355854 Centerline is valid? [True, True] Translation: X:168.07, Y:51.69, Z:0.37 [[ 7.66701733e-01 -6.42003202e-01 -5.84986428e-04 1.68071378e+02] [ 6.42003027e-01 7.66701956e-01 -4.73383982e-04 5.16938976e+01] [ 7.52424270e-04 -1.26187384e-05 9.99999717e-01 3.66996879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720281693 meters 0.02565751006028638 Centerline is valid? [True, True] Translation: X:168.10, Y:51.71, Z:0.37 [[ 7.65317584e-01 -6.43652117e-01 -9.73058286e-04 1.68097550e+02] [ 6.43651635e-01 7.65318203e-01 -7.88022699e-04 5.17059394e+01] [ 1.25191170e-03 -2.32229285e-05 9.99999216e-01 3.66899725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750281693 meters 0.02815143388821849 Centerline is valid? [True, True] Translation: X:168.12, Y:51.72, Z:0.37 [[ 7.63781039e-01 -6.45472850e-01 -1.82332145e-03 1.68123628e+02] [ 6.45471162e-01 7.63783214e-01 -1.47718340e-03 5.17167369e+01] [ 2.34610409e-03 -4.86567396e-05 9.99997247e-01 3.65308397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780281693 meters 0.028917642074713694 Centerline is valid? [True, True] Translation: X:168.15, Y:51.73, Z:0.37 [[ 7.63145137e-01 -6.46225130e-01 -1.60698712e-03 1.68147635e+02] [ 6.46223819e-01 7.63146827e-01 -1.30211451e-03 5.17316182e+01] [ 2.06782624e-03 -4.47710013e-05 9.99997861e-01 3.66252964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810281693 meters 0.030636187431126987 Centerline is valid? [True, True] Translation: X:168.17, Y:51.74, Z:0.37 [[ 7.62403063e-01 -6.47101545e-01 -1.07682671e-03 1.68172452e+02] [ 6.47100957e-01 7.62403823e-01 -8.72703970e-04 5.17447851e+01] [ 1.38570488e-03 -3.14634121e-05 9.99999039e-01 3.67608747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840281693 meters 0.03033445024461889 Centerline is valid? [True, True] Translation: X:168.20, Y:51.76, Z:0.37 [[ 7.61911319e-01 -6.47680394e-01 -1.11759439e-03 1.68198313e+02] [ 6.47679761e-01 7.61912138e-01 -9.06059209e-04 5.17572591e+01] [ 1.43834552e-03 -3.35065008e-05 9.99998965e-01 3.67671672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870281693 meters 0.0307639240209281 Centerline is valid? [True, True] Translation: X:168.22, Y:51.77, Z:0.37 [[ 7.62129684e-01 -6.47421976e-01 -1.76917878e-03 1.68221355e+02] [ 6.47420388e-01 7.62131735e-01 -1.43509433e-03 5.17715337e+01] [ 2.27745890e-03 -5.16744182e-05 9.99997405e-01 3.66276286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900281693 meters 0.029337800818987413 Centerline is valid? [True, True] Translation: X:168.24, Y:51.79, Z:0.36 [[ 7.63247053e-01 -6.46099281e-01 -3.10713120e-03 1.68243740e+02] [ 6.46094366e-01 7.63253373e-01 -2.52153003e-03 5.17870950e+01] [ 4.00068711e-03 -8.29496035e-05 9.99991994e-01 3.64224482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930281693 meters 0.026979112495829963 Centerline is valid? [True, True] Translation: X:168.27, Y:51.81, Z:0.36 [[ 7.64024643e-01 -6.45179826e-01 -3.05570997e-03 1.68265067e+02] [ 6.45175062e-01 7.64030749e-01 -2.48050697e-03 5.18060503e+01] [ 3.93502944e-03 -7.62994202e-05 9.99992255e-01 3.64829861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96028169299998 meters 0.025707770270356343 Centerline is valid? [True, True] Translation: X:168.29, Y:51.82, Z:0.36 [[ 7.64869725e-01 -6.44176945e-01 -3.21991131e-03 1.68286608e+02] [ 6.44171643e-01 7.64876499e-01 -2.61460505e-03 5.18228312e+01] [ 4.14710278e-03 -7.43433095e-05 9.99991398e-01 3.64605867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.990281693 meters 0.023410624283924424 Centerline is valid? [True, True] Translation: X:168.31, Y:51.84, Z:0.36 [[ 7.66508321e-01 -6.42226694e-01 -3.14116279e-03 1.68308654e+02] [ 6.42221629e-01 7.66514755e-01 -2.55143102e-03 5.18396802e+01] [ 4.04634473e-03 -6.16295765e-05 9.99991812e-01 3.64590545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.020281693 meters 0.021577415219419905 Centerline is valid? [True, True] Translation: X:168.33, Y:51.86, Z:0.37 [[ 7.67886096e-01 -6.40582000e-01 -2.37584321e-03 1.68328874e+02] [ 6.40579092e-01 7.67889771e-01 -1.93029053e-03 5.18582012e+01] [ 3.06089507e-03 -3.96722285e-05 9.99995315e-01 3.66278521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.050281693 meters 0.01685040655560312 Centerline is valid? [True, True] Translation: X:168.35, Y:51.88, Z:0.37 [[ 7.71056441e-01 -6.36765853e-01 -1.10150427e-03 1.68345285e+02] [ 6.36765224e-01 7.71057228e-01 -8.94947682e-04 5.18819323e+01] [ 1.41919495e-03 -1.13444370e-05 9.99998993e-01 3.68759705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.080281693 meters 0.015665214620646014 Centerline is valid? [True, True] Translation: X:168.36, Y:51.90, Z:0.37 [[ 7.72305176e-01 -6.35250001e-01 -1.46711283e-03 1.68364625e+02] [ 6.35248881e-01 7.72306569e-01 -1.19254401e-03 5.19017652e+01] [ 1.89062446e-03 -1.09738686e-05 9.99998213e-01 3.67675382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.110281693 meters 0.014881242822971147 Centerline is valid? [True, True] Translation: X:168.38, Y:51.92, Z:0.36 [[ 7.73192341e-01 -6.34165889e-01 -2.68853374e-03 1.68384424e+02] [ 6.34162120e-01 7.73197015e-01 -2.18656010e-03 5.19214673e+01] [ 3.46540810e-03 -1.43347350e-05 9.99993995e-01 3.64718915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.140281693 meters 0.015577423684172963 Centerline is valid? [True, True] Translation: X:168.41, Y:51.94, Z:0.36 [[ 7.72790268e-01 -6.34645274e-01 -4.53627795e-03 1.68407374e+02] [ 6.34634541e-01 7.72803582e-01 -3.69100535e-03 5.19362273e+01] [ 5.84813095e-03 -2.65056544e-05 9.99982899e-01 3.58631797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.170281693 meters 0.017432660897323034 Centerline is valid? [True, True] Translation: X:168.44, Y:51.95, Z:0.36 [[ 7.70633810e-01 -6.37267490e-01 -3.69827335e-03 1.68436475e+02] [ 6.37260382e-01 7.70642683e-01 -3.01013725e-03 5.19454645e+01] [ 4.76830991e-03 -3.70495528e-05 9.99988631e-01 3.60990133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.200281693 meters 0.018493117747030455 Centerline is valid? [True, True] Translation: X:168.46, Y:51.96, Z:0.36 [[ 7.69626566e-01 -6.38487002e-01 -3.04908570e-03 1.68460117e+02] [ 6.38482176e-01 7.69632605e-01 -2.48255857e-03 5.19585549e+01] [ 3.93175715e-03 -3.61438505e-05 9.99992270e-01 3.63011633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.230281693 meters 0.018795200914514084 Centerline is valid? [True, True] Translation: X:168.48, Y:51.97, Z:0.36 [[ 7.69280213e-01 -6.38906720e-01 -2.48130849e-03 1.68483290e+02] [ 6.38903524e-01 7.69284214e-01 -2.02093323e-03 5.19747592e+01] [ 3.20001927e-03 -3.06527925e-05 9.99994879e-01 3.64885597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.260281693 meters 0.01615216711096528 Centerline is valid? [True, True] Translation: X:168.50, Y:52.00, Z:0.37 [[ 7.71097783e-01 -6.36713989e-01 -1.87233078e-03 1.68503481e+02] [ 6.36712162e-01 7.71100056e-01 -1.52537479e-03 5.19953151e+01] [ 2.41498183e-03 -1.59226593e-05 9.99997084e-01 3.66572654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.290281693 meters 0.014985618500097404 Centerline is valid? [True, True] Translation: X:168.52, Y:52.01, Z:0.37 [[ 7.72584716e-01 -6.34908602e-01 -1.98067564e-03 1.68523017e+02] [ 6.34906550e-01 7.72587255e-01 -1.61424665e-03 5.20135822e+01] [ 2.55514384e-03 -1.04016460e-05 9.99996736e-01 3.65628498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.320281693 meters 0.01414047839129518 Centerline is valid? [True, True] Translation: X:168.54, Y:52.04, Z:0.36 [[ 7.75429614e-01 -6.31423322e-01 -3.67439849e-03 1.68541570e+02] [ 6.31416214e-01 7.75438320e-01 -2.99613793e-03 5.20350653e+01] [ 4.74110076e-03 3.21929439e-06 9.99988761e-01 3.60653625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.350281693 meters 0.01481981434889886 Centerline is valid? [True, True] Translation: X:168.56, Y:52.05, Z:0.36 [[ 7.76579771e-01 -6.29998732e-01 -5.04552778e-03 1.68562430e+02] [ 6.29985287e-01 7.76596161e-01 -4.11582528e-03 5.20544338e+01] [ 6.51130221e-03 1.76583801e-05 9.99978801e-01 3.57558037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.380281693 meters 0.01596091321071377 Centerline is valid? [True, True] Translation: X:168.58, Y:52.07, Z:0.35 [[ 7.77766800e-01 -6.28522099e-01 -6.22698427e-03 1.68583425e+02] [ 6.28501559e-01 7.77791726e-01 -5.08145188e-03 5.20738029e+01] [ 8.03710165e-03 3.85152445e-05 9.99967701e-01 3.54561601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.410281693 meters 0.017415143484487677 Centerline is valid? [True, True] Translation: X:168.60, Y:52.09, Z:0.35 [[ 7.79041736e-01 -6.26936460e-01 -6.68198364e-03 1.68602901e+02] [ 6.26912734e-01 7.79070389e-01 -5.45456359e-03 5.20926806e+01] [ 8.62540038e-03 6.03120613e-05 9.99962799e-01 3.53243370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440281693 meters 0.020142032386379235 Centerline is valid? [True, True] Translation: X:168.62, Y:52.11, Z:0.35 [[ 7.81040349e-01 -6.24446068e-01 -6.56370243e-03 1.68620978e+02] [ 6.24423071e-01 7.81067923e-01 -5.35976065e-03 5.21142743e+01] [ 8.47357889e-03 8.76620982e-05 9.99964095e-01 3.54365223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470281693 meters 0.023229921703916183 Centerline is valid? [True, True] Translation: X:168.64, Y:52.14, Z:0.36 [[ 7.83094659e-01 -6.21874112e-01 -5.94515918e-03 1.68638826e+02] [ 6.21855159e-01 7.83117219e-01 -4.85624423e-03 5.21376902e+01] [ 7.67572909e-03 1.05871010e-04 9.99970536e-01 3.56213158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500281693 meters 0.02505442702472927 Centerline is valid? [True, True] Translation: X:168.66, Y:52.16, Z:0.36 [[ 7.83914684e-01 -6.20848486e-01 -4.99252306e-03 1.68657493e+02] [ 6.20835092e-01 7.83930576e-01 -4.07933524e-03 5.21582304e+01] [ 6.44644059e-03 9.83172821e-05 9.99979217e-01 3.58755195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530281693 meters 0.0239420427231222 Centerline is valid? [True, True] Translation: X:168.68, Y:52.18, Z:0.36 [[ 7.84477960e-01 -6.20146157e-01 -3.61581158e-03 1.68679903e+02] [ 6.20139120e-01 7.84486289e-01 -2.95533646e-03 5.21755642e+01] [ 4.66929516e-03 7.60901109e-05 9.99989096e-01 3.63104819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560281693 meters 0.02553694209464983 Centerline is valid? [True, True] Translation: X:168.70, Y:52.19, Z:0.36 [[ 7.84298632e-01 -6.20378091e-01 -2.58446231e-03 1.68699462e+02] [ 6.20374495e-01 7.84302889e-01 -2.11297854e-03 5.21944666e+01] [ 3.33784685e-03 5.38716797e-05 9.99994428e-01 3.64665293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590281693 meters 0.024241082345526414 Centerline is valid? [True, True] Translation: X:168.72, Y:52.21, Z:0.36 [[ 7.83213761e-01 -6.21745488e-01 -2.95871229e-03 1.68722255e+02] [ 6.21740781e-01 7.83219347e-01 -2.41982971e-03 5.22092576e+01] [ 3.82183891e-03 5.56918391e-05 9.99992695e-01 3.62705701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620281693 meters 0.020199679895049887 Centerline is valid? [True, True] Translation: X:168.75, Y:52.22, Z:0.36 [[ 7.80682167e-01 -6.24922633e-01 -2.65643878e-03 1.68748796e+02] [ 6.24918855e-01 7.80686686e-01 -2.17329899e-03 5.22218866e+01] [ 3.43199011e-03 3.65970828e-05 9.99994110e-01 3.63379516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650281693 meters 0.017612343825040705 Centerline is valid? [True, True] Translation: X:168.77, Y:52.24, Z:0.37 [[ 7.79331651e-01 -6.26607443e-01 -2.30002741e-03 1.68773163e+02] [ 6.26604616e-01 7.79335045e-01 -1.88228116e-03 5.22368497e+01] [ 2.97194335e-03 2.57134955e-05 9.99995583e-01 3.65251383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680281693 meters 0.016498510938556473 Centerline is valid? [True, True] Translation: X:168.80, Y:52.25, Z:0.37 [[ 7.78286919e-01 -6.27904476e-01 -2.33245864e-03 1.68795506e+02] [ 6.27901573e-01 7.78290414e-01 -1.90950726e-03 5.22533953e+01] [ 3.01431836e-03 2.15900806e-05 9.99995457e-01 3.65443478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71028169299998 meters 0.016274883857076244 Centerline is valid? [True, True] Translation: X:168.82, Y:52.27, Z:0.36 [[ 7.77242080e-01 -6.29194736e-01 -2.95513455e-03 1.68815277e+02] [ 6.29190081e-01 7.77247698e-01 -2.42028863e-03 5.22712778e+01] [ 3.81970439e-03 2.18088250e-05 9.99992705e-01 3.63794358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.740281693 meters 0.015902648811886123 Centerline is valid? [True, True] Translation: X:168.84, Y:52.29, Z:0.36 [[ 7.77489817e-01 -6.28887538e-01 -3.17012839e-03 1.68836055e+02] [ 6.28882175e-01 7.77496279e-01 -2.59738704e-03 5.22894813e+01] [ 4.09822737e-03 2.58047392e-05 9.99991602e-01 3.64726603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.770281693 meters 0.017757299312397806 Centerline is valid? [True, True] Translation: X:168.85, Y:52.31, Z:0.37 [[ 7.78900798e-01 -6.27141621e-01 -2.63320867e-03 1.68850369e+02] [ 6.27137908e-01 7.78905248e-01 -2.15816153e-03 5.23145299e+01] [ 3.40449297e-03 2.96087538e-05 9.99994204e-01 3.65948518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.800281693 meters 0.019504518982683194 Centerline is valid? [True, True] Translation: X:168.87, Y:52.34, Z:0.37 [[ 7.79808125e-01 -6.26013496e-01 -2.52803734e-03 1.68867009e+02] [ 6.26010066e-01 7.79812222e-01 -2.07263082e-03 5.23368846e+01] [ 3.26888928e-03 3.36775338e-05 9.99994657e-01 3.66618225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.830281693 meters 0.021043988476188203 Centerline is valid? [True, True] Translation: X:168.88, Y:52.36, Z:0.37 [[ 7.81143459e-01 -6.24343766e-01 -3.12383821e-03 1.68883189e+02] [ 6.24338511e-01 7.81149704e-01 -2.56204847e-03 5.23611046e+01] [ 4.03978428e-03 5.09949098e-05 9.99991839e-01 3.65129480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.860281693 meters 0.021607262895368382 Centerline is valid? [True, True] Translation: X:168.90, Y:52.38, Z:0.36 [[ 7.81373943e-01 -6.24051485e-01 -3.80858478e-03 1.68903203e+02] [ 6.24043665e-01 7.81383222e-01 -3.12482497e-03 5.23818019e+01] [ 4.92601591e-03 6.49336063e-05 9.99987865e-01 3.63436038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.890281693 meters 0.02163306288978182 Centerline is valid? [True, True] Translation: X:168.92, Y:52.40, Z:0.36 [[ 7.81187725e-01 -6.24279175e-01 -4.60974111e-03 1.68923595e+02] [ 6.24267714e-01 7.81201322e-01 -3.78360339e-03 5.24014685e+01] [ 5.96316066e-03 7.79919784e-05 9.99982217e-01 3.61871883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.920281693 meters 0.02163306288978182 Centerline is valid? [True, True] Translation: X:168.94, Y:52.42, Z:0.36 [[ 7.81076173e-01 -6.24418744e-01 -4.60906534e-03 1.68944715e+02] [ 6.24407281e-01 7.81089768e-01 -3.78442652e-03 5.24190712e+01] [ 5.96316063e-03 7.79914279e-05 9.99982217e-01 3.61926577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.950281693 meters 0.020593940078456784 Centerline is valid? [True, True] Translation: X:168.96, Y:52.44, Z:0.36 [[ 7.80098976e-01 -6.25638080e-01 -4.75190456e-03 1.68963745e+02] [ 6.25625911e-01 7.80113445e-01 -3.90289905e-03 5.24384344e+01] [ 6.14882691e-03 7.17329368e-05 9.99981093e-01 3.61084646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.980281693 meters 0.019776598083243394 Centerline is valid? [True, True] Translation: X:168.98, Y:52.46, Z:0.36 [[ 7.79470161e-01 -6.26424440e-01 -4.32299141e-03 1.68984868e+02] [ 6.26414374e-01 7.79482147e-01 -3.55174340e-03 5.24576821e+01] [ 5.59459350e-03 6.04940475e-05 9.99984348e-01 3.62038603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.010281693 meters 0.02062413015124971 Centerline is valid? [True, True] Translation: X:169.00, Y:52.48, Z:0.36 [[ 7.78696656e-01 -6.27388269e-01 -3.93413527e-03 1.69002498e+02] [ 6.27379940e-01 7.78706592e-01 -3.23322689e-03 5.24789435e+01] [ 5.09202569e-03 4.95054224e-05 9.99987034e-01 3.61017423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.040281693 meters 0.020100536323867498 Centerline is valid? [True, True] Translation: X:169.02, Y:52.50, Z:0.36 [[ 7.78208993e-01 -6.27988838e-01 -4.55875135e-03 1.69024072e+02] [ 6.27977657e-01 7.78222344e-01 -3.74781798e-03 5.24966532e+01] [ 5.90131002e-03 5.37916650e-05 9.99982586e-01 3.59082156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.070281693 meters 0.017431865501951128 Centerline is valid? [True, True] Translation: X:169.05, Y:52.51, Z:0.36 [[ 7.77741041e-01 -6.28562883e-01 -5.25110404e-03 1.69048729e+02] [ 6.28548050e-01 7.77758766e-01 -4.31867819e-03 5.25110508e+01] [ 6.79865302e-03 5.82420734e-05 9.99976887e-01 3.58661274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.100281693 meters 0.01743722783185347 Centerline is valid? [True, True] Translation: X:169.07, Y:52.53, Z:0.36 [[ 7.76702157e-01 -6.29842786e-01 -5.64130658e-03 1.69069263e+02] [ 6.29825687e-01 7.76722641e-01 -4.64138562e-03 5.25294331e+01] [ 7.30507380e-03 5.19344360e-05 9.99973316e-01 3.56803969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.130281693 meters 0.01648239703768718 Centerline is valid? [True, True] Translation: X:169.09, Y:52.55, Z:0.36 [[ 7.76179842e-01 -6.30497222e-01 -4.25521224e-03 1.69091830e+02] [ 6.30487496e-01 7.76191505e-01 -3.50214449e-03 5.25465634e+01] [ 5.51095196e-03 3.54358431e-05 9.99984814e-01 3.60867331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.160281693 meters 0.01650597999482478 Centerline is valid? [True, True] Translation: X:169.11, Y:52.56, Z:0.36 [[ 7.76284820e-01 -6.30370244e-01 -3.90316380e-03 1.69112668e+02] [ 6.30362053e-01 7.76294631e-01 -3.21356258e-03 5.25647576e+01] [ 5.05573933e-03 3.42335001e-05 9.99987219e-01 3.62649627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190281693 meters 0.017777816075314926 Centerline is valid? [True, True] Translation: X:169.13, Y:52.59, Z:0.36 [[ 7.76721420e-01 -6.29832399e-01 -3.87104283e-03 1.69130586e+02] [ 6.29824331e-01 7.76731065e-01 -3.18825682e-03 5.25852730e+01] [ 5.01482666e-03 3.83104106e-05 9.99987425e-01 3.61724259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220281693 meters 0.0197024799408249 Centerline is valid? [True, True] Translation: X:169.15, Y:52.61, Z:0.36 [[ 7.78633801e-01 -6.27466100e-01 -3.96205150e-03 1.69147509e+02] [ 6.27457611e-01 7.78643879e-01 -3.26430638e-03 5.26098268e+01] [ 5.13326875e-03 5.56799159e-05 9.99986823e-01 3.62171523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250281693 meters 0.02115553621406603 Centerline is valid? [True, True] Translation: X:169.17, Y:52.63, Z:0.36 [[ 7.79711491e-01 -6.26127381e-01 -3.80708447e-03 1.69166160e+02] [ 6.26119522e-01 7.79720783e-01 -3.13763290e-03 5.26321502e+01] [ 4.93302075e-03 6.27585194e-05 9.99987831e-01 3.62923745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280281693 meters 0.02371727281159671 Centerline is valid? [True, True] Translation: X:169.18, Y:52.66, Z:0.36 [[ 7.81188474e-01 -6.24287456e-01 -3.12095104e-03 1.69180788e+02] [ 6.24282158e-01 7.81194706e-01 -2.57277395e-03 5.26581931e+01] [ 4.04422093e-03 6.14673037e-05 9.99991820e-01 3.64792753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310281693 meters 0.023925544293169853 Centerline is valid? [True, True] Translation: X:169.20, Y:52.68, Z:0.37 [[ 7.81209627e-01 -6.24263129e-01 -2.65815043e-03 1.69199140e+02] [ 6.24259283e-01 7.81214147e-01 -2.19183624e-03 5.26795230e+01] [ 3.44486727e-03 5.29084908e-05 9.99994065e-01 3.65563894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340281693 meters 0.023395979212017415 Centerline is valid? [True, True] Translation: X:169.22, Y:52.70, Z:0.37 [[ 7.80628914e-01 -6.24990176e-01 -2.40382180e-03 1.69217966e+02] [ 6.24987033e-01 7.80632614e-01 -1.98275227e-03 5.26994417e+01] [ 3.11570239e-03 4.54362986e-05 9.99995145e-01 3.65688544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370281693 meters 0.01896072296515976 Centerline is valid? [True, True] Translation: X:169.24, Y:52.72, Z:0.37 [[ 7.77439921e-01 -6.28952970e-01 -2.30889637e-03 1.69240084e+02] [ 6.28950085e-01 7.77443349e-01 -1.90501508e-03 5.27177743e+01] [ 2.99320102e-03 2.88542094e-05 9.99995520e-01 3.65871006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400281693 meters 0.01604888350377677 Centerline is valid? [True, True] Translation: X:169.26, Y:52.73, Z:0.37 [[ 7.74959264e-01 -6.32005294e-01 -2.72909147e-03 1.69264072e+02] [ 6.32001280e-01 7.74964069e-01 -2.25252243e-03 5.27335348e+01] [ 3.53855393e-03 2.08238183e-05 9.99993739e-01 3.65429340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430281693 meters 0.014839888858768262 Centerline is valid? [True, True] Translation: X:169.29, Y:52.75, Z:0.36 [[ 7.70412204e-01 -6.37528745e-01 -4.70475017e-03 1.69289035e+02] [ 6.37516908e-01 7.70426570e-01 -3.88490067e-03 5.27471268e+01] [ 6.10140038e-03 -6.38289473e-06 9.99981386e-01 3.61354925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46028169299998 meters 0.015671778122397353 Centerline is valid? [True, True] Translation: X:169.31, Y:52.76, Z:0.36 [[ 7.68141676e-01 -6.40258705e-01 -5.21120758e-03 1.69312617e+02] [ 6.40244234e-01 7.68159352e-01 -4.30474790e-03 5.27630535e+01] [ 6.75919016e-03 -2.97893377e-05 9.99977156e-01 3.60176080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.490281693 meters 0.016903800743947074 Centerline is valid? [True, True] Translation: X:169.34, Y:52.78, Z:0.36 [[ 7.66345946e-01 -6.42408763e-01 -4.98718995e-03 1.69335371e+02] [ 6.42395548e-01 7.66362172e-01 -4.12082805e-03 5.27792846e+01] [ 6.46924977e-03 -4.57687489e-05 9.99979073e-01 3.60882242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.520281693 meters 0.01931252066964355 Centerline is valid? [True, True] Translation: X:169.36, Y:52.80, Z:0.36 [[ 7.63852938e-01 -6.45375542e-01 -4.37026859e-03 1.69358704e+02] [ 6.45365438e-01 7.63865437e-01 -3.61179860e-03 5.27953202e+01] [ 5.66926360e-03 -6.15373353e-05 9.99983928e-01 3.63191446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.550281693 meters 0.020542911023537076 Centerline is valid? [True, True] Translation: X:169.38, Y:52.81, Z:0.36 [[ 7.62617451e-01 -6.46837890e-01 -3.92010291e-03 1.69382267e+02] [ 6.46829775e-01 7.62627524e-01 -3.24063137e-03 5.28125837e+01] [ 5.08574153e-03 -6.42772453e-05 9.99987065e-01 3.63958406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.580281693 meters 0.024216659643342534 Centerline is valid? [True, True] Translation: X:169.41, Y:52.83, Z:0.37 [[ 7.59858622e-01 -6.50083150e-01 -2.60243920e-03 1.69408207e+02] [ 6.50079591e-01 7.59863076e-01 -2.15191226e-03 5.28253437e+01] [ 3.37641936e-03 -5.66435263e-05 9.99994298e-01 3.66048582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.610281693 meters 0.027789084064607793 Centerline is valid? [True, True] Translation: X:169.43, Y:52.84, Z:0.37 [[ 7.58267084e-01 -6.51939067e-01 -2.54583169e-03 1.69433302e+02] [ 6.51935670e-01 7.58271355e-01 -2.10571431e-03 5.28373623e+01] [ 3.30322867e-03 -6.30246358e-05 9.99994542e-01 3.66007535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.640281693 meters 0.029275560236995714 Centerline is valid? [True, True] Translation: X:169.46, Y:52.85, Z:0.37 [[ 7.55637246e-01 -6.54985438e-01 -2.53536597e-03 1.69459213e+02] [ 6.54982084e-01 7.55641496e-01 -2.09768793e-03 5.28505746e+01] [ 3.28978278e-03 -7.55281534e-05 9.99994586e-01 3.65516065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.670281693 meters 0.032001799350612765 Centerline is valid? [True, True] Translation: X:169.49, Y:52.86, Z:0.37 [[ 7.54656432e-01 -6.56114754e-01 -2.66436150e-03 1.69485035e+02] [ 6.56111054e-01 7.54661131e-01 -2.20507085e-03 5.28634214e+01] [ 3.45746958e-03 -8.40461340e-05 9.99994019e-01 3.65052058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.700281693 meters 0.03374522246273054 Centerline is valid? [True, True] Translation: X:169.51, Y:52.88, Z:0.36 [[ 7.54134720e-01 -6.56712852e-01 -3.00906403e-03 1.69509578e+02] [ 6.56708135e-01 7.54140717e-01 -2.49103181e-03 5.28771780e+01] [ 3.90515031e-03 -9.75032483e-05 9.99992370e-01 3.64258235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.730281693 meters 0.03224213294817807 Centerline is valid? [True, True] Translation: X:169.53, Y:52.89, Z:0.37 [[ 7.55004693e-01 -6.55710702e-01 -3.37465434e-03 1.69533146e+02] [ 6.55704754e-01 7.55012228e-01 -2.79467975e-03 5.28931647e+01] [ 4.38040671e-03 -1.02780572e-04 9.99990401e-01 3.65045954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.760281693 meters 0.03116638739731132 Centerline is valid? [True, True] Translation: X:169.55, Y:52.91, Z:0.37 [[ 7.55730767e-01 -6.54874938e-01 -3.13413683e-03 1.69554782e+02] [ 6.54869798e-01 7.55737260e-01 -2.59636347e-03 5.29105102e+01] [ 4.06887735e-03 -9.02997938e-05 9.99991718e-01 3.66026734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.790281693 meters 0.029726948677361965 Centerline is valid? [True, True] Translation: X:169.58, Y:52.93, Z:0.37 [[ 7.57389999e-01 -6.52958278e-01 -2.42428058e-03 1.69576808e+02] [ 6.52955191e-01 7.57393876e-01 -2.00879696e-03 5.29261819e+01] [ 3.14779586e-03 -6.15038609e-05 9.99995044e-01 3.66567448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.820281693 meters 0.0297998018427117 Centerline is valid? [True, True] Translation: X:169.60, Y:52.94, Z:0.37 [[ 7.57376031e-01 -6.52975210e-01 -2.21881840e-03 1.69599904e+02] [ 6.52972623e-01 7.57379279e-01 -1.83898083e-03 5.29418080e+01] [ 2.88129598e-03 -5.60276710e-05 9.99995847e-01 3.66616940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.850281693 meters 0.028977308211533416 Centerline is valid? [True, True] Translation: X:169.62, Y:52.96, Z:0.37 [[ 7.56348179e-01 -6.54167612e-01 -1.47197452e-03 1.69624926e+02] [ 6.54166476e-01 7.56349610e-01 -1.22026272e-03 5.29566689e+01] [ 1.91158370e-03 -3.99729030e-05 9.99998172e-01 3.68564137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.880281693 meters 0.029905057147226796 Centerline is valid? [True, True] Translation: X:169.65, Y:52.97, Z:0.37 [[ 7.55584759e-01 -6.55050439e-01 -7.70434184e-04 1.69648488e+02] [ 6.55050128e-01 7.55585152e-01 -6.38698246e-04 5.29720378e+01] [ 1.00050820e-03 -2.20823504e-05 9.99999499e-01 3.69830799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.910281693 meters 0.030708273723778975 Centerline is valid? [True, True] Translation: X:169.67, Y:52.99, Z:0.37 [[ 7.54956621e-01 -6.55773798e-01 -1.10738018e-03 1.69671480e+02] [ 6.55773155e-01 7.54957433e-01 -9.18540966e-04 5.29885086e+01] [ 1.43837999e-03 -3.27316089e-05 9.99998965e-01 3.70366189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940281693 meters 0.03271577370980357 Centerline is valid? [True, True] Translation: X:169.70, Y:53.00, Z:0.37 [[ 7.54014601e-01 -6.56854758e-01 -1.95151235e-03 1.69695296e+02] [ 6.56852764e-01 7.54017124e-01 -1.61955836e-03 5.30020743e+01] [ 2.53528834e-03 -6.06856264e-05 9.99996784e-01 3.68156248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970281693 meters 0.033733614941354295 Centerline is valid? [True, True] Translation: X:169.72, Y:53.02, Z:0.37 [[ 7.53073894e-01 -6.57930065e-01 -2.78223230e-03 1.69719464e+02] [ 6.57926017e-01 7.53079028e-01 -2.30961612e-03 5.30172657e+01] [ 3.61480668e-03 -9.11914103e-05 9.99993462e-01 3.66425391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000281693 meters 0.03838543064402105 Centerline is valid? [True, True] Translation: X:169.75, Y:53.03, Z:0.36 [[ 7.50648960e-01 -6.60691659e-01 -3.55950881e-03 1.69748453e+02] [ 6.60685059e-01 7.50657388e-01 -2.95604558e-03 5.30250480e+01] [ 4.62500624e-03 -1.32761745e-04 9.99989296e-01 3.63923619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030281693 meters 0.038856848890572046 Centerline is valid? [True, True] Translation: X:169.77, Y:53.04, Z:0.36 [[ 7.49394692e-01 -6.62114695e-01 -3.42447429e-03 1.69772474e+02] [ 6.62108597e-01 7.49402504e-01 -2.84490453e-03 5.30404015e+01] [ 4.44996270e-03 -1.35417510e-04 9.99990090e-01 3.64217175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060281693 meters 0.040896348800259795 Centerline is valid? [True, True] Translation: X:169.80, Y:53.05, Z:0.36 [[ 7.48836285e-01 -6.62746407e-01 -3.37920666e-03 1.69797153e+02] [ 6.62740472e-01 7.48843897e-01 -2.80797808e-03 5.30528207e+01] [ 4.39147567e-03 -1.36821148e-04 9.99990348e-01 3.64580658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090281693 meters 0.04017384848814738 Centerline is valid? [True, True] Translation: X:169.82, Y:53.07, Z:0.37 [[ 7.49448422e-01 -6.62055064e-01 -3.18675305e-03 1.69821722e+02] [ 6.62049778e-01 7.49455187e-01 -2.64856568e-03 5.30655250e+01] [ 4.14182492e-03 -1.24825777e-04 9.99991415e-01 3.65861030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120281693 meters 0.03906080593969464 Centerline is valid? [True, True] Translation: X:169.84, Y:53.08, Z:0.37 [[ 7.50706876e-01 -6.60626607e-01 -3.41660130e-03 1.69843341e+02] [ 6.60620513e-01 7.50714640e-01 -2.84022140e-03 5.30814685e+01] [ 4.44121844e-03 -1.24903165e-04 9.99990130e-01 3.65978730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150281693 meters 0.030914926706724747 Centerline is valid? [True, True] Translation: X:169.86, Y:53.10, Z:0.37 [[ 7.55392484e-01 -6.55263492e-01 -3.45695957e-03 1.69860388e+02] [ 6.55257193e-01 7.55400389e-01 -2.87461860e-03 5.31041937e+01] [ 4.49502123e-03 -9.37323383e-05 9.99989893e-01 3.65809412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180281693 meters 0.02606183923391334 Centerline is valid? [True, True] Translation: X:169.88, Y:53.13, Z:0.37 [[ 7.58205832e-01 -6.52008188e-01 -3.03951504e-03 1.69878568e+02] [ 6.52003289e-01 7.58211922e-01 -2.52833854e-03 5.31261787e+01] [ 3.95309397e-03 -6.47727766e-05 9.99992184e-01 3.66503549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21028169299998 meters 0.018892952575927584 Centerline is valid? [True, True] Translation: X:169.89, Y:53.15, Z:0.37 [[ 7.62941746e-01 -6.46463243e-01 -2.27328321e-03 1.69893400e+02] [ 6.46460476e-01 7.62945133e-01 -1.89152438e-03 5.31507552e+01] [ 2.95719135e-03 -2.64648332e-05 9.99995627e-01 3.69531408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.240281693 meters 0.01674166121319134 Centerline is valid? [True, True] Translation: X:169.91, Y:53.17, Z:0.37 [[ 7.64341984e-01 -6.44808274e-01 -1.90317185e-03 1.69912425e+02] [ 6.44806328e-01 7.64344353e-01 -1.58407210e-03 5.31715798e+01] [ 2.47610145e-03 -1.64044421e-05 9.99996934e-01 3.70698437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.270281693 meters 0.01548073286935378 Centerline is valid? [True, True] Translation: X:169.93, Y:53.19, Z:0.37 [[ 7.66047620e-01 -6.42775736e-01 -3.22442747e-03 1.69931522e+02] [ 6.42770128e-01 7.66054406e-01 -2.68507885e-03 5.31928279e+01] [ 4.19599040e-03 -1.56673961e-05 9.99991197e-01 3.67376823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.300281693 meters 0.01501673688773796 Centerline is valid? [True, True] Translation: X:169.95, Y:53.21, Z:0.37 [[ 7.66851647e-01 -6.41813332e-01 -3.76806805e-03 1.69950227e+02] [ 6.41805656e-01 7.66860905e-01 -3.13902474e-03 5.32118629e+01] [ 4.90425200e-03 -1.12010958e-05 9.99987974e-01 3.65049870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.330281693 meters 0.01482500027865536 Centerline is valid? [True, True] Translation: X:169.97, Y:53.23, Z:0.36 [[ 7.68005572e-01 -6.40431256e-01 -3.90493796e-03 1.69968271e+02] [ 6.40422988e-01 7.68015499e-01 -3.25429153e-03 5.32321096e+01] [ 5.08320289e-03 -1.49800806e-06 9.99987080e-01 3.64621779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.360281693 meters 0.015116005499050377 Centerline is valid? [True, True] Translation: X:169.99, Y:53.25, Z:0.37 [[ 7.69409061e-01 -6.38745413e-01 -3.74092090e-03 1.69986607e+02] [ 6.38737799e-01 7.69418155e-01 -3.11872121e-03 5.32541748e+01] [ 4.87040132e-03 1.01047726e-05 9.99988139e-01 3.65979686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.390281693 meters 0.01661660293804527 Centerline is valid? [True, True] Translation: X:170.00, Y:53.28, Z:0.37 [[ 7.71694592e-01 -6.35986584e-01 -2.91928528e-03 1.70001221e+02] [ 6.35981925e-01 7.71700113e-01 -2.43446413e-03 5.32797038e+01] [ 3.80109931e-03 2.20501301e-05 9.99992776e-01 3.69094345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.420281693 meters 0.01786258994746826 Centerline is valid? [True, True] Translation: X:170.02, Y:53.30, Z:0.37 [[ 7.72432466e-01 -6.35096503e-01 -7.19162929e-04 1.70017390e+02] [ 6.35096220e-01 7.72432801e-01 -5.99577138e-04 5.33025559e+01] [ 9.36294379e-04 6.39518948e-06 9.99999562e-01 3.74839922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.450281693 meters 0.017226393974032 Centerline is valid? [True, True] Translation: X:170.04, Y:53.32, Z:0.38 [[ 7.72416503e-01 -6.35116323e-01 3.90735352e-05 1.70038987e+02] [ 6.35116322e-01 7.72416504e-01 3.30802727e-05 5.33207552e+01] [-5.11908646e-05 -7.35508626e-07 9.99999999e-01 3.76165419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.480281693 meters 0.017530732286646297 Centerline is valid? [True, True] Translation: X:170.06, Y:53.34, Z:0.38 [[ 7.71834435e-01 -6.35823484e-01 3.19667217e-04 1.70058701e+02] [ 6.35823428e-01 7.71834501e-01 2.67412234e-04 5.33389248e+01] [-4.16757165e-04 -3.14606452e-06 9.99999913e-01 3.76586332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.510281693 meters 0.01581035090127125 Centerline is valid? [True, True] Translation: X:170.08, Y:53.35, Z:0.37 [[ 7.70549668e-01 -6.37379930e-01 1.85188354e-04 1.70083390e+02] [ 6.37379911e-01 7.70549690e-01 1.55149558e-04 5.33537013e+01] [-2.41586043e-04 -1.51510389e-06 9.99999971e-01 3.74855710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.540281693 meters 0.015096361444312895 Centerline is valid? [True, True] Translation: X:170.11, Y:53.36, Z:0.37 [[ 7.65888946e-01 -6.42972221e-01 -9.19188538e-04 1.70113005e+02] [ 6.42971763e-01 7.65889498e-01 -7.67664163e-04 5.33601780e+01] [ 1.19758358e-03 -3.06677776e-06 9.99999283e-01 3.71698139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.570281693 meters 0.021665921247722594 Centerline is valid? [True, True] Translation: X:170.15, Y:53.36, Z:0.37 [[ 7.59445088e-01 -6.50567311e-01 -2.30929938e-03 1.70148093e+02] [ 6.50564450e-01 7.59448598e-01 -1.92969188e-03 5.33626931e+01] [ 3.00918864e-03 -3.68530633e-05 9.99995472e-01 3.67540314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.600281693 meters 0.02692027292235406 Centerline is valid? [True, True] Translation: X:170.18, Y:53.37, Z:0.37 [[ 7.56124355e-01 -6.54421999e-01 -2.79408304e-03 1.70177347e+02] [ 6.54417834e-01 7.56129515e-01 -2.33566521e-03 5.33721827e+01] [ 3.64119935e-03 -6.24444199e-05 9.99993369e-01 3.66131215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.630281693 meters 0.03199005907744235 Centerline is valid? [True, True] Translation: X:170.21, Y:53.38, Z:0.37 [[ 7.53047248e-01 -6.57960530e-01 -2.78979575e-03 1.70205378e+02] [ 6.57956399e-01 7.53052411e-01 -2.33291414e-03 5.33814389e+01] [ 3.63582784e-03 -7.87693926e-05 9.99993387e-01 3.66567902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.660281693 meters 0.04287158518464435 Centerline is valid? [True, True] Translation: X:170.24, Y:53.38, Z:0.37 [[ 7.49434341e-01 -6.62075253e-01 -2.12812190e-03 1.70239836e+02] [ 6.62072864e-01 7.49437359e-01 -1.78016877e-03 5.33808957e+01] [ 2.77349975e-03 -7.48521521e-05 9.99996151e-01 3.68653397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690281693 meters 0.0346750119464289 Centerline is valid? [True, True] Translation: X:170.26, Y:53.40, Z:0.37 [[ 7.48927780e-01 -6.62646712e-01 -2.55245560e-03 1.70256470e+02] [ 6.62643276e-01 7.48932124e-01 -2.13602421e-03 5.34045185e+01] [ 3.32704541e-03 -9.16396751e-05 9.99994461e-01 3.68825494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720281693 meters 0.039550811059911664 Centerline is valid? [True, True] Translation: X:170.28, Y:53.41, Z:0.37 [[ 7.48963924e-01 -6.62601669e-01 -3.47393478e-03 1.70283669e+02] [ 6.62595298e-01 7.48971970e-01 -2.90844054e-03 5.34137911e+01] [ 4.52901733e-03 -1.23495808e-04 9.99989736e-01 3.66283992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750281693 meters 0.0319308103542337 Centerline is valid? [True, True] Translation: X:170.30, Y:53.44, Z:0.36 [[ 7.50836139e-01 -6.60470510e-01 -4.87825978e-03 1.70301482e+02] [ 6.60457890e-01 7.50851970e-01 -4.08594349e-03 5.34365456e+01] [ 6.36149615e-03 -1.54011128e-04 9.99979754e-01 3.63707968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780281693 meters 0.03172148363454703 Centerline is valid? [True, True] Translation: X:170.32, Y:53.45, Z:0.36 [[ 7.51999519e-01 -6.59146284e-01 -4.78539477e-03 1.70323145e+02] [ 6.59134105e-01 7.52014732e-01 -4.00923839e-03 5.34536601e+01] [ 6.24136195e-03 -1.39271558e-04 9.99980513e-01 3.63170524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810281693 meters 0.028365860539361333 Centerline is valid? [True, True] Translation: X:170.34, Y:53.47, Z:0.36 [[ 7.53278177e-01 -6.57682481e-01 -5.07372183e-03 1.70343381e+02] [ 6.57668748e-01 7.53295252e-01 -4.25216505e-03 5.34736005e+01] [ 6.61858503e-03 -1.33765146e-04 9.99978088e-01 3.63327197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840281693 meters 0.028365860539361333 Centerline is valid? [True, True] Translation: X:170.36, Y:53.49, Z:0.36 [[ 7.53157165e-01 -6.57821062e-01 -5.07294922e-03 1.70364339e+02] [ 6.57807327e-01 7.53174238e-01 -4.25308672e-03 5.34914273e+01] [ 6.61858469e-03 -1.33780431e-04 9.99978088e-01 3.63381900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870281693 meters 0.02807874104931221 Centerline is valid? [True, True] Translation: X:170.39, Y:53.51, Z:0.36 [[ 7.53383683e-01 -6.57556400e-01 -5.71021972e-03 1.70386687e+02] [ 6.57538976e-01 7.53405309e-01 -4.78913111e-03 5.35091274e+01] [ 7.45123367e-03 -1.46638796e-04 9.99972228e-01 3.62140969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900281693 meters 0.03127192122193782 Centerline is valid? [True, True] Translation: X:170.41, Y:53.52, Z:0.36 [[ 7.53403324e-01 -6.57530645e-01 -6.07304100e-03 1.70410578e+02] [ 6.57510920e-01 7.53427785e-01 -5.09541536e-03 5.35221835e+01] [ 7.92598958e-03 -1.54187914e-04 9.99968577e-01 3.60478472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930281693 meters 0.02841918015464205 Centerline is valid? [True, True] Translation: X:170.43, Y:53.54, Z:0.37 [[ 7.53123223e-01 -6.57863976e-01 -4.51664851e-03 1.70430818e+02] [ 6.57853063e-01 7.53136758e-01 -3.79087154e-03 5.35408657e+01] [ 5.89553184e-03 -1.16297665e-04 9.99982614e-01 3.65108229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96028169299998 meters 0.02929816147431389 Centerline is valid? [True, True] Translation: X:170.45, Y:53.56, Z:0.37 [[ 7.52469022e-01 -6.58617918e-01 -3.57904470e-03 1.70453934e+02] [ 6.58611070e-01 7.52477527e-01 -3.00487176e-03 5.35555055e+01] [ 4.67221309e-03 -9.61255463e-05 9.99989081e-01 3.66993926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.990281693 meters 0.030037201602977244 Centerline is valid? [True, True] Translation: X:170.48, Y:53.57, Z:0.37 [[ 7.51213082e-01 -6.60055010e-01 -2.50787288e-03 1.70480435e+02] [ 6.60051654e-01 7.51217265e-01 -2.10612936e-03 5.35687588e+01] [ 3.27411864e-03 -7.31737133e-05 9.99994637e-01 3.69923946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.020281693 meters 0.03201635264304449 Centerline is valid? [True, True] Translation: X:170.50, Y:53.58, Z:0.37 [[ 7.50722927e-01 -6.60612622e-01 -2.46000051e-03 1.70504093e+02] [ 6.60609393e-01 7.50726953e-01 -2.06667925e-03 5.35825429e+01] [ 3.21206309e-03 -7.35959540e-05 9.99994839e-01 3.69713023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.050281693 meters 0.03600903412482907 Centerline is valid? [True, True] Translation: X:170.53, Y:53.59, Z:0.37 [[ 7.50896522e-01 -6.60418527e-01 -1.33509752e-03 1.70530193e+02] [ 6.60417576e-01 7.50897708e-01 -1.12186674e-03 5.35928025e+01] [ 1.74342325e-03 -3.93160343e-05 9.99998479e-01 3.73268874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.080281693 meters 0.03423757905026273 Centerline is valid? [True, True] Translation: X:170.55, Y:53.61, Z:0.38 [[ 7.51718428e-01 -6.59483743e-01 -7.72625315e-04 1.70550728e+02] [ 6.59483424e-01 7.51718825e-01 -6.49211350e-04 5.36118844e+01] [ 1.00894132e-03 -2.15094527e-05 9.99999491e-01 3.75220028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.110281693 meters 0.025666355635004044 Centerline is valid? [True, True] Translation: X:170.57, Y:53.64, Z:0.38 [[ 7.54687402e-01 -6.56083807e-01 -9.81413663e-04 1.70565947e+02] [ 6.56083289e-01 7.54688040e-01 -8.25088834e-04 5.36365458e+01] [ 1.28198858e-03 -2.12049555e-05 9.99999178e-01 3.75104479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.140281693 meters 0.024564549358476122 Centerline is valid? [True, True] Translation: X:170.59, Y:53.65, Z:0.38 [[ 7.56774733e-01 -6.53675376e-01 -7.10604029e-04 1.70586909e+02] [ 6.53675104e-01 7.56775067e-01 -5.97404988e-04 5.36539687e+01] [ 9.28276342e-04 -1.24031616e-05 9.99999569e-01 3.75912473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.170281693 meters 0.020232544647916864 Centerline is valid? [True, True] Translation: X:170.60, Y:53.68, Z:0.38 [[ 7.59134036e-01 -6.50933746e-01 -8.79732676e-04 1.70604150e+02] [ 6.50933325e-01 7.59134546e-01 -7.39951164e-04 5.36764543e+01] [ 1.14949465e-03 -1.09252016e-05 9.99999339e-01 3.75157436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.200281693 meters 0.0151244424858117 Centerline is valid? [True, True] Translation: X:170.62, Y:53.71, Z:0.37 [[ 7.63752411e-01 -6.45506106e-01 -2.03017074e-03 1.70616930e+02] [ 6.45503845e-01 7.63755109e-01 -1.70869363e-03 5.37053803e+01] [ 2.65352545e-03 -5.46413713e-06 9.99996479e-01 3.71342785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.230281693 meters 0.015037037055217776 Centerline is valid? [True, True] Translation: X:170.63, Y:53.73, Z:0.37 [[ 7.65603736e-01 -6.43305883e-01 -2.90889097e-03 1.70632749e+02] [ 6.43301221e-01 7.65609262e-01 -2.44910066e-03 5.37287243e+01] [ 3.80259473e-03 3.74750747e-06 9.99992770e-01 3.68772558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.260281693 meters 0.0176202884584136 Centerline is valid? [True, True] Translation: X:170.65, Y:53.76, Z:0.37 [[ 7.69253107e-01 -6.38933403e-01 -3.71001160e-03 1.70647210e+02] [ 6.38925762e-01 7.69262053e-01 -3.12483136e-03 5.37561811e+01] [ 4.85053027e-03 3.33642424e-05 9.99988236e-01 3.66394040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.290281693 meters 0.019263905642303784 Centerline is valid? [True, True] Translation: X:170.67, Y:53.78, Z:0.37 [[ 7.70407857e-01 -6.37541315e-01 -3.57836548e-03 1.70665763e+02] [ 6.37534188e-01 7.70416166e-01 -3.01491298e-03 5.37770632e+01] [ 4.67896220e-03 4.13823122e-05 9.99989053e-01 3.67194966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.320281693 meters 0.020349327785960946 Centerline is valid? [True, True] Translation: X:170.69, Y:53.80, Z:0.37 [[ 7.71261500e-01 -6.36511085e-01 -3.05564638e-03 1.70686047e+02] [ 6.36505876e-01 7.71267552e-01 -2.57527784e-03 5.37969061e+01] [ 3.99591379e-03 4.12757730e-05 9.99992015e-01 3.69197956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.350281693 meters 0.023450535992797904 Centerline is valid? [True, True] Translation: X:170.70, Y:53.82, Z:0.37 [[ 7.72992597e-01 -6.34408593e-01 -2.86048290e-03 1.70701889e+02] [ 6.34404012e-01 7.72997888e-01 -2.41143541e-03 5.38201537e+01] [ 3.74098259e-03 4.93198904e-05 9.99993001e-01 3.70012470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.380281693 meters 0.025249359346981762 Centerline is valid? [True, True] Translation: X:170.72, Y:53.84, Z:0.37 [[ 7.73894445e-01 -6.33307682e-01 -2.96097847e-03 1.70720326e+02] [ 6.33302763e-01 7.73900108e-01 -2.49682834e-03 5.38426934e+01] [ 3.87276213e-03 5.70857409e-05 9.99992499e-01 3.69224655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.410281693 meters 0.03002937886919652 Centerline is valid? [True, True] Translation: X:170.73, Y:53.87, Z:0.37 [[ 7.76122096e-01 -6.30570666e-01 -3.88932594e-03 1.70733434e+02] [ 6.30562139e-01 7.76131836e-01 -3.28053541e-03 5.38686379e+01] [ 5.08723908e-03 9.36343400e-05 9.99987056e-01 3.66383415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440281693 meters 0.031209342130155474 Centerline is valid? [True, True] Translation: X:170.75, Y:53.89, Z:0.37 [[ 7.77272251e-01 -6.29151676e-01 -4.00207543e-03 1.70753175e+02] [ 6.29142624e-01 7.77282547e-01 -3.37654095e-03 5.38896825e+01] [ 5.23509978e-03 1.06615346e-04 9.99986291e-01 3.66575984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470281693 meters 0.03374142901902823 Centerline is valid? [True, True] Translation: X:170.77, Y:53.91, Z:0.37 [[ 7.79754633e-01 -6.26072738e-01 -3.95469233e-03 1.70769104e+02] [ 6.26063854e-01 7.79764651e-01 -3.33768176e-03 5.39148441e+01] [ 5.17336084e-03 1.26682899e-04 9.99986610e-01 3.68154954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500281693 meters 0.03883695514352337 Centerline is valid? [True, True] Translation: X:170.78, Y:53.94, Z:0.37 [[ 7.80867872e-01 -6.24683866e-01 -3.92863534e-03 1.70783342e+02] [ 6.24675076e-01 7.80877743e-01 -3.31657681e-03 5.39406171e+01] [ 5.13959592e-03 1.35687694e-04 9.99986783e-01 3.67880552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530281693 meters 0.03655682457356825 Centerline is valid? [True, True] Translation: X:170.81, Y:53.96, Z:0.37 [[ 7.81516727e-01 -6.23873640e-01 -3.64502529e-03 1.70805690e+02] [ 6.23866061e-01 7.81525216e-01 -3.07798249e-03 5.39587400e+01] [ 4.76895132e-03 1.31487232e-04 9.99988620e-01 3.68990852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560281693 meters 0.038891185799292564 Centerline is valid? [True, True] Translation: X:170.82, Y:53.98, Z:0.37 [[ 7.81428918e-01 -6.23988474e-01 -2.68906866e-03 1.70822979e+02] [ 6.23984347e-01 7.81433539e-01 -2.27135973e-03 5.39797273e+01] [ 3.51863073e-03 9.69694186e-05 9.99993805e-01 3.70617336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590281693 meters 0.037130400548907934 Centerline is valid? [True, True] Translation: X:170.85, Y:54.00, Z:0.37 [[ 7.80793490e-01 -6.24784906e-01 -2.31257981e-03 1.70845194e+02] [ 6.24781855e-01 7.80796910e-01 -1.95393667e-03 5.39974933e+01] [ 3.02644531e-03 8.07631318e-05 9.99995417e-01 3.72011110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620281693 meters 0.032958893676782106 Centerline is valid? [True, True] Translation: X:170.87, Y:54.02, Z:0.37 [[ 7.80393335e-01 -6.25285867e-01 -1.95635434e-03 1.70866394e+02] [ 6.25283684e-01 7.80395785e-01 -1.65345978e-03 5.40156431e+01] [ 2.56061571e-03 6.70725447e-05 9.99996719e-01 3.72397331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650281693 meters 0.0383432652872137 Centerline is valid? [True, True] Translation: X:170.88, Y:54.04, Z:0.37 [[ 7.80911967e-01 -6.24639292e-01 -1.50149650e-03 1.70881679e+02] [ 6.24638004e-01 7.80913409e-01 -1.26938642e-03 5.40413197e+01] [ 1.96544739e-03 5.33872713e-05 9.99998067e-01 3.72868939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680281693 meters 0.043651800669525384 Centerline is valid? [True, True] Translation: X:170.90, Y:54.07, Z:0.37 [[ 7.81281948e-01 -6.24176868e-01 -1.32506270e-03 1.70897051e+02] [ 6.24175864e-01 7.81283070e-01 -1.12039270e-03 5.40658417e+01] [ 1.73457226e-03 4.82704319e-05 9.99998494e-01 3.73819280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71028169299998 meters 0.04164938668726264 Centerline is valid? [True, True] Translation: X:170.92, Y:54.08, Z:0.37 [[ 7.82297843e-01 -6.22900311e-01 -2.29950933e-03 1.70919421e+02] [ 6.22897280e-01 7.82301217e-01 -1.94524305e-03 5.40832586e+01] [ 3.01060145e-03 8.94013360e-05 9.99995464e-01 3.73017715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.740281693 meters 0.03770739878782997 Centerline is valid? [True, True] Translation: X:170.94, Y:54.10, Z:0.37 [[ 7.82449459e-01 -6.22707621e-01 -2.83948681e-03 1.70943303e+02] [ 6.22702995e-01 7.82454604e-01 -2.40290815e-03 5.40993050e+01] [ 3.71807875e-03 1.11997240e-04 9.99993082e-01 3.72458383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.770281693 meters 0.03809965785180866 Centerline is valid? [True, True] Translation: X:170.96, Y:54.12, Z:0.37 [[ 7.82329949e-01 -6.22859167e-01 -2.51173382e-03 1.70961840e+02] [ 6.22855546e-01 7.82333975e-01 -2.12622895e-03 5.41202145e+01] [ 3.28935590e-03 9.89652509e-05 9.99994585e-01 3.72274404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.800281693 meters 0.035407340459676626 Centerline is valid? [True, True] Translation: X:170.99, Y:54.14, Z:0.37 [[ 7.81848170e-01 -6.23466185e-01 -1.83180753e-03 1.70985618e+02] [ 6.23464259e-01 7.81850313e-01 -1.55110393e-03 5.41356555e+01] [ 2.39926014e-03 7.06612479e-05 9.99997119e-01 3.73000249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.830281693 meters 0.03982408771799012 Centerline is valid? [True, True] Translation: X:171.00, Y:54.16, Z:0.37 [[ 7.80596623e-01 -6.25033924e-01 -1.22720632e-03 1.71003387e+02] [ 6.25033061e-01 7.80597586e-01 -1.03943558e-03 5.41575257e+01] [ 1.60763679e-03 4.43353785e-05 9.99998707e-01 3.74157804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.860281693 meters 0.035672752572005854 Centerline is valid? [True, True] Translation: X:171.03, Y:54.17, Z:0.37 [[ 7.80125062e-01 -6.25622786e-01 -1.00874215e-03 1.71028264e+02] [ 6.25622204e-01 7.80125713e-01 -8.54391099e-04 5.41716334e+01] [ 1.32147223e-03 3.54404235e-05 9.99999126e-01 3.74022448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.890281693 meters 0.03340209154059107 Centerline is valid? [True, True] Translation: X:171.05, Y:54.19, Z:0.37 [[ 7.80023012e-01 -6.25750333e-01 -7.88798439e-04 1.71051315e+02] [ 6.25749977e-01 7.80023410e-01 -6.68223860e-04 5.41878309e+01] [ 1.03342255e-03 2.76393826e-05 9.99999466e-01 3.74277316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.920281693 meters 0.03644622023444566 Centerline is valid? [True, True] Translation: X:171.07, Y:54.21, Z:0.37 [[ 7.81109159e-01 -6.24393122e-01 -1.30769482e-03 1.71070136e+02] [ 6.24392140e-01 7.81110252e-01 -1.10855980e-03 5.42084620e+01] [ 1.71363095e-03 4.93918478e-05 9.99998531e-01 3.74008206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.950281693 meters 0.03751447695751387 Centerline is valid? [True, True] Translation: X:171.09, Y:54.23, Z:0.37 [[ 7.82122740e-01 -6.23121532e-01 -1.89082583e-03 1.71091336e+02] [ 6.23119473e-01 7.82125022e-01 -1.60357245e-03 5.42284681e+01] [ 2.47808272e-03 7.59800784e-05 9.99996927e-01 3.72988001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.980281693 meters 0.045036192832729464 Centerline is valid? [True, True] Translation: X:171.10, Y:54.26, Z:0.37 [[ 7.84536198e-01 -6.20074722e-01 -3.20820908e-03 1.71104135e+02] [ 6.20068765e-01 7.84542744e-01 -2.72187719e-03 5.42561648e+01] [ 4.20474440e-03 1.46100937e-04 9.99991149e-01 3.69253510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.010281693 meters 0.04406441343355235 Centerline is valid? [True, True] Translation: X:171.13, Y:54.27, Z:0.37 [[ 7.85448044e-01 -6.18915954e-01 -3.79638086e-03 1.71126155e+02] [ 6.18907594e-01 7.85457198e-01 -3.22186009e-03 5.42742749e+01] [ 4.97595529e-03 1.80994762e-04 9.99987603e-01 3.67881823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.040281693 meters 0.04577992018639011 Centerline is valid? [True, True] Translation: X:171.15, Y:54.29, Z:0.37 [[ 7.86104255e-01 -6.18078896e-01 -4.31039983e-03 1.71145753e+02] [ 6.18068100e-01 7.86116043e-01 -3.65923932e-03 5.42938388e+01] [ 5.65017306e-03 2.12422969e-04 9.99984015e-01 3.65660637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.070281693 meters 0.04906256213147022 Centerline is valid? [True, True] Translation: X:171.16, Y:54.32, Z:0.37 [[ 7.87216297e-01 -6.16660198e-01 -4.54991474e-03 1.71163530e+02] [ 6.16648141e-01 7.87229411e-01 -3.86331771e-03 5.43153269e+01] [ 5.96418097e-03 2.35570199e-04 9.99982186e-01 3.65503572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.100281693 meters 0.05141859346294406 Centerline is valid? [True, True] Translation: X:171.18, Y:54.34, Z:0.37 [[ 7.87463326e-01 -6.16347284e-01 -4.18753535e-03 1.71181899e+02] [ 6.16337064e-01 7.87474430e-01 -3.55616836e-03 5.43370304e+01] [ 5.48941173e-03 2.19418923e-04 9.99984909e-01 3.66531666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.130281693 meters 0.04911451891033284 Centerline is valid? [True, True] Translation: X:171.20, Y:54.36, Z:0.37 [[ 7.86839919e-01 -6.17148390e-01 -3.28740580e-03 1.71204301e+02] [ 6.17142095e-01 7.86846768e-01 -2.79239974e-03 5.43551953e+01] [ 4.31000963e-03 1.68375076e-04 9.99990698e-01 3.68646745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.160281693 meters 0.05190057059931663 Centerline is valid? [True, True] Translation: X:171.22, Y:54.38, Z:0.37 [[ 7.86446121e-01 -6.17650170e-01 -3.28118144e-03 1.71222320e+02] [ 6.17643901e-01 7.86452948e-01 -2.78790949e-03 5.43763884e+01] [ 4.30244759e-03 1.65938906e-04 9.99990731e-01 3.68938144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190281693 meters 0.04753259620439766 Centerline is valid? [True, True] Translation: X:171.25, Y:54.39, Z:0.37 [[ 7.86276961e-01 -6.17863567e-01 -3.62664785e-03 1.71246389e+02] [ 6.17855905e-01 7.86285304e-01 -3.08246779e-03 5.43909734e+01] [ 4.75612445e-03 1.82927622e-04 9.99988673e-01 3.69096016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220281693 meters 0.048588726587935484 Centerline is valid? [True, True] Translation: X:171.26, Y:54.41, Z:0.37 [[ 7.86642308e-01 -6.17392687e-01 -4.48894916e-03 1.71264524e+02] [ 6.17380932e-01 7.86655082e-01 -3.81676732e-03 5.44142466e+01] [ 5.88769889e-03 2.31039035e-04 9.99982641e-01 3.67231434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250281693 meters 0.06291697796438933 Centerline is valid? [True, True] Translation: X:171.27, Y:54.45, Z:0.37 [[ 7.87637101e-01 -6.16124469e-01 -4.29370392e-03 1.71270632e+02] [ 6.16113692e-01 7.87648771e-01 -3.65147060e-03 5.44495493e+01] [ 5.63169100e-03 2.30623948e-04 9.99984115e-01 3.66554073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280281693 meters 0.05764577840391193 Centerline is valid? [True, True] Translation: X:171.30, Y:54.46, Z:0.37 [[ 7.87841439e-01 -6.15868931e-01 -3.36560769e-03 1.71296000e+02] [ 6.15862304e-01 7.87848606e-01 -2.86283848e-03 5.44640158e+01] [ 4.41472260e-03 1.82711884e-04 9.99990238e-01 3.69556655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310281693 meters 0.04938234413572423 Centerline is valid? [True, True] Translation: X:171.32, Y:54.48, Z:0.37 [[ 7.87922575e-01 -6.15770359e-01 -2.20936866e-03 1.71324309e+02] [ 6.15767501e-01 7.87925663e-01 -1.87978788e-03 5.44751701e+01] [ 2.89833592e-03 1.20669881e-04 9.99995793e-01 3.73105965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340281693 meters 0.05310945554601697 Centerline is valid? [True, True] Translation: X:171.34, Y:54.50, Z:0.37 [[ 7.88145322e-01 -6.15485371e-01 -2.16990598e-03 1.71340518e+02] [ 6.15482613e-01 7.88148300e-01 -1.84672096e-03 5.44991819e+01] [ 2.84683744e-03 1.19945086e-04 9.99995941e-01 3.73060721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370281693 meters 0.051123466714544756 Centerline is valid? [True, True] Translation: X:171.36, Y:54.52, Z:0.37 [[ 7.88561867e-01 -6.14947078e-01 -3.20517933e-03 1.71362743e+02] [ 6.14941051e-01 7.88568360e-01 -2.72860098e-03 5.45176808e+01] [ 4.20544821e-03 1.80674336e-04 9.99991141e-01 3.71034910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400281693 meters 0.05633141395693639 Centerline is valid? [True, True] Translation: X:171.38, Y:54.54, Z:0.37 [[ 7.90835402e-01 -6.12013962e-01 -4.27515349e-03 1.71376355e+02] [ 6.12003190e-01 7.90846914e-01 -3.64056276e-03 5.45443322e+01] [ 5.60906719e-03 2.62678340e-04 9.99984235e-01 3.68912621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43028169299998 meters 0.05645313495672543 Centerline is valid? [True, True] Translation: X:171.40, Y:54.56, Z:0.37 [[ 7.92045717e-01 -6.10450183e-01 -3.76257338e-03 1.71396536e+02] [ 6.10441819e-01 7.92054617e-01 -3.20464441e-03 5.45648179e+01] [ 4.93643938e-03 2.41392744e-04 9.99987787e-01 3.70897711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46028169299998 meters 0.06315552610937138 Centerline is valid? [True, True] Translation: X:171.41, Y:54.59, Z:0.37 [[ 7.93787976e-01 -6.08190818e-01 -2.13938613e-03 1.71408288e+02] [ 6.08188106e-01 7.93790846e-01 -1.82234224e-03 5.45933186e+01] [ 2.80655694e-03 1.45404164e-04 9.99996051e-01 3.74289157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.490281693 meters 0.06098093820455658 Centerline is valid? [True, True] Translation: X:171.43, Y:54.61, Z:0.37 [[ 7.94211048e-01 -6.07639550e-01 -1.72886437e-03 1.71430040e+02] [ 6.07637776e-01 7.94212921e-01 -1.47285124e-03 5.46127096e+01] [ 2.26804909e-03 1.19231424e-04 9.99997421e-01 3.74828370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.520281693 meters 0.0653855509923511 Centerline is valid? [True, True] Translation: X:171.44, Y:54.64, Z:0.37 [[ 7.94538801e-01 -6.07210886e-01 -1.74180494e-03 1.71443286e+02] [ 6.07209084e-01 7.94540701e-01 -1.48431937e-03 5.46403914e+01] [ 2.28522979e-03 1.21709554e-04 9.99997381e-01 3.74290853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.550281693 meters 0.06437286499138295 Centerline is valid? [True, True] Translation: X:171.46, Y:54.66, Z:0.37 [[ 7.94458261e-01 -6.07314706e-01 -2.21791942e-03 1.71463008e+02] [ 6.07311784e-01 7.94461342e-01 -1.89045721e-03 5.46605726e+01] [ 2.91015370e-03 1.54920750e-04 9.99995753e-01 3.74007383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.580281693 meters 0.06660700630821471 Centerline is valid? [True, True] Translation: X:171.48, Y:54.68, Z:0.37 [[ 7.94532771e-01 -6.07215501e-01 -2.64773120e-03 1.71478922e+02] [ 6.07211333e-01 7.94537161e-01 -2.25751950e-03 5.46842724e+01] [ 3.47452167e-03 1.85940829e-04 9.99993947e-01 3.73696102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.610281693 meters 0.0681595189381658 Centerline is valid? [True, True] Translation: X:171.49, Y:54.71, Z:0.37 [[ 7.94983158e-01 -6.06626522e-01 -2.45802887e-03 1.71492311e+02] [ 6.06622926e-01 7.94986939e-01 -2.09605324e-03 5.47122252e+01] [ 3.22562233e-03 1.75230362e-04 9.99994782e-01 3.73897607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.640281693 meters 0.06404116917248502 Centerline is valid? [True, True] Translation: X:171.51, Y:54.73, Z:0.37 [[ 7.94810520e-01 -6.06853070e-01 -2.36392964e-03 1.71513846e+02] [ 6.06849744e-01 7.94814018e-01 -2.01621423e-03 5.47299766e+01] [ 3.10243021e-03 1.67958183e-04 9.99995173e-01 3.73953019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.670281693 meters 0.06213282315819644 Centerline is valid? [True, True] Translation: X:171.53, Y:54.75, Z:0.37 [[ 7.93039781e-01 -6.09159365e-01 -3.57410653e-03 1.71530750e+02] [ 6.09151779e-01 7.93047798e-01 -3.04949012e-03 5.47522836e+01] [ 4.69206277e-03 2.41193624e-04 9.99988963e-01 3.70951877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.700281693 meters 0.06339460650018786 Centerline is valid? [True, True] Translation: X:171.55, Y:54.77, Z:0.37 [[ 7.91659502e-01 -6.10948907e-01 -4.08238617e-03 1.71547690e+02] [ 6.10939029e-01 7.91669984e-01 -3.48421399e-03 5.47747996e+01] [ 5.36057933e-03 2.64222070e-04 9.99985597e-01 3.69619617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.730281693 meters 0.06339460650018786 Centerline is valid? [True, True] Translation: X:171.57, Y:54.79, Z:0.37 [[ 7.91552790e-01 -6.11087162e-01 -4.08179298e-03 1.71568480e+02] [ 6.11077282e-01 7.91563270e-01 -3.48490887e-03 5.47928088e+01] [ 5.36058047e-03 2.64198376e-04 9.99985597e-01 3.69674371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.760281693 meters 0.05687441359761465 Centerline is valid? [True, True] Translation: X:171.59, Y:54.81, Z:0.37 [[ 7.88874908e-01 -6.14548427e-01 -2.57109668e-03 1.71590303e+02] [ 6.14544524e-01 7.88879083e-01 -2.19569221e-03 5.48118820e+01] [ 3.37764359e-03 1.52073103e-04 9.99994284e-01 3.73421878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.790281693 meters 0.055495251836276766 Centerline is valid? [True, True] Translation: X:171.61, Y:54.83, Z:0.38 [[ 7.87708972e-01 -6.16045806e-01 -1.46286718e-03 1.71610292e+02] [ 6.16044545e-01 7.87710326e-01 -1.24948915e-03 5.48318039e+01] [ 1.92205814e-03 8.30424628e-05 9.99998149e-01 3.76345381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.820281693 meters 0.05689142315512767 Centerline is valid? [True, True] Translation: X:171.63, Y:54.85, Z:0.38 [[ 7.86556399e-01 -6.17516813e-01 -1.42047952e-03 1.71627992e+02] [ 6.17515625e-01 7.86557678e-01 -1.21368414e-03 5.48538047e+01] [ 1.86675943e-03 7.74627273e-05 9.99998255e-01 3.76690321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.850281693 meters 0.05131848177013213 Centerline is valid? [True, True] Translation: X:171.65, Y:54.87, Z:0.37 [[ 7.83508222e-01 -6.21376347e-01 -2.51021030e-03 1.71650335e+02] [ 6.21372654e-01 7.83512234e-01 -2.14570651e-03 5.48714161e+01] [ 3.30007175e-03 1.21402656e-04 9.99994547e-01 3.72352061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.880281693 meters 0.04800383148568209 Centerline is valid? [True, True] Translation: X:171.67, Y:54.89, Z:0.37 [[ 7.82065701e-01 -6.23190449e-01 -2.62744531e-03 1.71673321e+02] [ 6.23186412e-01 7.82070105e-01 -2.24646786e-03 5.48886571e+01] [ 3.45482375e-03 1.19497248e-04 9.99994025e-01 3.71880533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.910281693 meters 0.043375515903876734 Centerline is valid? [True, True] Translation: X:171.70, Y:54.91, Z:0.37 [[ 7.80154387e-01 -6.25583759e-01 -2.02337757e-03 1.71696114e+02] [ 6.25581371e-01 7.80157006e-01 -1.73044123e-03 5.49054948e+01] [ 2.66108812e-03 8.42240004e-05 9.99996456e-01 3.74048058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940281693 meters 0.03845326666768967 Centerline is valid? [True, True] Translation: X:171.72, Y:54.92, Z:0.37 [[ 7.79619139e-01 -6.26250118e-01 -2.18813862e-03 1.71720721e+02] [ 6.26247327e-01 7.79622204e-01 -1.87200042e-03 5.49211750e+01] [ 2.87826194e-03 8.91313940e-05 9.99995854e-01 3.74917077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970281693 meters 0.04023868488824269 Centerline is valid? [True, True] Translation: X:171.74, Y:54.95, Z:0.37 [[ 7.79034378e-01 -6.26972534e-01 -3.29838465e-03 1.71736885e+02] [ 6.26966192e-01 7.79041350e-01 -2.82298100e-03 5.49458058e+01] [ 4.33950958e-03 1.31223583e-04 9.99990576e-01 3.71680439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000281693 meters 0.038254598353195654 Centerline is valid? [True, True] Translation: X:171.76, Y:54.96, Z:0.37 [[ 7.78232095e-01 -6.27964974e-01 -3.84676345e-03 1.71759306e+02] [ 6.27956355e-01 7.78241588e-01 -3.29341118e-03 5.49647511e+01] [ 5.06185816e-03 1.47438734e-04 9.99987178e-01 3.69516610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030281693 meters 0.034250659017679756 Centerline is valid? [True, True] Translation: X:171.78, Y:54.98, Z:0.37 [[ 7.76176055e-01 -6.30504120e-01 -3.90977833e-03 1.71782770e+02] [ 6.30495243e-01 7.76185890e-01 -3.34848503e-03 5.49810681e+01] [ 5.14594839e-03 1.33917263e-04 9.99986751e-01 3.67807204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060281693 meters 0.0355170720213013 Centerline is valid? [True, True] Translation: X:171.80, Y:55.00, Z:0.37 [[ 7.74767962e-01 -6.32236219e-01 -3.45967434e-03 1.71802433e+02] [ 6.32229282e-01 7.74775678e-01 -2.96363798e-03 5.50003546e+01] [ 4.55419080e-03 1.08824332e-04 9.99989624e-01 3.68524713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090281693 meters 0.02941697552570982 Centerline is valid? [True, True] Translation: X:171.83, Y:55.01, Z:0.37 [[ 7.73169535e-01 -6.34189953e-01 -3.46028972e-03 1.71829637e+02] [ 6.34183030e-01 7.73177272e-01 -2.96492264e-03 5.50119087e+01] [ 4.55574152e-03 9.79308384e-05 9.99989618e-01 3.69212561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120281693 meters 0.026479807866367805 Centerline is valid? [True, True] Translation: X:171.85, Y:55.03, Z:0.37 [[ 7.70927973e-01 -6.36906262e-01 -4.52487109e-03 1.71852973e+02] [ 6.36894461e-01 7.70941244e-01 -3.87861167e-03 5.50283406e+01] [ 5.95872181e-03 1.08264896e-04 9.99982241e-01 3.67361494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150281693 meters 0.02500555545514781 Centerline is valid? [True, True] Translation: X:171.88, Y:55.05, Z:0.37 [[ 7.69881988e-01 -6.38171682e-01 -4.31622863e-03 1.71875559e+02] [ 6.38160957e-01 7.69894081e-01 -3.70100283e-03 5.50463832e+01] [ 5.68491407e-03 9.48868208e-05 9.99983836e-01 3.67903331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18028169299998 meters 0.021323538750128435 Centerline is valid? [True, True] Translation: X:171.90, Y:55.06, Z:0.37 [[ 7.67453276e-01 -6.41099822e-01 -2.54724306e-03 1.71900397e+02] [ 6.41096100e-01 7.67457502e-01 -2.18473576e-03 5.50607593e+01] [ 3.35553451e-03 4.36550219e-05 9.99994369e-01 3.73864482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21028169299998 meters 0.019626750509656933 Centerline is valid? [True, True] Translation: X:171.92, Y:55.08, Z:0.37 [[ 7.65916762e-01 -6.42935852e-01 -2.23700715e-03 1.71923676e+02] [ 6.42932989e-01 7.65920028e-01 -1.91913246e-03 5.50764348e+01] [ 2.94724764e-03 3.16500298e-05 9.99995656e-01 3.74613941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.240281693 meters 0.01762189992756532 Centerline is valid? [True, True] Translation: X:171.95, Y:55.09, Z:0.37 [[ 7.64412267e-01 -6.44722584e-01 -2.58385311e-03 1.71948356e+02] [ 6.44718772e-01 7.64416633e-01 -2.21721030e-03 5.50912018e+01] [ 3.40462585e-03 2.90041477e-05 9.99994204e-01 3.73352713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.270281693 meters 0.015635984107576356 Centerline is valid? [True, True] Translation: X:171.98, Y:55.10, Z:0.37 [[ 7.61440216e-01 -6.48227092e-01 -3.23027889e-03 1.71976750e+02] [ 6.48221162e-01 7.61447068e-01 -2.77268920e-03 5.51014371e+01] [ 4.25701864e-03 1.73019291e-05 9.99990939e-01 3.70576062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.300281693 meters 0.014899108419970128 Centerline is valid? [True, True] Translation: X:172.00, Y:55.11, Z:0.37 [[ 7.59746965e-01 -6.50211236e-01 -3.14606337e-03 1.72001270e+02] [ 6.50205626e-01 7.59753479e-01 -2.70099276e-03 5.51140303e+01] [ 4.14644843e-03 6.48295405e-06 9.99991403e-01 3.71345232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.330281693 meters 0.01482613438343996 Centerline is valid? [True, True] Translation: X:172.03, Y:55.12, Z:0.37 [[ 7.56978895e-01 -6.53436210e-01 -2.01789004e-03 1.72029540e+02] [ 6.53433912e-01 7.56981585e-01 -1.73283999e-03 5.51241511e+01] [ 2.65980600e-03 -6.83448409e-06 9.99996463e-01 3.74896530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.360281693 meters 0.015005433333057245 Centerline is valid? [True, True] Translation: X:172.05, Y:55.14, Z:0.38 [[ 7.56178345e-01 -6.54363383e-01 -1.69485408e-03 1.72053241e+02] [ 6.54361764e-01 7.56180245e-01 -1.45589520e-03 5.51402514e+01] [ 2.23429968e-03 -8.13127614e-06 9.99997504e-01 3.76030000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.390281693 meters 0.01492867473777208 Centerline is valid? [True, True] Translation: X:172.08, Y:55.16, Z:0.37 [[ 7.56602723e-01 -6.53869672e-01 -2.60217283e-03 1.72076478e+02] [ 6.53865847e-01 7.56607198e-01 -2.23639800e-03 5.51567695e+01] [ 3.43113552e-03 -9.40712320e-06 9.99994114e-01 3.74636200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.420281693 meters 0.014803548454359354 Centerline is valid? [True, True] Translation: X:172.10, Y:55.18, Z:0.37 [[ 7.57834266e-01 -6.52437337e-01 -3.57019218e-03 1.72095594e+02] [ 6.52430116e-01 7.57842675e-01 -3.06961704e-03 5.51760497e+01] [ 4.70837676e-03 -3.03992412e-06 9.99988916e-01 3.72439582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.450281693 meters 0.015082549384905993 Centerline is valid? [True, True] Translation: X:172.11, Y:55.20, Z:0.37 [[ 7.59530791e-01 -6.50458136e-01 -4.14621596e-03 1.72113950e+02] [ 6.50448360e-01 7.59542108e-01 -3.56617607e-03 5.51975652e+01] [ 5.46887385e-03 1.17211650e-05 9.99985046e-01 3.71071868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.480281693 meters 0.01763019596370303 Centerline is valid? [True, True] Translation: X:172.13, Y:55.22, Z:0.37 [[ 7.63401769e-01 -6.45910295e-01 -4.19877615e-03 1.72131150e+02] [ 6.45900194e-01 7.63413315e-01 -3.61262297e-03 5.52222137e+01] [ 5.53883199e-03 4.58924393e-05 9.99984660e-01 3.70895204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.510281693 meters 0.02195342847676121 Centerline is valid? [True, True] Translation: X:172.15, Y:55.25, Z:0.37 [[ 7.66477509e-01 -6.42262328e-01 -3.36593138e-03 1.72147412e+02] [ 6.42255798e-01 7.66484898e-01 -2.89688423e-03 5.52460967e+01] [ 4.44049518e-03 5.86076696e-05 9.99990139e-01 3.72502504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.540281693 meters 0.024844858089147027 Centerline is valid? [True, True] Translation: X:172.17, Y:55.27, Z:0.37 [[ 7.68267922e-01 -6.40122378e-01 -2.78235564e-03 1.72165777e+02] [ 6.40117899e-01 7.68272958e-01 -2.39531116e-03 5.52689161e+01] [ 3.67090088e-03 5.92050839e-05 9.99993260e-01 3.73669004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.570281693 meters 0.02951515632963665 Centerline is valid? [True, True] Translation: X:172.18, Y:55.29, Z:0.37 [[ 7.70217579e-01 -6.37776557e-01 -2.43826253e-03 1.72181055e+02] [ 6.37773104e-01 7.70221435e-01 -2.09955910e-03 5.52928954e+01] [ 3.21705164e-03 6.20590637e-05 9.99994823e-01 3.74887648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.600281693 meters 0.037054485433086745 Centerline is valid? [True, True] Translation: X:172.19, Y:55.32, Z:0.37 [[ 7.73872906e-01 -6.33334553e-01 -2.84064308e-03 1.72193090e+02] [ 6.33329835e-01 7.73878114e-01 -2.44653696e-03 5.53201466e+01] [ 3.74778790e-03 9.42446514e-05 9.99992973e-01 3.73153198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.630281693 meters 0.0355070954745407 Centerline is valid? [True, True] Translation: X:172.21, Y:55.34, Z:0.37 [[ 7.75350869e-01 -6.31523455e-01 -3.02588515e-03 1.72214749e+02] [ 6.31518085e-01 7.75356765e-01 -2.60686040e-03 5.53386303e+01] [ 3.99243401e-03 1.10330276e-04 9.99992024e-01 3.73084914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.660281693 meters 0.04148413428792639 Centerline is valid? [True, True] Translation: X:172.23, Y:55.37, Z:0.37 [[ 7.77674344e-01 -6.28658801e-01 -3.27512454e-03 1.72226804e+02] [ 6.28652480e-01 7.77681228e-01 -2.82240877e-03 5.53666475e+01] [ 4.32133499e-03 1.35999719e-04 9.99990654e-01 3.72600863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690281693 meters 0.043643871228463596 Centerline is valid? [True, True] Translation: X:172.24, Y:55.39, Z:0.37 [[ 7.78454885e-01 -6.27690998e-01 -3.46454418e-03 1.72244756e+02] [ 6.27683912e-01 7.78462580e-01 -2.98643044e-03 5.53879567e+01] [ 4.57157351e-03 1.50162721e-04 9.99989539e-01 3.71998269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720281693 meters 0.04494212611646922 Centerline is valid? [True, True] Translation: X:172.26, Y:55.41, Z:0.37 [[ 7.79532161e-01 -6.26356312e-01 -2.71665297e-03 1.72264037e+02] [ 6.26351944e-01 7.79536885e-01 -2.34235848e-03 5.54092161e+01] [ 3.58488221e-03 1.24362896e-04 9.99993567e-01 3.73949770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750281693 meters 0.04535487947620845 Centerline is valid? [True, True] Translation: X:172.28, Y:55.43, Z:0.38 [[ 7.79702465e-01 -6.26148236e-01 -1.56578826e-03 1.72284599e+02] [ 6.26146785e-01 7.79704034e-01 -1.35030834e-03 5.54298516e+01] [ 2.06634461e-03 7.24254613e-05 9.99997862e-01 3.77126931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780281693 meters 0.05180594403685778 Centerline is valid? [True, True] Translation: X:172.30, Y:55.46, Z:0.38 [[ 7.79972433e-01 -6.25813529e-01 -6.55490599e-04 1.72297216e+02] [ 6.25813275e-01 7.79972708e-01 -5.65330030e-04 5.54576678e+01] [ 8.65055959e-04 3.07271205e-05 9.99999625e-01 3.80311690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810281693 meters 0.048138398065364435 Centerline is valid? [True, True] Translation: X:172.32, Y:55.47, Z:0.38 [[ 7.80070454e-01 -6.25690722e-01 -1.09847647e-03 1.72320261e+02] [ 6.25690007e-01 7.80071226e-01 -9.47638102e-04 5.54740469e+01] [ 1.44981826e-03 5.19187325e-05 9.99998948e-01 3.78735064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840281693 meters 0.045218640319550245 Centerline is valid? [True, True] Translation: X:172.34, Y:55.49, Z:0.38 [[ 7.80900019e-01 -6.24654541e-01 -1.36541086e-03 1.72343120e+02] [ 6.24653433e-01 7.80901210e-01 -1.17842753e-03 5.54916020e+01] [ 1.80236110e-03 6.73254965e-05 9.99998373e-01 3.78145979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870281693 meters 0.04943731937821628 Centerline is valid? [True, True] Translation: X:172.36, Y:55.51, Z:0.38 [[ 7.81159093e-01 -6.24330927e-01 -1.16826388e-03 1.72359380e+02] [ 6.24330115e-01 7.81159965e-01 -1.00860919e-03 5.55147657e+01] [ 1.54230688e-03 5.85019189e-05 9.99998809e-01 3.78756645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900281693 meters 0.04937457448626795 Centerline is valid? [True, True] Translation: X:172.38, Y:55.53, Z:0.38 [[ 7.81033069e-01 -6.24488573e-01 -1.16939122e-03 1.72379588e+02] [ 6.24487759e-01 7.81033942e-01 -1.00962947e-03 5.55341058e+01] [ 1.54383630e-03 5.82835070e-05 9.99998807e-01 3.78604230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93028169299998 meters 0.049343137357439025 Centerline is valid? [True, True] Translation: X:172.40, Y:55.55, Z:0.38 [[ 7.79943279e-01 -6.25849330e-01 -1.04729296e-03 1.72398875e+02] [ 6.25848678e-01 7.79943981e-01 -9.04574905e-04 5.55534213e+01] [ 1.38295744e-03 5.00702055e-05 9.99999042e-01 3.77451332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96028169299998 meters 0.048146423588554726 Centerline is valid? [True, True] Translation: X:172.42, Y:55.57, Z:0.38 [[ 7.79346244e-01 -6.26592824e-01 -9.29403785e-04 1.72420239e+02] [ 6.26592312e-01 7.79346797e-01 -8.02757023e-04 5.55722578e+01] [ 1.22732965e-03 4.32684048e-05 9.99999246e-01 3.78142058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.990281693 meters 0.04921006824826649 Centerline is valid? [True, True] Translation: X:172.44, Y:55.60, Z:0.38 [[ 7.79529972e-01 -6.26363839e-01 -1.16776852e-03 1.72436276e+02] [ 6.26363029e-01 7.79530845e-01 -1.00908938e-03 5.55963747e+01] [ 1.54236869e-03 5.51683894e-05 9.99998809e-01 3.78556245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.020281693 meters 0.05110294532072797 Centerline is valid? [True, True] Translation: X:172.45, Y:55.62, Z:0.38 [[ 7.80091787e-01 -6.25662297e-01 -1.86890792e-03 1.72453727e+02] [ 6.25660219e-01 7.80094021e-01 -1.61540348e-03 5.56186655e+01] [ 2.46862094e-03 9.08616515e-05 9.99996949e-01 3.76895485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.050281693 meters 0.05433299632322208 Centerline is valid? [True, True] Translation: X:172.47, Y:55.64, Z:0.37 [[ 7.81115358e-01 -6.24378735e-01 -3.16118985e-03 1.72468347e+02] [ 6.24372774e-01 7.81121738e-01 -2.73308841e-03 5.56434093e+01] [ 4.17575639e-03 1.61096453e-04 9.99991269e-01 3.73400240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.080281693 meters 0.053494815513783954 Centerline is valid? [True, True] Translation: X:172.49, Y:55.66, Z:0.37 [[ 7.81202902e-01 -6.24268959e-01 -3.20823583e-03 1.72489133e+02] [ 6.24262815e-01 7.81209473e-01 -2.77438090e-03 5.56635879e+01] [ 4.23826410e-03 1.64572078e-04 9.99991005e-01 3.73625744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.110281693 meters 0.053736492367939336 Centerline is valid? [True, True] Translation: X:172.51, Y:55.69, Z:0.38 [[ 7.80481288e-01 -6.25175425e-01 -2.15558833e-03 1.72505557e+02] [ 6.25172654e-01 7.80484257e-01 -1.86445058e-03 5.56869013e+01] [ 2.84801144e-03 1.07553917e-04 9.99995939e-01 3.75348549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.140281693 meters 0.050867042642276504 Centerline is valid? [True, True] Translation: X:172.53, Y:55.70, Z:0.38 [[ 7.79597344e-01 -6.26278605e-01 -1.75772145e-03 1.72528626e+02] [ 6.26276765e-01 7.79599321e-01 -1.52057691e-03 5.57043760e+01] [ 2.32262324e-03 8.46176197e-05 9.99997299e-01 3.75678524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.170281693 meters 0.05013320410060594 Centerline is valid? [True, True] Translation: X:172.55, Y:55.72, Z:0.37 [[ 7.78442702e-01 -6.27711953e-01 -2.15939695e-03 1.72549510e+02] [ 6.27709180e-01 7.78445691e-01 -1.86863238e-03 5.57220862e+01] [ 2.85393614e-03 9.91499532e-05 9.99995923e-01 3.74600302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.200281693 meters 0.03867718936859466 Centerline is valid? [True, True] Translation: X:172.58, Y:55.73, Z:0.37 [[ 7.74807754e-01 -6.32183272e-01 -4.15391213e-03 1.72580146e+02] [ 6.32173067e-01 7.74818872e-01 -3.59563978e-03 5.57296113e+01] [ 5.49163283e-03 1.59938213e-04 9.99984908e-01 3.69902906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.230281693 meters 0.036069505643489194 Centerline is valid? [True, True] Translation: X:172.60, Y:55.75, Z:0.37 [[ 7.72873156e-01 -6.34547227e-01 -4.11117286e-03 1.72602387e+02] [ 6.34537257e-01 7.72884077e-01 -3.55983691e-03 5.57459768e+01] [ 5.43634468e-03 1.42610033e-04 9.99985213e-01 3.70221140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.260281693 meters 0.03489363608902726 Centerline is valid? [True, True] Translation: X:172.62, Y:55.76, Z:0.38 [[ 7.70219146e-01 -6.37778415e-01 -1.07711217e-03 1.72622727e+02] [ 6.37777734e-01 7.70219898e-01 -9.32649745e-04 5.57647769e+01] [ 1.42443710e-03 3.13865286e-05 9.99998985e-01 3.78758150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.290281693 meters 0.028442897623920667 Centerline is valid? [True, True] Translation: X:172.65, Y:55.78, Z:0.39 [[ 7.69163306e-01 -6.39049005e-01 2.04417635e-03 1.72648453e+02] [ 6.39046550e-01 7.69166020e-01 1.77201653e-03 5.57778950e+01] [-2.70471639e-03 -5.66462456e-05 9.99996341e-01 3.86256773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.320281693 meters 0.028224033839616074 Centerline is valid? [True, True] Translation: X:172.67, Y:55.80, Z:0.39 [[ 7.68779688e-01 -6.39509159e-01 2.41383156e-03 1.72668608e+02] [ 6.39505737e-01 7.68783475e-01 2.09316578e-03 5.57970610e+01] [-3.19431250e-03 -6.55242065e-05 9.99994896e-01 3.87285970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.350281693 meters 0.02733020029619724 Centerline is valid? [True, True] Translation: X:172.69, Y:55.82, Z:0.39 [[ 7.68137382e-01 -6.40281231e-01 2.21539262e-03 1.72689568e+02] [ 6.40278349e-01 7.68140574e-01 1.92180743e-03 5.58156634e+01] [-2.93223019e-03 -5.77441907e-05 9.99995699e-01 3.86658906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.380281693 meters 0.023827945422911306 Centerline is valid? [True, True] Translation: X:172.71, Y:55.83, Z:0.38 [[ 7.65771492e-01 -6.43111570e-01 1.23698249e-03 1.72713080e+02] [ 6.43110674e-01 7.65772491e-01 1.07363807e-03 5.58313428e+01] [-1.63771622e-03 -2.66447818e-05 9.99998659e-01 3.84208126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.410281693 meters 0.02162075854887529 Centerline is valid? [True, True] Translation: X:172.74, Y:55.85, Z:0.38 [[ 7.64112688e-01 -6.45082357e-01 7.43725791e-04 1.72736965e+02] [ 6.45082034e-01 7.64113049e-01 6.45870007e-04 5.58475573e+01] [-9.84929929e-04 -1.37533208e-05 9.99999515e-01 3.82528990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440281693 meters 0.017441227308632446 Centerline is valid? [True, True] Translation: X:172.76, Y:55.86, Z:0.38 [[ 7.60901373e-01 -6.48867444e-01 -3.73688233e-04 1.72763019e+02] [ 6.48867363e-01 7.60901465e-01 -3.23958755e-04 5.58606460e+01] [ 4.94546213e-04 4.02656280e-06 9.99999878e-01 3.79316356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470281693 meters 0.01672843199304148 Centerline is valid? [True, True] Translation: X:172.78, Y:55.88, Z:0.38 [[ 7.59656124e-01 -6.50323676e-01 -1.29965332e-03 1.72783634e+02] [ 6.50322698e-01 7.59657236e-01 -1.12827044e-03 5.58781095e+01] [ 1.72103203e-03 1.19034928e-05 9.99998519e-01 3.77647634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500281693 meters 0.015783343916573017 Centerline is valid? [True, True] Translation: X:172.80, Y:55.89, Z:0.37 [[ 7.57906539e-01 -6.52350100e-01 -4.12619129e-03 1.72804724e+02] [ 6.52340257e-01 7.57917770e-01 -3.58364053e-03 5.58948838e+01] [ 5.46510196e-03 2.43839033e-05 9.99985066e-01 3.71786656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530281693 meters 0.015162047306985407 Centerline is valid? [True, True] Translation: X:172.83, Y:55.91, Z:0.37 [[ 7.56681577e-01 -6.53767066e-01 -4.64905069e-03 1.72826592e+02] [ 6.53754589e-01 7.56695859e-01 -4.03907795e-03 5.59119872e+01] [ 6.15853354e-03 1.69576490e-05 9.99981036e-01 3.70369235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560281693 meters 0.014733373602749546 Centerline is valid? [True, True] Translation: X:172.85, Y:55.93, Z:0.37 [[ 7.55359242e-01 -6.55297820e-01 -4.14526302e-03 1.72849403e+02] [ 6.55287917e-01 7.55370616e-01 -3.60262826e-03 5.59283814e+01] [ 5.49200432e-03 4.93777833e-06 9.99984919e-01 3.72043021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590281693 meters 0.014729153001020023 Centerline is valid? [True, True] Translation: X:172.87, Y:55.94, Z:0.38 [[ 7.53058681e-01 -6.57948680e-01 -2.48139368e-03 1.72874014e+02] [ 6.57945144e-01 7.53062769e-01 -2.15716858e-03 5.59419755e+01] [ 3.28795141e-03 -8.14639450e-06 9.99994595e-01 3.76088053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620281693 meters 0.015078094385108525 Centerline is valid? [True, True] Translation: X:172.90, Y:55.96, Z:0.37 [[ 7.52015739e-01 -6.59140794e-01 -2.39633060e-03 1.72898574e+02] [ 6.59137499e-01 7.52019557e-01 -2.08398943e-03 5.59567322e+01] [ 3.17572993e-03 -1.23185062e-05 9.99994957e-01 3.74842064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650281693 meters 0.015078094385108525 Centerline is valid? [True, True] Translation: X:172.92, Y:55.97, Z:0.37 [[ 7.51892819e-01 -6.59281009e-01 -2.39594146e-03 1.72919176e+02] [ 6.59277714e-01 7.51896636e-01 -2.08443676e-03 5.59749038e+01] [ 3.17572989e-03 -1.23177833e-05 9.99994957e-01 3.74896753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68028169299998 meters 0.01502682568165886 Centerline is valid? [True, True] Translation: X:172.94, Y:55.99, Z:0.37 [[ 7.51849290e-01 -6.59328297e-01 -2.97361632e-03 1.72940764e+02] [ 6.59323217e-01 7.51855170e-01 -2.58809903e-03 5.59925662e+01] [ 3.94213573e-03 -1.47138599e-05 9.99992230e-01 3.73608977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71028169299998 meters 0.015037070640914764 Centerline is valid? [True, True] Translation: X:172.96, Y:56.01, Z:0.37 [[ 7.51956645e-01 -6.59203300e-01 -3.49474057e-03 1.72961860e+02] [ 6.59196277e-01 7.51964766e-01 -3.04289124e-03 5.60102614e+01] [ 4.63380572e-03 -1.55976867e-05 9.99989264e-01 3.72539495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.740281693 meters 0.015149026748513577 Centerline is valid? [True, True] Translation: X:172.98, Y:56.03, Z:0.37 [[ 7.52482581e-01 -6.58594174e-01 -4.86614474e-03 1.72983081e+02] [ 6.58580534e-01 7.52498315e-01 -4.23866169e-03 5.60274624e+01] [ 6.45332362e-03 -1.52291107e-05 9.99979177e-01 3.69370502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.770281693 meters 0.014997381177617262 Centerline is valid? [True, True] Translation: X:173.00, Y:56.05, Z:0.37 [[ 7.53092373e-01 -6.57890874e-01 -5.61039537e-03 1.73003731e+02] [ 6.57872709e-01 7.53113271e-01 -4.88877555e-03 5.60470370e+01] [ 7.44154402e-03 -9.22642482e-06 9.99972311e-01 3.68462910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.800281693 meters 0.015230911309037039 Centerline is valid? [True, True] Translation: X:173.02, Y:56.07, Z:0.37 [[ 7.54920823e-01 -6.55786064e-01 -6.26016212e-03 1.73023062e+02] [ 6.55763359e-01 7.54946778e-01 -5.45705371e-03 5.60675400e+01] [ 8.30474900e-03 1.44585365e-05 9.99965515e-01 3.65650942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.830281693 meters 0.016213911331886034 Centerline is valid? [True, True] Translation: X:173.04, Y:56.09, Z:0.37 [[ 7.56920033e-01 -6.53482593e-01 -5.70651160e-03 1.73041419e+02] [ 6.53463647e-01 7.56941543e-01 -4.97611819e-03 5.60875066e+01] [ 7.57130231e-03 3.75256658e-05 9.99971337e-01 3.65827429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.860281693 meters 0.01661794083916365 Centerline is valid? [True, True] Translation: X:173.06, Y:56.11, Z:0.37 [[ 7.57547119e-01 -6.52761859e-01 -4.93131535e-03 1.73061935e+02] [ 6.52747686e-01 7.57563168e-01 -4.30161958e-03 5.61069099e+01] [ 6.54371607e-03 3.97748377e-05 9.99978589e-01 3.68728566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.890281693 meters 0.017103004429752378 Centerline is valid? [True, True] Translation: X:173.08, Y:56.13, Z:0.37 [[ 7.58159018e-01 -6.52057318e-01 -4.01962498e-03 1.73081219e+02] [ 6.52047885e-01 7.58169673e-01 -3.50754202e-03 5.61266763e+01] [ 5.33467619e-03 3.82866443e-05 9.99985770e-01 3.71357896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.920281693 meters 0.019455398436996296 Centerline is valid? [True, True] Translation: X:173.10, Y:56.15, Z:0.38 [[ 7.60201104e-01 -6.49682911e-01 -2.52920005e-03 1.73097895e+02] [ 6.49679162e-01 7.60205310e-01 -2.20745993e-03 5.61493249e+01] [ 3.35686030e-03 3.49449133e-05 9.99994365e-01 3.75417810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.950281693 meters 0.021479355685978932 Centerline is valid? [True, True] Translation: X:173.12, Y:56.17, Z:0.38 [[ 7.61604851e-01 -6.48038323e-01 -2.09359736e-03 1.73116999e+02] [ 6.48035747e-01 7.61607728e-01 -1.82763608e-03 5.61711265e+01] [ 2.77887815e-03 3.52105715e-05 9.99996138e-01 3.76489743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.980281693 meters 0.02515039005187859 Centerline is valid? [True, True] Translation: X:173.13, Y:56.20, Z:0.38 [[ 7.64075009e-01 -6.45124985e-01 -1.77030811e-03 1.73133235e+02] [ 6.45123135e-01 7.64077059e-01 -1.54583916e-03 5.61954718e+01] [ 2.34991127e-03 3.90703532e-05 9.99997238e-01 3.78309258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.010281693 meters 0.025338243637903032 Centerline is valid? [True, True] Translation: X:173.15, Y:56.22, Z:0.38 [[ 7.65578028e-01 -6.43341044e-01 -1.60762017e-03 1.73152996e+02] [ 6.43339512e-01 7.65579715e-01 -1.40417950e-03 5.62164888e+01] [ 2.13412769e-03 4.07633961e-05 9.99997722e-01 3.78691224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.040281693 meters 0.036710949424510836 Centerline is valid? [True, True] Translation: X:173.16, Y:56.25, Z:0.38 [[ 7.69762032e-01 -6.38326305e-01 -2.43771623e-03 1.73158311e+02] [ 6.38322756e-01 7.69765887e-01 -2.13019845e-03 5.62530166e+01] [ 3.23623250e-03 8.36961442e-05 9.99994760e-01 3.76430305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.070281693 meters 0.03630028046972748 Centerline is valid? [True, True] Translation: X:173.18, Y:56.27, Z:0.38 [[ 7.71585837e-01 -6.36120057e-01 -2.56287645e-03 1.73177116e+02] [ 6.36116120e-01 7.71590087e-01 -2.24033509e-03 5.62746007e+01] [ 3.40261215e-03 9.83238037e-05 9.99994206e-01 3.76119833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.100281693 meters 0.04234721712545485 Centerline is valid? [True, True] Translation: X:173.19, Y:56.30, Z:0.38 [[ 7.72784228e-01 -6.34664155e-01 -2.43857824e-03 1.73189258e+02] [ 6.34660581e-01 7.72788069e-01 -2.13219772e-03 5.63032643e+01] [ 3.23773363e-03 1.00059288e-04 9.99994754e-01 3.75868932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.130281693 meters 0.043908257696448544 Centerline is valid? [True, True] Translation: X:173.20, Y:56.33, Z:0.38 [[ 7.72617626e-01 -6.34867700e-01 -2.23765471e-03 1.73202253e+02] [ 6.34864691e-01 7.72620861e-01 -1.95693327e-03 5.63300496e+01] [ 2.97125243e-03 9.13531746e-05 9.99995582e-01 3.75897195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.160281693 meters 0.030685146225540333 Centerline is valid? [True, True] Translation: X:173.23, Y:56.34, Z:0.38 [[ 7.68240258e-01 -6.40158451e-01 -2.01572944e-03 1.73231976e+02] [ 6.40156026e-01 7.68242900e-01 -1.76337803e-03 5.63400477e+01] [ 2.67741118e-03 6.43166418e-05 9.99996414e-01 3.76578781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190281693 meters 0.02774680635709266 Centerline is valid? [True, True] Translation: X:173.25, Y:56.36, Z:0.38 [[ 7.65027934e-01 -6.43994390e-01 -1.86710325e-03 1.73253169e+02] [ 6.43992319e-01 7.65030211e-01 -1.63389584e-03 5.63578692e+01] [ 2.48061015e-03 4.75758059e-05 9.99996922e-01 3.76529471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220281693 meters 0.021804412013513727 Centerline is valid? [True, True] Translation: X:173.28, Y:56.37, Z:0.38 [[ 7.61287596e-01 -6.48411633e-01 -1.88442101e-03 1.73277614e+02] [ 6.48409535e-01 7.61289927e-01 -1.64965020e-03 5.63727764e+01] [ 2.50424312e-03 3.39816871e-05 9.99996864e-01 3.76614443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250281693 meters 0.014579177499824139 Centerline is valid? [True, True] Translation: X:173.31, Y:56.38, Z:0.38 [[ 7.53657447e-01 -6.57263964e-01 -2.12929547e-03 1.73306601e+02] [ 6.57261319e-01 7.53660455e-01 -1.86467221e-03 5.63835583e+01] [ 2.83034764e-03 5.82055070e-06 9.99995995e-01 3.75880088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280281693 meters 0.014906454775926581 Centerline is valid? [True, True] Translation: X:173.33, Y:56.40, Z:0.38 [[ 7.49961455e-01 -6.61478369e-01 -2.04544507e-03 1.73331529e+02] [ 6.61475942e-01 7.49964244e-01 -1.79167819e-03 5.63968104e+01] [ 2.71916703e-03 -9.32311855e-06 9.99996303e-01 3.76339298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310281693 meters 0.021051469685185276 Centerline is valid? [True, True] Translation: X:173.36, Y:56.40, Z:0.38 [[ 7.43324490e-01 -6.68926533e-01 -2.44855959e-03 1.73361658e+02] [ 6.68923093e-01 7.43328522e-01 -2.14552320e-03 5.64045647e+01] [ 3.25528158e-03 -4.30781146e-05 9.99994701e-01 3.76004541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340281693 meters 0.027291360861059172 Centerline is valid? [True, True] Translation: X:173.39, Y:56.42, Z:0.38 [[ 7.38309828e-01 -6.74456579e-01 -2.63077588e-03 1.73390126e+02] [ 6.74452641e-01 7.38314512e-01 -2.30580600e-03 5.64151055e+01] [ 3.49750604e-03 -7.19345108e-05 9.99993881e-01 3.75858266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370281693 meters 0.028831824230395126 Centerline is valid? [True, True] Translation: X:173.41, Y:56.43, Z:0.38 [[ 7.36333700e-01 -6.76614280e-01 -2.40774454e-03 1.73414342e+02] [ 6.76610991e-01 7.36337633e-01 -2.11100530e-03 5.64308665e+01] [ 3.20124925e-03 -7.47020787e-05 9.99994873e-01 3.76418346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400281693 meters 0.03277744368026687 Centerline is valid? [True, True] Translation: X:173.44, Y:56.44, Z:0.38 [[ 7.34424820e-01 -6.78686859e-01 -2.08095349e-03 1.73440429e+02] [ 6.78684409e-01 7.34427765e-01 -1.82502945e-03 5.64431430e+01] [ 2.76693353e-03 -7.19637629e-05 9.99996169e-01 3.77321863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43028169299998 meters 0.04657446128467732 Centerline is valid? [True, True] Translation: X:173.48, Y:56.44, Z:0.38 [[ 7.30127660e-01 -6.83310181e-01 -8.93045163e-04 1.73476947e+02] [ 6.83309733e-01 7.30128205e-01 -7.83220093e-04 5.64422670e+01] [ 1.18721972e-03 -3.83757979e-05 9.99999295e-01 3.81291506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46028169299998 meters 0.0426846998923919 Centerline is valid? [True, True] Translation: X:173.50, Y:56.46, Z:0.38 [[ 7.28187204e-01 -6.85378205e-01 -3.33889296e-04 1.73497169e+02] [ 6.85378143e-01 7.28187281e-01 -2.92644838e-04 5.64620181e+01] [ 4.43706333e-04 -1.57401991e-05 9.99999901e-01 3.83070060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.490281693 meters 0.04498739388544279 Centerline is valid? [True, True] Translation: X:173.53, Y:56.47, Z:0.38 [[ 7.26013206e-01 -6.87680556e-01 -5.26692423e-04 1.73526345e+02] [ 6.87680401e-01 7.26013397e-01 -4.62051879e-04 5.64715658e+01] [ 7.00129848e-04 -2.67402907e-05 9.99999755e-01 3.82606893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.520281693 meters 0.04740285448177854 Centerline is valid? [True, True] Translation: X:173.55, Y:56.48, Z:0.38 [[ 7.25248067e-01 -6.88487047e-01 -9.09611492e-04 1.73551572e+02] [ 6.88486585e-01 7.25248636e-01 -7.98615973e-04 5.64838055e+01] [ 1.20953125e-03 -4.70606186e-05 9.99999267e-01 3.81566616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.550281693 meters 0.04709064749359781 Centerline is valid? [True, True] Translation: X:173.58, Y:56.50, Z:0.38 [[ 7.24971865e-01 -6.88776495e-01 -1.65361810e-03 1.73577792e+02] [ 6.88774969e-01 7.24973746e-01 -1.45250195e-03 5.64964850e+01] [ 2.19927891e-03 -8.59477082e-05 9.99997578e-01 3.79922544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.580281693 meters 0.04653223036882419 Centerline is valid? [True, True] Translation: X:173.60, Y:56.51, Z:0.38 [[ 7.25319442e-01 -6.88410000e-01 -1.83826903e-03 1.73602214e+02] [ 6.88408111e-01 7.25321765e-01 -1.61532452e-03 5.65118474e+01] [ 2.44534209e-03 -9.38530271e-05 9.99997006e-01 3.79763622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.610281693 meters 0.04621056405798654 Centerline is valid? [True, True] Translation: X:173.63, Y:56.52, Z:0.38 [[ 7.25694945e-01 -6.88014262e-01 -1.79533860e-03 1.73630740e+02] [ 6.88012458e-01 7.25697160e-01 -1.57813354e-03 5.65220047e+01] [ 2.38865051e-03 -8.99717953e-05 9.99997143e-01 3.80367036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.640281693 meters 0.04581050804889271 Centerline is valid? [True, True] Translation: X:173.65, Y:56.54, Z:0.38 [[ 7.25466298e-01 -6.88255612e-01 -1.69220324e-03 1.73654568e+02] [ 6.88254009e-01 7.25468266e-01 -1.48796353e-03 5.65371345e+01] [ 2.25173900e-03 -8.51982729e-05 9.99997461e-01 3.81253741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.670281693 meters 0.04257882466132648 Centerline is valid? [True, True] Translation: X:173.68, Y:56.55, Z:0.38 [[ 7.26100102e-01 -6.87588087e-01 -1.12461701e-03 1.73679772e+02] [ 6.87587378e-01 7.26100971e-01 -9.89089108e-04 5.65521310e+01] [ 1.49667139e-03 -5.50947581e-05 9.99998878e-01 3.82781843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.700281693 meters 0.0430899263044986 Centerline is valid? [True, True] Translation: X:173.70, Y:56.57, Z:0.38 [[ 7.27048736e-01 -6.86584676e-01 -1.27171812e-03 1.73703382e+02] [ 6.86583767e-01 7.27049846e-01 -1.11890866e-03 5.65662441e+01] [ 1.69282801e-03 -5.96398897e-05 9.99998565e-01 3.83301843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.730281693 meters 0.040694070362686005 Centerline is valid? [True, True] Translation: X:173.72, Y:56.58, Z:0.38 [[ 7.28284856e-01 -6.85272843e-01 -1.51660021e-03 1.73724477e+02] [ 6.85271546e-01 7.28286432e-01 -1.33471367e-03 5.65844587e+01] [ 2.01916239e-03 -6.72312194e-05 9.99997959e-01 3.83279092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.760281693 meters 0.03536731639127941 Centerline is valid? [True, True] Translation: X:173.74, Y:56.60, Z:0.38 [[ 7.31840352e-01 -6.81474580e-01 -1.44783194e-03 1.73743734e+02] [ 6.81473390e-01 7.31841782e-01 -1.27463397e-03 5.66035952e+01] [ 1.92821456e-03 -5.38303740e-05 9.99998140e-01 3.83165129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.790281693 meters 0.03212920337388185 Centerline is valid? [True, True] Translation: X:173.76, Y:56.62, Z:0.38 [[ 7.33940260e-01 -6.79211714e-01 -1.77258862e-03 1.73763637e+02] [ 6.79209923e-01 7.33942398e-01 -1.56121714e-03 5.66235696e+01] [ 2.36137491e-03 -5.81196634e-05 9.99997210e-01 3.82257505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.820281693 meters 0.02760021883675052 Centerline is valid? [True, True] Translation: X:173.78, Y:56.64, Z:0.38 [[ 7.38112357e-01 -6.74666883e-01 -3.83989518e-03 1.73783384e+02] [ 6.74658404e-01 7.38122340e-01 -3.38377190e-03 5.66416526e+01] [ 5.11723125e-03 -9.30136989e-05 9.99986903e-01 3.75832549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.850281693 meters 0.02389420109942127 Centerline is valid? [True, True] Translation: X:173.80, Y:56.66, Z:0.37 [[ 7.39718030e-01 -6.72900406e-01 -4.72021021e-03 1.73802392e+02] [ 6.72887547e-01 7.39733083e-01 -4.16112474e-03 5.66630583e+01] [ 6.29171818e-03 -9.81116825e-05 9.99980202e-01 3.74093918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.880281693 meters 0.020202809805929606 Centerline is valid? [True, True] Translation: X:173.82, Y:56.68, Z:0.37 [[ 7.42516968e-01 -6.69810748e-01 -4.70259074e-03 1.73821584e+02] [ 6.69797914e-01 7.42531856e-01 -4.14706596e-03 5.66833604e+01] [ 6.26957278e-03 -7.05186286e-05 9.99980344e-01 3.73517726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.910281693 meters 0.01831459922335828 Centerline is valid? [True, True] Translation: X:173.84, Y:56.70, Z:0.38 [[ 7.44069100e-01 -6.68089200e-01 -4.24213469e-03 1.73840055e+02] [ 6.68078722e-01 7.44081191e-01 -3.74201984e-03 5.67035826e+01] [ 5.65649568e-03 -4.97585896e-05 9.99984001e-01 3.75407068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940281693 meters 0.015209802544837774 Centerline is valid? [True, True] Translation: X:173.85, Y:56.73, Z:0.38 [[ 7.47333529e-01 -6.64443280e-01 -2.77922563e-03 1.73854861e+02] [ 6.64438756e-01 7.47338697e-01 -2.45203596e-03 5.67278573e+01] [ 3.70626168e-03 -1.41365274e-05 9.99993132e-01 3.79680912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970281693 meters 0.014471139375298099 Centerline is valid? [True, True] Translation: X:173.87, Y:56.75, Z:0.38 [[ 7.48910450e-01 -6.62668300e-01 -1.96500441e-03 1.73872612e+02] [ 6.62666032e-01 7.48913028e-01 -1.73403235e-03 5.67506322e+01] [ 2.62070567e-03 -3.50672566e-06 9.99996566e-01 3.81810618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000281693 meters 0.014443899120128433 Centerline is valid? [True, True] Translation: X:173.89, Y:56.77, Z:0.38 [[ 7.50676345e-01 -6.60668179e-01 -1.60701377e-03 1.73888975e+02] [ 6.60666656e-01 7.50678065e-01 -1.41855913e-03 5.67723490e+01] [ 2.14354686e-03 3.17836946e-06 9.99997703e-01 3.82286238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030281693 meters 0.015836583116145133 Centerline is valid? [True, True] Translation: X:173.90, Y:56.80, Z:0.38 [[ 7.52740852e-01 -6.58312201e-01 -2.50121086e-03 1.73903244e+02] [ 6.58308495e-01 7.52745008e-01 -2.20892503e-03 5.67968087e+01] [ 3.33693629e-03 1.61797565e-05 9.99994432e-01 3.79887100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060281693 meters 0.015194930048163816 Centerline is valid? [True, True] Translation: X:173.92, Y:56.82, Z:0.38 [[ 7.51487140e-01 -6.59736851e-01 -3.79036179e-03 1.73923842e+02] [ 6.59728351e-01 7.51496698e-01 -3.34891878e-03 5.68159292e+01] [ 5.05784951e-03 1.60602608e-05 9.99987209e-01 3.76452138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090281693 meters 0.014587829432299838 Centerline is valid? [True, True] Translation: X:173.95, Y:56.83, Z:0.38 [[ 7.49471188e-01 -6.62027063e-01 -3.62023081e-03 1.73946850e+02] [ 6.62019330e-01 7.49479932e-01 -3.19976958e-03 5.68312993e+01] [ 4.83162440e-03 1.47233762e-06 9.99988328e-01 3.76668191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120281693 meters 0.015258045488447034 Centerline is valid? [True, True] Translation: X:173.97, Y:56.84, Z:0.38 [[ 7.46883853e-01 -6.64947736e-01 -3.00297109e-03 1.73971391e+02] [ 6.64942435e-01 7.46889890e-01 -2.65510953e-03 5.68444940e+01] [ 4.00839782e-03 -1.37444691e-05 9.99991966e-01 3.78390630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150281693 meters 0.020006272832266928 Centerline is valid? [True, True] Translation: X:174.00, Y:56.85, Z:0.38 [[ 7.41861710e-01 -6.70549046e-01 -2.27594871e-03 1.74000962e+02] [ 6.70546025e-01 7.41865201e-01 -2.01290143e-03 5.68536446e+01] [ 3.03819628e-03 -3.28338664e-05 9.99995384e-01 3.80295736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18028169299998 meters 0.023562397981703734 Centerline is valid? [True, True] Translation: X:174.03, Y:56.87, Z:0.38 [[ 7.38525620e-01 -6.74224343e-01 -1.20119972e-03 1.74025954e+02] [ 6.74223507e-01 7.38526597e-01 -1.06253838e-03 5.68676072e+01] [ 1.60350719e-03 -2.51652702e-05 9.99998714e-01 3.82766368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21028169299998 meters 0.026989189258540387 Centerline is valid? [True, True] Translation: X:174.05, Y:56.88, Z:0.38 [[ 7.37301957e-01 -6.75563149e-01 -5.05238797e-04 1.74051328e+02] [ 6.75563002e-01 7.37302130e-01 -4.46750078e-04 5.68807988e+01] [ 6.74321531e-04 -1.19309314e-05 9.99999773e-01 3.84900335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.240281693 meters 0.02779899538078239 Centerline is valid? [True, True] Translation: X:174.08, Y:56.89, Z:0.39 [[ 7.35552891e-01 -6.77466849e-01 7.82556828e-04 1.74076941e+02] [ 6.77466495e-01 7.35553307e-01 6.93321219e-04 5.68949807e+01] [-1.04531440e-03 2.01816037e-05 9.99999453e-01 3.87938347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.270281693 meters 0.026859543229967985 Centerline is valid? [True, True] Translation: X:174.10, Y:56.91, Z:0.39 [[ 7.34585316e-01 -6.78515451e-01 1.09383836e-03 1.74099159e+02] [ 6.78514760e-01 7.34586129e-01 9.68933309e-04 5.69125732e+01] [-1.46095471e-03 3.04212915e-05 9.99998932e-01 3.87829714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.300281693 meters 0.03168265083169168 Centerline is valid? [True, True] Translation: X:174.13, Y:56.92, Z:0.39 [[ 7.32937318e-01 -6.80296077e-01 3.67095550e-04 1.74129166e+02] [ 6.80295999e-01 7.32937410e-01 3.25467926e-04 5.69198050e+01] [-4.90472615e-04 1.11860455e-05 9.99999880e-01 3.86184975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.330281693 meters 0.03287049448729855 Centerline is valid? [True, True] Translation: X:174.15, Y:56.93, Z:0.39 [[ 7.31993842e-01 -6.81311243e-01 -7.14322625e-05 1.74154653e+02] [ 6.81311240e-01 7.31993846e-01 -6.28509701e-05 5.69335676e+01] [ 9.51090491e-05 -2.66108019e-06 9.99999995e-01 3.85427043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.360281693 meters 0.031932484924641104 Centerline is valid? [True, True] Translation: X:174.18, Y:56.95, Z:0.38 [[ 7.30752514e-01 -6.82642082e-01 -7.42684941e-04 1.74181432e+02] [ 6.82641766e-01 7.30752891e-01 -6.57840821e-04 5.69456738e+01] [ 9.91788995e-04 -2.62689259e-05 9.99999508e-01 3.84796730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.390281693 meters 0.03420988406960883 Centerline is valid? [True, True] Translation: X:174.21, Y:56.96, Z:0.39 [[ 7.30814067e-01 -6.82576128e-01 -7.92610395e-04 1.74206312e+02] [ 6.82575768e-01 7.30814496e-01 -7.02316555e-04 5.69581515e+01] [ 1.05863568e-03 -2.77538310e-05 9.99999439e-01 3.85078308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.420281693 meters 0.030522735985170964 Centerline is valid? [True, True] Translation: X:174.23, Y:56.97, Z:0.38 [[ 7.33918769e-01 -6.79236244e-01 -1.16830754e-03 1.74227136e+02] [ 6.79235455e-01 7.33919698e-01 -1.03591114e-03 5.69744061e+01] [ 1.56107231e-03 -3.32812715e-05 9.99998781e-01 3.84675472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.450281693 meters 0.023863248602312367 Centerline is valid? [True, True] Translation: X:174.24, Y:57.00, Z:0.38 [[ 7.36685019e-01 -6.76233736e-01 -1.76567233e-03 1.74243270e+02] [ 6.76231923e-01 7.36687134e-01 -1.56619383e-03 5.69979840e+01] [ 2.35986119e-03 -4.02124648e-05 9.99997215e-01 3.83665968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.480281693 meters 0.019604838243820293 Centerline is valid? [True, True] Translation: X:174.26, Y:57.02, Z:0.38 [[ 7.39951686e-01 -6.72655950e-01 -2.33992422e-03 1.74260684e+02] [ 6.72652746e-01 7.39955385e-01 -2.07647099e-03 5.70207895e+01] [ 3.12819009e-03 -3.74682402e-05 9.99995107e-01 3.82785748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.510281693 meters 0.014391227157079804 Centerline is valid? [True, True] Translation: X:174.27, Y:57.05, Z:0.38 [[ 7.46928058e-01 -6.64898995e-01 -2.79325007e-03 1.74271440e+02] [ 6.64894370e-01 7.46933281e-01 -2.47978690e-03 5.70499965e+01] [ 3.73517926e-03 -4.99383116e-06 9.99993024e-01 3.82365151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.540281693 meters 0.014391227157079804 Centerline is valid? [True, True] Translation: X:174.29, Y:57.07, Z:0.38 [[ 7.46810307e-01 -6.65031251e-01 -2.79279862e-03 1.74291853e+02] [ 6.65026626e-01 7.46815529e-01 -2.48029528e-03 5.70684052e+01] [ 3.73517925e-03 -4.97536099e-06 9.99993024e-01 3.82419839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.570281693 meters 0.014922180399624918 Centerline is valid? [True, True] Translation: X:174.31, Y:57.09, Z:0.38 [[ 7.49775895e-01 -6.61685936e-01 -2.79806729e-03 1.74307095e+02] [ 6.61681266e-01 7.49781116e-01 -2.48586943e-03 5.70933387e+01] [ 3.74280286e-03 1.24162728e-05 9.99992996e-01 3.81964077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.600281693 meters 0.019100193927899915 Centerline is valid? [True, True] Translation: X:174.32, Y:57.12, Z:0.38 [[ 7.54360564e-01 -6.56454038e-01 -2.86987343e-03 1.74319396e+02] [ 6.56449084e-01 7.54366022e-01 -2.55058275e-03 5.71218476e+01] [ 3.83927535e-03 4.01332525e-05 9.99992629e-01 3.82329589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.630281693 meters 0.021633600897971714 Centerline is valid? [True, True] Translation: X:174.34, Y:57.15, Z:0.38 [[ 7.56162769e-01 -6.54379556e-01 -2.29413780e-03 1.74336288e+02] [ 6.54376379e-01 7.56166248e-01 -2.03951662e-03 5.71451033e+01] [ 3.06936755e-03 4.09769470e-05 9.99995289e-01 3.82443637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.660281693 meters 0.027258059270070138 Centerline is valid? [True, True] Translation: X:174.35, Y:57.17, Z:0.38 [[ 7.58539317e-01 -6.51624653e-01 -1.84836420e-03 1.74347704e+02] [ 6.51622581e-01 7.58541568e-01 -1.64367171e-03 5.71729740e+01] [ 2.47311809e-03 4.23537661e-05 9.99996941e-01 3.82458669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690281693 meters 0.026013402925271132 Centerline is valid? [True, True] Translation: X:174.37, Y:57.19, Z:0.38 [[ 7.58733382e-01 -6.51396853e-01 -2.40727434e-03 1.74367907e+02] [ 6.51393335e-01 7.58737199e-01 -2.14142691e-03 5.71923481e+01] [ 3.22140734e-03 5.66896186e-05 9.99994810e-01 3.81237890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720281693 meters 0.025567010262468784 Centerline is valid? [True, True] Translation: X:174.39, Y:57.21, Z:0.38 [[ 7.58138966e-01 -6.52083997e-01 -3.43069935e-03 1.74385038e+02] [ 6.52076854e-01 7.58146724e-01 -3.05300418e-03 5.72133048e+01] [ 4.59178864e-03 7.75217897e-05 9.99989455e-01 3.78617844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750281693 meters 0.024349788597372374 Centerline is valid? [True, True] Translation: X:174.40, Y:57.23, Z:0.38 [[ 7.56323755e-01 -6.54191112e-01 -2.89242072e-03 1.74404049e+02] [ 6.54186048e-01 7.56329284e-01 -2.57474704e-03 5.72335438e+01] [ 3.87199912e-03 5.51610768e-05 9.99992502e-01 3.79071440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780281693 meters 0.02171022704721028 Centerline is valid? [True, True] Translation: X:174.43, Y:57.25, Z:0.38 [[ 7.55311050e-01 -6.55361897e-01 -2.44988608e-03 1.74427217e+02] [ 6.55358268e-01 7.55315022e-01 -2.18150371e-03 5.72504603e+01] [ 3.28011017e-03 4.21607664e-05 9.99994620e-01 3.79705710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810281693 meters 0.01860953590330885 Centerline is valid? [True, True] Translation: X:174.45, Y:57.27, Z:0.38 [[ 7.52767131e-01 -6.58282237e-01 -2.47843415e-03 1.74451268e+02] [ 6.58278536e-01 7.52771210e-01 -2.20770137e-03 5.72664087e+01] [ 3.31898447e-03 3.03850248e-05 9.99994492e-01 3.78541934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840281693 meters 0.017346297371206756 Centerline is valid? [True, True] Translation: X:174.47, Y:57.28, Z:0.38 [[ 7.51374852e-01 -6.59870159e-01 -2.68436502e-03 1.74473281e+02] [ 6.59865824e-01 7.51379646e-01 -2.39203044e-03 5.72825033e+01] [ 3.59540675e-03 2.59907785e-05 9.99993536e-01 3.77870728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870281693 meters 0.015782896064431874 Centerline is valid? [True, True] Translation: X:174.50, Y:57.30, Z:0.38 [[ 7.49472458e-01 -6.62030761e-01 -2.51119389e-03 1.74496350e+02] [ 6.62026977e-01 7.49476665e-01 -2.23841681e-03 5.72971368e+01] [ 3.36398201e-03 1.51536521e-05 9.99994342e-01 3.79902752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900281693 meters 0.015468218355837232 Centerline is valid? [True, True] Translation: X:174.52, Y:57.32, Z:0.38 [[ 7.49117456e-01 -6.62430428e-01 -2.99399571e-03 1.74518027e+02] [ 6.62425049e-01 7.49123439e-01 -2.66968861e-03 5.73154948e+01] [ 4.01135533e-03 1.66125865e-05 9.99991954e-01 3.80217307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93028169299998 meters 0.015699412568400323 Centerline is valid? [True, True] Translation: X:174.54, Y:57.34, Z:0.38 [[ 7.49271327e-01 -6.62252194e-01 -3.80926553e-03 1.74538114e+02] [ 6.62243477e-01 7.49281009e-01 -3.39804074e-03 5.73357362e+01] [ 5.10457025e-03 2.33932451e-05 9.99986971e-01 3.78797902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96028169299998 meters 0.01636557279680378 Centerline is valid? [True, True] Translation: X:174.56, Y:57.36, Z:0.38 [[ 7.49759441e-01 -6.61698827e-01 -3.92984988e-03 1.74556220e+02] [ 6.61689536e-01 7.49769739e-01 -3.50670276e-03 5.73565359e+01] [ 5.26686362e-03 2.88429570e-05 9.99986130e-01 3.76527894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.990281693 meters 0.015181570017084542 Centerline is valid? [True, True] Translation: X:174.58, Y:57.37, Z:0.38 [[ 7.48219548e-01 -6.63449188e-01 -1.63814821e-03 1.74579891e+02] [ 6.63447577e-01 7.48221341e-01 -1.46195948e-03 5.73725814e+01] [ 2.19563328e-03 7.04120097e-06 9.99997590e-01 3.81657490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.020281693 meters 0.014564518707909993 Centerline is valid? [True, True] Translation: X:174.60, Y:57.39, Z:0.38 [[ 7.46296564e-01 -6.65612239e-01 -1.33617321e-03 1.74603757e+02] [ 6.65611170e-01 7.46297760e-01 -1.19280739e-03 5.73872451e+01] [ 1.79113027e-03 8.16243286e-07 9.99998396e-01 3.82593765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.050281693 meters 0.01645263042170021 Centerline is valid? [True, True] Translation: X:174.63, Y:57.40, Z:0.38 [[ 7.41768253e-01 -6.70649904e-01 -2.92659713e-03 1.74631520e+02] [ 6.70644810e-01 7.41774026e-01 -2.61406718e-03 5.73966461e+01] [ 3.92399764e-03 -2.36751346e-05 9.99992301e-01 3.79703771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.080281693 meters 0.018519485388973404 Centerline is valid? [True, True] Translation: X:174.66, Y:57.41, Z:0.38 [[ 7.39671305e-01 -6.72960056e-01 -3.33514747e-03 1.74656501e+02] [ 6.72953459e-01 7.39678823e-01 -2.98004326e-03 5.74118289e+01] [ 4.47238804e-03 -4.01465386e-05 9.99989998e-01 3.79168027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.110281693 meters 0.020140986418407055 Centerline is valid? [True, True] Translation: X:174.68, Y:57.43, Z:0.38 [[ 7.38188069e-01 -6.74588024e-01 -3.06139446e-03 1.74680351e+02] [ 6.74582476e-01 7.38194416e-01 -2.73632729e-03 5.74277227e+01] [ 4.10579791e-03 -4.52388990e-05 9.99991570e-01 3.79693395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.140281693 meters 0.020681319916905572 Centerline is valid? [True, True] Translation: X:174.70, Y:57.45, Z:0.38 [[ 7.37423199e-01 -6.75427264e-01 -2.24429686e-03 1.74701995e+02] [ 6.75424285e-01 7.37426613e-01 -2.00656672e-03 5.74453664e+01] [ 3.01029410e-03 -3.61637504e-05 9.99995468e-01 3.81742485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.170281693 meters 0.01971522872700416 Centerline is valid? [True, True] Translation: X:174.72, Y:57.47, Z:0.38 [[ 7.38187825e-01 -6.74589179e-01 -2.85916197e-03 1.74721526e+02] [ 6.74584333e-01 7.38193361e-01 -2.55735673e-03 5.74658554e+01] [ 3.83577956e-03 -4.09362665e-05 9.99992643e-01 3.79664259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.200281693 meters 0.019745219782507668 Centerline is valid? [True, True] Translation: X:174.74, Y:57.48, Z:0.38 [[ 7.38394363e-01 -6.74359799e-01 -3.55330629e-03 1.74741863e+02] [ 6.74352305e-01 7.38402911e-01 -3.17952605e-03 5.74831772e+01] [ 4.76791626e-03 -4.84361730e-05 9.99988632e-01 3.78434761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.230281693 meters 0.017923559644032333 Centerline is valid? [True, True] Translation: X:174.76, Y:57.50, Z:0.38 [[ 7.39541392e-01 -6.73100266e-01 -3.81598630e-03 1.74760868e+02] [ 6.73091599e-01 7.39551236e-01 -3.41586743e-03 5.75039494e+01] [ 5.12133866e-03 -4.23329702e-05 9.99986885e-01 3.79852847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.260281693 meters 0.017051781710547644 Centerline is valid? [True, True] Translation: X:174.78, Y:57.52, Z:0.38 [[ 7.40445289e-01 -6.72108009e-01 -3.40559528e-03 1.74778628e+02] [ 6.72101092e-01 7.40453120e-01 -3.04956960e-03 5.75240077e+01] [ 4.57132381e-03 -3.08648623e-05 9.99989551e-01 3.80962561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.290281693 meters 0.01569843724838406 Centerline is valid? [True, True] Translation: X:174.79, Y:57.55, Z:0.38 [[ 7.41885979e-01 -6.70519255e-01 -3.02030187e-03 1.74794797e+02] [ 6.70513797e-01 7.41892127e-01 -2.70548598e-03 5.75477582e+01] [ 4.05481863e-03 -1.79919580e-05 9.99991779e-01 3.80827641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.320281693 meters 0.015956057471257095 Centerline is valid? [True, True] Translation: X:174.82, Y:57.57, Z:0.38 [[ 7.41653424e-01 -6.70777993e-01 -2.66145428e-03 1.74815035e+02] [ 6.70773754e-01 7.41658199e-01 -2.38486641e-03 5.75652038e+01] [ 3.57360529e-03 -1.64893438e-05 9.99993615e-01 3.80887602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.350281693 meters 0.01776185470143539 Centerline is valid? [True, True] Translation: X:174.84, Y:57.58, Z:0.38 [[ 7.39115334e-01 -6.73575968e-01 -1.98430797e-03 1.74840269e+02] [ 6.73573620e-01 7.39117998e-01 -1.77862225e-03 5.75792162e+01] [ 2.66467494e-03 -2.19705230e-05 9.99996450e-01 3.83446288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.380281693 meters 0.020498458063286203 Centerline is valid? [True, True] Translation: X:174.86, Y:57.59, Z:0.38 [[ 7.37054074e-01 -6.75831309e-01 -1.82561578e-03 1.74864781e+02] [ 6.75829328e-01 7.37056335e-01 -1.63686334e-03 5.75924029e+01] [ 2.45182517e-03 -2.73478930e-05 9.99996994e-01 3.84153628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.410281693 meters 0.024816560934019564 Centerline is valid? [True, True] Translation: X:174.89, Y:57.60, Z:0.38 [[ 7.32921271e-01 -6.80311874e-01 -1.47095899e-03 1.74893008e+02] [ 6.80310596e-01 7.32922747e-01 -1.31910859e-03 5.76037077e+01] [ 1.97550454e-03 -3.39062445e-05 9.99998048e-01 3.84898955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440281693 meters 0.02913576676336943 Centerline is valid? [True, True] Translation: X:174.92, Y:57.62, Z:0.38 [[ 7.31307719e-01 -6.82044564e-01 -2.05748966e-03 1.74919075e+02] [ 6.82042068e-01 7.31310611e-01 -1.84592712e-03 5.76152217e+01] [ 2.76366858e-03 -5.33537519e-05 9.99996180e-01 3.83608501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470281693 meters 0.0324197586805504 Centerline is valid? [True, True] Translation: X:174.95, Y:57.63, Z:0.38 [[ 7.29372283e-01 -6.84106511e-01 -3.78885687e-03 1.74946710e+02] [ 6.84098066e-01 7.29382115e-01 -3.40084464e-03 5.76266523e+01] [ 5.09006440e-03 -1.11467839e-04 9.99987039e-01 3.78873863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500281693 meters 0.033547798964421754 Centerline is valid? [True, True] Translation: X:174.97, Y:57.64, Z:0.38 [[ 7.28829246e-01 -6.84683094e-01 -4.12190588e-03 1.74969084e+02] [ 6.84673102e-01 7.28840891e-01 -3.70115469e-03 5.76421305e+01] [ 5.53833160e-03 -1.24648303e-04 9.99984656e-01 3.78470932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530281693 meters 0.03229183613541825 Centerline is valid? [True, True] Translation: X:174.99, Y:57.66, Z:0.38 [[ 7.28899030e-01 -6.84610286e-01 -3.86795089e-03 1.74989464e+02] [ 6.84601479e-01 7.28909283e-01 -3.47442365e-03 5.76607269e+01] [ 5.19801148e-03 -1.15500871e-04 9.99986484e-01 3.79894626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560281693 meters 0.029541069552090626 Centerline is valid? [True, True] Translation: X:175.01, Y:57.68, Z:0.39 [[ 7.31074096e-01 -6.82295338e-01 -1.93333650e-03 1.75008717e+02] [ 6.82293129e-01 7.31076650e-01 -1.73703180e-03 5.76785393e+01] [ 2.59858587e-03 -4.92032583e-05 9.99996622e-01 3.85206224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590281693 meters 0.025832259567013273 Centerline is valid? [True, True] Translation: X:175.03, Y:57.70, Z:0.39 [[ 7.32835114e-01 -6.80404528e-01 -1.54093996e-03 1.75028621e+02] [ 6.80403119e-01 7.32836733e-01 -1.38484140e-03 5.76982293e+01] [ 2.07150976e-03 -3.35999530e-05 9.99997854e-01 3.86096111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620281693 meters 0.02573049268480639 Centerline is valid? [True, True] Translation: X:175.05, Y:57.71, Z:0.38 [[ 7.33060578e-01 -6.80160691e-01 -1.90349355e-03 1.75049201e+02] [ 6.80158539e-01 7.33063048e-01 -1.71135229e-03 5.77145543e+01] [ 2.55937534e-03 -4.01524891e-05 9.99996724e-01 3.84555366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650281693 meters 0.025352192330270803 Centerline is valid? [True, True] Translation: X:175.07, Y:57.73, Z:0.38 [[ 7.33246038e-01 -6.79956165e-01 -3.14015515e-03 1.75070348e+02] [ 6.79950302e-01 7.33252759e-01 -2.82441190e-03 5.77322241e+01] [ 4.22300371e-03 -6.41606015e-05 9.99991081e-01 3.81534815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68028169299998 meters 0.026116446984136378 Centerline is valid? [True, True] Translation: X:175.09, Y:57.75, Z:0.38 [[ 7.32943740e-01 -6.80279577e-01 -3.62928406e-03 1.75090716e+02] [ 6.80271742e-01 7.32952721e-01 -3.26572865e-03 5.77491469e+01] [ 4.88170214e-03 -7.53040217e-05 9.99988082e-01 3.80189593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71028169299998 meters 0.024042695982505666 Centerline is valid? [True, True] Translation: X:175.11, Y:57.77, Z:0.38 [[ 7.32891739e-01 -6.80336229e-01 -3.50920910e-03 1.75109961e+02] [ 6.80328900e-01 7.32900136e-01 -3.15885981e-03 5.77697733e+01] [ 4.72098660e-03 -7.23141051e-05 9.99988853e-01 3.80957832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.740281693 meters 0.023080582736129753 Centerline is valid? [True, True] Translation: X:175.13, Y:57.79, Z:0.38 [[ 7.33440731e-01 -6.79745941e-01 -3.18585147e-03 1.75129954e+02] [ 6.79739890e-01 7.33447647e-01 -2.86877379e-03 5.77889504e+01] [ 4.28669261e-03 -6.14747829e-05 9.99990810e-01 3.82009095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.770281693 meters 0.02137558843937482 Centerline is valid? [True, True] Translation: X:175.15, Y:57.81, Z:0.38 [[ 7.35794283e-01 -6.77197737e-01 -3.16179129e-03 1.75148303e+02] [ 6.77191750e-01 7.35801075e-01 -2.84812772e-03 5.78096523e+01] [ 4.25519508e-03 -4.55028813e-05 9.99990946e-01 3.81692277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.800281693 meters 0.01916796537077777 Centerline is valid? [True, True] Translation: X:175.16, Y:57.83, Z:0.38 [[ 7.37232378e-01 -6.75630912e-01 -3.36041850e-03 1.75164642e+02] [ 6.75624127e-01 7.37240035e-01 -3.02819531e-03 5.78319994e+01] [ 4.52337742e-03 -3.78961888e-05 9.99989769e-01 3.81894548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.830281693 meters 0.015491335478610944 Centerline is valid? [True, True] Translation: X:175.18, Y:57.86, Z:0.38 [[ 7.40725160e-01 -6.71797088e-01 -3.86145098e-03 1.75176888e+02] [ 6.71788069e-01 7.40735224e-01 -3.48098822e-03 5.78599665e+01] [ 5.19883051e-03 -1.56211472e-05 9.99986486e-01 3.81093302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.860281693 meters 0.014848504816889275 Centerline is valid? [True, True] Translation: X:175.19, Y:57.88, Z:0.38 [[ 7.42510722e-01 -6.69822050e-01 -4.03095694e-03 1.75193411e+02] [ 6.69812186e-01 7.42521664e-01 -3.63512547e-03 5.78830839e+01] [ 5.42796005e-03 -8.64442446e-07 9.99985269e-01 3.81585955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.890281693 meters 0.015773997295135563 Centerline is valid? [True, True] Translation: X:175.21, Y:57.91, Z:0.38 [[ 7.44777442e-01 -6.67298701e-01 -4.35957775e-03 1.75207906e+02] [ 6.67287111e-01 7.44790201e-01 -3.93305696e-03 5.79071104e+01] [ 5.87149459e-03 2.01620607e-05 9.99982762e-01 3.79039509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.920281693 meters 0.015754819078744133 Centerline is valid? [True, True] Translation: X:175.23, Y:57.93, Z:0.38 [[ 7.44892782e-01 -6.67170038e-01 -4.34541595e-03 1.75227241e+02] [ 6.67158512e-01 7.44905457e-01 -3.92177648e-03 5.79267124e+01] [ 5.85341582e-03 2.22217554e-05 9.99982868e-01 3.79356123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.950281693 meters 0.01520034202192431 Centerline is valid? [True, True] Translation: X:175.25, Y:57.94, Z:0.38 [[ 7.43944442e-01 -6.68229875e-01 -3.93717684e-03 1.75248988e+02] [ 6.68220421e-01 7.43954860e-01 -3.55459377e-03 5.79441878e+01] [ 5.30436760e-03 1.35183129e-05 9.99985932e-01 3.80983652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.980281693 meters 0.014916971093762353 Centerline is valid? [True, True] Translation: X:175.27, Y:57.96, Z:0.38 [[ 7.43099691e-01 -6.69170384e-01 -3.72091460e-03 1.75272107e+02] [ 6.69161946e-01 7.43109007e-01 -3.36053425e-03 5.79608947e+01] [ 5.01381515e-03 7.31750580e-06 9.99987431e-01 3.81630038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.010281693 meters 0.014933591250937026 Centerline is valid? [True, True] Translation: X:175.30, Y:57.97, Z:0.38 [[ 7.41443061e-01 -6.71003657e-01 -4.03477825e-03 1.75297955e+02] [ 6.70993755e-01 7.41454039e-01 -3.64535254e-03 5.79746419e+01] [ 5.43764752e-03 -4.48966515e-06 9.99985216e-01 3.80512768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.040281693 meters 0.015008319655799646 Centerline is valid? [True, True] Translation: X:175.32, Y:57.99, Z:0.38 [[ 7.40834737e-01 -6.71674628e-01 -4.13360209e-03 1.75319446e+02] [ 6.71664238e-01 7.40846269e-01 -3.73604609e-03 5.79911808e+01] [ 5.57177105e-03 -8.59997621e-06 9.99984478e-01 3.80137690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.070281693 meters 0.014952260726352154 Centerline is valid? [True, True] Translation: X:175.34, Y:58.01, Z:0.38 [[ 7.40635365e-01 -6.71899878e-01 -3.13205239e-03 1.75340878e+02] [ 6.71893911e-01 7.40641988e-01 -2.83159034e-03 5.80077710e+01] [ 4.22227471e-03 -7.23098741e-06 9.99991086e-01 3.83435779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.100281693 meters 0.014698281516081957 Centerline is valid? [True, True] Translation: X:175.36, Y:58.03, Z:0.39 [[ 7.42036340e-01 -6.70354448e-01 -2.64278237e-03 1.75361835e+02] [ 6.70350188e-01 7.42041046e-01 -2.38992927e-03 5.80263046e+01] [ 3.56315271e-03 1.82470740e-06 9.99993652e-01 3.85712377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.130281693 meters 0.014917976472894905 Centerline is valid? [True, True] Translation: X:175.38, Y:58.04, Z:0.38 [[ 7.42758919e-01 -6.69551118e-01 -3.23851055e-03 1.75382455e+02] [ 6.69544708e-01 7.42765979e-01 -2.92983747e-03 5.80446925e+01] [ 4.36713141e-03 7.83531319e-06 9.99990464e-01 3.84802412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.160281693 meters 0.015266836172570174 Centerline is valid? [True, True] Translation: X:175.40, Y:58.06, Z:0.38 [[ 7.43616713e-01 -6.68597604e-01 -3.38057560e-03 1.75403322e+02] [ 6.68590604e-01 7.43624397e-01 -3.05952301e-03 5.80637345e+01] [ 4.55946824e-03 1.48913658e-05 9.99989605e-01 3.83949133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190281693 meters 0.01676047191440785 Centerline is valid? [True, True] Translation: X:175.42, Y:58.08, Z:0.39 [[ 7.45467157e-01 -6.66538271e-01 -2.33465547e-03 1.75421096e+02] [ 6.66534920e-01 7.45470813e-01 -2.11359462e-03 5.80843461e+01] [ 3.14920921e-03 1.94859744e-05 9.99995041e-01 3.86438404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220281693 meters 0.020614988499153886 Centerline is valid? [True, True] Translation: X:175.44, Y:58.11, Z:0.39 [[ 7.47835147e-01 -6.63880825e-01 -2.20059729e-03 1.75436411e+02] [ 6.63877834e-01 7.47838385e-01 -1.99295275e-03 5.81083589e+01] [ 2.96877424e-03 2.94723526e-05 9.99995593e-01 3.87563911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250281693 meters 0.020908602372089646 Centerline is valid? [True, True] Translation: X:175.46, Y:58.13, Z:0.39 [[ 7.48945457e-01 -6.62629345e-01 -1.74733284e-03 1.75456955e+02] [ 6.62627455e-01 7.48947495e-01 -1.58289515e-03 5.81283927e+01] [ 2.35753333e-03 2.76714247e-05 9.99997221e-01 3.88645474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280281693 meters 0.02221858588147405 Centerline is valid? [True, True] Translation: X:175.47, Y:58.15, Z:0.39 [[ 7.50103213e-01 -6.61320470e-01 -6.37191392e-04 1.75474369e+02] [ 6.61320218e-01 7.50103483e-01 -5.77130871e-04 5.81509152e+01] [ 8.59627942e-04 1.15201700e-05 9.99999630e-01 3.90624944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310281693 meters 0.02214621481520357 Centerline is valid? [True, True] Translation: X:175.49, Y:58.17, Z:0.39 [[ 7.50017927e-01 -6.61417280e-01 -5.40476753e-04 1.75494319e+02] [ 6.61417098e-01 7.50018121e-01 -4.89612114e-04 5.81704401e+01] [ 7.29205272e-04 9.73729692e-06 9.99999734e-01 3.90433245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340281693 meters 0.020673330932917976 Centerline is valid? [True, True] Translation: X:175.52, Y:58.19, Z:0.39 [[ 7.48725202e-01 -6.62879109e-01 -1.36357009e-03 1.75516820e+02] [ 6.62877956e-01 7.48726443e-01 -1.23644631e-03 5.81867566e+01] [ 1.84055541e-03 2.18779591e-05 9.99998306e-01 3.88019060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370281693 meters 0.01898425664309437 Centerline is valid? [True, True] Translation: X:175.54, Y:58.20, Z:0.38 [[ 7.47099586e-01 -6.64707127e-01 -2.57769655e-03 1.75540869e+02] [ 6.64703014e-01 7.47104032e-01 -2.33865926e-03 5.82025727e+01] [ 3.48033097e-03 3.38086970e-05 9.99993943e-01 3.84318917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400281693 meters 0.018394882003901318 Centerline is valid? [True, True] Translation: X:175.56, Y:58.22, Z:0.38 [[ 7.46247369e-01 -6.65661132e-01 -3.18143437e-03 1.75561384e+02] [ 6.65654870e-01 7.46254150e-01 -2.88757434e-03 5.82197317e+01] [ 4.29630460e-03 3.71074738e-05 9.99990770e-01 3.82933470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43028169299998 meters 0.018394882003901318 Centerline is valid? [True, True] Translation: X:175.58, Y:58.24, Z:0.38 [[ 7.46126880e-01 -6.65796185e-01 -3.18089862e-03 1.75581599e+02] [ 6.65789922e-01 7.46133660e-01 -2.88816445e-03 5.82383599e+01] [ 4.29630440e-03 3.71268941e-05 9.99990770e-01 3.82988161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46028169299998 meters 0.01801066366682152 Centerline is valid? [True, True] Translation: X:175.60, Y:58.26, Z:0.38 [[ 7.45553239e-01 -6.66438847e-01 -3.10339540e-03 1.75602936e+02] [ 6.66432886e-01 7.45559697e-01 -2.81880753e-03 5.82565080e+01] [ 4.19232937e-03 3.33663286e-05 9.99991212e-01 3.83145264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.490281693 meters 0.016751664743196424 Centerline is valid? [True, True] Translation: X:175.63, Y:58.27, Z:0.39 [[ 7.44173688e-01 -6.67983942e-01 -1.72485531e-03 1.75625380e+02] [ 6.67982104e-01 7.44175687e-01 -1.56703685e-03 5.82740043e+01] [ 2.33035084e-03 1.39751096e-05 9.99997285e-01 3.86840047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.520281693 meters 0.01660266040423956 Centerline is valid? [True, True] Translation: X:175.65, Y:58.29, Z:0.39 [[ 7.43474718e-01 -6.68762270e-01 -1.53921045e-03 1.75645263e+02] [ 6.68760807e-01 7.43476312e-01 -1.39883740e-03 5.82920782e+01] [ 2.07985619e-03 1.06366211e-05 9.99997837e-01 3.87212322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.550281693 meters 0.01567749744479194 Centerline is valid? [True, True] Translation: X:175.67, Y:58.31, Z:0.38 [[ 7.42062090e-01 -6.70323851e-01 -3.12886883e-03 1.75667391e+02] [ 6.70317814e-01 7.42068686e-01 -2.84502624e-03 5.83073339e+01] [ 4.22892453e-03 1.38496062e-05 9.99991058e-01 3.83345235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.580281693 meters 0.015318878111130493 Centerline is valid? [True, True] Translation: X:175.69, Y:58.32, Z:0.38 [[ 7.40955204e-01 -6.71543720e-01 -3.79718703e-03 1.75690798e+02] [ 6.71534837e-01 7.40964933e-01 -3.45396834e-03 5.83235219e+01] [ 5.13307319e-03 9.29244454e-06 9.99986826e-01 3.81858485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.610281693 meters 0.015322938066647855 Centerline is valid? [True, True] Translation: X:175.72, Y:58.34, Z:0.38 [[ 7.37919245e-01 -6.74880248e-01 -3.44076582e-03 1.75717287e+02] [ 6.74872986e-01 7.37927266e-01 -3.13086034e-03 5.83356874e+01] [ 4.65199072e-03 -1.17578065e-05 9.99989179e-01 3.83965511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.640281693 meters 0.01657537347102713 Centerline is valid? [True, True] Translation: X:175.74, Y:58.35, Z:0.39 [[ 7.35361926e-01 -6.77671299e-01 -2.10902641e-03 1.75743677e+02] [ 6.77668581e-01 7.35364950e-01 -1.91957643e-03 5.83491399e+01] [ 2.85174595e-03 -1.76375095e-05 9.99995934e-01 3.87891034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.670281693 meters 0.016890288655891175 Centerline is valid? [True, True] Translation: X:175.76, Y:58.37, Z:0.39 [[ 7.34935686e-01 -6.78133937e-01 -1.97504808e-03 1.75764456e+02] [ 6.78131553e-01 7.34938340e-01 -1.79819891e-03 5.83657697e+01] [ 2.67095827e-03 -1.77818700e-05 9.99996433e-01 3.88335057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.700281693 meters 0.015986829137375647 Centerline is valid? [True, True] Translation: X:175.78, Y:58.39, Z:0.39 [[ 7.36213072e-01 -6.76747528e-01 -1.75966077e-03 1.75782241e+02] [ 6.76745631e-01 7.36215175e-01 -1.60251529e-03 5.83870801e+01] [ 2.37998722e-03 -1.10500311e-05 9.99997168e-01 3.89419061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.730281693 meters 0.01518659858873061 Centerline is valid? [True, True] Translation: X:175.80, Y:58.41, Z:0.39 [[ 7.37439819e-01 -6.75409977e-01 -1.96887055e-03 1.75798750e+02] [ 6.75407595e-01 7.37442448e-01 -1.79376402e-03 5.84094192e+01] [ 2.66345483e-03 -6.99710429e-06 9.99996453e-01 3.89173926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.760281693 meters 0.015333198072485633 Centerline is valid? [True, True] Translation: X:175.81, Y:58.44, Z:0.39 [[ 7.40971814e-01 -6.71531907e-01 -2.38083338e-03 1.75810087e+02] [ 6.71528401e-01 7.40975639e-01 -2.17003421e-03 5.84390615e+01] [ 3.22138675e-03 9.13695395e-06 9.99994811e-01 3.90103342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.790281693 meters 0.01638667623465012 Centerline is valid? [True, True] Translation: X:175.82, Y:58.46, Z:0.39 [[ 7.42585843e-01 -6.69748279e-01 -1.87331520e-03 1.75824592e+02] [ 6.69746101e-01 7.42588205e-01 -1.70798790e-03 5.84633881e+01] [ 2.53502373e-03 1.36820820e-05 9.99996787e-01 3.90763891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.820281693 meters 0.01844355632062675 Centerline is valid? [True, True] Translation: X:175.84, Y:58.49, Z:0.39 [[ 7.44895379e-01 -6.67181024e-01 -5.95298708e-04 1.75836966e+02] [ 6.67180804e-01 7.44895617e-01 -5.42646258e-04 5.84915824e+01] [ 8.05478685e-04 7.04281992e-06 9.99999676e-01 3.92266035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.850281693 meters 0.018538795728889706 Centerline is valid? [True, True] Translation: X:175.85, Y:58.51, Z:0.39 [[ 7.44722077e-01 -6.67374535e-01 -5.08319634e-04 1.75854682e+02] [ 6.67374374e-01 7.44722250e-01 -4.63524202e-04 5.85121749e+01] [ 6.87901190e-04 5.95720859e-06 9.99999763e-01 3.91955569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.880281693 meters 0.01617220742127534 Centerline is valid? [True, True] Translation: X:175.88, Y:58.53, Z:0.39 [[ 7.41728134e-01 -6.70697089e-01 -2.18869742e-03 1.75875735e+02] [ 6.70694115e-01 7.41731363e-01 -1.99756475e-03 5.85298976e+01] [ 2.96318638e-03 1.37034935e-05 9.99995610e-01 3.87607472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.910281693 meters 0.015329698431021534 Centerline is valid? [True, True] Translation: X:175.90, Y:58.55, Z:0.39 [[ 7.39495334e-01 -6.73154551e-01 -3.09860388e-03 1.75897034e+02] [ 6.73148606e-01 7.39501826e-01 -2.82902983e-03 5.85467087e+01] [ 4.19579753e-03 6.23347668e-06 9.99991198e-01 3.85048077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940281693 meters 0.016276627414286864 Centerline is valid? [True, True] Translation: X:175.92, Y:58.56, Z:0.39 [[ 7.34906712e-01 -6.78161788e-01 -2.95198785e-03 1.75920578e+02] [ 6.78156428e-01 7.34912641e-01 -2.69616937e-03 5.85618662e+01] [ 3.99789223e-03 -2.04765735e-05 9.99992008e-01 3.86349466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970281693 meters 0.01775020967949024 Centerline is valid? [True, True] Translation: X:175.94, Y:58.58, Z:0.39 [[ 7.32709232e-01 -6.80537770e-01 -2.35046537e-03 1.75942802e+02] [ 6.80534382e-01 7.32713002e-01 -2.14746816e-03 5.85791865e+01] [ 3.18364973e-03 -2.61027476e-05 9.99994932e-01 3.87566439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000281693 meters 0.02435586757251092 Centerline is valid? [True, True] Translation: X:175.97, Y:58.59, Z:0.39 [[ 7.28381827e-01 -6.85166114e-01 -2.70391684e-03 1.75968818e+02] [ 6.85161659e-01 7.28386843e-01 -2.47137016e-03 5.85910058e+01] [ 3.66279654e-03 -5.25190385e-05 9.99993291e-01 3.86263971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030281693 meters 0.026583008952135743 Centerline is valid? [True, True] Translation: X:175.99, Y:58.61, Z:0.39 [[ 7.26244481e-01 -6.87431065e-01 -2.73588790e-03 1.75991289e+02] [ 6.87426517e-01 7.26249631e-01 -2.50148718e-03 5.86080587e+01] [ 3.70653757e-03 -6.40306333e-05 9.99993129e-01 3.86209438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060281693 meters 0.03039426811172817 Centerline is valid? [True, True] Translation: X:176.02, Y:58.62, Z:0.39 [[ 7.22803734e-01 -6.91050415e-01 -2.02141291e-03 1.76016460e+02] [ 6.91047945e-01 7.22806558e-01 -1.84873111e-03 5.86223116e+01] [ 2.73865691e-03 -6.06234867e-05 9.99996248e-01 3.88031364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090281693 meters 0.031793542521825834 Centerline is valid? [True, True] Translation: X:176.04, Y:58.64, Z:0.39 [[ 7.21440826e-01 -6.92473209e-01 -1.99761528e-03 1.76039341e+02] [ 6.92470800e-01 7.21443588e-01 -1.82759492e-03 5.86391082e+01] [ 2.70672726e-03 -6.47886676e-05 9.99996335e-01 3.88453798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120281693 meters 0.03439276100171062 Centerline is valid? [True, True] Translation: X:176.06, Y:58.65, Z:0.39 [[ 7.20025284e-01 -6.93942529e-01 -2.71245022e-03 1.76063618e+02] [ 6.93938094e-01 7.20030387e-01 -2.48262845e-03 5.86531061e+01] [ 3.67584805e-03 -9.47172852e-05 9.99993240e-01 3.86045362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150281693 meters 0.034231240546088254 Centerline is valid? [True, True] Translation: X:176.08, Y:58.67, Z:0.38 [[ 7.19639464e-01 -6.94340178e-01 -3.28006266e-03 1.76084367e+02] [ 6.94333692e-01 7.19646930e-01 -3.00334187e-03 5.86721699e+01] [ 4.44582795e-03 -1.16134689e-04 9.99990111e-01 3.84865229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18028169299998 meters 0.034021703320239585 Centerline is valid? [True, True] Translation: X:176.10, Y:58.69, Z:0.38 [[ 7.20247202e-01 -6.93706895e-01 -3.83573017e-03 1.76103662e+02] [ 6.93698009e-01 7.20257404e-01 -3.51345838e-03 5.86911095e+01] [ 5.20002336e-03 -1.30279819e-04 9.99986471e-01 3.83861946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21028169299998 meters 0.03157748020773654 Centerline is valid? [True, True] Translation: X:176.12, Y:58.71, Z:0.38 [[ 7.21322396e-01 -6.92587390e-01 -4.08757975e-03 1.76123241e+02] [ 6.92577274e-01 7.21333966e-01 -3.74542840e-03 5.87121647e+01] [ 5.54254659e-03 -1.29303456e-04 9.99984632e-01 3.83751028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.240281693 meters 0.031562089651640264 Centerline is valid? [True, True] Translation: X:176.14, Y:58.73, Z:0.38 [[ 7.21284386e-01 -6.92631004e-01 -3.33581043e-03 1.76144969e+02] [ 6.92624263e-01 7.21292092e-01 -3.05752841e-03 5.87303088e+01] [ 4.52383266e-03 -1.05115740e-04 9.99989762e-01 3.84985675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.270281693 meters 0.035078180428844474 Centerline is valid? [True, True] Translation: X:176.17, Y:58.74, Z:0.39 [[ 7.19481952e-01 -6.94510013e-01 -1.24996270e-03 1.76171164e+02] [ 6.94509069e-01 7.19483037e-01 -1.14578745e-03 5.87421555e+01] [ 1.69508781e-03 -4.37370397e-05 9.99998562e-01 3.90037059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.300281693 meters 0.036638562293191436 Centerline is valid? [True, True] Translation: X:176.19, Y:58.76, Z:0.39 [[ 7.17978685e-01 -6.96064937e-01 -4.59904761e-04 1.76194827e+02] [ 6.96064810e-01 7.17978832e-01 -4.21550370e-04 5.87575335e+01] [ 6.23628314e-04 -1.74593396e-05 9.99999805e-01 3.91960369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.330281693 meters 0.03915999383704607 Centerline is valid? [True, True] Translation: X:176.22, Y:58.77, Z:0.39 [[ 7.16236637e-01 -6.97857452e-01 -2.36349974e-04 1.76219208e+02] [ 6.97857419e-01 7.16236676e-01 -2.16385975e-04 5.87720769e+01] [ 3.20289084e-04 -9.95501986e-06 9.99999949e-01 3.92433185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.360281693 meters 0.043242520865917476 Centerline is valid? [True, True] Translation: X:176.25, Y:58.78, Z:0.39 [[ 7.13741120e-01 -7.00409295e-01 -6.57948714e-04 1.76245822e+02] [ 7.00409036e-01 7.13741422e-01 -6.03434804e-04 5.87832533e+01] [ 8.92256597e-04 -3.01369922e-05 9.99999601e-01 3.91426173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.390281693 meters 0.04382025046289305 Centerline is valid? [True, True] Translation: X:176.27, Y:58.80, Z:0.39 [[ 7.13126125e-01 -7.01035246e-01 -8.44765580e-04 1.76268883e+02] [ 7.01034818e-01 7.13126624e-01 -7.75237040e-04 5.88001517e+01] [ 1.14589332e-03 -3.93682984e-05 9.99999343e-01 3.91527698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.420281693 meters 0.04450361875077859 Centerline is valid? [True, True] Translation: X:176.29, Y:58.81, Z:0.39 [[ 7.13198529e-01 -7.00960204e-01 -1.62805935e-03 1.76292816e+02] [ 7.00958613e-01 7.13200384e-01 -1.49504695e-03 5.88135116e+01] [ 2.20910097e-03 -7.49369414e-05 9.99997557e-01 3.89189135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.450281693 meters 0.043825998501972 Centerline is valid? [True, True] Translation: X:176.32, Y:58.83, Z:0.39 [[ 7.13733272e-01 -7.00416974e-01 -9.38030382e-04 1.76316404e+02] [ 7.00416445e-01 7.13733887e-01 -8.61576314e-04 5.88277179e+01] [ 1.27296675e-03 -4.20762241e-05 9.99999189e-01 3.90247759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.480281693 meters 0.04400277682222542 Centerline is valid? [True, True] Translation: X:176.34, Y:58.84, Z:0.39 [[ 7.13783674e-01 -7.00365736e-01 -8.38119238e-04 1.76338630e+02] [ 7.00365314e-01 7.13784165e-01 -7.69880922e-04 5.88424149e+01] [ 1.13743446e-03 -3.74612106e-05 9.99999352e-01 3.90221509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.510281693 meters 0.043496066439780254 Centerline is valid? [True, True] Translation: X:176.36, Y:58.86, Z:0.39 [[ 7.13925500e-01 -7.00220640e-01 -1.19851870e-03 1.76361074e+02] [ 7.00219775e-01 7.13926504e-01 -1.10164100e-03 5.88580208e+01] [ 1.62704603e-03 -5.27368952e-05 9.99998675e-01 3.89207414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.540281693 meters 0.03790342552377303 Centerline is valid? [True, True] Translation: X:176.38, Y:58.88, Z:0.39 [[ 7.15447760e-01 -6.98663677e-01 -1.88930934e-03 1.76381123e+02] [ 6.98661520e-01 7.15450250e-01 -1.73757478e-03 5.88768929e+01] [ 2.56568722e-03 -7.68437527e-05 9.99996706e-01 3.88267463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.570281693 meters 0.03430715488510228 Centerline is valid? [True, True] Translation: X:176.40, Y:58.90, Z:0.39 [[ 7.19768995e-01 -6.94210160e-01 -2.20191122e-03 1.76399896e+02] [ 6.94207207e-01 7.19772359e-01 -2.02593673e-03 5.88958513e+01] [ 2.99130070e-03 -7.03761959e-05 9.99995524e-01 3.87289628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.600281693 meters 0.03033120986931017 Centerline is valid? [True, True] Translation: X:176.42, Y:58.92, Z:0.39 [[ 7.22164099e-01 -6.91715633e-01 -2.91485953e-03 1.76416875e+02] [ 6.91710434e-01 7.22169977e-01 -2.68313025e-03 5.89177318e+01] [ 3.96098718e-03 -7.85784129e-05 9.99992152e-01 3.85201770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.630281693 meters 0.0221092206420041 Centerline is valid? [True, True] Translation: X:176.43, Y:58.94, Z:0.38 [[ 7.26826206e-01 -6.86807463e-01 -4.37901032e-03 1.76429612e+02] [ 6.86795628e-01 7.26839393e-01 -4.03267089e-03 5.89446001e+01] [ 5.95250566e-03 -7.64342639e-05 9.99982281e-01 3.82034868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.660281693 meters 0.019808956947158313 Centerline is valid? [True, True] Translation: X:176.45, Y:58.97, Z:0.38 [[ 7.28723475e-01 -6.84794413e-01 -4.32532176e-03 1.76447671e+02] [ 6.84782823e-01 7.28736309e-01 -3.98467369e-03 5.89651878e+01] [ 5.88070130e-03 -5.81807877e-05 9.99982707e-01 3.81815328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690281693 meters 0.01802305825359484 Centerline is valid? [True, True] Translation: X:176.47, Y:58.99, Z:0.38 [[ 7.30266649e-01 -6.83152617e-01 -3.62276279e-03 1.76466784e+02] [ 6.83144460e-01 7.30275634e-01 -3.33856667e-03 5.89862164e+01] [ 4.92636595e-03 -3.68264399e-05 9.99987865e-01 3.83871680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720281693 meters 0.016697592527950698 Centerline is valid? [True, True] Translation: X:176.49, Y:59.01, Z:0.39 [[ 7.31789300e-01 -6.81525399e-01 -2.74795812e-03 1.76485590e+02] [ 6.81520692e-01 7.31794459e-01 -2.53319247e-03 5.90051479e+01] [ 3.73737553e-03 -1.90271727e-05 9.99993016e-01 3.86404182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750281693 meters 0.017813247800865493 Centerline is valid? [True, True] Translation: X:176.51, Y:59.02, Z:0.38 [[ 7.30858495e-01 -6.82521417e-01 -3.22113115e-03 1.76508041e+02] [ 6.82514953e-01 7.30865593e-01 -2.97046636e-03 5.90190050e+01] [ 4.38162084e-03 -2.74796023e-05 9.99990400e-01 3.83793607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780281693 meters 0.01756457017550099 Centerline is valid? [True, True] Translation: X:176.53, Y:59.04, Z:0.38 [[ 7.30604263e-01 -6.82790066e-01 -3.89061768e-03 1.76528869e+02] [ 6.82780633e-01 7.30614621e-01 -3.58926035e-03 5.90370098e+01] [ 5.29325347e-03 -3.41094882e-05 9.99985990e-01 3.82154150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810281693 meters 0.01768322501252509 Centerline is valid? [True, True] Translation: X:176.55, Y:59.05, Z:0.38 [[ 7.30545498e-01 -6.82847127e-01 -4.80389707e-03 1.76549444e+02] [ 6.82832733e-01 7.30561291e-01 -4.43377251e-03 5.90536582e+01] [ 6.53713006e-03 -4.11856167e-05 9.99978632e-01 3.79832992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840281693 meters 0.0175823145392293 Centerline is valid? [True, True] Translation: X:176.57, Y:59.07, Z:0.38 [[ 7.30314050e-01 -6.83096297e-01 -4.56481606e-03 1.76568979e+02] [ 6.83083295e-01 7.30328315e-01 -4.21482266e-03 5.90730541e+01] [ 6.21294417e-03 -4.00053867e-05 9.99980699e-01 3.81087627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870281693 meters 0.017427415130068534 Centerline is valid? [True, True] Translation: X:176.59, Y:59.09, Z:0.38 [[ 7.30282312e-01 -6.83135430e-01 -3.70517807e-03 1.76588073e+02] [ 6.83126859e-01 7.30291711e-01 -3.42219622e-03 5.90916056e+01] [ 5.04368432e-03 -3.19372944e-05 9.99987280e-01 3.83244947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900281693 meters 0.01737607523629949 Centerline is valid? [True, True] Translation: X:176.61, Y:59.11, Z:0.38 [[ 7.29960486e-01 -6.83480415e-01 -3.49433914e-03 1.76609619e+02] [ 6.83472791e-01 7.29968849e-01 -3.22854609e-03 5.91093908e+01] [ 4.75740674e-03 -3.15746507e-05 9.99988683e-01 3.83778106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93028169299998 meters 0.01849258466910518 Centerline is valid? [True, True] Translation: X:176.63, Y:59.12, Z:0.39 [[ 7.28751648e-01 -6.84772696e-01 -2.71849322e-03 1.76633019e+02] [ 6.84768087e-01 7.28756718e-01 -2.51254399e-03 5.91231823e+01] [ 3.70164171e-03 -3.05168302e-05 9.99993148e-01 3.86462384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96028169299998 meters 0.018948948968957238 Centerline is valid? [True, True] Translation: X:176.65, Y:59.14, Z:0.39 [[ 7.28261007e-01 -6.85296159e-01 -2.25403056e-03 1.76652342e+02] [ 6.85292991e-01 7.28264494e-01 -2.08400914e-03 5.91402429e+01] [ 3.06969388e-03 -2.69687465e-05 9.99995288e-01 3.87949669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.990281693 meters 0.017798508614244455 Centerline is valid? [True, True] Translation: X:176.67, Y:59.16, Z:0.39 [[ 7.28581505e-01 -6.84955556e-01 -2.20836393e-03 1.76669038e+02] [ 6.84952511e-01 7.28584851e-01 -2.04260596e-03 5.91627680e+01] [ 3.00807481e-03 -2.44194975e-05 9.99995475e-01 3.88424449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.020281693 meters 0.01728359916773019 Centerline is valid? [True, True] Translation: X:176.69, Y:59.18, Z:0.39 [[ 7.29158929e-01 -6.84341195e-01 -2.09385589e-03 1.76687384e+02] [ 6.84338453e-01 7.29161935e-01 -1.93740379e-03 5.91826034e+01] [ 2.85260524e-03 -2.02308343e-05 9.99995931e-01 3.88730341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.050281693 meters 0.01613438252222189 Centerline is valid? [True, True] Translation: X:176.70, Y:59.21, Z:0.39 [[ 7.31075702e-01 -6.82291763e-01 -2.50359451e-03 1.76703809e+02] [ 6.82287827e-01 7.31079989e-01 -2.31751940e-03 5.92052848e+01] [ 3.41155224e-03 -1.38899355e-05 9.99994181e-01 3.87770638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.080281693 meters 0.015616386835192262 Centerline is valid? [True, True] Translation: X:176.72, Y:59.23, Z:0.39 [[ 7.31803031e-01 -6.81509394e-01 -3.04461526e-03 1.76721349e+02] [ 6.81503561e-01 7.31809365e-01 -2.81948579e-03 5.92280139e+01] [ 4.14958401e-03 -1.16078997e-05 9.99991390e-01 3.86993329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.110281693 meters 0.015567379585174419 Centerline is valid? [True, True] Translation: X:176.74, Y:59.25, Z:0.38 [[ 7.32445850e-01 -6.80815277e-01 -3.69276015e-03 1.76737572e+02] [ 6.80806681e-01 7.32455158e-01 -3.42107953e-03 5.92524057e+01] [ 5.03390443e-03 -8.30027623e-06 9.99987330e-01 3.84950803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.140281693 meters 0.015618424802219992 Centerline is valid? [True, True] Translation: X:176.76, Y:59.27, Z:0.38 [[ 7.32499152e-01 -6.80757077e-01 -3.84623402e-03 1.76755487e+02] [ 6.80747744e-01 7.32509250e-01 -3.56465449e-03 5.92722542e+01] [ 5.24406577e-03 -7.20873856e-06 9.99986250e-01 3.84660582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.170281693 meters 0.015775331585659188 Centerline is valid? [True, True] Translation: X:176.78, Y:59.29, Z:0.39 [[ 7.31039190e-01 -6.82324003e-01 -3.95700856e-03 1.76775825e+02] [ 6.82314140e-01 7.31049899e-01 -3.66876477e-03 5.92917006e+01] [ 5.39605697e-03 -1.79120751e-05 9.99985441e-01 3.85459339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.200281693 meters 0.016868536316227197 Centerline is valid? [True, True] Translation: X:176.80, Y:59.31, Z:0.38 [[ 7.29407719e-01 -6.84066692e-01 -4.14011258e-03 1.76797973e+02] [ 6.84055914e-01 7.29419468e-01 -3.84009967e-03 5.93081027e+01] [ 5.64676299e-03 -3.10701585e-05 9.99984056e-01 3.84388880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.230281693 meters 0.020217419960114846 Centerline is valid? [True, True] Translation: X:176.82, Y:59.32, Z:0.39 [[ 7.25815601e-01 -6.87881828e-01 -3.21002388e-03 1.76823284e+02] [ 6.87875381e-01 7.25822698e-01 -2.97846455e-03 5.93208917e+01] [ 4.37873983e-03 -4.62803605e-05 9.99990412e-01 3.86595715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.260281693 meters 0.021672019004632018 Centerline is valid? [True, True] Translation: X:176.85, Y:59.34, Z:0.39 [[ 7.23599153e-01 -6.90215971e-01 -2.48563388e-03 1.76846282e+02] [ 6.90212117e-01 7.23603421e-01 -2.30706957e-03 5.93376961e+01] [ 3.39098944e-03 -4.62210329e-05 9.99994250e-01 3.87886176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.290281693 meters 0.029089909948713463 Centerline is valid? [True, True] Translation: X:176.88, Y:59.35, Z:0.39 [[ 7.19402566e-01 -6.94586160e-01 -3.16459171e-03 1.76875959e+02] [ 6.94579950e-01 7.19409521e-01 -2.93828284e-03 5.93453783e+01] [ 4.31752800e-03 -8.42537372e-05 9.99990676e-01 3.86123095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.320281693 meters 0.029015561871555268 Centerline is valid? [True, True] Translation: X:176.90, Y:59.36, Z:0.38 [[ 7.17355620e-01 -6.96693274e-01 -4.40412990e-03 1.76898521e+02] [ 6.96681277e-01 7.17369127e-01 -4.09064869e-03 5.93632519e+01] [ 6.00931425e-03 -1.33825017e-04 9.99981935e-01 3.83608922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.350281693 meters 0.029015561871555268 Centerline is valid? [True, True] Translation: X:176.92, Y:59.38, Z:0.38 [[ 7.17223723e-01 -6.96829062e-01 -4.40337238e-03 1.76918547e+02] [ 6.96817063e-01 7.17237228e-01 -4.09146406e-03 5.93821127e+01] [ 6.00931366e-03 -1.33849917e-04 9.99981935e-01 3.83663627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.380281693 meters 0.034082107099018086 Centerline is valid? [True, True] Translation: X:176.95, Y:59.39, Z:0.38 [[ 7.14033734e-01 -7.00084985e-01 -6.06959609e-03 1.76949102e+02] [ 7.00062285e-01 7.14059497e-01 -5.64202700e-03 5.93891735e+01] [ 8.28395112e-03 -2.20497699e-04 9.99965663e-01 3.78652332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.410281693 meters 0.038766545131214886 Centerline is valid? [True, True] Translation: X:176.98, Y:59.40, Z:0.38 [[ 7.12965098e-01 -7.01179702e-01 -5.27201885e-03 1.76976974e+02] [ 7.01162592e-01 7.12984561e-01 -4.90250591e-03 5.93989172e+01] [ 7.19640568e-03 -2.01226793e-04 9.99974085e-01 3.80453532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440281693 meters 0.03728528631519931 Centerline is valid? [True, True] Translation: X:177.00, Y:59.41, Z:0.39 [[ 7.12765855e-01 -7.01395812e-01 -2.95825810e-03 1.77003304e+02] [ 7.01390423e-01 7.12771985e-01 -2.75178692e-03 5.94110710e+01] [ 4.03865532e-03 -1.13514148e-04 9.99991838e-01 3.88111685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470281693 meters 0.03414290644293134 Centerline is valid? [True, True] Translation: X:177.02, Y:59.43, Z:0.39 [[ 7.13430502e-01 -7.00720981e-01 -2.65040590e-03 1.77024553e+02] [ 7.00716648e-01 7.13435419e-01 -2.46633029e-03 5.94292397e+01] [ 3.61910282e-03 -9.76282798e-05 9.99993446e-01 3.88839008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500281693 meters 0.030676206981191265 Centerline is valid? [True, True] Translation: X:177.05, Y:59.44, Z:0.39 [[ 7.16945098e-01 -6.97119691e-01 -3.72334315e-03 1.77048986e+02] [ 6.97111082e-01 7.16954758e-01 -3.46629750e-03 5.94418269e+01] [ 5.08589283e-03 -1.10438772e-04 9.99987061e-01 3.85137203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530281693 meters 0.027168275959581756 Centerline is valid? [True, True] Translation: X:177.07, Y:59.46, Z:0.38 [[ 7.19344873e-01 -6.94642317e-01 -3.87376302e-03 1.77068763e+02] [ 6.94632955e-01 7.19355296e-01 -3.60762482e-03 5.94598174e+01] [ 5.29262081e-03 -9.57170353e-05 9.99985989e-01 3.84757080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560281693 meters 0.018498094407582405 Centerline is valid? [True, True] Translation: X:177.09, Y:59.48, Z:0.39 [[ 7.25427444e-01 -6.88290978e-01 -3.24861311e-03 1.77085252e+02] [ 6.88284325e-01 7.25434717e-01 -3.02648676e-03 5.94817103e+01] [ 4.43976026e-03 -4.04729252e-05 9.99990143e-01 3.88575566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590281693 meters 0.015571455505785543 Centerline is valid? [True, True] Translation: X:177.10, Y:59.50, Z:0.39 [[ 7.28993719e-01 -6.84515628e-01 -2.55210823e-03 1.77102258e+02] [ 6.84511496e-01 7.28998186e-01 -2.37841234e-03 5.95032262e+01] [ 3.48854269e-03 -1.30997660e-05 9.99993915e-01 3.90529543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620281693 meters 0.017728126394361186 Centerline is valid? [True, True] Translation: X:177.11, Y:59.53, Z:0.39 [[ 7.36891116e-01 -6.76007992e-01 -2.16294447e-03 1.77113814e+02] [ 6.76004985e-01 7.36894290e-01 -2.01638595e-03 5.95316088e+01] [ 2.95695445e-03 2.36956509e-05 9.99995628e-01 3.92767092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650281693 meters 0.02443641967739411 Centerline is valid? [True, True] Translation: X:177.13, Y:59.56, Z:0.39 [[ 7.41006140e-01 -6.71495886e-01 -1.78221204e-03 1.77126252e+02] [ 6.71493830e-01 7.41008282e-01 -1.66193875e-03 5.95579118e+01] [ 2.43661892e-03 3.47624297e-05 9.99997031e-01 3.92875130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68028169299998 meters 0.03489794922923893 Centerline is valid? [True, True] Translation: X:177.14, Y:59.59, Z:0.39 [[ 7.48679272e-01 -6.62928012e-01 -2.40822447e-03 1.77136503e+02] [ 6.62924211e-01 7.48683140e-01 -2.24650086e-03 5.95879255e+01] [ 3.29226540e-03 8.54383211e-05 9.99994577e-01 3.91511357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71028169299998 meters 0.03820757345907513 Centerline is valid? [True, True] Translation: X:177.15, Y:59.61, Z:0.39 [[ 7.51817671e-01 -6.59362862e-01 -3.28705174e-03 1.77153245e+02] [ 6.59355741e-01 7.51824844e-01 -3.06756674e-03 5.96115571e+01] [ 4.49392675e-03 1.38914451e-04 9.99989893e-01 3.89973182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.740281693 meters 0.0425733391275829 Centerline is valid? [True, True] Translation: X:177.17, Y:59.64, Z:0.39 [[ 7.54571824e-01 -6.56203766e-01 -4.24020921e-03 1.77168163e+02] [ 6.56191857e-01 7.54583710e-01 -3.95863460e-03 5.96366924e+01] [ 5.79726373e-03 2.04683374e-04 9.99983175e-01 3.88484778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.770281693 meters 0.05086383632763434 Centerline is valid? [True, True] Translation: X:177.18, Y:59.67, Z:0.39 [[ 7.59120202e-01 -6.50931513e-01 -4.96833977e-03 1.77176507e+02] [ 6.50915040e-01 7.59136406e-01 -4.63975603e-03 5.96678135e+01] [ 6.79181101e-03 2.88165460e-04 9.99976894e-01 3.86443738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.800281693 meters 0.05349326309263504 Centerline is valid? [True, True] Translation: X:177.19, Y:59.69, Z:0.39 [[ 7.60386378e-01 -6.49453992e-01 -4.69764397e-03 1.77192558e+02] [ 6.49439230e-01 7.60400835e-01 -4.38821947e-03 5.96926779e+01] [ 6.42203905e-03 2.85908021e-04 9.99979338e-01 3.86844231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.830281693 meters 0.056044868965935406 Centerline is valid? [True, True] Translation: X:177.20, Y:59.72, Z:0.39 [[ 7.61718476e-01 -6.47899770e-01 -3.29402974e-03 1.77204101e+02] [ 6.47892495e-01 7.61725570e-01 -3.07759046e-03 5.97203400e+01] [ 4.50311683e-03 2.10080369e-04 9.99989839e-01 3.90355113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.860281693 meters 0.055447605717326355 Centerline is valid? [True, True] Translation: X:177.22, Y:59.74, Z:0.39 [[ 7.62074348e-01 -6.47484838e-01 -2.46440271e-03 1.77222175e+02] [ 6.47480762e-01 7.62078316e-01 -2.30291077e-03 5.97434228e+01] [ 3.36916767e-03 1.59335880e-04 9.99994312e-01 3.93258454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.890281693 meters 0.05189010593482975 Centerline is valid? [True, True] Translation: X:177.24, Y:59.77, Z:0.40 [[ 7.61594616e-01 -6.48053386e-01 -6.70769969e-04 1.77239220e+02] [ 6.48053085e-01 7.61594910e-01 -6.26685137e-04 5.97666815e+01] [ 9.16980419e-04 4.25854784e-05 9.99999579e-01 3.97323831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.920281693 meters 0.05301063580683567 Centerline is valid? [True, True] Translation: X:177.26, Y:59.79, Z:0.40 [[ 7.60868605e-01 -6.48905863e-01 -3.83564092e-04 1.77255779e+02] [ 6.48905765e-01 7.60868701e-01 -3.58499779e-04 5.97896182e+01] [ 5.24474521e-04 2.38742763e-05 9.99999862e-01 3.97543614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.950281693 meters 0.05245595035770864 Centerline is valid? [True, True] Translation: X:177.27, Y:59.81, Z:0.39 [[ 7.58543393e-01 -6.51620540e-01 -1.61006557e-03 1.77270573e+02] [ 6.51618808e-01 7.58545096e-01 -1.50557209e-03 5.98137946e+01] [ 2.20236904e-03 9.28927514e-05 9.99997570e-01 3.93596336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.980281693 meters 0.0469550520824938 Centerline is valid? [True, True] Translation: X:177.29, Y:59.83, Z:0.39 [[ 7.56824158e-01 -6.53613471e-01 -2.57395834e-03 1.77293839e+02] [ 6.53609050e-01 7.56828522e-01 -2.40801457e-03 5.98307862e+01] [ 3.52195585e-03 1.40081134e-04 9.99993788e-01 3.91530411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.010281693 meters 0.04461636473420365 Centerline is valid? [True, True] Translation: X:177.31, Y:59.85, Z:0.39 [[ 7.53131704e-01 -6.57858018e-01 -3.93259678e-03 1.77311766e+02] [ 6.57847749e-01 7.53141948e-01 -3.68042154e-03 5.98519411e+01] [ 5.38299842e-03 1.84792213e-04 9.99985494e-01 3.89219237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.040281693 meters 0.0388141124585342 Centerline is valid? [True, True] Translation: X:177.34, Y:59.87, Z:0.39 [[ 7.51323112e-01 -6.59920256e-01 -4.34017252e-03 1.77335922e+02] [ 6.59907776e-01 7.51335624e-01 -4.06287801e-03 5.98676421e+01] [ 5.94210172e-03 1.88420553e-04 9.99982328e-01 3.90237805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.070281693 meters 0.03676915018069452 Centerline is valid? [True, True] Translation: X:177.35, Y:59.89, Z:0.39 [[ 7.48927897e-01 -6.62643380e-01 -3.27974213e-03 1.77352992e+02] [ 6.62636276e-01 7.48935067e-01 -3.07087727e-03 5.98887143e+01] [ 4.49121039e-03 1.26589546e-04 9.99989906e-01 3.92112669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.100281693 meters 0.035451941313380406 Centerline is valid? [True, True] Translation: X:177.37, Y:59.91, Z:0.39 [[ 7.48356587e-01 -6.63291982e-01 -2.48296643e-03 1.77372324e+02] [ 6.63287912e-01 7.48360700e-01 -2.32544326e-03 5.99097144e+01] [ 3.40060236e-03 9.33391606e-05 9.99994214e-01 3.93701498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.130281693 meters 0.03537646810511609 Centerline is valid? [True, True] Translation: X:177.39, Y:59.93, Z:0.39 [[ 7.48212965e-01 -6.63454720e-01 -2.27889371e-03 1.77388572e+02] [ 6.63451291e-01 7.48216430e-01 -2.13502539e-03 5.99331583e+01] [ 3.12159840e-03 8.55187039e-05 9.99995124e-01 3.94221195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.160281693 meters 0.035316959688040064 Centerline is valid? [True, True] Translation: X:177.41, Y:59.95, Z:0.39 [[ 7.47693467e-01 -6.64037410e-01 -2.96597740e-03 1.77406542e+02] [ 6.64031600e-01 7.47699342e-01 -2.77990631e-03 5.99535878e+01] [ 4.06362113e-03 1.09015064e-04 9.99991738e-01 3.92763656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190281693 meters 0.033681198358562224 Centerline is valid? [True, True] Translation: X:177.42, Y:59.97, Z:0.39 [[ 7.46269830e-01 -6.65632903e-01 -3.76541499e-03 1.77424739e+02] [ 6.65623554e-01 7.46279319e-01 -3.53029625e-03 5.99738461e+01] [ 5.15993268e-03 1.28204676e-04 9.99986679e-01 3.90868770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220281693 meters 0.03209551641233903 Centerline is valid? [True, True] Translation: X:177.45, Y:59.99, Z:0.39 [[ 7.45305341e-01 -6.66711003e-01 -4.04809304e-03 1.77445993e+02] [ 6.66700206e-01 7.45316323e-01 -3.79647876e-03 5.99923735e+01] [ 5.54826398e-03 1.30671436e-04 9.99984600e-01 3.90568348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250281693 meters 0.02872233346858258 Centerline is valid? [True, True] Translation: X:177.47, Y:60.01, Z:0.39 [[ 7.42811018e-01 -6.69486168e-01 -4.47912538e-03 1.77469897e+02] [ 6.69472994e-01 7.42824512e-01 -4.20179443e-03 6.00065862e+01] [ 6.14024737e-03 1.22485721e-04 9.99981141e-01 3.89861045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280281693 meters 0.027271779998058826 Centerline is valid? [True, True] Translation: X:177.49, Y:60.02, Z:0.39 [[ 7.41491827e-01 -6.70950623e-01 -3.88996136e-03 1.77491600e+02] [ 6.70940703e-01 7.41502024e-01 -3.64983612e-03 6.00233831e+01] [ 5.33327404e-03 9.63902428e-05 9.99985773e-01 3.90929530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310281693 meters 0.02496947749072505 Centerline is valid? [True, True] Translation: X:177.51, Y:60.04, Z:0.39 [[ 7.39996423e-01 -6.72602372e-01 -3.36799305e-03 1.77512938e+02] [ 6.72594948e-01 7.40004084e-01 -3.16095982e-03 6.00416460e+01] [ 4.61839768e-03 7.38038514e-05 9.99989332e-01 3.92585504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340281693 meters 0.02557861336764288 Centerline is valid? [True, True] Translation: X:177.53, Y:60.06, Z:0.39 [[ 7.40228674e-01 -6.72345596e-01 -3.59302985e-03 1.77531590e+02] [ 6.72337139e-01 7.40237389e-01 -3.37337603e-03 6.00626101e+01] [ 4.92776955e-03 8.13422580e-05 9.99987855e-01 3.91731441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370281693 meters 0.029514042659147154 Centerline is valid? [True, True] Translation: X:177.55, Y:60.09, Z:0.39 [[ 7.42317619e-01 -6.70035621e-01 -4.10110727e-03 1.77546111e+02] [ 6.70024558e-01 7.42328940e-01 -3.85182655e-03 6.00872505e+01] [ 5.62523160e-03 1.11436122e-04 9.99984172e-01 3.91554073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400281693 meters 0.03141856581082016 Centerline is valid? [True, True] Translation: X:177.56, Y:60.11, Z:0.39 [[ 7.43323222e-01 -6.68920213e-01 -4.04176974e-03 1.77563566e+02] [ 6.68909445e-01 7.43334201e-01 -3.79737270e-03 6.01096212e+01] [ 5.54452504e-03 1.19097351e-04 9.99984622e-01 3.91657632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43028169299998 meters 0.03508644359403321 Centerline is valid? [True, True] Translation: X:177.58, Y:60.14, Z:0.39 [[ 7.45173895e-01 -6.66854503e-01 -4.57587293e-03 1.77577618e+02] [ 6.66840653e-01 7.45187928e-01 -4.30066239e-03 6.01361904e+01] [ 6.27780135e-03 1.53363251e-04 9.99980283e-01 3.90967016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46028169299998 meters 0.03701959416170307 Centerline is valid? [True, True] Translation: X:177.59, Y:60.16, Z:0.39 [[ 7.45933318e-01 -6.66002766e-01 -4.87866443e-03 1.77593253e+02] [ 6.65986994e-01 7.45949252e-01 -4.58678963e-03 6.01595551e+01] [ 6.69405066e-03 1.72312144e-04 9.99977580e-01 3.90274396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.490281693 meters 0.03896398922931903 Centerline is valid? [True, True] Translation: X:177.61, Y:60.19, Z:0.39 [[ 7.46804286e-01 -6.65027214e-01 -4.70776103e-03 1.77606662e+02] [ 6.65012498e-01 7.46819104e-01 -4.42756566e-03 6.01853637e+01] [ 6.46029753e-03 1.75805084e-04 9.99979117e-01 3.90086368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.520281693 meters 0.035830408253521254 Centerline is valid? [True, True] Translation: X:177.63, Y:60.20, Z:0.39 [[ 7.46533469e-01 -6.65335507e-01 -4.05486146e-03 1.77627647e+02] [ 6.65324588e-01 7.46544466e-01 -3.81480356e-03 6.02041648e+01] [ 5.56525865e-03 1.50079508e-04 9.99984503e-01 3.92458382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.550281693 meters 0.03501537043581157 Centerline is valid? [True, True] Translation: X:177.65, Y:60.23, Z:0.39 [[ 7.44782790e-01 -6.67298653e-01 -3.33227054e-03 1.77645146e+02] [ 6.67291293e-01 7.44790236e-01 -3.13603584e-03 6.02256957e+01] [ 4.57451505e-03 1.12070404e-04 9.99989531e-01 3.93946840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.580281693 meters 0.03444822970845873 Centerline is valid? [True, True] Translation: X:177.66, Y:60.25, Z:0.39 [[ 7.43467224e-01 -6.68762655e-01 -3.60523227e-03 1.77664631e+02] [ 6.68754052e-01 7.43475957e-01 -3.39413164e-03 6.02456660e+01] [ 4.95027200e-03 1.12411936e-04 9.99987741e-01 3.93650243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.610281693 meters 0.032076535431507514 Centerline is valid? [True, True] Translation: X:177.69, Y:60.26, Z:0.39 [[ 7.42170100e-01 -6.70200455e-01 -3.85926667e-03 1.77686662e+02] [ 6.70190609e-01 7.42180125e-01 -3.63452057e-03 6.02638734e+01] [ 5.30012836e-03 1.10988218e-04 9.99985948e-01 3.94050730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.640281693 meters 0.025109509393107556 Centerline is valid? [True, True] Translation: X:177.71, Y:60.28, Z:0.40 [[ 7.39885843e-01 -6.72723413e-01 -3.48546490e-03 1.77712151e+02] [ 6.72715405e-01 7.39894048e-01 -3.28356748e-03 6.02781947e+01] [ 4.78780746e-03 8.47391569e-05 9.99988535e-01 3.96092062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.670281693 meters 0.02499873138957749 Centerline is valid? [True, True] Translation: X:177.73, Y:60.30, Z:0.40 [[ 7.38415865e-01 -6.74338812e-01 -3.02924949e-03 1.77728879e+02] [ 6.74332773e-01 7.38422076e-01 -2.85455018e-03 6.02997135e+01] [ 4.16179868e-03 6.51229333e-05 9.99991338e-01 3.96497257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.700281693 meters 0.02217263414383831 Centerline is valid? [True, True] Translation: X:177.75, Y:60.32, Z:0.40 [[ 7.37615979e-01 -6.75212953e-01 -3.18375412e-03 1.77750556e+02] [ 6.75206286e-01 7.37622847e-01 -3.00109133e-03 6.03171307e+01] [ 4.37478552e-03 6.39621269e-05 9.99990429e-01 3.96268350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.730281693 meters 0.022751224398007967 Centerline is valid? [True, True] Translation: X:177.77, Y:60.34, Z:0.39 [[ 7.36927860e-01 -6.75960760e-01 -3.79216589e-03 1.77768372e+02] [ 6.75951305e-01 7.36937613e-01 -3.57589089e-03 6.03374221e+01] [ 5.21175160e-03 7.18541411e-05 9.99986416e-01 3.93943994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.760281693 meters 0.022323834737897858 Centerline is valid? [True, True] Translation: X:177.79, Y:60.36, Z:0.39 [[ 7.36218746e-01 -6.76725633e-01 -4.93724693e-03 1.77788527e+02] [ 6.76709613e-01 7.36235296e-01 -4.65709352e-03 6.03554058e+01] [ 6.78655001e-03 8.75570857e-05 9.99976967e-01 3.90285792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.790281693 meters 0.02036259218994571 Centerline is valid? [True, True] Translation: X:177.81, Y:60.37, Z:0.39 [[ 7.34828656e-01 -6.78234209e-01 -5.02025883e-03 1.77809821e+02] [ 6.78217671e-01 7.34845801e-01 -4.73699180e-03 6.03732633e+01] [ 6.90190601e-03 7.60490694e-05 9.99976179e-01 3.91983387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.820281693 meters 0.019030744798961535 Centerline is valid? [True, True] Translation: X:177.83, Y:60.39, Z:0.39 [[ 7.33799519e-01 -6.79350215e-01 -4.64231367e-03 1.77830880e+02] [ 6.79336085e-01 7.33814201e-01 -4.38195420e-03 6.03916773e+01] [ 6.38347722e-03 6.17846913e-05 9.99979624e-01 3.93378402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.850281693 meters 0.017822844979143534 Centerline is valid? [True, True] Translation: X:177.85, Y:60.41, Z:0.39 [[ 7.32675049e-01 -6.80566709e-01 -4.02823366e-03 1.77852781e+02] [ 6.80556082e-01 7.32686121e-01 -3.80366747e-03 6.04093478e+01] [ 5.54008035e-03 4.54133343e-05 9.99984653e-01 3.94697426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.880281693 meters 0.016621350189142577 Centerline is valid? [True, True] Translation: X:177.88, Y:60.42, Z:0.39 [[ 7.30417669e-01 -6.82993423e-01 -3.16437756e-03 1.77876010e+02] [ 6.82986884e-01 7.30424523e-01 -2.98881609e-03 6.04234858e+01] [ 4.35268070e-03 2.18557088e-05 9.99990527e-01 3.94941713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.910281693 meters 0.015387750260232735 Centerline is valid? [True, True] Translation: X:177.90, Y:60.44, Z:0.40 [[ 7.29102771e-01 -6.84395957e-01 -3.36496630e-03 1.77900148e+02] [ 6.84388572e-01 7.29110536e-01 -3.17935236e-03 6.04391024e+01] [ 4.62936828e-03 1.51301293e-05 9.99989284e-01 3.95716795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940281693 meters 0.01497797715761407 Centerline is valid? [True, True] Translation: X:177.92, Y:60.45, Z:0.39 [[ 7.26645135e-01 -6.87001856e-01 -3.91115627e-03 1.77924388e+02] [ 6.86991909e-01 7.26655661e-01 -3.69688452e-03 6.04546620e+01] [ 5.38183037e-03 -6.09564667e-07 9.99985518e-01 3.94348327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970281693 meters 0.01512870294940909 Centerline is valid? [True, True] Translation: X:177.95, Y:60.47, Z:0.39 [[ 7.25397089e-01 -6.88318293e-01 -4.12188865e-03 1.77946531e+02] [ 6.88307260e-01 7.25408800e-01 -3.89731045e-03 6.04706757e+01] [ 5.67264438e-03 -1.00282231e-05 9.99983910e-01 3.93269991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000281693 meters 0.016081363078522957 Centerline is valid? [True, True] Translation: X:177.97, Y:60.48, Z:0.39 [[ 7.23560663e-01 -6.90242291e-01 -5.05438509e-03 1.77972939e+02] [ 6.90225736e-01 7.23578316e-01 -4.78057557e-03 6.04819712e+01] [ 6.95699889e-03 -2.96302368e-05 9.99975799e-01 3.91170728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030281693 meters 0.016415380358939972 Centerline is valid? [True, True] Translation: X:178.00, Y:60.50, Z:0.39 [[ 7.23019529e-01 -6.90803809e-01 -5.73225364e-03 1.77996738e+02] [ 6.90782518e-01 7.23042251e-01 -5.42369794e-03 6.04977962e+01] [ 7.89137277e-03 -3.83010725e-05 9.99968862e-01 3.89768009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060281693 meters 0.01623198243532541 Centerline is valid? [True, True] Translation: X:178.02, Y:60.52, Z:0.39 [[ 7.23282531e-01 -6.90530798e-01 -5.44037927e-03 1.78016656e+02] [ 6.90511599e-01 7.23302990e-01 -5.14936557e-03 6.05168260e+01] [ 7.49083811e-03 -3.21988268e-05 9.99971943e-01 3.90424260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090281693 meters 0.015678618100330152 Centerline is valid? [True, True] Translation: X:178.04, Y:60.54, Z:0.39 [[ 7.23929617e-01 -6.89855556e-01 -5.02218699e-03 1.78036331e+02] [ 6.89839167e-01 7.23947037e-01 -4.75521649e-03 6.05370449e+01] [ 6.91620990e-03 -2.20592334e-05 9.99976082e-01 3.92006095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120281693 meters 0.015060403730916437 Centerline is valid? [True, True] Translation: X:178.06, Y:60.56, Z:0.39 [[ 7.25187953e-01 -6.88538609e-01 -4.12509241e-03 1.78056242e+02] [ 6.88527523e-01 7.25199686e-01 -3.90712270e-03 6.05568000e+01] [ 5.68172055e-03 -6.84134823e-06 9.99983859e-01 3.93601353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150281693 meters 0.014943208663118901 Centerline is valid? [True, True] Translation: X:178.08, Y:60.57, Z:0.40 [[ 7.25139411e-01 -6.88592896e-01 -3.55782616e-03 1.78077683e+02] [ 6.88584645e-01 7.25148139e-01 -3.37098830e-03 6.05749674e+01] [ 4.90118961e-03 -5.42799256e-06 9.99987989e-01 3.95721335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18028169299998 meters 0.015133599372349796 Centerline is valid? [True, True] Translation: X:178.10, Y:60.59, Z:0.40 [[ 7.24130712e-01 -6.89656882e-01 -2.84551096e-03 1.78101991e+02] [ 6.89651608e-01 7.24136303e-01 -2.69699648e-03 6.05880540e+01] [ 3.92053997e-03 -9.43323052e-06 9.99992315e-01 3.97224807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21028169299998 meters 0.01602759032238081 Centerline is valid? [True, True] Translation: X:178.13, Y:60.60, Z:0.40 [[ 7.22203441e-01 -6.91674067e-01 -3.02915672e-03 1.78130748e+02] [ 6.91668104e-01 7.22209793e-01 -2.87216693e-03 6.05978307e+01] [ 4.17429003e-03 -2.08822489e-05 9.99991287e-01 3.96055431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.240281693 meters 0.01602759032238081 Centerline is valid? [True, True] Translation: X:178.15, Y:60.62, Z:0.40 [[ 7.22077850e-01 -6.91805180e-01 -3.02863582e-03 1.78150553e+02] [ 6.91799215e-01 7.22084201e-01 -2.87271615e-03 6.06169012e+01] [ 4.17428999e-03 -2.08831859e-05 9.99991287e-01 3.96110120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.270281693 meters 0.01654652232533525 Centerline is valid? [True, True] Translation: X:178.17, Y:60.63, Z:0.40 [[ 7.21121199e-01 -6.92802940e-01 -2.88160186e-03 1.78174716e+02] [ 6.92797544e-01 7.21126956e-01 -2.73428134e-03 6.06312238e+01] [ 3.97231893e-03 -2.46184508e-05 9.99992110e-01 3.96837335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.300281693 meters 0.016586371629013687 Centerline is valid? [True, True] Translation: X:178.20, Y:60.65, Z:0.40 [[ 7.20808300e-01 -6.93128968e-01 -2.76204732e-03 1.78198371e+02] [ 6.93124010e-01 7.20813591e-01 -2.62182900e-03 6.06473509e+01] [ 3.80818688e-03 -2.46052105e-05 9.99992749e-01 3.98086535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.330281693 meters 0.015435465731099314 Centerline is valid? [True, True] Translation: X:178.22, Y:60.66, Z:0.40 [[ 7.22437858e-01 -6.91428091e-01 -3.27664658e-03 1.78218044e+02] [ 6.91421089e-01 7.22445289e-01 -3.11164426e-03 6.06649175e+01] [ 4.51867613e-03 -1.75729305e-05 9.99989791e-01 3.98080673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.360281693 meters 0.014846521900435198 Centerline is valid? [True, True] Translation: X:178.24, Y:60.69, Z:0.40 [[ 7.24504607e-01 -6.89259886e-01 -3.72630161e-03 1.78235698e+02] [ 6.89250794e-01 7.24514189e-01 -3.54009453e-03 6.06876943e+01] [ 5.13980354e-03 -3.54155052e-06 9.99986791e-01 3.97735220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.390281693 meters 0.018538710715652596 Centerline is valid? [True, True] Translation: X:178.24, Y:60.72, Z:0.40 [[ 7.30644294e-01 -6.82748234e-01 -3.70999396e-03 1.78244999e+02] [ 6.82739132e-01 7.30653712e-01 -3.52584771e-03 6.07180653e+01] [ 5.11798716e-03 4.31824551e-05 9.99986902e-01 3.96711042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.420281693 meters 0.027628244075666004 Centerline is valid? [True, True] Translation: X:178.25, Y:60.75, Z:0.40 [[ 7.36722423e-01 -6.76183717e-01 -3.95634704e-03 1.78251322e+02] [ 6.76173263e-01 7.36733040e-01 -3.76112884e-03 6.07504192e+01] [ 5.45798567e-03 9.57318623e-05 9.99985101e-01 3.96455405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.450281693 meters 0.030695573833168427 Centerline is valid? [True, True] Translation: X:178.27, Y:60.77, Z:0.40 [[ 7.38856652e-01 -6.73849951e-01 -4.13425270e-03 1.78267493e+02] [ 6.73838492e-01 7.38868209e-01 -3.93148683e-03 6.07747731e+01] [ 5.70390010e-03 1.18986590e-04 9.99983726e-01 3.95942777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.480281693 meters 0.029011774742801234 Centerline is valid? [True, True] Translation: X:178.29, Y:60.80, Z:0.40 [[ 7.40255534e-01 -6.72315275e-01 -3.73043324e-03 1.78287929e+02] [ 6.72305920e-01 7.40264924e-01 -3.54861380e-03 6.07950154e+01] [ 5.14729614e-03 1.18888650e-04 9.99986746e-01 3.97972931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.510281693 meters 0.037541893646734034 Centerline is valid? [True, True] Translation: X:178.29, Y:60.83, Z:0.40 [[ 7.41979297e-01 -6.70420865e-01 -1.60846439e-03 1.78294191e+02] [ 6.70419121e-01 7.41981038e-01 -1.53028994e-03 6.08279778e+01] [ 2.21938838e-03 5.70981704e-05 9.99997536e-01 4.02555049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.540281693 meters 0.037775281115280626 Centerline is valid? [True, True] Translation: X:178.31, Y:60.85, Z:0.40 [[ 7.42070234e-01 -6.70320732e-01 -1.37267334e-03 1.78311579e+02] [ 6.70319461e-01 7.42071502e-01 -1.30610378e-03 6.08500987e+01] [ 1.89413021e-03 4.90910771e-05 9.99998205e-01 4.02961253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.570281693 meters 0.0370917014807581 Centerline is valid? [True, True] Translation: X:178.33, Y:60.87, Z:0.40 [[ 7.41140481e-01 -6.71345522e-01 -2.44467967e-03 1.78327498e+02] [ 6.71341494e-01 7.41144509e-01 -2.32726798e-03 6.08736476e+01] [ 3.37426185e-03 8.36176042e-05 9.99994304e-01 3.99361729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.600281693 meters 0.03030053083094102 Centerline is valid? [True, True] Translation: X:178.35, Y:60.89, Z:0.40 [[ 7.39996402e-01 -6.72604681e-01 -2.87559088e-03 1.78351806e+02] [ 6.72599112e-01 7.40001983e-01 -2.73845685e-03 6.08899621e+01] [ 3.96984185e-03 9.23283461e-05 9.99992116e-01 3.98114241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.630281693 meters 0.031242215990199627 Centerline is valid? [True, True] Translation: X:178.37, Y:60.92, Z:0.40 [[ 7.37736331e-01 -6.75079998e-01 -3.47879529e-03 1.78365338e+02] [ 6.75071870e-01 7.37744527e-01 -3.31416522e-03 6.09154236e+01] [ 4.80378883e-03 9.65432492e-05 9.99988457e-01 3.95180400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.660281693 meters 0.026652576287771533 Centerline is valid? [True, True] Translation: X:178.39, Y:60.93, Z:0.39 [[ 7.36528062e-01 -6.76393412e-01 -4.28563007e-03 1.78388913e+02] [ 6.76381089e-01 7.36540522e-01 -4.08441388e-03 6.09319844e+01] [ 5.91921084e-03 1.09566305e-04 9.99982475e-01 3.94357628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690281693 meters 0.024338014421478538 Centerline is valid? [True, True] Translation: X:178.41, Y:60.95, Z:0.39 [[ 7.34504492e-01 -6.78578869e-01 -5.81977386e-03 1.78409328e+02] [ 6.78556195e-01 7.34527537e-01 -5.54866676e-03 6.09511494e+01] [ 8.03999217e-03 1.26477054e-04 9.99967671e-01 3.90794543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720281693 meters 0.02645032650387041 Centerline is valid? [True, True] Translation: X:178.42, Y:60.97, Z:0.39 [[ 7.33759664e-01 -6.79383242e-01 -5.93007433e-03 1.78424676e+02] [ 6.79359709e-01 7.33783617e-01 -5.65594802e-03 6.09747873e+01] [ 8.19394768e-03 1.21452948e-04 9.99966422e-01 3.88629642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750281693 meters 0.027480849082743522 Centerline is valid? [True, True] Translation: X:178.44, Y:61.00, Z:0.39 [[ 7.34456243e-01 -6.78638186e-01 -4.92337340e-03 1.78437787e+02] [ 6.78621937e-01 7.34472736e-01 -4.69747423e-03 6.10000973e+01] [ 6.80396893e-03 1.08980081e-04 9.99976847e-01 3.93083531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780281693 meters 0.028668498695173836 Centerline is valid? [True, True] Translation: X:178.45, Y:61.02, Z:0.39 [[ 7.34972729e-01 -6.78080804e-01 -4.63802718e-03 1.78453747e+02] [ 6.78066363e-01 7.34987354e-01 -4.42673686e-03 6.10242984e+01] [ 6.41057662e-03 1.08640651e-04 9.99979446e-01 3.94024924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810281693 meters 0.026392528088954006 Centerline is valid? [True, True] Translation: X:178.47, Y:61.05, Z:0.39 [[ 7.35392692e-01 -6.77625059e-01 -4.67641874e-03 1.78473005e+02] [ 6.77610358e-01 7.35407552e-01 -4.46492197e-03 6.10451203e+01] [ 6.46461666e-03 1.14681208e-04 9.99979098e-01 3.94773629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840281693 meters 0.024412746964263134 Centerline is valid? [True, True] Translation: X:178.49, Y:61.07, Z:0.40 [[ 7.35001081e-01 -6.78055043e-01 -3.84308824e-03 1.78487281e+02] [ 6.78045114e-01 7.35011123e-01 -3.67053509e-03 6.10706749e+01] [ 5.31353743e-03 9.20600580e-05 9.99985879e-01 3.96757405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870281693 meters 0.024490560161859413 Centerline is valid? [True, True] Translation: X:178.50, Y:61.10, Z:0.40 [[ 7.32147785e-01 -6.81142243e-01 -2.20592707e-03 1.78501380e+02] [ 6.81138984e-01 7.32151107e-01 -2.10734848e-03 6.10957630e+01] [ 3.05047602e-03 4.03475973e-05 9.99995346e-01 4.00086785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900281693 meters 0.020317189563717038 Centerline is valid? [True, True] Translation: X:178.52, Y:61.11, Z:0.40 [[ 7.29375604e-01 -6.84111529e-01 -1.62612402e-03 1.78524161e+02] [ 6.84109765e-01 7.29377416e-01 -1.55375176e-03 6.11127486e+01] [ 2.24899763e-03 2.08213121e-05 9.99997471e-01 4.01853037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93028169299998 meters 0.014974150066476948 Centerline is valid? [True, True] Translation: X:178.55, Y:61.12, Z:0.40 [[ 7.21573878e-01 -6.92333306e-01 -2.39417043e-03 1.78554641e+02] [ 6.92329523e-01 7.21577850e-01 -2.28862498e-03 6.11222884e+01] [ 3.31207165e-03 -6.14287131e-06 9.99994515e-01 4.00079463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96028169299998 meters 0.01792949315267905 Centerline is valid? [True, True] Translation: X:178.58, Y:61.14, Z:0.40 [[ 7.17017863e-01 -6.97049149e-01 -2.80491627e-03 1.78579860e+02] [ 6.97043989e-01 7.17023348e-01 -2.68229436e-03 6.11356986e+01] [ 3.88088146e-03 -3.18970587e-05 9.99992469e-01 3.98744701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.990281693 meters 0.02441857573925358 Centerline is valid? [True, True] Translation: X:178.61, Y:61.15, Z:0.40 [[ 7.12574374e-01 -7.01590936e-01 -2.81411327e-03 1.78606862e+02] [ 7.01585774e-01 7.12579929e-01 -2.69186007e-03 6.11467176e+01] [ 3.89386526e-03 -5.61913377e-05 9.99992417e-01 3.98605693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.020281693 meters 0.03329145571013733 Centerline is valid? [True, True] Translation: X:178.64, Y:61.16, Z:0.40 [[ 7.04388565e-01 -7.09813494e-01 -1.24623450e-03 1.78636917e+02] [ 7.09812494e-01 7.04389666e-01 -1.19216373e-03 6.11557865e+01] [ 1.72404861e-03 -4.48463240e-05 9.99998513e-01 4.03048749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.050281693 meters 0.03742812288845989 Centerline is valid? [True, True] Translation: X:178.66, Y:61.17, Z:0.40 [[ 7.00862399e-01 -7.13296273e-01 -5.70007650e-04 1.78662114e+02] [ 7.13296065e-01 7.00862630e-01 -5.45301066e-04 6.11702227e+01] [ 7.88458279e-04 -2.44032011e-05 9.99999689e-01 4.04451683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.080281693 meters 0.051308850648402425 Centerline is valid? [True, True] Translation: X:178.70, Y:61.17, Z:0.40 [[ 6.95263438e-01 -7.18753599e-01 -1.41982840e-03 1.78698135e+02] [ 7.18752317e-01 6.95264884e-01 -1.35912624e-03 6.11719745e+01] [ 1.96403370e-03 -7.55541699e-05 9.99998068e-01 4.01303618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.110281693 meters 0.049545540089653624 Centerline is valid? [True, True] Translation: X:178.72, Y:61.19, Z:0.40 [[ 6.92400123e-01 -7.21509687e-01 -2.41693840e-03 1.78719436e+02] [ 7.21505988e-01 6.92404327e-01 -2.31455607e-03 6.11896386e+01] [ 3.34347324e-03 -1.41236620e-04 9.99994401e-01 3.98790788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.140281693 meters 0.059625323576243706 Centerline is valid? [True, True] Translation: X:178.76, Y:61.19, Z:0.40 [[ 6.87627910e-01 -7.26052175e-01 -4.01189704e-03 1.78756312e+02] [ 7.26042052e-01 6.87639561e-01 -3.84353558e-03 6.11893281e+01] [ 5.54934649e-03 -2.69883626e-04 9.99984566e-01 3.95106338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.170281693 meters 0.06615385537974572 Centerline is valid? [True, True] Translation: X:178.79, Y:61.20, Z:0.39 [[ 6.86232322e-01 -7.27368911e-01 -4.43474603e-03 1.78786255e+02] [ 7.27356559e-01 6.86246582e-01 -4.25017795e-03 6.11970045e+01] [ 6.13477662e-03 -3.09032126e-04 9.99981134e-01 3.94097161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.200281693 meters 0.06718446018320509 Centerline is valid? [True, True] Translation: X:178.82, Y:61.21, Z:0.39 [[ 6.85820563e-01 -7.27753583e-01 -4.98781466e-03 1.78815750e+02] [ 7.27737958e-01 6.85838611e-01 -4.78166210e-03 6.12050582e+01] [ 6.90070760e-03 -3.50459861e-04 9.99976128e-01 3.92963104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.230281693 meters 0.06031963004004604 Centerline is valid? [True, True] Translation: X:178.83, Y:61.23, Z:0.39 [[ 6.86720731e-01 -7.26901079e-01 -5.42760457e-03 1.78833568e+02] [ 7.26882538e-01 6.86742079e-01 -5.20504111e-03 6.12266219e+01] [ 7.51091445e-03 -3.70821347e-04 9.99971724e-01 3.92495051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.260281693 meters 0.05439650032828654 Centerline is valid? [True, True] Translation: X:178.85, Y:61.24, Z:0.39 [[ 6.90985078e-01 -7.22843021e-01 -6.13098558e-03 1.78854963e+02] [ 7.22819184e-01 6.91012179e-01 -5.88173813e-03 6.12421506e+01] [ 8.48815907e-03 -3.67400711e-04 9.99963907e-01 3.91290684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.290281693 meters 0.04474549535385954 Centerline is valid? [True, True] Translation: X:178.87, Y:61.26, Z:0.39 [[ 6.97061700e-01 -7.16991435e-01 -5.31688247e-03 1.78873270e+02] [ 7.16973326e-01 6.97081930e-01 -5.10217690e-03 6.12623336e+01] [ 7.36451983e-03 -2.55530802e-04 9.99972849e-01 3.93312697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.320281693 meters 0.03964236298117921 Centerline is valid? [True, True] Translation: X:178.89, Y:61.28, Z:0.40 [[ 7.00231281e-01 -7.13901105e-01 -4.62235545e-03 1.78891888e+02] [ 7.13887341e-01 7.00246511e-01 -4.43719427e-03 6.12829237e+01] [ 6.40450617e-03 -1.92778815e-04 9.99979472e-01 3.95070855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.350281693 meters 0.03490936178449222 Centerline is valid? [True, True] Translation: X:178.91, Y:61.30, Z:0.40 [[ 7.03386768e-01 -7.10795097e-01 -4.16946750e-03 1.78909200e+02] [ 7.10783835e-01 7.03399110e-01 -4.00397931e-03 6.13027113e+01] [ 5.77880859e-03 -1.47244035e-04 9.99983292e-01 3.96600204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.380281693 meters 0.02410906452281178 Centerline is valid? [True, True] Translation: X:178.92, Y:61.33, Z:0.40 [[ 7.09901619e-01 -7.04284841e-01 -4.74911176e-03 1.78922024e+02] [ 7.04270073e-01 7.09917496e-01 -4.56203989e-03 6.13290323e+01] [ 6.58445307e-03 -1.06057780e-04 9.99978317e-01 3.95187969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.410281693 meters 0.021525995892679103 Centerline is valid? [True, True] Translation: X:178.94, Y:61.35, Z:0.39 [[ 7.12769645e-01 -7.01377006e-01 -5.45242953e-03 1.78939844e+02] [ 7.01357444e-01 7.12790494e-01 -5.23911614e-03 6.13493420e+01] [ 7.56103552e-03 -8.98190879e-05 9.99971411e-01 3.92400649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440281693 meters 0.017116734662086287 Centerline is valid? [True, True] Translation: X:178.96, Y:61.37, Z:0.39 [[ 7.16765560e-01 -6.97297628e-01 -4.81137221e-03 1.78955504e+02] [ 6.97282294e-01 7.16781707e-01 -4.62454614e-03 6.13722257e+01] [ 6.67338864e-03 -4.01692486e-05 9.99977732e-01 3.92857941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470281693 meters 0.01506807303748245 Centerline is valid? [True, True] Translation: X:178.97, Y:61.39, Z:0.40 [[ 7.18944992e-01 -6.95060596e-01 -2.97771175e-03 1.78973210e+02] [ 6.95054700e-01 7.18951158e-01 -2.86291061e-03 6.13941576e+01] [ 4.13072567e-03 -1.13972962e-05 9.99991468e-01 3.98421230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500281693 meters 0.01482569417693336 Centerline is valid? [True, True] Translation: X:178.99, Y:61.41, Z:0.40 [[ 7.19340469e-01 -6.94653076e-01 -2.52867799e-03 1.78992842e+02] [ 6.94648819e-01 7.19344913e-01 -2.43202377e-03 6.14125253e+01] [ 3.50840444e-03 -7.09005841e-06 9.99993846e-01 3.99791023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530281693 meters 0.014758758810296741 Centerline is valid? [True, True] Translation: X:179.01, Y:61.43, Z:0.40 [[ 7.19385403e-01 -6.94607439e-01 -2.26867412e-03 1.79013334e+02] [ 6.94604010e-01 7.19388980e-01 -2.18276525e-03 6.14304636e+01] [ 3.14822414e-03 -5.58067962e-06 9.99995044e-01 4.00234668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560281693 meters 0.014764649964711078 Centerline is valid? [True, True] Translation: X:179.04, Y:61.45, Z:0.40 [[ 7.19066214e-01 -6.94938501e-01 -2.06376565e-03 1.79035934e+02] [ 6.94935663e-01 7.19069176e-01 -1.98637726e-03 6.14464790e+01] [ 2.86440030e-03 -5.84757655e-06 9.99995898e-01 4.00784279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590281693 meters 0.014870145996642341 Centerline is valid? [True, True] Translation: X:179.06, Y:61.46, Z:0.40 [[ 7.18793297e-01 -6.95220437e-01 -2.17725459e-03 1.79055985e+02] [ 6.95217276e-01 7.18796594e-01 -2.09651145e-03 6.14636282e+01] [ 3.02254079e-03 -6.70663150e-06 9.99995432e-01 4.00756781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620281693 meters 0.014764546527431687 Centerline is valid? [True, True] Translation: X:179.08, Y:61.48, Z:0.40 [[ 7.19228427e-01 -6.94770995e-01 -1.93226147e-03 1.79075405e+02] [ 6.94768502e-01 7.19231023e-01 -1.86133166e-03 6.14805101e+01] [ 2.68294164e-03 -3.75176150e-06 9.99996401e-01 4.01376025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650281693 meters 0.014567573996101556 Centerline is valid? [True, True] Translation: X:179.09, Y:61.50, Z:0.40 [[ 7.20153524e-01 -6.93812573e-01 -1.73672238e-03 1.79093628e+02] [ 6.93810554e-01 7.20155618e-01 -1.67361428e-03 6.15010401e+01] [ 2.41188500e-03 3.02904132e-07 9.99997091e-01 4.02725581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68028169299998 meters 0.015971829442761674 Centerline is valid? [True, True] Translation: X:179.11, Y:61.53, Z:0.41 [[ 7.23478564e-01 -6.90346405e-01 -7.79932446e-04 1.79106887e+02] [ 6.90345996e-01 7.23478984e-01 -7.51604535e-04 6.15256276e+01] [ 1.08313222e-03 5.34652747e-06 9.99999413e-01 4.05942398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71028169299998 meters 0.018209535734953024 Centerline is valid? [True, True] Translation: X:179.12, Y:61.55, Z:0.41 [[ 7.25594765e-01 -6.88122064e-01 -5.11035960e-04 1.79122635e+02] [ 6.88121888e-01 7.25594945e-01 -4.92502389e-04 6.15496913e+01] [ 7.09706870e-04 5.70212549e-06 9.99999748e-01 4.06980496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.740281693 meters 0.020789466131606624 Centerline is valid? [True, True] Translation: X:179.14, Y:61.57, Z:0.41 [[ 7.27675791e-01 -6.85920887e-01 -6.93329657e-04 1.79138290e+02] [ 6.85920561e-01 7.27676121e-01 -6.68594234e-04 6.15743440e+01] [ 9.63122185e-04 1.09507703e-05 9.99999536e-01 4.06961358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.770281693 meters 0.02644214245976016 Centerline is valid? [True, True] Translation: X:179.15, Y:61.60, Z:0.40 [[ 7.31146155e-01 -6.82219058e-01 -1.56768955e-03 1.79146568e+02] [ 6.82217381e-01 7.31147834e-01 -1.51289721e-03 6.16044419e+01] [ 2.17834013e-03 3.66439201e-05 9.99997627e-01 4.04447157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.800281693 meters 0.03221459910504702 Centerline is valid? [True, True] Translation: X:179.15, Y:61.63, Z:0.40 [[ 7.34486514e-01 -6.78621218e-01 -1.67400740e-03 1.79154798e+02] [ 6.78619296e-01 7.34488420e-01 -1.61594181e-03 6.16346511e+01] [ 2.32615146e-03 5.08737416e-05 9.99997293e-01 4.03261884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.830281693 meters 0.035107685664758935 Centerline is valid? [True, True] Translation: X:179.17, Y:61.66, Z:0.40 [[ 7.35936636e-01 -6.77049038e-01 -1.36675091e-03 1.79170022e+02] [ 6.77047753e-01 7.35937904e-01 -1.31961669e-03 6.16596496e+01] [ 1.89928901e-03 4.57986376e-05 9.99998195e-01 4.03841186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.860281693 meters 0.04000987963069806 Centerline is valid? [True, True] Translation: X:179.18, Y:61.69, Z:0.41 [[ 7.38416849e-01 -6.74342987e-01 -1.44667800e-03 1.79178050e+02] [ 6.74341542e-01 7.38418264e-01 -1.39726015e-03 6.16890929e+01] [ 2.01048604e-03 5.62053624e-05 9.99997977e-01 4.05572019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.890281693 meters 0.04256582899302118 Centerline is valid? [True, True] Translation: X:179.19, Y:61.72, Z:0.41 [[ 7.39523764e-01 -6.73127803e-01 -1.88796774e-03 1.79191779e+02] [ 6.73125336e-01 7.39526169e-01 -1.82413019e-03 6.17161445e+01] [ 2.62407430e-03 7.81487030e-05 9.99996554e-01 4.05010262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.920281693 meters 0.04472133586366691 Centerline is valid? [True, True] Translation: X:179.21, Y:61.74, Z:0.40 [[ 7.40551772e-01 -6.71994034e-01 -2.66304209e-03 1.79205100e+02] [ 6.71989114e-01 7.40556551e-01 -2.57386428e-03 6.17427348e+01] [ 3.70175471e-03 1.16544453e-04 9.99993142e-01 4.03084200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.950281693 meters 0.0486556620863818 Centerline is valid? [True, True] Translation: X:179.21, Y:61.77, Z:0.40 [[ 7.42134748e-01 -6.70238883e-01 -3.98192002e-03 1.79211850e+02] [ 6.70227855e-01 7.42145406e-01 -3.84954629e-03 6.17748768e+01] [ 5.53527926e-03 1.88088348e-04 9.99984663e-01 3.98171959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.980281693 meters 0.04133197290004511 Centerline is valid? [True, True] Translation: X:179.23, Y:61.80, Z:0.40 [[ 7.41688692e-01 -6.70733963e-01 -3.71963982e-03 1.79230463e+02] [ 6.70724340e-01 7.41697998e-01 -3.59705849e-03 6.17967828e+01] [ 5.17151870e-03 1.73044641e-04 9.99986613e-01 3.99101214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.010281693 meters 0.03918134811424876 Centerline is valid? [True, True] Translation: X:179.25, Y:61.82, Z:0.40 [[ 7.40742749e-01 -6.71782425e-01 -2.92446640e-03 1.79249399e+02] [ 6.71776482e-01 7.40748510e-01 -2.82895054e-03 6.18189656e+01] [ 4.06673339e-03 1.30936853e-04 9.99991722e-01 4.01223088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.040281693 meters 0.036989177352056625 Centerline is valid? [True, True] Translation: X:179.27, Y:61.84, Z:0.40 [[ 7.37920478e-01 -6.74883412e-01 -2.39747272e-03 1.79265424e+02] [ 6.74879431e-01 7.37924367e-01 -2.31988603e-03 6.18418327e+01] [ 3.33480614e-03 9.38863822e-05 9.99994435e-01 4.02995788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.070281693 meters 0.03850706216150022 Centerline is valid? [True, True] Translation: X:179.28, Y:61.86, Z:0.40 [[ 7.35745994e-01 -6.77251041e-01 -2.97653528e-03 1.79280452e+02] [ 6.77244920e-01 7.35752008e-01 -2.88114418e-03 6.18647012e+01] [ 4.14124970e-03 1.03946894e-04 9.99991420e-01 4.01125224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.100281693 meters 0.031291951288865666 Centerline is valid? [True, True] Translation: X:179.30, Y:61.88, Z:0.40 [[ 7.31482008e-01 -6.81852335e-01 -3.38606918e-03 1.79301876e+02] [ 6.81844460e-01 7.31489839e-01 -3.27833804e-03 6.18814343e+01] [ 4.71221765e-03 8.92727774e-05 9.99988893e-01 3.98773293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.130281693 meters 0.02799226939479223 Centerline is valid? [True, True] Translation: X:179.32, Y:61.90, Z:0.40 [[ 7.29592383e-01 -6.83876984e-01 -2.68802754e-03 1.79324327e+02] [ 6.83872033e-01 7.29597332e-01 -2.60303684e-03 6.18991108e+01] [ 3.74133470e-03 6.08889913e-05 9.99992999e-01 4.00433182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.160281693 meters 0.02799226939479223 Centerline is valid? [True, True] Translation: X:179.34, Y:61.92, Z:0.40 [[ 7.29464073e-01 -6.84013847e-01 -2.68765228e-03 1.79343275e+02] [ 6.84008895e-01 7.29469022e-01 -2.60342426e-03 6.19178434e+01] [ 3.74133732e-03 6.07263991e-05 9.99992999e-01 4.00486208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190281693 meters 0.024957464580947403 Centerline is valid? [True, True] Translation: X:179.37, Y:61.93, Z:0.40 [[ 7.27619014e-01 -6.85978271e-01 -2.09309715e-03 1.79365701e+02] [ 6.85975274e-01 7.27622024e-01 -2.02812123e-03 6.19345023e+01] [ 2.91423068e-03 3.98866784e-05 9.99995753e-01 4.02135467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220281693 meters 0.02070546024830783 Centerline is valid? [True, True] Translation: X:179.39, Y:61.95, Z:0.40 [[ 7.24805900e-01 -6.88951315e-01 -1.57866638e-03 1.79389144e+02] [ 6.88949617e-01 7.24807619e-01 -1.53005726e-03 6.19500963e+01] [ 2.19836438e-03 2.13729358e-05 9.99997583e-01 4.04363076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250281693 meters 0.01763863338104696 Centerline is valid? [True, True] Translation: X:179.41, Y:61.97, Z:0.40 [[ 7.23835618e-01 -6.89969588e-01 -1.99143517e-03 1.79411452e+02] [ 6.89966887e-01 7.23838357e-01 -1.93091236e-03 6.19672791e+01] [ 2.77374797e-03 2.36388149e-05 9.99996153e-01 4.04483423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280281693 meters 0.02011647617589401 Centerline is valid? [True, True] Translation: X:179.43, Y:61.99, Z:0.40 [[ 7.24065763e-01 -6.89727214e-01 -2.26735102e-03 1.79426748e+02] [ 6.89723708e-01 7.24069313e-01 -2.19936558e-03 6.19906123e+01] [ 3.15868158e-03 2.86395633e-05 9.99995011e-01 4.03462425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310281693 meters 0.018664642487726976 Centerline is valid? [True, True] Translation: X:179.45, Y:62.01, Z:0.40 [[ 7.24427392e-01 -6.89347325e-01 -2.28457843e-03 1.79448219e+02] [ 6.89343761e-01 7.24430993e-01 -2.21694587e-03 6.20089830e+01] [ 3.18326513e-03 3.11564285e-05 9.99994933e-01 4.03283882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340281693 meters 0.020232130908610157 Centerline is valid? [True, True] Translation: X:179.46, Y:62.03, Z:0.40 [[ 7.23740669e-01 -6.90069648e-01 -1.82315662e-03 1.79464017e+02] [ 6.90067379e-01 7.23742965e-01 -1.76974896e-03 6.20318126e+01] [ 2.54074681e-03 2.27383867e-05 9.99996772e-01 4.03011607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370281693 meters 0.01845347602388903 Centerline is valid? [True, True] Translation: X:179.48, Y:62.05, Z:0.40 [[ 7.22369434e-01 -6.91506016e-01 -1.35285123e-03 1.79484929e+02] [ 6.91504769e-01 7.22370701e-01 -1.31359617e-03 6.20490669e+01] [ 1.88561974e-03 1.33986440e-05 9.99998222e-01 4.04678311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400281693 meters 0.015378911834208425 Centerline is valid? [True, True] Translation: X:179.51, Y:62.06, Z:0.41 [[ 7.19951325e-01 -6.94024338e-01 -5.54871837e-04 1.79509324e+02] [ 6.94024129e-01 7.19951539e-01 -5.38673724e-04 6.20635815e+01] [ 7.73333508e-04 2.72441832e-06 9.99999701e-01 4.06743474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43028169299998 meters 0.014994640129032257 Centerline is valid? [True, True] Translation: X:179.53, Y:62.08, Z:0.40 [[ 7.18686479e-01 -6.95332286e-01 -1.66057730e-03 1.79528751e+02] [ 6.95330413e-01 7.18688397e-01 -1.61371287e-03 6.20818918e+01] [ 2.31550430e-03 5.10372168e-06 9.99997319e-01 4.03544377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46028169299998 meters 0.014984768397299408 Centerline is valid? [True, True] Translation: X:179.55, Y:62.10, Z:0.40 [[ 7.18284621e-01 -6.95742755e-01 -3.03698865e-03 1.79548454e+02] [ 6.95736489e-01 7.18291041e-01 -2.95281720e-03 6.21014156e+01] [ 4.23584291e-03 8.01936749e-06 9.99991029e-01 3.99455097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.490281693 meters 0.015267325515795982 Centerline is valid? [True, True] Translation: X:179.57, Y:62.12, Z:0.39 [[ 7.17817091e-01 -6.96214485e-01 -4.90055781e-03 1.79568734e+02] [ 6.96198166e-01 7.17833819e-01 -4.76676522e-03 6.21210693e+01] [ 6.83647711e-03 9.90618360e-06 9.99976631e-01 3.94786462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.520281693 meters 0.01569329759866671 Centerline is valid? [True, True] Translation: X:179.59, Y:62.14, Z:0.39 [[ 7.16909109e-01 -6.97132539e-01 -6.89580518e-03 1.79589339e+02] [ 6.97100247e-01 7.16942273e-01 -6.70996079e-03 6.21388824e+01] [ 9.62162624e-03 3.36451704e-06 9.99953711e-01 3.89953566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.550281693 meters 0.015510503906413398 Centerline is valid? [True, True] Translation: X:179.61, Y:62.15, Z:0.39 [[ 7.15386344e-01 -6.98713539e-01 -4.66572100e-03 1.79611875e+02] [ 6.98698780e-01 7.15401559e-01 -4.54142722e-03 6.21547072e+01] [ 6.51102076e-03 -1.10585532e-05 9.99978803e-01 3.93425021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.580281693 meters 0.015326881061421181 Centerline is valid? [True, True] Translation: X:179.63, Y:62.17, Z:0.40 [[ 7.14350553e-01 -6.99780449e-01 -3.25731028e-03 1.79633215e+02] [ 6.99773262e-01 7.14357979e-01 -3.17152650e-03 6.21729674e+01] [ 4.54625783e-03 -1.37969326e-05 9.99989666e-01 3.99068008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.610281693 meters 0.015567914862525753 Centerline is valid? [True, True] Translation: X:179.66, Y:62.19, Z:0.40 [[ 7.13371625e-01 -7.00781267e-01 -2.55757361e-03 1.79655397e+02] [ 7.00776840e-01 7.13376209e-01 -2.49101555e-03 6.21909502e+01] [ 3.57016920e-03 -1.52685389e-05 9.99993627e-01 4.01100998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.640281693 meters 0.01634996535266893 Centerline is valid? [True, True] Translation: X:179.68, Y:62.21, Z:0.40 [[ 7.12057175e-01 -7.02115304e-01 -2.94596196e-03 1.79679284e+02] [ 7.02109437e-01 7.12063269e-01 -2.87043378e-03 6.22062240e+01] [ 4.11308679e-03 -2.44747287e-05 9.99991541e-01 4.00013781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.670281693 meters 0.016596591984337165 Centerline is valid? [True, True] Translation: X:179.70, Y:62.22, Z:0.40 [[ 7.11677578e-01 -7.02497399e-01 -3.52558878e-03 1.79699604e+02] [ 7.02488994e-01 7.11686310e-01 -3.43657809e-03 6.22249142e+01] [ 4.92330044e-03 -3.09517453e-05 9.99987880e-01 3.98691912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.700281693 meters 0.016821405934640536 Centerline is valid? [True, True] Translation: X:179.72, Y:62.24, Z:0.40 [[ 7.11756649e-01 -7.02412700e-01 -4.34406895e-03 1.79719715e+02] [ 7.02399927e-01 7.11769905e-01 -4.23615570e-03 6.22425185e+01] [ 6.06750711e-03 -3.61617305e-05 9.99981592e-01 3.95879285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.730281693 meters 0.016126066312525816 Centerline is valid? [True, True] Translation: X:179.74, Y:62.26, Z:0.40 [[ 7.12498691e-01 -7.01659755e-01 -4.38227554e-03 1.79738764e+02] [ 7.01646732e-01 7.12512167e-01 -4.27501728e-03 6.22626538e+01] [ 6.12203222e-03 -2.88650998e-05 9.99981260e-01 3.96579220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.760281693 meters 0.015196068674041812 Centerline is valid? [True, True] Translation: X:179.75, Y:62.28, Z:0.40 [[ 7.14457066e-01 -6.99666216e-01 -4.27647927e-03 1.79754313e+02] [ 6.99653769e-01 7.14469864e-01 -4.17335815e-03 6.22848631e+01] [ 5.97537327e-03 -1.03696185e-05 9.99982147e-01 3.97620087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.790281693 meters 0.01501069490882526 Centerline is valid? [True, True] Translation: X:179.77, Y:62.31, Z:0.40 [[ 7.15070205e-01 -6.99040992e-01 -4.03654456e-03 1.79771962e+02] [ 6.99029884e-01 7.15081598e-01 -3.94067165e-03 6.23067580e+01] [ 5.64114976e-03 -3.80838988e-06 9.99984089e-01 3.99051122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.820281693 meters 0.014993308873358082 Centerline is valid? [True, True] Translation: X:179.79, Y:62.33, Z:0.40 [[ 7.15211033e-01 -6.98901214e-01 -3.20474980e-03 1.79790391e+02] [ 6.98894207e-01 7.15218213e-01 -3.12974482e-03 6.23269635e+01] [ 4.47947788e-03 -1.35303892e-06 9.99989967e-01 4.00801573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.850281693 meters 0.014868432004059297 Centerline is valid? [True, True] Translation: X:179.81, Y:62.34, Z:0.41 [[ 7.14033470e-01 -7.00111027e-01 -8.67499490e-04 1.79812285e+02] [ 7.00110515e-01 7.14033997e-01 -8.47150387e-04 6.23440454e+01] [ 1.21252346e-03 -2.45178430e-06 9.99999265e-01 4.05937861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.880281693 meters 0.015297943823995235 Centerline is valid? [True, True] Translation: X:179.83, Y:62.36, Z:0.41 [[ 7.12708865e-01 -7.01459958e-01 3.80369995e-05 1.79833571e+02] [ 7.01459957e-01 7.12708866e-01 3.77095182e-05 6.23607000e+01] [-5.35610238e-05 -1.94475873e-07 9.99999999e-01 4.08223519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.910281693 meters 0.017145728036534896 Centerline is valid? [True, True] Translation: X:179.86, Y:62.38, Z:0.41 [[ 7.09849591e-01 -7.04352923e-01 7.19825516e-04 1.79858501e+02] [ 7.04352571e-01 7.09849956e-01 7.04342165e-04 6.23757322e+01] [-1.00707357e-03 7.03395406e-06 9.99999493e-01 4.09771029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940281693 meters 0.01821194048223246 Centerline is valid? [True, True] Translation: X:179.88, Y:62.39, Z:0.41 [[ 7.08581908e-01 -7.05628568e-01 6.65342078e-05 1.79880664e+02] [ 7.05628564e-01 7.08581911e-01 6.55872689e-05 6.23931417e+01] [-9.34251867e-05 4.74485353e-07 9.99999996e-01 4.08549210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970281693 meters 0.01992223504555624 Centerline is valid? [True, True] Translation: X:179.90, Y:62.41, Z:0.40 [[ 7.07113745e-01 -7.07097640e-01 -1.75448988e-03 1.79902966e+02] [ 7.07095558e-01 7.07115921e-01 -1.71628472e-03 6.24092596e+01] [ 2.45420860e-03 -2.69834822e-05 9.99996988e-01 4.02916078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000281693 meters 0.020959058915826275 Centerline is valid? [True, True] Translation: X:179.92, Y:62.43, Z:0.40 [[ 7.06205315e-01 -7.08003973e-01 -2.10418732e-03 1.79923873e+02] [ 7.08000980e-01 7.06208448e-01 -2.05898493e-03 6.24285042e+01] [ 2.94376438e-03 -3.57005864e-05 9.99995666e-01 4.01839723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030281693 meters 0.022895894132998185 Centerline is valid? [True, True] Translation: X:179.95, Y:62.44, Z:0.40 [[ 7.04672691e-01 -7.09530506e-01 -1.69108649e-03 1.79945468e+02] [ 7.09528576e-01 7.04674719e-01 -1.65523718e-03 6.24444250e+01] [ 2.36610717e-03 -3.34737481e-05 9.99997200e-01 4.03850044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060281693 meters 0.023492547615915085 Centerline is valid? [True, True] Translation: X:179.97, Y:62.46, Z:0.40 [[ 7.04002279e-01 -7.10196236e-01 -1.44801413e-03 1.79967261e+02] [ 7.10194822e-01 7.04003768e-01 -1.41767247e-03 6.24626504e+01] [ 2.02623305e-03 -3.03274899e-05 9.99997947e-01 4.04782720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090281693 meters 0.024548631363621183 Centerline is valid? [True, True] Translation: X:179.99, Y:62.48, Z:0.41 [[ 7.03123821e-01 -7.11065924e-01 -1.46413920e-03 1.79989410e+02] [ 7.11064479e-01 7.03125345e-01 -1.43397502e-03 6.24799476e+01] [ 2.04912415e-03 -3.28353858e-05 9.99997900e-01 4.05033090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120281693 meters 0.02963660493590035 Centerline is valid? [True, True] Translation: X:180.02, Y:62.49, Z:0.40 [[ 7.00632614e-01 -7.13518611e-01 -2.26526350e-03 1.80015344e+02] [ 7.13515161e-01 7.00636273e-01 -2.21966609e-03 6.24918953e+01] [ 3.17089884e-03 -6.11294027e-05 9.99994971e-01 4.02165768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150281693 meters 0.028122332236575356 Centerline is valid? [True, True] Translation: X:180.03, Y:62.51, Z:0.40 [[ 6.98659162e-01 -7.15449711e-01 -2.66188471e-03 1.80034514e+02] [ 7.15444957e-01 6.98664228e-01 -2.60937271e-03 6.25122736e+01] [ 3.72663858e-03 -8.13698367e-05 9.99993053e-01 4.00499250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18028169299998 meters 0.033516351103225685 Centerline is valid? [True, True] Translation: X:180.06, Y:62.52, Z:0.40 [[ 6.94712514e-01 -7.19280251e-01 -3.23156740e-03 1.80062880e+02] [ 7.19273280e-01 6.94720020e-01 -3.16913440e-03 6.25221867e+01] [ 4.52453035e-03 -1.22742756e-04 9.99989757e-01 3.99103811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21028169299998 meters 0.03577138881816738 Centerline is valid? [True, True] Translation: X:180.09, Y:62.54, Z:0.40 [[ 6.93044481e-01 -7.20888414e-01 -3.04010355e-03 1.80087917e+02] [ 7.20882255e-01 6.93051137e-01 -2.98242416e-03 6.25377244e+01] [ 4.25694225e-03 -1.24604099e-04 9.99990931e-01 4.00072198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.240281693 meters 0.0374153006354248 Centerline is valid? [True, True] Translation: X:180.11, Y:62.55, Z:0.40 [[ 6.91904862e-01 -7.21983553e-01 -2.72228133e-03 1.80111055e+02] [ 7.21978620e-01 6.91910208e-01 -2.67151985e-03 6.25528133e+01] [ 3.81236764e-03 -1.16991347e-04 9.99992726e-01 4.01406821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.270281693 meters 0.038866342638971645 Centerline is valid? [True, True] Translation: X:180.14, Y:62.57, Z:0.40 [[ 6.91129805e-01 -7.22727049e-01 -2.28151967e-03 1.80136609e+02] [ 7.22723586e-01 6.91133564e-01 -2.23958559e-03 6.25659792e+01] [ 3.19544390e-03 -1.01063720e-04 9.99994889e-01 4.02592760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.300281693 meters 0.03956768223056433 Centerline is valid? [True, True] Translation: X:180.16, Y:62.58, Z:0.40 [[ 6.91301539e-01 -7.22559992e-01 -3.03971403e-03 1.80158577e+02] [ 7.22553839e-01 6.91308209e-01 -2.98486970e-03 6.25816022e+01] [ 4.25812669e-03 -1.32912022e-04 9.99990925e-01 4.01072394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.330281693 meters 0.03812362192911676 Centerline is valid? [True, True] Translation: X:180.18, Y:62.60, Z:0.40 [[ 6.93577424e-01 -7.20369630e-01 -4.23700334e-03 1.80180456e+02] [ 7.20357624e-01 6.93590346e-01 -4.16235005e-03 6.25976012e+01] [ 5.93717518e-03 -1.65245635e-04 9.99982361e-01 3.98764090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.360281693 meters 0.033330901115508745 Centerline is valid? [True, True] Translation: X:180.20, Y:62.62, Z:0.40 [[ 6.95069371e-01 -7.18931861e-01 -3.94317656e-03 1.80197200e+02] [ 7.18921431e-01 6.95080541e-01 -3.87512688e-03 6.26202439e+01] [ 5.52677747e-03 -1.41352136e-04 9.99984717e-01 4.00273209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.390281693 meters 0.03128625817629112 Centerline is valid? [True, True] Translation: X:180.22, Y:62.64, Z:0.40 [[ 6.96527068e-01 -7.17522315e-01 -3.43080407e-03 1.80215797e+02] [ 7.17514398e-01 6.96535508e-01 -3.37259665e-03 6.26398964e+01] [ 4.80959021e-03 -1.12546459e-04 9.99988428e-01 4.01599773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.420281693 meters 0.02736776920578546 Centerline is valid? [True, True] Translation: X:180.23, Y:62.66, Z:0.40 [[ 6.99640941e-01 -7.14489763e-01 -2.63293150e-03 1.80233009e+02] [ 7.14485075e-01 6.99645892e-01 -2.58904253e-03 6.26601827e+01] [ 3.69196409e-03 -6.97901039e-05 9.99993182e-01 4.03127850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.450281693 meters 0.024802557451726232 Centerline is valid? [True, True] Translation: X:180.25, Y:62.68, Z:0.40 [[ 7.01197645e-01 -7.12963135e-01 -2.33029015e-03 1.80250985e+02] [ 7.12959453e-01 7.01201515e-01 -2.29227587e-03 6.26815579e+01] [ 3.26831117e-03 -5.40639504e-05 9.99994658e-01 4.04000808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.480281693 meters 0.021538344171371588 Centerline is valid? [True, True] Translation: X:180.27, Y:62.70, Z:0.40 [[ 7.03672877e-01 -7.10520951e-01 -2.11226569e-03 1.80267909e+02] [ 7.10517911e-01 7.03676046e-01 -2.07851940e-03 6.27035327e+01] [ 2.96318235e-03 -3.82048816e-05 9.99995609e-01 4.04231723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.510281693 meters 0.02002616546786036 Centerline is valid? [True, True] Translation: X:180.29, Y:62.72, Z:0.40 [[ 7.04856293e-01 -7.09345944e-01 -2.43679407e-03 1.80285206e+02] [ 7.09341889e-01 7.04860504e-01 -2.39886236e-03 6.27246535e+01] [ 3.41922318e-03 -3.76668775e-05 9.99994154e-01 4.04097428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.540281693 meters 0.01765261770723203 Centerline is valid? [True, True] Translation: X:180.30, Y:62.75, Z:0.40 [[ 7.07122235e-01 -7.07083308e-01 -3.36756440e-03 1.80301802e+02] [ 7.07075530e-01 7.07130253e-01 -3.31661092e-03 6.27460205e+01] [ 4.72642688e-03 -3.58730563e-05 9.99988830e-01 4.01029774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.570281693 meters 0.016911760295047654 Centerline is valid? [True, True] Translation: X:180.32, Y:62.77, Z:0.40 [[ 7.07864718e-01 -7.06339657e-01 -3.43953038e-03 1.80320450e+02] [ 7.06331528e-01 7.07873073e-01 -3.38879409e-03 6.27660299e+01] [ 4.82839059e-03 -3.06409795e-05 9.99988343e-01 4.00884821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.600281693 meters 0.01630204772886153 Centerline is valid? [True, True] Translation: X:180.34, Y:62.79, Z:0.40 [[ 7.08462817e-01 -7.05741005e-01 -3.17337783e-03 1.80338430e+02] [ 7.05734074e-01 7.08469924e-01 -3.12777527e-03 6.27860664e+01] [ 4.45564201e-03 -2.36483857e-05 9.99990073e-01 4.01786023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.630281693 meters 0.014957324374735011 Centerline is valid? [True, True] Translation: X:180.35, Y:62.81, Z:0.41 [[ 7.10521860e-01 -7.03673034e-01 -1.71716729e-03 1.80353480e+02] [ 7.03670997e-01 7.10523935e-01 -1.69291120e-03 6.28100568e+01] [ 2.41134442e-03 -5.47040733e-06 9.99997093e-01 4.05884074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.660281693 meters 0.014662627279824392 Centerline is valid? [True, True] Translation: X:180.37, Y:62.83, Z:0.41 [[ 7.12622066e-01 -7.01547289e-01 -1.09179161e-03 1.80368233e+02] [ 7.01546463e-01 7.12622902e-01 -1.07659028e-03 6.28327935e+01] [ 1.53331470e-03 1.25944352e-06 9.99998824e-01 4.07320904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690281693 meters 0.014748047578357197 Centerline is valid? [True, True] Translation: X:180.39, Y:62.85, Z:0.41 [[ 7.12985696e-01 -7.01177019e-01 -1.47811528e-03 1.80386550e+02] [ 7.01175503e-01 7.12987228e-01 -1.45835121e-03 6.28532498e+01] [ 2.07643967e-03 3.36533227e-06 9.99997844e-01 4.06553489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720281693 meters 0.014774142111869802 Centerline is valid? [True, True] Translation: X:180.40, Y:62.87, Z:0.40 [[ 7.12833498e-01 -7.01330245e-01 -2.07157546e-03 1.80404654e+02] [ 7.01327264e-01 7.12836508e-01 -2.04492259e-03 6.28723731e+01] [ 2.91086067e-03 4.83696989e-06 9.99995763e-01 4.04994978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750281693 meters 0.01488900152703454 Centerline is valid? [True, True] Translation: X:180.43, Y:62.89, Z:0.40 [[ 7.11279837e-01 -7.02901650e-01 -3.20371694e-03 1.80425129e+02] [ 7.02894528e-01 7.11287052e-01 -3.16412501e-03 6.28894678e+01] [ 4.50283107e-03 -1.29678552e-06 9.99989862e-01 4.01648436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780281693 meters 0.015172109947535178 Centerline is valid? [True, True] Translation: X:180.45, Y:62.91, Z:0.40 [[ 7.09971890e-01 -7.04221235e-01 -3.51661020e-03 1.80446805e+02] [ 7.04212664e-01 7.09980600e-01 -3.47459106e-03 6.29062700e+01] [ 4.94360583e-03 -9.57945226e-06 9.99987780e-01 4.00282147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810281693 meters 0.01658553074690782 Centerline is valid? [True, True] Translation: X:180.47, Y:62.92, Z:0.40 [[ 7.07351867e-01 -7.06855283e-01 -2.99100107e-03 1.80471542e+02] [ 7.06849101e-01 7.07358190e-01 -2.95636424e-03 6.29179720e+01] [ 4.20543079e-03 -2.29966544e-05 9.99991157e-01 4.01152450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840281693 meters 0.01766118704938006 Centerline is valid? [True, True] Translation: X:180.49, Y:62.93, Z:0.40 [[ 7.05958038e-01 -7.08250066e-01 -2.25666826e-03 1.80493687e+02] [ 7.08246552e-01 7.05961644e-01 -2.23128752e-03 6.29335657e+01] [ 3.17343077e-03 -2.30821548e-05 9.99994964e-01 4.03582040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870281693 meters 0.019971675409718 Centerline is valid? [True, True] Translation: X:180.52, Y:62.95, Z:0.41 [[ 7.03829743e-01 -7.10368546e-01 -4.71146281e-04 1.80518868e+02] [ 7.10368393e-01 7.03829900e-01 -4.65642766e-04 6.29474728e+01] [ 6.62384814e-04 -6.95419843e-06 9.99999781e-01 4.09530784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900281693 meters 0.020453020087657345 Centerline is valid? [True, True] Translation: X:180.54, Y:62.96, Z:0.41 [[ 7.03380319e-01 -7.10813698e-01 -1.15896557e-04 1.80539840e+02] [ 7.10813689e-01 7.03380328e-01 -1.14173289e-04 6.29648857e+01] [ 1.62675296e-04 -2.07361464e-06 9.99999987e-01 4.10988942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93028169299998 meters 0.02034818948795667 Centerline is valid? [True, True] Translation: X:180.56, Y:62.98, Z:0.41 [[ 7.03433789e-01 -7.10760499e-01 -6.45902790e-04 1.80559433e+02] [ 7.10760212e-01 7.03434086e-01 -6.38962990e-04 6.29831871e+01] [ 9.08499692e-04 -9.61384685e-06 9.99999587e-01 4.09059430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96028169299998 meters 0.01945903252459025 Centerline is valid? [True, True] Translation: X:180.58, Y:63.00, Z:0.40 [[ 7.04210515e-01 -7.09982614e-01 -3.49834220e-03 1.80577823e+02] [ 7.09974163e-01 7.04219203e-01 -3.46444580e-03 6.30023736e+01] [ 4.92329604e-03 -4.40334128e-05 9.99987880e-01 3.98930464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.990281693 meters 0.0192677110075057 Centerline is valid? [True, True] Translation: X:180.60, Y:63.02, Z:0.40 [[ 7.04466459e-01 -7.09724402e-01 -4.27563201e-03 1.80596701e+02] [ 7.09711763e-01 7.04479432e-01 -4.23594866e-03 6.30215021e+01] [ 6.01845095e-03 -5.03825791e-05 9.99981888e-01 3.96012114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.020281693 meters 0.0185890005449054 Centerline is valid? [True, True] Translation: X:180.62, Y:63.04, Z:0.40 [[ 7.03693147e-01 -7.10492191e-01 -4.09895188e-03 1.80617655e+02] [ 7.10480579e-01 7.03705083e-01 -4.06250807e-03 6.30390882e+01] [ 5.77083353e-03 -5.34666128e-05 9.99983347e-01 3.98446210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.050281693 meters 0.0185890005449054 Centerline is valid? [True, True] Translation: X:180.64, Y:63.06, Z:0.40 [[ 7.03546870e-01 -7.10637043e-01 -4.09811539e-03 1.80636416e+02] [ 7.10625428e-01 7.03558804e-01 -4.06335183e-03 6.30580338e+01] [ 5.77083349e-03 -5.34665418e-05 9.99983347e-01 3.98499240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.080281693 meters 0.019398129606409534 Centerline is valid? [True, True] Translation: X:180.66, Y:63.08, Z:0.40 [[ 7.02380444e-01 -7.11790965e-01 -3.91590199e-03 1.80658249e+02] [ 7.11780369e-01 7.02391357e-01 -3.88415277e-03 6.30752751e+01] [ 5.51520056e-03 -5.91092178e-05 9.99984789e-01 3.99273886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.110281693 meters 0.024960509683937888 Centerline is valid? [True, True] Translation: X:180.68, Y:63.09, Z:0.40 [[ 7.00068327e-01 -7.14066306e-01 -3.69436224e-03 1.80684331e+02] [ 7.14056901e-01 7.00078071e-01 -3.66555564e-03 6.30867747e+01] [ 5.20379177e-03 -7.18454479e-05 9.99986458e-01 3.98782596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.140281693 meters 0.02295472214429325 Centerline is valid? [True, True] Translation: X:180.70, Y:63.11, Z:0.40 [[ 6.98978535e-01 -7.15135831e-01 -3.12259447e-03 1.80702121e+02] [ 7.15129118e-01 6.98985507e-01 -3.09922056e-03 6.31087339e+01] [ 4.39901195e-03 -6.67695861e-05 9.99990322e-01 4.01703070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.170281693 meters 0.02324985676388871 Centerline is valid? [True, True] Translation: X:180.72, Y:63.13, Z:0.41 [[ 6.98096387e-01 -7.16002585e-01 -1.31622223e-03 1.80723727e+02] [ 7.16001393e-01 6.98097628e-01 -1.30655489e-03 6.31267175e+01] [ 1.85434830e-03 -3.03157040e-05 9.99998280e-01 4.05136145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.200281693 meters 0.022637267037401522 Centerline is valid? [True, True] Translation: X:180.74, Y:63.15, Z:0.41 [[ 6.98316181e-01 -7.15788860e-01 -9.05158074e-04 1.80743820e+02] [ 7.15788296e-01 6.98316767e-01 -8.98666183e-04 6.31463446e+01] [ 1.27534230e-03 -2.03484195e-05 9.99999187e-01 4.05847254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.230281693 meters 0.025731678347359316 Centerline is valid? [True, True] Translation: X:180.77, Y:63.16, Z:0.41 [[ 6.99259557e-01 -7.14867401e-01 -8.18830458e-04 1.80766487e+02] [ 7.14866939e-01 6.99260037e-01 -8.13273289e-04 6.31615097e+01] [ 1.15395798e-03 -1.66657024e-05 9.99999334e-01 4.06516942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.260281693 meters 0.018678121126791233 Centerline is valid? [True, True] Translation: X:180.78, Y:63.19, Z:0.40 [[ 7.02638993e-01 -7.11542528e-01 -2.38267264e-03 1.80777586e+02] [ 7.11538588e-01 7.02643032e-01 -2.36798773e-03 6.31903213e+01] [ 3.35909230e-03 -3.15230083e-05 9.99994358e-01 4.02121101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.290281693 meters 0.01664363792781457 Centerline is valid? [True, True] Translation: X:180.79, Y:63.21, Z:0.40 [[ 7.04328657e-01 -7.09864111e-01 -3.75318422e-03 1.80793597e+02] [ 7.09854303e-01 7.04338656e-01 -3.73173998e-03 6.32139362e+01] [ 5.29254101e-03 -3.58425581e-05 9.99985994e-01 3.99411978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.320281693 meters 0.015279305983135521 Centerline is valid? [True, True] Translation: X:180.81, Y:63.24, Z:0.40 [[ 7.07948243e-01 -7.06245096e-01 -5.21045132e-03 1.80806400e+02] [ 7.06226078e-01 7.07967417e-01 -5.18289159e-03 6.32388198e+01] [ 7.34922153e-03 -1.05375998e-05 9.99972994e-01 3.95437497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.350281693 meters 0.014970022652801427 Centerline is valid? [True, True] Translation: X:180.82, Y:63.26, Z:0.40 [[ 7.09348781e-01 -7.04843529e-01 -4.46172395e-03 1.80822013e+02] [ 7.04829545e-01 7.09362813e-01 -4.43984886e-03 6.32612695e+01] [ 6.29437979e-03 4.64651354e-06 9.99980190e-01 3.98008443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.380281693 meters 0.015026226021898834 Centerline is valid? [True, True] Translation: X:180.84, Y:63.28, Z:0.40 [[ 7.10479664e-01 -7.03710326e-01 -3.22857597e-03 1.80839261e+02] [ 7.03702988e-01 7.10486999e-01 -3.21384425e-03 6.32841440e+01] [ 4.55547664e-03 1.14124258e-05 9.99989624e-01 4.01710808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.410281693 meters 0.014870890869602934 Centerline is valid? [True, True] Translation: X:180.86, Y:63.31, Z:0.41 [[ 7.10764138e-01 -7.03429563e-01 -1.09063582e-03 1.80855231e+02] [ 7.03428725e-01 7.10764975e-01 -1.08571445e-03 6.33075339e+01] [ 1.53890938e-03 4.50233068e-06 9.99998816e-01 4.07083197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440281693 meters 0.014522056468718285 Centerline is valid? [True, True] Translation: X:180.87, Y:63.33, Z:0.41 [[ 7.09649777e-01 -7.04554474e-01 -4.31899416e-04 1.80873178e+02] [ 7.04554343e-01 7.09649909e-01 -4.29792834e-04 6.33284674e+01] [ 6.09309846e-04 7.05779556e-07 9.99999814e-01 4.08731307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470281693 meters 0.014401108220610699 Centerline is valid? [True, True] Translation: X:180.89, Y:63.35, Z:0.41 [[ 7.08585726e-01 -7.05624500e-01 -5.77563981e-04 1.80892504e+02] [ 7.05624266e-01 7.08585962e-01 -5.75136372e-04 6.33470057e+01] [ 8.15084044e-04 -9.73588410e-09 9.99999668e-01 4.08229466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500281693 meters 0.014548354584451 Centerline is valid? [True, True] Translation: X:180.91, Y:63.37, Z:0.41 [[ 7.06851547e-01 -7.07361770e-01 -4.64599201e-04 1.80914483e+02] [ 7.07361619e-01 7.06851700e-01 -4.62739718e-04 6.33650437e+01] [ 6.55727121e-04 -1.55135704e-06 9.99999785e-01 4.08131669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530281693 meters 0.018407414585082226 Centerline is valid? [True, True] Translation: X:180.94, Y:63.38, Z:0.41 [[ 7.01992586e-01 -7.12184208e-01 2.52097145e-04 1.80942432e+02] [ 7.12184163e-01 7.01992631e-01 2.51755146e-04 6.33761674e+01] [-3.56266378e-04 2.80934839e-06 9.99999937e-01 4.10275472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560281693 meters 0.01977164232745387 Centerline is valid? [True, True] Translation: X:180.97, Y:63.39, Z:0.41 [[ 6.99339413e-01 -7.14789706e-01 2.49789684e-04 1.80965168e+02] [ 7.14789662e-01 6.99339457e-01 2.49713414e-04 6.33938458e+01] [-3.53180360e-04 3.91265113e-06 9.99999938e-01 4.09875278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590281693 meters 0.02571079729703477 Centerline is valid? [True, True] Translation: X:180.99, Y:63.40, Z:0.41 [[ 6.95234160e-01 -7.18782965e-01 -7.14966039e-04 1.80993036e+02] [ 7.18782612e-01 6.95234528e-01 -7.13138993e-04 6.34042049e+01] [ 1.00966124e-03 -1.81065679e-05 9.99999490e-01 4.08355317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620281693 meters 0.025905391261167608 Centerline is valid? [True, True] Translation: X:181.01, Y:63.42, Z:0.41 [[ 6.94031526e-01 -7.19943916e-01 -9.99339423e-04 1.81013525e+02] [ 7.19943226e-01 6.94032245e-01 -9.97183516e-04 6.34231084e+01] [ 1.41148999e-03 -2.73908508e-05 9.99999003e-01 4.06826803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650281693 meters 0.028652883423346653 Centerline is valid? [True, True] Translation: X:181.04, Y:63.44, Z:0.41 [[ 6.93405917e-01 -7.20545652e-01 -1.48235884e-03 1.81035973e+02] [ 7.20544134e-01 6.93407500e-01 -1.47990908e-03 6.34384189e+01] [ 2.09422079e-03 -4.19272519e-05 9.99997806e-01 4.06233651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68028169299998 meters 0.026797206449618884 Centerline is valid? [True, True] Translation: X:181.05, Y:63.46, Z:0.41 [[ 6.93388324e-01 -7.20563419e-01 -9.95622097e-04 1.81054492e+02] [ 7.20562733e-01 6.93389039e-01 -9.94180675e-04 6.34577887e+01] [ 1.40672367e-03 -2.80549073e-05 9.99999010e-01 4.06635428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71028169299998 meters 0.026289479738826355 Centerline is valid? [True, True] Translation: X:181.07, Y:63.48, Z:0.41 [[ 6.93599979e-01 -7.20359711e-01 -9.77266672e-04 1.81074667e+02] [ 7.20359050e-01 6.93600667e-01 -9.76268065e-04 6.34776026e+01] [ 1.38109700e-03 -2.68433821e-05 9.99999046e-01 4.07002597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.740281693 meters 0.026155637536195212 Centerline is valid? [True, True] Translation: X:181.10, Y:63.49, Z:0.40 [[ 6.94486859e-01 -7.19502672e-01 -1.97695648e-03 1.81095475e+02] [ 7.19499960e-01 6.94489671e-01 -1.97618100e-03 6.34942499e+01] [ 2.79484336e-03 -4.99883754e-05 9.99996093e-01 4.04066011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.770281693 meters 0.0239191111208791 Centerline is valid? [True, True] Translation: X:181.11, Y:63.52, Z:0.40 [[ 6.95056334e-01 -7.18950385e-01 -2.65253274e-03 1.81114246e+02] [ 7.18945495e-01 6.95061393e-01 -2.65254693e-03 6.35157923e+01] [ 3.75072274e-03 -6.33569173e-05 9.99992964e-01 4.02657008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.800281693 meters 0.020709343742977823 Centerline is valid? [True, True] Translation: X:181.13, Y:63.54, Z:0.40 [[ 6.97974597e-01 -7.16113476e-01 -3.59880119e-03 1.81129546e+02] [ 7.16104428e-01 6.97983872e-01 -3.60033460e-03 6.35390269e+01] [ 5.09015332e-03 -6.41753753e-05 9.99987043e-01 4.01144900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.830281693 meters 0.018422288933837426 Centerline is valid? [True, True] Translation: X:181.14, Y:63.56, Z:0.40 [[ 7.00402504e-01 -7.13735990e-01 -4.15559599e-03 1.81143854e+02] [ 7.13723876e-01 7.00414830e-01 -4.15874776e-03 6.35627848e+01] [ 5.87888901e-03 -5.31507299e-05 9.99982718e-01 4.00323250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.860281693 meters 0.015103321065109454 Centerline is valid? [True, True] Translation: X:181.15, Y:63.60, Z:0.40 [[ 7.06936243e-01 -7.07262805e-01 -4.52482435e-03 1.81149733e+02] [ 7.07248299e-01 7.06950723e-01 -4.52973637e-03 6.35969874e+01] [ 6.40254190e-03 2.06049098e-06 9.99979504e-01 3.99382065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.890281693 meters 0.016920416444155564 Centerline is valid? [True, True] Translation: X:181.16, Y:63.63, Z:0.40 [[ 7.10891711e-01 -7.03287926e-01 -4.36677515e-03 1.81160293e+02] [ 7.03274332e-01 7.10905121e-01 -4.37298323e-03 6.36255035e+01] [ 6.17982913e-03 3.76766540e-05 9.99980904e-01 3.99230210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.920281693 meters 0.021144325595659447 Centerline is valid? [True, True] Translation: X:181.17, Y:63.65, Z:0.40 [[ 7.14933368e-01 -6.99180482e-01 -4.11489847e-03 1.81170392e+02] [ 6.99168334e-01 7.14945207e-01 -4.12218475e-03 6.36549023e+01] [ 5.82407806e-03 7.00807214e-05 9.99983037e-01 3.99775536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.950281693 meters 0.029714473644861263 Centerline is valid? [True, True] Translation: X:181.17, Y:63.69, Z:0.40 [[ 7.21680044e-01 -6.92213995e-01 -4.20693849e-03 1.81173023e+02] [ 6.92201169e-01 7.21692294e-01 -4.21597209e-03 6.36915337e+01] [ 5.95446998e-03 1.30535183e-04 9.99982263e-01 4.00210991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.980281693 meters 0.03272287061941671 Centerline is valid? [True, True] Translation: X:181.19, Y:63.72, Z:0.40 [[ 7.23721487e-01 -6.90080502e-01 -4.01371935e-03 1.81186000e+02] [ 6.90068785e-01 7.23732603e-01 -4.02376082e-03 6.37188064e+01] [ 5.68157844e-03 1.42339727e-04 9.99983850e-01 4.00427718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.010281693 meters 0.03511491822742506 Centerline is valid? [True, True] Translation: X:181.20, Y:63.75, Z:0.40 [[ 7.25608537e-01 -6.88103256e-01 -2.48189015e-03 1.81195545e+02] [ 6.88098762e-01 7.25612775e-01 -2.48878316e-03 6.37495443e+01] [ 3.51343099e-03 9.80967623e-05 9.99993823e-01 4.03935189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.040281693 meters 0.036448939617658604 Centerline is valid? [True, True] Translation: X:181.21, Y:63.77, Z:0.40 [[ 7.25213089e-01 -6.88521989e-01 -1.85639337e-03 1.81208953e+02] [ 6.88519475e-01 7.25215462e-01 -1.86204255e-03 6.37740026e+01] [ 2.62834241e-03 7.22146438e-05 9.99996543e-01 4.04649964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.070281693 meters 0.03540295800774217 Centerline is valid? [True, True] Translation: X:181.22, Y:63.80, Z:0.40 [[ 7.24146273e-01 -6.89644136e-01 -1.77221395e-03 1.81222648e+02] [ 6.89641847e-01 7.24148439e-01 -1.77810025e-03 6.38007140e+01] [ 2.50960237e-03 6.54117655e-05 9.99996849e-01 4.04476354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.100281693 meters 0.032781839378219664 Centerline is valid? [True, True] Translation: X:181.24, Y:63.82, Z:0.40 [[ 7.23481635e-01 -6.90340680e-01 -2.01732641e-03 1.81241130e+02] [ 6.90337714e-01 7.23484444e-01 -2.02480892e-03 6.38219490e+01] [ 2.85731224e-03 7.22755704e-05 9.99995915e-01 4.04374831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.130281693 meters 0.03178533853071173 Centerline is valid? [True, True] Translation: X:181.26, Y:63.84, Z:0.40 [[ 7.22794266e-01 -6.91059431e-01 -2.30467021e-03 1.81257977e+02] [ 6.91055561e-01 7.22797936e-01 -2.31414688e-03 6.38448932e+01] [ 3.26502390e-03 7.99969330e-05 9.99994667e-01 4.03736489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.160281693 meters 0.02889499617556169 Centerline is valid? [True, True] Translation: X:181.27, Y:63.87, Z:0.40 [[ 7.20903831e-01 -6.93032977e-01 -1.72001141e-03 1.81274140e+02] [ 6.93030826e-01 7.20905881e-01 -1.72758499e-03 6.38680007e+01] [ 2.43723971e-03 5.34017126e-05 9.99997029e-01 4.04980123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190281693 meters 0.027887204980191416 Centerline is valid? [True, True] Translation: X:181.29, Y:63.89, Z:0.41 [[ 7.19389041e-01 -6.94605724e-01 -1.51540854e-03 1.81292308e+02] [ 6.94604057e-01 7.19390635e-01 -1.52257720e-03 6.38882419e+01] [ 2.14776155e-03 4.27164313e-05 9.99997693e-01 4.05043008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220281693 meters 0.02199862185300784 Centerline is valid? [True, True] Translation: X:181.31, Y:63.91, Z:0.40 [[ 7.15205738e-01 -6.98909864e-01 -2.39881567e-03 1.81314877e+02] [ 6.98905707e-01 7.15209760e-01 -2.41094196e-03 6.39053050e+01] [ 3.40068749e-03 4.77735651e-05 9.99994217e-01 4.02069426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250281693 meters 0.020017314523753375 Centerline is valid? [True, True] Translation: X:181.33, Y:63.92, Z:0.40 [[ 7.12961622e-01 -7.01196440e-01 -3.04602900e-03 1.81334376e+02] [ 7.01189755e-01 7.12968127e-01 -3.06224743e-03 6.39242547e+01] [ 4.31895859e-03 4.74205629e-05 9.99990672e-01 4.00665441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280281693 meters 0.017979072784559312 Centerline is valid? [True, True] Translation: X:181.35, Y:63.94, Z:0.40 [[ 7.10666410e-01 -7.03520980e-01 -3.38888166e-03 1.81354605e+02] [ 7.03512728e-01 7.10674489e-01 -3.40778082e-03 6.39423490e+01] [ 4.80583704e-03 3.76739798e-05 9.99988451e-01 3.99578024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310281693 meters 0.015042447142804904 Centerline is valid? [True, True] Translation: X:181.38, Y:63.96, Z:0.40 [[ 7.05637857e-01 -7.08564895e-01 -3.31730976e-03 1.81380858e+02] [ 7.08557038e-01 7.05645654e-01 -3.33681464e-03 6.39562255e+01] [ 4.70519493e-03 4.07955315e-06 9.99988931e-01 3.99932534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340281693 meters 0.015330654958980226 Centerline is valid? [True, True] Translation: X:181.40, Y:63.97, Z:0.40 [[ 7.02707431e-01 -7.11470805e-01 -3.39988396e-03 1.81404979e+02] [ 7.11462580e-01 7.02715656e-01 -3.42112867e-03 6.39722436e+01] [ 4.82318486e-03 -1.48376739e-05 9.99988368e-01 4.00574658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370281693 meters 0.018947007706834985 Centerline is valid? [True, True] Translation: X:181.43, Y:63.99, Z:0.40 [[ 6.97244130e-01 -7.16827645e-01 -2.95813235e-03 1.81431904e+02] [ 7.16821462e-01 6.97250404e-01 -2.97762638e-03 6.39853698e+01] [ 4.19700388e-03 -4.43202379e-05 9.99991192e-01 4.01140267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400281693 meters 0.021823566722369802 Centerline is valid? [True, True] Translation: X:181.45, Y:64.00, Z:0.40 [[ 6.94819761e-01 -7.19178660e-01 -2.74858188e-03 1.81454876e+02] [ 7.19173337e-01 6.94825195e-01 -2.76746655e-03 6.40008819e+01] [ 3.90008683e-03 -5.38163593e-05 9.99992393e-01 4.01882321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43028169299998 meters 0.026677913900682082 Centerline is valid? [True, True] Translation: X:181.48, Y:64.01, Z:0.40 [[ 6.90542044e-01 -7.23287933e-01 -2.50044536e-03 1.81482243e+02] [ 7.23283552e-01 6.90546567e-01 -2.51818406e-03 6.40129080e+01] [ 3.54804611e-03 -6.96190340e-05 9.99993703e-01 4.03062669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46028169299998 meters 0.029515216390815113 Centerline is valid? [True, True] Translation: X:181.51, Y:64.03, Z:0.40 [[ 6.88246576e-01 -7.25473332e-01 -2.25726933e-03 1.81506661e+02] [ 7.25469772e-01 6.88250274e-01 -2.27388324e-03 6.40288116e+01] [ 3.20320789e-03 -7.25883168e-05 9.99994867e-01 4.04320728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.490281693 meters 0.03525409735513551 Centerline is valid? [True, True] Translation: X:181.54, Y:64.04, Z:0.41 [[ 6.84585809e-01 -7.28929670e-01 -1.95109865e-03 1.81535927e+02] [ 7.28927022e-01 6.84588585e-01 -1.96602942e-03 6.40376161e+01] [ 2.76879704e-03 -7.62926869e-05 9.99996164e-01 4.06393710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.520281693 meters 0.03778962036000302 Centerline is valid? [True, True] Translation: X:181.56, Y:64.05, Z:0.41 [[ 6.83138828e-01 -7.30286172e-01 -1.85693633e-03 1.81559988e+02] [ 7.30283778e-01 6.83141347e-01 -1.87164804e-03 6.40512688e+01] [ 2.63538867e-03 -7.74950348e-05 9.99996524e-01 4.06815419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.550281693 meters 0.03990065876265002 Centerline is valid? [True, True] Translation: X:181.58, Y:64.07, Z:0.41 [[ 6.81889430e-01 -7.31452898e-01 -1.86077292e-03 1.81583975e+02] [ 7.31450497e-01 6.81891964e-01 -1.87610548e-03 6.40656281e+01] [ 2.64112889e-03 -8.17667762e-05 9.99996509e-01 4.06435152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.580281693 meters 0.0417979133504167 Centerline is valid? [True, True] Translation: X:181.61, Y:64.08, Z:0.41 [[ 6.80589696e-01 -7.32663565e-01 -1.32907071e-03 1.81611098e+02] [ 7.32662341e-01 6.80590991e-01 -1.34037758e-03 6.40784982e+01] [ 1.88659937e-03 -6.15128889e-05 9.99998218e-01 4.07711793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.610281693 meters 0.0355063173029137 Centerline is valid? [True, True] Translation: X:181.63, Y:64.10, Z:0.41 [[ 6.80465207e-01 -7.32779293e-01 -1.26864865e-03 1.81627526e+02] [ 7.32778178e-01 6.80466387e-01 -1.27987083e-03 6.41018735e+01] [ 1.80113561e-03 -5.87304824e-05 9.99998376e-01 4.08581468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.640281693 meters 0.03932826812005207 Centerline is valid? [True, True] Translation: X:181.66, Y:64.11, Z:0.41 [[ 6.81820922e-01 -7.31517043e-01 -1.74521834e-03 1.81656120e+02] [ 7.31514926e-01 6.81823151e-01 -1.76149680e-03 6.41113463e+01] [ 2.47849520e-03 -7.56278938e-05 9.99996926e-01 4.08890203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.670281693 meters 0.03519921835626816 Centerline is valid? [True, True] Translation: X:181.67, Y:64.13, Z:0.41 [[ 6.83332231e-01 -7.30103127e-01 -2.54671630e-03 1.81674924e+02] [ 7.30098607e-01 6.83336969e-01 -2.57133912e-03 6.41322610e+01] [ 3.61760813e-03 -1.02275124e-04 9.99993451e-01 4.07167316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.700281693 meters 0.03308271090701903 Centerline is valid? [True, True] Translation: X:181.70, Y:64.15, Z:0.40 [[ 6.86288948e-01 -7.27321277e-01 -3.35260687e-03 1.81696516e+02] [ 7.27313402e-01 6.86297127e-01 -3.38649562e-03 6.41484089e+01] [ 4.76395478e-03 -1.14281391e-04 9.99988646e-01 4.04432016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.730281693 meters 0.03127544739793631 Centerline is valid? [True, True] Translation: X:181.72, Y:64.17, Z:0.40 [[ 6.87244337e-01 -7.26419262e-01 -3.20579309e-03 1.81716607e+02] [ 7.26412046e-01 6.87251806e-01 -3.23940602e-03 6.41676709e+01] [ 4.55635402e-03 -1.02463272e-04 9.99989615e-01 4.04732260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.760281693 meters 0.030399245853265984 Centerline is valid? [True, True] Translation: X:181.74, Y:64.18, Z:0.41 [[ 6.88008457e-01 -7.25697175e-01 -2.82361355e-03 1.81737188e+02] [ 7.25691567e-01 6.88014246e-01 -2.85410841e-03 6.41845937e+01] [ 4.01390476e-03 -8.54218223e-05 9.99991941e-01 4.05528838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.790281693 meters 0.028523218646398882 Centerline is valid? [True, True] Translation: X:181.76, Y:64.20, Z:0.41 [[ 6.88779418e-01 -7.24969239e-01 -1.58611576e-03 1.81761857e+02] [ 7.24967467e-01 6.88781243e-01 -1.60355975e-03 6.41999283e+01] [ 2.25501827e-03 -4.53833727e-05 9.99997456e-01 4.09187997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.820281693 meters 0.028885480198505543 Centerline is valid? [True, True] Translation: X:181.78, Y:64.22, Z:0.41 [[ 6.89125889e-01 -7.24640265e-01 -1.41281568e-03 1.81783144e+02] [ 7.24638857e-01 6.89127336e-01 -1.42880998e-03 6.42157558e+01] [ 2.00898315e-03 -3.91511902e-05 9.99997981e-01 4.09477949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.850281693 meters 0.02220198623107106 Centerline is valid? [True, True] Translation: X:181.80, Y:64.24, Z:0.41 [[ 6.92255518e-01 -7.21648995e-01 -2.24191461e-03 1.81798833e+02] [ 7.21645431e-01 6.92259146e-01 -2.26857122e-03 6.42392316e+01] [ 3.18909804e-03 -4.74364866e-05 9.99994914e-01 4.08299293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.880281693 meters 0.019258873813120997 Centerline is valid? [True, True] Translation: X:181.81, Y:64.26, Z:0.41 [[ 6.95010787e-01 -7.18993701e-01 -2.83979196e-03 1.81814482e+02] [ 7.18987955e-01 6.95016587e-01 -2.87476401e-03 6.42613274e+01] [ 4.04063973e-03 -4.37842115e-05 9.99991836e-01 4.06856809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.910281693 meters 0.01628101253257134 Centerline is valid? [True, True] Translation: X:181.83, Y:64.29, Z:0.41 [[ 6.98418029e-01 -7.15683152e-01 -3.14368703e-03 1.81829416e+02] [ 7.15676071e-01 6.98425104e-01 -3.18361228e-03 6.42862124e+01] [ 4.47408761e-03 -2.63693728e-05 9.99989991e-01 4.06606408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940281693 meters 0.01530842251444664 Centerline is valid? [True, True] Translation: X:181.84, Y:64.32, Z:0.41 [[ 7.05025527e-01 -7.09174940e-01 -3.14804993e-03 1.81838525e+02] [ 7.09167769e-01 7.05032555e-01 -3.18923120e-03 6.43166292e+01] [ 4.48120053e-03 1.59938637e-05 9.99989959e-01 4.07109774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970281693 meters 0.017175041790842772 Centerline is valid? [True, True] Translation: X:181.85, Y:64.34, Z:0.41 [[ 7.07692989e-01 -7.06514593e-01 -2.78625559e-03 1.81852469e+02] [ 7.06508952e-01 7.07698473e-01 -2.82341633e-03 6.43407340e+01] [ 3.96661366e-03 2.95974270e-05 9.99992133e-01 4.07426612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000281693 meters 0.017175041790842772 Centerline is valid? [True, True] Translation: X:181.87, Y:64.36, Z:0.41 [[ 7.07561468e-01 -7.06646310e-01 -2.78587523e-03 1.81871634e+02] [ 7.06640669e-01 7.07566952e-01 -2.82379160e-03 6.43604412e+01] [ 3.96661516e-03 2.93933961e-05 9.99992133e-01 4.07481307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030281693 meters 0.021742038893766285 Centerline is valid? [True, True] Translation: X:181.88, Y:64.39, Z:0.41 [[ 7.11979855e-01 -7.02196429e-01 -2.20478500e-03 1.81882462e+02] [ 7.02192872e-01 7.11983267e-01 -2.23549732e-03 6.43894710e+01] [ 3.13952827e-03 4.34447480e-05 9.99995071e-01 4.08331599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060281693 meters 0.02468920042017325 Centerline is valid? [True, True] Translation: X:181.90, Y:64.41, Z:0.41 [[ 7.13344947e-01 -7.00809453e-01 -2.25770960e-03 1.81897081e+02] [ 7.00805714e-01 7.13348518e-01 -2.28996910e-03 6.44140058e+01] [ 3.21536579e-03 5.13221011e-05 9.99994829e-01 4.08658877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090281693 meters 0.025941331298826427 Centerline is valid? [True, True] Translation: X:181.91, Y:64.44, Z:0.41 [[ 7.14171745e-01 -6.99965834e-01 -2.55905724e-03 1.81913993e+02] [ 6.99961021e-01 7.14176327e-01 -2.59657744e-03 6.44370202e+01] [ 3.64513359e-03 6.31619232e-05 9.99993354e-01 4.08054570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120281693 meters 0.027231657055395046 Centerline is valid? [True, True] Translation: X:181.93, Y:64.46, Z:0.41 [[ 7.14806159e-01 -6.99314279e-01 -3.41963018e-03 1.81928341e+02] [ 6.99305670e-01 7.14814333e-01 -3.47108203e-03 6.44607357e+01] [ 4.87177789e-03 8.97840421e-05 9.99988129e-01 4.05819417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150281693 meters 0.02584440658225167 Centerline is valid? [True, True] Translation: X:181.95, Y:64.48, Z:0.41 [[ 7.14813987e-01 -6.99306430e-01 -3.38816513e-03 1.81946725e+02] [ 6.99297973e-01 7.14822012e-01 -3.44036088e-03 6.44812923e+01] [ 4.82780150e-03 8.98810703e-05 9.99988342e-01 4.05777794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18028169299998 meters 0.02540520762824358 Centerline is valid? [True, True] Translation: X:181.97, Y:64.50, Z:0.41 [[ 7.14396409e-01 -6.99732729e-01 -3.44661423e-03 1.81966683e+02] [ 6.99723976e-01 7.14404717e-01 -3.50098783e-03 6.45015975e+01] [ 4.91203323e-03 8.94145228e-05 9.99987932e-01 4.05545609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21028169299998 meters 0.024683435477761285 Centerline is valid? [True, True] Translation: X:181.99, Y:64.52, Z:0.41 [[ 7.13822966e-01 -7.00316485e-01 -3.68690791e-03 1.81986323e+02] [ 7.00306470e-01 7.13832482e-01 -3.74649172e-03 6.45212777e+01] [ 5.25556454e-03 9.23663700e-05 9.99986185e-01 4.05066549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.240281693 meters 0.026021115190505005 Centerline is valid? [True, True] Translation: X:182.00, Y:64.54, Z:0.40 [[ 7.12980851e-01 -7.01173334e-01 -3.77634040e-03 1.82002043e+02] [ 7.01162831e-01 7.12990847e-01 -3.83885688e-03 6.45433446e+01] [ 5.38420022e-03 8.92019228e-05 9.99985501e-01 4.04806679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.270281693 meters 0.025325909150584764 Centerline is valid? [True, True] Translation: X:182.02, Y:64.56, Z:0.41 [[ 7.12925150e-01 -7.01231769e-01 -3.42577671e-03 1.82020560e+02] [ 7.01223120e-01 7.12933376e-01 -3.48373487e-03 6.45638510e+01] [ 4.88525612e-03 8.14083678e-05 9.99988064e-01 4.06833296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.300281693 meters 0.024994518028128118 Centerline is valid? [True, True] Translation: X:182.04, Y:64.59, Z:0.41 [[ 7.13139327e-01 -7.01017323e-01 -2.64834869e-03 1.82036470e+02] [ 7.01012149e-01 7.13144241e-01 -2.69402443e-03 6.45871319e+01] [ 3.77721241e-03 6.46901632e-05 9.99992864e-01 4.08908803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.330281693 meters 0.026198099086217518 Centerline is valid? [True, True] Translation: X:182.05, Y:64.61, Z:0.41 [[ 7.13329064e-01 -7.00824727e-01 -2.51940842e-03 1.82051818e+02] [ 7.00820041e-01 7.13333511e-01 -2.56381051e-03 6.46095064e+01] [ 3.59396025e-03 6.31886469e-05 9.99993540e-01 4.08295619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.360281693 meters 0.02669064879494854 Centerline is valid? [True, True] Translation: X:182.07, Y:64.63, Z:0.41 [[ 7.13326263e-01 -7.00827490e-01 -2.54401199e-03 1.82067846e+02] [ 7.00822708e-01 7.13330796e-01 -2.58986035e-03 6.46310624e+01] [ 3.62976743e-03 6.45140325e-05 9.99993410e-01 4.07783998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.390281693 meters 0.02521618061337827 Centerline is valid? [True, True] Translation: X:182.08, Y:64.65, Z:0.41 [[ 7.12467308e-01 -7.01698388e-01 -3.11561312e-03 1.82084112e+02] [ 7.01691218e-01 7.12474116e-01 -3.17307184e-03 6.46537936e+01] [ 4.44633309e-03 7.45115860e-05 9.99990112e-01 4.06022273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.420281693 meters 0.024024642981658892 Centerline is valid? [True, True] Translation: X:182.10, Y:64.68, Z:0.41 [[ 7.11408490e-01 -7.02769580e-01 -3.58859161e-03 1.82103017e+02] [ 7.02760075e-01 7.11417536e-01 -3.65587700e-03 6.46751013e+01] [ 5.12222614e-03 7.89030204e-05 9.99986878e-01 4.05371368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.450281693 meters 0.021697506711797883 Centerline is valid? [True, True] Translation: X:182.12, Y:64.70, Z:0.41 [[ 7.09215298e-01 -7.04984335e-01 -3.27842483e-03 1.82119874e+02] [ 7.04976422e-01 7.09222873e-01 -3.34085448e-03 6.46966166e+01] [ 4.68038395e-03 5.81729014e-05 9.99989045e-01 4.06560664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.480281693 meters 0.020487797752251683 Centerline is valid? [True, True] Translation: X:182.14, Y:64.72, Z:0.41 [[ 7.08320757e-01 -7.05885955e-01 -2.59284087e-03 1.82138478e+02] [ 7.05881008e-01 7.08325502e-01 -2.64304712e-03 6.47179950e+01] [ 3.70226515e-03 4.18880089e-05 9.99993146e-01 4.09263033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.510281693 meters 0.018876864174522452 Centerline is valid? [True, True] Translation: X:182.16, Y:64.74, Z:0.41 [[ 7.07696693e-01 -7.06513497e-01 -2.01725204e-03 1.82157370e+02] [ 7.06510504e-01 7.07699567e-01 -2.05695635e-03 6.47384059e+01] [ 2.88087582e-03 3.04914500e-05 9.99995850e-01 4.11444793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.540281693 meters 0.01870036572491545 Centerline is valid? [True, True] Translation: X:182.17, Y:64.76, Z:0.41 [[ 7.06541377e-01 -7.07670526e-01 -1.30734526e-03 1.82172658e+02] [ 7.07669270e-01 7.06542586e-01 -1.33339488e-03 6.47615985e+01] [ 1.86729936e-03 1.69305883e-05 9.99998256e-01 4.13004822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.570281693 meters 0.017253881517812052 Centerline is valid? [True, True] Translation: X:182.19, Y:64.78, Z:0.41 [[ 7.05473919e-01 -7.08734188e-01 -1.54949167e-03 1.82192809e+02] [ 7.08732425e-01 7.05475620e-01 -1.58108491e-03 6.47805010e+01] [ 2.21369753e-03 1.72391831e-05 9.99997550e-01 4.12505633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.600281693 meters 0.015478258527856946 Centerline is valid? [True, True] Translation: X:182.21, Y:64.80, Z:0.41 [[ 7.02803231e-01 -7.11381089e-01 -2.13642703e-03 1.82214587e+02] [ 7.11377747e-01 7.02806478e-01 -2.18089241e-03 6.47990590e+01] [ 3.05294037e-03 1.29315846e-05 9.99995340e-01 4.10532975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.630281693 meters 0.014903482296710936 Centerline is valid? [True, True] Translation: X:182.23, Y:64.82, Z:0.41 [[ 7.01208693e-01 -7.12951456e-01 -2.56709018e-03 1.82234909e+02] [ 7.12946637e-01 7.01213392e-01 -2.62139364e-03 6.48172014e+01] [ 3.66900442e-03 7.94570021e-06 9.99993269e-01 4.09768573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.660281693 meters 0.01474396247678036 Centerline is valid? [True, True] Translation: X:182.26, Y:64.84, Z:0.41 [[ 6.99708453e-01 -7.14421512e-01 -3.15981252e-03 1.82256174e+02] [ 7.14414219e-01 6.99715587e-01 -3.22801796e-03 6.48351707e+01] [ 4.51713555e-03 1.25646146e-06 9.99989798e-01 4.08570762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690281693 meters 0.014927256922713763 Centerline is valid? [True, True] Translation: X:182.28, Y:64.85, Z:0.41 [[ 6.97998400e-01 -7.16089876e-01 -3.67741709e-03 1.82278459e+02] [ 7.16080014e-01 6.98008087e-01 -3.75828246e-03 6.48522624e+01] [ 5.25813489e-03 -1.00497329e-05 9.99986176e-01 4.07907388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720281693 meters 0.014481820682888927 Centerline is valid? [True, True] Translation: X:182.29, Y:64.87, Z:0.41 [[ 6.98997677e-01 -7.15119037e-01 -2.64785511e-03 1.82293487e+02] [ 7.15113913e-01 6.99002692e-01 -2.70696467e-03 6.48747197e+01] [ 3.78665982e-03 -1.35601900e-06 9.99992831e-01 4.11463730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750281693 meters 0.01452152144023687 Centerline is valid? [True, True] Translation: X:182.31, Y:64.90, Z:0.41 [[ 7.00273400e-01 -7.13871416e-01 -2.18346446e-03 1.82308856e+02] [ 7.13867923e-01 7.00276804e-01 -2.23296786e-03 6.48984854e+01] [ 3.12308144e-03 4.98275634e-06 9.99995123e-01 4.13386828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780281693 meters 0.015066926787760039 Centerline is valid? [True, True] Translation: X:182.32, Y:64.92, Z:0.41 [[ 7.01725859e-01 -7.12444827e-01 -1.78512646e-03 1.82324067e+02] [ 7.12442487e-01 7.01728130e-01 -1.82618334e-03 6.49230390e+01] [ 2.55372833e-03 9.68013943e-06 9.99996739e-01 4.13715079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810281693 meters 0.01649007466618162 Centerline is valid? [True, True] Translation: X:182.34, Y:64.95, Z:0.41 [[ 7.03575689e-01 -7.10618006e-01 -1.81657806e-03 1.82338095e+02] [ 7.10615574e-01 7.03578034e-01 -1.85904488e-03 6.49477427e+01] [ 2.59917519e-03 1.70901163e-05 9.99996622e-01 4.13424986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840281693 meters 0.020486748720751295 Centerline is valid? [True, True] Translation: X:182.35, Y:64.98, Z:0.41 [[ 7.07319998e-01 -7.06890715e-01 -1.98420297e-03 1.82346815e+02] [ 7.06887797e-01 7.07322781e-01 -2.03131439e-03 6.49789082e+01] [ 2.83938925e-03 3.41804201e-05 9.99995968e-01 4.13334495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870281693 meters 0.023756898035900316 Centerline is valid? [True, True] Translation: X:182.36, Y:65.01, Z:0.41 [[ 7.09504297e-01 -7.04696802e-01 -2.46372573e-03 1.82355672e+02] [ 7.04692287e-01 7.09508572e-01 -2.52322543e-03 6.50086874e+01] [ 3.52614342e-03 5.40707624e-05 9.99993782e-01 4.12413855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900281693 meters 0.02387190688972621 Centerline is valid? [True, True] Translation: X:182.37, Y:65.03, Z:0.41 [[ 7.09362399e-01 -7.04839650e-01 -2.46070075e-03 1.82372168e+02] [ 7.04835143e-01 7.09366665e-01 -2.52103804e-03 6.50312375e+01] [ 3.52246665e-03 5.39412295e-05 9.99993795e-01 4.12260594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93028169299998 meters 0.022164596452847216 Centerline is valid? [True, True] Translation: X:182.39, Y:65.05, Z:0.41 [[ 7.08216809e-01 -7.05991300e-01 -2.28830238e-03 1.82391568e+02] [ 7.05987406e-01 7.08220504e-01 -2.34522994e-03 6.50518465e+01] [ 3.27633460e-03 4.54185973e-05 9.99994632e-01 4.13072619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96028169299998 meters 0.018552849237120493 Centerline is valid? [True, True] Translation: X:182.41, Y:65.07, Z:0.41 [[ 7.05009482e-01 -7.09193535e-01 -2.48218240e-03 1.82411458e+02] [ 7.09188970e-01 7.05013850e-01 -2.54474140e-03 6.50705219e+01] [ 3.55468712e-03 3.37304374e-05 9.99993682e-01 4.12679480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.990281693 meters 0.017407879954722115 Centerline is valid? [True, True] Translation: X:182.43, Y:65.09, Z:0.41 [[ 7.03779293e-01 -7.10411605e-01 -3.17130802e-03 1.82431374e+02] [ 7.10404162e-01 7.03786438e-01 -3.25228989e-03 6.50906894e+01] [ 4.54238805e-03 3.59838649e-05 9.99989683e-01 4.10603489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.020281693 meters 0.016100125858166326 Centerline is valid? [True, True] Translation: X:182.45, Y:65.11, Z:0.41 [[ 7.01834515e-01 -7.12328427e-01 -4.06531549e-03 1.82450326e+02] [ 7.12316217e-01 7.01846288e-01 -4.17080967e-03 6.51099778e+01] [ 5.82421288e-03 3.14280305e-05 9.99983039e-01 4.06886429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.050281693 meters 0.015646026952306637 Centerline is valid? [True, True] Translation: X:182.47, Y:65.13, Z:0.41 [[ 7.01051426e-01 -7.13096732e-01 -4.46645815e-03 1.82469477e+02] [ 7.13081998e-01 7.01065653e-01 -4.58408282e-03 6.51297559e+01] [ 6.40017488e-03 2.87268995e-05 9.99979518e-01 4.06351747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.080281693 meters 0.015112352454578903 Centerline is valid? [True, True] Translation: X:182.49, Y:65.15, Z:0.40 [[ 6.99312058e-01 -7.14797897e-01 -5.15860125e-03 1.82488844e+02] [ 7.14778274e-01 6.99331084e-01 -5.29651347e-03 6.51489571e+01] [ 7.39350689e-03 1.66596341e-05 9.99972668e-01 4.03530673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.110281693 meters 0.01483848752701109 Centerline is valid? [True, True] Translation: X:182.51, Y:65.17, Z:0.40 [[ 6.98085862e-01 -7.15991412e-01 -5.69449730e-03 1.82509816e+02] [ 7.15967521e-01 6.98109088e-01 -5.84898246e-03 6.51679360e+01] [ 8.16320153e-03 6.01684827e-06 9.99966681e-01 4.03187744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.140281693 meters 0.015092235406581108 Centerline is valid? [True, True] Translation: X:182.53, Y:65.18, Z:0.40 [[ 6.95378486e-01 -7.18627995e-01 -4.75035526e-03 1.82532792e+02] [ 7.18611419e-01 6.95394711e-01 -4.88102727e-03 6.51833915e+01] [ 6.81101476e-03 -1.94981750e-05 9.99976805e-01 4.04800298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.170281693 meters 0.01575614243268865 Centerline is valid? [True, True] Translation: X:182.55, Y:65.20, Z:0.41 [[ 6.93525442e-01 -7.20423490e-01 -3.52944425e-03 1.82554711e+02] [ 7.20414356e-01 6.93534422e-01 -3.62773053e-03 6.52015626e+01] [ 5.06129337e-03 -2.67388871e-05 9.99987191e-01 4.08764483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.200281693 meters 0.01701198547279544 Centerline is valid? [True, True] Translation: X:182.58, Y:65.22, Z:0.41 [[ 6.91936956e-01 -7.21953915e-01 -2.40697454e-03 1.82576438e+02] [ 7.21949674e-01 6.91941142e-01 -2.47474338e-03 6.52180083e+01] [ 3.45213538e-03 -2.53480879e-05 9.99994041e-01 4.11962441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.230281693 meters 0.018388761182453545 Centerline is valid? [True, True] Translation: X:182.60, Y:65.23, Z:0.41 [[ 6.89832937e-01 -7.23965638e-01 -2.06722793e-03 1.82600205e+02] [ 7.23962517e-01 6.89836034e-01 -2.12613037e-03 6.52349418e+01] [ 2.96529365e-03 -2.99207772e-05 9.99995603e-01 4.13211080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.260281693 meters 0.018460501447211588 Centerline is valid? [True, True] Translation: X:182.62, Y:65.26, Z:0.41 [[ 6.89186834e-01 -7.24579833e-01 -2.36078651e-03 1.82620062e+02] [ 7.24575763e-01 6.89190877e-01 -2.42897927e-03 6.52550179e+01] [ 3.38702192e-03 -3.65481490e-05 9.99994263e-01 4.11637987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.290281693 meters 0.019926536128044077 Centerline is valid? [True, True] Translation: X:182.64, Y:65.27, Z:0.41 [[ 6.88377678e-01 -7.25347132e-01 -2.77667350e-03 1.82640757e+02] [ 7.25341503e-01 6.88383277e-01 -2.85806068e-03 6.52729699e+01] [ 3.98450172e-03 -4.66113579e-05 9.99992061e-01 4.10756421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.320281693 meters 0.02013962660174218 Centerline is valid? [True, True] Translation: X:182.66, Y:65.29, Z:0.41 [[ 6.88189353e-01 -7.25527079e-01 -2.42327281e-03 1.82661187e+02] [ 7.25522789e-01 6.88193618e-01 -2.49516860e-03 6.52928032e+01] [ 3.47799327e-03 -4.09911807e-05 9.99993951e-01 4.11829688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.350281693 meters 0.02021415310441559 Centerline is valid? [True, True] Translation: X:182.68, Y:65.31, Z:0.41 [[ 6.87724344e-01 -7.25968634e-01 -2.18386805e-03 1.82681629e+02] [ 7.25965150e-01 6.87727810e-01 -2.24941486e-03 6.53116045e+01] [ 3.13491143e-03 -3.84347390e-05 9.99995085e-01 4.12003435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.380281693 meters 0.02063475381063751 Centerline is valid? [True, True] Translation: X:182.70, Y:65.33, Z:0.41 [[ 6.87081177e-01 -7.26574926e-01 -2.88682482e-03 1.82701652e+02] [ 7.26568838e-01 6.87087239e-01 -2.97470903e-03 6.53316793e+01] [ 4.14484949e-03 -5.36103724e-05 9.99991409e-01 4.10451433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.410281693 meters 0.023531750127616873 Centerline is valid? [True, True] Translation: X:182.73, Y:65.35, Z:0.41 [[ 6.84653994e-01 -7.28857276e-01 -3.99753731e-03 1.82725315e+02] [ 7.28845632e-01 6.84665658e-01 -4.12086716e-03 6.53483042e+01] [ 5.74050053e-03 -9.22194495e-05 9.99983519e-01 4.06842390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440281693 meters 0.025199757895413174 Centerline is valid? [True, True] Translation: X:182.75, Y:65.37, Z:0.41 [[ 6.82909375e-01 -7.30492847e-01 -3.87120076e-03 1.82748501e+02] [ 7.30481946e-01 6.82920340e-01 -3.99198734e-03 6.53653367e+01] [ 5.55983994e-03 -1.01676688e-04 9.99984539e-01 4.06814358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470281693 meters 0.02777946951076247 Centerline is valid? [True, True] Translation: X:182.77, Y:65.38, Z:0.41 [[ 6.81256922e-01 -7.32037334e-01 -3.21674942e-03 1.82772528e+02] [ 7.32029821e-01 6.81264510e-01 -3.31795220e-03 6.53798223e+01] [ 4.62032210e-03 -9.43785981e-05 9.99989322e-01 4.08502613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500281693 meters 0.03569395047394872 Centerline is valid? [True, True] Translation: X:182.80, Y:65.39, Z:0.41 [[ 6.77116964e-01 -7.35869963e-01 -2.83122492e-03 1.82802118e+02] [ 7.35864172e-01 6.77122875e-01 -2.92116676e-03 6.53882100e+01] [ 4.06668603e-03 -1.05425419e-04 9.99991725e-01 4.09157095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530281693 meters 0.038935868337767306 Centerline is valid? [True, True] Translation: X:182.83, Y:65.40, Z:0.41 [[ 6.75146044e-01 -7.37676784e-01 -3.28348899e-03 1.82826019e+02] [ 7.37669011e-01 6.75154015e-01 -3.38916718e-03 6.54034241e+01] [ 4.71697072e-03 -1.33945262e-04 9.99988866e-01 4.07863612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560281693 meters 0.04352218710213523 Centerline is valid? [True, True] Translation: X:182.85, Y:65.41, Z:0.41 [[ 6.72450098e-01 -7.40133632e-01 -3.61556942e-03 1.82852849e+02] [ 7.40124235e-01 6.72459797e-01 -3.73335707e-03 6.54142642e+01] [ 5.19450821e-03 -1.65474223e-04 9.99986495e-01 4.07125863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590281693 meters 0.04224377989394569 Centerline is valid? [True, True] Translation: X:182.87, Y:65.43, Z:0.41 [[ 6.71880504e-01 -7.40650656e-01 -3.63241428e-03 1.82873192e+02] [ 7.40641171e-01 6.71890302e-01 -3.75209129e-03 6.54339234e+01] [ 5.21957280e-03 -1.69358584e-04 9.99986364e-01 4.07548403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620281693 meters 0.042027174758655084 Centerline is valid? [True, True] Translation: X:182.89, Y:65.45, Z:0.41 [[ 6.71804599e-01 -7.40718953e-01 -3.74341625e-03 1.82894487e+02] [ 7.40708873e-01 6.71815006e-01 -3.86823152e-03 6.54515149e+01] [ 5.38015561e-03 -1.74085912e-04 9.99985512e-01 4.07559755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650281693 meters 0.03885997076300147 Centerline is valid? [True, True] Translation: X:182.91, Y:65.47, Z:0.41 [[ 6.71836700e-01 -7.40688555e-01 -3.98918805e-03 1.82911852e+02] [ 7.40677098e-01 6.71848518e-01 -4.12379144e-03 6.54733604e+01] [ 5.73457520e-03 -1.84185795e-04 9.99983540e-01 4.07310592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68028169299998 meters 0.04150449698904926 Centerline is valid? [True, True] Translation: X:182.93, Y:65.49, Z:0.41 [[ 6.71593777e-01 -7.40907310e-01 -4.26113628e-03 1.82934210e+02] [ 7.40894231e-01 6.71607266e-01 -4.40663846e-03 6.54887395e+01] [ 6.12672073e-03 -1.97580318e-04 9.99981212e-01 4.05749211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71028169299998 meters 0.04021125589645144 Centerline is valid? [True, True] Translation: X:182.96, Y:65.51, Z:0.40 [[ 6.70404991e-01 -7.41976426e-01 -5.30383470e-03 1.82956508e+02] [ 7.41956181e-01 6.70425922e-01 -5.48703383e-03 6.55063800e+01] [ 7.62707802e-03 -2.56678075e-04 9.99970880e-01 4.03543171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.740281693 meters 0.045554072425375874 Centerline is valid? [True, True] Translation: X:182.98, Y:65.52, Z:0.40 [[ 6.69243603e-01 -7.43022732e-01 -5.49721858e-03 1.82982366e+02] [ 7.43001005e-01 6.69266122e-01 -5.68892289e-03 6.55182155e+01] [ 7.90610119e-03 -2.77163680e-04 9.99968708e-01 4.02055064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.770281693 meters 0.04492264048650365 Centerline is valid? [True, True] Translation: X:183.01, Y:65.53, Z:0.41 [[ 6.66884165e-01 -7.45146724e-01 -4.67664975e-03 1.83006385e+02] [ 7.45131039e-01 6.66900514e-01 -4.84147685e-03 6.55328832e+01] [ 6.72647073e-03 -2.56012640e-04 9.99977344e-01 4.05663749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.800281693 meters 0.05384309127874605 Centerline is valid? [True, True] Translation: X:183.04, Y:65.54, Z:0.41 [[ 6.65323327e-01 -7.46547061e-01 -3.51517910e-03 1.83036888e+02] [ 7.46538212e-01 6.65332582e-01 -3.64036153e-03 6.55407231e+01] [ 5.05646439e-03 -2.02198075e-04 9.99987196e-01 4.08280704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.830281693 meters 0.055578802452090965 Centerline is valid? [True, True] Translation: X:183.06, Y:65.56, Z:0.41 [[ 6.63830619e-01 -7.47878779e-01 -2.49832236e-03 1.83060515e+02] [ 7.47874316e-01 6.63835303e-01 -2.58813352e-03 6.55553273e+01] [ 3.59408472e-03 -1.50348849e-04 9.99993530e-01 4.12123737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.860281693 meters 0.055578802452090965 Centerline is valid? [True, True] Translation: X:183.08, Y:65.57, Z:0.41 [[ 6.63687894e-01 -7.48005441e-01 -2.49782673e-03 1.83078866e+02] [ 7.48000977e-01 6.63692578e-01 -2.58861182e-03 6.55746973e+01] [ 3.59408478e-03 -1.50346506e-04 9.99993530e-01 4.12176810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.890281693 meters 0.05980312097292853 Centerline is valid? [True, True] Translation: X:183.11, Y:65.58, Z:0.41 [[ 6.61616292e-01 -7.49840739e-01 -1.65777112e-03 1.83108313e+02] [ 7.49838778e-01 6.61618360e-01 -1.71850178e-03 6.55828260e+01] [ 2.38541445e-03 -1.06072296e-04 9.99997149e-01 4.14532875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.920281693 meters 0.055422640303740965 Centerline is valid? [True, True] Translation: X:183.13, Y:65.60, Z:0.41 [[ 6.60545102e-01 -7.50783439e-01 -2.09638256e-03 1.83127837e+02] [ 7.50780304e-01 6.60548415e-01 -2.17417324e-03 6.56033357e+01] [ 3.01709544e-03 -1.37783251e-04 9.99995439e-01 4.12907773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.950281693 meters 0.06262202019602381 Centerline is valid? [True, True] Translation: X:183.16, Y:65.61, Z:0.41 [[ 6.60432075e-01 -7.50875629e-01 -3.90704517e-03 1.83161813e+02] [ 7.50864728e-01 6.60443582e-01 -4.05408287e-03 6.56068748e+01] [ 5.62449493e-03 -2.56216048e-04 9.99984150e-01 4.08040037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.980281693 meters 0.053352648319100554 Centerline is valid? [True, True] Translation: X:183.18, Y:65.63, Z:0.41 [[ 6.61206215e-01 -7.50192330e-01 -4.22012996e-03 1.83176515e+02] [ 7.50179587e-01 6.61219628e-01 -4.38068207e-03 6.56310402e+01] [ 6.07678684e-03 -2.69321139e-04 9.99981500e-01 4.08283080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.010281693 meters 0.04675091351234394 Centerline is valid? [True, True] Translation: X:183.20, Y:65.65, Z:0.41 [[ 6.64773788e-01 -7.47037478e-01 -3.28901079e-03 1.83196146e+02] [ 7.47029694e-01 6.64781898e-01 -3.41534057e-03 6.56506175e+01] [ 4.73786224e-03 -1.86559830e-04 9.99988759e-01 4.12086427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.040281693 meters 0.04324504268160926 Centerline is valid? [True, True] Translation: X:183.21, Y:65.67, Z:0.41 [[ 6.67194229e-01 -7.44878089e-01 -2.91454310e-03 1.83214057e+02] [ 7.44871951e-01 6.67200577e-01 -3.02766008e-03 6.56709157e+01] [ 4.19982249e-03 -1.50924070e-04 9.99991169e-01 4.13950458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.070281693 meters 0.03661572686145545 Centerline is valid? [True, True] Translation: X:183.23, Y:65.69, Z:0.41 [[ 6.72033770e-01 -7.40513852e-01 -3.13782312e-03 1.83230398e+02] [ 7.40506684e-01 6.72041083e-01 -3.26099185e-03 6.56922958e+01] [ 4.52355568e-03 -1.32082349e-04 9.99989760e-01 4.13046597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.100281693 meters 0.03551294396021665 Centerline is valid? [True, True] Translation: X:183.25, Y:65.71, Z:0.41 [[ 6.74122939e-01 -7.38612945e-01 -3.02992852e-03 1.83249804e+02] [ 7.38606236e-01 6.74129739e-01 -3.15010804e-03 6.57110970e+01] [ 4.36927550e-03 -1.14364004e-04 9.99990448e-01 4.12448022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.130281693 meters 0.027690884015511057 Centerline is valid? [True, True] Translation: X:183.27, Y:65.73, Z:0.42 [[ 6.77658526e-01 -7.35373929e-01 -2.02636743e-03 1.83265126e+02] [ 7.35370913e-01 6.77661553e-01 -2.10729584e-03 6.57343621e+01] [ 2.92284172e-03 -6.21046689e-05 9.99995727e-01 4.15053211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.160281693 meters 0.028426916032550317 Centerline is valid? [True, True] Translation: X:183.29, Y:65.75, Z:0.42 [[ 6.79009654e-01 -7.34127495e-01 -1.64642967e-03 1.83286874e+02] [ 7.34125499e-01 6.79011648e-01 -1.71258470e-03 6.57510226e+01] [ 2.37520044e-03 -4.58244586e-05 9.99997178e-01 4.15558062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190281693 meters 0.026160618006089757 Centerline is valid? [True, True] Translation: X:183.31, Y:65.77, Z:0.41 [[ 6.79701873e-01 -7.33485240e-01 -2.18299550e-03 1.83305269e+02] [ 7.33481725e-01 6.79705376e-01 -2.27173841e-03 6.57713088e+01] [ 3.15008037e-03 -5.70824564e-05 9.99995037e-01 4.13984481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220281693 meters 0.025040326432823324 Centerline is valid? [True, True] Translation: X:183.33, Y:65.79, Z:0.41 [[ 6.80558738e-01 -7.32680799e-01 -4.31854595e-03 1.83326551e+02] [ 7.32667010e-01 6.80572432e-01 -4.49643138e-03 6.57892806e+01] [ 6.23353226e-03 -1.03970479e-04 9.99980566e-01 4.07672660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250281693 meters 0.024711447178092923 Centerline is valid? [True, True] Translation: X:183.34, Y:65.81, Z:0.41 [[ 6.80910779e-01 -7.32349666e-01 -4.94745861e-03 1.83344839e+02] [ 7.32331542e-01 6.80928744e-01 -5.15346178e-03 6.58073820e+01] [ 7.14300279e-03 -1.14132320e-04 9.99974482e-01 4.06266944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280281693 meters 0.022969816768032038 Centerline is valid? [True, True] Translation: X:183.36, Y:65.83, Z:0.41 [[ 6.82213929e-01 -7.31137675e-01 -4.67492851e-03 1.83363624e+02] [ 7.31121453e-01 6.82229940e-01 -4.87136122e-03 6.58265413e+01] [ 6.75101192e-03 -9.46300474e-05 9.99977207e-01 4.07191740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310281693 meters 0.019767449467356188 Centerline is valid? [True, True] Translation: X:183.38, Y:65.85, Z:0.41 [[ 6.82995749e-01 -7.30411174e-01 -4.04029178e-03 1.83380940e+02] [ 7.30399036e-01 6.83007695e-01 -4.21156751e-03 6.58487438e+01] [ 5.83572635e-03 -7.45425143e-05 9.99982969e-01 4.10274870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340281693 meters 0.019367797456995704 Centerline is valid? [True, True] Translation: X:183.40, Y:65.87, Z:0.41 [[ 6.84189816e-01 -7.29293465e-01 -3.91632190e-03 1.83401157e+02] [ 7.29282033e-01 6.84201021e-01 -4.08391259e-03 6.58671424e+01] [ 5.65792221e-03 -6.19317951e-05 9.99983992e-01 4.10554113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370281693 meters 0.01535404720785315 Centerline is valid? [True, True] Translation: X:183.42, Y:65.89, Z:0.41 [[ 6.88131928e-01 -7.25576666e-01 -3.59895467e-03 1.83416263e+02] [ 7.25566953e-01 6.88141338e-01 -3.75429881e-03 6.58921203e+01] [ 5.20062109e-03 -2.78297004e-05 9.99986476e-01 4.11877068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400281693 meters 0.014217391158529224 Centerline is valid? [True, True] Translation: X:183.43, Y:65.91, Z:0.41 [[ 6.90435224e-01 -7.23387389e-01 -3.14434676e-03 1.83430413e+02] [ 7.23379947e-01 6.90442384e-01 -3.28133831e-03 6.59143124e+01] [ 4.54466902e-03 -9.00583574e-06 9.99989673e-01 4.12754009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43028169299998 meters 0.015390366317702712 Centerline is valid? [True, True] Translation: X:183.44, Y:65.94, Z:0.41 [[ 6.95141223e-01 -7.18869312e-01 -2.36504104e-03 1.83439798e+02] [ 7.18865072e-01 6.95145246e-01 -2.46901682e-03 6.59412959e+01] [ 3.41894746e-03 1.61699760e-05 9.99994155e-01 4.14234142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46028169299998 meters 0.016716458343735894 Centerline is valid? [True, True] Translation: X:183.46, Y:65.97, Z:0.42 [[ 6.97526645e-01 -7.16555333e-01 -2.24387203e-03 1.83455785e+02] [ 7.16551501e-01 6.97530253e-01 -2.34344698e-03 6.59650970e+01] [ 3.24437805e-03 2.67668380e-05 9.99994737e-01 4.15915787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.490281693 meters 0.02598755375212089 Centerline is valid? [True, True] Translation: X:183.46, Y:66.00, Z:0.42 [[ 7.03046254e-01 -7.11140102e-01 -2.39173172e-03 1.83457858e+02] [ 7.11135714e-01 7.03050320e-01 -2.49883419e-03 6.60009120e+01] [ 3.45852895e-03 5.59501785e-05 9.99994018e-01 4.16790830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.520281693 meters 0.027394414226909445 Centerline is valid? [True, True] Translation: X:183.47, Y:66.03, Z:0.42 [[ 7.06087672e-01 -7.08121720e-01 -1.95667900e-03 1.83472422e+02] [ 7.08118770e-01 7.06090381e-01 -2.04497245e-03 6.60263797e+01] [ 2.82968163e-03 5.83687139e-05 9.99995995e-01 4.17872622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.550281693 meters 0.03370053633424531 Centerline is valid? [True, True] Translation: X:183.48, Y:66.06, Z:0.42 [[ 7.10742059e-01 -7.03451989e-01 -1.01247323e-03 1.83478680e+02] [ 7.03451194e-01 7.10742779e-01 -1.05827959e-03 6.60586890e+01] [ 1.46405692e-03 3.99383101e-05 9.99998927e-01 4.18658900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.580281693 meters 0.04202417494498619 Centerline is valid? [True, True] Translation: X:183.49, Y:66.09, Z:0.42 [[ 7.12005988e-01 -7.02172844e-01 -8.77474630e-04 1.83486293e+02] [ 7.02172246e-01 7.12006528e-01 -9.17458593e-04 6.60897973e+01] [ 1.26898217e-03 3.70976807e-05 9.99999194e-01 4.19779617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.610281693 meters 0.03756490576941166 Centerline is valid? [True, True] Translation: X:183.51, Y:66.11, Z:0.42 [[ 7.12483851e-01 -7.01688266e-01 -5.83318357e-04 1.83506110e+02] [ 7.01688001e-01 7.12484089e-01 -6.09965300e-04 6.61098976e+01] [ 8.43610542e-04 2.52829336e-05 9.99999644e-01 4.19784766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.640281693 meters 0.035767681469867973 Centerline is valid? [True, True] Translation: X:183.52, Y:66.14, Z:0.42 [[ 7.11562838e-01 -7.02618925e-01 -2.23027357e-03 1.83519164e+02] [ 7.02615053e-01 7.11566327e-01 -2.33438450e-03 6.61369699e+01] [ 3.22717030e-03 9.40374732e-05 9.99994788e-01 4.16682477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.670281693 meters 0.037989931029624384 Centerline is valid? [True, True] Translation: X:183.53, Y:66.16, Z:0.41 [[ 7.10467985e-01 -7.03722986e-01 -3.03334568e-03 1.83532188e+02] [ 7.03715829e-01 7.10474450e-01 -3.17605903e-03 6.61621594e+01] [ 4.39018035e-03 1.21874883e-04 9.99990356e-01 4.13629323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.700281693 meters 0.029504612668358677 Centerline is valid? [True, True] Translation: X:183.55, Y:66.18, Z:0.41 [[ 7.06184167e-01 -7.08022301e-01 -2.88854069e-03 1.83554266e+02] [ 7.08015844e-01 7.06190068e-01 -3.02535868e-03 6.61795114e+01] [ 4.18188016e-03 9.13278243e-05 9.99991252e-01 4.14325604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.730281693 meters 0.024779369176109883 Centerline is valid? [True, True] Translation: X:183.58, Y:66.20, Z:0.42 [[ 7.03105798e-01 -7.11080777e-01 -2.52290016e-03 1.83576211e+02] [ 7.11075867e-01 7.03110322e-01 -2.64331715e-03 6.61975254e+01] [ 3.65348915e-03 6.45581981e-05 9.99993324e-01 4.15349321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.760281693 meters 0.018349819960665457 Centerline is valid? [True, True] Translation: X:183.60, Y:66.21, Z:0.42 [[ 6.97473237e-01 -7.16607822e-01 -2.07681901e-03 1.83599739e+02] [ 7.16604517e-01 6.97476328e-01 -2.17667616e-03 6.62132232e+01] [ 3.00835526e-03 2.99154861e-05 9.99995474e-01 4.16253260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.790281693 meters 0.016096735599981205 Centerline is valid? [True, True] Translation: X:183.62, Y:66.23, Z:0.42 [[ 6.94791700e-01 -7.19207584e-01 -2.22361937e-03 1.83621956e+02] [ 7.19203805e-01 6.94795258e-01 -2.33145977e-03 6.62305586e+01] [ 3.22176375e-03 2.06433833e-05 9.99994810e-01 4.16024823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.820281693 meters 0.014774273407478816 Centerline is valid? [True, True] Translation: X:183.64, Y:66.25, Z:0.41 [[ 6.92408473e-01 -7.21501462e-01 -2.47915815e-03 1.83643243e+02] [ 7.21496776e-01 6.92412911e-01 -2.60041207e-03 6.62470324e+01] [ 3.59280223e-03 1.18427386e-05 9.99993546e-01 4.14718786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.850281693 meters 0.014287293361242806 Centerline is valid? [True, True] Translation: X:183.67, Y:66.26, Z:0.41 [[ 6.89378578e-01 -7.24393405e-01 -3.37214804e-03 1.83667649e+02] [ 7.24384762e-01 6.89386825e-01 -3.53861532e-03 6.62627680e+01] [ 4.88806403e-03 -3.28705997e-06 9.99988053e-01 4.13221611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.880281693 meters 0.014371522729419836 Centerline is valid? [True, True] Translation: X:183.69, Y:66.28, Z:0.41 [[ 6.88601021e-01 -7.25132287e-01 -3.43508987e-03 1.83687804e+02] [ 7.25123321e-01 6.88609589e-01 -3.60603300e-03 6.62823955e+01] [ 4.98028678e-03 -7.74577102e-06 9.99987598e-01 4.13978406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.910281693 meters 0.014315823719507115 Centerline is valid? [True, True] Translation: X:183.71, Y:66.30, Z:0.41 [[ 6.89081672e-01 -7.24676928e-01 -3.13058700e-03 1.83705123e+02] [ 7.24669470e-01 6.89088783e-01 -3.28760782e-03 6.63037075e+01] [ 4.53970592e-03 -3.21052591e-06 9.99989695e-01 4.14390115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940281693 meters 0.014308988792929439 Centerline is valid? [True, True] Translation: X:183.72, Y:66.33, Z:0.41 [[ 6.89817102e-01 -7.23976295e-01 -3.26958943e-03 1.83722701e+02] [ 7.23968147e-01 6.89824850e-01 -3.43492930e-03 6.63257815e+01] [ 4.74225142e-03 2.39437430e-06 9.99988755e-01 4.14844696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970281693 meters 0.014545136159608457 Centerline is valid? [True, True] Translation: X:183.74, Y:66.35, Z:0.41 [[ 6.90672790e-01 -7.23159692e-01 -3.34028758e-03 1.83739860e+02] [ 7.23151171e-01 6.90680867e-01 -3.51057492e-03 6.63471619e+01] [ 4.84577900e-03 9.12570141e-06 9.99988259e-01 4.14606580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000281693 meters 0.014673815257478939 Centerline is valid? [True, True] Translation: X:183.76, Y:66.37, Z:0.41 [[ 6.90987397e-01 -7.22859817e-01 -3.17850268e-03 1.83758087e+02] [ 7.22852092e-01 6.90994707e-01 -3.34186315e-03 6.63675434e+01] [ 4.61202711e-03 1.15980098e-05 9.99989364e-01 4.14851894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030281693 meters 0.014213283111297085 Centerline is valid? [True, True] Translation: X:183.78, Y:66.38, Z:0.42 [[ 6.89618711e-01 -7.24172186e-01 -8.23662687e-04 1.83779881e+02] [ 7.24171668e-01 6.89619203e-01 -8.65921268e-04 6.63849497e+01] [ 1.19508970e-03 6.82326954e-07 9.99999286e-01 4.21229825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060281693 meters 0.01399016693132851 Centerline is valid? [True, True] Translation: X:183.80, Y:66.40, Z:0.42 [[ 6.88578050e-01 -7.25162205e-01 -2.15286926e-04 1.83800097e+02] [ 7.25162169e-01 6.88578083e-01 -2.25976315e-04 6.64027606e+01] [ 3.12111342e-04 -5.15604130e-07 9.99999951e-01 4.22671580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090281693 meters 0.014201323743255665 Centerline is valid? [True, True] Translation: X:183.82, Y:66.42, Z:0.42 [[ 6.87310712e-01 -7.26363190e-01 -7.08570866e-04 1.83820320e+02] [ 7.26362807e-01 6.87311077e-01 -7.45433934e-04 6.64214325e+01] [ 1.02846437e-03 -2.33479563e-06 9.99999471e-01 4.21463098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120281693 meters 0.014827079555088473 Centerline is valid? [True, True] Translation: X:183.84, Y:66.44, Z:0.42 [[ 6.86199430e-01 -7.27407847e-01 -2.85778571e-03 1.83837558e+02] [ 7.27401621e-01 6.86205380e-01 -3.00955040e-03 6.64412823e+01] [ 4.15019851e-03 -1.36061916e-05 9.99991388e-01 4.15916546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150281693 meters 0.014848815460185136 Centerline is valid? [True, True] Translation: X:183.85, Y:66.46, Z:0.42 [[ 6.86176901e-01 -7.27427835e-01 -3.16295829e-03 1.83853895e+02] [ 7.27420202e-01 6.86184191e-01 -3.33243280e-03 6.64612661e+01] [ 4.59447636e-03 -1.41613476e-05 9.99989445e-01 4.15478835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18028169299998 meters 0.014916008316856827 Centerline is valid? [True, True] Translation: X:183.87, Y:66.48, Z:0.42 [[ 6.85490254e-01 -7.28080031e-01 -1.60609400e-03 1.83872059e+02] [ 7.28078064e-01 6.85492136e-01 -1.69256466e-03 6.64813907e+01] [ 2.33328734e-03 -9.12523628e-06 9.99997278e-01 4.20785090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21028169299998 meters 0.015199143007139001 Centerline is valid? [True, True] Translation: X:183.89, Y:66.50, Z:0.42 [[ 6.84718408e-01 -7.28807115e-01 -9.44176894e-04 1.83891159e+02] [ 7.28806435e-01 6.84719059e-01 -9.95171521e-04 6.65002139e+01] [ 1.37178400e-03 -6.70993700e-06 9.99999059e-01 4.22488970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.240281693 meters 0.01768061611739202 Centerline is valid? [True, True] Translation: X:183.92, Y:66.51, Z:0.42 [[ 6.81749726e-01 -7.31584206e-01 -1.36450479e-03 1.83915988e+02] [ 7.31582790e-01 6.81751091e-01 -1.43904478e-03 6.65140358e+01] [ 1.98303506e-03 -1.71798434e-05 9.99998034e-01 4.19777674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.270281693 meters 0.018584317235837623 Centerline is valid? [True, True] Translation: X:183.94, Y:66.53, Z:0.42 [[ 6.79778170e-01 -7.33415334e-01 -1.89397661e-03 1.83938704e+02] [ 7.33412612e-01 6.79780808e-01 -1.99839505e-03 6.65308378e+01] [ 2.75314252e-03 -3.06010039e-05 9.99996210e-01 4.17892523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.300281693 meters 0.021168161879709758 Centerline is valid? [True, True] Translation: X:183.96, Y:66.55, Z:0.42 [[ 6.77731196e-01 -7.35306757e-01 -2.09742664e-03 1.83963789e+02] [ 7.35303425e-01 6.77734440e-01 -2.21388995e-03 6.65450952e+01] [ 3.04938651e-03 -4.18227044e-05 9.99995350e-01 4.17133817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.330281693 meters 0.02575027670206778 Centerline is valid? [True, True] Translation: X:183.99, Y:66.56, Z:0.42 [[ 6.74703150e-01 -7.38087343e-01 -1.65349707e-03 1.83992612e+02] [ 7.38085280e-01 6.74705174e-01 -1.74579561e-03 6.65550935e+01] [ 2.40417267e-03 -4.25280486e-05 9.99997109e-01 4.19517953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.360281693 meters 0.026890942693735095 Centerline is valid? [True, True] Translation: X:184.02, Y:66.57, Z:0.42 [[ 6.74590657e-01 -7.38191344e-01 -9.92923039e-04 1.84016350e+02] [ 7.38190600e-01 6.74591387e-01 -1.04841524e-03 6.65692014e+01] [ 1.44374838e-03 -2.57153303e-05 9.99998957e-01 4.21320369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.390281693 meters 0.023616042749406523 Centerline is valid? [True, True] Translation: X:184.03, Y:66.59, Z:0.42 [[ 6.75239004e-01 -7.37597587e-01 -1.44460071e-03 1.84033069e+02] [ 7.37596009e-01 6.75240549e-01 -1.52625964e-03 6.65902502e+01] [ 2.10121840e-03 -3.49416797e-05 9.99997792e-01 4.19432006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.420281693 meters 0.023757187312952364 Centerline is valid? [True, True] Translation: X:184.05, Y:66.61, Z:0.42 [[ 6.76704881e-01 -7.36250633e-01 -2.34698211e-03 1.84053832e+02] [ 7.36246455e-01 6.76708950e-01 -2.48100973e-03 6.66081206e+01] [ 3.41486878e-03 -4.90458679e-05 9.99994168e-01 4.17322555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.450281693 meters 0.018794131638011725 Centerline is valid? [True, True] Translation: X:184.07, Y:66.63, Z:0.41 [[ 6.80434152e-01 -7.32799331e-01 -3.80849107e-03 1.84068076e+02] [ 7.32788263e-01 6.80444809e-01 -4.02784456e-03 6.66318695e+01] [ 5.54306977e-03 -5.01345549e-05 9.99984636e-01 4.13911446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.480281693 meters 0.016650689306600925 Centerline is valid? [True, True] Translation: X:184.08, Y:66.65, Z:0.42 [[ 6.81774684e-01 -7.31553366e-01 -3.59900858e-03 1.84083414e+02] [ 7.31543457e-01 6.81784182e-01 -3.80780502e-03 6.66542576e+01] [ 5.23935970e-03 -3.67661105e-05 9.99986274e-01 4.15266371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.510281693 meters 0.015332430857661866 Centerline is valid? [True, True] Translation: X:184.10, Y:66.67, Z:0.42 [[ 6.83020011e-01 -7.30396108e-01 -2.27821451e-03 1.84101608e+02] [ 7.30392128e-01 6.83023810e-01 -2.41116516e-03 6.66745609e+01] [ 3.31718041e-03 -1.71158936e-05 9.99994498e-01 4.18572359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.540281693 meters 0.015452303993235503 Centerline is valid? [True, True] Translation: X:184.12, Y:66.69, Z:0.42 [[ 6.82852050e-01 -7.30554420e-01 -1.82132297e-03 1.84120186e+02] [ 7.30551876e-01 6.82854478e-01 -1.92830209e-03 6.66928712e+01] [ 2.65242816e-03 -1.38258724e-05 9.99996482e-01 4.19186043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.570281693 meters 0.015662716945235335 Centerline is valid? [True, True] Translation: X:184.14, Y:66.71, Z:0.42 [[ 6.82529702e-01 -7.30855564e-01 -1.83033400e-03 1.84139699e+02] [ 7.30852993e-01 6.82532156e-01 -1.93867872e-03 6.67119012e+01] [ 2.66615594e-03 -1.44992687e-05 9.99996446e-01 4.18792918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.600281693 meters 0.015574683757092719 Centerline is valid? [True, True] Translation: X:184.16, Y:66.73, Z:0.42 [[ 6.82085809e-01 -7.31269042e-01 -2.13039818e-03 1.84159405e+02] [ 7.31265557e-01 6.82089135e-01 -2.25750093e-03 6.67323132e+01] [ 3.10396199e-03 -1.80774640e-05 9.99995183e-01 4.18122376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.630281693 meters 0.015830108438674523 Centerline is valid? [True, True] Translation: X:184.18, Y:66.75, Z:0.42 [[ 6.82104196e-01 -7.31250416e-01 -2.58750465e-03 1.84178737e+02] [ 7.31245271e-01 6.82109103e-01 -2.74307490e-03 6.67510983e+01] [ 3.77083513e-03 -2.10376403e-05 9.99992890e-01 4.17155599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.660281693 meters 0.014944572982368745 Centerline is valid? [True, True] Translation: X:184.20, Y:66.77, Z:0.42 [[ 6.83074205e-01 -7.30344829e-01 -2.46189166e-03 1.84196354e+02] [ 7.30340163e-01 6.83078641e-01 -2.61090808e-03 6.67730852e+01] [ 3.58852882e-03 -1.45744004e-05 9.99993561e-01 4.17975566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690281693 meters 0.014479261116540527 Centerline is valid? [True, True] Translation: X:184.21, Y:66.79, Z:0.42 [[ 6.83926786e-01 -7.29547039e-01 -2.29553771e-03 1.84213506e+02] [ 7.29542974e-01 6.83930638e-01 -2.43544426e-03 6.67930224e+01] [ 3.34675972e-03 -9.02784474e-06 9.99994400e-01 4.18404784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720281693 meters 0.014232885117136844 Centerline is valid? [True, True] Translation: X:184.23, Y:66.81, Z:0.42 [[ 6.85056443e-01 -7.28486104e-01 -2.38020342e-03 1.84229749e+02] [ 7.28481723e-01 6.85060578e-01 -2.52642568e-03 6.68136229e+01] [ 3.47104954e-03 -3.19049942e-06 9.99993976e-01 4.18174204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750281693 meters 0.014720911652418825 Centerline is valid? [True, True] Translation: X:184.24, Y:66.84, Z:0.42 [[ 6.87780838e-01 -7.25913841e-01 -2.57194619e-03 1.84243889e+02] [ 7.25908703e-01 6.87785647e-01 -2.73118504e-03 6.68380155e+01] [ 3.75155269e-03 1.14586110e-05 9.99992963e-01 4.17142096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780281693 meters 0.01561260830762886 Centerline is valid? [True, True] Translation: X:184.26, Y:66.86, Z:0.42 [[ 6.88862708e-01 -7.24887600e-01 -2.47719345e-03 1.84259668e+02] [ 7.24882823e-01 6.88867162e-01 -2.63168565e-03 6.68594776e+01] [ 3.61413351e-03 1.71951241e-05 9.99993469e-01 4.16592629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810281693 meters 0.01561260830762886 Centerline is valid? [True, True] Translation: X:184.28, Y:66.88, Z:0.42 [[ 6.88716807e-01 -7.25026225e-01 -2.47663251e-03 1.84277748e+02] [ 7.25021447e-01 6.88721260e-01 -2.63221348e-03 6.68790657e+01] [ 3.61413326e-03 1.72379833e-05 9.99993469e-01 4.16645655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840281693 meters 0.01635749771904761 Centerline is valid? [True, True] Translation: X:184.30, Y:66.90, Z:0.42 [[ 6.90073474e-01 -7.23737161e-01 -1.76682201e-03 1.84295638e+02] [ 7.23734724e-01 6.90075736e-01 -1.87840954e-03 6.68991312e+01] [ 2.57871579e-03 1.75301613e-05 9.99996675e-01 4.19808796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870281693 meters 0.01706816212650398 Centerline is valid? [True, True] Translation: X:184.31, Y:66.92, Z:0.42 [[ 6.90077785e-01 -7.23733868e-01 -1.39259051e-03 1.84312034e+02] [ 7.23732353e-01 6.90079190e-01 -1.48103475e-03 6.69189626e+01] [ 2.03287273e-03 1.41663752e-05 9.99997934e-01 4.21220018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900281693 meters 0.016309109485826773 Centerline is valid? [True, True] Translation: X:184.33, Y:66.94, Z:0.42 [[ 6.89899807e-01 -7.23903619e-01 -1.34424181e-03 1.84331989e+02] [ 7.23902207e-01 6.89901116e-01 -1.43022228e-03 6.69387684e+01] [ 1.96273701e-03 1.36104669e-05 9.99998074e-01 4.21333335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93028169299998 meters 0.01599318559880954 Centerline is valid? [True, True] Translation: X:184.35, Y:66.96, Z:0.42 [[ 6.88970870e-01 -7.24785917e-01 -2.12476527e-03 1.84351175e+02] [ 7.24782388e-01 6.88974146e-01 -2.26188826e-03 6.69562519e+01] [ 3.10329309e-03 1.83826762e-05 9.99995185e-01 4.18485651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96028169299998 meters 0.015440932422580314 Centerline is valid? [True, True] Translation: X:184.37, Y:66.97, Z:0.42 [[ 6.88223384e-01 -7.25494301e-01 -2.56756806e-03 1.84373824e+02] [ 7.25489148e-01 6.88228173e-01 -2.73453543e-03 6.69740182e+01] [ 3.75096254e-03 1.92284645e-05 9.99992965e-01 4.17308801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.990281693 meters 0.014593124099295852 Centerline is valid? [True, True] Translation: X:184.40, Y:66.99, Z:0.41 [[ 6.85943830e-01 -7.27647140e-01 -3.27154702e-03 1.84399310e+02] [ 7.27638790e-01 6.85951631e-01 -3.48581601e-03 6.69869938e+01] [ 4.78056707e-03 1.05694653e-05 9.99988573e-01 4.14972455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.020281693 meters 0.014417900514403507 Centerline is valid? [True, True] Translation: X:184.42, Y:67.00, Z:0.42 [[ 6.85303378e-01 -7.28251300e-01 -3.05366223e-03 1.84420883e+02] [ 7.28244026e-01 6.85310181e-01 -3.25489723e-03 6.70048818e+01] [ 4.46308895e-03 6.78078736e-06 9.99990040e-01 4.16023489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.050281693 meters 0.014996093421945701 Centerline is valid? [True, True] Translation: X:184.44, Y:67.02, Z:0.42 [[ 6.86869936e-01 -7.26776836e-01 -2.26337623e-03 1.84440277e+02] [ 7.26772829e-01 6.86873665e-01 -2.41333732e-03 6.70234783e+01] [ 3.30861119e-03 1.26885039e-05 9.99994526e-01 4.19265669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.080281693 meters 0.016112643173045102 Centerline is valid? [True, True] Translation: X:184.46, Y:67.04, Z:0.42 [[ 6.88538427e-01 -7.25197359e-01 -1.90401228e-03 1.84458891e+02] [ 7.25194515e-01 6.88541060e-01 -2.03087404e-03 6.70444281e+01] [ 2.78377512e-03 1.75555499e-05 9.99996125e-01 4.20060806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.110281693 meters 0.018069041551965773 Centerline is valid? [True, True] Translation: X:184.48, Y:67.07, Z:0.42 [[ 6.90201428e-01 -7.23615135e-01 -1.76754188e-03 1.84475586e+02] [ 7.23612678e-01 6.90203691e-01 -1.88592559e-03 6.70660284e+01] [ 2.58464823e-03 2.26528251e-05 9.99996660e-01 4.20549769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.140281693 meters 0.021100121853964583 Centerline is valid? [True, True] Translation: X:184.49, Y:67.09, Z:0.42 [[ 6.93505488e-01 -7.20448961e-01 -1.85273539e-03 1.84492619e+02] [ 7.20446249e-01 6.93507962e-01 -1.97737972e-03 6.70876739e+01] [ 2.70948790e-03 3.65274232e-05 9.99996329e-01 4.19309000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.170281693 meters 0.024885794063393755 Centerline is valid? [True, True] Translation: X:184.51, Y:67.11, Z:0.42 [[ 6.95702758e-01 -7.18323410e-01 -3.02515089e-03 1.84508918e+02] [ 7.18316153e-01 6.95709331e-01 -3.22986278e-03 6.71086673e+01] [ 4.42471175e-03 7.40096992e-05 9.99990208e-01 4.15459953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.200281693 meters 0.024158011335226742 Centerline is valid? [True, True] Translation: X:184.53, Y:67.13, Z:0.41 [[ 6.96208362e-01 -7.17831936e-01 -3.35086660e-03 1.84529717e+02] [ 7.17823021e-01 6.96216421e-01 -3.57861691e-03 6.71274019e+01] [ 4.90177386e-03 8.61338295e-05 9.99987983e-01 4.14831259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.230281693 meters 0.02452904308091015 Centerline is valid? [True, True] Translation: X:184.55, Y:67.15, Z:0.41 [[ 6.96454007e-01 -7.17593445e-01 -3.38595045e-03 1.84548771e+02] [ 7.17584333e-01 6.96462232e-01 -3.61726212e-03 6.71474168e+01] [ 4.95391019e-03 8.95517043e-05 9.99987725e-01 4.14921927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.260281693 meters 0.028500010653541328 Centerline is valid? [True, True] Translation: X:184.56, Y:67.17, Z:0.41 [[ 6.96552255e-01 -7.17498931e-01 -3.19999601e-03 1.84563441e+02] [ 7.17490785e-01 6.96559601e-01 -3.41992018e-03 6.71712398e+01] [ 4.68277702e-03 8.61854685e-05 9.99989032e-01 4.14648264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.290281693 meters 0.02682321393980899 Centerline is valid? [True, True] Translation: X:184.59, Y:67.19, Z:0.42 [[ 6.97529638e-01 -7.16551842e-01 -2.42114336e-03 1.84585915e+02] [ 7.16547170e-01 6.97533837e-01 -2.58838259e-03 6.71892699e+01] [ 3.54353973e-03 7.06101487e-05 9.99993719e-01 4.17916721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.320281693 meters 0.029841606272888153 Centerline is valid? [True, True] Translation: X:184.60, Y:67.21, Z:0.42 [[ 6.99212400e-01 -7.14908452e-01 -2.81501552e-03 1.84600426e+02] [ 7.14902120e-01 6.99218061e-01 -3.01046931e-03 6.72126953e+01] [ 4.12051964e-03 9.24969121e-05 9.99991506e-01 4.16368485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.350281693 meters 0.030760809661445447 Centerline is valid? [True, True] Translation: X:184.62, Y:67.24, Z:0.42 [[ 7.00318122e-01 -7.13824399e-01 -3.04228477e-03 1.84617736e+02] [ 7.13816988e-01 7.00324721e-01 -3.25456723e-03 6.72356726e+01] [ 4.45377673e-03 1.07597856e-04 9.99990076e-01 4.15499389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.380281693 meters 0.03401213845753661 Centerline is valid? [True, True] Translation: X:184.63, Y:67.26, Z:0.41 [[ 7.01596090e-01 -7.12568042e-01 -3.11632974e-03 1.84632335e+02] [ 7.12560249e-01 7.01603001e-01 -3.33473382e-03 6.72600565e+01] [ 4.56265104e-03 1.19063514e-04 9.99989584e-01 4.14513671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.410281693 meters 0.037652687212401004 Centerline is valid? [True, True] Translation: X:184.65, Y:67.28, Z:0.41 [[ 7.03830969e-01 -7.10358480e-01 -3.57728156e-03 1.84645923e+02] [ 7.10348176e-01 7.03840043e-01 -3.82925775e-03 6.72844612e+01] [ 5.23797972e-03 1.54034765e-04 9.99986270e-01 4.14442855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440281693 meters 0.03854191104279345 Centerline is valid? [True, True] Translation: X:184.66, Y:67.31, Z:0.41 [[ 7.04450482e-01 -7.09743368e-01 -3.72417203e-03 1.84663288e+02] [ 7.09732186e-01 7.04460307e-01 -3.98763012e-03 6.73065515e+01] [ 5.45372540e-03 1.65923204e-04 9.99985115e-01 4.14326395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470281693 meters 0.041297270738106295 Centerline is valid? [True, True] Translation: X:184.68, Y:67.33, Z:0.42 [[ 7.05605124e-01 -7.08597471e-01 -3.32150256e-03 1.84677334e+02] [ 7.08588558e-01 7.05612924e-01 -3.55752748e-03 6.73312197e+01] [ 4.86455011e-03 1.56630906e-04 9.99988156e-01 4.15628386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500281693 meters 0.04069631589456465 Centerline is valid? [True, True] Translation: X:184.70, Y:67.35, Z:0.42 [[ 7.06014718e-01 -7.08189055e-01 -3.38817457e-03 1.84696289e+02] [ 7.08179770e-01 7.06022829e-01 -3.63022590e-03 6.73518952e+01] [ 4.96301484e-03 1.63556229e-04 9.99987671e-01 4.15870383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530281693 meters 0.04265238538193059 Centerline is valid? [True, True] Translation: X:184.71, Y:67.37, Z:0.41 [[ 7.05935046e-01 -7.08267475e-01 -3.59102649e-03 1.84711548e+02] [ 7.08257037e-01 7.05944158e-01 -3.84903231e-03 6.73743928e+01] [ 5.26120857e-03 1.73797013e-04 9.99986145e-01 4.14820997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560281693 meters 0.04177137750501894 Centerline is valid? [True, True] Translation: X:184.73, Y:67.40, Z:0.42 [[ 7.05177896e-01 -7.09026161e-01 -2.45727005e-03 1.84729101e+02] [ 7.09021275e-01 7.05182168e-01 -2.63462559e-03 6.73957031e+01] [ 3.60084149e-03 1.15622982e-04 9.99993510e-01 4.17569864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590281693 meters 0.0432923104180463 Centerline is valid? [True, True] Translation: X:184.75, Y:67.42, Z:0.42 [[ 7.04826642e-01 -7.09376722e-01 -2.01747144e-03 1.84745390e+02] [ 7.09373428e-01 7.04829523e-01 -2.16377016e-03 6.74178298e+01] [ 2.95690161e-03 9.39422251e-05 9.99995624e-01 4.19052907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620281693 meters 0.036568486232927605 Centerline is valid? [True, True] Translation: X:184.77, Y:67.43, Z:0.42 [[ 7.03453607e-01 -7.10739271e-01 -1.64650842e-03 1.84770432e+02] [ 7.10737080e-01 7.03455530e-01 -1.76644941e-03 6.74334244e+01] [ 2.41373042e-03 7.23806222e-05 9.99997084e-01 4.20535441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650281693 meters 0.03660070813568234 Centerline is valid? [True, True] Translation: X:184.79, Y:67.45, Z:0.42 [[ 7.02759125e-01 -7.11425015e-01 -2.01492756e-03 1.84787744e+02] [ 7.11421734e-01 7.02762008e-01 -2.16258308e-03 6.74545595e+01] [ 2.95453023e-03 8.63117341e-05 9.99995632e-01 4.19588882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68028169299998 meters 0.035978901786698846 Centerline is valid? [True, True] Translation: X:184.81, Y:67.48, Z:0.42 [[ 7.02379093e-01 -7.11799625e-01 -2.21414206e-03 1.84805671e+02] [ 7.11795662e-01 7.02382577e-01 -2.37733311e-03 6.74756774e+01] [ 3.24735962e-03 9.37723616e-05 9.99994723e-01 4.19025715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71028169299998 meters 0.03406063118313205 Centerline is valid? [True, True] Translation: X:184.82, Y:67.50, Z:0.42 [[ 7.02793744e-01 -7.11392531e-01 -1.27319218e-03 1.84823389e+02] [ 7.11391219e-01 7.02794895e-01 -1.36730958e-03 6.74980102e+01] [ 1.86748679e-03 5.51988787e-05 9.99998255e-01 4.21496125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.740281693 meters 0.03719008921342709 Centerline is valid? [True, True] Translation: X:184.84, Y:67.52, Z:0.42 [[ 7.03432743e-01 -7.10761683e-01 -4.53843402e-04 1.84836417e+02] [ 7.10761516e-01 7.03432889e-01 -4.87235200e-04 6.75233145e+01] [ 6.65556487e-04 2.01627686e-05 9.99999778e-01 4.23624151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.770281693 meters 0.0406708220394228 Centerline is valid? [True, True] Translation: X:184.85, Y:67.55, Z:0.42 [[ 7.05451735e-01 -7.08757950e-01 -1.34169663e-04 1.84845082e+02] [ 7.08757936e-01 7.05451747e-01 -1.43852960e-04 6.75517580e+01] [ 1.96607152e-04 6.38750668e-06 9.99999981e-01 4.24884622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.800281693 meters 0.045797868820956475 Centerline is valid? [True, True] Translation: X:184.86, Y:67.58, Z:0.42 [[ 7.06303769e-01 -7.07908766e-01 -4.05297631e-04 1.84855016e+02] [ 7.07908633e-01 7.06303885e-01 -4.35465405e-04 6.75795129e+01] [ 5.94533069e-04 2.06571645e-05 9.99999823e-01 4.24503578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.830281693 meters 0.041983606236167814 Centerline is valid? [True, True] Translation: X:184.87, Y:67.60, Z:0.42 [[ 7.08411607e-01 -7.05798446e-01 -1.24460605e-03 1.84872183e+02] [ 7.05797180e-01 7.08412697e-01 -1.33822441e-03 6.76030308e+01] [ 1.82621144e-03 6.95742644e-05 9.99998330e-01 4.22757494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.860281693 meters 0.04728412490274559 Centerline is valid? [True, True] Translation: X:184.88, Y:67.63, Z:0.42 [[ 7.09094330e-01 -7.05111363e-01 -1.78799411e-03 1.84882465e+02] [ 7.05108748e-01 7.09096576e-01 -1.92332014e-03 6.76313742e+01] [ 2.62401539e-03 1.03085114e-04 9.99996552e-01 4.21049606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.890281693 meters 0.051167833646352974 Centerline is valid? [True, True] Translation: X:184.89, Y:67.66, Z:0.42 [[ 7.09526217e-01 -7.04674531e-01 -2.52043864e-03 1.84890737e+02] [ 7.04669328e-01 7.09530678e-01 -2.71217865e-03 6.76616389e+01] [ 3.69953176e-03 1.48286052e-04 9.99993146e-01 4.19135263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.920281693 meters 0.0459780607705125 Centerline is valid? [True, True] Translation: X:184.91, Y:67.68, Z:0.42 [[ 7.08968097e-01 -7.05237344e-01 -2.12752510e-03 1.84912477e+02] [ 7.05233636e-01 7.08971278e-01 -2.29009687e-03 6.76804835e+01] [ 3.12341602e-03 1.23203359e-04 9.99995115e-01 4.19975025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.950281693 meters 0.050111356710924836 Centerline is valid? [True, True] Translation: X:184.92, Y:67.71, Z:0.42 [[ 7.08071308e-01 -7.06138856e-01 -1.71426227e-03 1.84924607e+02] [ 7.06136450e-01 7.08073376e-01 -1.84577033e-03 6.77064899e+01] [ 2.51719363e-03 9.64339361e-05 9.99996827e-01 4.21013110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.980281693 meters 0.04778081434174711 Centerline is valid? [True, True] Translation: X:184.94, Y:67.73, Z:0.42 [[ 7.06072987e-01 -7.08138438e-01 -9.43357950e-04 1.84939941e+02] [ 7.08137711e-01 7.06073615e-01 -1.01579778e-03 6.77285998e+01] [ 1.38540561e-03 4.92000316e-05 9.99999039e-01 4.22827947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.010281693 meters 0.044992797814259175 Centerline is valid? [True, True] Translation: X:184.96, Y:67.75, Z:0.42 [[ 7.04769812e-01 -7.09435127e-01 -1.14584480e-03 1.84956926e+02] [ 7.09434055e-01 7.04770741e-01 -1.23423206e-03 6.77510984e+01] [ 1.68316547e-03 5.69481725e-05 9.99998582e-01 4.22649755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.040281693 meters 0.04041253824201131 Centerline is valid? [True, True] Translation: X:184.98, Y:67.77, Z:0.42 [[ 7.04349710e-01 -7.09851307e-01 -1.61522228e-03 1.84977991e+02] [ 7.09849177e-01 7.04351557e-01 -1.74066265e-03 6.77697746e+01] [ 2.37329599e-03 7.94710292e-05 9.99997181e-01 4.21697004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.070281693 meters 0.04011549951143845 Centerline is valid? [True, True] Translation: X:184.99, Y:67.79, Z:0.42 [[ 7.04025470e-01 -7.10171821e-01 -2.03027369e-03 1.84994293e+02] [ 7.10168454e-01 7.04028391e-01 -2.18890977e-03 6.77923671e+01] [ 2.98387236e-03 9.92119063e-05 9.99995543e-01 4.20612188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.100281693 meters 0.041272225843398534 Centerline is valid? [True, True] Translation: X:185.01, Y:67.82, Z:0.42 [[ 7.03150107e-01 -7.11036440e-01 -2.66599198e-03 1.85006419e+02] [ 7.11030637e-01 7.03155150e-01 -2.87535875e-03 6.78178931e+01] [ 3.91909084e-03 1.26206839e-04 9.99992312e-01 4.18904281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.130281693 meters 0.03864548633031639 Centerline is valid? [True, True] Translation: X:185.03, Y:67.84, Z:0.42 [[ 7.02324431e-01 -7.11851524e-01 -2.79311207e-03 1.85025847e+02] [ 7.11845157e-01 7.02329974e-01 -3.01338131e-03 6.78384763e+01] [ 4.10676640e-03 1.28108014e-04 9.99991559e-01 4.19086841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.160281693 meters 0.03642954274017447 Centerline is valid? [True, True] Translation: X:185.04, Y:67.86, Z:0.42 [[ 7.00998460e-01 -7.13158999e-01 -2.32427246e-03 1.85043212e+02] [ 7.13154595e-01 7.01002306e-01 -2.50836419e-03 6.78611717e+01] [ 3.41818285e-03 1.00793848e-04 9.99994153e-01 4.19299350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190281693 meters 0.03645131408067882 Centerline is valid? [True, True] Translation: X:185.06, Y:67.88, Z:0.42 [[ 7.00090133e-01 -7.14050688e-01 -2.32837759e-03 1.85059404e+02] [ 7.14046270e-01 7.00093998e-01 -2.51367698e-03 6.78838898e+01] [ 3.42497595e-03 9.72311227e-05 9.99994130e-01 4.19130914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220281693 meters 0.034481298418690055 Centerline is valid? [True, True] Translation: X:185.08, Y:67.91, Z:0.42 [[ 6.99035749e-01 -7.15082687e-01 -2.40267259e-03 1.85078219e+02] [ 7.15077985e-01 6.99039872e-01 -2.59483210e-03 6.79050614e+01] [ 3.53508345e-03 9.57821308e-05 9.99993747e-01 4.18876667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250281693 meters 0.033495816503832515 Centerline is valid? [True, True] Translation: X:185.09, Y:67.93, Z:0.42 [[ 6.96965274e-01 -7.17099048e-01 -2.89184077e-03 1.85094609e+02] [ 7.17092249e-01 6.96971265e-01 -3.12437429e-03 6.79274744e+01] [ 4.25601575e-03 1.03863776e-04 9.99990938e-01 4.18002214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280281693 meters 0.029496751871634763 Centerline is valid? [True, True] Translation: X:185.12, Y:67.95, Z:0.42 [[ 6.94528243e-01 -7.19460455e-01 -2.67837300e-03 1.85115989e+02] [ 7.19454637e-01 6.94533402e-01 -2.89470609e-03 6.79462155e+01] [ 3.94284607e-03 8.34872602e-05 9.99992223e-01 4.18741110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310281693 meters 0.027458974799564398 Centerline is valid? [True, True] Translation: X:185.14, Y:67.97, Z:0.42 [[ 6.93158850e-01 -7.20781727e-01 -2.12392193e-03 1.85136046e+02] [ 7.20778072e-01 6.93162101e-01 -2.29614055e-03 6.79659000e+01] [ 3.12723834e-03 6.07137891e-05 9.99995108e-01 4.19831872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340281693 meters 0.025704296920108484 Centerline is valid? [True, True] Translation: X:185.16, Y:67.99, Z:0.42 [[ 6.91367997e-01 -7.22500985e-01 -1.61838317e-03 1.85155606e+02] [ 7.22498866e-01 6.91369890e-01 -1.75010773e-03 6.79856083e+01] [ 2.38335596e-03 4.06884710e-05 9.99997159e-01 4.21147362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370281693 meters 0.02123294888014576 Centerline is valid? [True, True] Translation: X:185.18, Y:68.00, Z:0.42 [[ 6.87853950e-01 -7.25848583e-01 -8.82367641e-04 1.85179590e+02] [ 7.25847955e-01 6.87854516e-01 -9.54277799e-04 6.80009124e+01] [ 1.29960175e-03 1.59390051e-05 9.99999155e-01 4.21938438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400281693 meters 0.019081388928095265 Centerline is valid? [True, True] Translation: X:185.20, Y:68.02, Z:0.42 [[ 6.85924143e-01 -7.27672949e-01 -3.87975939e-04 1.85202046e+02] [ 7.27672828e-01 6.85924252e-01 -4.19454601e-04 6.80180630e+01] [ 5.71347873e-04 5.39448889e-06 9.99999837e-01 4.23389115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43028169299998 meters 0.016312404380883456 Centerline is valid? [True, True] Translation: X:185.23, Y:68.03, Z:0.42 [[ 6.83042994e-01 -7.30378168e-01 9.25149605e-06 1.85225487e+02] [ 7.30378168e-01 6.83042994e-01 1.05507817e-05 6.80346453e+01] [-1.40252302e-05 -4.49546808e-07 1.00000000e+00 4.24924406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46028169299998 meters 0.015981894157077046 Centerline is valid? [True, True] Translation: X:185.24, Y:68.05, Z:0.42 [[ 6.82294946e-01 -7.31076576e-01 -8.04857443e-04 1.85243565e+02] [ 7.31076056e-01 6.82295420e-01 -8.71328749e-04 6.80540114e+01] [ 1.18615859e-03 6.09119576e-06 9.99999297e-01 4.22580078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.490281693 meters 0.015930618862748616 Centerline is valid? [True, True] Translation: X:185.26, Y:68.07, Z:0.42 [[ 6.81721153e-01 -7.31610153e-01 -1.68934182e-03 1.85261166e+02] [ 7.31607863e-01 6.81723246e-01 -1.83033385e-03 6.80737474e+01] [ 2.49075442e-03 1.18415453e-05 9.99996898e-01 4.19552848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.520281693 meters 0.015238112227295583 Centerline is valid? [True, True] Translation: X:185.28, Y:68.09, Z:0.42 [[ 6.80417669e-01 -7.32819927e-01 -2.59824930e-03 1.85280386e+02] [ 7.32814514e-01 6.80422629e-01 -2.81662080e-03 6.80918097e+01] [ 3.83198347e-03 1.24437583e-05 9.99992658e-01 4.16969399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.550281693 meters 0.014975960187481048 Centerline is valid? [True, True] Translation: X:185.30, Y:68.11, Z:0.42 [[ 6.79457721e-01 -7.33708678e-01 -2.96311241e-03 1.85299759e+02] [ 7.33701641e-01 6.79464182e-01 -3.21354407e-03 6.81102269e+01] [ 4.37113392e-03 9.42689415e-06 9.99990447e-01 4.15873250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.580281693 meters 0.014870859467883675 Centerline is valid? [True, True] Translation: X:185.32, Y:68.13, Z:0.42 [[ 6.78700419e-01 -7.34408705e-01 -3.09764865e-03 1.85318560e+02] [ 7.34401015e-01 6.78707488e-01 -3.36085931e-03 6.81288776e+01] [ 4.57064167e-03 6.10031152e-06 9.99989555e-01 4.15733126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.610281693 meters 0.014538649031823567 Centerline is valid? [True, True] Translation: X:185.34, Y:68.15, Z:0.42 [[ 6.77931263e-01 -7.35123811e-01 -1.47824274e-03 1.85336944e+02] [ 7.35122061e-01 6.77932874e-01 -1.60419929e-03 6.81490391e+01] [ 2.18143444e-03 8.47999424e-07 9.99997621e-01 4.20809074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.640281693 meters 0.014466239992010507 Centerline is valid? [True, True] Translation: X:185.35, Y:68.17, Z:0.42 [[ 6.77881897e-01 -7.35170712e-01 -3.96676781e-04 1.85354402e+02] [ 7.35170586e-01 6.77882013e-01 -4.30211344e-04 6.81702509e+01] [ 5.85178835e-04 7.37994245e-09 9.99999829e-01 4.24305761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.670281693 meters 0.014466239992010507 Centerline is valid? [True, True] Translation: X:185.37, Y:68.19, Z:0.42 [[ 6.77733214e-01 -7.35307782e-01 -3.96590000e-04 1.85372263e+02] [ 7.35307656e-01 6.77733330e-01 -4.30291289e-04 6.81900165e+01] [ 5.85178794e-04 7.03480801e-09 9.99999829e-01 4.24358788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.700281693 meters 0.014653095454749873 Centerline is valid? [True, True] Translation: X:185.39, Y:68.21, Z:0.43 [[ 6.78079096e-01 -7.34988877e-01 2.99888913e-04 1.85387849e+02] [ 7.34988805e-01 6.78079162e-01 3.26585254e-04 6.82114910e+01] [-4.43384952e-04 -1.03563982e-06 9.99999902e-01 4.25419308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.730281693 meters 0.014662440503213893 Centerline is valid? [True, True] Translation: X:185.40, Y:68.23, Z:0.42 [[ 6.78149877e-01 -7.34923467e-01 -4.91587064e-04 1.85404356e+02] [ 7.34923273e-01 6.78150055e-01 -5.33940749e-04 6.82321585e+01] [ 7.25775382e-04 8.13079463e-07 9.99999737e-01 4.23507722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.760281693 meters 0.014841977950158949 Centerline is valid? [True, True] Translation: X:185.42, Y:68.25, Z:0.42 [[ 6.78234351e-01 -7.34844103e-01 -1.51950685e-03 1.85420715e+02] [ 7.34842245e-01 6.78236053e-01 -1.65236720e-03 6.82537908e+01] [ 2.24481662e-03 4.09437335e-06 9.99997480e-01 4.19893908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.790281693 meters 0.015108792522300588 Centerline is valid? [True, True] Translation: X:185.44, Y:68.28, Z:0.42 [[ 6.78153561e-01 -7.34912394e-01 -3.39408876e-03 1.85435910e+02] [ 7.34903116e-01 6.78162055e-01 -3.69294712e-03 6.82775679e+01] [ 5.01573482e-03 1.00588358e-05 9.99987421e-01 4.15424422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.820281693 meters 0.01512331903635211 Centerline is valid? [True, True] Translation: X:185.45, Y:68.30, Z:0.41 [[ 6.77874546e-01 -7.35169510e-01 -3.44824546e-03 1.85450440e+02] [ 7.35159929e-01 6.77883316e-01 -3.75330872e-03 6.83008593e+01] [ 5.09682620e-03 9.26055309e-06 9.99987011e-01 4.14609100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.850281693 meters 0.014860033067670338 Centerline is valid? [True, True] Translation: X:185.47, Y:68.32, Z:0.42 [[ 6.77460558e-01 -7.35554105e-01 -2.71132649e-03 1.85468062e+02] [ 7.35548180e-01 6.77465984e-01 -2.95219990e-03 6.83226525e+01] [ 4.00833422e-03 5.68772015e-06 9.99991967e-01 4.17958215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.880281693 meters 0.014665305890624971 Centerline is valid? [True, True] Translation: X:185.49, Y:68.34, Z:0.42 [[ 6.76693196e-01 -7.36263325e-01 -1.62325968e-03 1.85486025e+02] [ 7.36261203e-01 6.76695143e-01 -1.76791163e-03 6.83446876e+01] [ 2.40010044e-03 1.19064334e-06 9.99997120e-01 4.20831048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.910281693 meters 0.014866662904423004 Centerline is valid? [True, True] Translation: X:185.50, Y:68.36, Z:0.43 [[ 6.74580262e-01 -7.38201243e-01 6.28449264e-04 1.85504596e+02] [ 7.38200925e-01 6.74580555e-01 6.85515166e-04 6.83648479e+01] [-9.29987801e-04 1.48682802e-06 9.99999568e-01 4.26475552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940281693 meters 0.015148273595314642 Centerline is valid? [True, True] Translation: X:185.52, Y:68.38, Z:0.43 [[ 6.73457466e-01 -7.39225476e-01 8.58070209e-04 1.85523686e+02] [ 7.39224883e-01 6.73458013e-01 9.36100215e-04 6.83849708e+01] [-1.26986338e-03 3.88317125e-06 9.99999194e-01 4.26908268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970281693 meters 0.016442166317841112 Centerline is valid? [True, True] Translation: X:185.54, Y:68.40, Z:0.42 [[ 6.71223686e-01 -7.41253804e-01 -1.24953893e-03 1.85543562e+02] [ 7.41252552e-01 6.71224849e-01 -1.36232146e-03 6.84033969e+01] [ 1.84854755e-03 -1.18014879e-05 9.99998291e-01 4.21009035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000281693 meters 0.017389714598755893 Centerline is valid? [True, True] Translation: X:185.56, Y:68.42, Z:0.42 [[ 6.69977218e-01 -7.42379651e-01 -1.72627439e-03 1.85562767e+02] [ 7.42377263e-01 6.69979442e-01 -1.88304504e-03 6.84242486e+01] [ 2.55450268e-03 -1.99495786e-05 9.99996737e-01 4.19503032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030281693 meters 0.018150458833966057 Centerline is valid? [True, True] Translation: X:185.58, Y:68.44, Z:0.42 [[ 6.68691733e-01 -7.43538396e-01 -1.42124737e-03 1.85581572e+02] [ 7.43536779e-01 6.68693243e-01 -1.55079162e-03 6.84446672e+01] [ 2.10345163e-03 -1.97481518e-05 9.99997788e-01 4.20719583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060281693 meters 0.021424802837221174 Centerline is valid? [True, True] Translation: X:185.60, Y:68.46, Z:0.42 [[ 6.65974416e-01 -7.45974451e-01 -4.42101738e-04 1.85604131e+02] [ 7.45974295e-01 6.65974563e-01 -4.82325149e-04 6.84614720e+01] [ 6.54230750e-04 -8.58032234e-06 9.99999786e-01 4.23973912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090281693 meters 0.02521731248974686 Centerline is valid? [True, True] Translation: X:185.63, Y:68.48, Z:0.42 [[ 6.62922224e-01 -7.48687424e-01 -1.12506013e-03 1.85627835e+02] [ 7.48686417e-01 6.62923178e-01 -1.22818456e-03 6.84759911e+01] [ 1.66535477e-03 -2.81264027e-05 9.99998613e-01 4.22095552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120281693 meters 0.02595540049684098 Centerline is valid? [True, True] Translation: X:185.65, Y:68.50, Z:0.42 [[ 6.61914111e-01 -7.49577603e-01 -1.76835734e-03 1.85648455e+02] [ 7.49575116e-01 6.61916471e-01 -1.93148782e-03 6.84951558e+01] [ 2.61830486e-03 -4.70376150e-05 9.99996571e-01 4.19809432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150281693 meters 0.026921153589144573 Centerline is valid? [True, True] Translation: X:185.67, Y:68.51, Z:0.42 [[ 6.60810043e-01 -7.50549283e-01 -2.42088210e-03 1.85669166e+02] [ 7.50544624e-01 6.60814474e-01 -2.64535868e-03 6.85140993e+01] [ 3.58522599e-03 -6.89004668e-05 9.99993571e-01 4.18146638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18028169299998 meters 0.03014593695159197 Centerline is valid? [True, True] Translation: X:185.69, Y:68.53, Z:0.42 [[ 6.58614563e-01 -7.52476902e-01 -2.31713276e-03 1.85692108e+02] [ 7.52472643e-01 6.58618635e-01 -2.53280812e-03 6.85292177e+01] [ 3.43198643e-03 -7.54346985e-05 9.99994108e-01 4.18330678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21028169299998 meters 0.03163272737594228 Centerline is valid? [True, True] Translation: X:185.71, Y:68.55, Z:0.42 [[ 6.57383457e-01 -7.53553121e-01 -2.16413216e-03 1.85714043e+02] [ 7.53549410e-01 6.57387015e-01 -2.36628871e-03 6.85475574e+01] [ 3.20579663e-03 -7.52214608e-05 9.99994859e-01 4.18810620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.240281693 meters 0.035170013152093 Centerline is valid? [True, True] Translation: X:185.74, Y:68.56, Z:0.42 [[ 6.54959089e-01 -7.55660616e-01 -2.37200188e-03 1.85738849e+02] [ 7.55656167e-01 6.54963377e-01 -2.59453582e-03 6.85608251e+01] [ 3.51416290e-03 -9.31030307e-05 9.99993821e-01 4.18147090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.270281693 meters 0.034675660588944876 Centerline is valid? [True, True] Translation: X:185.76, Y:68.58, Z:0.42 [[ 6.53584223e-01 -7.56849269e-01 -2.61679971e-03 1.85759534e+02] [ 7.56843861e-01 6.53589452e-01 -2.86333460e-03 6.85808178e+01] [ 3.87742539e-03 -1.09078472e-04 9.99992477e-01 4.17916553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.300281693 meters 0.03866031826632737 Centerline is valid? [True, True] Translation: X:185.78, Y:68.59, Z:0.42 [[ 6.52261089e-01 -7.57989090e-01 -2.83049247e-03 1.85784115e+02] [ 7.57982768e-01 6.52267218e-01 -3.09835521e-03 6.85947911e+01] [ 4.19475689e-03 -1.24527972e-04 9.99991194e-01 4.17561021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.330281693 meters 0.04187428846240463 Centerline is valid? [True, True] Translation: X:185.81, Y:68.61, Z:0.42 [[ 6.50471463e-01 -7.59526764e-01 -2.44335124e-03 1.85810376e+02] [ 7.59522061e-01 6.50476042e-01 -2.67553086e-03 6.86072063e+01] [ 3.62147874e-03 -1.15422694e-04 9.99993436e-01 4.18383732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.360281693 meters 0.04085042798598926 Centerline is valid? [True, True] Translation: X:185.83, Y:68.63, Z:0.42 [[ 6.50340095e-01 -7.59640259e-01 -2.10663784e-03 1.85828926e+02] [ 7.59636760e-01 6.50343499e-01 -2.30763209e-03 6.86265775e+01] [ 3.12300847e-03 -9.95338726e-05 9.99995118e-01 4.19997136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.390281693 meters 0.03543854432664447 Centerline is valid? [True, True] Translation: X:185.84, Y:68.65, Z:0.42 [[ 6.52340026e-01 -7.57924085e-01 -1.88991573e-03 1.85843122e+02] [ 7.57921260e-01 6.52342759e-01 -2.07100374e-03 6.86507497e+01] [ 2.80253645e-03 -8.14086712e-05 9.99996070e-01 4.21175409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.420281693 meters 0.03489733739265914 Centerline is valid? [True, True] Translation: X:185.86, Y:68.67, Z:0.42 [[ 6.53917053e-01 -7.56563720e-01 -1.95575988e-03 1.85861695e+02] [ 7.56560686e-01 6.53919973e-01 -2.14402832e-03 6.86706906e+01] [ 2.90100449e-03 -7.76343584e-05 9.99995789e-01 4.21063234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.450281693 meters 0.03450986156686203 Centerline is valid? [True, True] Translation: X:185.88, Y:68.69, Z:0.42 [[ 6.56060638e-01 -7.54703033e-01 -2.78768669e-03 1.85882184e+02] [ 7.54696847e-01 6.56066553e-01 -3.05742931e-03 6.86877340e+01] [ 4.13635917e-03 -9.79993339e-05 9.99991440e-01 4.18384432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.480281693 meters 0.03413646106765813 Centerline is valid? [True, True] Translation: X:185.90, Y:68.71, Z:0.42 [[ 6.56060811e-01 -7.54700374e-01 -3.39958113e-03 1.85902084e+02] [ 7.54691166e-01 6.56069608e-01 -3.73008784e-03 6.87066892e+01] [ 5.04546054e-03 -1.18469392e-04 9.99987265e-01 4.16743476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.510281693 meters 0.033377567506356426 Centerline is valid? [True, True] Translation: X:185.92, Y:68.73, Z:0.42 [[ 6.54870929e-01 -7.55734527e-01 -3.06464477e-03 1.85922019e+02] [ 7.55727049e-01 6.54878090e-01 -3.36378576e-03 6.87264112e+01] [ 4.54909775e-03 -1.13189446e-04 9.99989646e-01 4.17505483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.540281693 meters 0.036432999068602846 Centerline is valid? [True, True] Translation: X:185.95, Y:68.74, Z:0.42 [[ 6.51082701e-01 -7.59006309e-01 -8.59561918e-04 1.85949187e+02] [ 7.59005724e-01 6.51083267e-01 -9.43399407e-04 6.87390347e+01] [ 1.27569248e-03 -3.81813821e-05 9.99999186e-01 4.23824979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.570281693 meters 0.045240668482863344 Centerline is valid? [True, True] Translation: X:185.98, Y:68.74, Z:0.43 [[ 6.47115891e-01 -7.62391602e-01 -2.62600541e-04 1.85982484e+02] [ 7.62391548e-01 6.47115944e-01 -2.88031074e-04 6.87438838e+01] [ 3.89525469e-04 -1.38149480e-05 9.99999924e-01 4.25611433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.600281693 meters 0.042856114000759254 Centerline is valid? [True, True] Translation: X:186.00, Y:68.76, Z:0.42 [[ 6.45395837e-01 -7.63846988e-01 -1.41173981e-03 1.86002907e+02] [ 7.63845417e-01 6.45397376e-01 -1.55091860e-03 6.87634959e+01] [ 2.09579767e-03 -7.73945715e-05 9.99997801e-01 4.22560164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.630281693 meters 0.04313640769327018 Centerline is valid? [True, True] Translation: X:186.03, Y:68.78, Z:0.42 [[ 6.43857426e-01 -7.65141465e-01 -2.48065820e-03 1.86026031e+02] [ 7.65136620e-01 6.43862189e-01 -2.72666845e-03 6.87805602e+01] [ 3.68348911e-03 -1.42456692e-04 9.99993206e-01 4.19736612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.660281693 meters 0.04498109211305516 Centerline is valid? [True, True] Translation: X:186.06, Y:68.79, Z:0.42 [[ 6.43035108e-01 -7.65830353e-01 -3.11767817e-03 1.86055219e+02] [ 7.65822701e-01 6.43042640e-01 -3.42835526e-03 6.87901393e+01] [ 4.63033852e-03 -1.83035921e-04 9.99989263e-01 4.19046775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690281693 meters 0.04367516295929891 Centerline is valid? [True, True] Translation: X:186.08, Y:68.81, Z:0.42 [[ 6.44047999e-01 -7.64980967e-01 -2.50893955e-03 1.86077288e+02] [ 7.64976001e-01 6.44052871e-01 -2.75992437e-03 6.88074855e+01] [ 3.72717934e-03 -1.41754778e-04 9.99993044e-01 4.21554404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720281693 meters 0.03890694303213794 Centerline is valid? [True, True] Translation: X:186.10, Y:68.82, Z:0.42 [[ 6.47927071e-01 -7.61700011e-01 -1.89864955e-03 1.86099357e+02] [ 7.61697151e-01 6.47929846e-01 -2.08927401e-03 6.88237672e+01] [ 2.82159175e-03 -9.24987691e-05 9.99996015e-01 4.23564249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750281693 meters 0.0355952697060218 Centerline is valid? [True, True] Translation: X:186.12, Y:68.84, Z:0.42 [[ 6.50338324e-01 -7.59641987e-01 -2.02854216e-03 1.86118532e+02] [ 7.59638710e-01 6.50341482e-01 -2.23318566e-03 6.88439542e+01] [ 3.01566671e-03 -8.86329274e-05 9.99995449e-01 4.22760155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780281693 meters 0.02928365250529583 Centerline is valid? [True, True] Translation: X:186.14, Y:68.86, Z:0.42 [[ 6.57130564e-01 -7.53771558e-01 -2.80367283e-03 1.86135702e+02] [ 7.53765237e-01 6.57136539e-01 -3.08799211e-03 6.88639651e+01] [ 4.17003649e-03 -8.40971230e-05 9.99991302e-01 4.20787756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810281693 meters 0.022699712813950078 Centerline is valid? [True, True] Translation: X:186.15, Y:68.89, Z:0.42 [[ 6.61012632e-01 -7.50369405e-01 -2.83838502e-03 1.86147461e+02] [ 7.50362891e-01 6.61018723e-01 -3.12729564e-03 6.88898106e+01] [ 4.22285261e-03 -6.26368669e-05 9.99991082e-01 4.21596315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840281693 meters 0.018644466423484916 Centerline is valid? [True, True] Translation: X:186.16, Y:68.91, Z:0.42 [[ 6.65170863e-01 -7.46686353e-01 -2.68577921e-03 1.86160472e+02] [ 7.46680486e-01 6.65176284e-01 -2.96011366e-03 6.89148633e+01] [ 3.99679311e-03 -3.64375665e-05 9.99992012e-01 4.22394454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870281693 meters 0.015396921325686399 Centerline is valid? [True, True] Translation: X:186.16, Y:68.95, Z:0.42 [[ 6.73540982e-01 -7.39142252e-01 -3.35804788e-03 1.86164569e+02] [ 7.39132979e-01 6.73549353e-01 -3.70254127e-03 6.89496301e+01] [ 4.99851567e-03 1.17693533e-05 9.99987507e-01 4.20413585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900281693 meters 0.017989868453987316 Centerline is valid? [True, True] Translation: X:186.17, Y:68.98, Z:0.42 [[ 6.76993801e-01 -7.35979115e-01 -3.75980548e-03 1.86174624e+02] [ 7.35967434e-01 6.77004240e-01 -4.14682460e-03 6.89764583e+01] [ 5.59738055e-03 4.02801632e-05 9.99984334e-01 4.18018346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93028169299998 meters 0.022550615490899286 Centerline is valid? [True, True] Translation: X:186.18, Y:69.01, Z:0.42 [[ 6.81746462e-01 -7.31577198e-01 -4.06993799e-03 1.86183499e+02] [ 7.31563421e-01 6.81758605e-01 -4.49051431e-03 6.90053558e+01] [ 6.05987313e-03 8.39744822e-05 9.99981635e-01 4.18207935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96028169299998 meters 0.025693039484092302 Centerline is valid? [True, True] Translation: X:186.20, Y:69.03, Z:0.42 [[ 6.82810420e-01 -7.30587839e-01 -3.36747209e-03 1.86196246e+02] [ 7.30578389e-01 6.82818719e-01 -3.71681822e-03 6.90302920e+01] [ 5.01483517e-03 7.76798702e-05 9.99987423e-01 4.19832788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.990281693 meters 0.0243467017719632 Centerline is valid? [True, True] Translation: X:186.21, Y:69.05, Z:0.42 [[ 6.82998128e-01 -7.30416384e-01 -2.33738919e-03 1.86214528e+02] [ 7.30411827e-01 6.83002126e-01 -2.58072809e-03 6.90503550e+01] [ 3.48144786e-03 5.53757434e-05 9.99993938e-01 4.23237362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.020281693 meters 0.023198763954051575 Centerline is valid? [True, True] Translation: X:186.23, Y:69.07, Z:0.43 [[ 6.81945363e-01 -7.31402729e-01 -7.54307423e-04 1.86232114e+02] [ 7.31402255e-01 6.81945780e-01 -8.32768693e-04 6.90707744e+01] [ 1.12348606e-03 1.62005985e-05 9.99999369e-01 4.27867035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.050281693 meters 0.021073949122666462 Centerline is valid? [True, True] Translation: X:186.25, Y:69.09, Z:0.43 [[ 6.80587840e-01 -7.32665724e-01 -1.06207399e-03 1.86252881e+02] [ 7.32664785e-01 6.80588669e-01 -1.17328575e-03 6.90902125e+01] [ 1.58246178e-03 2.03798053e-05 9.99998748e-01 4.26396642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.080281693 meters 0.021823610024699867 Centerline is valid? [True, True] Translation: X:186.27, Y:69.11, Z:0.42 [[ 6.80224830e-01 -7.33002262e-01 -1.36554581e-03 1.86269747e+02] [ 7.33000708e-01 6.80226201e-01 -1.50926520e-03 6.91117702e+01] [ 2.03517484e-03 2.56936194e-05 9.99997929e-01 4.24975670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.110281693 meters 0.022264304740938302 Centerline is valid? [True, True] Translation: X:186.29, Y:69.13, Z:0.42 [[ 6.80659432e-01 -7.32597653e-01 -1.84816193e-03 1.86287168e+02] [ 7.32594804e-01 6.80661940e-01 -2.04370732e-03 6.91328313e+01] [ 2.75518867e-03 3.71148333e-05 9.99996204e-01 4.24632873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.140281693 meters 0.024572453795010926 Centerline is valid? [True, True] Translation: X:186.30, Y:69.16, Z:0.42 [[ 6.81931030e-01 -7.31412553e-01 -2.39749222e-03 1.86302314e+02] [ 7.31407746e-01 6.81935243e-01 -2.65226107e-03 6.91560010e+01] [ 3.57483148e-03 5.51147477e-05 9.99993609e-01 4.24406936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.170281693 meters 0.02322442045422732 Centerline is valid? [True, True] Translation: X:186.32, Y:69.18, Z:0.42 [[ 6.81980317e-01 -7.31365761e-01 -2.64025818e-03 1.86322848e+02] [ 7.31359927e-01 6.81985425e-01 -2.92180643e-03 6.91755352e+01] [ 3.93752678e-03 6.16354458e-05 9.99992246e-01 4.24368965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.200281693 meters 0.022559279813449653 Centerline is valid? [True, True] Translation: X:186.34, Y:69.19, Z:0.42 [[ 6.81080692e-01 -7.32200760e-01 -3.33732903e-03 1.86343666e+02] [ 7.32191442e-01 6.81088865e-01 -3.69475222e-03 6.91947966e+01] [ 4.97831802e-03 7.28606472e-05 9.99987605e-01 4.22428995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.230281693 meters 0.022351173579651055 Centerline is valid? [True, True] Translation: X:186.36, Y:69.21, Z:0.42 [[ 6.80646086e-01 -7.32604690e-01 -3.35757212e-03 1.86363704e+02] [ 7.32595256e-01 6.80654364e-01 -3.71856310e-03 6.92149411e+01] [ 5.00958288e-03 7.12840132e-05 9.99987449e-01 4.21477016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.260281693 meters 0.022902457858271674 Centerline is valid? [True, True] Translation: X:186.38, Y:69.23, Z:0.42 [[ 6.79947863e-01 -7.33255292e-01 -2.75348880e-03 1.86381199e+02] [ 7.33248948e-01 6.79953435e-01 -3.05064694e-03 6.92349995e+01] [ 4.10914718e-03 5.52881030e-05 9.99991556e-01 4.21963345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.290281693 meters 0.02014961540241967 Centerline is valid? [True, True] Translation: X:186.40, Y:69.25, Z:0.43 [[ 6.78616159e-01 -7.34493045e-01 -2.75155159e-04 1.86404016e+02] [ 7.34492982e-01 6.78616215e-01 -3.04417241e-04 6.92503998e+01] [ 4.10317099e-04 4.48292544e-06 9.99999916e-01 4.28992352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.320281693 meters 0.02010893495930045 Centerline is valid? [True, True] Translation: X:186.42, Y:69.27, Z:0.43 [[ 6.77948496e-01 -7.35109401e-01 -7.33367305e-05 1.86422331e+02] [ 7.35109397e-01 6.77948500e-01 -8.07170883e-05 6.92692168e+01] [ 1.09054417e-04 8.11508896e-07 9.99999994e-01 4.29923773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.350281693 meters 0.020345411666069176 Centerline is valid? [True, True] Translation: X:186.44, Y:69.29, Z:0.42 [[ 6.77897021e-01 -7.35151596e-01 -2.78586866e-03 1.86441213e+02] [ 7.35145101e-01 6.77902743e-01 -3.09041119e-03 6.92888135e+01] [ 4.16046873e-03 4.69628410e-05 9.99991344e-01 4.22809834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.380281693 meters 0.021653936920255176 Centerline is valid? [True, True] Translation: X:186.46, Y:69.31, Z:0.42 [[ 6.78408358e-01 -7.34670931e-01 -4.55223580e-03 1.86458196e+02] [ 7.34653566e-01 6.78423626e-01 -5.05182313e-03 6.93101222e+01] [ 6.79977192e-03 8.28827725e-05 9.99976878e-01 4.17548109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.410281693 meters 0.023109650641207225 Centerline is valid? [True, True] Translation: X:186.48, Y:69.33, Z:0.42 [[ 6.79509337e-01 -7.33647837e-01 -5.28327601e-03 1.86475789e+02] [ 7.33624400e-01 6.79529867e-01 -5.86514400e-03 6.93324922e+01] [ 7.89309405e-03 1.09479922e-04 9.99968843e-01 4.15724186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440281693 meters 0.026894464454633664 Centerline is valid? [True, True] Translation: X:186.49, Y:69.36, Z:0.42 [[ 6.81030810e-01 -7.32245505e-01 -3.68204922e-03 1.86489556e+02] [ 7.32234093e-01 6.81040757e-01 -4.08894527e-03 6.93566395e+01] [ 5.50173738e-03 8.85757324e-05 9.99984861e-01 4.20292143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470281693 meters 0.025728096573629344 Centerline is valid? [True, True] Translation: X:186.51, Y:69.38, Z:0.42 [[ 6.81245889e-01 -7.32048877e-01 -2.91193089e-03 1.86509185e+02] [ 7.32041733e-01 6.81252109e-01 -3.23488545e-03 6.93761145e+01] [ 4.35185332e-03 7.20974776e-05 9.99990528e-01 4.22842062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500281693 meters 0.026579694149574472 Centerline is valid? [True, True] Translation: X:186.53, Y:69.40, Z:0.42 [[ 6.81642115e-01 -7.31679023e-01 -3.13598902e-03 1.86526648e+02] [ 7.31670727e-01 6.81649324e-01 -3.48520782e-03 6.93963324e+01] [ 4.68769825e-03 8.11530595e-05 9.99989009e-01 4.21152991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530281693 meters 0.026425960155156854 Centerline is valid? [True, True] Translation: X:186.55, Y:69.42, Z:0.42 [[ 6.81438413e-01 -7.31867433e-01 -3.42788990e-03 1.86545128e+02] [ 7.31857515e-01 6.81447029e-01 -3.81117315e-03 6.94163966e+01] [ 5.12519889e-03 8.83527976e-05 9.99986862e-01 4.19996046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560281693 meters 0.02627808409283076 Centerline is valid? [True, True] Translation: X:186.56, Y:69.44, Z:0.42 [[ 6.81567295e-01 -7.31746381e-01 -3.64092965e-03 1.86562966e+02] [ 7.31735181e-01 6.81577014e-01 -4.04972005e-03 6.94366525e+01] [ 5.44494194e-03 9.59604250e-05 9.99985172e-01 4.20544101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590281693 meters 0.02697435072115446 Centerline is valid? [True, True] Translation: X:186.58, Y:69.46, Z:0.42 [[ 6.82885865e-01 -7.30518203e-01 -3.17012736e-03 1.86579147e+02] [ 7.30509693e-01 6.82893217e-01 -3.52730892e-03 6.94606082e+01] [ 4.74162185e-03 9.29406391e-05 9.99988754e-01 4.22993685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620281693 meters 0.02697435072115446 Centerline is valid? [True, True] Translation: X:186.60, Y:69.48, Z:0.42 [[ 6.82748827e-01 -7.30646285e-01 -3.16948330e-03 1.86597377e+02] [ 7.30637774e-01 6.82756177e-01 -3.52788762e-03 6.94811849e+01] [ 4.74162228e-03 9.29169095e-05 9.99988754e-01 4.23048384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650281693 meters 0.02807523658846617 Centerline is valid? [True, True] Translation: X:186.61, Y:69.50, Z:0.42 [[ 6.83652759e-01 -7.29801386e-01 -2.97351193e-03 1.86613912e+02] [ 7.29793881e-01 6.83659219e-01 -3.31093085e-03 6.95044604e+01] [ 4.44919077e-03 9.34761951e-05 9.99990098e-01 4.24026416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68028169299998 meters 0.03139656960052663 Centerline is valid? [True, True] Translation: X:186.63, Y:69.53, Z:0.42 [[ 6.85493544e-01 -7.28073154e-01 -2.84308646e-03 1.86626722e+02] [ 7.28066275e-01 6.85499433e-01 -3.16648465e-03 6.95293694e+01] [ 4.25436662e-03 1.00649422e-04 9.99990945e-01 4.24629139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71028169299998 meters 0.03136377446905972 Centerline is valid? [True, True] Translation: X:186.64, Y:69.55, Z:0.43 [[ 6.85740690e-01 -7.27839995e-01 -2.94092587e-03 1.86644271e+02] [ 7.27832629e-01 6.85746988e-01 -3.27619944e-03 6.95505478e+01] [ 4.40128004e-03 1.06121456e-04 9.99990309e-01 4.25057994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.740281693 meters 0.03104065843615449 Centerline is valid? [True, True] Translation: X:186.66, Y:69.57, Z:0.43 [[ 6.85484922e-01 -7.28085089e-01 -1.58869303e-03 1.86661619e+02] [ 7.28082940e-01 6.85486761e-01 -1.77013776e-03 6.95726632e+01] [ 2.37783895e-03 5.67024549e-05 9.99997171e-01 4.28996612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.770281693 meters 0.029873513421266203 Centerline is valid? [True, True] Translation: X:186.68, Y:69.59, Z:0.43 [[ 6.85137578e-01 -7.28413368e-01 -6.81430412e-04 1.86681467e+02] [ 7.28412973e-01 6.85137917e-01 -7.59219600e-04 6.95923829e+01] [ 1.01989952e-03 2.38071259e-05 9.99999480e-01 4.31698988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.800281693 meters 0.029608208020063635 Centerline is valid? [True, True] Translation: X:186.70, Y:69.61, Z:0.43 [[ 6.84685869e-01 -7.28838295e-01 3.17329734e-05 1.86700890e+02] [ 7.28838294e-01 6.84685870e-01 3.59574853e-05 6.96120072e+01] [-4.79343107e-05 -1.49137587e-06 9.99999999e-01 4.33203736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.830281693 meters 0.028559433584254376 Centerline is valid? [True, True] Translation: X:186.72, Y:69.63, Z:0.43 [[ 6.83377974e-01 -7.30064750e-01 -7.24164850e-05 1.86721837e+02] [ 7.30064745e-01 6.83377978e-01 -8.04460712e-05 6.96297375e+01] [ 1.08218672e-04 2.10635052e-06 9.99999994e-01 4.32142941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.860281693 meters 0.02742019977384158 Centerline is valid? [True, True] Translation: X:186.74, Y:69.65, Z:0.43 [[ 6.82488884e-01 -7.30895562e-01 -7.75581060e-04 1.86742316e+02] [ 7.30895050e-01 6.82489324e-01 -8.65059617e-04 6.96489724e+01] [ 1.16159403e-03 2.35252151e-05 9.99999325e-01 4.29854485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.890281693 meters 0.026120268471904986 Centerline is valid? [True, True] Translation: X:186.76, Y:69.67, Z:0.43 [[ 6.81396398e-01 -7.31912056e-01 -1.92100912e-03 1.86764319e+02] [ 7.31908917e-01 6.81399104e-01 -2.14426123e-03 6.96667708e+01] [ 2.87838454e-03 5.50881739e-05 9.99995856e-01 4.26822704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.920281693 meters 0.026364767527503066 Centerline is valid? [True, True] Translation: X:186.78, Y:69.69, Z:0.43 [[ 6.80962954e-01 -7.32312942e-01 -2.68510507e-03 1.86783457e+02] [ 7.32306807e-01 6.80968244e-01 -2.99851482e-03 6.96860722e+01] [ 4.02432249e-03 7.55567891e-05 9.99991900e-01 4.25413759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.950281693 meters 0.026682496438366576 Centerline is valid? [True, True] Translation: X:186.80, Y:69.70, Z:0.42 [[ 6.80242017e-01 -7.32978375e-01 -3.67438435e-03 1.86802692e+02] [ 7.32966887e-01 6.80251933e-01 -4.10492156e-03 6.97042306e+01] [ 5.50832579e-03 9.91380596e-05 9.99984824e-01 4.22400841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.980281693 meters 0.025239293373473026 Centerline is valid? [True, True] Translation: X:186.82, Y:69.72, Z:0.42 [[ 6.80051771e-01 -7.33154590e-01 -3.73299295e-03 1.86823215e+02] [ 7.33142727e-01 6.80062009e-01 -4.17190612e-03 6.97231693e+01] [ 5.59731881e-03 1.00295511e-04 9.99984330e-01 4.22345627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.010281693 meters 0.02546729868701151 Centerline is valid? [True, True] Translation: X:186.84, Y:69.74, Z:0.42 [[ 6.80088056e-01 -7.33121523e-01 -3.61502739e-03 1.86841744e+02] [ 7.33110389e-01 6.80097657e-01 -4.04158385e-03 6.97443552e+01] [ 5.42154377e-03 9.84187674e-05 9.99985298e-01 4.22710276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.040281693 meters 0.025787608161926667 Centerline is valid? [True, True] Translation: X:186.86, Y:69.77, Z:0.42 [[ 6.80440921e-01 -7.32795192e-01 -3.37057605e-03 1.86859931e+02] [ 7.32785502e-01 6.80449262e-01 -3.76968408e-03 6.97650303e+01] [ 5.05591235e-03 9.51380461e-05 9.99987214e-01 4.24077933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.070281693 meters 0.02636581516891181 Centerline is valid? [True, True] Translation: X:186.88, Y:69.79, Z:0.42 [[ 6.80608724e-01 -7.32639479e-01 -3.34033881e-03 1.86876548e+02] [ 7.32629953e-01 6.80616914e-01 -3.73733772e-03 6.97864087e+01] [ 5.01161225e-03 9.64323927e-05 9.99987437e-01 4.24880918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.100281693 meters 0.026792687805228886 Centerline is valid? [True, True] Translation: X:186.89, Y:69.81, Z:0.42 [[ 6.81135644e-01 -7.32150232e-01 -3.20502804e-03 1.86892072e+02] [ 7.32141450e-01 6.81143178e-01 -3.58728611e-03 6.98100404e+01] [ 4.80951534e-03 9.68945552e-05 9.99988430e-01 4.24845035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.130281693 meters 0.027208519211333018 Centerline is valid? [True, True] Translation: X:186.91, Y:69.83, Z:0.42 [[ 6.81046033e-01 -7.32233199e-01 -3.29288882e-03 1.86908665e+02] [ 7.32223923e-01 6.81053986e-01 -3.68707835e-03 6.98315762e+01] [ 4.94243623e-03 9.99381141e-05 9.99987781e-01 4.24558609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.160281693 meters 0.028938240920936352 Centerline is valid? [True, True] Translation: X:186.92, Y:69.85, Z:0.42 [[ 6.80497215e-01 -7.32742841e-01 -3.38671213e-03 1.86923828e+02] [ 7.32733027e-01 6.80505635e-01 -3.79365930e-03 6.98539182e+01] [ 5.08445338e-03 1.00018755e-04 9.99987069e-01 4.23538833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190281693 meters 0.02501585297529372 Centerline is valid? [True, True] Translation: X:186.94, Y:69.87, Z:0.43 [[ 6.79046093e-01 -7.34089108e-01 -3.09588388e-03 1.86944287e+02] [ 7.34080916e-01 6.79053145e-01 -3.46913691e-03 6.98731084e+01] [ 4.64892530e-03 8.30745919e-05 9.99989190e-01 4.25579072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220281693 meters 0.02393606575345523 Centerline is valid? [True, True] Translation: X:186.96, Y:69.90, Z:0.43 [[ 6.78315152e-01 -7.34763549e-01 -3.32899913e-03 1.86960241e+02] [ 7.34754077e-01 6.78323315e-01 -3.73179996e-03 6.98959077e+01] [ 5.00012831e-03 8.53407752e-05 9.99987496e-01 4.25822704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250281693 meters 0.02567150105504067 Centerline is valid? [True, True] Translation: X:186.97, Y:69.92, Z:0.42 [[ 6.78134646e-01 -7.34929937e-01 -3.37490209e-03 1.86974423e+02] [ 7.34920198e-01 6.78143038e-01 -3.78448393e-03 6.99198575e+01] [ 5.06999689e-03 8.61059557e-05 9.99987144e-01 4.24929198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280281693 meters 0.024465474479402085 Centerline is valid? [True, True] Translation: X:186.99, Y:69.94, Z:0.43 [[ 6.77904540e-01 -7.35143233e-01 -3.14034651e-03 1.86992245e+02] [ 7.35134797e-01 6.77911809e-01 -3.52261655e-03 6.99419845e+01] [ 4.71850571e-03 7.94197562e-05 9.99988865e-01 4.25995129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310281693 meters 0.024531534460025706 Centerline is valid? [True, True] Translation: X:187.01, Y:69.97, Z:0.43 [[ 6.77821856e-01 -7.35224500e-01 -1.57036044e-03 1.87007185e+02] [ 7.35222390e-01 6.77823674e-01 -1.76190036e-03 6.99663332e+01] [ 2.35981979e-03 3.96904149e-05 9.99997215e-01 4.30068544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340281693 meters 0.02434317375823335 Centerline is valid? [True, True] Translation: X:187.02, Y:69.99, Z:0.43 [[ 6.77586536e-01 -7.35442418e-01 -9.67624223e-04 1.87024717e+02] [ 7.35441617e-01 6.77587227e-01 -1.08583990e-03 6.99881763e+01] [ 1.45422254e-03 2.41193758e-05 9.99998942e-01 4.31395600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370281693 meters 0.024121024546104913 Centerline is valid? [True, True] Translation: X:187.04, Y:70.01, Z:0.43 [[ 6.76649701e-01 -7.36304338e-01 -1.05098181e-03 1.87040703e+02] [ 7.36303393e-01 6.76650516e-01 -1.17988689e-03 7.00094264e+01] [ 1.57990322e-03 2.45286319e-05 9.99998752e-01 4.31324287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400281693 meters 0.023657588339701587 Centerline is valid? [True, True] Translation: X:187.06, Y:70.03, Z:0.43 [[ 6.75961470e-01 -7.36935867e-01 -1.27270273e-03 1.87057572e+02] [ 7.36934481e-01 6.75962667e-01 -1.42936470e-03 7.00292102e+01] [ 1.91364964e-03 2.82969399e-05 9.99998169e-01 4.30282223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43028169299998 meters 0.02413880800393561 Centerline is valid? [True, True] Translation: X:187.07, Y:70.05, Z:0.43 [[ 6.75172313e-01 -7.37657862e-01 -1.79626911e-03 1.87073222e+02] [ 7.37655101e-01 6.75174701e-01 -2.01845402e-03 7.00497646e+01] [ 2.70172394e-03 3.77771967e-05 9.99996350e-01 4.28689337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46028169299998 meters 0.021166034901339625 Centerline is valid? [True, True] Translation: X:187.09, Y:70.07, Z:0.43 [[ 6.73961581e-01 -7.38760873e-01 -2.85648625e-03 1.87092755e+02] [ 7.38753895e-01 6.73967633e-01 -3.21127343e-03 7.00681816e+01] [ 4.29754244e-03 5.40345763e-05 9.99990764e-01 4.25560641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.490281693 meters 0.02068069818264855 Centerline is valid? [True, True] Translation: X:187.11, Y:70.09, Z:0.42 [[ 6.73141173e-01 -7.39507088e-01 -3.19803617e-03 1.87109175e+02] [ 7.39498343e-01 6.73148768e-01 -3.59685947e-03 7.00881307e+01] [ 4.81265718e-03 5.62517556e-05 9.99988418e-01 4.24461532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.520281693 meters 0.018177215772120198 Centerline is valid? [True, True] Translation: X:187.13, Y:70.11, Z:0.42 [[ 6.70699174e-01 -7.41722594e-01 -3.19562760e-03 1.87128725e+02] [ 7.41713880e-01 6.70706786e-01 -3.59557331e-03 7.01080178e+01] [ 4.81024707e-03 4.13067008e-05 9.99988430e-01 4.24684939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.550281693 meters 0.016990307136827462 Centerline is valid? [True, True] Translation: X:187.15, Y:70.13, Z:0.42 [[ 6.69037173e-01 -7.43222919e-01 -2.99244814e-03 1.87147215e+02] [ 7.43215287e-01 6.69043864e-01 -3.36829219e-03 7.01262400e+01] [ 4.50547102e-03 2.94794811e-05 9.99989850e-01 4.24185912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.580281693 meters 0.015323566003737863 Centerline is valid? [True, True] Translation: X:187.17, Y:70.14, Z:0.42 [[ 6.65810989e-01 -7.46111764e-01 -3.60035278e-03 1.87169277e+02] [ 7.46100748e-01 6.65820724e-01 -4.05437403e-03 7.01432645e+01] [ 5.42220565e-03 1.32208877e-05 9.99985300e-01 4.21779243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.610281693 meters 0.015199247205470714 Centerline is valid? [True, True] Translation: X:187.19, Y:70.16, Z:0.42 [[ 6.64262602e-01 -7.47487122e-01 -4.26594519e-03 1.87189257e+02] [ 7.47471671e-01 6.64276300e-01 -4.80597465e-03 7.01621501e+01] [ 6.42617044e-03 3.75604873e-06 9.99979352e-01 4.20427158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.640281693 meters 0.015293160001755294 Centerline is valid? [True, True] Translation: X:187.21, Y:70.18, Z:0.42 [[ 6.62934149e-01 -7.48664296e-01 -4.48179058e-03 1.87209155e+02] [ 7.48647255e-01 6.62949298e-01 -5.05122250e-03 7.01813806e+01] [ 6.75286985e-03 -6.65232578e-06 9.99977199e-01 4.19351181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.670281693 meters 0.015964349017065414 Centerline is valid? [True, True] Translation: X:187.23, Y:70.20, Z:0.42 [[ 6.60368988e-01 -7.50929522e-01 -4.20152906e-03 1.87230643e+02] [ 7.50914582e-01 6.60382353e-01 -4.73693690e-03 7.01966896e+01] [ 6.33172141e-03 -2.68632103e-05 9.99979954e-01 4.20535091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.700281693 meters 0.016761625924602702 Centerline is valid? [True, True] Translation: X:187.25, Y:70.22, Z:0.42 [[ 6.58993062e-01 -7.52138280e-01 -4.01898864e-03 1.87250906e+02] [ 7.52124622e-01 6.59005316e-01 -4.53280534e-03 7.02151104e+01] [ 6.05783129e-03 -3.56930367e-05 9.99981651e-01 4.21771287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.730281693 meters 0.018263505777898894 Centerline is valid? [True, True] Translation: X:187.27, Y:70.23, Z:0.42 [[ 6.56733402e-01 -7.54113034e-01 -3.84331495e-03 1.87273437e+02] [ 7.54100568e-01 6.56744646e-01 -4.33628697e-03 7.02328418e+01] [ 5.79412704e-03 -5.04614986e-05 9.99983213e-01 4.23213542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.760281693 meters 0.019448067194308593 Centerline is valid? [True, True] Translation: X:187.29, Y:70.25, Z:0.42 [[ 6.55525916e-01 -7.55163587e-01 -3.70537209e-03 1.87294600e+02] [ 7.55152008e-01 6.55536386e-01 -4.18221912e-03 7.02506472e+01] [ 5.58726582e-03 -5.65661553e-05 9.99984390e-01 4.23820269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.790281693 meters 0.02024189072216057 Centerline is valid? [True, True] Translation: X:187.32, Y:70.27, Z:0.42 [[ 6.54449838e-01 -7.56097868e-01 -3.37992388e-03 1.87315541e+02] [ 7.56088239e-01 6.54458563e-01 -3.81636313e-03 7.02678241e+01] [ 5.09756415e-03 -5.79024547e-05 9.99987006e-01 4.24716183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.820281693 meters 0.02247982694415636 Centerline is valid? [True, True] Translation: X:187.34, Y:70.28, Z:0.43 [[ 6.52955400e-01 -7.57391036e-01 -2.83983662e-03 1.87341096e+02] [ 7.57384245e-01 6.52961573e-01 -3.20770235e-03 7.02810585e+01] [ 4.28378919e-03 -5.63609438e-05 9.99990823e-01 4.26140697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.850281693 meters 0.023374338575805866 Centerline is valid? [True, True] Translation: X:187.36, Y:70.30, Z:0.43 [[ 6.52210137e-01 -7.58032562e-01 -2.92795082e-03 1.87359902e+02] [ 7.58025343e-01 6.52216706e-01 -3.30865026e-03 7.02977254e+01] [ 4.41772307e-03 -6.15256892e-05 9.99990240e-01 4.26155492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.880281693 meters 0.02311571329193912 Centerline is valid? [True, True] Translation: X:187.38, Y:70.32, Z:0.42 [[ 6.52516418e-01 -7.57765702e-01 -3.66947627e-03 1.87377710e+02] [ 7.57754349e-01 6.52526732e-01 -4.14865325e-03 7.03157121e+01] [ 5.53813850e-03 -7.34972391e-05 9.99984662e-01 4.24340629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.910281693 meters 0.021403661137075057 Centerline is valid? [True, True] Translation: X:187.39, Y:70.34, Z:0.43 [[ 6.53533760e-01 -7.56888745e-01 -3.61289632e-03 1.87394170e+02] [ 7.56877716e-01 6.53543743e-01 -4.08647782e-03 7.03366075e+01] [ 5.45419485e-03 -6.38695021e-05 9.99985124e-01 4.25083963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940281693 meters 0.019326101323568046 Centerline is valid? [True, True] Translation: X:187.41, Y:70.36, Z:0.43 [[ 6.55174448e-01 -7.55470393e-01 -3.30566725e-03 1.87408769e+02] [ 7.55461135e-01 6.55182786e-01 -3.74034636e-03 7.03575748e+01] [ 4.99153721e-03 -4.67237723e-05 9.99987541e-01 4.26760690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970281693 meters 0.01526930519385335 Centerline is valid? [True, True] Translation: X:187.42, Y:70.39, Z:0.43 [[ 6.59120055e-01 -7.52033242e-01 -2.59908822e-03 1.87419342e+02] [ 7.52027489e-01 6.59125180e-01 -2.94178910e-03 7.03852085e+01] [ 3.92544769e-03 -1.55935910e-05 9.99992295e-01 4.30528521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000281693 meters 0.01453837648736946 Centerline is valid? [True, True] Translation: X:187.43, Y:70.41, Z:0.43 [[ 6.62856335e-01 -7.48745077e-01 -1.51289504e-03 1.87429847e+02] [ 7.48743118e-01 6.62858061e-01 -1.71278832e-03 7.04102501e+01] [ 2.28527650e-03 2.56284309e-06 9.99997389e-01 4.31943045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030281693 meters 0.014954976265047742 Centerline is valid? [True, True] Translation: X:187.45, Y:70.43, Z:0.43 [[ 6.64024957e-01 -7.47709073e-01 -1.41401440e-03 1.87446050e+02] [ 7.47707358e-01 6.64026462e-01 -1.60148705e-03 7.04325216e+01] [ 2.13638937e-03 6.15840015e-06 9.99997718e-01 4.32229314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060281693 meters 0.015228155499902316 Centerline is valid? [True, True] Translation: X:187.46, Y:70.45, Z:0.43 [[ 6.64623995e-01 -7.47176017e-01 -1.71606761e-03 1.87462479e+02] [ 7.47173487e-01 6.64626211e-01 -1.94448464e-03 7.04545239e+01] [ 2.59341580e-03 1.01509341e-05 9.99996637e-01 4.30952794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090281693 meters 0.01585215205587016 Centerline is valid? [True, True] Translation: X:187.48, Y:70.48, Z:0.43 [[ 6.65059218e-01 -7.46783269e-01 -3.31459817e-03 1.87477686e+02] [ 7.46773814e-01 6.65067477e-01 -3.75793703e-03 7.04771821e+01] [ 5.01079594e-03 2.39955471e-05 9.99987446e-01 4.26712746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120281693 meters 0.015978971056998817 Centerline is valid? [True, True] Translation: X:187.49, Y:70.50, Z:0.43 [[ 6.65068971e-01 -7.46774471e-01 -3.33970053e-03 1.87494813e+02] [ 7.46764864e-01 6.65077355e-01 -3.78797799e-03 7.04980303e+01] [ 5.04992445e-03 2.52956041e-05 9.99987249e-01 4.26845125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150281693 meters 0.01598684514870887 Centerline is valid? [True, True] Translation: X:187.51, Y:70.52, Z:0.43 [[ 6.64494172e-01 -7.47289651e-01 -2.38199414e-03 1.87511574e+02] [ 7.47284764e-01 6.64498441e-01 -2.70255449e-03 7.05182792e+01] [ 3.60242239e-03 1.58037757e-05 9.99993511e-01 4.29307501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18028169299998 meters 0.015793087022539815 Centerline is valid? [True, True] Translation: X:187.53, Y:70.54, Z:0.43 [[ 6.64020363e-01 -7.47709998e-01 -2.59168795e-03 1.87529019e+02] [ 7.47704212e-01 6.64025420e-01 -2.94160130e-03 7.05381990e+01] [ 3.92041138e-03 1.54671632e-05 9.99992315e-01 4.29153516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21028169299998 meters 0.01587776867643186 Centerline is valid? [True, True] Translation: X:187.55, Y:70.56, Z:0.43 [[ 6.64084935e-01 -7.47649237e-01 -3.43776331e-03 1.87545943e+02] [ 7.47639046e-01 6.64093833e-01 -3.90369514e-03 7.05592660e+01] [ 5.20159211e-03 2.21790528e-05 9.99986471e-01 4.27314074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.240281693 meters 0.01724598147119807 Centerline is valid? [True, True] Translation: X:187.56, Y:70.58, Z:0.42 [[ 6.65267619e-01 -7.46588861e-01 -4.90589485e-03 1.87559174e+02] [ 7.46568063e-01 6.65285706e-01 -5.57289802e-03 7.05829007e+01] [ 7.42448530e-03 4.48841780e-05 9.99972437e-01 4.22312432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.270281693 meters 0.017715917967792944 Centerline is valid? [True, True] Translation: X:187.57, Y:70.60, Z:0.42 [[ 6.65637353e-01 -7.46259669e-01 -4.83944697e-03 1.87574364e+02] [ 7.46239405e-01 6.65654943e-01 -5.49969522e-03 7.06039310e+01] [ 7.32560254e-03 4.94165399e-05 9.99973166e-01 4.22026452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.300281693 meters 0.017318170462876106 Centerline is valid? [True, True] Translation: X:187.59, Y:70.63, Z:0.42 [[ 6.65474097e-01 -7.46409636e-01 -4.10873136e-03 1.87590319e+02] [ 7.46395021e-01 6.65486780e-01 -4.67113977e-03 7.06254632e+01] [ 6.22089013e-03 4.17858937e-05 9.99980649e-01 4.24613990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.330281693 meters 0.017332691811424994 Centerline is valid? [True, True] Translation: X:187.61, Y:70.65, Z:0.42 [[ 6.64479538e-01 -7.47296021e-01 -3.94964681e-03 1.87606962e+02] [ 7.47282520e-01 6.64491276e-01 -4.49211531e-03 7.06460600e+01] [ 5.98144575e-03 3.34166835e-05 9.99982110e-01 4.24121854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.360281693 meters 0.0163719742644086 Centerline is valid? [True, True] Translation: X:187.63, Y:70.66, Z:0.42 [[ 6.63164167e-01 -7.48461421e-01 -4.33461380e-03 1.87626018e+02] [ 7.48445171e-01 6.63178333e-01 -4.93209308e-03 7.06646092e+01] [ 6.56610334e-03 2.65666348e-05 9.99978443e-01 4.22679862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.390281693 meters 0.015407034405742573 Centerline is valid? [True, True] Translation: X:187.65, Y:70.68, Z:0.42 [[ 6.59309164e-01 -7.51849919e-01 -5.75542156e-03 1.87650762e+02] [ 7.51821373e-01 6.59334285e-01 -6.55158314e-03 7.06796448e+01] [ 8.72055401e-03 -7.53013531e-06 9.99961975e-01 4.20379784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.420281693 meters 0.01691795619843774 Centerline is valid? [True, True] Translation: X:187.67, Y:70.70, Z:0.42 [[ 6.56723202e-01 -7.54108780e-01 -5.88079040e-03 1.87672029e+02] [ 7.54079046e-01 6.56749531e-01 -6.69671991e-03 7.06951767e+01] [ 8.91226162e-03 -3.66894740e-05 9.99960284e-01 4.17906760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.450281693 meters 0.020829787919897 Centerline is valid? [True, True] Translation: X:187.70, Y:70.71, Z:0.42 [[ 6.51469194e-01 -7.58663013e-01 -4.28034702e-03 1.87698286e+02] [ 7.58647348e-01 6.51483252e-01 -4.87593608e-03 7.07081833e+01] [ 6.48776675e-03 -7.07517662e-05 9.99978952e-01 4.24194205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.480281693 meters 0.020829787919897 Centerline is valid? [True, True] Translation: X:187.72, Y:70.73, Z:0.42 [[ 6.51305817e-01 -7.58803281e-01 -4.27932678e-03 1.87715087e+02] [ 7.58787613e-01 6.51319872e-01 -4.87683145e-03 7.07277924e+01] [ 6.48776627e-03 -7.07914631e-05 9.99978952e-01 4.24245574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.510281693 meters 0.02191719716714985 Centerline is valid? [True, True] Translation: X:187.74, Y:70.75, Z:0.43 [[ 6.48668754e-01 -7.61064260e-01 -3.16856503e-03 1.87736289e+02] [ 7.61055690e-01 6.48676490e-01 -3.61225300e-03 7.07462408e+01] [ 4.80453030e-03 -6.82987870e-05 9.99988456e-01 4.28872752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.540281693 meters 0.02872786471044152 Centerline is valid? [True, True] Translation: X:187.76, Y:70.76, Z:0.43 [[ 6.44256065e-01 -7.64808035e-01 -1.67110635e-03 1.87763964e+02] [ 7.64805663e-01 6.44258230e-01 -1.90555859e-03 7.07569122e+01] [ 2.53401054e-03 -5.04039225e-05 9.99996788e-01 4.33827125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.570281693 meters 0.028178524713751776 Centerline is valid? [True, True] Translation: X:187.78, Y:70.78, Z:0.43 [[ 6.42385739e-01 -7.66379654e-01 -1.66983346e-03 1.87783184e+02] [ 7.66377289e-01 6.42387906e-01 -1.90482823e-03 7.07772372e+01] [ 2.53250242e-03 -5.60879492e-05 9.99996792e-01 4.34597597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.600281693 meters 0.035094542786645734 Centerline is valid? [True, True] Translation: X:187.81, Y:70.79, Z:0.43 [[ 6.40370034e-01 -7.68064261e-01 -1.87362849e-03 1.87809980e+02] [ 7.68061288e-01 6.40372771e-01 -2.13820430e-03 7.07894538e+01] [ 2.84209897e-03 -6.98195546e-05 9.99995959e-01 4.33257397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.630281693 meters 0.03586080953226116 Centerline is valid? [True, True] Translation: X:187.83, Y:70.81, Z:0.43 [[ 6.37171301e-01 -7.70717815e-01 -2.60421335e-03 1.87833103e+02] [ 7.70712088e-01 6.37176613e-01 -2.97338852e-03 7.08055722e+01] [ 3.95098735e-03 -1.12540879e-04 9.99992188e-01 4.30383239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.660281693 meters 0.03699226411322824 Centerline is valid? [True, True] Translation: X:187.85, Y:70.82, Z:0.43 [[ 6.36479938e-01 -7.71289383e-01 -2.44445583e-03 1.87854076e+02] [ 7.71284337e-01 6.36484623e-01 -2.79205657e-03 7.08232589e+01] [ 3.70934214e-03 -1.08282506e-04 9.99993115e-01 4.30830702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690281693 meters 0.037940122564630696 Centerline is valid? [True, True] Translation: X:187.88, Y:70.84, Z:0.43 [[ 6.36508512e-01 -7.71265832e-01 -2.43536514e-03 1.87876396e+02] [ 7.71260819e-01 6.36513162e-01 -2.78281650e-03 7.08381394e+01] [ 3.69643324e-03 -1.07015322e-04 9.99993162e-01 4.31745838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720281693 meters 0.03866170803170838 Centerline is valid? [True, True] Translation: X:187.90, Y:70.86, Z:0.43 [[ 6.36078739e-01 -7.71619073e-01 -2.80061682e-03 1.87897093e+02] [ 7.71612441e-01 6.36084892e-01 -3.20169506e-03 7.08556371e+01] [ 4.25191902e-03 -1.24460630e-04 9.99990953e-01 4.31031680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750281693 meters 0.039838382984128194 Centerline is valid? [True, True] Translation: X:187.92, Y:70.87, Z:0.43 [[ 6.34753835e-01 -7.72708934e-01 -2.91052054e-03 1.87921085e+02] [ 7.72701776e-01 6.34760493e-01 -3.32883085e-03 7.08702042e+01] [ 4.41970079e-03 -1.35976245e-04 9.99990224e-01 4.30659521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780281693 meters 0.0411012349864537 Centerline is valid? [True, True] Translation: X:187.94, Y:70.89, Z:0.43 [[ 6.33700555e-01 -7.73572628e-01 -2.99936133e-03 1.87942022e+02] [ 7.73565029e-01 6.33707636e-01 -3.43189916e-03 7.08880366e+01] [ 4.55554143e-03 -1.45404636e-04 9.99989613e-01 4.30464495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810281693 meters 0.04214060815733327 Centerline is valid? [True, True] Translation: X:187.96, Y:70.91, Z:0.43 [[ 6.32945353e-01 -7.74189815e-01 -3.21111845e-03 1.87962046e+02] [ 7.74181105e-01 6.32953478e-01 -3.67578336e-03 7.09053584e+01] [ 4.87824263e-03 -1.59417230e-04 9.99988089e-01 4.30136250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840281693 meters 0.03805244710483133 Centerline is valid? [True, True] Translation: X:187.98, Y:70.93, Z:0.43 [[ 6.33327078e-01 -7.73872419e-01 -4.27686355e-03 1.87980551e+02] [ 7.73856946e-01 6.33341485e-01 -4.89805223e-03 7.09256594e+01] [ 6.49918264e-03 -2.07611450e-04 9.99978859e-01 4.27592059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870281693 meters 0.037539094692864074 Centerline is valid? [True, True] Translation: X:188.00, Y:70.94, Z:0.43 [[ 6.34283867e-01 -7.73086286e-01 -4.64445948e-03 1.88000705e+02] [ 7.73068005e-01 6.34300834e-01 -5.32079971e-03 7.09443067e+01] [ 7.05942181e-03 -2.15585611e-04 9.99975059e-01 4.26584908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900281693 meters 0.03687963434146831 Centerline is valid? [True, True] Translation: X:188.02, Y:70.96, Z:0.42 [[ 6.37282409e-01 -7.70614432e-01 -4.95262124e-03 1.88020904e+02] [ 7.70593554e-01 6.37301622e-01 -5.67606636e-03 7.09617131e+01] [ 7.53037220e-03 -1.99200760e-04 9.99971627e-01 4.24788247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93028169299998 meters 0.031220893027540976 Centerline is valid? [True, True] Translation: X:188.03, Y:70.99, Z:0.43 [[ 6.39157697e-01 -7.69062311e-01 -4.53876103e-03 1.88034056e+02] [ 7.69044723e-01 6.39173791e-01 -5.20376700e-03 7.09872664e+01] [ 6.90307817e-03 -1.64482486e-04 9.99976160e-01 4.27016859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96028169299998 meters 0.028141438305800244 Centerline is valid? [True, True] Translation: X:188.05, Y:71.01, Z:0.43 [[ 6.41370847e-01 -7.67220814e-01 -3.95713176e-03 1.88050250e+02] [ 7.67207400e-01 6.41383042e-01 -4.53859834e-03 7.10102800e+01] [ 6.02014432e-03 -1.25016108e-04 9.99981871e-01 4.28472034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.990281693 meters 0.02411494489525038 Centerline is valid? [True, True] Translation: X:188.07, Y:71.03, Z:0.43 [[ 6.45294303e-01 -7.63925199e-01 -3.68129226e-03 1.88065655e+02] [ 7.63913527e-01 6.45304798e-01 -4.22391521e-03 7.10324478e+01] [ 5.60231083e-03 -8.65205284e-05 9.99984303e-01 4.29574509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.020281693 meters 0.022185642717184494 Centerline is valid? [True, True] Translation: X:188.08, Y:71.05, Z:0.43 [[ 6.46854059e-01 -7.62602185e-01 -4.21110931e-03 1.88081715e+02] [ 7.62586869e-01 6.46867761e-01 -4.83391740e-03 7.10540203e+01] [ 6.41038682e-03 -8.44975788e-05 9.99979450e-01 4.27809772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.050281693 meters 0.019068854182405125 Centerline is valid? [True, True] Translation: X:188.10, Y:71.08, Z:0.43 [[ 6.49127902e-01 -7.60666118e-01 -4.47482225e-03 1.88097604e+02] [ 7.60648764e-01 6.49143322e-01 -5.13866493e-03 7.10770653e+01] [ 6.81360929e-03 -6.81172276e-05 9.99976785e-01 4.27102604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.080281693 meters 0.018660527559323712 Centerline is valid? [True, True] Translation: X:188.12, Y:71.10, Z:0.43 [[ 6.49568834e-01 -7.60292256e-01 -4.00184487e-03 1.88115494e+02] [ 7.60278358e-01 6.49581159e-01 -4.59741745e-03 7.10957732e+01] [ 6.09490392e-03 -5.61769580e-05 9.99981424e-01 4.28672396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.110281693 meters 0.01829980224198062 Centerline is valid? [True, True] Translation: X:188.13, Y:71.11, Z:0.43 [[ 6.49783091e-01 -7.60112764e-01 -3.24359977e-03 1.88133828e+02] [ 7.60103624e-01 6.49791185e-01 -3.72785690e-03 7.11144054e+01] [ 4.94125415e-03 -4.31735562e-05 9.99987791e-01 4.30906097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.140281693 meters 0.016587458189562525 Centerline is valid? [True, True] Translation: X:188.15, Y:71.13, Z:0.44 [[ 6.51486283e-01 -7.58658649e-01 -1.63623097e-03 1.88150883e+02] [ 7.58656317e-01 6.51488337e-01 -1.88101571e-03 7.11339992e+01] [ 2.49303424e-03 -1.58810292e-05 9.99996892e-01 4.36126887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.170281693 meters 0.015388173805147246 Centerline is valid? [True, True] Translation: X:188.17, Y:71.16, Z:0.44 [[ 6.52851964e-01 -7.57484746e-01 -1.08289785e-03 1.88166674e+02] [ 7.57483722e-01 6.52852862e-01 -1.24522946e-03 7.11557707e+01] [ 1.65021528e-03 -7.32699920e-06 9.99998638e-01 4.37303983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.200281693 meters 0.014856783541743341 Centerline is valid? [True, True] Translation: X:188.18, Y:71.18, Z:0.44 [[ 6.57338554e-01 -7.53594944e-01 -8.28487546e-04 1.88178497e+02] [ 7.53594341e-01 6.57339076e-01 -9.52925817e-04 7.11802850e+01] [ 1.26271732e-03 2.05135157e-06 9.99999203e-01 4.37920373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.230281693 meters 0.01609051655237595 Centerline is valid? [True, True] Translation: X:188.19, Y:71.20, Z:0.44 [[ 6.59861053e-01 -7.51386851e-01 -1.09177798e-03 1.88193265e+02] [ 7.51385800e-01 6.59861956e-01 -1.25655876e-03 7.12043077e+01] [ 1.66458448e-03 8.80771193e-06 9.99998615e-01 4.36986893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.260281693 meters 0.017513969577401377 Centerline is valid? [True, True] Translation: X:188.21, Y:71.23, Z:0.44 [[ 6.61931796e-01 -7.49562421e-01 -1.57301833e-03 1.88208841e+02] [ 7.49560233e-01 6.61933665e-01 -1.81135386e-03 7.12276746e+01] [ 2.39895657e-03 1.99207330e-05 9.99997122e-01 4.35559859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.290281693 meters 0.020800737941398847 Centerline is valid? [True, True] Translation: X:188.22, Y:71.25, Z:0.43 [[ 6.65114478e-01 -7.46737635e-01 -2.37398509e-03 1.88221545e+02] [ 7.46732628e-01 6.65118713e-01 -2.73504228e-03 7.12526268e+01] [ 3.62134091e-03 4.63840924e-05 9.99993442e-01 4.34075612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.320281693 meters 0.021779222316806703 Centerline is valid? [True, True] Translation: X:188.24, Y:71.27, Z:0.43 [[ 6.66006307e-01 -7.45942793e-01 -2.22454646e-03 1.88238968e+02] [ 7.45938389e-01 6.66010020e-01 -2.56384515e-03 7.12744314e+01] [ 3.39405205e-03 4.81624406e-05 9.99994239e-01 4.34417179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.350281693 meters 0.022242236650033293 Centerline is valid? [True, True] Translation: X:188.26, Y:71.29, Z:0.43 [[ 6.66087711e-01 -7.45870814e-01 -1.97216138e-03 1.88257370e+02] [ 7.45867349e-01 6.66090630e-01 -2.27381513e-03 7.12930862e+01] [ 3.00961056e-03 4.35895336e-05 9.99995470e-01 4.34753045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.380281693 meters 0.022298432135685147 Centerline is valid? [True, True] Translation: X:188.28, Y:71.31, Z:0.43 [[ 6.65254439e-01 -7.46613359e-01 -2.24136189e-03 1.88275137e+02] [ 7.46608884e-01 6.65258213e-01 -2.58543472e-03 7.13123777e+01] [ 3.42140450e-03 4.65512226e-05 9.99994146e-01 4.33910234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.410281693 meters 0.02074316946573003 Centerline is valid? [True, True] Translation: X:188.30, Y:71.33, Z:0.43 [[ 6.64306277e-01 -7.47455942e-01 -2.60498972e-03 1.88295348e+02] [ 7.47449897e-01 6.64311383e-01 -3.00629306e-03 7.13314018e+01] [ 3.97759593e-03 5.00000506e-05 9.99992088e-01 4.33163326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440281693 meters 0.022034452970141713 Centerline is valid? [True, True] Translation: X:188.31, Y:71.35, Z:0.43 [[ 6.64544920e-01 -7.47238397e-01 -3.85064420e-03 1.88310121e+02] [ 7.47225174e-01 6.64556072e-01 -4.44595369e-03 7.13537379e+01] [ 5.88115629e-03 7.72376559e-05 9.99982703e-01 4.30301016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470281693 meters 0.022386654020604427 Centerline is valid? [True, True] Translation: X:188.33, Y:71.38, Z:0.43 [[ 6.65654671e-01 -7.46248227e-01 -4.17654198e-03 1.88327007e+02] [ 7.46232640e-01 6.65667766e-01 -4.82414374e-03 7.13760349e+01] [ 6.38019808e-03 9.45418643e-05 9.99979642e-01 4.30189949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500281693 meters 0.026727090484958183 Centerline is valid? [True, True] Translation: X:188.34, Y:71.40, Z:0.43 [[ 6.69449936e-01 -7.42849474e-01 -3.38263828e-03 1.88336418e+02] [ 7.42839199e-01 6.69458474e-01 -3.90853208e-03 7.14045122e+01] [ 5.16798686e-03 1.03810242e-04 9.99986640e-01 4.32777478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530281693 meters 0.029199436453128273 Centerline is valid? [True, True] Translation: X:188.35, Y:71.43, Z:0.43 [[ 6.71117297e-01 -7.41346477e-01 -2.64079682e-03 1.88348604e+02] [ 7.41340200e-01 6.71122487e-01 -3.05224187e-03 7.14294373e+01] [ 4.03506689e-03 9.06834694e-05 9.99991855e-01 4.34121224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560281693 meters 0.03236172481308077 Centerline is valid? [True, True] Translation: X:188.36, Y:71.45, Z:0.44 [[ 6.72437233e-01 -7.40150602e-01 -2.29224908e-03 1.88360841e+02] [ 7.40145862e-01 6.72441134e-01 -2.65020889e-03 7.14546157e+01] [ 3.50295628e-03 8.55004589e-05 9.99993861e-01 4.35086694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590281693 meters 0.03280457785924111 Centerline is valid? [True, True] Translation: X:188.38, Y:71.48, Z:0.44 [[ 6.72974401e-01 -7.39663207e-01 -1.94821506e-03 1.88375274e+02] [ 7.39659779e-01 6.72977217e-01 -2.25324045e-03 7.14788929e+01] [ 2.97774340e-03 7.53568238e-05 9.99995564e-01 4.35760378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620281693 meters 0.03180641647307334 Centerline is valid? [True, True] Translation: X:188.39, Y:71.50, Z:0.44 [[ 6.72112212e-01 -7.40447212e-01 -1.76121916e-03 1.88392388e+02] [ 7.40444411e-01 6.72114516e-01 -2.03767501e-03 7.15005569e+01] [ 2.69253175e-03 6.54613781e-05 9.99996373e-01 4.36092099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650281693 meters 0.03056407400301014 Centerline is valid? [True, True] Translation: X:188.41, Y:71.52, Z:0.44 [[ 6.70659939e-01 -7.41762692e-01 -1.83168659e-03 1.88409243e+02] [ 7.41759665e-01 6.70662438e-01 -2.12000680e-03 7.15218130e+01] [ 2.80098534e-03 6.31324020e-05 9.99996075e-01 4.35644209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68028169299998 meters 0.026711614726972362 Centerline is valid? [True, True] Translation: X:188.43, Y:71.54, Z:0.43 [[ 6.66970854e-01 -7.45079019e-01 -2.67106257e-03 1.88427084e+02] [ 7.45072603e-01 6.66976199e-01 -3.09287325e-03 7.15408439e+01] [ 4.08597013e-03 7.27207745e-05 9.99991650e-01 4.33588618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71028169299998 meters 0.024580754990705597 Centerline is valid? [True, True] Translation: X:188.45, Y:71.56, Z:0.43 [[ 6.65081326e-01 -7.46764156e-01 -3.18200315e-03 1.88445971e+02] [ 7.46755064e-01 6.65088933e-01 -3.68591851e-03 7.15603012e+01] [ 4.86882691e-03 7.52586003e-05 9.99988144e-01 4.32369336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.740281693 meters 0.02092522102279582 Centerline is valid? [True, True] Translation: X:188.47, Y:71.58, Z:0.43 [[ 6.61977066e-01 -7.49515584e-01 -3.57113246e-03 1.88466658e+02] [ 7.49504163e-01 6.61986695e-01 -4.13821462e-03 7.15793347e+01] [ 5.46569853e-03 6.28245252e-05 9.99985061e-01 4.31116362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.770281693 meters 0.01961556820290439 Centerline is valid? [True, True] Translation: X:188.48, Y:71.60, Z:0.43 [[ 6.60748362e-01 -7.50599790e-01 -3.39954919e-03 1.88484547e+02] [ 7.50589446e-01 6.60757105e-01 -3.94090186e-03 7.15995992e+01] [ 5.20431639e-03 5.22787037e-05 9.99986456e-01 4.32043919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.800281693 meters 0.018893986946002275 Centerline is valid? [True, True] Translation: X:188.50, Y:71.62, Z:0.43 [[ 6.60010763e-01 -7.51249358e-01 -3.19283576e-03 1.88501825e+02] [ 7.51240234e-01 6.60018484e-01 -3.70275387e-03 7.16208938e+01] [ 4.88902209e-03 4.52707262e-05 9.99988048e-01 4.33581787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.830281693 meters 0.018838213542628303 Centerline is valid? [True, True] Translation: X:188.52, Y:71.64, Z:0.44 [[ 6.59772157e-01 -7.51461112e-01 -2.62659199e-03 1.88516656e+02] [ 7.51454934e-01 6.59777384e-01 -3.04725241e-03 7.16430803e+01] [ 4.02285768e-03 3.67267836e-05 9.99991908e-01 4.36202580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.860281693 meters 0.018998149415314785 Centerline is valid? [True, True] Translation: X:188.53, Y:71.66, Z:0.44 [[ 6.59669183e-01 -7.51551729e-01 -2.56263999e-03 1.88532595e+02] [ 7.51545844e-01 6.59674160e-01 -2.97431778e-03 7.16642247e+01] [ 3.92586105e-03 3.61243517e-05 9.99992293e-01 4.36541229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.890281693 meters 0.018002992293586 Centerline is valid? [True, True] Translation: X:188.55, Y:71.68, Z:0.44 [[ 6.59205130e-01 -7.51960058e-01 -2.16068219e-03 1.88549540e+02] [ 7.51955873e-01 6.59208670e-01 -2.50875547e-03 7.16848589e+01] [ 3.31082434e-03 2.90468048e-05 9.99994519e-01 4.36998366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.920281693 meters 0.018097738121362318 Centerline is valid? [True, True] Translation: X:188.57, Y:71.71, Z:0.44 [[ 6.59012893e-01 -7.52128652e-01 -2.12060492e-03 1.88566122e+02] [ 7.52124619e-01 6.59016304e-01 -2.46325936e-03 7.17069654e+01] [ 3.25020116e-03 2.83605084e-05 9.99994718e-01 4.37037733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.950281693 meters 0.017998740757805443 Centerline is valid? [True, True] Translation: X:188.58, Y:71.73, Z:0.44 [[ 6.58829649e-01 -7.52288486e-01 -2.35109959e-03 1.88582558e+02] [ 7.52283525e-01 6.58833843e-01 -2.73222945e-03 7.17280354e+01] [ 3.60440873e-03 3.13802766e-05 9.99993504e-01 4.36844441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.980281693 meters 0.016807730695644812 Centerline is valid? [True, True] Translation: X:188.60, Y:71.75, Z:0.44 [[ 6.57170938e-01 -7.53736607e-01 -2.73605518e-03 1.88601488e+02] [ 7.53729895e-01 6.57176633e-01 -3.18105283e-03 7.17473675e+01] [ 4.19574750e-03 2.82488898e-05 9.99991197e-01 4.35879139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.010281693 meters 0.01610353668663061 Centerline is valid? [True, True] Translation: X:188.62, Y:71.77, Z:0.44 [[ 6.55788975e-01 -7.54939310e-01 -2.73097638e-03 1.88619841e+02] [ 7.54932628e-01 6.55794661e-01 -3.17634891e-03 7.17654826e+01] [ 4.18891038e-03 2.13114142e-05 9.99991226e-01 4.36091349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.040281693 meters 0.014884674011099734 Centerline is valid? [True, True] Translation: X:188.64, Y:71.78, Z:0.44 [[ 6.52962458e-01 -7.57388980e-01 -1.40046668e-03 1.88641567e+02] [ 7.57387228e-01 6.52963960e-01 -1.62916526e-03 7.17818919e+01] [ 2.14836608e-03 3.08817846e-06 9.99997692e-01 4.39921282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.070281693 meters 0.014596562442151456 Centerline is valid? [True, True] Translation: X:188.66, Y:71.80, Z:0.44 [[ 6.52083306e-01 -7.58147138e-01 -5.27841585e-04 1.88660670e+02] [ 7.58146890e-01 6.52083520e-01 -6.13906565e-04 7.18016643e+01] [ 8.09628304e-04 1.36766611e-07 9.99999672e-01 4.42036134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.100281693 meters 0.014688864498398582 Centerline is valid? [True, True] Translation: X:188.68, Y:71.82, Z:0.44 [[ 6.52069159e-01 -7.58159486e-01 7.71783869e-05 1.88678456e+02] [ 7.58159480e-01 6.52069164e-01 9.05138844e-05 7.18226969e+01] [-1.18949606e-04 -5.07786795e-07 9.99999993e-01 4.43700125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.130281693 meters 0.015106286710939915 Centerline is valid? [True, True] Translation: X:188.69, Y:71.85, Z:0.44 [[ 6.53721116e-01 -7.56735556e-01 1.87733162e-05 1.88693407e+02] [ 7.56735556e-01 6.53721117e-01 2.24973170e-05 7.18451267e+01] [-2.92970329e-05 -5.00535319e-07 1.00000000e+00 4.43060610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.160281693 meters 0.01584144057805044 Centerline is valid? [True, True] Translation: X:188.71, Y:71.87, Z:0.44 [[ 6.55103450e-01 -7.55539005e-01 -5.30146292e-04 1.88708965e+02] [ 7.55538753e-01 6.55103665e-01 -6.17363223e-04 7.18677014e+01] [ 8.13742774e-04 3.89070914e-06 9.99999669e-01 4.41901805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190281693 meters 0.019492850583354454 Centerline is valid? [True, True] Translation: X:188.72, Y:71.89, Z:0.44 [[ 6.58965200e-01 -7.52171802e-01 -1.56369582e-03 1.88718862e+02] [ 7.52169594e-01 6.58967055e-01 -1.82286612e-03 7.18945732e+01] [ 2.40153252e-03 2.50408890e-05 9.99997116e-01 4.39135268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220281693 meters 0.02244892092225016 Centerline is valid? [True, True] Translation: X:188.73, Y:71.92, Z:0.44 [[ 6.61168029e-01 -7.50235484e-01 -1.88586617e-03 1.88730883e+02] [ 7.50232261e-01 6.61170717e-01 -2.19943551e-03 7.19197293e+01] [ 2.89697405e-03 3.93588011e-05 9.99995803e-01 4.38530372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250281693 meters 0.02740203114445972 Centerline is valid? [True, True] Translation: X:188.74, Y:71.95, Z:0.44 [[ 6.65645713e-01 -7.46264316e-01 -2.31420039e-03 1.88739671e+02] [ 7.46259435e-01 6.65649732e-01 -2.70016831e-03 7.19491737e+01] [ 3.55548612e-03 7.03615839e-05 9.99993677e-01 4.36965010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280281693 meters 0.03133335022307059 Centerline is valid? [True, True] Translation: X:188.75, Y:71.98, Z:0.44 [[ 6.67259926e-01 -7.44821942e-01 -2.11352325e-03 1.88750801e+02] [ 7.44817860e-01 6.67263269e-01 -2.46692967e-03 7.19752914e+01] [ 3.24769978e-03 7.18934387e-05 9.99994724e-01 4.37667912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310281693 meters 0.03282727710957843 Centerline is valid? [True, True] Translation: X:188.77, Y:72.00, Z:0.44 [[ 6.68141370e-01 -7.44032650e-01 -1.58902973e-03 1.88765031e+02] [ 7.44030339e-01 6.68143257e-01 -1.85530830e-03 7.19996563e+01] [ 2.44210945e-03 5.73218966e-05 9.99997016e-01 4.38869095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340281693 meters 0.033711922718838244 Centerline is valid? [True, True] Translation: X:188.78, Y:72.02, Z:0.44 [[ 6.68394466e-01 -7.43805258e-01 -1.60502789e-03 1.88779687e+02] [ 7.43802898e-01 6.68396390e-01 -1.87467532e-03 7.20229949e+01] [ 2.46718821e-03 5.91982153e-05 9.99996955e-01 4.38357409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370281693 meters 0.0321468013235722 Centerline is valid? [True, True] Translation: X:188.79, Y:72.05, Z:0.43 [[ 6.67666403e-01 -7.44456364e-01 -2.50938171e-03 1.88794440e+02] [ 7.44450594e-01 6.67671112e-01 -2.93244346e-03 7.20456444e+01] [ 3.85851788e-03 8.97832738e-05 9.99992552e-01 4.34998982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400281693 meters 0.032676688957232115 Centerline is valid? [True, True] Translation: X:188.81, Y:72.07, Z:0.44 [[ 6.66618533e-01 -7.45394934e-01 -2.47456518e-03 1.88807471e+02] [ 7.45389326e-01 6.66623121e-01 -2.89273373e-03 7.20700741e+01] [ 3.80583143e-03 8.38354438e-05 9.99992754e-01 4.35115460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43028169299998 meters 0.032676688957232115 Centerline is valid? [True, True] Translation: X:188.82, Y:72.09, Z:0.44 [[ 6.66473270e-01 -7.45524822e-01 -2.47409684e-03 1.88824598e+02] [ 7.45519213e-01 6.66477857e-01 -2.89313426e-03 7.20904974e+01] [ 3.80583416e-03 8.37099245e-05 9.99992754e-01 4.35168498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46028169299998 meters 0.03129995263712614 Centerline is valid? [True, True] Translation: X:188.84, Y:72.11, Z:0.44 [[ 6.65807760e-01 -7.46120925e-01 -1.89517114e-03 1.88841702e+02] [ 7.46117634e-01 6.65810455e-01 -2.21687871e-03 7.21121711e+01] [ 2.91588436e-03 6.19944394e-05 9.99995747e-01 4.37195953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.490281693 meters 0.029219552097040056 Centerline is valid? [True, True] Translation: X:188.86, Y:72.13, Z:0.44 [[ 6.65141866e-01 -7.46715180e-01 -1.65489597e-03 1.88858501e+02] [ 7.46712671e-01 6.65143922e-01 -1.93648890e-03 7.21332474e+01] [ 2.54674965e-03 5.23080485e-05 9.99996756e-01 4.38465263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.520281693 meters 0.028865909563477583 Centerline is valid? [True, True] Translation: X:188.87, Y:72.16, Z:0.44 [[ 6.64691047e-01 -7.47116624e-01 -1.60103084e-03 1.88873617e+02] [ 7.47114274e-01 6.64692973e-01 -1.87420795e-03 7.21564418e+01] [ 2.46444586e-03 4.96162550e-05 9.99996962e-01 4.38902203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.550281693 meters 0.028211156117065997 Centerline is valid? [True, True] Translation: X:188.89, Y:72.18, Z:0.44 [[ 6.65284774e-01 -7.46587440e-01 -1.83385382e-03 1.88886519e+02] [ 7.46584354e-01 6.65287299e-01 -2.14770950e-03 7.21819422e+01] [ 2.82349259e-03 5.97118560e-05 9.99996012e-01 4.37309900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.580281693 meters 0.033869500777666546 Centerline is valid? [True, True] Translation: X:188.89, Y:72.21, Z:0.44 [[ 6.66017420e-01 -7.45934833e-01 -1.42156074e-03 1.88891211e+02] [ 7.45932976e-01 6.66018935e-01 -1.66536348e-03 7.22138212e+01] [ 2.18903900e-03 4.87720582e-05 9.99997603e-01 4.37143146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.610281693 meters 0.030714063211535147 Centerline is valid? [True, True] Translation: X:188.91, Y:72.24, Z:0.44 [[ 6.66159022e-01 -7.45809177e-01 -9.10813507e-04 1.88908518e+02] [ 7.45808414e-01 6.66159644e-01 -1.06722668e-03 7.22351087e+01] [ 1.40269465e-03 3.16503015e-05 9.99999016e-01 4.39399227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.640281693 meters 0.02914129249894828 Centerline is valid? [True, True] Translation: X:188.92, Y:72.26, Z:0.44 [[ 6.66110512e-01 -7.45853059e-01 1.39682300e-05 1.88924522e+02] [ 7.45853058e-01 6.66110513e-01 1.69679437e-05 7.22581584e+01] [-2.19599776e-05 -8.84278611e-07 1.00000000e+00 4.41625181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.670281693 meters 0.03310530008270309 Centerline is valid? [True, True] Translation: X:188.93, Y:72.29, Z:0.44 [[ 6.65743852e-01 -7.46180219e-01 4.52612309e-04 1.88934728e+02] [ 7.46180029e-01 6.65744006e-01 5.31690139e-04 7.22853790e+01] [-6.98060596e-04 -1.62391758e-05 9.99999756e-01 4.43154266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.700281693 meters 0.030281796155033572 Centerline is valid? [True, True] Translation: X:188.95, Y:72.31, Z:0.44 [[ 6.63434544e-01 -7.48234323e-01 -6.18448928e-05 1.88950495e+02] [ 7.48234320e-01 6.63434547e-01 -7.21122858e-05 7.23073066e+01] [ 9.49869258e-05 1.56731012e-06 9.99999995e-01 4.40861087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.730281693 meters 0.024862202728789164 Centerline is valid? [True, True] Translation: X:188.97, Y:72.33, Z:0.44 [[ 6.59469517e-01 -7.51730760e-01 -9.05949804e-04 1.88970724e+02] [ 7.51730008e-01 6.59470139e-01 -1.06321297e-03 7.23265357e+01] [ 1.39669674e-03 2.01268917e-05 9.99999024e-01 4.38227157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.760281693 meters 0.021170098158605904 Centerline is valid? [True, True] Translation: X:188.99, Y:72.34, Z:0.44 [[ 6.57596519e-01 -7.53369885e-01 -7.97050207e-04 1.88991745e+02] [ 7.53369304e-01 6.57597001e-01 -9.35540981e-04 7.23449711e+01] [ 1.22894623e-03 1.47353325e-05 9.99999245e-01 4.38623740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.790281693 meters 0.020528475124863214 Centerline is valid? [True, True] Translation: X:189.01, Y:72.37, Z:0.44 [[ 6.55867888e-01 -7.54875642e-01 2.81479759e-04 1.89008792e+02] [ 7.54875569e-01 6.55867948e-01 3.31405603e-04 7.23652279e+01] [-4.34783569e-04 -4.87609994e-06 9.99999905e-01 4.41877197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.820281693 meters 0.01716348285059071 Centerline is valid? [True, True] Translation: X:189.03, Y:72.38, Z:0.45 [[ 6.53213413e-01 -7.57172738e-01 1.29686932e-03 1.89031200e+02] [ 7.57171202e-01 6.53214700e-01 1.52509050e-03 7.23821948e+01] [-2.00189106e-03 -1.42574672e-05 9.99997996e-01 4.45018816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.850281693 meters 0.016159500377299088 Centerline is valid? [True, True] Translation: X:189.05, Y:72.40, Z:0.44 [[ 6.51706542e-01 -7.58470648e-01 9.26547103e-04 1.89050268e+02] [ 7.58469865e-01 6.51707201e-01 1.09022876e-03 7.24010096e+01] [-1.43074393e-03 -7.75115685e-06 9.99998976e-01 4.43429066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.880281693 meters 0.015246131486724481 Centerline is valid? [True, True] Translation: X:189.07, Y:72.42, Z:0.44 [[ 6.50017553e-01 -7.59919192e-01 4.70448677e-05 1.89070135e+02] [ 7.59919190e-01 6.50017555e-01 5.60026854e-05 7.24192853e+01] [-7.31375053e-05 -6.52430771e-07 9.99999997e-01 4.39994841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.910281693 meters 0.015063891840944428 Centerline is valid? [True, True] Translation: X:189.09, Y:72.43, Z:0.43 [[ 6.46541044e-01 -7.62877535e-01 -1.59529792e-03 1.89092623e+02] [ 7.62875226e-01 6.46543012e-01 -1.87701706e-03 7.24340771e+01] [ 2.46336287e-03 -3.44468935e-06 9.99996966e-01 4.34960228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940281693 meters 0.015604188637853912 Centerline is valid? [True, True] Translation: X:189.11, Y:72.45, Z:0.44 [[ 6.44811092e-01 -7.64340636e-01 -1.43075122e-03 1.89112760e+02] [ 7.64338781e-01 6.44812679e-01 -1.68410317e-03 7.24507497e+01] [ 2.20979502e-03 -7.65023977e-06 9.99997558e-01 4.35282413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970281693 meters 0.017319450942724687 Centerline is valid? [True, True] Translation: X:189.14, Y:72.47, Z:0.44 [[ 6.41682154e-01 -7.66970495e-01 -5.21774134e-04 1.89136371e+02] [ 7.66970250e-01 6.41682366e-01 -6.14060370e-04 7.24664724e+01] [ 8.05779447e-04 -6.15365689e-06 9.99999675e-01 4.38231573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000281693 meters 0.019299735290879888 Centerline is valid? [True, True] Translation: X:189.16, Y:72.48, Z:0.44 [[ 6.40490047e-01 -7.67966436e-01 -2.29846746e-04 1.89156408e+02] [ 7.67966389e-01 6.40490088e-01 -2.70223462e-04 7.24832261e+01] [ 3.54737112e-04 -3.43913753e-06 9.99999937e-01 4.39242334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030281693 meters 0.01827757220055279 Centerline is valid? [True, True] Translation: X:189.17, Y:72.51, Z:0.44 [[ 6.39713928e-01 -7.68613055e-01 -2.51143100e-04 1.89172852e+02] [ 7.68612998e-01 6.39713977e-01 -2.95461963e-04 7.25050911e+01] [ 3.87755673e-04 -4.02071812e-06 9.99999925e-01 4.38969189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060281693 meters 0.01789068185116147 Centerline is valid? [True, True] Translation: X:189.19, Y:72.52, Z:0.44 [[ 6.40234012e-01 -7.68179710e-01 -5.85933752e-04 1.89190191e+02] [ 7.68179400e-01 6.40234280e-01 -6.90457058e-04 7.25248339e+01] [ 9.05529976e-04 -8.04814570e-06 9.99999590e-01 4.38124020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090281693 meters 0.017412539039748383 Centerline is valid? [True, True] Translation: X:189.21, Y:72.55, Z:0.44 [[ 6.40556335e-01 -7.67910956e-01 -5.87230550e-04 1.89207689e+02] [ 7.67910644e-01 6.40556604e-01 -6.92313522e-04 7.25460388e+01] [ 9.07789546e-04 -7.47477728e-06 9.99999588e-01 4.38003308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120281693 meters 0.01722019340045158 Centerline is valid? [True, True] Translation: X:189.22, Y:72.57, Z:0.44 [[ 6.40835568e-01 -7.67677996e-01 -5.18718650e-04 1.89223931e+02] [ 7.67677753e-01 6.40835778e-01 -6.11808891e-04 7.25668902e+01] [ 8.02085693e-04 -6.13986910e-06 9.99999678e-01 4.38260526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150281693 meters 0.017621738509569863 Centerline is valid? [True, True] Translation: X:189.24, Y:72.59, Z:0.44 [[ 6.40336700e-01 -7.68094135e-01 -5.56496328e-04 1.89241287e+02] [ 7.68093855e-01 6.40336942e-01 -6.56519974e-04 7.25858623e+01] [ 8.60614299e-04 -7.04757590e-06 9.99999630e-01 4.37350433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18028169299998 meters 0.01824804277853281 Centerline is valid? [True, True] Translation: X:189.26, Y:72.60, Z:0.44 [[ 6.39400166e-01 -7.68874035e-01 -3.82142548e-04 1.89260536e+02] [ 7.68873903e-01 6.39400280e-01 -4.50840675e-04 7.26047917e+01] [ 5.90981741e-04 -5.55182991e-06 9.99999825e-01 4.36785547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21028169299998 meters 0.019615503373160124 Centerline is valid? [True, True] Translation: X:189.28, Y:72.62, Z:0.44 [[ 6.38071172e-01 -7.69976713e-01 -1.01985309e-03 1.89282727e+02] [ 7.69975771e-01 6.38071987e-01 -1.20476936e-03 7.26218602e+01] [ 1.57838404e-03 -1.65335713e-05 9.99998754e-01 4.35418003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.240281693 meters 0.020072532494394616 Centerline is valid? [True, True] Translation: X:189.30, Y:72.64, Z:0.44 [[ 6.37705965e-01 -7.70279330e-01 -9.24601472e-04 1.89300586e+02] [ 7.70278556e-01 6.37706635e-01 -1.09243118e-03 7.26408843e+01] [ 1.43110165e-03 -1.55508072e-05 9.99998976e-01 4.36378808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.270281693 meters 0.018832294583628676 Centerline is valid? [True, True] Translation: X:189.32, Y:72.66, Z:0.44 [[ 6.38541015e-01 -7.69587782e-01 1.31715184e-04 1.89315029e+02] [ 7.69587766e-01 6.38541029e-01 1.56391781e-04 7.26636282e+01] [-2.04462753e-04 1.50382789e-06 9.99999979e-01 4.39965854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.300281693 meters 0.017599348471970432 Centerline is valid? [True, True] Translation: X:189.33, Y:72.69, Z:0.44 [[ 6.39410741e-01 -7.68864926e-01 7.94463446e-04 1.89330039e+02] [ 7.68864350e-01 6.39411234e-01 9.40622332e-04 7.26863783e+01] [-1.23120037e-03 9.39059939e-06 9.99999242e-01 4.40827064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.330281693 meters 0.016602103284715054 Centerline is valid? [True, True] Translation: X:189.35, Y:72.71, Z:0.44 [[ 6.40638736e-01 -7.67841911e-01 8.99562259e-04 1.89345457e+02] [ 7.67841172e-01 6.40639368e-01 1.06541048e-03 7.27094857e+01] [-1.39436182e-03 8.17771543e-06 9.99999028e-01 4.40448942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.360281693 meters 0.015057623412461243 Centerline is valid? [True, True] Translation: X:189.36, Y:72.73, Z:0.44 [[ 6.43403682e-01 -7.65527061e-01 1.42743799e-04 1.89356068e+02] [ 7.65527043e-01 6.43403698e-01 1.69502549e-04 7.27343911e+01] [-2.21600677e-04 2.15674437e-07 9.99999975e-01 4.38324774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.390281693 meters 0.014882752720355814 Centerline is valid? [True, True] Translation: X:189.37, Y:72.76, Z:0.44 [[ 6.44638190e-01 -7.64487682e-01 -4.33546470e-04 1.89369515e+02] [ 7.64487510e-01 6.44638335e-01 -5.12907123e-04 7.27572958e+01] [ 6.71591853e-04 -8.01342648e-07 9.99999774e-01 4.37140597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.420281693 meters 0.014939989126377177 Centerline is valid? [True, True] Translation: X:189.38, Y:72.78, Z:0.44 [[ 6.46305727e-01 -7.63078490e-01 -3.53046451e-04 1.89382937e+02] [ 7.63078376e-01 6.46305824e-01 -4.17754566e-04 7.27815222e+01] [ 5.46955501e-04 5.95056142e-07 9.99999850e-01 4.37110472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.450281693 meters 0.015168512304658585 Centerline is valid? [True, True] Translation: X:189.40, Y:72.80, Z:0.44 [[ 6.46845946e-01 -7.62620687e-01 9.91987258e-05 1.89398030e+02] [ 7.62620678e-01 6.46845953e-01 1.18070977e-04 7.28035773e+01] [-1.54209664e-04 -7.22733474e-07 9.99999988e-01 4.38256905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.480281693 meters 0.015170239820192305 Centerline is valid? [True, True] Translation: X:189.41, Y:72.83, Z:0.44 [[ 6.47294841e-01 -7.62239030e-01 1.02450316e-03 1.89413188e+02] [ 7.62238061e-01 6.47295652e-01 1.21561559e-03 7.28263487e+01] [-1.58974609e-03 -5.94639542e-06 9.99998736e-01 4.39593058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.510281693 meters 0.016061843920602243 Centerline is valid? [True, True] Translation: X:189.43, Y:72.85, Z:0.44 [[ 6.48441324e-01 -7.61263451e-01 1.34478111e-03 1.89425920e+02] [ 7.61261777e-01 6.48442718e-01 1.59617958e-03 7.28502549e+01] [-2.08712669e-03 -1.12983476e-05 9.99997822e-01 4.40135564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.540281693 meters 0.01614763597653803 Centerline is valid? [True, True] Translation: X:189.44, Y:72.87, Z:0.44 [[ 6.48594320e-01 -7.61133942e-01 7.28722156e-04 1.89442557e+02] [ 7.61133449e-01 6.48594729e-01 8.65614239e-04 7.28714373e+01] [-1.13149373e-03 -6.77767028e-06 9.99999360e-01 4.38518604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.570281693 meters 0.016331747148583344 Centerline is valid? [True, True] Translation: X:189.46, Y:72.89, Z:0.43 [[ 6.48800065e-01 -7.60958055e-01 -1.14642434e-03 1.89457561e+02] [ 7.60956839e-01 6.48801078e-01 -1.36068134e-03 7.28947572e+01] [ 1.77922278e-03 1.04307013e-05 9.99998417e-01 4.33034664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.600281693 meters 0.01706976811918241 Centerline is valid? [True, True] Translation: X:189.47, Y:72.92, Z:0.43 [[ 6.49105844e-01 -7.60695660e-01 -1.92785310e-03 1.89471337e+02] [ 7.60692215e-01 6.49108706e-01 -2.28961100e-03 7.29170872e+01] [ 2.99308338e-03 1.96970331e-05 9.99995521e-01 4.31248008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.630281693 meters 0.017306297353642263 Centerline is valid? [True, True] Translation: X:189.49, Y:72.94, Z:0.43 [[ 6.49123277e-01 -7.60679647e-01 -2.33379236e-03 1.89486121e+02] [ 7.60674592e-01 6.49127472e-01 -2.77310549e-03 7.29382987e+01] [ 3.62437364e-03 2.48307726e-05 9.99993432e-01 4.29806176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.660281693 meters 0.016363833533631605 Centerline is valid? [True, True] Translation: X:189.50, Y:72.96, Z:0.43 [[ 6.47922781e-01 -7.61704592e-01 -1.47803575e-03 1.89503457e+02] [ 7.61702566e-01 6.47924466e-01 -1.75677538e-03 7.29588759e+01] [ 2.29579940e-03 1.24311642e-05 9.99997365e-01 4.32213452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690281693 meters 0.01522699919748324 Centerline is valid? [True, True] Translation: X:189.52, Y:72.98, Z:0.43 [[ 6.46600999e-01 -7.62828105e-01 -6.55628016e-04 1.89523963e+02] [ 7.62827707e-01 6.46601331e-01 -7.79244658e-04 7.29787327e+01] [ 1.01835967e-03 3.72915835e-06 9.99999481e-01 4.34694532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720281693 meters 0.014738268647444156 Centerline is valid? [True, True] Translation: X:189.55, Y:73.00, Z:0.44 [[ 6.43300606e-01 -7.65613616e-01 3.49275157e-04 1.89545909e+02] [ 7.65613502e-01 6.43300701e-01 4.16294825e-04 7.29953896e+01] [-5.43409939e-04 -3.92937003e-07 9.99999852e-01 4.38200156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750281693 meters 0.015084289371171703 Centerline is valid? [True, True] Translation: X:189.57, Y:73.01, Z:0.44 [[ 6.41442928e-01 -7.67170438e-01 6.98732635e-04 1.89566512e+02] [ 7.67169987e-01 6.41443309e-01 8.32457713e-04 7.30129420e+01] [-1.08683432e-03 2.07259318e-06 9.99999409e-01 4.38730501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780281693 meters 0.015762188078543266 Centerline is valid? [True, True] Translation: X:189.59, Y:73.03, Z:0.44 [[ 6.39473538e-01 -7.68812608e-01 8.76653445e-04 1.89586530e+02] [ 7.68811898e-01 6.39474139e-01 1.04472992e-03 7.30314159e+01] [-1.36379874e-03 5.90446062e-06 9.99999070e-01 4.39490711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810281693 meters 0.0179646744419744 Centerline is valid? [True, True] Translation: X:189.61, Y:73.05, Z:0.44 [[ 6.37234473e-01 -7.70669467e-01 8.93490995e-04 1.89608257e+02] [ 7.70668732e-01 6.37235100e-01 1.06484835e-03 7.30488659e+01] [-1.39000993e-03 1.00274973e-05 9.99999034e-01 4.40553628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840281693 meters 0.01733185509854227 Centerline is valid? [True, True] Translation: X:189.62, Y:73.07, Z:0.44 [[ 6.36757458e-01 -7.71063350e-01 1.11791632e-03 1.89624338e+02] [ 7.71062198e-01 6.36758439e-01 1.33300304e-03 7.30709895e+01] [-1.73967244e-03 1.31833867e-05 9.99998487e-01 4.40141007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870281693 meters 0.01748943914661096 Centerline is valid? [True, True] Translation: X:189.64, Y:73.09, Z:0.44 [[ 6.36898869e-01 -7.70946011e-01 1.44201953e-03 1.89641609e+02] [ 7.70944092e-01 6.36900501e-01 1.72007161e-03 7.30903147e+01] [-2.24450531e-03 1.62047761e-05 9.99997481e-01 4.41498798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900281693 meters 0.01711261664872675 Centerline is valid? [True, True] Translation: X:189.66, Y:73.11, Z:0.44 [[ 6.36856735e-01 -7.70980657e-01 1.52482041e-03 1.89658930e+02] [ 7.70978510e-01 6.36858560e-01 1.81951975e-03 7.31112642e+01] [-2.37390946e-03 1.68303633e-05 9.99997182e-01 4.41740130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93028169299998 meters 0.017206828812397795 Centerline is valid? [True, True] Translation: X:189.68, Y:73.13, Z:0.44 [[ 6.36516876e-01 -7.71261642e-01 1.32182726e-03 1.89677258e+02] [ 7.71260027e-01 6.36518248e-01 1.57804839e-03 7.31310752e+01] [-2.05845536e-03 1.50180915e-05 9.99997881e-01 4.40687531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96028169299998 meters 0.01858316962463627 Centerline is valid? [True, True] Translation: X:189.70, Y:73.15, Z:0.44 [[ 6.35359205e-01 -7.72215627e-01 1.30615737e-03 1.89699108e+02] [ 7.72214051e-01 6.35360548e-01 1.56007258e-03 7.31467768e+01] [-2.03459329e-03 1.74265999e-05 9.99997930e-01 4.40975947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.990281693 meters 0.018781587759311356 Centerline is valid? [True, True] Translation: X:189.72, Y:73.17, Z:0.44 [[ 6.34561774e-01 -7.72871004e-01 1.32927187e-03 1.89718166e+02] [ 7.72869372e-01 6.34563166e-01 1.58829736e-03 7.31659761e+01] [-2.07105594e-03 1.94807190e-05 9.99997855e-01 4.40937789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.020281693 meters 0.018848160757845102 Centerline is valid? [True, True] Translation: X:189.74, Y:73.18, Z:0.44 [[ 6.33691292e-01 -7.73584732e-01 1.41746109e-03 1.89739012e+02] [ 7.73582876e-01 6.33692877e-01 1.69438139e-03 7.31837021e+01] [-2.20898257e-03 2.28088971e-05 9.99997560e-01 4.41011173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.050281693 meters 0.018628645540698718 Centerline is valid? [True, True] Translation: X:189.76, Y:73.20, Z:0.44 [[ 6.33792769e-01 -7.73501986e-01 1.18471754e-03 1.89758056e+02] [ 7.73500689e-01 6.33793876e-01 1.41681019e-03 7.32038107e+01] [-1.84677222e-03 1.84157815e-05 9.99998295e-01 4.40943309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.080281693 meters 0.017718538923998616 Centerline is valid? [True, True] Translation: X:189.78, Y:73.23, Z:0.44 [[ 6.34507436e-01 -7.72916084e-01 1.01998242e-03 1.89775659e+02] [ 7.72915121e-01 6.34508256e-01 1.22034984e-03 7.32252513e+01] [-1.59041528e-03 1.40387868e-05 9.99998735e-01 4.40389531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.110281693 meters 0.01629249702632383 Centerline is valid? [True, True] Translation: X:189.79, Y:73.25, Z:0.44 [[ 6.36960287e-01 -7.70896499e-01 4.25183108e-04 1.89791162e+02] [ 7.70896331e-01 6.36960429e-01 5.09044954e-04 7.32469181e+01] [-6.63245788e-04 3.53067821e-06 9.99999780e-01 4.39202418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.140281693 meters 0.015797361985098242 Centerline is valid? [True, True] Translation: X:189.81, Y:73.27, Z:0.44 [[ 6.38276554e-01 -7.69807097e-01 -2.72496607e-04 1.89806937e+02] [ 7.69807028e-01 6.38276612e-01 -3.25448610e-04 7.32680438e+01] [ 4.24460861e-04 -2.04358583e-06 9.99999910e-01 4.37563663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.170281693 meters 0.015182202879462783 Centerline is valid? [True, True] Translation: X:189.82, Y:73.29, Z:0.43 [[ 6.39384299e-01 -7.68886975e-01 -7.33329446e-04 1.89822357e+02] [ 7.68886475e-01 6.39384719e-01 -8.77301838e-04 7.32902117e+01] [ 1.14342560e-03 -2.91407185e-06 9.99999346e-01 4.34999944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.200281693 meters 0.014920426793165716 Centerline is valid? [True, True] Translation: X:189.84, Y:73.31, Z:0.43 [[ 6.40632058e-01 -7.67847432e-01 -9.42278512e-04 1.89839389e+02] [ 7.67846603e-01 6.40632751e-01 -1.12794740e-03 7.33117936e+01] [ 1.46974599e-03 -9.26090856e-07 9.99998920e-01 4.34510229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.230281693 meters 0.014975130658563467 Centerline is valid? [True, True] Translation: X:189.86, Y:73.33, Z:0.44 [[ 6.40503429e-01 -7.67955090e-01 -5.80709367e-04 1.89856138e+02] [ 7.67954776e-01 6.40503692e-01 -6.95162970e-04 7.33323998e+01] [ 9.05800435e-04 -7.04265560e-07 9.99999590e-01 4.36239393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.260281693 meters 0.029210884613684818 Centerline is valid? [True, True] Translation: X:189.87, Y:73.35, Z:0.44 [[ 6.40911466e-01 -7.67614461e-01 -7.29053000e-04 1.89872787e+02] [ 7.67613964e-01 6.40911881e-01 -8.73329972e-04 7.33538586e+01] [ 1.13763945e-03 9.59290907e-08 9.99999353e-01 4.43600018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.290281693 meters 0.029210884613684818 Centerline is valid? [True, True] Translation: X:189.89, Y:73.37, Z:0.44 [[ 6.40750044e-01 -7.67749211e-01 -7.28870233e-04 1.89889669e+02] [ 7.67748714e-01 6.40750458e-01 -8.73482456e-04 7.33744761e+01] [ 1.13763940e-03 9.47385551e-08 9.99999353e-01 4.43653044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.320281693 meters 0.014930074062342842 Centerline is valid? [True, True] Translation: X:189.91, Y:73.40, Z:0.44 [[ 6.41139556e-01 -7.67424185e-01 -4.35708326e-04 1.89906728e+02] [ 7.67424008e-01 6.41139704e-01 -5.22114113e-04 7.33961482e+01] [ 6.80032905e-04 3.74981025e-07 9.99999769e-01 4.37105680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.350281693 meters 0.015247582365239064 Centerline is valid? [True, True] Translation: X:189.92, Y:73.42, Z:0.44 [[ 6.42334774e-01 -7.66424175e-01 1.47745040e-04 1.89921755e+02] [ 7.66424154e-01 6.42334791e-01 1.78036991e-04 7.34180549e+01] [-2.31353633e-04 -1.12398263e-06 9.99999973e-01 4.38396303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.380281693 meters 0.015493337301117798 Centerline is valid? [True, True] Translation: X:189.94, Y:73.44, Z:0.44 [[ 6.43000388e-01 -7.65865717e-01 4.51661726e-04 1.89937751e+02] [ 7.65865525e-01 6.43000547e-01 5.43035661e-04 7.34401313e+01] [-7.06311133e-04 -3.25999622e-06 9.99999751e-01 4.39029060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.410281693 meters 0.016072982852397246 Centerline is valid? [True, True] Translation: X:189.95, Y:73.46, Z:0.44 [[ 6.43658343e-01 -7.65312732e-01 6.00574959e-04 1.89952922e+02] [ 7.65312391e-01 6.43658623e-01 7.21949798e-04 7.34612725e+01] [-9.39082623e-04 -5.06155214e-06 9.99999559e-01 4.39639333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440281693 meters 0.016782567229293707 Centerline is valid? [True, True] Translation: X:189.97, Y:73.48, Z:0.44 [[ 6.44828458e-01 -7.64327322e-01 6.42781019e-05 1.89970094e+02] [ 7.64327318e-01 6.44828461e-01 7.79057627e-05 7.34819938e+01] [-1.00993853e-04 -1.10634356e-06 9.99999995e-01 4.37544336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470281693 meters 0.01753980168317577 Centerline is valid? [True, True] Translation: X:189.99, Y:73.50, Z:0.44 [[ 6.45074153e-01 -7.64119907e-01 -3.23699465e-04 1.89986126e+02] [ 7.64119809e-01 6.45074234e-01 -3.88500346e-04 7.35021738e+01] [ 5.05671033e-04 3.26635794e-06 9.99999872e-01 4.36046281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500281693 meters 0.01782776058795037 Centerline is valid? [True, True] Translation: X:190.00, Y:73.52, Z:0.44 [[ 6.45345760e-01 -7.63890352e-01 6.17007467e-04 1.90004353e+02] [ 7.63889990e-01 6.45346055e-01 7.42778098e-04 7.35218472e+01] [-9.65584357e-04 -8.02286880e-06 9.99999534e-01 4.38422268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530281693 meters 0.017629681783707996 Centerline is valid? [True, True] Translation: X:190.02, Y:73.54, Z:0.44 [[ 6.45037890e-01 -7.64149237e-01 1.43660384e-03 1.90022486e+02] [ 7.64147280e-01 6.45039490e-01 1.72932043e-03 7.35422639e+01] [-2.24812510e-03 -1.77002824e-05 9.99997473e-01 4.41330962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560281693 meters 0.017635788771911694 Centerline is valid? [True, True] Translation: X:190.04, Y:73.56, Z:0.44 [[ 6.44799106e-01 -7.64349482e-01 1.99577057e-03 1.90040184e+02] [ 7.64345704e-01 6.44802194e-01 2.40316939e-03 7.35632724e+01] [-3.12373852e-03 -2.41028107e-05 9.99995121e-01 4.42985502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590281693 meters 0.01867521589612158 Centerline is valid? [True, True] Translation: X:190.06, Y:73.58, Z:0.44 [[ 6.45527938e-01 -7.63733651e-01 2.14273589e-03 1.90055456e+02] [ 7.63729291e-01 6.45531494e-01 2.58077644e-03 7.35840209e+01] [-3.35422931e-03 -2.94931341e-05 9.99994374e-01 4.43581467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620281693 meters 0.019301279458995162 Centerline is valid? [True, True] Translation: X:190.07, Y:73.61, Z:0.44 [[ 6.45977324e-01 -7.63354760e-01 1.67578984e-03 1.90072435e+02] [ 7.63352089e-01 6.45979497e-01 2.01943199e-03 7.36054086e+01] [-2.62406890e-03 -2.52896022e-05 9.99996557e-01 4.42383968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650281693 meters 0.01928237682274554 Centerline is valid? [True, True] Translation: X:190.09, Y:73.63, Z:0.44 [[ 6.46329143e-01 -7.63058070e-01 1.01059334e-03 1.90090984e+02] [ 7.63057097e-01 6.46329933e-01 1.21860366e-03 7.36258752e+01] [-1.58304208e-03 -1.64786342e-05 9.99998747e-01 4.40075442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68028169299998 meters 0.019427710811024568 Centerline is valid? [True, True] Translation: X:190.11, Y:73.65, Z:0.44 [[ 6.46357678e-01 -7.63033548e-01 1.24786635e-03 1.90108815e+02] [ 7.63032063e-01 6.46358882e-01 1.50518913e-03 7.36469312e+01] [-1.95507930e-03 -2.07285172e-05 9.99998089e-01 4.40915909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71028169299998 meters 0.020016183691960662 Centerline is valid? [True, True] Translation: X:190.12, Y:73.67, Z:0.44 [[ 6.46673671e-01 -7.62765167e-01 1.56967533e-03 1.90124976e+02] [ 7.62762816e-01 6.46675575e-01 1.89405503e-03 7.36670151e+01] [-2.45978990e-03 -2.75455480e-05 9.99996974e-01 4.42606263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.740281693 meters 0.020606127927051104 Centerline is valid? [True, True] Translation: X:190.14, Y:73.69, Z:0.44 [[ 6.47053561e-01 -7.62442941e-01 1.56551533e-03 1.90142356e+02] [ 7.62440600e-01 6.47055454e-01 1.88978434e-03 7.36875195e+01] [-2.45382796e-03 -2.91792412e-05 9.99996989e-01 4.43084969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.770281693 meters 0.02045923250226542 Centerline is valid? [True, True] Translation: X:190.16, Y:73.71, Z:0.44 [[ 6.47284053e-01 -7.62248171e-01 1.03968910e-03 1.90159790e+02] [ 7.62247137e-01 6.47284888e-01 1.25581253e-03 7.37087014e+01] [-1.63021584e-03 -2.03673850e-05 9.99998671e-01 4.40978351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.800281693 meters 0.021907545385406735 Centerline is valid? [True, True] Translation: X:190.18, Y:73.73, Z:0.44 [[ 6.48614829e-01 -7.61116638e-01 -5.17316578e-04 1.90175023e+02] [ 7.61116382e-01 6.48615035e-01 -6.24179114e-04 7.37329284e+01] [ 8.10612419e-04 1.11137072e-05 9.99999671e-01 4.36651511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.830281693 meters 0.025237868930670964 Centerline is valid? [True, True] Translation: X:190.19, Y:73.76, Z:0.44 [[ 6.49535956e-01 -7.60330670e-01 -5.60434046e-04 1.90187909e+02] [ 7.60330369e-01 6.49536197e-01 -6.76600090e-04 7.37573663e+01] [ 8.78461999e-04 1.33610607e-05 9.99999614e-01 4.36621331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.860281693 meters 0.026244393971521448 Centerline is valid? [True, True] Translation: X:190.20, Y:73.78, Z:0.44 [[ 6.50505143e-01 -7.59501775e-01 -3.35383416e-04 1.90204029e+02] [ 7.59501667e-01 6.50505230e-01 -4.04750589e-04 7.37804614e+01] [ 5.25577457e-04 8.56807634e-06 9.99999862e-01 4.37172311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.890281693 meters 0.02779286300433385 Centerline is valid? [True, True] Translation: X:190.22, Y:73.80, Z:0.44 [[ 6.52006800e-01 -7.58213098e-01 -1.77712209e-04 1.90218052e+02] [ 7.58213067e-01 6.52006824e-01 -2.14276552e-04 7.38047840e+01] [ 2.78336861e-04 4.96605020e-06 9.99999961e-01 4.36847203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.920281693 meters 0.029059095074340482 Centerline is valid? [True, True] Translation: X:190.23, Y:73.83, Z:0.44 [[ 6.51871544e-01 -7.58329293e-01 -4.16836468e-04 1.90232119e+02] [ 7.58329126e-01 6.51871677e-01 -5.03593838e-04 7.38270326e+01] [ 6.53613847e-04 1.21792591e-05 9.99999786e-01 4.35800534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.950281693 meters 0.02647383564926663 Centerline is valid? [True, True] Translation: X:190.25, Y:73.85, Z:0.43 [[ 6.49890517e-01 -7.60026435e-01 -1.46063609e-03 1.90251233e+02] [ 7.60024383e-01 6.49892158e-01 -1.76644827e-03 7.38469816e+01] [ 2.29180332e-03 3.78789348e-05 9.99997373e-01 4.33021142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.980281693 meters 0.024534752701146478 Centerline is valid? [True, True] Translation: X:190.27, Y:73.87, Z:0.43 [[ 6.48352344e-01 -7.61338613e-01 -1.65979649e-03 1.90270066e+02] [ 7.61335965e-01 6.48354468e-01 -2.00815691e-03 7.38664795e+01] [ 2.60502386e-03 3.83304767e-05 9.99996606e-01 4.32656855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.010281693 meters 0.022676802460460298 Centerline is valid? [True, True] Translation: X:190.29, Y:73.89, Z:0.43 [[ 6.46691639e-01 -7.62749810e-01 -1.62827844e-03 1.90288414e+02] [ 7.62747265e-01 6.46693688e-01 -1.97081240e-03 7.38856715e+01] [ 2.55623418e-03 3.25429755e-05 9.99996732e-01 4.32950215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.040281693 meters 0.01844719991783034 Centerline is valid? [True, True] Translation: X:190.31, Y:73.90, Z:0.43 [[ 6.44198468e-01 -7.64857443e-01 -1.19405826e-03 1.90310251e+02] [ 7.64856077e-01 6.44199574e-01 -1.44568830e-03 7.39039119e+01] [ 1.87495728e-03 1.80274695e-05 9.99998242e-01 4.34704508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.070281693 meters 0.018628611449607122 Centerline is valid? [True, True] Translation: X:190.32, Y:73.93, Z:0.44 [[ 6.43390143e-01 -7.65538056e-01 -7.80513404e-04 1.90324839e+02] [ 7.65537472e-01 6.43390616e-01 -9.45114251e-04 7.39252590e+01] [ 1.22569593e-03 1.05649344e-05 9.99999249e-01 4.36047883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.100281693 meters 0.018458216410716974 Centerline is valid? [True, True] Translation: X:190.34, Y:73.95, Z:0.44 [[ 6.43428570e-01 -7.65506085e-01 3.30450874e-04 1.90339935e+02] [ 7.65505980e-01 6.43428655e-01 4.01260179e-04 7.39485222e+01] [-5.19788670e-04 -5.22014294e-06 9.99999865e-01 4.39805733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.130281693 meters 0.018679852922764195 Centerline is valid? [True, True] Translation: X:190.36, Y:73.97, Z:0.44 [[ 6.43870814e-01 -7.65134060e-01 4.95390530e-04 1.90355296e+02] [ 7.65133823e-01 6.43871005e-01 6.01495533e-04 7.39710632e+01] [-7.79192318e-04 -8.24536826e-06 9.99999696e-01 4.40853901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.160281693 meters 0.02034424136132959 Centerline is valid? [True, True] Translation: X:190.37, Y:74.00, Z:0.44 [[ 6.45203282e-01 -7.64010703e-01 6.08945152e-04 1.90366024e+02] [ 7.64010345e-01 6.45203570e-01 7.39477550e-04 7.39969996e+01] [-9.57862349e-04 -1.18729471e-05 9.99999541e-01 4.41238164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190281693 meters 0.021175743457939312 Centerline is valid? [True, True] Translation: X:190.38, Y:74.02, Z:0.44 [[ 6.45990046e-01 -7.63345766e-01 3.20371872e-04 1.90379986e+02] [ 7.63345666e-01 6.45990125e-01 3.89456622e-04 7.40212363e+01] [-5.04247129e-04 -7.03062063e-06 9.99999873e-01 4.40624753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220281693 meters 0.021915754637097728 Centerline is valid? [True, True] Translation: X:190.39, Y:74.05, Z:0.44 [[ 6.46557085e-01 -7.62865607e-01 -5.09937841e-05 1.90393413e+02] [ 7.62865604e-01 6.46557087e-01 -6.12573476e-05 7.40453460e+01] [ 7.97015161e-05 7.04968117e-07 9.99999997e-01 4.39934896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250281693 meters 0.02441727020528236 Centerline is valid? [True, True] Translation: X:190.40, Y:74.07, Z:0.44 [[ 6.47435122e-01 -7.62120495e-01 -3.36458853e-04 1.90401361e+02] [ 7.62120386e-01 6.47435210e-01 -4.08109987e-04 7.40738136e+01] [ 5.28864293e-04 7.80258797e-06 9.99999860e-01 4.39435577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280281693 meters 0.023639669814533394 Centerline is valid? [True, True] Translation: X:190.42, Y:74.10, Z:0.44 [[ 6.47538883e-01 -7.62032222e-01 -5.36075296e-04 1.90416584e+02] [ 7.62031945e-01 6.47539104e-01 -6.50855498e-04 7.40964697e+01] [ 8.43102579e-04 1.29477416e-05 9.99999645e-01 4.38638894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310281693 meters 0.023866576584292136 Centerline is valid? [True, True] Translation: X:190.43, Y:74.12, Z:0.44 [[ 6.46623105e-01 -7.62809059e-01 -9.48113888e-04 1.90428198e+02] [ 7.62808189e-01 6.46623800e-01 -1.15210566e-03 7.41211446e+01] [ 1.49190964e-03 2.17490992e-05 9.99998887e-01 4.36609437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340281693 meters 0.02218240363924471 Centerline is valid? [True, True] Translation: X:190.45, Y:74.14, Z:0.44 [[ 6.45499063e-01 -7.63759982e-01 -1.28444335e-03 1.90445148e+02] [ 7.63758386e-01 6.45500340e-01 -1.56174272e-03 7.41419029e+01] [ 2.02190521e-03 2.70990844e-05 9.99997956e-01 4.35187095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370281693 meters 0.020958734600936668 Centerline is valid? [True, True] Translation: X:190.46, Y:74.16, Z:0.43 [[ 6.43786011e-01 -7.65203659e-01 -1.71225956e-03 1.90461863e+02] [ 7.65200825e-01 6.43788287e-01 -2.08297820e-03 7.41632245e+01] [ 2.69623519e-03 3.07697967e-05 9.99996365e-01 4.33540556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40028169299998 meters 0.01660501691653794 Centerline is valid? [True, True] Translation: X:190.48, Y:74.18, Z:0.43 [[ 6.40118802e-01 -7.68273823e-01 -1.80351560e-03 1.90483333e+02] [ 7.68270688e-01 6.40121343e-01 -2.19484491e-03 7.41818086e+01] [ 2.84071072e-03 1.93733302e-05 9.99995965e-01 4.33778108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43028169299998 meters 0.015614516127846138 Centerline is valid? [True, True] Translation: X:190.50, Y:74.20, Z:0.43 [[ 6.38185809e-01 -7.69880904e-01 -1.50542904e-03 1.90501211e+02] [ 7.69878723e-01 6.38187585e-01 -1.83271230e-03 7.42009744e+01] [ 2.37171633e-03 1.06131892e-05 9.99997187e-01 4.33999408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46028169299998 meters 0.014761656439413845 Centerline is valid? [True, True] Translation: X:190.52, Y:74.22, Z:0.43 [[ 6.35481725e-01 -7.72113112e-01 -2.07850597e-03 1.90520265e+02] [ 7.72108961e-01 6.35485124e-01 -2.53177180e-03 7.42198280e+01] [ 3.27567382e-03 4.06162621e-06 9.99994635e-01 4.31829523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.490281693 meters 0.014748754408753813 Centerline is valid? [True, True] Translation: X:190.54, Y:74.24, Z:0.43 [[ 6.34829609e-01 -7.72647360e-01 -2.72477541e-03 1.90537188e+02] [ 7.72640225e-01 6.34835457e-01 -3.32060123e-03 7.42413773e+01] [ 4.29543781e-03 2.74489371e-06 9.99990775e-01 4.30551038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.520281693 meters 0.014965981141275007 Centerline is valid? [True, True] Translation: X:190.55, Y:74.26, Z:0.43 [[ 6.34486086e-01 -7.72926684e-01 -3.42749362e-03 1.90550763e+02] [ 7.72915388e-01 6.34495344e-01 -4.17868257e-03 7.42637254e+01] [ 5.40454400e-03 2.15338967e-06 9.99985395e-01 4.28450359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.550281693 meters 0.014936070377054106 Centerline is valid? [True, True] Translation: X:190.57, Y:74.29, Z:0.43 [[ 6.34742217e-01 -7.72716315e-01 -3.43738368e-03 1.90566918e+02] [ 7.72704942e-01 6.34751524e-01 -4.19228314e-03 7.42864775e+01] [ 5.42133011e-03 4.93573248e-06 9.99985304e-01 4.28934358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.580281693 meters 0.01487104635560492 Centerline is valid? [True, True] Translation: X:190.58, Y:74.31, Z:0.43 [[ 6.34860402e-01 -7.72620921e-01 -3.03020141e-03 1.90582337e+02] [ 7.72612075e-01 6.34867633e-01 -3.69720118e-03 7.43079158e+01] [ 4.78031178e-03 6.03643141e-06 9.99988574e-01 4.29160834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.610281693 meters 0.014863079095630118 Centerline is valid? [True, True] Translation: X:190.60, Y:74.33, Z:0.43 [[ 6.34718530e-01 -7.72736525e-01 -3.26361223e-03 1.90598126e+02] [ 7.72726256e-01 6.34726920e-01 -3.98378755e-03 7.43296160e+01] [ 5.14992069e-03 6.70491598e-06 9.99986739e-01 4.28827530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.640281693 meters 0.014983625937191538 Centerline is valid? [True, True] Translation: X:190.61, Y:74.35, Z:0.43 [[ 6.34075225e-01 -7.73260362e-01 -4.12569044e-03 1.90612418e+02] [ 7.73243947e-01 6.34088647e-01 -5.03847890e-03 7.43516604e+01] [ 6.51210949e-03 4.60948993e-06 9.99978796e-01 4.26264431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.670281693 meters 0.014879456046391529 Centerline is valid? [True, True] Translation: X:190.63, Y:74.37, Z:0.43 [[ 6.33471941e-01 -7.73753355e-01 -4.36420105e-03 1.90628348e+02] [ 7.73734982e-01 6.33486974e-01 -5.33212546e-03 7.43742647e+01] [ 6.89041448e-03 1.01683372e-06 9.99976261e-01 4.27147589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.700281693 meters 0.014664580374889576 Centerline is valid? [True, True] Translation: X:190.65, Y:74.40, Z:0.43 [[ 6.32868279e-01 -7.74250663e-01 -3.69503108e-03 1.90645478e+02] [ 7.74237490e-01 6.32879065e-01 -4.51639807e-03 7.43953949e+01] [ 5.83533201e-03 -2.54651339e-06 9.99982974e-01 4.29354330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.730281693 meters 0.014650461787471862 Centerline is valid? [True, True] Translation: X:190.66, Y:74.42, Z:0.43 [[ 6.31642714e-01 -7.75254388e-01 -2.84886038e-03 1.90663033e+02] [ 7.75246563e-01 6.31649138e-01 -3.48329916e-03 7.44151191e+01] [ 4.49992316e-03 -8.36868703e-06 9.99989875e-01 4.30867566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.760281693 meters 0.015036420139978347 Centerline is valid? [True, True] Translation: X:190.68, Y:74.43, Z:0.43 [[ 6.29859487e-01 -7.76705080e-01 -2.49910807e-03 1.90681790e+02] [ 7.76699065e-01 6.29864444e-01 -3.05675628e-03 7.44346675e+01] [ 3.94829745e-03 -1.57279635e-05 9.99992205e-01 4.32040165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.790281693 meters 0.018010303076915878 Centerline is valid? [True, True] Translation: X:190.71, Y:74.45, Z:0.43 [[ 6.25288616e-01 -7.80391716e-01 -1.70768558e-03 1.90706332e+02] [ 7.80388919e-01 6.25290948e-01 -2.08940467e-03 7.44500602e+01] [ 2.69835443e-03 -2.61779500e-05 9.99996359e-01 4.33683250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.820281693 meters 0.02245755720171106 Centerline is valid? [True, True] Translation: X:190.73, Y:74.46, Z:0.44 [[ 6.20722964e-01 -7.84029613e-01 -7.54058434e-04 1.90733296e+02] [ 7.84029070e-01 6.20723421e-01 -9.22652102e-04 7.44642635e+01] [ 1.19144830e-03 -1.84923864e-05 9.99999290e-01 4.36606601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.850281693 meters 0.024833201059511333 Centerline is valid? [True, True] Translation: X:190.76, Y:74.48, Z:0.44 [[ 6.18612313e-01 -7.85696128e-01 -6.32975972e-04 1.90755369e+02] [ 7.85695746e-01 6.18612636e-01 -7.74699189e-04 7.44824348e+01] [ 1.00024509e-03 -1.80880719e-05 9.99999500e-01 4.37132807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.880281693 meters 0.026746758415445552 Centerline is valid? [True, True] Translation: X:190.78, Y:74.50, Z:0.44 [[ 6.16766862e-01 -7.87145689e-01 -5.50465738e-04 1.90777068e+02] [ 7.87145401e-01 6.16767107e-01 -6.73892344e-04 7.45009102e+01] [ 8.69960614e-04 -1.76621077e-05 9.99999621e-01 4.37722425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.910281693 meters 0.02971034172108375 Centerline is valid? [True, True] Translation: X:190.80, Y:74.52, Z:0.44 [[ 6.15555770e-01 -7.88092849e-01 -8.69448984e-04 1.90799419e+02] [ 7.88092129e-01 6.15556383e-01 -1.06513282e-03 7.45170577e+01] [ 1.37461843e-03 -2.95572450e-05 9.99999055e-01 4.36661056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940281693 meters 0.027947230051064906 Centerline is valid? [True, True] Translation: X:190.82, Y:74.54, Z:0.43 [[ 6.14737865e-01 -7.88724972e-01 -3.20560731e-03 1.90819863e+02] [ 7.88715189e-01 6.14746212e-01 -3.93010633e-03 7.45362706e+01] [ 5.07040795e-03 -1.12326002e-04 9.99987139e-01 4.30845993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970281693 meters 0.029491785114645973 Centerline is valid? [True, True] Translation: X:190.84, Y:74.55, Z:0.43 [[ 6.15019682e-01 -7.88500551e-01 -4.20374961e-03 1.90840107e+02] [ 7.88483705e-01 6.15034032e-01 -5.15625363e-03 7.45534799e+01] [ 6.65115791e-03 -1.43390595e-04 9.99977871e-01 4.27760806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000281693 meters 0.027070778369595153 Centerline is valid? [True, True] Translation: X:190.86, Y:74.57, Z:0.43 [[ 6.17184712e-01 -7.86805144e-01 -4.54933684e-03 1.90857557e+02] [ 7.86785350e-01 6.17201464e-01 -5.58264352e-03 7.45727795e+01] [ 7.20030999e-03 -1.33829344e-04 9.99974068e-01 4.26133642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030281693 meters 0.025318825071455376 Centerline is valid? [True, True] Translation: X:190.87, Y:74.59, Z:0.43 [[ 6.18557766e-01 -7.85727812e-01 -4.25381330e-03 1.90874803e+02] [ 7.85710466e-01 6.18572383e-01 -5.22211336e-03 7.45938824e+01] [ 6.73445114e-03 -1.12086856e-04 9.99977317e-01 4.26414808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060281693 meters 0.019935631045147898 Centerline is valid? [True, True] Translation: X:190.89, Y:74.62, Z:0.43 [[ 6.21922057e-01 -7.83072753e-01 -3.16520008e-03 1.90889397e+02] [ 7.83063108e-01 6.21930108e-01 -3.88703055e-03 7.46183405e+01] [ 5.01236094e-03 -6.11213756e-05 9.99987436e-01 4.29888036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090281693 meters 0.01860063644869468 Centerline is valid? [True, True] Translation: X:190.91, Y:74.64, Z:0.43 [[ 6.23113313e-01 -7.82125803e-01 -3.00456394e-03 1.90905585e+02] [ 7.82117095e-01 6.23120554e-01 -3.69122690e-03 7.46400580e+01] [ 4.75920935e-03 -4.98681982e-05 9.99988674e-01 4.30153324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120281693 meters 0.01811265609437538 Centerline is valid? [True, True] Translation: X:190.92, Y:74.66, Z:0.43 [[ 6.24189253e-01 -7.81267587e-01 -2.95541476e-03 1.90922722e+02] [ 7.81259143e-01 6.24196248e-01 -3.63244534e-03 7.46602831e+01] [ 4.68267061e-03 -4.16114608e-05 9.99989035e-01 4.29602267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15028169299998 meters 0.01702804222596674 Centerline is valid? [True, True] Translation: X:190.94, Y:74.68, Z:0.43 [[ 6.25199020e-01 -7.80460028e-01 -2.88627380e-03 1.90938716e+02] [ 7.80451959e-01 6.25205682e-01 -3.54904880e-03 7.46816927e+01] [ 4.57440550e-03 -3.37362035e-05 9.99989537e-01 4.29714723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18028169299998 meters 0.01560690192556009 Centerline is valid? [True, True] Translation: X:190.96, Y:74.70, Z:0.43 [[ 6.26718596e-01 -7.79242008e-01 -2.38656269e-03 1.90955212e+02] [ 7.79236477e-01 6.26723139e-01 -2.93581693e-03 7.47012534e+01] [ 3.78342594e-03 -1.97656355e-05 9.99992843e-01 4.32160615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21028169299998 meters 0.01560690192556009 Centerline is valid? [True, True] Translation: X:190.97, Y:74.72, Z:0.43 [[ 6.26548488e-01 -7.79378791e-01 -2.38590319e-03 1.90971256e+02] [ 7.79373259e-01 6.26553031e-01 -2.93635285e-03 7.47214730e+01] [ 3.78342601e-03 -1.97417044e-05 9.99992843e-01 4.32211981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.240281693 meters 0.015264099641906666 Centerline is valid? [True, True] Translation: X:190.99, Y:74.74, Z:0.43 [[ 6.26850108e-01 -7.79136677e-01 -2.23164451e-03 1.90988521e+02] [ 7.79131832e-01 6.26854080e-01 -2.74768852e-03 7.47413474e+01] [ 3.53974037e-03 -1.63564276e-05 9.99993735e-01 4.32963436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.270281693 meters 0.01524992894516441 Centerline is valid? [True, True] Translation: X:191.01, Y:74.76, Z:0.43 [[ 6.26904497e-01 -7.79092339e-01 -2.42467483e-03 1.91006671e+02] [ 7.79086614e-01 6.26909186e-01 -2.98678338e-03 7.47589752e+01] [ 3.84703097e-03 -1.66037707e-05 9.99992600e-01 4.32975823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.300281693 meters 0.014901317638538693 Centerline is valid? [True, True] Translation: X:191.02, Y:74.78, Z:0.43 [[ 6.26959660e-01 -7.79047529e-01 -2.55579990e-03 1.91023452e+02] [ 7.79041162e-01 6.26964869e-01 -3.14974449e-03 7.47798671e+01] [ 4.05619741e-03 -1.63105938e-05 9.99991773e-01 4.32522325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.330281693 meters 0.014827401119942274 Centerline is valid? [True, True] Translation: X:191.04, Y:74.80, Z:0.43 [[ 6.27251711e-01 -7.78811536e-01 -2.80747155e-03 1.91040393e+02] [ 7.78803845e-01 6.27257994e-01 -3.46123640e-03 7.47999864e+01] [ 4.45665981e-03 -1.54031864e-05 9.99990069e-01 4.31212905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.360281693 meters 0.01432789292803368 Centerline is valid? [True, True] Translation: X:191.06, Y:74.82, Z:0.43 [[ 6.28479902e-01 -7.77821606e-01 -2.56165251e-03 1.91055833e+02] [ 7.77815190e-01 6.28485123e-01 -3.15933105e-03 7.48227487e+01] [ 4.06735644e-03 -6.91616864e-06 9.99991728e-01 4.32081021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.390281693 meters 0.014163912047811103 Centerline is valid? [True, True] Translation: X:191.07, Y:74.84, Z:0.43 [[ 6.28921801e-01 -7.77466183e-01 -1.92403457e-03 1.91072377e+02] [ 7.77462559e-01 6.28924744e-01 -2.37380843e-03 7.48438968e+01] [ 3.05562873e-03 -2.92496850e-06 9.99995332e-01 4.34060737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.420281693 meters 0.014020954883079367 Centerline is valid? [True, True] Translation: X:191.09, Y:74.86, Z:0.44 [[ 6.28946900e-01 -7.77446982e-01 -1.40956018e-03 1.91090963e+02] [ 7.77445035e-01 6.28948480e-01 -1.73964788e-03 7.48630071e+01] [ 2.23902473e-03 -1.70941978e-06 9.99997493e-01 4.35679219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.450281693 meters 0.014059908396916801 Centerline is valid? [True, True] Translation: X:191.11, Y:74.88, Z:0.43 [[ 6.27950806e-01 -7.78250979e-01 -1.78848159e-03 1.91110339e+02] [ 7.78247845e-01 6.27953353e-01 -2.20848647e-03 7.48822187e+01] [ 2.84183977e-03 -5.06108485e-06 9.99995962e-01 4.34798320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.480281693 meters 0.014668049650763501 Centerline is valid? [True, True] Translation: X:191.13, Y:74.90, Z:0.43 [[ 6.26336137e-01 -7.79549781e-01 -2.27631772e-03 1.91129784e+02] [ 7.79544709e-01 6.26340273e-01 -2.81232061e-03 7.48996414e+01] [ 3.61809338e-03 -1.30334118e-05 9.99993455e-01 4.32962030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.510281693 meters 0.016918540897390425 Centerline is valid? [True, True] Translation: X:191.16, Y:74.92, Z:0.43 [[ 6.22503068e-01 -7.82613102e-01 -2.58130341e-03 1.91155154e+02] [ 7.82606599e-01 6.22508419e-01 -3.19055360e-03 7.49154182e+01] [ 4.10385216e-03 -3.40156808e-05 9.99991579e-01 4.32332418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.540281693 meters 0.018612178602362656 Centerline is valid? [True, True] Translation: X:191.18, Y:74.93, Z:0.43 [[ 6.20436147e-01 -7.84252997e-01 -2.49495735e-03 1.91176515e+02] [ 7.84246930e-01 6.20441162e-01 -3.08499005e-03 7.49337053e+01] [ 3.96738692e-03 -4.26233037e-05 9.99992129e-01 4.32157220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.570281693 meters 0.02241884680858674 Centerline is valid? [True, True] Translation: X:191.20, Y:74.95, Z:0.43 [[ 6.17701069e-01 -7.86409583e-01 -2.31435103e-03 1.91202193e+02] [ 7.86404375e-01 6.17705403e-01 -2.86275098e-03 7.49480182e+01] [ 3.68088194e-03 -5.16914345e-05 9.99993224e-01 4.32748393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.600281693 meters 0.021343837262002494 Centerline is valid? [True, True] Translation: X:191.22, Y:74.97, Z:0.43 [[ 6.17536263e-01 -7.86539537e-01 -2.12622033e-03 1.91219422e+02] [ 7.86535137e-01 6.17539922e-01 -2.63107656e-03 7.49684749e+01] [ 3.38247167e-03 -4.75618116e-05 9.99994278e-01 4.34045461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.630281693 meters 0.018736022472768215 Centerline is valid? [True, True] Translation: X:191.24, Y:74.99, Z:0.44 [[ 6.19691519e-01 -7.84843448e-01 -1.78433814e-03 1.91236207e+02] [ 7.84840340e-01 6.19694087e-01 -2.20882462e-03 7.49911708e+01] [ 2.83932532e-03 -3.16306707e-05 9.99995969e-01 4.35645648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.660281693 meters 0.01732012490570081 Centerline is valid? [True, True] Translation: X:191.25, Y:75.01, Z:0.44 [[ 6.21208586e-01 -7.83643180e-01 -1.80509120e-03 1.91250912e+02] [ 7.83639992e-01 6.21211209e-01 -2.23541141e-03 7.50137171e+01] [ 2.87310779e-03 -2.58848897e-05 9.99995872e-01 4.36120717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690281693 meters 0.016079125887176082 Centerline is valid? [True, True] Translation: X:191.27, Y:75.04, Z:0.44 [[ 6.22738552e-01 -7.82428262e-01 -1.64660774e-03 1.91265078e+02] [ 7.82425602e-01 6.22740729e-01 -2.03997829e-03 7.50356496e+01] [ 2.62154638e-03 -1.79749271e-05 9.99996564e-01 4.36310022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720281693 meters 0.014555787796522867 Centerline is valid? [True, True] Translation: X:191.28, Y:75.06, Z:0.44 [[ 6.25471858e-01 -7.80246135e-01 -9.61057563e-04 1.91276245e+02] [ 7.80245226e-01 6.25472597e-01 -1.19090160e-03 7.50596698e+01] [ 1.53031154e-03 -4.98513549e-06 9.99998829e-01 4.37419208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750281693 meters 0.01417604216532507 Centerline is valid? [True, True] Translation: X:191.29, Y:75.08, Z:0.44 [[ 6.26444557e-01 -7.79465588e-01 -7.83833339e-04 1.91289397e+02] [ 7.79464983e-01 6.26445047e-01 -9.71577638e-04 7.50821895e+01] [ 1.24833985e-03 -2.33111759e-06 9.99999221e-01 4.38000075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780281693 meters 0.01422093571625719 Centerline is valid? [True, True] Translation: X:191.30, Y:75.11, Z:0.44 [[ 6.29036016e-01 -7.77376100e-01 -2.99309406e-04 1.91298730e+02] [ 7.77376011e-01 6.29036087e-01 -3.70785701e-04 7.51093307e+01] [ 4.76516360e-04 5.61607731e-07 9.99999886e-01 4.39489122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810281693 meters 0.014801140520059026 Centerline is valid? [True, True] Translation: X:191.31, Y:75.13, Z:0.44 [[ 6.30593864e-01 -7.76112858e-01 -4.59294083e-04 1.91311763e+02] [ 7.76112649e-01 6.30594031e-01 -5.69555991e-04 7.51340462e+01] [ 7.31667835e-04 2.69456560e-06 9.99999732e-01 4.38759972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840281693 meters 0.016152216329912837 Centerline is valid? [True, True] Translation: X:191.32, Y:75.16, Z:0.44 [[ 6.32197042e-01 -7.74806505e-01 -1.33406640e-03 1.91323750e+02] [ 7.74804735e-01 6.32198449e-01 -1.65634597e-03 7.51579000e+01] [ 2.12674235e-03 1.34960566e-05 9.99997738e-01 4.36661316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870281693 meters 0.017650392176714772 Centerline is valid? [True, True] Translation: X:191.34, Y:75.18, Z:0.43 [[ 6.33283494e-01 -7.73916454e-01 -2.31042849e-03 1.91336532e+02] [ 7.73911132e-01 6.33287708e-01 -2.87033251e-03 7.51818890e+01] [ 3.68456352e-03 2.96678750e-05 9.99993212e-01 4.33456129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90028169299998 meters 0.01782807714556312 Centerline is valid? [True, True] Translation: X:191.35, Y:75.21, Z:0.43 [[ 6.33890722e-01 -7.73416037e-01 -3.19166813e-03 1.91349589e+02] [ 7.73405864e-01 6.33898755e-01 -3.96703363e-03 7.52062545e+01] [ 5.09136188e-03 4.62109637e-05 9.99987038e-01 4.31795833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93028169299998 meters 0.018074183318353084 Centerline is valid? [True, True] Translation: X:191.36, Y:75.23, Z:0.43 [[ 6.33574682e-01 -7.73676166e-01 -2.88305942e-03 1.91362566e+02] [ 7.73667861e-01 6.33581241e-01 -3.58498908e-03 7.52287654e+01] [ 4.60027297e-03 4.08278977e-05 9.99989418e-01 4.32731623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96028169299998 meters 0.016519979051775664 Centerline is valid? [True, True] Translation: X:191.38, Y:75.25, Z:0.44 [[ 6.31914972e-01 -7.75036629e-01 -1.30093714e-03 1.91377235e+02] [ 7.75034940e-01 6.31916311e-01 -1.61802112e-03 7.52501001e+01] [ 2.07610903e-03 1.41800264e-05 9.99997845e-01 4.36889358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.990281693 meters 0.01565832756163004 Centerline is valid? [True, True] Translation: X:191.39, Y:75.27, Z:0.44 [[ 6.30585955e-01 -7.76119149e-01 -6.47958148e-04 1.91393766e+02] [ 7.76118731e-01 6.30586288e-01 -8.05904401e-04 7.52705291e+01] [ 1.03407136e-03 5.29954127e-06 9.99999465e-01 4.38533356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.020281693 meters 0.014974712727959095 Centerline is valid? [True, True] Translation: X:191.41, Y:75.29, Z:0.44 [[ 6.29339537e-01 -7.77130343e-01 -4.21350815e-04 1.91411303e+02] [ 7.77130166e-01 6.29339678e-01 -5.24074761e-04 7.52912193e+01] [ 6.72447185e-04 2.37653850e-06 9.99999774e-01 4.38870150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.050281693 meters 0.014431099781225705 Centerline is valid? [True, True] Translation: X:191.43, Y:75.31, Z:0.44 [[ 6.27645577e-01 -7.78498439e-01 -1.10018518e-03 1.91428056e+02] [ 7.78497233e-01 6.27646541e-01 -1.36999724e-03 7.53109981e+01] [ 1.75706814e-03 3.38158919e-06 9.99998456e-01 4.36783717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.080281693 meters 0.014116789897356 Centerline is valid? [True, True] Translation: X:191.44, Y:75.33, Z:0.44 [[ 6.26781388e-01 -7.79193987e-01 -1.34959153e-03 1.91443903e+02] [ 7.79192173e-01 6.26782841e-01 -1.68143754e-03 7.53302819e+01] [ 2.15606683e-03 2.30259392e-06 9.99997676e-01 4.36129861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.110281693 meters 0.01398604429735763 Centerline is valid? [True, True] Translation: X:191.46, Y:75.35, Z:0.44 [[ 6.25918748e-01 -7.79887843e-01 -8.20661333e-04 1.91460557e+02] [ 7.79887172e-01 6.25919286e-01 -1.02255213e-03 7.53511801e+01] [ 1.31114373e-03 1.13009647e-08 9.99999140e-01 4.37416854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.140281693 meters 0.014072393106288978 Centerline is valid? [True, True] Translation: X:191.48, Y:75.37, Z:0.44 [[ 6.24503655e-01 -7.81021830e-01 2.92314174e-04 1.91477021e+02] [ 7.81021745e-01 6.24503723e-01 3.65337580e-04 7.53713595e+01] [-4.67887915e-04 1.49072044e-07 9.99999891e-01 4.41553543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.170281693 meters 0.014074406696377696 Centerline is valid? [True, True] Translation: X:191.49, Y:75.39, Z:0.44 [[ 6.23973622e-01 -7.81445363e-01 -2.52389995e-04 1.91494058e+02] [ 7.81445300e-01 6.23973673e-01 -3.14326967e-04 7.53927079e+01] [ 4.03114063e-04 -1.09723937e-06 9.99999919e-01 4.39818557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.200281693 meters 0.014863646580843687 Centerline is valid? [True, True] Translation: X:191.51, Y:75.41, Z:0.43 [[ 6.22466856e-01 -7.82644298e-01 -1.70774449e-03 1.91511847e+02] [ 7.82641396e-01 6.22469198e-01 -2.13134287e-03 7.54114805e+01] [ 2.73110169e-03 -9.86123826e-06 9.99996270e-01 4.34515071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.230281693 meters 0.015409715613181897 Centerline is valid? [True, True] Translation: X:191.53, Y:75.43, Z:0.43 [[ 6.21243245e-01 -7.83615510e-01 -1.88775390e-03 1.91529309e+02] [ 7.83611965e-01 6.21246113e-01 -2.35690981e-03 7.54307728e+01] [ 3.01967085e-03 -1.50522456e-05 9.99995441e-01 4.33680543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.260281693 meters 0.015862178654941574 Centerline is valid? [True, True] Translation: X:191.55, Y:75.45, Z:0.43 [[ 6.20244172e-01 -7.84407099e-01 -1.63435765e-03 1.91546597e+02] [ 7.84404443e-01 6.20246325e-01 -2.04135549e-03 7.54504091e+01] [ 2.61495806e-03 -1.58585563e-05 9.99996581e-01 4.34821528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.290281693 meters 0.016712842785963068 Centerline is valid? [True, True] Translation: X:191.56, Y:75.47, Z:0.44 [[ 6.19408711e-01 -7.85068147e-01 -9.23750712e-04 1.91563220e+02] [ 7.85067299e-01 6.19409400e-01 -1.15404057e-03 7.54690822e+01] [ 1.47818036e-03 -1.03836951e-05 9.99998907e-01 4.36542311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.320281693 meters 0.01618514431846114 Centerline is valid? [True, True] Translation: X:191.58, Y:75.49, Z:0.44 [[ 6.19631970e-01 -7.84891995e-01 -8.82128399e-04 1.91577283e+02] [ 7.84891221e-01 6.19632598e-01 -1.10237127e-03 7.54908948e+01] [ 1.41183790e-03 -9.31035275e-06 9.99999003e-01 4.36990061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.350281693 meters 0.014602580133311286 Centerline is valid? [True, True] Translation: X:191.58, Y:75.52, Z:0.43 [[ 6.21957938e-01 -7.83049020e-01 -1.59847797e-03 1.91583501e+02] [ 7.83046469e-01 6.21959992e-01 -1.99903481e-03 7.55183898e+01] [ 2.55953159e-03 -8.36696296e-06 9.99996724e-01 4.34567440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.380281693 meters 0.013955803836805853 Centerline is valid? [True, True] Translation: X:191.59, Y:75.55, Z:0.43 [[ 6.23735548e-01 -7.81633282e-01 -1.83840577e-03 1.91593008e+02] [ 7.81629897e-01 6.23738257e-01 -2.30024255e-03 7.55450185e+01] [ 2.94463014e-03 -2.20986646e-06 9.99995665e-01 4.33392061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.410281693 meters 0.014202743592814798 Centerline is valid? [True, True] Translation: X:191.60, Y:75.57, Z:0.43 [[ 6.25340188e-01 -7.80349873e-01 -1.92997721e-03 1.91602296e+02] [ 7.80346134e-01 6.25343166e-01 -2.41591915e-03 7.55697320e+01] [ 3.09216027e-03 4.72108029e-06 9.99995219e-01 4.32740859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440281693 meters 0.014979666811482243 Centerline is valid? [True, True] Translation: X:191.61, Y:75.60, Z:0.43 [[ 6.27419029e-01 -7.78679506e-01 -1.89437990e-03 1.91611619e+02] [ 7.78675893e-01 6.27421889e-01 -2.37239327e-03 7.55965126e+01] [ 3.03590943e-03 1.33767265e-05 9.99995392e-01 4.32900157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470281693 meters 0.015000520426781084 Centerline is valid? [True, True] Translation: X:191.63, Y:75.62, Z:0.43 [[ 6.27194233e-01 -7.78860752e-01 -1.82318859e-03 1.91625477e+02] [ 7.78857402e-01 6.27196882e-01 -2.28418289e-03 7.56189381e+01] [ 2.92255860e-03 1.26224054e-05 9.99995729e-01 4.33411588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500281693 meters 0.014457482593856876 Centerline is valid? [True, True] Translation: X:191.64, Y:75.64, Z:0.43 [[ 6.26158546e-01 -7.79693931e-01 -1.68801582e-03 1.91640754e+02] [ 7.79691060e-01 6.26160821e-01 -2.11569888e-03 7.56417319e+01] [ 2.70656695e-03 8.63209217e-06 9.99996337e-01 4.33636910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530281693 meters 0.013862698057962477 Centerline is valid? [True, True] Translation: X:191.66, Y:75.66, Z:0.43 [[ 6.23375934e-01 -7.81920420e-01 -1.70350076e-03 1.91656819e+02] [ 7.81917502e-01 6.23378262e-01 -2.13595257e-03 7.56623674e+01] [ 2.73207027e-03 -4.95628067e-07 9.99996268e-01 4.32347473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560281693 meters 0.014085409256186688 Centerline is valid? [True, True] Translation: X:191.67, Y:75.68, Z:0.43 [[ 6.22044652e-01 -7.82978601e-01 -2.22727069e-03 1.91674283e+02] [ 7.82973617e-01 6.22048639e-01 -2.79373950e-03 7.56822482e+01] [ 3.57290895e-03 -6.06347168e-06 9.99993617e-01 4.30736469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590281693 meters 0.01473598806074907 Centerline is valid? [True, True] Translation: X:191.69, Y:75.70, Z:0.43 [[ 6.19809102e-01 -7.84749512e-01 -2.20923340e-03 1.91691617e+02] [ 7.84744616e-01 6.19813039e-01 -2.77210090e-03 7.57036079e+01] [ 3.54471650e-03 -1.55106498e-05 9.99993717e-01 4.32573449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620281693 meters 0.014962516166830914 Centerline is valid? [True, True] Translation: X:191.71, Y:75.73, Z:0.44 [[ 6.19432189e-01 -7.85048482e-01 -1.62622888e-03 1.91706266e+02] [ 7.85045828e-01 6.19434324e-01 -2.04123510e-03 7.57251303e+01] [ 2.60981050e-03 -1.22574690e-05 9.99996594e-01 4.35115897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65028169299998 meters 0.014319539551670186 Centerline is valid? [True, True] Translation: X:191.72, Y:75.75, Z:0.44 [[ 6.19665412e-01 -7.84865288e-01 -1.12116685e-03 1.91719791e+02] [ 7.84864026e-01 6.19666426e-01 -1.40767937e-03 7.57484821e+01] [ 1.79958813e-03 -7.67331238e-06 9.99998381e-01 4.36945540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68028169299998 meters 0.013604070034439798 Centerline is valid? [True, True] Translation: X:191.73, Y:75.77, Z:0.44 [[ 6.21326824e-01 -7.83551434e-01 -3.57688964e-04 1.91731296e+02] [ 7.83551306e-01 6.21326927e-01 -4.48806702e-04 7.57721492e+01] [ 5.73904920e-04 -1.41201210e-06 9.99999835e-01 4.38396896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71028169299998 meters 0.013371368933447647 Centerline is valid? [True, True] Translation: X:191.75, Y:75.79, Z:0.44 [[ 6.21724285e-01 -7.83236169e-01 1.32661382e-04 1.91745294e+02] [ 7.83236151e-01 6.21724299e-01 1.67496695e-04 7.57937718e+01] [-2.13668274e-04 -2.31573095e-07 9.99999977e-01 4.39236210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.740281693 meters 0.013395857970186942 Centerline is valid? [True, True] Translation: X:191.76, Y:75.82, Z:0.44 [[ 6.21944029e-01 -7.83061544e-01 4.93343615e-04 1.91758926e+02] [ 7.83061298e-01 6.21944224e-01 6.21224500e-04 7.58177551e+01] [-7.93289229e-04 -4.85764656e-08 9.99999685e-01 4.39089284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.770281693 meters 0.013543384340026459 Centerline is valid? [True, True] Translation: X:191.77, Y:75.84, Z:0.44 [[ 6.21509039e-01 -7.83406975e-01 1.61463573e-04 1.91774954e+02] [ 7.83406948e-01 6.21509060e-01 2.03900267e-04 7.58384101e+01] [-2.60087965e-04 -2.34174416e-07 9.99999966e-01 4.38455350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.800281693 meters 0.013719215437368551 Centerline is valid? [True, True] Translation: X:191.79, Y:75.86, Z:0.44 [[ 6.20248679e-01 -7.84405114e-01 -4.40220106e-04 1.91792858e+02] [ 7.84404918e-01 6.20248835e-01 -5.53553088e-04 7.58586193e+01] [ 7.07255881e-04 -1.97024443e-06 9.99999750e-01 4.36350661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.830281693 meters 0.015822725646753917 Centerline is valid? [True, True] Translation: X:191.81, Y:75.88, Z:0.43 [[ 6.16729341e-01 -7.87171380e-01 -2.47773245e-03 1.91814490e+02] [ 7.87165197e-01 6.16734317e-01 -3.11995665e-03 7.58761328e+01] [ 3.98404321e-03 -2.62159396e-05 9.99992063e-01 4.31197506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.860281693 meters 0.01741652065857417 Centerline is valid? [True, True] Translation: X:191.83, Y:75.90, Z:0.43 [[ 6.14626149e-01 -7.88814202e-01 -2.61773255e-03 1.91834389e+02] [ 7.88807310e-01 6.14631722e-01 -3.29754237e-03 7.58961175e+01] [ 4.21008972e-03 -3.81308103e-05 9.99991137e-01 4.30553904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.890281693 meters 0.019090444655759677 Centerline is valid? [True, True] Translation: X:191.85, Y:75.92, Z:0.43 [[ 6.12531943e-01 -7.90443320e-01 -1.99432356e-03 1.91854680e+02] [ 7.90439326e-01 6.12535188e-01 -2.51303258e-03 7.59156847e+01] [ 3.20800317e-03 -3.70790419e-05 9.99994854e-01 4.32582376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.920281693 meters 0.022473415983236558 Centerline is valid? [True, True] Translation: X:191.88, Y:75.93, Z:0.44 [[ 6.09861409e-01 -7.92507424e-01 -1.02195844e-03 1.91877979e+02] [ 7.92506378e-01 6.09862265e-01 -1.28795414e-03 7.59321242e+01] [ 1.64396711e-03 -2.44350531e-05 9.99998648e-01 4.35455832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.950281693 meters 0.02186085165427468 Centerline is valid? [True, True] Translation: X:191.89, Y:75.95, Z:0.43 [[ 6.08837147e-01 -7.93294615e-01 -9.90813364e-04 1.91894179e+02] [ 7.93293632e-01 6.08837953e-01 -1.24917120e-03 7.59543355e+01] [ 1.59420557e-03 -2.54641010e-05 9.99998729e-01 4.34687677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.980281693 meters 0.024542513736405626 Centerline is valid? [True, True] Translation: X:191.91, Y:75.97, Z:0.43 [[ 6.08202865e-01 -7.93779151e-01 -1.98361907e-03 1.91913025e+02] [ 7.93775208e-01 6.08206097e-01 -2.50256827e-03 7.59731328e+01] [ 3.19293573e-03 -5.24784516e-05 9.99994901e-01 4.31053809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.010281693 meters 0.022946166042399227 Centerline is valid? [True, True] Translation: X:191.93, Y:76.00, Z:0.43 [[ 6.07744595e-01 -7.94129070e-01 -2.35118079e-03 1.91928167e+02] [ 7.94123527e-01 6.07749140e-01 -2.96774316e-03 7.59961508e+01] [ 3.78569922e-03 -6.34981135e-05 9.99992832e-01 4.30211297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.040281693 meters 0.02331977239282482 Centerline is valid? [True, True] Translation: X:191.95, Y:76.02, Z:0.43 [[ 6.07315656e-01 -7.94455523e-01 -2.84897322e-03 1.91946227e+02] [ 7.94447380e-01 6.07322333e-01 -3.59777242e-03 7.60170090e+01] [ 4.58851523e-03 -7.83757984e-05 9.99989470e-01 4.29407830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.070281693 meters 0.02581859460784452 Centerline is valid? [True, True] Translation: X:191.97, Y:76.03, Z:0.43 [[ 6.06977056e-01 -7.94712582e-01 -3.28120283e-03 1.91965785e+02] [ 7.94701775e-01 6.06985917e-01 -4.14555193e-03 7.60344137e+01] [ 5.28616619e-03 -9.13228060e-05 9.99986024e-01 4.28118249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.100281693 meters 0.02581859460784452 Centerline is valid? [True, True] Translation: X:191.98, Y:76.05, Z:0.43 [[ 6.06804066e-01 -7.94844680e-01 -3.28029608e-03 1.91981567e+02] [ 7.94833871e-01 6.06812926e-01 -4.14626940e-03 7.60548343e+01] [ 5.28616624e-03 -9.13173035e-05 9.99986024e-01 4.28169622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.130281693 meters 0.02544356086667981 Centerline is valid? [True, True] Translation: X:192.00, Y:76.07, Z:0.43 [[ 6.07206423e-01 -7.94539205e-01 -2.79496265e-03 1.91997996e+02] [ 7.94531348e-01 6.07212851e-01 -3.53432891e-03 7.60742957e+01] [ 4.50530012e-03 -7.46182297e-05 9.99989848e-01 4.29356846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.160281693 meters 0.022366786926899127 Centerline is valid? [True, True] Translation: X:192.01, Y:76.10, Z:0.43 [[ 6.07563544e-01 -7.94267453e-01 -2.39874054e-03 1.92012358e+02] [ 7.94261658e-01 6.07568276e-01 -3.03454952e-03 7.60976468e+01] [ 3.86764257e-03 -6.15459785e-05 9.99992519e-01 4.30978387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190281693 meters 0.020884486903225506 Centerline is valid? [True, True] Translation: X:192.03, Y:76.12, Z:0.43 [[ 6.08743747e-01 -7.93363203e-01 -2.42442589e-03 1.92031270e+02] [ 7.93357272e-01 6.08748573e-01 -3.06829011e-03 7.61187067e+01] [ 3.91013427e-03 -5.56334911e-05 9.99992354e-01 4.31494508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220281693 meters 0.020688323871098334 Centerline is valid? [True, True] Translation: X:192.05, Y:76.14, Z:0.43 [[ 6.09036713e-01 -7.93138141e-01 -2.48439275e-03 1.92048481e+02] [ 7.93131906e-01 6.09041777e-01 -3.14525795e-03 7.61396986e+01] [ 4.00772302e-03 -5.48735918e-05 9.99991968e-01 4.31227957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250281693 meters 0.02045662635235333 Centerline is valid? [True, True] Translation: X:192.06, Y:76.16, Z:0.43 [[ 6.09290732e-01 -7.92943227e-01 -2.41710990e-03 1.92064982e+02] [ 7.92937320e-01 6.09295525e-01 -3.06102351e-03 7.61603595e+01] [ 3.89995210e-03 -5.15633956e-05 9.99992394e-01 4.31106296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280281693 meters 0.019528456145400077 Centerline is valid? [True, True] Translation: X:192.08, Y:76.18, Z:0.43 [[ 6.10101731e-01 -7.92319288e-01 -2.45432829e-03 1.92081396e+02] [ 7.92313188e-01 6.10106666e-01 -3.10937366e-03 7.61801441e+01] [ 3.96101878e-03 -4.75624215e-05 9.99992154e-01 4.31651181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310281693 meters 0.020581009443336608 Centerline is valid? [True, True] Translation: X:192.10, Y:76.20, Z:0.43 [[ 6.10238683e-01 -7.92213939e-01 -2.41349792e-03 1.92101091e+02] [ 7.92208034e-01 6.10243454e-01 -3.05899453e-03 7.61981239e+01] [ 3.89619942e-03 -4.52756503e-05 9.99992409e-01 4.31542596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340281693 meters 0.01985935250077094 Centerline is valid? [True, True] Translation: X:192.12, Y:76.22, Z:0.43 [[ 6.09688327e-01 -7.92639964e-01 -1.42541009e-03 1.92121620e+02] [ 7.92637904e-01 6.09689993e-01 -1.80715005e-03 7.62167636e+01] [ 2.30147761e-03 -2.80357752e-05 9.99997351e-01 4.34963348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370281693 meters 0.020385584347562654 Centerline is valid? [True, True] Translation: X:192.14, Y:76.23, Z:0.44 [[ 6.09115077e-01 -7.93080832e-01 -1.27119148e-03 1.92140011e+02] [ 7.93079194e-01 6.09116403e-01 -1.61223375e-03 7.62349455e+01] [ 2.05293527e-03 -2.61196247e-05 9.99997892e-01 4.35141879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40028169299998 meters 0.021490337630835958 Centerline is valid? [True, True] Translation: X:192.16, Y:76.25, Z:0.43 [[ 6.08240282e-01 -7.93751866e-01 -1.31731491e-03 1.92160330e+02] [ 7.93750106e-01 6.08241707e-01 -1.67148777e-03 7.62538336e+01] [ 2.12799240e-03 -2.89526576e-05 9.99997735e-01 4.34663396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43028169299998 meters 0.022581922274086272 Centerline is valid? [True, True] Translation: X:192.18, Y:76.27, Z:0.43 [[ 6.07384947e-01 -7.94405851e-01 -1.69403920e-03 1.92183911e+02] [ 7.94402941e-01 6.07387308e-01 -2.15057287e-03 7.62696904e+01] [ 2.73736559e-03 -3.95241353e-05 9.99996253e-01 4.34767257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46028169299998 meters 0.022977055821597675 Centerline is valid? [True, True] Translation: X:192.20, Y:76.29, Z:0.43 [[ 6.07246973e-01 -7.94510444e-01 -2.06589820e-03 1.92202599e+02] [ 7.94506113e-01 6.07250485e-01 -2.62391554e-03 7.62886654e+01] [ 3.33924599e-03 -4.80039793e-05 9.99994424e-01 4.34471869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.490281693 meters 0.020357189044726165 Centerline is valid? [True, True] Translation: X:192.22, Y:76.31, Z:0.44 [[ 6.09975177e-01 -7.92417785e-01 -2.08247772e-03 1.92216832e+02] [ 7.92413368e-01 6.09978731e-01 -2.64615893e-03 7.63105334e+01] [ 3.36713051e-03 -3.60919193e-05 9.99994331e-01 4.35835364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.520281693 meters 0.017989528187756725 Centerline is valid? [True, True] Translation: X:192.23, Y:76.33, Z:0.44 [[ 6.12360405e-01 -7.90576780e-01 -1.75734784e-03 1.92230147e+02] [ 7.90573625e-01 6.12362927e-01 -2.23387147e-03 7.63348273e+01] [ 2.84218158e-03 -2.13784130e-05 9.99995961e-01 4.36557289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.550281693 meters 0.016469426922719747 Centerline is valid? [True, True] Translation: X:192.24, Y:76.36, Z:0.44 [[ 6.15439479e-01 -7.88182648e-01 -1.53662176e-03 1.92241557e+02] [ 7.88180226e-01 6.15441398e-01 -1.95400207e-03 7.63585238e+01] [ 2.48581117e-03 -8.56486802e-06 9.99996910e-01 4.37015703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.580281693 meters 0.01639977912260989 Centerline is valid? [True, True] Translation: X:192.25, Y:76.38, Z:0.44 [[ 6.19134470e-01 -7.85283545e-01 -1.50364748e-03 1.92251464e+02] [ 7.85281216e-01 6.19136296e-01 -1.91277646e-03 7.63848031e+01] [ 2.43303462e-03 3.47971951e-06 9.99997040e-01 4.37415514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.610281693 meters 0.021716513731433167 Centerline is valid? [True, True] Translation: X:192.25, Y:76.42, Z:0.44 [[ 6.26541602e-01 -7.79385485e-01 -1.97147319e-03 1.92252354e+02] [ 7.79381447e-01 6.26544703e-01 -2.50909366e-03 7.64184124e+01] [ 3.19076727e-03 3.55219359e-05 9.99994909e-01 4.35423843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.640281693 meters 0.02588701530067194 Centerline is valid? [True, True] Translation: X:192.26, Y:76.44, Z:0.43 [[ 6.29255422e-01 -7.77195844e-01 -2.05761228e-03 1.92261274e+02] [ 7.77191431e-01 6.29258784e-01 -2.61964879e-03 7.64449898e+01] [ 3.33075075e-03 4.92695726e-05 9.99994452e-01 4.34724292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.670281693 meters 0.030359208242330297 Centerline is valid? [True, True] Translation: X:192.27, Y:76.47, Z:0.43 [[ 6.32270857e-01 -7.74744167e-01 -2.24485344e-03 1.92270672e+02] [ 7.74738894e-01 6.32274839e-01 -2.85910552e-03 7.64714972e+01] [ 3.63443967e-03 6.85538270e-05 9.99993393e-01 4.34853588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.700281693 meters 0.026882508562387233 Centerline is valid? [True, True] Translation: X:192.29, Y:76.49, Z:0.43 [[ 6.31967887e-01 -7.74990510e-01 -2.50982185e-03 1.92290299e+02] [ 7.74983916e-01 6.31972866e-01 -3.19803567e-03 7.64905715e+01] [ 4.06458660e-03 7.59842774e-05 9.99991737e-01 4.34260268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.730281693 meters 0.02618202943840182 Centerline is valid? [True, True] Translation: X:192.31, Y:76.51, Z:0.43 [[ 6.31029368e-01 -7.75753151e-01 -2.99759200e-03 1.92305887e+02] [ 7.75743744e-01 6.31036482e-01 -3.82137405e-03 7.65130245e+01] [ 4.85603286e-03 8.60360106e-05 9.99988206e-01 4.32711467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.760281693 meters 0.023241021714875663 Centerline is valid? [True, True] Translation: X:192.32, Y:76.53, Z:0.43 [[ 6.28383633e-01 -7.77894714e-01 -3.71789733e-03 1.92324033e+02] [ 7.77880267e-01 6.28394626e-01 -4.74175748e-03 7.65345799e+01] [ 6.02489478e-03 8.75638310e-05 9.99981846e-01 4.29634915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.790281693 meters 0.022521428907454566 Centerline is valid? [True, True] Translation: X:192.34, Y:76.55, Z:0.43 [[ 6.26747646e-01 -7.79212621e-01 -3.88322795e-03 1.92340605e+02] [ 7.79196871e-01 6.26759671e-01 -4.95487391e-03 7.65543492e+01] [ 6.29475096e-03 7.96564891e-05 9.99980185e-01 4.28929706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.820281693 meters 0.020703106429821375 Centerline is valid? [True, True] Translation: X:192.36, Y:76.57, Z:0.43 [[ 6.25079344e-01 -7.80552174e-01 -3.75737277e-03 1.92359887e+02] [ 7.80537440e-01 6.25090633e-01 -4.79644744e-03 7.65740528e+01] [ 6.09257600e-03 6.53900948e-05 9.99981438e-01 4.30624765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.850281693 meters 0.019679905477788712 Centerline is valid? [True, True] Translation: X:192.38, Y:76.60, Z:0.43 [[ 6.23445343e-01 -7.81861367e-01 -2.95062568e-03 1.92375586e+02] [ 7.81852289e-01 6.23452324e-01 -3.76790970e-03 7.65954584e+01] [ 4.78555746e-03 4.21323126e-05 9.99988548e-01 4.34042608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.880281693 meters 0.020022527830374514 Centerline is valid? [True, True] Translation: X:192.39, Y:76.62, Z:0.44 [[ 6.23571774e-01 -7.81761578e-01 -2.66058926e-03 1.92389545e+02] [ 7.81754190e-01 6.23577448e-01 -3.39886716e-03 7.66175497e+01] [ 4.31618722e-03 3.95108195e-05 9.99990684e-01 4.35065354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.910281693 meters 0.023457944303777664 Centerline is valid? [True, True] Translation: X:192.40, Y:76.64, Z:0.43 [[ 6.24971935e-01 -7.80641121e-01 -3.08547157e-03 1.92400695e+02] [ 7.80631163e-01 6.24979549e-01 -3.94345421e-03 7.66430251e+01] [ 5.00677914e-03 5.59329551e-05 9.99987464e-01 4.31909169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940281693 meters 0.023768615455099066 Centerline is valid? [True, True] Translation: X:192.42, Y:76.66, Z:0.43 [[ 6.25010599e-01 -7.80609482e-01 -3.25394553e-03 1.92416104e+02] [ 7.80598397e-01 6.25019066e-01 -4.16056628e-03 7.66642009e+01] [ 5.28155548e-03 6.03733569e-05 9.99986051e-01 4.30704610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970281693 meters 0.02222326214301101 Centerline is valid? [True, True] Translation: X:192.43, Y:76.68, Z:0.43 [[ 6.25042114e-01 -7.80585473e-01 -2.94537939e-03 1.92434435e+02] [ 7.80576382e-01 6.25049052e-01 -3.76756404e-03 7.66838159e+01] [ 4.78191235e-03 5.57926079e-05 9.99988565e-01 4.33562034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000281693 meters 0.021741507726603215 Centerline is valid? [True, True] Translation: X:192.45, Y:76.70, Z:0.44 [[ 6.24762685e-01 -7.80813040e-01 -1.60787194e-03 1.92452112e+02] [ 7.80810330e-01 6.24764753e-01 -2.05727088e-03 7.67048044e+01] [ 2.61088564e-03 2.98630630e-05 9.99996591e-01 4.37967138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030281693 meters 0.021460797413726022 Centerline is valid? [True, True] Translation: X:192.47, Y:76.72, Z:0.44 [[ 6.24346069e-01 -7.81146707e-01 -1.34455967e-03 1.92470333e+02] [ 7.81144812e-01 6.24347516e-01 -1.72099354e-03 7.67249672e+01] [ 2.18382093e-03 2.41997367e-05 9.99997615e-01 4.38962627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060281693 meters 0.02164810820850769 Centerline is valid? [True, True] Translation: X:192.49, Y:76.74, Z:0.44 [[ 6.23996151e-01 -7.81426714e-01 -1.04619052e-03 1.92487806e+02] [ 7.81425566e-01 6.23997027e-01 -1.33951178e-03 7.67447046e+01] [ 1.69955006e-03 1.83301801e-05 9.99998556e-01 4.40274623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090281693 meters 0.021780943321967755 Centerline is valid? [True, True] Translation: X:192.50, Y:76.77, Z:0.44 [[ 6.23718253e-01 -7.81648283e-01 -1.22551172e-03 1.92504325e+02] [ 7.81646707e-01 6.23719457e-01 -1.56993755e-03 7.67655215e+01] [ 1.99151450e-03 2.12815028e-05 9.99998017e-01 4.39957992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120281693 meters 0.022066035169956654 Centerline is valid? [True, True] Translation: X:192.52, Y:76.79, Z:0.44 [[ 6.23823250e-01 -7.81564466e-01 -1.24056795e-03 1.92519844e+02] [ 7.81562849e-01 6.23824483e-01 -1.58993914e-03 7.67875044e+01] [ 2.01653659e-03 2.22591777e-05 9.99997967e-01 4.39475158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15028169299998 meters 0.0224639261217485 Centerline is valid? [True, True] Translation: X:192.54, Y:76.81, Z:0.44 [[ 6.24202918e-01 -7.81261754e-01 -8.88327448e-04 1.92535711e+02] [ 7.81260924e-01 6.24203550e-01 -1.13878389e-03 7.68090329e+01] [ 1.44418545e-03 1.68167055e-05 9.99998957e-01 4.40531266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18028169299998 meters 0.023350461187810492 Centerline is valid? [True, True] Translation: X:192.55, Y:76.83, Z:0.44 [[ 6.24923247e-01 -7.80686160e-01 -2.33863240e-04 1.92553213e+02] [ 7.80686103e-01 6.24923291e-01 -2.99468346e-04 7.68301770e+01] [ 3.79937379e-04 4.57094955e-06 9.99999928e-01 4.43147736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21028169299998 meters 0.024069266639844673 Centerline is valid? [True, True] Translation: X:192.57, Y:76.85, Z:0.44 [[ 6.25302156e-01 -7.80382484e-01 -6.26033295e-04 1.92569081e+02] [ 7.80382071e-01 6.25302469e-01 -8.03070618e-04 7.68510654e+01] [ 1.01816241e-03 1.36166294e-05 9.99999482e-01 4.42578457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.240281693 meters 0.025190149184166184 Centerline is valid? [True, True] Translation: X:192.58, Y:76.87, Z:0.44 [[ 6.25839788e-01 -7.79950422e-01 -1.37766221e-03 1.92583392e+02] [ 7.79948418e-01 6.25841304e-01 -1.76845339e-03 7.68737639e+01] [ 2.24150389e-03 3.22630324e-05 9.99997487e-01 4.40497003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.270281693 meters 0.026954049581954444 Centerline is valid? [True, True] Translation: X:192.60, Y:76.90, Z:0.44 [[ 6.27095180e-01 -7.78937931e-01 -2.70849878e-03 1.92596589e+02] [ 7.78930166e-01 6.27101025e-01 -3.47879536e-03 7.68981615e+01] [ 4.40826802e-03 7.18043944e-05 9.99990281e-01 4.35600085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.300281693 meters 0.02723976967717278 Centerline is valid? [True, True] Translation: X:192.61, Y:76.92, Z:0.43 [[ 6.27026166e-01 -7.78993010e-01 -2.84211893e-03 1.92612160e+02] [ 7.78984455e-01 6.27032602e-01 -3.65176537e-03 7.69192527e+01] [ 4.62680093e-03 7.57859759e-05 9.99989293e-01 4.34485138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.330281693 meters 0.024273001726805875 Centerline is valid? [True, True] Translation: X:192.63, Y:76.94, Z:0.44 [[ 6.25796428e-01 -7.79983462e-01 -2.15187796e-03 1.92632557e+02] [ 7.79978560e-01 6.25800125e-01 -2.76573551e-03 7.69386688e+01] [ 3.50387346e-03 5.23687286e-05 9.99993860e-01 4.37987984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.360281693 meters 0.023648496999977665 Centerline is valid? [True, True] Translation: X:192.65, Y:76.96, Z:0.44 [[ 6.24641331e-01 -7.80909888e-01 -1.71922253e-03 1.92648751e+02] [ 7.80906760e-01 6.24643695e-01 -2.21043577e-03 7.69590693e+01] [ 2.80005267e-03 3.81770416e-05 9.99996079e-01 4.39319056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.390281693 meters 0.021336224479140475 Centerline is valid? [True, True] Translation: X:192.67, Y:76.98, Z:0.44 [[ 6.23129724e-01 -7.82116909e-01 -1.57739206e-03 1.92669119e+02] [ 7.82114278e-01 6.23131720e-01 -2.02892448e-03 7.69785522e+01] [ 2.56977917e-03 3.05822991e-05 9.99996698e-01 4.39995193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.420281693 meters 0.019317831380421997 Centerline is valid? [True, True] Translation: X:192.69, Y:77.00, Z:0.44 [[ 6.18916900e-01 -7.85454076e-01 -1.94060418e-03 1.92692287e+02] [ 7.85450106e-01 6.18919942e-01 -2.49725859e-03 7.69953990e+01] [ 3.16256057e-03 2.13477882e-05 9.99994999e-01 4.37711905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.450281693 meters 0.017701302810345307 Centerline is valid? [True, True] Translation: X:192.72, Y:77.01, Z:0.44 [[ 6.16207865e-01 -7.87580354e-01 -2.24770141e-03 1.92715333e+02] [ 7.87575038e-01 6.16211965e-01 -2.89376919e-03 7.70112961e+01] [ 3.66413627e-03 1.29298058e-05 9.99993287e-01 4.36669425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.480281693 meters 0.017715229544297918 Centerline is valid? [True, True] Translation: X:192.74, Y:77.02, Z:0.43 [[ 6.11333684e-01 -7.91367403e-01 -2.95978084e-03 1.92741017e+02] [ 7.91358219e-01 6.11340849e-01 -3.81251027e-03 7.70240820e+01] [ 4.82653128e-03 -1.15309430e-05 9.99988352e-01 4.33697935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.510281693 meters 0.018576066873308917 Centerline is valid? [True, True] Translation: X:192.76, Y:77.04, Z:0.43 [[ 6.09124736e-01 -7.93067473e-01 -3.32271603e-03 1.92761795e+02] [ 7.93055913e-01 6.09133797e-01 -4.28198404e-03 7.70417985e+01] [ 5.41988089e-03 -2.68371996e-05 9.99985312e-01 4.33611836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.540281693 meters 0.019291616504662153 Centerline is valid? [True, True] Translation: X:192.78, Y:77.06, Z:0.43 [[ 6.07583448e-01 -7.94248826e-01 -3.34012209e-03 1.92782736e+02] [ 7.94237153e-01 6.07592628e-01 -4.30622767e-03 7.70600935e+01] [ 5.44964983e-03 -3.64563976e-05 9.99985150e-01 4.33536843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.570281693 meters 0.019761446304382296 Centerline is valid? [True, True] Translation: X:192.80, Y:77.08, Z:0.44 [[ 6.06613640e-01 -7.94990352e-01 -3.19871253e-03 1.92802500e+02] [ 7.94979648e-01 6.06622072e-01 -4.12562041e-03 7.70789132e+01] [ 5.22023805e-03 -4.02537483e-05 9.99986374e-01 4.35012359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.600281693 meters 0.01953303799701303 Centerline is valid? [True, True] Translation: X:192.82, Y:77.10, Z:0.44 [[ 6.06553515e-01 -7.95037629e-01 -2.82872884e-03 1.92820558e+02] [ 7.95029252e-01 6.06560110e-01 -3.64991594e-03 7.70994961e+01] [ 4.61761459e-03 -3.50528326e-05 9.99989338e-01 4.36699614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.630281693 meters 0.018734168430484914 Centerline is valid? [True, True] Translation: X:192.84, Y:77.12, Z:0.44 [[ 6.07986878e-01 -7.93942966e-01 -2.55394213e-03 1.92837779e+02] [ 7.93936122e-01 6.07992242e-01 -3.29677254e-03 7.71188237e+01] [ 4.17022637e-03 -2.32724665e-05 9.99991304e-01 4.37834213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.660281693 meters 0.017752012437794697 Centerline is valid? [True, True] Translation: X:192.86, Y:77.14, Z:0.44 [[ 6.09676433e-01 -7.92647243e-01 -2.23501934e-03 1.92855139e+02] [ 7.92641988e-01 6.09680530e-01 -2.88620969e-03 7.71392594e+01] [ 3.65039393e-03 -1.19161434e-05 9.99993337e-01 4.37950165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690281693 meters 0.01776854542430488 Centerline is valid? [True, True] Translation: X:192.87, Y:77.16, Z:0.44 [[ 6.09527773e-01 -7.92761567e-01 -2.23408378e-03 1.92873217e+02] [ 7.92756314e-01 6.09531867e-01 -2.88606920e-03 7.71575679e+01] [ 3.64971000e-03 -1.19446845e-05 9.99993340e-01 4.38123740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720281693 meters 0.01761609080619637 Centerline is valid? [True, True] Translation: X:192.89, Y:77.18, Z:0.44 [[ 6.08888800e-01 -7.93252382e-01 -2.25541018e-03 1.92892352e+02] [ 7.93247027e-01 6.08892977e-01 -2.91478697e-03 7.71775813e+01] [ 3.68546512e-03 -1.43162792e-05 9.99993209e-01 4.38251385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750281693 meters 0.017926563405945152 Centerline is valid? [True, True] Translation: X:192.91, Y:77.20, Z:0.44 [[ 6.08361626e-01 -7.93656719e-01 -2.26820315e-03 1.92911071e+02] [ 7.93651301e-01 6.08365854e-01 -2.93259040e-03 7.71972521e+01] [ 3.70736742e-03 -1.60869194e-05 9.99993128e-01 4.38932114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780281693 meters 0.01811195326312593 Centerline is valid? [True, True] Translation: X:192.93, Y:77.22, Z:0.44 [[ 6.07531470e-01 -7.94292852e-01 -2.09229626e-03 1.92931276e+02] [ 7.94288242e-01 6.07535072e-01 -2.70629726e-03 7.72159653e+01] [ 3.42073593e-03 -1.77255649e-05 9.99994149e-01 4.39730529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810281693 meters 0.01833381928119388 Centerline is valid? [True, True] Translation: X:192.95, Y:77.23, Z:0.44 [[ 6.07249023e-01 -7.94509725e-01 -1.70895579e-03 1.92949509e+02] [ 7.94506648e-01 6.07251428e-01 -2.21134868e-03 7.72348244e+01] [ 2.79470388e-03 -1.49374058e-05 9.99996095e-01 4.40638662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840281693 meters 0.01751873832411189 Centerline is valid? [True, True] Translation: X:192.97, Y:77.26, Z:0.44 [[ 6.08689656e-01 -7.93406078e-01 -1.92291039e-03 1.92965559e+02] [ 7.93402173e-01 6.08692694e-01 -2.48944793e-03 7.72562306e+01] [ 3.14560462e-03 -1.03400784e-05 9.99995053e-01 4.40747941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870281693 meters 0.017195657767074213 Centerline is valid? [True, True] Translation: X:192.98, Y:77.28, Z:0.44 [[ 6.09899483e-01 -7.92475336e-01 -2.33742330e-03 1.92980583e+02] [ 7.92469552e-01 6.09903962e-01 -3.02760700e-03 7.72775713e+01] [ 3.82490760e-03 -5.80084868e-06 9.99992685e-01 4.39442297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90028169299998 meters 0.01696073610708374 Centerline is valid? [True, True] Translation: X:192.99, Y:77.30, Z:0.44 [[ 6.11523626e-01 -7.91221529e-01 -2.71061662e-03 1.92994885e+02] [ 7.91213731e-01 6.11529634e-01 -3.51267932e-03 7.73013379e+01] [ 4.43692989e-03 3.40930351e-06 9.99990157e-01 4.38927594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93028169299998 meters 0.01923049623827205 Centerline is valid? [True, True] Translation: X:193.00, Y:77.33, Z:0.44 [[ 6.16370986e-01 -7.87450008e-01 -3.04825560e-03 1.93002740e+02] [ 7.87440092e-01 6.16378523e-01 -3.95194935e-03 7.73291314e+01] [ 4.99084183e-03 3.55482421e-05 9.99987545e-01 4.37175278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96028169299998 meters 0.02103715755358168 Centerline is valid? [True, True] Translation: X:193.02, Y:77.35, Z:0.44 [[ 6.18899606e-01 -7.85464398e-01 -2.99286546e-03 1.93015845e+02] [ 7.85454808e-01 6.18906840e-01 -3.88164723e-03 7.73545011e+01] [ 4.90120061e-03 5.15893746e-05 9.99987988e-01 4.37603621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.990281693 meters 0.024987376977074087 Centerline is valid? [True, True] Translation: X:193.03, Y:77.38, Z:0.44 [[ 6.22286300e-01 -7.82787468e-01 -1.88163086e-03 1.93026931e+02] [ 7.82783664e-01 6.22289143e-01 -2.44103355e-03 7.73796707e+01] [ 3.08172892e-03 4.61118369e-05 9.99995250e-01 4.41324860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.020281693 meters 0.024987376977074087 Centerline is valid? [True, True] Translation: X:193.04, Y:77.40, Z:0.44 [[ 6.22127306e-01 -7.82913837e-01 -1.88124263e-03 1.93042997e+02] [ 7.82910032e-01 6.22130149e-01 -2.44133272e-03 7.74009300e+01] [ 3.08173093e-03 4.59760201e-05 9.99995250e-01 4.41377888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.050281693 meters 0.025376048966166805 Centerline is valid? [True, True] Translation: X:193.06, Y:77.42, Z:0.44 [[ 6.22250241e-01 -7.82816595e-01 -1.67808382e-03 1.93059592e+02] [ 7.82813565e-01 6.22252503e-01 -2.17853122e-03 7.74221853e+01] [ 2.74958225e-03 4.19648019e-05 9.99996219e-01 4.42620658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.080281693 meters 0.0244389098596756 Centerline is valid? [True, True] Translation: X:193.08, Y:77.44, Z:0.44 [[ 6.21740907e-01 -7.83220349e-01 -2.03198726e-03 1.93078383e+02] [ 7.83215904e-01 6.21744226e-01 -2.63922939e-03 7.74421983e+01] [ 3.33047451e-03 4.94321383e-05 9.99994453e-01 4.41555720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.110281693 meters 0.022307861156530846 Centerline is valid? [True, True] Translation: X:193.10, Y:77.46, Z:0.44 [[ 6.20160205e-01 -7.84471249e-01 -2.48581781e-03 1.93101094e+02] [ 7.84464600e-01 6.20165185e-01 -3.23023688e-03 7.74589485e+01] [ 4.07564562e-03 5.32282946e-05 9.99991693e-01 4.39265261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.140281693 meters 0.022458204740115104 Centerline is valid? [True, True] Translation: X:193.12, Y:77.48, Z:0.44 [[ 6.19801337e-01 -7.84755166e-01 -2.37323075e-03 1.93118325e+02] [ 7.84749102e-01 6.19805879e-01 -3.08529885e-03 7.74787148e+01] [ 3.89214658e-03 4.98816568e-05 9.99992424e-01 4.39507245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.170281693 meters 0.023180947419560574 Centerline is valid? [True, True] Translation: X:193.14, Y:77.50, Z:0.44 [[ 6.20598992e-01 -7.84124451e-01 -2.39532353e-03 1.93135019e+02] [ 7.84118264e-01 6.20603612e-01 -3.11536324e-03 7.75009833e+01] [ 3.92937892e-03 5.51743576e-05 9.99992278e-01 4.40260754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.200281693 meters 0.02517874290251802 Centerline is valid? [True, True] Translation: X:193.15, Y:77.53, Z:0.44 [[ 6.21428592e-01 -7.83465823e-01 -2.79451188e-03 1.93148048e+02] [ 7.83457388e-01 6.21434871e-01 -3.63612758e-03 7.75251395e+01] [ 4.58538882e-03 7.02126604e-05 9.99989485e-01 4.38799317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.230281693 meters 0.025556631482751623 Centerline is valid? [True, True] Translation: X:193.16, Y:77.55, Z:0.44 [[ 6.22287299e-01 -7.82783139e-01 -3.01242269e-03 1.93164322e+02] [ 7.82773321e-01 6.22294585e-01 -3.92134050e-03 7.75473147e+01] [ 4.94417355e-03 8.21562739e-05 9.99987774e-01 4.38001017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.260281693 meters 0.02582031460054988 Centerline is valid? [True, True] Translation: X:193.18, Y:77.57, Z:0.44 [[ 6.22516784e-01 -7.82600642e-01 -3.01484188e-03 1.93181178e+02] [ 7.82590798e-01 6.22524078e-01 -3.92617065e-03 7.75686655e+01] [ 4.94943534e-03 8.47196097e-05 9.99987748e-01 4.38079721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.290281693 meters 0.024843570754020175 Centerline is valid? [True, True] Translation: X:193.20, Y:77.59, Z:0.44 [[ 6.22481449e-01 -7.82631708e-01 -2.11055722e-03 1.93201570e+02] [ 7.82626881e-01 6.22485025e-01 -2.74955356e-03 7.75875600e+01] [ 3.46567806e-03 5.97672717e-05 9.99993993e-01 4.41581314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.320281693 meters 0.026344083799011542 Centerline is valid? [True, True] Translation: X:193.22, Y:77.61, Z:0.44 [[ 6.22463985e-01 -7.82646293e-01 -1.83497669e-03 1.93215888e+02] [ 7.82642641e-01 6.22466687e-01 -2.39154739e-03 7.76090632e+01] [ 3.01394756e-03 5.25211128e-05 9.99995457e-01 4.42422206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.350281693 meters 0.030717577254121983 Centerline is valid? [True, True] Translation: X:193.23, Y:77.63, Z:0.44 [[ 6.23440193e-01 -7.81868068e-01 -2.15633258e-03 1.93228521e+02] [ 7.81863015e-01 6.23443919e-01 -2.81175814e-03 7.76334475e+01] [ 3.54277634e-03 6.70063460e-05 9.99993722e-01 4.40849024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.380281693 meters 0.03161521234294641 Centerline is valid? [True, True] Translation: X:193.24, Y:77.66, Z:0.44 [[ 6.24110105e-01 -7.81332066e-01 -2.60373118e-03 1.93244470e+02] [ 7.81324687e-01 6.24115531e-01 -3.39664660e-03 7.76558704e+01] [ 4.27893798e-03 8.55220168e-05 9.99990842e-01 4.39108970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.410281693 meters 0.03166304484949451 Centerline is valid? [True, True] Translation: X:193.26, Y:77.68, Z:0.44 [[ 6.26674727e-01 -7.79274451e-01 -3.18048464e-03 1.93260222e+02] [ 7.79263406e-01 6.26682786e-01 -4.15081864e-03 7.76790640e+01] [ 5.22778189e-03 1.22777848e-04 9.99986328e-01 4.38447553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440281693 meters 0.034055201744238546 Centerline is valid? [True, True] Translation: X:193.27, Y:77.70, Z:0.44 [[ 6.27961956e-01 -7.78236735e-01 -3.37136457e-03 1.93272704e+02] [ 7.78224302e-01 6.27970990e-01 -4.40138708e-03 7.77034372e+01] [ 5.54244025e-03 1.40225802e-04 9.99984631e-01 4.37863195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470281693 meters 0.03364004891265554 Centerline is valid? [True, True] Translation: X:193.29, Y:77.73, Z:0.44 [[ 6.29254818e-01 -7.77191425e-01 -3.44419063e-03 1.93289713e+02] [ 7.77178424e-01 6.29264225e-01 -4.49808262e-03 7.77252773e+01] [ 5.66317719e-03 1.53689523e-04 9.99983952e-01 4.38328176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500281693 meters 0.037171425376419175 Centerline is valid? [True, True] Translation: X:193.30, Y:77.75, Z:0.44 [[ 6.30297969e-01 -7.76345480e-01 -3.48793462e-03 1.93301190e+02] [ 7.76332124e-01 6.30307599e-01 -4.55680744e-03 7.77498127e+01] [ 5.73612855e-03 1.64350780e-04 9.99983535e-01 4.38053920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530281693 meters 0.04110750799400941 Centerline is valid? [True, True] Translation: X:193.31, Y:77.78, Z:0.44 [[ 6.31212721e-01 -7.75603650e-01 -3.07879512e-03 1.93311324e+02] [ 7.75593227e-01 6.31220212e-01 -4.02372583e-03 7.77765227e+01] [ 5.06421415e-03 1.51934292e-04 9.99987165e-01 4.38710713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560281693 meters 0.03744289602819848 Centerline is valid? [True, True] Translation: X:193.33, Y:77.80, Z:0.44 [[ 6.30514065e-01 -7.76172375e-01 -2.90828717e-03 1.93330355e+02] [ 7.76163075e-01 6.30520757e-01 -3.80215435e-03 7.77967931e+01] [ 4.78486260e-03 1.40006683e-04 9.99988543e-01 4.40179868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590281693 meters 0.0353328201724681 Centerline is valid? [True, True] Translation: X:193.35, Y:77.82, Z:0.44 [[ 6.26983535e-01 -7.79028475e-01 -2.50635481e-03 1.93346576e+02] [ 7.79021586e-01 6.26988537e-01 -3.27783592e-03 7.78180114e+01] [ 4.12498325e-03 1.02644661e-04 9.99991487e-01 4.40735413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620281693 meters 0.030702627863742504 Centerline is valid? [True, True] Translation: X:193.37, Y:77.84, Z:0.44 [[ 6.24939079e-01 -7.80669377e-01 -2.54383988e-03 1.93367969e+02] [ 7.80662288e-01 6.24944249e-01 -3.32824679e-03 7.78371312e+01] [ 4.18801845e-03 9.40716203e-05 9.99991226e-01 4.41308222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65028169299998 meters 0.02912662166134269 Centerline is valid? [True, True] Translation: X:193.39, Y:77.86, Z:0.44 [[ 6.23247987e-01 -7.82020009e-01 -2.57919961e-03 1.93385240e+02] [ 7.82012727e-01 6.23253318e-01 -3.37583160e-03 7.78585632e+01] [ 4.24746258e-03 8.70133272e-05 9.99990976e-01 4.41175846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68028169299998 meters 0.028628914664031217 Centerline is valid? [True, True] Translation: X:193.40, Y:77.88, Z:0.44 [[ 6.20692246e-01 -7.84051205e-01 -2.20055495e-03 1.93398827e+02] [ 7.84045914e-01 6.20696144e-01 -2.88121989e-03 7.78819166e+01] [ 3.62489990e-03 6.30147296e-05 9.99993428e-01 4.42800172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71028169299998 meters 0.026076472596968506 Centerline is valid? [True, True] Translation: X:193.42, Y:77.90, Z:0.45 [[ 6.19679709e-01 -7.84853355e-01 -1.50620270e-03 1.93416898e+02] [ 7.84850878e-01 6.19681538e-01 -1.97264408e-03 7.79019581e+01] [ 2.48160233e-03 4.02629997e-05 9.99996920e-01 4.45457787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.740281693 meters 0.024550316490228343 Centerline is valid? [True, True] Translation: X:193.43, Y:77.92, Z:0.45 [[ 6.18625892e-01 -7.85685167e-01 -9.07958184e-04 1.93433424e+02] [ 7.85684267e-01 6.18626558e-01 -1.18936732e-03 7.79229923e+01] [ 1.49615531e-03 2.24049603e-05 9.99998881e-01 4.47551643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.770281693 meters 0.023731683706385707 Centerline is valid? [True, True] Translation: X:193.45, Y:77.94, Z:0.45 [[ 6.17516059e-01 -7.86557889e-01 -7.76973309e-04 1.93448990e+02] [ 7.86557230e-01 6.17516548e-01 -1.01810941e-03 7.79439140e+01] [ 1.28059586e-03 1.75649371e-05 9.99999180e-01 4.48350766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.800281693 meters 0.021465314372316344 Centerline is valid? [True, True] Translation: X:193.47, Y:77.97, Z:0.44 [[ 6.15223478e-01 -7.88350025e-01 -2.07603834e-03 1.93465977e+02] [ 7.88345325e-01 6.15226979e-01 -2.72272276e-03 7.79650806e+01] [ 3.42369336e-03 3.84478507e-05 9.99994138e-01 4.44408323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.830281693 meters 0.020356224152544632 Centerline is valid? [True, True] Translation: X:193.48, Y:77.99, Z:0.44 [[ 6.13802925e-01 -7.89454715e-01 -2.68755209e-03 1.93482525e+02] [ 7.89446839e-01 6.13808807e-01 -3.52649833e-03 7.79854281e+01] [ 4.43365388e-03 4.28954877e-05 9.99990170e-01 4.42423554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.860281693 meters 0.01886763416060696 Centerline is valid? [True, True] Translation: X:193.50, Y:78.01, Z:0.45 [[ 6.12048068e-01 -7.90818711e-01 -1.71124103e-03 1.93498815e+02] [ 7.90815522e-01 6.12050460e-01 -2.24620411e-03 7.80063801e+01] [ 2.82370610e-03 2.15089195e-05 9.99996013e-01 4.46073382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.890281693 meters 0.018312108021158572 Centerline is valid? [True, True] Translation: X:193.51, Y:78.03, Z:0.45 [[ 6.11901625e-01 -7.90933521e-01 -7.53299885e-04 1.93514475e+02] [ 7.90932903e-01 6.11902088e-01 -9.88857093e-04 7.80285585e+01] [ 1.24306600e-03 9.27359683e-06 9.99999227e-01 4.49513387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.920281693 meters 0.019330294555540754 Centerline is valid? [True, True] Translation: X:193.53, Y:78.05, Z:0.45 [[ 6.12244325e-01 -7.90668611e-01 -1.84641296e-04 1.93526280e+02] [ 7.90668574e-01 6.12244353e-01 -2.42091963e-04 7.80520739e+01] [ 3.04460107e-04 2.22936052e-06 9.99999954e-01 4.51373573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.950281693 meters 0.018982030365729208 Centerline is valid? [True, True] Translation: X:193.54, Y:78.08, Z:0.45 [[ 6.12929183e-01 -7.90137716e-01 -4.55547870e-04 1.93539655e+02] [ 7.90137489e-01 6.12929352e-01 -5.98181602e-04 7.80765226e+01] [ 7.51864506e-04 6.69751004e-06 9.99999717e-01 4.50106544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.980281693 meters 0.019625899629050293 Centerline is valid? [True, True] Translation: X:193.55, Y:78.10, Z:0.45 [[ 6.13013131e-01 -7.90072137e-01 -9.59163988e-04 1.93552265e+02] [ 7.90071131e-01 6.13013882e-01 -1.26083347e-03 7.80998848e+01] [ 1.58413023e-03 1.50996965e-05 9.99998745e-01 4.48518374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.010281693 meters 0.021115319835943485 Centerline is valid? [True, True] Translation: X:193.56, Y:78.13, Z:0.44 [[ 6.14297034e-01 -7.89071425e-01 -2.33259559e-03 1.93562246e+02] [ 7.89065459e-01 6.14301461e-01 -3.06862118e-03 7.81273509e+01] [ 3.85427816e-03 4.44742798e-05 9.99992571e-01 4.43736517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.040281693 meters 0.023118059755941053 Centerline is valid? [True, True] Translation: X:193.57, Y:78.15, Z:0.44 [[ 6.15263894e-01 -7.88314829e-01 -3.17357463e-03 1.93572971e+02] [ 7.88303766e-01 6.15272075e-01 -4.17685472e-03 7.81528149e+01] [ 5.24528836e-03 6.81270692e-05 9.99986241e-01 4.41615674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.070281693 meters 0.022514199823004847 Centerline is valid? [True, True] Translation: X:193.58, Y:78.18, Z:0.44 [[ 6.15561389e-01 -7.88081927e-01 -3.32470141e-03 1.93584101e+02] [ 7.88069771e-01 6.15570363e-01 -4.37773630e-03 7.81778351e+01] [ 5.49660251e-03 7.46687525e-05 9.99984891e-01 4.41122131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.100281693 meters 0.022147735757064142 Centerline is valid? [True, True] Translation: X:193.60, Y:78.20, Z:0.44 [[ 6.14902964e-01 -7.88597091e-01 -2.99558565e-03 1.93597992e+02] [ 7.88587220e-01 6.14910257e-01 -3.94607616e-03 7.82007105e+01] [ 4.95388052e-03 6.41733658e-05 9.99987727e-01 4.42071639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.130281693 meters 0.0211515667125761 Centerline is valid? [True, True] Translation: X:193.61, Y:78.22, Z:0.44 [[ 6.14067998e-01 -7.89248069e-01 -2.82465997e-03 1.93614310e+02] [ 7.89239293e-01 6.14074492e-01 -3.72251653e-03 7.82221251e+01] [ 4.67254062e-03 5.65456357e-05 9.99989082e-01 4.42883942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.160281693 meters 0.020012192322054922 Centerline is valid? [True, True] Translation: X:193.63, Y:78.24, Z:0.44 [[ 6.12737010e-01 -7.90281179e-01 -3.00250555e-03 1.93631018e+02] [ 7.90271266e-01 6.12744364e-01 -3.95845463e-03 7.82427628e+01] [ 4.96806055e-03 5.26977928e-05 9.99987658e-01 4.41678395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190281693 meters 0.018203909309575644 Centerline is valid? [True, True] Translation: X:193.65, Y:78.26, Z:0.44 [[ 6.09607828e-01 -7.92693770e-01 -3.85787625e-03 1.93649623e+02] [ 7.92677441e-01 6.09620034e-01 -5.08821160e-03 7.82627319e+01] [ 6.38523228e-03 4.37621504e-05 9.99979613e-01 4.38276035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220281693 meters 0.027233828941718358 Centerline is valid? [True, True] Translation: X:193.67, Y:78.28, Z:0.45 [[ 6.07009926e-01 -7.94688391e-01 -3.05148069e-03 1.93668436e+02] [ 7.94678192e-01 6.07017596e-01 -4.02619408e-03 7.82822230e+01] [ 5.05187216e-03 1.89946178e-05 9.99987239e-01 4.45918778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250281693 meters 0.01621160670618906 Centerline is valid? [True, True] Translation: X:193.69, Y:78.30, Z:0.44 [[ 6.06363370e-01 -7.95184806e-01 -2.14188961e-03 1.93685197e+02] [ 7.95179781e-01 6.06367153e-01 -2.82708434e-03 7.83041036e+01] [ 3.54682602e-03 1.10530753e-05 9.99993710e-01 4.44204561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280281693 meters 0.01599575099781897 Centerline is valid? [True, True] Translation: X:193.70, Y:78.32, Z:0.45 [[ 6.05701051e-01 -7.95690585e-01 -1.65209954e-03 1.93702824e+02] [ 7.95687595e-01 6.05703305e-01 -2.18140158e-03 7.83242776e+01] [ 2.73640285e-03 6.72211703e-06 9.99996256e-01 4.45677463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310281693 meters 0.01580922942416631 Centerline is valid? [True, True] Translation: X:193.72, Y:78.34, Z:0.45 [[ 6.04812117e-01 -7.96366146e-01 -1.80647222e-03 1.93720502e+02] [ 7.96362571e-01 6.04814815e-01 -2.38635951e-03 7.83442893e+01] [ 2.99299709e-03 4.69228203e-06 9.99995521e-01 4.45354267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340281693 meters 0.01587674904174621 Centerline is valid? [True, True] Translation: X:193.74, Y:78.36, Z:0.44 [[ 6.02989423e-01 -7.97744499e-01 -2.73323940e-03 1.93740442e+02] [ 7.97736319e-01 6.02995618e-01 -3.61261983e-03 7.83637072e+01] [ 4.53007898e-03 -2.03278893e-06 9.99989739e-01 4.42482809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370281693 meters 0.015843871731325333 Centerline is valid? [True, True] Translation: X:193.76, Y:78.38, Z:0.44 [[ 6.02561644e-01 -7.98066346e-01 -3.09389190e-03 1.93758368e+02] [ 7.98055859e-01 6.02569587e-01 -4.09119241e-03 7.83844158e+01] [ 5.12932814e-03 -3.90293727e-06 9.99986845e-01 4.41047125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40028169299998 meters 0.01580979063083248 Centerline is valid? [True, True] Translation: X:193.78, Y:78.40, Z:0.44 [[ 6.02480431e-01 -7.98129207e-01 -2.66435344e-03 1.93776722e+02] [ 7.98121424e-01 6.02486322e-01 -3.52468266e-03 7.84036094e+01] [ 4.41838868e-03 -2.92523335e-06 9.99990239e-01 4.43017801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43028169299998 meters 0.01575879191993331 Centerline is valid? [True, True] Translation: X:193.79, Y:78.43, Z:0.44 [[ 6.02568926e-01 -7.98063611e-01 -2.27182999e-03 1.93793992e+02] [ 7.98057948e-01 6.02573209e-01 -3.00665400e-03 7.84250269e+01] [ 3.76844504e-03 -1.33570622e-06 9.99992899e-01 4.44079350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46028169299998 meters 0.015838881727577043 Centerline is valid? [True, True] Translation: X:193.81, Y:78.45, Z:0.44 [[ 6.02405927e-01 -7.98187145e-01 -2.09309649e-03 1.93811033e+02] [ 7.98182334e-01 6.02409563e-01 -2.77127042e-03 7.84458135e+01] [ 3.47289377e-03 -1.24291410e-06 9.99993969e-01 4.44650304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.490281693 meters 0.015834841560954105 Centerline is valid? [True, True] Translation: X:193.83, Y:78.46, Z:0.44 [[ 6.01440378e-01 -7.98913389e-01 -2.62096563e-03 1.93830351e+02] [ 7.98905846e-01 6.01446088e-01 -3.47169358e-03 7.84635367e+01] [ 4.34995201e-03 -5.88806898e-06 9.99990539e-01 4.42625834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.520281693 meters 0.015995280920379763 Centerline is valid? [True, True] Translation: X:193.85, Y:78.48, Z:0.44 [[ 6.00034370e-01 -7.99969780e-01 -2.66551099e-03 1.93850376e+02] [ 7.99961983e-01 6.00040291e-01 -3.53209709e-03 7.84827898e+01] [ 4.42498492e-03 -1.29278018e-05 9.99990210e-01 4.41861641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.550281693 meters 0.01809925319607954 Centerline is valid? [True, True] Translation: X:193.88, Y:78.50, Z:0.44 [[ 5.95928376e-01 -8.03035134e-01 -1.98598315e-03 1.93877240e+02] [ 8.03030819e-01 5.95931685e-01 -2.63256831e-03 7.84978355e+01] [ 3.29755513e-03 -2.59835245e-05 9.99994563e-01 4.43839627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.580281693 meters 0.01999820153503551 Centerline is valid? [True, True] Translation: X:193.90, Y:78.51, Z:0.44 [[ 5.93307017e-01 -8.04974708e-01 -1.58225735e-03 1.93898663e+02] [ 8.04971974e-01 5.93309126e-01 -2.09812360e-03 7.85141691e+01] [ 2.62770416e-03 -2.88413684e-05 9.99996547e-01 4.44983602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.610281693 meters 0.025049867026502262 Centerline is valid? [True, True] Translation: X:193.93, Y:78.53, Z:0.44 [[ 5.89088132e-01 -8.08066610e-01 -1.87797439e-03 1.93926667e+02] [ 8.08062770e-01 5.89091124e-01 -2.49152643e-03 7.85262211e+01] [ 3.11961736e-03 -4.97925385e-05 9.99995133e-01 4.44129691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.640281693 meters 0.0259278048294934 Centerline is valid? [True, True] Translation: X:193.95, Y:78.54, Z:0.44 [[ 5.87577362e-01 -8.09164825e-01 -2.26485759e-03 1.93946501e+02] [ 8.09159243e-01 5.87581723e-01 -3.00627826e-03 7.85447731e+01] [ 3.76336355e-03 -6.62093991e-05 9.99992916e-01 4.43346076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.670281693 meters 0.02737940629420455 Centerline is valid? [True, True] Translation: X:193.97, Y:78.56, Z:0.44 [[ 5.86369044e-01 -8.10040549e-01 -2.37770962e-03 1.93966771e+02] [ 8.10034398e-01 5.86373860e-01 -3.15748137e-03 7.85624178e+01] [ 3.95191471e-03 -7.45772477e-05 9.99992188e-01 4.42859692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.700281693 meters 0.02891373740991256 Centerline is valid? [True, True] Translation: X:193.99, Y:78.58, Z:0.44 [[ 5.85080193e-01 -8.10972589e-01 -2.15102405e-03 1.93990576e+02] [ 8.10967558e-01 5.85084143e-01 -2.85765907e-03 7.85767823e+01] [ 3.57601324e-03 -7.24510041e-05 9.99993603e-01 4.44052140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.730281693 meters 0.02878244518374022 Centerline is valid? [True, True] Translation: X:194.01, Y:78.60, Z:0.44 [[ 5.85134668e-01 -8.10934085e-01 -1.82482403e-03 1.94009880e+02] [ 8.10930461e-01 5.85137510e-01 -2.42528509e-03 7.85956371e+01] [ 3.03451934e-03 -6.06870053e-05 9.99995394e-01 4.44864663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.760281693 meters 0.026933609147366974 Centerline is valid? [True, True] Translation: X:194.03, Y:78.61, Z:0.44 [[ 5.86592615e-01 -8.09878477e-01 -2.44061140e-03 1.94031534e+02] [ 8.09871978e-01 5.86597688e-01 -3.24533801e-03 7.86138572e+01] [ 4.05998641e-03 -7.28914721e-05 9.99991756e-01 4.43675338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.790281693 meters 0.02369648393602783 Centerline is valid? [True, True] Translation: X:194.05, Y:78.64, Z:0.44 [[ 5.87981762e-01 -8.08869015e-01 -2.89212384e-03 1.94047730e+02] [ 8.08859868e-01 5.87988869e-01 -3.84745996e-03 7.86359986e+01] [ 4.81262778e-03 -7.70866246e-05 9.99988416e-01 4.42447761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.820281693 meters 0.023763136264977683 Centerline is valid? [True, True] Translation: X:194.07, Y:78.65, Z:0.44 [[ 5.89175368e-01 -8.07998866e-01 -3.19649410e-03 1.94066222e+02] [ 8.07987669e-01 5.89184034e-01 -4.25450407e-03 7.86538088e+01] [ 5.32095775e-03 -7.60788116e-05 9.99985841e-01 4.41506147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.850281693 meters 0.021769196084935806 Centerline is valid? [True, True] Translation: X:194.08, Y:78.68, Z:0.44 [[ 5.90603314e-01 -8.06955901e-01 -3.14618060e-03 1.94083105e+02] [ 8.06945029e-01 5.90611691e-01 -4.18942254e-03 7.86755365e+01] [ 5.23885029e-03 -6.45079608e-05 9.99986275e-01 4.41444295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.880281693 meters 0.01772380184013701 Centerline is valid? [True, True] Translation: X:194.10, Y:78.70, Z:0.44 [[ 5.94325344e-01 -8.04221194e-01 -2.37836067e-03 1.94097010e+02] [ 8.04214954e-01 5.94330102e-01 -3.16818346e-03 7.86988366e+01] [ 3.96145162e-03 -2.97814916e-05 9.99992153e-01 4.44239390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.910281693 meters 0.01772380184013701 Centerline is valid? [True, True] Translation: X:194.11, Y:78.72, Z:0.44 [[ 5.94140410e-01 -8.04357830e-01 -2.37766863e-03 1.94112279e+02] [ 8.04351590e-01 5.94145167e-01 -3.16870280e-03 7.87196652e+01] [ 3.96145123e-03 -2.98271609e-05 9.99992153e-01 4.44290758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940281693 meters 0.01622139270367648 Centerline is valid? [True, True] Translation: X:194.13, Y:78.74, Z:0.44 [[ 5.96171859e-01 -8.02853950e-01 -2.15636564e-03 1.94126686e+02] [ 8.02848802e-01 5.96175759e-01 -2.87504784e-03 7.87424199e+01] [ 3.59381643e-03 -1.72129573e-05 9.99993542e-01 4.44683889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970281693 meters 0.015465585200700302 Centerline is valid? [True, True] Translation: X:194.14, Y:78.77, Z:0.44 [[ 6.00964219e-01 -7.99271930e-01 -2.52790538e-03 1.94136583e+02] [ 7.99264816e-01 6.00969535e-01 -3.37211085e-03 7.87672353e+01] [ 4.21442767e-03 6.05213431e-06 9.99991119e-01 4.43108949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000281693 meters 0.01635140777864488 Centerline is valid? [True, True] Translation: X:194.15, Y:78.79, Z:0.44 [[ 6.03344812e-01 -7.97475800e-01 -2.71767742e-03 1.94148042e+02] [ 7.97467552e-01 6.03350932e-01 -3.62703567e-03 7.87913840e+01] [ 4.53218638e-03 2.10935957e-05 9.99989729e-01 4.43172927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030281693 meters 0.01833886355816743 Centerline is valid? [True, True] Translation: X:194.16, Y:78.82, Z:0.44 [[ 6.05837656e-01 -7.95582583e-01 -3.01463256e-03 1.94159309e+02] [ 7.95572401e-01 6.05845155e-01 -4.02522237e-03 7.88168922e+01] [ 5.02879734e-03 4.02728260e-05 9.99987355e-01 4.42568635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060281693 meters 0.021821385804944325 Centerline is valid? [True, True] Translation: X:194.17, Y:78.85, Z:0.44 [[ 6.09868429e-01 -7.92497214e-01 -2.94362722e-03 1.94167475e+02] [ 7.92487464e-01 6.09875529e-01 -3.93174224e-03 7.88453102e+01] [ 4.91114098e-03 6.50577971e-05 9.99987938e-01 4.43099251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090281693 meters 0.023299889129827795 Centerline is valid? [True, True] Translation: X:194.18, Y:78.87, Z:0.44 [[ 6.10796153e-01 -7.91783704e-01 -2.57412370e-03 1.94178764e+02] [ 7.91776236e-01 6.10801574e-01 -3.43944995e-03 7.88692160e+01] [ 4.29557923e-03 6.26728224e-05 9.99990772e-01 4.43732769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120281693 meters 0.02410824166562084 Centerline is valid? [True, True] Translation: X:194.19, Y:78.89, Z:0.44 [[ 6.11241573e-01 -7.91441196e-01 -2.13823745e-03 1.94192096e+02] [ 7.91436037e-01 6.11245311e-01 -2.85818352e-03 7.88937087e+01] [ 3.56907180e-03 5.47624122e-05 9.99993629e-01 4.44711053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15028169299998 meters 0.02295212564538754 Centerline is valid? [True, True] Translation: X:194.20, Y:78.92, Z:0.45 [[ 6.10610690e-01 -7.91929998e-01 -1.20951175e-03 1.94204561e+02] [ 7.91928347e-01 6.10611888e-01 -1.61715108e-03 7.89181828e+01] [ 2.01921271e-03 2.96030982e-05 9.99997961e-01 4.47555959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18028169299998 meters 0.02176997389405139 Centerline is valid? [True, True] Translation: X:194.22, Y:78.94, Z:0.45 [[ 6.09496850e-01 -7.92787598e-01 -1.18937495e-03 1.94219512e+02] [ 7.92786002e-01 6.09498010e-01 -1.59091097e-03 7.89413771e+01] [ 1.98617616e-03 2.67354098e-05 9.99998027e-01 4.47636477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21028169299998 meters 0.019766541242455627 Centerline is valid? [True, True] Translation: X:194.23, Y:78.97, Z:0.45 [[ 6.06661842e-01 -7.94957706e-01 -1.91192123e-03 1.94232591e+02] [ 7.94953588e-01 6.06664854e-01 -2.55889934e-03 7.89659589e+01] [ 3.19411216e-03 3.24979484e-05 9.99994898e-01 4.45525656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.240281693 meters 0.018053730298816687 Centerline is valid? [True, True] Translation: X:194.25, Y:78.99, Z:0.44 [[ 6.04786844e-01 -7.96383924e-01 -2.34934815e-03 1.94248948e+02] [ 7.96377712e-01 6.04791406e-01 -3.14579209e-03 7.89874176e+01] [ 3.92612382e-03 3.15651662e-05 9.99992292e-01 4.43855871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.270281693 meters 0.0164182589318246 Centerline is valid? [True, True] Translation: X:194.27, Y:79.01, Z:0.44 [[ 6.02174797e-01 -7.98359656e-01 -2.71552341e-03 1.94266563e+02] [ 7.98351368e-01 6.02180919e-01 -3.63775736e-03 7.90087405e+01] [ 4.53947510e-03 2.26239654e-05 9.99989696e-01 4.41877634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.300281693 meters 0.015379049565045278 Centerline is valid? [True, True] Translation: X:194.29, Y:79.03, Z:0.44 [[ 5.96319886e-01 -8.02741898e-01 -2.83510424e-03 1.94287149e+02] [ 8.02732906e-01 5.96326626e-01 -3.79949596e-03 7.90254092e+01] [ 4.74066274e-03 -1.01164668e-05 9.99988763e-01 4.40988572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.330281693 meters 0.016752484485302213 Centerline is valid? [True, True] Translation: X:194.31, Y:79.04, Z:0.44 [[ 5.93116428e-01 -8.05112175e-01 -2.69968606e-03 1.94306746e+02] [ 8.05104040e-01 5.93122572e-01 -3.61947941e-03 7.90445696e+01] [ 4.51533168e-03 -2.67554525e-05 9.99989805e-01 4.41777612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.360281693 meters 0.01873413295513512 Centerline is valid? [True, True] Translation: X:194.33, Y:79.06, Z:0.44 [[ 5.90262261e-01 -8.07207967e-01 -2.40022960e-03 1.94325740e+02] [ 8.07201549e-01 5.90267140e-01 -3.21931003e-03 7.90642704e+01] [ 4.01542937e-03 -3.72318313e-05 9.99991937e-01 4.43139808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.390281693 meters 0.02283340923977659 Centerline is valid? [True, True] Translation: X:194.35, Y:79.08, Z:0.44 [[ 5.86105925e-01 -8.10230501e-01 -2.52586805e-03 1.94346383e+02] [ 8.10223414e-01 5.86111364e-01 -3.38931328e-03 7.90831281e+01] [ 4.22656496e-03 -6.00208443e-05 9.99991066e-01 4.42797895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.420281693 meters 0.02528584780336602 Centerline is valid? [True, True] Translation: X:194.37, Y:79.10, Z:0.44 [[ 5.83894082e-01 -8.11826292e-01 -2.40272711e-03 1.94365158e+02] [ 8.11819887e-01 5.83899022e-01 -3.22542285e-03 7.91028571e+01] [ 4.02143309e-03 -6.72763362e-05 9.99991912e-01 4.43075122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.450281693 meters 0.0320058719130816 Centerline is valid? [True, True] Translation: X:194.39, Y:79.12, Z:0.45 [[ 5.78307336e-01 -8.15817705e-01 -1.44833439e-03 1.94390305e+02] [ 8.15815389e-01 5.78309147e-01 -1.94477649e-03 7.91168080e+01] [ 2.42416812e-03 -5.68949740e-05 9.99997060e-01 4.46134360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.480281693 meters 0.03555672503335817 Centerline is valid? [True, True] Translation: X:194.41, Y:79.13, Z:0.45 [[ 5.75561243e-01 -8.17758065e-01 -1.00121884e-03 1.94410875e+02] [ 8.17756961e-01 5.75562112e-01 -1.34467385e-03 7.91340367e+01] [ 1.67588151e-03 -4.48115259e-05 9.99998595e-01 4.47390857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.510281693 meters 0.0388731626039017 Centerline is valid? [True, True] Translation: X:194.43, Y:79.15, Z:0.45 [[ 5.73205535e-01 -8.19411194e-01 -8.42090258e-04 1.94432147e+02] [ 8.19410414e-01 5.73206152e-01 -1.13140341e-03 7.91517541e+01] [ 1.40977594e-03 -4.14908306e-05 9.99999005e-01 4.48231147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.540281693 meters 0.04331924757097055 Centerline is valid? [True, True] Translation: X:194.46, Y:79.17, Z:0.45 [[ 5.70133746e-01 -8.21550942e-01 -1.24930909e-03 1.94457867e+02] [ 8.21549229e-01 5.70135111e-01 -1.67932809e-03 7.91666615e+01] [ 2.09192855e-03 -6.89273066e-05 9.99997810e-01 4.47708580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.570281693 meters 0.04383504080426132 Centerline is valid? [True, True] Translation: X:194.48, Y:79.19, Z:0.45 [[ 5.69365899e-01 -8.22082830e-01 -1.51441517e-03 1.94476532e+02] [ 8.22080312e-01 5.69367907e-01 -2.03662766e-03 7.91860891e+01] [ 2.53653603e-03 -8.53845518e-05 9.99996779e-01 4.46989545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.600281693 meters 0.04440628311599883 Centerline is valid? [True, True] Translation: X:194.49, Y:79.20, Z:0.45 [[ 5.69138314e-01 -8.22240243e-01 -1.60084481e-03 1.94494427e+02] [ 8.22237427e-01 5.69140558e-01 -2.15367124e-03 7.92047971e+01] [ 2.68194087e-03 -9.05376931e-05 9.99996400e-01 4.46888694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.630281693 meters 0.042740347551380356 Centerline is valid? [True, True] Translation: X:194.51, Y:79.22, Z:0.45 [[ 5.70530517e-01 -8.21274917e-01 -1.56209340e-03 1.94511631e+02] [ 8.21272230e-01 5.70532649e-01 -2.10249726e-03 7.92248905e+01] [ 2.61795355e-03 -8.33650771e-05 9.99996570e-01 4.47465550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.660281693 meters 0.041561043377991484 Centerline is valid? [True, True] Translation: X:194.53, Y:79.25, Z:0.45 [[ 5.71602593e-01 -8.20529281e-01 -1.47445020e-03 1.94526076e+02] [ 8.20526883e-01 5.71604490e-01 -1.98535499e-03 7.92454755e+01] [ 2.47184426e-03 -7.49919676e-05 9.99996942e-01 4.47769502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690281693 meters 0.037123577554177785 Centerline is valid? [True, True] Translation: X:194.54, Y:79.27, Z:0.44 [[ 5.74880558e-01 -8.18233998e-01 -2.33851609e-03 1.94538010e+02] [ 8.18227938e-01 5.74885305e-01 -3.15072129e-03 7.92688108e+01] [ 3.92240581e-03 -1.02150790e-04 9.99992302e-01 4.44886061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720281693 meters 0.03434455954146482 Centerline is valid? [True, True] Translation: X:194.55, Y:79.29, Z:0.44 [[ 5.76706991e-01 -8.16945914e-01 -2.90190753e-03 1.94551931e+02] [ 8.16936557e-01 5.76714280e-01 -3.91165892e-03 7.92917668e+01] [ 4.86918529e-03 -1.14793302e-04 9.99988139e-01 4.43122827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750281693 meters 0.03178290451923545 Centerline is valid? [True, True] Translation: X:194.57, Y:79.31, Z:0.44 [[ 5.78475901e-01 -8.15693729e-01 -3.06154713e-03 1.94565863e+02] [ 8.15683287e-01 5.78483992e-01 -4.12869055e-03 7.93145263e+01] [ 5.13880300e-03 -1.08904838e-04 9.99986790e-01 4.42288947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780281693 meters 0.027847761161606914 Centerline is valid? [True, True] Translation: X:194.58, Y:79.34, Z:0.45 [[ 5.81241836e-01 -8.13727185e-01 -2.44870907e-03 1.94578964e+02] [ 8.13720483e-01 5.81246990e-01 -3.30352884e-03 7.93384073e+01] [ 4.11147600e-03 -7.24155554e-05 9.99991545e-01 4.45037752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810281693 meters 0.02657465130793385 Centerline is valid? [True, True] Translation: X:194.59, Y:79.36, Z:0.45 [[ 5.82074326e-01 -8.13132781e-01 -2.13521249e-03 1.94593546e+02] [ 8.13127677e-01 5.82078239e-01 -2.88175212e-03 7.93606824e+01] [ 3.58610784e-03 -5.88064547e-05 9.99993568e-01 4.46702953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840281693 meters 0.024434515767687716 Centerline is valid? [True, True] Translation: X:194.61, Y:79.38, Z:0.45 [[ 5.83539016e-01 -8.12084860e-01 -6.29912301e-04 1.94606797e+02] [ 8.12084415e-01 5.83539356e-01 -8.50011542e-04 7.93821686e+01] [ 1.05786012e-03 -1.55270638e-05 9.99999440e-01 4.51196152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870281693 meters 0.023364307471518898 Centerline is valid? [True, True] Translation: X:194.62, Y:79.40, Z:0.45 [[ 5.84117874e-01 -8.11668812e-01 2.19664349e-04 1.94620984e+02] [ 8.11668758e-01 5.84117915e-01 2.97597745e-04 7.94035080e+01] [-3.69860690e-04 4.46252712e-06 9.99999932e-01 4.53609229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90028169299998 meters 0.02051134503522278 Centerline is valid? [True, True] Translation: X:194.63, Y:79.43, Z:0.45 [[ 5.84975474e-01 -8.11050882e-01 4.02800309e-04 1.94633060e+02] [ 8.11050698e-01 5.84975613e-01 5.45304969e-04 7.94269373e+01] [-6.77898433e-04 7.70143881e-06 9.99999770e-01 4.53822589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93028169299998 meters 0.019658125382989087 Centerline is valid? [True, True] Translation: X:194.65, Y:79.45, Z:0.45 [[ 5.87048957e-01 -8.09551003e-01 -8.33385288e-04 1.94649197e+02] [ 8.09550220e-01 5.87049549e-01 -1.12644627e-03 7.94473596e+01] [ 1.40115416e-03 -1.33881360e-05 9.99999018e-01 4.50669868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96028169299998 meters 0.016621021869523495 Centerline is valid? [True, True] Translation: X:194.66, Y:79.47, Z:0.45 [[ 5.88495502e-01 -8.08499613e-01 -1.19147976e-03 1.94660689e+02] [ 8.08498008e-01 5.88496708e-01 -1.61144375e-03 7.94721227e+01] [ 2.00403357e-03 -1.49816156e-05 9.99997992e-01 4.49879628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.990281693 meters 0.015348824048181723 Centerline is valid? [True, True] Translation: X:194.67, Y:79.49, Z:0.45 [[ 5.90506824e-01 -8.07031636e-01 -1.27664302e-03 1.94672997e+02] [ 8.07029787e-01 5.90508204e-01 -1.72753366e-03 7.94945614e+01] [ 2.14804250e-03 -1.01685291e-05 9.99997693e-01 4.50137410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.020281693 meters 0.014656314266288146 Centerline is valid? [True, True] Translation: X:194.68, Y:79.52, Z:0.45 [[ 5.94934242e-01 -8.03773420e-01 -1.24022993e-03 1.94681333e+02] [ 8.03771666e-01 5.94935534e-01 -1.67909768e-03 7.95197523e+01] [ 2.08747094e-03 2.09102618e-06 9.99997821e-01 4.50126661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.050281693 meters 0.015315496489361664 Centerline is valid? [True, True] Translation: X:194.69, Y:79.54, Z:0.45 [[ 5.96421182e-01 -8.02670886e-01 -1.10551803e-03 1.94693919e+02] [ 8.02669490e-01 5.96422206e-01 -1.49739780e-03 7.95422126e+01] [ 1.86127312e-03 5.71417224e-06 9.99998268e-01 4.50325603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.080281693 meters 0.016648685081833935 Centerline is valid? [True, True] Translation: X:194.71, Y:79.57, Z:0.45 [[ 5.98048780e-01 -8.01459686e-01 -1.70653810e-04 1.94707527e+02] [ 8.01459652e-01 5.98048804e-01 -2.30666254e-04 7.95653785e+01] [ 2.86929011e-04 1.17752864e-06 9.99999959e-01 4.54178392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.110281693 meters 0.016778075555884148 Centerline is valid? [True, True] Translation: X:194.72, Y:79.59, Z:0.46 [[ 5.98741891e-01 -8.00942022e-01 1.60705932e-04 1.94722382e+02] [ 8.00941992e-01 5.98741912e-01 2.18720876e-04 7.95869062e+01] [-2.71404118e-04 -2.24122194e-06 9.99999963e-01 4.55473470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.140281693 meters 0.01842637670431702 Centerline is valid? [True, True] Translation: X:194.73, Y:79.61, Z:0.46 [[ 5.99448397e-01 -8.00413276e-01 4.54631350e-04 1.94733330e+02] [ 8.00413038e-01 5.99448569e-01 6.17726801e-04 7.96103421e+01] [-7.66964845e-04 -6.40248114e-06 9.99999706e-01 4.56680364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.170281693 meters 0.0198356846373206 Centerline is valid? [True, True] Translation: X:194.75, Y:79.63, Z:0.46 [[ 6.00380291e-01 -7.99714543e-01 3.94274598e-04 1.94745558e+02] [ 7.99714363e-01 6.00380421e-01 5.35980082e-04 7.96337928e+01] [-6.65345816e-04 -6.48481871e-06 9.99999779e-01 4.56112462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.200281693 meters 0.020777736035666922 Centerline is valid? [True, True] Translation: X:194.76, Y:79.66, Z:0.45 [[ 6.02142803e-01 -7.98388352e-01 2.89189651e-04 1.94757002e+02] [ 7.98388255e-01 6.02142873e-01 3.93481381e-04 7.96585418e+01] [-4.88284439e-04 -6.04636132e-06 9.99999881e-01 4.54992903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.230281693 meters 0.02233376835845983 Centerline is valid? [True, True] Translation: X:194.77, Y:79.68, Z:0.46 [[ 6.02595917e-01 -7.98046424e-01 2.57667303e-04 1.94768155e+02] [ 7.98046347e-01 6.02595972e-01 3.50901056e-04 7.96821392e+01] [-4.35304611e-04 -5.82109379e-06 9.99999905e-01 4.55270916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.260281693 meters 0.020944227793882764 Centerline is valid? [True, True] Translation: X:194.78, Y:79.70, Z:0.45 [[ 6.02375384e-01 -7.98212937e-01 7.02148793e-05 1.94783018e+02] [ 7.98212931e-01 6.02375388e-01 9.62095125e-05 7.97032610e+01] [-1.19091393e-04 -1.90781741e-06 9.99999993e-01 4.54176614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.290281693 meters 0.022033710862884717 Centerline is valid? [True, True] Translation: X:194.79, Y:79.73, Z:0.45 [[ 6.01050311e-01 -7.99210947e-01 -6.20656588e-04 1.94791711e+02] [ 7.99210502e-01 6.01050631e-01 -8.43417055e-04 7.97278981e+01] [ 1.04711418e-03 1.09008195e-05 9.99999452e-01 4.51284646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.320281693 meters 0.01882011137388452 Centerline is valid? [True, True] Translation: X:194.81, Y:79.75, Z:0.45 [[ 5.99541967e-01 -8.00342826e-01 -8.89798352e-04 1.94809365e+02] [ 8.00341911e-01 5.99542627e-01 -1.21010652e-03 7.97471241e+01] [ 1.50197211e-03 1.33667288e-05 9.99998872e-01 4.49976121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.350281693 meters 0.015539388229545084 Centerline is valid? [True, True] Translation: X:194.83, Y:79.77, Z:0.45 [[ 5.95788592e-01 -8.03138555e-01 -2.10098210e-03 1.94828390e+02] [ 8.03133465e-01 5.95792296e-01 -2.85955092e-03 7.97666393e+01] [ 3.54836454e-03 1.63187798e-05 9.99993704e-01 4.45790471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.380281693 meters 0.014283120195810357 Centerline is valid? [True, True] Translation: X:194.85, Y:79.79, Z:0.44 [[ 5.93010068e-01 -8.05191376e-01 -2.43050726e-03 1.94847485e+02] [ 8.05184574e-01 5.93015049e-01 -3.30961618e-03 7.97861910e+01] [ 4.10620179e-03 5.62875739e-06 9.99991570e-01 4.44543732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.410281693 meters 0.014695867104509026 Centerline is valid? [True, True] Translation: X:194.87, Y:79.80, Z:0.44 [[ 5.90072758e-01 -8.07345917e-01 -2.59050928e-03 1.94867064e+02] [ 8.07338204e-01 5.90078445e-01 -3.52892222e-03 7.98048635e+01] [ 4.37766463e-03 -9.09624426e-06 9.99990418e-01 4.43855807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440281693 meters 0.018279742473647356 Centerline is valid? [True, True] Translation: X:194.89, Y:79.82, Z:0.45 [[ 5.83496293e-01 -8.12114507e-01 -1.45017736e-03 1.94893870e+02] [ 8.12112104e-01 5.83498095e-01 -1.97597840e-03 7.98185841e+01] [ 2.45089645e-03 -2.47305175e-05 9.99996996e-01 4.47458831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470281693 meters 0.021369241512268072 Centerline is valid? [True, True] Translation: X:194.92, Y:79.84, Z:0.45 [[ 5.80593781e-01 -8.14192216e-01 -1.37723328e-03 1.94915259e+02] [ 8.14190052e-01 5.80595413e-01 -1.87738154e-03 7.98355745e+01] [ 2.32816476e-03 -3.13335898e-05 9.99997289e-01 4.47991189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500281693 meters 0.026304369719222353 Centerline is valid? [True, True] Translation: X:194.94, Y:79.85, Z:0.45 [[ 5.76792532e-01 -8.16887586e-01 -2.24644923e-03 1.94939376e+02] [ 8.16881842e-01 5.76796903e-01 -3.06411702e-03 7.98506575e+01] [ 3.79878412e-03 -6.77237746e-05 9.99992782e-01 4.45561347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530281693 meters 0.02559001710722393 Centerline is valid? [True, True] Translation: X:194.96, Y:79.87, Z:0.44 [[ 5.75436123e-01 -8.17842691e-01 -2.56915460e-03 1.94955889e+02] [ 8.17835182e-01 5.75441852e-01 -3.50576514e-03 7.98716861e+01] [ 4.34556348e-03 -8.38011216e-05 9.99990554e-01 4.44836968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560281693 meters 0.029694730740063374 Centerline is valid? [True, True] Translation: X:194.98, Y:79.89, Z:0.44 [[ 5.73905742e-01 -8.18917483e-01 -2.52102253e-03 1.94978021e+02] [ 8.18910256e-01 5.73911273e-01 -3.44149255e-03 7.98876565e+01] [ 4.26514167e-03 -8.93988702e-05 9.99990900e-01 4.44579690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590281693 meters 0.0338908950103635 Centerline is valid? [True, True] Translation: X:195.00, Y:79.90, Z:0.45 [[ 5.71473079e-01 -8.20618696e-01 -1.86435937e-03 1.95003618e+02] [ 8.20614749e-01 5.71476116e-01 -2.54604020e-03 7.99014670e+01] [ 3.15476504e-03 -7.49273650e-05 9.99995021e-01 4.47606403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620281693 meters 0.03032446498943802 Centerline is valid? [True, True] Translation: X:195.02, Y:79.92, Z:0.45 [[ 5.70399797e-01 -8.21365843e-01 -1.49114362e-03 1.95017996e+02] [ 8.21363320e-01 5.70401742e-01 -2.03712024e-03 7.99244209e+01] [ 2.52377190e-03 -6.27977020e-05 9.99996813e-01 4.48561382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65028169299998 meters 0.03099098873015022 Centerline is valid? [True, True] Translation: X:195.04, Y:79.94, Z:0.45 [[ 5.69784019e-01 -8.21793753e-01 -1.09485289e-03 1.95036420e+02] [ 8.21792392e-01 5.69785069e-01 -1.49620407e-03 7.99437263e+01] [ 1.85340199e-03 -4.72286109e-05 9.99998281e-01 4.49422088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68028169299998 meters 0.028809964100181384 Centerline is valid? [True, True] Translation: X:195.05, Y:79.96, Z:0.45 [[ 5.70877525e-01 -8.21034942e-01 -6.90108416e-04 1.95054142e+02] [ 8.21034400e-01 5.70877941e-01 -9.43265312e-04 7.99640454e+01] [ 1.16842145e-03 -2.81137826e-05 9.99999317e-01 4.50293370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71028169299998 meters 0.026002107828475392 Centerline is valid? [True, True] Translation: X:195.07, Y:79.99, Z:0.45 [[ 5.74937449e-01 -8.18196517e-01 -1.17858733e-03 1.95068392e+02] [ 8.18194929e-01 5.74938656e-01 -1.61217282e-03 7.99863318e+01] [ 1.99668960e-03 -3.74156447e-05 9.99998006e-01 4.49375291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.740281693 meters 0.02283630396062092 Centerline is valid? [True, True] Translation: X:195.08, Y:80.01, Z:0.45 [[ 5.77262260e-01 -8.16557353e-01 -1.54048631e-03 1.95080347e+02] [ 8.16554632e-01 5.77264314e-01 -2.10836776e-03 8.00115539e+01] [ 2.61087098e-03 -4.08100960e-05 9.99996591e-01 4.48021674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.770281693 meters 0.019797934368140733 Centerline is valid? [True, True] Translation: X:195.09, Y:80.04, Z:0.45 [[ 5.80243824e-01 -8.14440738e-01 -1.84086655e-03 1.95090993e+02] [ 8.14436838e-01 5.80246743e-01 -2.52073139e-03 8.00360512e+01] [ 3.12114316e-03 -3.66307085e-05 9.99995129e-01 4.47452046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.800281693 meters 0.016526602642939182 Centerline is valid? [True, True] Translation: X:195.10, Y:80.06, Z:0.45 [[ 5.83079984e-01 -8.12412747e-01 -1.80602448e-03 1.95100845e+02] [ 8.12408980e-01 5.83082780e-01 -2.47412700e-03 8.00620205e+01] [ 3.06307408e-03 -2.46165784e-05 9.99995308e-01 4.47844746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.830281693 meters 0.016526602642939182 Centerline is valid? [True, True] Translation: X:195.12, Y:80.08, Z:0.45 [[ 5.82888283e-01 -8.12550300e-01 -1.80547991e-03 1.95115838e+02] [ 8.12546533e-01 5.82891078e-01 -2.47452436e-03 8.00830521e+01] [ 3.06307365e-03 -2.46651811e-05 9.99995308e-01 4.47896115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.860281693 meters 0.01403026365094836 Centerline is valid? [True, True] Translation: X:195.12, Y:80.11, Z:0.45 [[ 5.89077919e-01 -8.08075124e-01 -1.34131548e-03 1.95120314e+02] [ 8.08073032e-01 5.89079446e-01 -1.83905789e-03 8.01118973e+01] [ 2.27623832e-03 -5.32470067e-07 9.99997409e-01 4.49699765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.890281693 meters 0.016156370887895153 Centerline is valid? [True, True] Translation: X:195.12, Y:80.14, Z:0.45 [[ 5.94404132e-01 -8.04166368e-01 -4.25296237e-04 1.95124554e+02] [ 8.04166156e-01 5.94404284e-01 -5.82926376e-04 8.01405477e+01] [ 7.21567692e-04 4.48500660e-06 9.99999740e-01 4.52936364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.920281693 meters 0.018138250876734346 Centerline is valid? [True, True] Translation: X:195.13, Y:80.17, Z:0.45 [[ 5.96460878e-01 -8.02642119e-01 2.24244249e-04 1.95134663e+02] [ 8.02642060e-01 5.96460920e-01 3.08533434e-04 8.01668561e+01] [-3.81394860e-04 -4.04025682e-06 9.99999927e-01 4.54525878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.950281693 meters 0.01981099373091201 Centerline is valid? [True, True] Translation: X:195.15, Y:80.19, Z:0.45 [[ 5.98083360e-01 -8.01433833e-01 3.25666559e-04 1.95145504e+02] [ 8.01433708e-01 5.98083449e-01 4.47969612e-04 8.01925042e+01] [-5.53793782e-04 -6.92301360e-06 9.99999847e-01 4.54450220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.980281693 meters 0.02187943781105699 Centerline is valid? [True, True] Translation: X:195.16, Y:80.22, Z:0.45 [[ 5.99333016e-01 -8.00499796e-01 -1.15842753e-04 1.95155902e+02] [ 8.00499780e-01 5.99333027e-01 -1.58440782e-04 8.02178270e+01] [ 1.96260201e-04 2.22669362e-06 9.99999981e-01 4.53003852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.010281693 meters 0.021182045721718015 Centerline is valid? [True, True] Translation: X:195.17, Y:80.24, Z:0.45 [[ 5.98957705e-01 -8.00779241e-01 -1.50841311e-03 1.95168246e+02] [ 8.00776559e-01 5.98959603e-01 -2.07282603e-03 8.02415346e+01] [ 2.56335457e-03 3.36332653e-05 9.99996714e-01 4.48049444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.040281693 meters 0.020873115598707824 Centerline is valid? [True, True] Translation: X:195.18, Y:80.26, Z:0.45 [[ 5.97888045e-01 -8.01576431e-01 -2.26079543e-03 1.95182266e+02] [ 8.01570404e-01 5.97892317e-01 -3.10864474e-03 8.02624936e+01] [ 3.84352857e-03 4.64348137e-05 9.99992613e-01 4.46605361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.070281693 meters 0.017911411716090977 Centerline is valid? [True, True] Translation: X:195.20, Y:80.28, Z:0.44 [[ 5.94814924e-01 -8.03856452e-01 -3.16379973e-03 1.95199990e+02] [ 8.03844670e-01 5.94823337e-01 -4.35258832e-03 8.02827282e+01] [ 5.38075812e-03 4.57809384e-05 9.99985523e-01 4.43938926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.100281693 meters 0.0164664392297478 Centerline is valid? [True, True] Translation: X:195.22, Y:80.30, Z:0.44 [[ 5.93078839e-01 -8.05138657e-01 -3.03859531e-03 1.95216518e+02] [ 8.05127796e-01 5.93086622e-01 -4.18220904e-03 8.03028545e+01] [ 5.16940840e-03 3.39221392e-05 9.99986638e-01 4.44888616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.130281693 meters 0.015474552940433175 Centerline is valid? [True, True] Translation: X:195.23, Y:80.32, Z:0.45 [[ 5.91709116e-01 -8.06148004e-01 -2.39114295e-03 1.95232864e+02] [ 8.06141281e-01 5.91713947e-01 -3.29247402e-03 8.03237129e+01] [ 4.06909400e-03 2.05878513e-05 9.99991721e-01 4.47206241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.160281693 meters 0.014407017662533442 Centerline is valid? [True, True] Translation: X:195.25, Y:80.34, Z:0.45 [[ 5.89887680e-01 -8.07484287e-01 -1.28502365e-03 1.95247245e+02] [ 8.07482347e-01 5.89889080e-01 -1.76989597e-03 8.03444434e+01] [ 2.18718461e-03 6.40591516e-06 9.99997608e-01 4.51196438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190281693 meters 0.014052644372375382 Centerline is valid? [True, True] Translation: X:195.26, Y:80.37, Z:0.45 [[ 5.89081545e-01 -8.08072667e-01 -1.22364217e-03 1.95261619e+02] [ 8.08070908e-01 5.89082816e-01 -1.68614736e-03 8.03660167e+01] [ 2.08335617e-03 4.48865032e-06 9.99997830e-01 4.51083078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220281693 meters 0.013724560769147685 Centerline is valid? [True, True] Translation: X:195.28, Y:80.39, Z:0.45 [[ 5.87488934e-01 -8.09231433e-01 -1.11338474e-03 1.95276898e+02] [ 8.09229978e-01 5.87489989e-01 -1.53486482e-03 8.03864404e+01] [ 1.89616325e-03 7.31787998e-07 9.99998202e-01 4.50331924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250281693 meters 0.013700407739023156 Centerline is valid? [True, True] Translation: X:195.29, Y:80.41, Z:0.45 [[ 5.86737820e-01 -8.09776359e-01 -9.89490050e-04 1.95292459e+02] [ 8.09775209e-01 5.86738654e-01 -1.36465583e-03 8.04071983e+01] [ 1.68563809e-03 -5.69323348e-07 9.99998579e-01 4.50727982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280281693 meters 0.013706966169058551 Centerline is valid? [True, True] Translation: X:195.31, Y:80.43, Z:0.45 [[ 5.85754852e-01 -8.10487529e-01 -1.10430335e-03 1.95307560e+02] [ 8.10486096e-01 5.85755893e-01 -1.52379042e-03 8.04273208e+01] [ 1.88186533e-03 -2.45487547e-06 9.99998229e-01 4.51025878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310281693 meters 0.01393151602734186 Centerline is valid? [True, True] Translation: X:195.32, Y:80.45, Z:0.45 [[ 5.84929340e-01 -8.11082946e-01 -1.45652227e-03 1.95322482e+02] [ 8.11080453e-01 5.84931153e-01 -2.01102496e-03 8.04480825e+01] [ 2.48307330e-03 -5.04924474e-06 9.99996917e-01 4.50647578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340281693 meters 0.0143301227705791 Centerline is valid? [True, True] Translation: X:195.34, Y:80.47, Z:0.45 [[ 5.83809687e-01 -8.11888177e-01 -1.95925591e-03 1.95338357e+02] [ 8.11883665e-01 5.83812974e-01 -2.70669034e-03 8.04690727e+01] [ 3.34136891e-03 -1.04958294e-05 9.99994418e-01 4.48794880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370281693 meters 0.015012736577880537 Centerline is valid? [True, True] Translation: X:195.35, Y:80.49, Z:0.45 [[ 5.82474126e-01 -8.12846377e-01 -2.15863043e-03 1.95354539e+02] [ 8.12840902e-01 5.82478126e-01 -2.98355337e-03 8.04899116e+01] [ 3.68252555e-03 -1.67804621e-05 9.99993219e-01 4.47923099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40028169299998 meters 0.016746022247826835 Centerline is valid? [True, True] Translation: X:195.37, Y:80.51, Z:0.45 [[ 5.80186073e-01 -8.14482277e-01 -1.65601701e-03 1.95371772e+02] [ 8.14479058e-01 5.80188436e-01 -2.28973192e-03 8.05100857e+01] [ 2.82574799e-03 -2.03205997e-05 9.99996007e-01 4.49150651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43028169299998 meters 0.017432123192882804 Centerline is valid? [True, True] Translation: X:195.39, Y:80.53, Z:0.45 [[ 5.79285046e-01 -8.15124115e-01 -1.23006185e-03 1.95387424e+02] [ 8.15122340e-01 5.79286351e-01 -1.70135500e-03 8.05308745e+01] [ 2.09937353e-03 -1.70813822e-05 9.99997796e-01 4.50929114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46028169299998 meters 0.01733297244480913 Centerline is valid? [True, True] Translation: X:195.40, Y:80.55, Z:0.45 [[ 5.79174029e-01 -8.15203692e-01 -6.20670461e-04 1.95401804e+02] [ 8.15203240e-01 5.79174362e-01 -8.58505854e-04 8.05529358e+01] [ 1.05933356e-03 -8.74827586e-06 9.99999439e-01 4.53598284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.490281693 meters 0.01590675520847759 Centerline is valid? [True, True] Translation: X:195.41, Y:80.58, Z:0.46 [[ 5.80559172e-01 -8.14218057e-01 -6.14583015e-05 1.95410791e+02] [ 8.14218053e-01 5.80559175e-01 -8.43680834e-05 8.05778357e+01] [ 1.04374198e-04 -1.05979397e-06 9.99999995e-01 4.56507018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.520281693 meters 0.014542021295599035 Centerline is valid? [True, True] Translation: X:195.42, Y:80.60, Z:0.46 [[ 5.82158415e-01 -8.13075375e-01 -1.20179135e-04 1.95420940e+02] [ 8.13075358e-01 5.82158427e-01 -1.65811520e-04 8.06027990e+01] [ 2.04780560e-04 -1.18612153e-06 9.99999979e-01 4.56457969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.550281693 meters 0.013962251184021434 Centerline is valid? [True, True] Translation: X:195.42, Y:80.63, Z:0.45 [[ 5.86569237e-01 -8.09897853e-01 -1.41343975e-03 1.95422888e+02] [ 8.09895485e-01 5.86570940e-01 -1.95862599e-03 8.06323256e+01] [ 2.41536966e-03 4.13128072e-06 9.99997083e-01 4.51392064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.580281693 meters 0.015193357103370535 Centerline is valid? [True, True] Translation: X:195.43, Y:80.66, Z:0.45 [[ 5.88529913e-01 -8.08472696e-01 -2.10746201e-03 1.95431421e+02] [ 8.08467416e-01 5.88533686e-01 -2.92197190e-03 8.06587509e+01] [ 3.60264688e-03 1.58534989e-05 9.99993510e-01 4.48940030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.610281693 meters 0.01747976139066809 Centerline is valid? [True, True] Translation: X:195.44, Y:80.69, Z:0.45 [[ 5.90604472e-01 -8.06957900e-01 -2.30329529e-03 1.95439316e+02] [ 8.06951575e-01 5.90608963e-01 -3.19496155e-03 8.06852662e+01] [ 3.93854630e-03 2.83108162e-05 9.99992244e-01 4.47763717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.640281693 meters 0.019673391091236645 Centerline is valid? [True, True] Translation: X:195.45, Y:80.71, Z:0.45 [[ 5.92217056e-01 -8.05775559e-01 -2.16968782e-03 1.95448566e+02] [ 8.05769934e-01 5.92221030e-01 -3.01091330e-03 8.07115205e+01] [ 3.71105510e-03 3.48450010e-05 9.99993113e-01 4.48300955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.670281693 meters 0.022373481813229134 Centerline is valid? [True, True] Translation: X:195.46, Y:80.74, Z:0.45 [[ 5.94038318e-01 -8.04435212e-01 -1.57085260e-03 1.95455630e+02] [ 8.04432256e-01 5.94040394e-01 -2.18066244e-03 8.07388728e+01] [ 2.68735155e-03 3.17525450e-05 9.99996389e-01 4.50829110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.700281693 meters 0.0224714673988755 Centerline is valid? [True, True] Translation: X:195.47, Y:80.76, Z:0.45 [[ 5.93871743e-01 -8.04558267e-01 -1.53215147e-03 1.95468219e+02] [ 8.04555454e-01 5.93873719e-01 -2.12785742e-03 8.07618263e+01] [ 2.62188977e-03 3.09735747e-05 9.99996562e-01 4.50249365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.730281693 meters 0.02080945866248443 Centerline is valid? [True, True] Translation: X:195.48, Y:80.78, Z:0.45 [[ 5.92284443e-01 -8.05724813e-01 -2.58176749e-03 1.95481984e+02] [ 8.05716827e-01 5.92290068e-01 -3.58759163e-03 8.07849492e+01] [ 4.41976684e-03 4.47012035e-05 9.99990232e-01 4.45619197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.760281693 meters 0.01990657525347284 Centerline is valid? [True, True] Translation: X:195.50, Y:80.81, Z:0.44 [[ 5.91281557e-01 -8.06458576e-01 -3.26886886e-03 1.95497292e+02] [ 8.06445773e-01 5.91290591e-01 -4.54452393e-03 8.08063239e+01] [ 5.59782170e-03 5.09277106e-05 9.99984331e-01 4.43139231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.790281693 meters 0.018877462356546353 Centerline is valid? [True, True] Translation: X:195.51, Y:80.83, Z:0.44 [[ 5.90598256e-01 -8.06958491e-01 -3.41969176e-03 1.95512901e+02] [ 8.06944475e-01 5.90608154e-01 -4.75633314e-03 8.08275788e+01] [ 5.85786125e-03 4.95806857e-05 9.99982841e-01 4.42403444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.820281693 meters 0.019905029909232038 Centerline is valid? [True, True] Translation: X:195.52, Y:80.85, Z:0.45 [[ 5.91317254e-01 -8.06435460e-01 -2.39859342e-03 1.95523050e+02] [ 8.06428556e-01 5.91322118e-01 -3.33737884e-03 8.08524912e+01] [ 4.10972198e-03 3.91554665e-05 9.99991554e-01 4.47026833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.850281693 meters 0.020981431855950198 Centerline is valid? [True, True] Translation: X:195.53, Y:80.88, Z:0.45 [[ 5.91998384e-01 -8.05937219e-01 -1.76420596e-03 1.95534044e+02] [ 8.05933479e-01 5.92001012e-01 -2.45558980e-03 8.08767224e+01] [ 3.02346293e-03 3.18725513e-05 9.99995429e-01 4.50329740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.880281693 meters 0.02323403761154036 Centerline is valid? [True, True] Translation: X:195.54, Y:80.90, Z:0.45 [[ 5.93382531e-01 -8.04917987e-01 -2.05115403e-03 1.95543283e+02] [ 8.04912920e-01 5.93386074e-01 -2.85619929e-03 8.09029271e+01] [ 3.51613242e-03 4.38183843e-05 9.99993817e-01 4.48580001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.910281693 meters 0.024108098660534632 Centerline is valid? [True, True] Translation: X:195.56, Y:80.93, Z:0.45 [[ 5.93722162e-01 -8.04666825e-01 -2.30133825e-03 1.95556130e+02] [ 8.04660440e-01 5.93726619e-01 -3.20587103e-03 8.09254852e+01] [ 3.94602385e-03 5.16008275e-05 9.99992213e-01 4.47068099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940281693 meters 0.023772933700672523 Centerline is valid? [True, True] Translation: X:195.57, Y:80.95, Z:0.45 [[ 5.93277086e-01 -8.04996975e-01 -1.47268791e-03 1.95570139e+02] [ 8.04994360e-01 5.93278913e-01 -2.05219246e-03 8.09480538e+01] [ 2.52572341e-03 3.20133037e-05 9.99996810e-01 4.49130841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970281693 meters 0.022351876152618376 Centerline is valid? [True, True] Translation: X:195.59, Y:80.97, Z:0.45 [[ 5.92135694e-01 -8.05837807e-01 -8.64983070e-04 1.95586640e+02] [ 8.05836906e-01 5.92136325e-01 -1.20559212e-03 8.09688730e+01] [ 1.48369961e-03 1.68388461e-05 9.99998899e-01 4.51939900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000281693 meters 0.020371339949196803 Centerline is valid? [True, True] Translation: X:195.60, Y:80.99, Z:0.45 [[ 5.90445008e-01 -8.07077783e-01 -3.80529865e-04 1.95603841e+02] [ 8.07077609e-01 5.90445130e-01 -5.30209752e-04 8.09892880e+01] [ 6.52602516e-04 5.94256739e-06 9.99999787e-01 4.54234983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030281693 meters 0.016394528766758936 Centerline is valid? [True, True] Translation: X:195.63, Y:81.01, Z:0.45 [[ 5.88852591e-01 -8.08240421e-01 -2.19277197e-04 1.95625338e+02] [ 8.08240363e-01 5.88852632e-01 -3.05351476e-04 8.10077868e+01] [ 3.75919360e-04 2.57832631e-06 9.99999929e-01 4.54656150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060281693 meters 0.01469326971860812 Centerline is valid? [True, True] Translation: X:195.64, Y:81.03, Z:0.45 [[ 5.86033630e-01 -8.10285723e-01 -1.27739574e-03 1.95642968e+02] [ 8.10283761e-01 5.86035022e-01 -1.78311203e-03 8.10284514e+01] [ 2.19342886e-03 9.91059159e-06 9.99997594e-01 4.51637065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090281693 meters 0.014848565121088706 Centerline is valid? [True, True] Translation: X:195.66, Y:81.05, Z:0.45 [[ 5.84780133e-01 -8.11190017e-01 -1.71804861e-03 1.95656379e+02] [ 8.11186468e-01 5.84782657e-01 -2.39957782e-03 8.10505750e+01] [ 2.95119860e-03 9.56765437e-06 9.99995645e-01 4.49523115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120281693 meters 0.013832459133978611 Centerline is valid? [True, True] Translation: X:195.67, Y:81.07, Z:0.45 [[ 5.82347483e-01 -8.12939461e-01 -9.17948919e-04 1.95674060e+02] [ 8.12938449e-01 5.82348206e-01 -1.28235303e-03 8.10701611e+01] [ 1.57704128e-03 5.39085607e-07 9.99998756e-01 4.52132395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15028169299998 meters 0.013804063725669998 Centerline is valid? [True, True] Translation: X:195.69, Y:81.09, Z:0.45 [[ 5.81194841e-01 -8.13764241e-01 -5.63168803e-04 1.95690458e+02] [ 8.13763860e-01 5.81195114e-01 -7.86806308e-04 8.10902240e+01] [ 9.67585794e-04 -9.98651464e-07 9.99999532e-01 4.53667655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18028169299998 meters 0.013854251070637296 Centerline is valid? [True, True] Translation: X:195.71, Y:81.11, Z:0.45 [[ 5.79950706e-01 -8.14651413e-01 -5.03389225e-04 1.95706965e+02] [ 8.14651109e-01 5.79950925e-01 -7.03519379e-04 8.11115953e+01] [ 8.65064102e-04 -2.08003022e-06 9.99999626e-01 4.53523918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21028169299998 meters 0.01636698041067679 Centerline is valid? [True, True] Translation: X:195.73, Y:81.13, Z:0.45 [[ 5.76805320e-01 -8.16880077e-01 -1.60071578e-03 1.95728611e+02] [ 8.16877007e-01 5.76807541e-01 -2.23966793e-03 8.11283948e+01] [ 2.75284504e-03 -1.57355379e-05 9.99996211e-01 4.49774131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.240281693 meters 0.016441542088312312 Centerline is valid? [True, True] Translation: X:195.74, Y:81.15, Z:0.45 [[ 5.74931241e-01 -8.18199650e-01 -1.84430665e-03 1.95744667e+02] [ 8.18195577e-01 5.74934198e-01 -2.58180418e-03 8.11496725e+01] [ 3.17278625e-03 -2.46436611e-05 9.99994966e-01 4.49487736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.270281693 meters 0.02105131281360896 Centerline is valid? [True, True] Translation: X:195.77, Y:81.16, Z:0.45 [[ 5.72891572e-01 -8.19629276e-01 -1.75967571e-03 1.95768671e+02] [ 8.19625572e-01 5.72894273e-01 -2.46443633e-03 8.11648772e+01] [ 3.02803230e-03 -3.04204035e-05 9.99995415e-01 4.49131738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.300281693 meters 0.021802648513542803 Centerline is valid? [True, True] Translation: X:195.79, Y:81.18, Z:0.45 [[ 5.69653574e-01 -8.21883684e-01 -1.41969015e-03 1.95789894e+02] [ 8.21881278e-01 5.69655342e-01 -1.98904039e-03 8.11832542e+01] [ 2.44349392e-03 -3.37527880e-05 9.99997014e-01 4.51601928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.330281693 meters 0.022161296776190737 Centerline is valid? [True, True] Translation: X:195.81, Y:81.20, Z:0.45 [[ 5.68743724e-01 -8.22513969e-01 -1.16088885e-03 1.95808199e+02] [ 8.22512360e-01 5.68744908e-01 -1.62701165e-03 8.12035339e+01] [ 1.99848943e-03 -2.94927593e-05 9.99998003e-01 4.52392940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.360281693 meters 0.022089468125090737 Centerline is valid? [True, True] Translation: X:195.83, Y:81.22, Z:0.45 [[ 5.68685915e-01 -8.22553093e-01 -1.65506407e-03 1.95827599e+02] [ 8.22549820e-01 5.68688322e-01 -2.32093170e-03 8.12214565e+01] [ 2.85030516e-03 -4.14914884e-05 9.99995937e-01 4.52048574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.390281693 meters 0.021485456878616634 Centerline is valid? [True, True] Translation: X:195.84, Y:81.24, Z:0.45 [[ 5.69279682e-01 -8.22141418e-01 -2.03302217e-03 1.95843734e+02] [ 8.22136471e-01 5.69283310e-01 -2.85250719e-03 8.12409634e+01] [ 3.50252990e-03 -4.75472862e-05 9.99993865e-01 4.51055589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.420281693 meters 0.019932753623367508 Centerline is valid? [True, True] Translation: X:195.86, Y:81.26, Z:0.45 [[ 5.70173522e-01 -8.21521582e-01 -2.10826438e-03 1.95859387e+02] [ 8.21516252e-01 5.70177418e-01 -2.95955637e-03 8.12621863e+01] [ 3.63342417e-03 -4.45127720e-05 9.99993398e-01 4.51124334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.450281693 meters 0.017170426184162577 Centerline is valid? [True, True] Translation: X:195.88, Y:81.28, Z:0.45 [[ 5.72860931e-01 -8.19651890e-01 -1.06379040e-03 1.95876342e+02] [ 8.19650530e-01 5.72861919e-01 -1.49367681e-03 8.12835618e+01] [ 1.83370003e-03 -1.62672739e-05 9.99998319e-01 4.54675852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.480281693 meters 0.015967786345143658 Centerline is valid? [True, True] Translation: X:195.89, Y:81.30, Z:0.46 [[ 5.74125899e-01 -8.18766957e-01 -3.49726417e-04 1.95891157e+02] [ 8.18766810e-01 5.74126006e-01 -4.90727294e-04 8.13048195e+01] [ 6.02578324e-04 -4.60513366e-06 9.99999818e-01 4.57174363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.510281693 meters 0.01480918779879256 Centerline is valid? [True, True] Translation: X:195.91, Y:81.33, Z:0.46 [[ 5.76072573e-01 -8.17398542e-01 1.18224934e-04 1.95905656e+02] [ 8.17398525e-01 5.76072586e-01 1.67052174e-04 8.13255594e+01] [-2.04654347e-04 4.02710700e-07 9.99999979e-01 4.58428050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.540281693 meters 0.014402179640226843 Centerline is valid? [True, True] Translation: X:195.92, Y:81.35, Z:0.46 [[ 5.76553759e-01 -8.17059188e-01 -2.12709632e-04 1.95920821e+02] [ 8.17059134e-01 5.76553799e-01 -2.98448400e-04 8.13476475e+01] [ 3.66488554e-04 -1.72480082e-06 9.99999933e-01 4.56822392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.570281693 meters 0.014294477709452158 Centerline is valid? [True, True] Translation: X:195.94, Y:81.37, Z:0.46 [[ 5.77111884e-01 -8.16664781e-01 -7.13176211e-04 1.95935767e+02] [ 8.16664165e-01 5.77112325e-01 -1.00305301e-03 8.13681958e+01] [ 1.23074085e-03 -3.55164422e-06 9.99999243e-01 4.55239085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.600281693 meters 0.013956478087339278 Centerline is valid? [True, True] Translation: X:195.95, Y:81.39, Z:0.45 [[ 5.78083171e-01 -8.15976251e-01 -1.61395400e-03 1.95950800e+02] [ 8.15973089e-01 5.78085424e-01 -2.27162995e-03 8.13881316e+01] [ 2.78659937e-03 -3.75198896e-06 9.99996117e-01 4.53164486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.630281693 meters 0.013946156769689005 Centerline is valid? [True, True] Translation: X:195.97, Y:81.41, Z:0.45 [[ 5.78489333e-01 -8.15688449e-01 -1.56426001e-03 1.95965948e+02] [ 8.15685475e-01 5.78491448e-01 -2.20255436e-03 8.14101180e+01] [ 2.70150919e-03 -1.78996757e-06 9.99996351e-01 4.53201422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.660281693 meters 0.014069681770606399 Centerline is valid? [True, True] Translation: X:195.98, Y:81.43, Z:0.45 [[ 5.79013823e-01 -8.15316972e-01 -1.10794544e-03 1.95980964e+02] [ 8.15315479e-01 5.79014883e-01 -1.56055416e-03 8.14316600e+01] [ 1.91386320e-03 2.57363104e-07 9.99998169e-01 4.54591062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690281693 meters 0.0141284962203298 Centerline is valid? [True, True] Translation: X:196.00, Y:81.45, Z:0.46 [[ 5.79091052e-01 -8.15262822e-01 -2.90834954e-04 1.95997184e+02] [ 8.15262719e-01 5.79091125e-01 -4.09246236e-04 8.14507936e+01] [ 5.02063183e-04 -1.16062133e-07 9.99999874e-01 4.57026998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720281693 meters 0.01397611266702084 Centerline is valid? [True, True] Translation: X:196.01, Y:81.47, Z:0.46 [[ 5.78483939e-01 -8.15693628e-01 -4.87827229e-04 1.96014058e+02] [ 8.15693338e-01 5.78484145e-01 -6.87353739e-04 8.14705919e+01] [ 8.42870382e-04 -2.94322806e-07 9.99999645e-01 4.56019315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750281693 meters 0.01397611266702084 Centerline is valid? [True, True] Translation: X:196.03, Y:81.49, Z:0.46 [[ 5.78305192e-01 -8.15820364e-01 -4.87675133e-04 1.96028736e+02] [ 8.15820075e-01 5.78305398e-01 -6.87461599e-04 8.14918262e+01] [ 8.42870334e-04 -2.92551785e-07 9.99999645e-01 4.56070679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780281693 meters 0.014158802938862685 Centerline is valid? [True, True] Translation: X:196.05, Y:81.51, Z:0.45 [[ 5.77512036e-01 -8.16380741e-01 -1.52776462e-03 1.96047095e+02] [ 8.16377893e-01 5.77514057e-01 -2.15625505e-03 8.15108741e+01] [ 2.64263064e-03 -1.97001908e-06 9.99996508e-01 4.52761647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810281693 meters 0.014179788889654437 Centerline is valid? [True, True] Translation: X:196.06, Y:81.53, Z:0.45 [[ 5.77768768e-01 -8.16197606e-01 -2.17225577e-03 1.96062778e+02] [ 8.16191841e-01 5.77772852e-01 -3.06761421e-03 8.15321852e+01] [ 3.75884979e-03 -6.05750665e-07 9.99992936e-01 4.50729542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840281693 meters 0.014442378552327799 Centerline is valid? [True, True] Translation: X:196.08, Y:81.55, Z:0.45 [[ 5.78697265e-01 -8.15537955e-01 -2.70546915e-03 1.96077019e+02] [ 8.15528998e-01 5.78703589e-01 -3.82235260e-03 8.15530310e+01] [ 4.68293833e-03 5.59645123e-06 9.99989035e-01 4.48719398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870281693 meters 0.01498373191448953 Centerline is valid? [True, True] Translation: X:196.09, Y:81.57, Z:0.45 [[ 5.79889914e-01 -8.14688652e-01 -3.17619251e-03 1.96091227e+02] [ 8.14676282e-01 5.79898612e-01 -4.48941701e-03 8.15748094e+01] [ 5.49934672e-03 1.57989427e-05 9.99984878e-01 4.47520396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90028169299998 meters 0.015902633471015254 Centerline is valid? [True, True] Translation: X:196.11, Y:81.60, Z:0.45 [[ 5.82691834e-01 -8.12688069e-01 -2.88603169e-03 1.96107453e+02] [ 8.12677823e-01 5.82698980e-01 -4.08098831e-03 8.15981015e+01] [ 4.99825823e-03 3.25446143e-05 9.99987508e-01 4.50286387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93028169299998 meters 0.018251624086969016 Centerline is valid? [True, True] Translation: X:196.12, Y:81.62, Z:0.45 [[ 5.84117621e-01 -8.11665080e-01 -2.53060764e-03 1.96119816e+02] [ 8.11657186e-01 5.84123101e-01 -3.57986159e-03 8.16226297e+01] [ 4.38383503e-03 3.70743642e-05 9.99990390e-01 4.50296563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96028169299998 meters 0.02319524980501036 Centerline is valid? [True, True] Translation: X:196.13, Y:81.65, Z:0.45 [[ 5.88055709e-01 -8.08817464e-01 -2.18926966e-03 1.96130789e+02] [ 8.08811532e-01 5.88059782e-01 -3.09826195e-03 8.16470549e+01] [ 3.79334981e-03 5.12440755e-05 9.99992804e-01 4.51204738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.990281693 meters 0.0258621974044749 Centerline is valid? [True, True] Translation: X:196.14, Y:81.67, Z:0.45 [[ 5.89894234e-01 -8.07478430e-01 -1.83771224e-03 1.96144289e+02] [ 8.07474240e-01 5.89897094e-01 -2.60173417e-03 8.16710703e+01] [ 3.18490533e-03 5.08426884e-05 9.99994927e-01 4.52210706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.020281693 meters 0.027997816698564895 Centerline is valid? [True, True] Translation: X:196.16, Y:81.69, Z:0.45 [[ 5.91300171e-01 -8.06449705e-01 -1.72657095e-03 1.96158571e+02] [ 8.06446000e-01 5.91302689e-01 -2.44535116e-03 8.16945058e+01] [ 2.99297877e-03 5.35503246e-05 9.99995520e-01 4.52944429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.050281693 meters 0.02630969075283603 Centerline is valid? [True, True] Translation: X:196.18, Y:81.72, Z:0.45 [[ 5.93288365e-01 -8.04988674e-01 -1.46670325e-03 1.96178362e+02] [ 8.04985993e-01 5.93290176e-01 -2.07805200e-03 8.17150347e+01] [ 2.54298895e-03 5.22085078e-05 9.99996765e-01 4.54273560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.080281693 meters 0.032725843680792316 Centerline is valid? [True, True] Translation: X:196.19, Y:81.74, Z:0.45 [[ 5.94122609e-01 -8.04372987e-01 -1.55666475e-03 1.96186706e+02] [ 8.04369963e-01 5.94124646e-01 -2.20641263e-03 8.17415060e+01] [ 2.69963161e-03 5.87452657e-05 9.99996354e-01 4.53442967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.110281693 meters 0.033439636531625856 Centerline is valid? [True, True] Translation: X:196.20, Y:81.76, Z:0.45 [[ 5.96505647e-01 -8.02606475e-01 -1.96432988e-03 1.96201807e+02] [ 8.02601647e-01 5.96508875e-01 -2.78541539e-03 8.17638047e+01] [ 3.40733263e-03 8.49416119e-05 9.99994191e-01 4.53262924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.140281693 meters 0.03421429079992446 Centerline is valid? [True, True] Translation: X:196.22, Y:81.79, Z:0.45 [[ 5.97916152e-01 -8.01556220e-01 -1.97509661e-03 1.96216682e+02] [ 8.01551328e-01 5.97919408e-01 -2.80184479e-03 8.17876465e+01] [ 3.42678472e-03 9.21269433e-05 9.99994124e-01 4.53928410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.170281693 meters 0.039232872386647806 Centerline is valid? [True, True] Translation: X:196.23, Y:81.81, Z:0.46 [[ 5.99950728e-01 -8.00035962e-01 -1.25823083e-03 1.96225474e+02] [ 8.00033972e-01 5.99952044e-01 -1.78536416e-03 8.18140783e+01] [ 2.18323369e-03 6.45031231e-05 9.99997615e-01 4.56379701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.200281693 meters 0.04503740534137095 Centerline is valid? [True, True] Translation: X:196.23, Y:81.84, Z:0.46 [[ 6.00363655e-01 -7.99726791e-01 -7.35860297e-04 1.96233369e+02] [ 7.99726110e-01 6.00364105e-01 -1.04425909e-03 8.18401407e+01] [ 1.27690608e-03 3.84485091e-05 9.99999184e-01 4.57888939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.230281693 meters 0.04006220194005611 Centerline is valid? [True, True] Translation: X:196.25, Y:81.86, Z:0.46 [[ 6.00760405e-01 -7.99429020e-01 -4.21984672e-04 1.96253267e+02] [ 7.99428796e-01 6.00760553e-01 -5.98704464e-04 8.18588573e+01] [ 7.32133468e-04 2.23312380e-05 9.99999732e-01 4.58523215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.260281693 meters 0.04100388826002148 Centerline is valid? [True, True] Translation: X:196.27, Y:81.88, Z:0.46 [[ 6.01558779e-01 -7.98828190e-01 -7.47328949e-04 1.96266746e+02] [ 7.98827486e-01 6.01559242e-01 -1.06131656e-03 8.18839640e+01] [ 1.29737222e-03 4.14573887e-05 9.99999158e-01 4.56704994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.290281693 meters 0.04111374398872178 Centerline is valid? [True, True] Translation: X:196.28, Y:81.91, Z:0.46 [[ 6.01397380e-01 -7.98949284e-01 -1.11082347e-03 1.96281196e+02] [ 7.98947727e-01 6.01398403e-01 -1.57843861e-03 8.19073623e+01] [ 1.92913986e-03 6.17789596e-05 9.99998137e-01 4.55936410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.320281693 meters 0.03819152822138451 Centerline is valid? [True, True] Translation: X:196.30, Y:81.93, Z:0.46 [[ 6.00917908e-01 -7.99310050e-01 -1.05500186e-03 1.96298933e+02] [ 7.99308645e-01 6.00918831e-01 -1.49972596e-03 8.19284413e+01] [ 1.83271652e-03 5.79400803e-05 9.99998319e-01 4.56797378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.350281693 meters 0.039767775109873074 Centerline is valid? [True, True] Translation: X:196.31, Y:81.95, Z:0.46 [[ 5.99552736e-01 -8.00335246e-01 -1.04999867e-04 1.96310895e+02] [ 8.00335232e-01 5.99552745e-01 -1.48748251e-04 8.19535661e+01] [ 1.82001427e-04 5.14732826e-06 9.99999983e-01 4.60511451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.380281693 meters 0.039109770730522735 Centerline is valid? [True, True] Translation: X:196.33, Y:81.98, Z:0.46 [[ 5.98727322e-01 -8.00952807e-01 4.41830338e-04 1.96325582e+02] [ 8.00952559e-01 5.98727485e-01 6.29699131e-04 8.19756431e+01] [-7.68895253e-04 -2.31329338e-05 9.99999704e-01 4.62198237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.410281693 meters 0.03476157138995044 Centerline is valid? [True, True] Translation: X:196.34, Y:82.00, Z:0.46 [[ 5.98365816e-01 -8.01222863e-01 5.23451955e-04 1.96343929e+02] [ 8.01222516e-01 5.98366044e-01 7.46198547e-04 8.19958986e+01] [-9.11087212e-04 -2.70982099e-05 9.99999585e-01 4.61941013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440281693 meters 0.03749973038410812 Centerline is valid? [True, True] Translation: X:196.35, Y:82.02, Z:0.46 [[ 5.98770805e-01 -8.00920421e-01 -5.91493794e-05 1.96354795e+02] [ 8.00920416e-01 5.98770807e-01 -8.37779100e-05 8.20212467e+01] [ 1.02516361e-04 2.78982101e-06 9.99999995e-01 4.60205305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470281693 meters 0.03648538109428822 Centerline is valid? [True, True] Translation: X:196.37, Y:82.04, Z:0.46 [[ 5.99360651e-01 -8.00478784e-01 -7.25395628e-04 1.96369995e+02] [ 8.00478119e-01 5.99361088e-01 -1.03311105e-03 8.20447726e+01] [ 1.26175739e-03 3.85427818e-05 9.99999203e-01 4.58321742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500281693 meters 0.04031377924242056 Centerline is valid? [True, True] Translation: X:196.38, Y:82.07, Z:0.46 [[ 6.00305947e-01 -7.99769166e-01 -1.43252772e-03 1.96376591e+02] [ 7.99766564e-01 6.00307651e-01 -2.04164724e-03 8.20726212e+01] [ 2.49280386e-03 7.99252018e-05 9.99996890e-01 4.56088542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530281693 meters 0.03909394946366234 Centerline is valid? [True, True] Translation: X:196.39, Y:82.10, Z:0.46 [[ 6.00301508e-01 -7.99772442e-01 -1.46285540e-03 1.96391087e+02] [ 7.99769727e-01 6.00303285e-01 -2.08561851e-03 8.20951550e+01] [ 2.54617711e-03 8.20524702e-05 9.99996755e-01 4.55907489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560281693 meters 0.04373210952922629 Centerline is valid? [True, True] Translation: X:196.40, Y:82.12, Z:0.46 [[ 5.99263291e-01 -8.00550236e-01 -1.68142677e-03 1.96397382e+02] [ 8.00546649e-01 5.99265643e-01 -2.39837267e-03 8.21235984e+01] [ 2.92763910e-03 9.11961337e-05 9.99995710e-01 4.55942887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590281693 meters 0.03757566038746376 Centerline is valid? [True, True] Translation: X:196.42, Y:82.14, Z:0.46 [[ 5.98202274e-01 -8.01342796e-01 -1.93976550e-03 1.96418235e+02] [ 8.01338022e-01 5.98205410e-01 -2.76800746e-03 8.21437993e+01] [ 3.37850105e-03 1.01420503e-04 9.99994288e-01 4.55593405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620281693 meters 0.03705511635581671 Centerline is valid? [True, True] Translation: X:196.43, Y:82.17, Z:0.45 [[ 5.96952616e-01 -8.02273865e-01 -2.05420583e-03 1.96432566e+02] [ 8.02268512e-01 5.96956142e-01 -2.93244111e-03 8.21669878e+01] [ 3.57889165e-03 1.02503735e-04 9.99993591e-01 4.54623972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65028169299998 meters 0.03961467718912286 Centerline is valid? [True, True] Translation: X:196.44, Y:82.19, Z:0.45 [[ 5.95543487e-01 -8.03320522e-01 -2.02324110e-03 1.96442989e+02] [ 8.03315332e-01 5.95546916e-01 -2.88942414e-03 8.21918096e+01] [ 3.52606871e-03 9.54771278e-05 9.99993779e-01 4.54260089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68028169299998 meters 0.03306698759138116 Centerline is valid? [True, True] Translation: X:196.46, Y:82.21, Z:0.46 [[ 5.93861198e-01 -8.04565875e-01 -1.62193809e-03 1.96462694e+02] [ 8.04562541e-01 5.93863409e-01 -2.31717175e-03 8.22127702e+01] [ 2.82752700e-03 7.11277606e-05 9.99996000e-01 4.56393244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71028169299998 meters 0.03166212972502436 Centerline is valid? [True, True] Translation: X:196.48, Y:82.24, Z:0.46 [[ 5.93510265e-01 -8.04825201e-01 -1.40042795e-03 1.96476755e+02] [ 8.04822715e-01 5.93511914e-01 -2.00140332e-03 8.22354678e+01] [ 2.44195050e-03 6.07571919e-05 9.99997017e-01 4.57351595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.740281693 meters 0.03360387808396223 Centerline is valid? [True, True] Translation: X:196.48, Y:82.26, Z:0.46 [[ 5.93636758e-01 -8.04731079e-01 -1.81375185e-03 1.96484619e+02] [ 8.04726904e-01 5.93639523e-01 -2.59351335e-03 8.22624153e+01] [ 3.16379558e-03 8.00299484e-05 9.99994992e-01 4.56003462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.770281693 meters 0.034176564969667096 Centerline is valid? [True, True] Translation: X:196.50, Y:82.29, Z:0.45 [[ 5.93513053e-01 -8.04821280e-01 -2.22786986e-03 1.96496763e+02] [ 8.04814974e-01 5.93517226e-01 -3.18733507e-03 8.22861107e+01] [ 3.88751423e-03 9.87019428e-05 9.99992439e-01 4.53974746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.800281693 meters 0.032287375715566086 Centerline is valid? [True, True] Translation: X:196.51, Y:82.31, Z:0.45 [[ 5.91668559e-01 -8.06179028e-01 -1.92104371e-03 1.96509550e+02] [ 8.06174343e-01 5.91671673e-01 -2.74949856e-03 8.23100248e+01] [ 3.35321522e-03 7.80957006e-05 9.99994375e-01 4.54268610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.830281693 meters 0.030245642432035275 Centerline is valid? [True, True] Translation: X:196.52, Y:82.33, Z:0.46 [[ 5.89790335e-01 -8.07555087e-01 -1.46324429e-03 1.96524475e+02] [ 8.07552372e-01 5.89792148e-01 -2.09501855e-03 8.23315741e+01] [ 2.55485288e-03 5.39752997e-05 9.99996735e-01 4.55614141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.860281693 meters 0.027433421610020155 Centerline is valid? [True, True] Translation: X:196.54, Y:82.35, Z:0.46 [[ 5.87455757e-01 -8.09255535e-01 -1.10098317e-03 1.96541833e+02] [ 8.09253999e-01 5.87456788e-01 -1.57688126e-03 8.23528456e+01] [ 1.92287993e-03 3.53729421e-05 9.99998151e-01 4.57001526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.890281693 meters 0.02085879679156097 Centerline is valid? [True, True] Translation: X:196.56, Y:82.37, Z:0.46 [[ 5.82032031e-01 -8.13165619e-01 -6.24387621e-04 1.96563910e+02] [ 8.13165128e-01 5.82032366e-01 -8.94327457e-04 8.23683066e+01] [ 1.09065014e-03 1.27969869e-05 9.99999405e-01 4.58492515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.920281693 meters 0.01787876787780867 Centerline is valid? [True, True] Translation: X:196.58, Y:82.39, Z:0.46 [[ 5.79004571e-01 -8.15323971e-01 -7.26881702e-04 1.96582955e+02] [ 8.15323306e-01 5.79005028e-01 -1.04176421e-03 8.23869519e+01] [ 1.27024349e-03 1.05426486e-05 9.99999193e-01 4.58482915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.950281693 meters 0.01455753087670959 Centerline is valid? [True, True] Translation: X:196.60, Y:82.41, Z:0.46 [[ 5.74510329e-01 -8.18496563e-01 -1.12119709e-03 1.96604362e+02] [ 8.18494984e-01 5.74511423e-01 -1.60801266e-03 8.24050775e+01] [ 1.96029337e-03 6.12569094e-06 9.99998079e-01 4.58449896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.980281693 meters 0.013995813129216191 Centerline is valid? [True, True] Translation: X:196.62, Y:82.42, Z:0.46 [[ 5.72727434e-01 -8.19745006e-01 -1.18789953e-03 1.96621378e+02] [ 8.19743234e-01 5.72728666e-01 -1.70443543e-03 8.24241737e+01] [ 2.07754655e-03 2.40433132e-06 9.99997842e-01 4.58186630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.010281693 meters 0.013981828823294998 Centerline is valid? [True, True] Translation: X:196.64, Y:82.44, Z:0.46 [[ 5.71221097e-01 -8.20795403e-01 -1.16831038e-03 1.96638821e+02] [ 8.20793690e-01 5.71222292e-01 -1.67695041e-03 8.24436355e+01] [ 2.04379812e-03 -1.03233379e-06 9.99997911e-01 4.57591892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.040281693 meters 0.014213575335313821 Centerline is valid? [True, True] Translation: X:196.66, Y:82.46, Z:0.46 [[ 5.69549338e-01 -8.21956382e-01 -1.12145138e-03 1.96656867e+02] [ 8.21954805e-01 5.69550442e-01 -1.61041005e-03 8.24637118e+01] [ 1.96240995e-03 -4.57436725e-06 9.99998074e-01 4.57648094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.070281693 meters 0.015473539131490547 Centerline is valid? [True, True] Translation: X:196.68, Y:82.48, Z:0.46 [[ 5.66851413e-01 -8.23819605e-01 -8.56768522e-04 1.96675954e+02] [ 8.23818685e-01 5.66852061e-01 -1.23072166e-03 8.24815861e+01] [ 1.49955364e-03 -8.18560279e-06 9.99998876e-01 4.59135293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.100281693 meters 0.016220635418655892 Centerline is valid? [True, True] Translation: X:196.69, Y:82.50, Z:0.46 [[ 5.65489179e-01 -8.24754725e-01 -1.27772723e-03 1.96693270e+02] [ 8.24752679e-01 5.65490622e-01 -1.83673799e-03 8.25019919e+01] [ 2.23740110e-03 -1.51535003e-05 9.99997497e-01 4.57836978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.130281693 meters 0.0172125891697062 Centerline is valid? [True, True] Translation: X:196.71, Y:82.52, Z:0.45 [[ 5.63262249e-01 -8.26274128e-01 -2.58910192e-03 1.96713770e+02] [ 8.26265736e-01 5.63268198e-01 -3.72427221e-03 8.25216543e+01] [ 4.53562855e-03 -4.15442626e-05 9.99989713e-01 4.53677121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.160281693 meters 0.020203600978113148 Centerline is valid? [True, True] Translation: X:196.74, Y:82.54, Z:0.45 [[ 5.61880287e-01 -8.27213605e-01 -2.86285041e-03 1.96735171e+02] [ 8.27203349e-01 5.61887577e-01 -4.11948401e-03 8.25390761e+01] [ 5.01629330e-03 -5.35025944e-05 9.99987417e-01 4.51852715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190281693 meters 0.020139150164055944 Centerline is valid? [True, True] Translation: X:196.75, Y:82.56, Z:0.45 [[ 5.60165298e-01 -8.28376582e-01 -2.66023758e-03 1.96752284e+02] [ 8.28367733e-01 5.60171612e-01 -3.82933765e-03 8.25607846e+01] [ 4.66232321e-03 -5.85929080e-05 9.99989130e-01 4.53510717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220281693 meters 0.02257815310702018 Centerline is valid? [True, True] Translation: X:196.77, Y:82.58, Z:0.46 [[ 5.57260525e-01 -8.30335266e-01 -2.01337112e-03 1.96774098e+02] [ 8.30330206e-01 5.57264159e-01 -2.89930824e-03 8.25789289e+01] [ 3.52937744e-03 -5.60928255e-05 9.99993770e-01 4.56271418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250281693 meters 0.026039975636479612 Centerline is valid? [True, True] Translation: X:196.80, Y:82.60, Z:0.46 [[ 5.56063958e-01 -8.31137619e-01 -1.77018528e-03 1.96795790e+02] [ 8.31133708e-01 5.56066773e-01 -2.55019134e-03 8.25960225e+01] [ 3.10390118e-03 -5.31911653e-05 9.99995181e-01 4.56775453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280281693 meters 0.025142331199261916 Centerline is valid? [True, True] Translation: X:196.81, Y:82.62, Z:0.46 [[ 5.54509904e-01 -8.32175617e-01 -1.58413233e-03 1.96812376e+02] [ 8.32172486e-01 5.54512164e-01 -2.28313797e-03 8.26175429e+01] [ 2.77839239e-03 -5.22487201e-05 9.99996139e-01 4.57013778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310281693 meters 0.02694044624303044 Centerline is valid? [True, True] Translation: X:196.84, Y:82.63, Z:0.45 [[ 5.52780737e-01 -8.33323116e-01 -2.45796575e-03 1.96835555e+02] [ 8.33315582e-01 5.52786195e-01 -3.54454796e-03 8.26347212e+01] [ 4.31248329e-03 -8.89033258e-05 9.99990697e-01 4.53687621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340281693 meters 0.027101842221671238 Centerline is valid? [True, True] Translation: X:196.85, Y:82.65, Z:0.45 [[ 5.52624118e-01 -8.33426426e-01 -2.64120653e-03 1.96853811e+02] [ 8.33417720e-01 5.52630421e-01 -3.81065942e-03 8.26537880e+01] [ 4.63551534e-03 -9.53660248e-05 9.99989251e-01 4.52989930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370281693 meters 0.026620416555500015 Centerline is valid? [True, True] Translation: X:196.88, Y:82.67, Z:0.45 [[ 5.52815597e-01 -8.33299368e-01 -2.66041880e-03 1.96875051e+02] [ 8.33290525e-01 5.52821991e-01 -3.84029449e-03 8.26712241e+01] [ 4.67085299e-03 -9.39270844e-05 9.99989087e-01 4.53854757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40028169299998 meters 0.027424443541055925 Centerline is valid? [True, True] Translation: X:196.89, Y:82.69, Z:0.45 [[ 5.52679417e-01 -8.33389689e-01 -2.66251133e-03 1.96893705e+02] [ 8.33380824e-01 5.52685822e-01 -3.84500672e-03 8.26897045e+01] [ 4.67592122e-03 -9.38298204e-05 9.99989063e-01 4.54887797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43028169299998 meters 0.02664149135600754 Centerline is valid? [True, True] Translation: X:196.91, Y:82.71, Z:0.46 [[ 5.52713589e-01 -8.33367829e-01 -2.39786702e-03 1.96910580e+02] [ 8.33360633e-01 5.52718784e-01 -3.46431965e-03 8.27094971e+01] [ 4.21239869e-03 -8.35114284e-05 9.99991124e-01 4.55678304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46028169299998 meters 0.02446425263992057 Centerline is valid? [True, True] Translation: X:196.93, Y:82.73, Z:0.46 [[ 5.54039462e-01 -8.32488889e-01 -1.58883713e-03 1.96930936e+02] [ 8.32485723e-01 5.54041738e-01 -2.29629374e-03 8.27290024e+01] [ 2.79192111e-03 -5.04468755e-05 9.99996101e-01 4.57644450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.490281693 meters 0.02378173743441875 Centerline is valid? [True, True] Translation: X:196.95, Y:82.75, Z:0.46 [[ 5.55221198e-01 -8.31701647e-01 -1.33850032e-03 1.96947711e+02] [ 8.31699396e-01 5.55222810e-01 -1.93521936e-03 8.27487438e+01] [ 2.35269104e-03 -3.87550982e-05 9.99997232e-01 4.58478274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.520281693 meters 0.019391137193488242 Centerline is valid? [True, True] Translation: X:196.96, Y:82.77, Z:0.46 [[ 5.59280957e-01 -8.28977330e-01 -1.18217462e-03 1.96960550e+02] [ 8.28975567e-01 5.59282206e-01 -1.70991703e-03 8.27728297e+01] [ 2.07865168e-03 -2.36698426e-05 9.99997839e-01 4.59342952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.550281693 meters 0.01707188628742612 Centerline is valid? [True, True] Translation: X:196.97, Y:82.80, Z:0.46 [[ 5.62019804e-01 -8.27122477e-01 -1.46580644e-03 1.96972489e+02] [ 8.27119757e-01 5.62021715e-01 -2.12122525e-03 8.27961263e+01] [ 2.57832814e-03 -2.02268696e-05 9.99996676e-01 4.58953528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.580281693 meters 0.014543126819302303 Centerline is valid? [True, True] Translation: X:196.98, Y:82.83, Z:0.46 [[ 5.69228911e-01 -8.22174998e-01 -2.59222850e-03 1.96978264e+02] [ 8.22166432e-01 5.69234813e-01 -3.75322063e-03 8.28251149e+01] [ 4.56139087e-03 5.19843686e-06 9.99989597e-01 4.55453117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.610281693 meters 0.01643128303100758 Centerline is valid? [True, True] Translation: X:196.99, Y:82.85, Z:0.45 [[ 5.72965459e-01 -8.19573489e-01 -3.14317180e-03 1.96986899e+02] [ 8.19560842e-01 5.72974079e-01 -4.55304727e-03 8.28524563e+01] [ 5.53251280e-03 3.27182869e-05 9.99984695e-01 4.54014605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.640281693 meters 0.01643128303100758 Centerline is valid? [True, True] Translation: X:197.00, Y:82.87, Z:0.45 [[ 5.72779703e-01 -8.19703323e-01 -3.14217768e-03 1.97001316e+02] [ 8.19690675e-01 5.72788321e-01 -4.55373334e-03 8.28738747e+01] [ 5.53251303e-03 3.26722854e-05 9.99984695e-01 4.54065972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.670281693 meters 0.019618280195417514 Centerline is valid? [True, True] Translation: X:197.01, Y:82.90, Z:0.45 [[ 5.76197888e-01 -8.17303089e-01 -3.41392404e-03 1.97008331e+02] [ 8.17288104e-01 5.76207998e-01 -4.94961732e-03 8.29001566e+01] [ 6.01246786e-03 6.17995416e-05 9.99981923e-01 4.53725260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.700281693 meters 0.025184421087950673 Centerline is valid? [True, True] Translation: X:197.01, Y:82.93, Z:0.45 [[ 5.78907909e-01 -8.15387834e-01 -2.88339546e-03 1.97013317e+02] [ 8.15377113e-01 5.78915085e-01 -4.18185459e-03 8.29278901e+01] [ 5.07907448e-03 6.98540280e-05 9.99987099e-01 4.54539690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.730281693 meters 0.024951684909974528 Centerline is valid? [True, True] Translation: X:197.03, Y:82.95, Z:0.46 [[ 5.81805985e-01 -8.13327318e-01 -6.84851573e-04 1.97026884e+02] [ 8.13326712e-01 5.81806388e-01 -9.93105318e-04 8.29512165e+01] [ 1.20617071e-03 2.07865399e-05 9.99999272e-01 4.61992948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.760281693 meters 0.02569200093171754 Centerline is valid? [True, True] Translation: X:197.04, Y:82.98, Z:0.46 [[ 5.82543449e-01 -8.12799563e-01 2.76987670e-05 1.97038914e+02] [ 8.12799562e-01 5.82543450e-01 4.09546051e-05 8.29756308e+01] [-4.94236204e-05 -1.34429120e-06 9.99999999e-01 4.64297510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.790281693 meters 0.029610110448478038 Centerline is valid? [True, True] Translation: X:197.05, Y:83.00, Z:0.46 [[ 5.82619906e-01 -8.12744661e-01 -4.01985023e-04 1.97046967e+02] [ 8.12744452e-01 5.82620044e-01 -5.83247270e-04 8.30019705e+01] [ 7.08235637e-04 1.31003724e-05 9.99999749e-01 4.63346373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.820281693 meters 0.029273688389357806 Centerline is valid? [True, True] Translation: X:197.06, Y:83.02, Z:0.46 [[ 5.82958831e-01 -8.12501125e-01 -9.61034078e-04 1.97060307e+02] [ 8.12499927e-01 5.82959622e-01 -1.39563867e-03 8.30247009e+01] [ 1.69420205e-03 3.27597664e-05 9.99998564e-01 4.61588479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.850281693 meters 0.027686855436801043 Centerline is valid? [True, True] Translation: X:197.08, Y:83.05, Z:0.46 [[ 5.83547500e-01 -8.12077883e-01 -1.35201159e-03 1.97075708e+02] [ 8.12075507e-01 5.83549064e-01 -1.96465113e-03 8.30471343e+01] [ 2.38441483e-03 4.85317596e-05 9.99997156e-01 4.60147664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.880281693 meters 0.03320341118022491 Centerline is valid? [True, True] Translation: X:197.08, Y:83.08, Z:0.46 [[ 5.84959620e-01 -8.11061176e-01 -1.41842271e-03 1.97079574e+02] [ 8.11058557e-01 5.84961337e-01 -2.06210820e-03 8.30773401e+01] [ 2.50221835e-03 5.58261486e-05 9.99996868e-01 4.59533522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.910281693 meters 0.03104314099922299 Centerline is valid? [True, True] Translation: X:197.09, Y:83.10, Z:0.46 [[ 5.86326244e-01 -8.10074526e-01 -8.93355641e-04 1.97092425e+02] [ 8.10073485e-01 5.86326923e-01 -1.29906409e-03 8.31024530e+01] [ 1.57613719e-03 3.79916510e-05 9.99998757e-01 4.61569042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940281693 meters 0.0330530006460398 Centerline is valid? [True, True] Translation: X:197.10, Y:83.13, Z:0.46 [[ 5.86694923e-01 -8.09807447e-01 -9.82529195e-04 1.97103653e+02] [ 8.09806187e-01 5.86695745e-01 -1.42937144e-03 8.31280167e+01] [ 1.73396134e-03 4.29467483e-05 9.99998496e-01 4.61053740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970281693 meters 0.033511027212527016 Centerline is valid? [True, True] Translation: X:197.12, Y:83.15, Z:0.46 [[ 5.86694654e-01 -8.09807099e-01 -1.35849854e-03 1.97116699e+02] [ 8.09804687e-01 5.86696224e-01 -1.97743780e-03 8.31516932e+01] [ 2.39836913e-03 6.00337029e-05 9.99997122e-01 4.59692230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000281693 meters 0.03323077759177438 Centerline is valid? [True, True] Translation: X:197.13, Y:83.17, Z:0.46 [[ 5.85941006e-01 -8.10352038e-01 -1.64647132e-03 1.97129621e+02] [ 8.10348494e-01 5.85943315e-01 -2.39786768e-03 8.31739617e+01] [ 2.90785582e-03 7.07934417e-05 9.99995770e-01 4.58021021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030281693 meters 0.03007336615109421 Centerline is valid? [True, True] Translation: X:197.14, Y:83.20, Z:0.46 [[ 5.83134675e-01 -8.12372497e-01 -2.20825515e-03 1.97144862e+02] [ 8.12366128e-01 5.83138850e-01 -3.21783897e-03 8.31962021e+01] [ 3.90180325e-03 8.25217939e-05 9.99992385e-01 4.56025446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060281693 meters 0.028053661483818007 Centerline is valid? [True, True] Translation: X:197.16, Y:83.22, Z:0.46 [[ 5.81123603e-01 -8.13812055e-01 -2.30144465e-03 1.97160359e+02] [ 8.13805143e-01 5.81128155e-01 -3.35508202e-03 8.32183623e+01] [ 4.06784048e-03 7.67898548e-05 9.99991723e-01 4.56051579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090281693 meters 0.023459144768781807 Centerline is valid? [True, True] Translation: X:197.18, Y:83.24, Z:0.46 [[ 5.77261330e-01 -8.16557688e-01 -1.70256283e-03 1.97177251e+02] [ 8.16553914e-01 5.77263839e-01 -2.48290152e-03 8.32384377e+01] [ 3.01026028e-03 4.30486867e-05 9.99995468e-01 4.59092752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120281693 meters 0.02195485573054224 Centerline is valid? [True, True] Translation: X:197.19, Y:83.26, Z:0.46 [[ 5.75904474e-01 -8.17516144e-01 -1.17924784e-03 1.97192358e+02] [ 8.17514335e-01 5.75905681e-01 -1.72028839e-03 8.32597450e+01] [ 2.08549907e-03 2.66697695e-05 9.99997825e-01 4.61697207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15028169299998 meters 0.020418089968150026 Centerline is valid? [True, True] Translation: X:197.21, Y:83.28, Z:0.46 [[ 5.74189429e-01 -8.18722174e-01 -7.08216749e-04 1.97207543e+02] [ 8.18721522e-01 5.74189866e-01 -1.03333116e-03 8.32809686e+01] [ 1.25266202e-03 1.34955360e-05 9.99999215e-01 4.63421270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18028169299998 meters 0.019713666858752702 Centerline is valid? [True, True] Translation: X:197.22, Y:83.30, Z:0.46 [[ 5.73399214e-01 -8.19275446e-01 -1.04170172e-03 1.97222982e+02] [ 8.19274034e-01 5.73400160e-01 -1.52100036e-03 8.33028227e+01] [ 1.84343019e-03 1.87012385e-05 9.99998301e-01 4.62224513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21028169299998 meters 0.019246667203671037 Centerline is valid? [True, True] Translation: X:197.24, Y:83.32, Z:0.46 [[ 5.72650145e-01 -8.19798443e-01 -1.52464379e-03 1.97237309e+02] [ 8.19795417e-01 5.72652174e-01 -2.22759159e-03 8.33240822e+01] [ 2.69926670e-03 2.57346592e-05 9.99996357e-01 4.60392382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.240281693 meters 0.018055730534133386 Centerline is valid? [True, True] Translation: X:197.25, Y:83.35, Z:0.46 [[ 5.71934429e-01 -8.20297804e-01 -1.58808309e-03 1.97253839e+02] [ 8.20294519e-01 5.71936633e-01 -2.32147130e-03 8.33450818e+01] [ 2.81258070e-03 2.50335023e-05 9.99996044e-01 4.59956293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.270281693 meters 0.016950394993343016 Centerline is valid? [True, True] Translation: X:197.27, Y:83.36, Z:0.46 [[ 5.70328741e-01 -8.21415848e-01 -1.06425655e-03 1.97269535e+02] [ 8.21414374e-01 5.70329734e-01 -1.55625288e-03 8.33646899e+01] [ 1.88530793e-03 1.33801175e-05 9.99998223e-01 4.61612015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.300281693 meters 0.016282583979034274 Centerline is valid? [True, True] Translation: X:197.29, Y:83.38, Z:0.46 [[ 5.68957323e-01 -8.22366265e-01 -1.13611385e-03 1.97285486e+02] [ 8.22364586e-01 5.68958457e-01 -1.66203423e-03 8.33847598e+01] [ 2.01320247e-03 1.13267470e-05 9.99997973e-01 4.61980469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.330281693 meters 0.014778009689793975 Centerline is valid? [True, True] Translation: X:197.31, Y:83.40, Z:0.46 [[ 5.65492080e-01 -8.24752469e-01 -1.43958929e-03 1.97306543e+02] [ 8.24749777e-01 5.65493913e-01 -2.10728574e-03 8.34024901e+01] [ 2.55206810e-03 4.35245214e-06 9.99996743e-01 4.61414849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.360281693 meters 0.014721977886459767 Centerline is valid? [True, True] Translation: X:197.33, Y:83.42, Z:0.46 [[ 5.63039709e-01 -8.26428604e-01 -1.43107715e-03 1.97325933e+02] [ 8.26425947e-01 5.63041528e-01 -2.09583781e-03 8.34213512e+01] [ 2.53781618e-03 -2.63938312e-06 9.99996780e-01 4.61641889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.390281693 meters 0.01543207327436793 Centerline is valid? [True, True] Translation: X:197.35, Y:83.44, Z:0.46 [[ 5.60434691e-01 -8.28197730e-01 -1.21544672e-03 1.97345540e+02] [ 8.28195816e-01 5.60436009e-01 -1.78078906e-03 8.34384748e+01] [ 2.15602557e-03 -8.61191823e-06 9.99997676e-01 4.61518322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.420281693 meters 0.019493869471112684 Centerline is valid? [True, True] Translation: X:197.37, Y:83.45, Z:0.46 [[ 5.55321764e-01 -8.31633725e-01 -1.75658625e-03 1.97372630e+02] [ 8.31629739e-01 5.55324541e-01 -2.57522220e-03 8.34531529e+01] [ 3.11711709e-03 -3.07524327e-05 9.99995141e-01 4.58933316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.450281693 meters 0.019917635892822926 Centerline is valid? [True, True] Translation: X:197.39, Y:83.47, Z:0.46 [[ 5.53499718e-01 -8.32846465e-01 -2.19709677e-03 1.97390784e+02] [ 8.32840232e-01 5.53504077e-01 -3.22258960e-03 8.34736904e+01] [ 3.90002438e-03 -4.61281488e-05 9.99992394e-01 4.58016333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.480281693 meters 0.022243656038218346 Centerline is valid? [True, True] Translation: X:197.41, Y:83.49, Z:0.46 [[ 5.51783321e-01 -8.33983923e-01 -2.44585454e-03 1.97412924e+02] [ 8.33976202e-01 5.51788739e-01 -3.58918561e-03 8.34905603e+01] [ 4.34291809e-03 -5.93317200e-05 9.99990568e-01 4.59093989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.510281693 meters 0.021910056934872215 Centerline is valid? [True, True] Translation: X:197.43, Y:83.51, Z:0.46 [[ 5.51967913e-01 -8.33861847e-01 -2.41744368e-03 1.97428502e+02] [ 8.33854295e-01 5.51973204e-01 -3.54916899e-03 8.35122567e+01] [ 4.29388074e-03 -5.67683950e-05 9.99990780e-01 4.59516156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.540281693 meters 0.021093432460664037 Centerline is valid? [True, True] Translation: X:197.44, Y:83.53, Z:0.46 [[ 5.52511879e-01 -8.33501211e-01 -2.52093104e-03 1.97442542e+02] [ 8.33492987e-01 5.52517627e-01 -3.70291629e-03 8.35340107e+01] [ 4.47924405e-03 -5.52731046e-05 9.99989967e-01 4.59435539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.570281693 meters 0.03197153327191995 Centerline is valid? [True, True] Translation: X:197.46, Y:83.55, Z:0.46 [[ 5.53738582e-01 -8.32684522e-01 -3.17330886e-03 1.97458620e+02] [ 8.32671464e-01 5.53747672e-01 -4.66363928e-03 8.35546612e+01] [ 5.64055264e-03 -5.98867349e-05 9.99984090e-01 4.63906925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.600281693 meters 0.019692658302330822 Centerline is valid? [True, True] Translation: X:197.48, Y:83.57, Z:0.46 [[ 5.53870550e-01 -8.32596863e-01 -3.14297614e-03 1.97475204e+02] [ 8.32584039e-01 5.53879464e-01 -4.62137138e-03 8.35738301e+01] [ 5.58856925e-03 -5.71502583e-05 9.99984382e-01 4.55825150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.630281693 meters 0.01874232205880786 Centerline is valid? [True, True] Translation: X:197.49, Y:83.60, Z:0.46 [[ 5.53721303e-01 -8.32696249e-01 -3.11041338e-03 1.97489959e+02] [ 8.32683679e-01 5.53730036e-01 -4.57580241e-03 8.35951213e+01] [ 5.53258282e-03 -5.62711840e-05 9.99984694e-01 4.56880758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.660281693 meters 0.01976584234738209 Centerline is valid? [True, True] Translation: X:197.51, Y:83.61, Z:0.46 [[ 5.53291375e-01 -8.32982184e-01 -3.05528560e-03 1.97509182e+02] [ 8.32970047e-01 5.53299808e-01 -4.49702412e-03 8.36126593e+01] [ 5.43642991e-03 -5.67967270e-05 9.99985221e-01 4.56994312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690281693 meters 0.02055261772588259 Centerline is valid? [True, True] Translation: X:197.53, Y:83.63, Z:0.46 [[ 5.53088773e-01 -8.33115912e-01 -3.26884370e-03 1.97526974e+02] [ 8.33102007e-01 5.53098430e-01 -4.81387739e-03 8.36308105e+01] [ 5.81851017e-03 -6.07787114e-05 9.99983070e-01 4.56275187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720281693 meters 0.01857391618005788 Centerline is valid? [True, True] Translation: X:197.54, Y:83.65, Z:0.46 [[ 5.53480012e-01 -8.32857178e-01 -2.96602940e-03 1.97544212e+02] [ 8.32845714e-01 5.53487957e-01 -4.37004692e-03 8.36509699e+01] [ 5.28128650e-03 -5.15112468e-05 9.99986053e-01 4.58892472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750281693 meters 0.01805948589163513 Centerline is valid? [True, True] Translation: X:197.56, Y:83.67, Z:0.46 [[ 5.54348626e-01 -8.32279178e-01 -2.99502617e-03 1.97558691e+02] [ 8.32267469e-01 5.54356715e-01 -4.41504359e-03 8.36722717e+01] [ 5.33486172e-03 -4.51895026e-05 9.99985769e-01 4.58918198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780281693 meters 0.016557228919260727 Centerline is valid? [True, True] Translation: X:197.57, Y:83.70, Z:0.46 [[ 5.55854253e-01 -8.31274667e-01 -2.91176923e-03 1.97571072e+02] [ 8.31263574e-01 5.55861878e-01 -4.29447030e-03 8.36954868e+01] [ 5.18842588e-03 -3.33481172e-05 9.99986539e-01 4.59537789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810281693 meters 0.014847055367495593 Centerline is valid? [True, True] Translation: X:197.58, Y:83.72, Z:0.46 [[ 5.59986530e-01 -8.28499289e-01 -2.00347467e-03 1.97582651e+02] [ 8.28494016e-01 5.59990114e-01 -2.95607542e-03 8.37187917e+01] [ 3.57103239e-03 -4.50436112e-06 9.99993624e-01 4.61299458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840281693 meters 0.01470577424179922 Centerline is valid? [True, True] Translation: X:197.59, Y:83.74, Z:0.46 [[ 5.61772450e-01 -8.27289644e-01 -1.88656396e-03 1.97594546e+02] [ 8.27284956e-01 5.61775618e-01 -2.78490978e-03 8.37412454e+01] [ 3.36375266e-03 3.75961165e-06 9.99994343e-01 4.62012548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870281693 meters 0.015790618963513164 Centerline is valid? [True, True] Translation: X:197.61, Y:83.77, Z:0.46 [[ 5.64410348e-01 -8.25490141e-01 -2.64296415e-03 1.97605900e+02] [ 8.25480912e-01 5.64416536e-01 -3.90362552e-03 8.37660348e+01] [ 4.71413705e-03 2.15301880e-05 9.99988888e-01 4.60068737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90028169299998 meters 0.0162678267424524 Centerline is valid? [True, True] Translation: X:197.62, Y:83.79, Z:0.46 [[ 5.64744327e-01 -8.25260869e-01 -2.88825579e-03 1.97619931e+02] [ 8.25249833e-01 5.64751712e-01 -4.26798994e-03 8.37885032e+01] [ 5.15335250e-03 2.67904977e-05 9.99986721e-01 4.58882292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93028169299998 meters 0.016537246569060932 Centerline is valid? [True, True] Translation: X:197.63, Y:83.81, Z:0.46 [[ 5.64963623e-01 -8.25111441e-01 -2.68618767e-03 1.97634166e+02] [ 8.25101884e-01 5.64970008e-01 -3.97132561e-03 8.38098676e+01] [ 4.79440166e-03 2.72759934e-05 9.99988506e-01 4.59801079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96028169299998 meters 0.01675060721973674 Centerline is valid? [True, True] Translation: X:197.65, Y:83.83, Z:0.46 [[ 5.65097916e-01 -8.25021410e-01 -2.00463120e-03 1.97646643e+02] [ 8.25016082e-01 5.65101471e-01 -2.96498882e-03 8.38316857e+01] [ 3.57899929e-03 2.16560277e-05 9.99993595e-01 4.62543511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.990281693 meters 0.016385336141091243 Centerline is valid? [True, True] Translation: X:197.66, Y:83.85, Z:0.46 [[ 5.64511445e-01 -8.25423516e-01 -1.68746806e-03 1.97660125e+02] [ 8.25419740e-01 5.64513967e-01 -2.49699123e-03 8.38537469e+01] [ 3.01367457e-03 1.67106811e-05 9.99995459e-01 4.63519955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.020281693 meters 0.015580662736789066 Centerline is valid? [True, True] Translation: X:197.67, Y:83.87, Z:0.46 [[ 5.62677022e-01 -8.26675160e-01 -1.65789233e-03 1.97674962e+02] [ 8.26671517e-01 5.62679464e-01 -2.45431349e-03 8.38740305e+01] [ 2.96178197e-03 1.04534404e-05 9.99995614e-01 4.63454637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.050281693 meters 0.015060742025732014 Centerline is valid? [True, True] Translation: X:197.69, Y:83.90, Z:0.46 [[ 5.61689150e-01 -8.27347028e-01 -1.48145287e-03 1.97691432e+02] [ 8.27344119e-01 5.61691103e-01 -2.19394138e-03 8.38950142e+01] [ 2.64726978e-03 6.64174791e-06 9.99996496e-01 4.64098492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.080281693 meters 0.01475543367702262 Centerline is valid? [True, True] Translation: X:197.71, Y:83.92, Z:0.46 [[ 5.61003162e-01 -8.27812506e-01 -1.38136422e-03 1.97706797e+02] [ 8.27809976e-01 5.61004862e-01 -2.04665148e-03 8.39158314e+01] [ 2.46919573e-03 4.67086554e-06 9.99996952e-01 4.64236706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.110281693 meters 0.014783342355312675 Centerline is valid? [True, True] Translation: X:197.72, Y:83.94, Z:0.46 [[ 5.59500753e-01 -8.28827272e-01 -2.06413167e-03 1.97722750e+02] [ 8.28821623e-01 5.59504560e-01 -3.06020759e-03 8.39361636e+01] [ 3.69127458e-03 1.39149179e-06 9.99993187e-01 4.61479266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.140281693 meters 0.014930311795041479 Centerline is valid? [True, True] Translation: X:197.74, Y:83.96, Z:0.46 [[ 5.58755996e-01 -8.29327227e-01 -2.84379503e-03 1.97738359e+02] [ 8.29316497e-01 5.58763233e-01 -4.21861555e-03 8.39567962e+01] [ 5.08762084e-03 -1.22940299e-06 9.99987058e-01 4.58759207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.170281693 meters 0.015338663640976198 Centerline is valid? [True, True] Translation: X:197.75, Y:83.98, Z:0.45 [[ 5.57858418e-01 -8.29925602e-01 -4.18103013e-03 1.97753734e+02] [ 8.29902402e-01 5.57874085e-01 -6.20548340e-03 8.39764159e+01] [ 7.48257791e-03 -8.06579892e-06 9.99972005e-01 4.53738391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.200281693 meters 0.015352251468766414 Centerline is valid? [True, True] Translation: X:197.77, Y:84.00, Z:0.45 [[ 5.57750709e-01 -8.29997548e-01 -4.26812813e-03 1.97766022e+02] [ 8.29973350e-01 5.57767040e-01 -6.33786730e-03 8.39983385e+01] [ 7.64103551e-03 -7.48261857e-06 9.99970807e-01 4.53767135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.230281693 meters 0.015251758949031998 Centerline is valid? [True, True] Translation: X:197.77, Y:84.02, Z:0.46 [[ 5.59298551e-01 -8.28959599e-01 -3.33380251e-03 1.97773999e+02] [ 8.28944804e-01 5.59308486e-01 -4.95273005e-03 8.40241591e+01] [ 5.97023715e-03 6.51647230e-06 9.99982178e-01 4.58319836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.260281693 meters 0.0152653260464789 Centerline is valid? [True, True] Translation: X:197.78, Y:84.05, Z:0.46 [[ 5.60384747e-01 -8.28227891e-01 -2.73776608e-03 1.97784404e+02] [ 8.28217897e-01 5.60391434e-01 -4.06884965e-03 8.40474941e+01] [ 4.90415543e-03 1.26544175e-05 9.99987974e-01 4.59921867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.290281693 meters 0.01579700503318832 Centerline is valid? [True, True] Translation: X:197.79, Y:84.07, Z:0.46 [[ 5.61529378e-01 -8.27453440e-01 -2.35842301e-03 1.97794289e+02] [ 8.27446011e-01 5.61534330e-01 -3.50633920e-03 8.40708180e+01] [ 4.22566791e-03 1.74447591e-05 9.99991072e-01 4.61822381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.320281693 meters 0.01709302928266929 Centerline is valid? [True, True] Translation: X:197.80, Y:84.10, Z:0.46 [[ 5.63327105e-01 -8.26229998e-01 -2.56180159e-03 1.97800677e+02] [ 8.26221213e-01 5.63332929e-01 -3.81033650e-03 8.40997840e+01] [ 4.59136152e-03 2.98510147e-05 9.99989459e-01 4.60651959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.350281693 meters 0.017761410224165716 Centerline is valid? [True, True] Translation: X:197.81, Y:84.12, Z:0.46 [[ 5.63708797e-01 -8.25967661e-01 -3.13276579e-03 1.97810394e+02] [ 8.25954506e-01 5.63717501e-01 -4.66195935e-03 8.41234641e+01] [ 5.61662256e-03 4.04654753e-05 9.99984226e-01 4.58170044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.380281693 meters 0.01789230690983608 Centerline is valid? [True, True] Translation: X:197.82, Y:84.15, Z:0.46 [[ 5.63345940e-01 -8.26211345e-01 -4.02070160e-03 1.97820440e+02] [ 8.26189657e-01 5.63360285e-01 -5.98655479e-03 8.41477936e+01] [ 7.21126309e-03 5.06392549e-05 9.99973997e-01 4.55011610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.410281693 meters 0.01744009321180103 Centerline is valid? [True, True] Translation: X:197.83, Y:84.17, Z:0.45 [[ 5.62374228e-01 -8.26871804e-01 -4.27176665e-03 1.97833343e+02] [ 8.26847318e-01 5.62390450e-01 -6.36358561e-03 8.41700767e+01] [ 7.66427028e-03 4.66177439e-05 9.99970628e-01 4.54090700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440281693 meters 0.016678968019161407 Centerline is valid? [True, True] Translation: X:197.85, Y:84.19, Z:0.45 [[ 5.60979330e-01 -8.27817886e-01 -4.44283412e-03 1.97847193e+02] [ 8.27791404e-01 5.60996921e-01 -6.62161811e-03 8.41919868e+01] [ 7.97391017e-03 3.68510009e-05 9.99968207e-01 4.53374551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470281693 meters 0.015923838780679062 Centerline is valid? [True, True] Translation: X:197.86, Y:84.21, Z:0.45 [[ 5.59262008e-01 -8.28979442e-01 -4.36927332e-03 1.97861628e+02] [ 8.28953845e-01 5.59279075e-01 -6.51457591e-03 8.42130738e+01] [ 7.84409264e-03 2.14288907e-05 9.99969234e-01 4.53475428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500281693 meters 0.015150534965997857 Centerline is valid? [True, True] Translation: X:197.88, Y:84.23, Z:0.46 [[ 5.55319402e-01 -8.31629478e-01 -3.57408346e-03 1.97880303e+02] [ 8.31612389e-01 5.55330903e-01 -5.33134600e-03 8.42325285e+01] [ 6.41850349e-03 -1.16522117e-05 9.99979401e-01 4.57516205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530281693 meters 0.01658717396809113 Centerline is valid? [True, True] Translation: X:197.90, Y:84.25, Z:0.46 [[ 5.52257989e-01 -8.33665298e-01 -3.64481146e-03 1.97898601e+02] [ 8.33647551e-01 5.52270015e-01 -5.43974136e-03 8.42502193e+01] [ 6.54784368e-03 -3.43475283e-05 9.99978562e-01 4.57905292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560281693 meters 0.01658717396809113 Centerline is valid? [True, True] Translation: X:197.91, Y:84.27, Z:0.46 [[ 5.52077094e-01 -8.33785108e-01 -3.64358039e-03 1.97912713e+02] [ 8.33767359e-01 5.52089116e-01 -5.44056595e-03 8.42718362e+01] [ 6.54784395e-03 -3.42865619e-05 9.99978562e-01 4.57956658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590281693 meters 0.016792902821868468 Centerline is valid? [True, True] Translation: X:197.93, Y:84.29, Z:0.46 [[ 5.51211338e-01 -8.34359099e-01 -3.30981893e-03 1.97927560e+02] [ 8.34344449e-01 5.51221274e-01 -4.94447225e-03 8.42941235e+01] [ 5.94990801e-03 -3.60798889e-05 9.99982299e-01 4.59541946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620281693 meters 0.017160390656031206 Centerline is valid? [True, True] Translation: X:197.94, Y:84.31, Z:0.46 [[ 5.50841802e-01 -8.34603974e-01 -3.08483863e-03 1.97941478e+02] [ 8.34591239e-01 5.50850439e-01 -4.61058915e-03 8.43147421e+01] [ 5.54730074e-03 -3.48740639e-05 9.99984613e-01 4.59782586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65028169299998 meters 0.01707323612257316 Centerline is valid? [True, True] Translation: X:197.96, Y:84.34, Z:0.46 [[ 5.50512661e-01 -8.34821479e-01 -2.98481543e-03 1.97955315e+02] [ 8.34809548e-01 5.50520752e-01 -4.46320869e-03 8.43369499e+01] [ 5.36918531e-03 -3.46995241e-05 9.99985585e-01 4.59937413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68028169299998 meters 0.01728225651862611 Centerline is valid? [True, True] Translation: X:197.97, Y:84.36, Z:0.46 [[ 5.48888991e-01 -8.35890987e-01 -2.67073352e-03 1.97970404e+02] [ 8.35881439e-01 5.48895487e-01 -3.99544332e-03 8.43582211e+01] [ 4.80570863e-03 -3.93617247e-05 9.99988452e-01 4.60831250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71028169299998 meters 0.019430772259552757 Centerline is valid? [True, True] Translation: X:197.99, Y:84.38, Z:0.46 [[ 5.47435819e-01 -8.36843895e-01 -2.51383731e-03 1.97989184e+02] [ 8.36835438e-01 5.47441589e-01 -3.76252823e-03 8.43775441e+01] [ 4.52482787e-03 -4.39254294e-05 9.99989762e-01 4.60826341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.740281693 meters 0.020654340473983512 Centerline is valid? [True, True] Translation: X:198.01, Y:84.40, Z:0.46 [[ 5.44875364e-01 -8.38512581e-01 -2.73659395e-03 1.98008252e+02] [ 8.38502570e-01 5.44882233e-01 -4.09789676e-03 8.43978597e+01] [ 4.92725941e-03 -6.17980701e-05 9.99987859e-01 4.61196611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.770281693 meters 0.02154450716289309 Centerline is valid? [True, True] Translation: X:198.03, Y:84.42, Z:0.46 [[ 5.43830242e-01 -8.39190040e-01 -2.95718402e-03 1.98025639e+02] [ 8.39178349e-01 5.43838277e-01 -4.43026915e-03 8.44184227e+01] [ 5.32606761e-03 -7.22904619e-05 9.99985814e-01 4.60645523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.800281693 meters 0.02284236595314836 Centerline is valid? [True, True] Translation: X:198.04, Y:84.44, Z:0.46 [[ 5.42595422e-01 -8.39986224e-01 -3.65408874e-03 1.98043100e+02] [ 8.39968373e-01 5.42607717e-01 -5.47704946e-03 8.44379330e+01] [ 6.58338284e-03 -9.74970103e-05 9.99978325e-01 4.58317957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.830281693 meters 0.023100213662196903 Centerline is valid? [True, True] Translation: X:198.06, Y:84.46, Z:0.46 [[ 5.42354266e-01 -8.40142329e-01 -3.56606553e-03 1.98057270e+02] [ 8.40125314e-01 5.42365981e-01 -5.34778578e-03 8.44592877e+01] [ 6.42701384e-03 -9.55474970e-05 9.99979342e-01 4.58464766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.860281693 meters 0.02156656858977352 Centerline is valid? [True, True] Translation: X:198.07, Y:84.48, Z:0.46 [[ 5.42584794e-01 -8.39994935e-01 -3.20185349e-03 1.98068785e+02] [ 8.39981201e-01 5.42594234e-01 -4.80399140e-03 8.44828441e+01] [ 5.77263569e-03 -8.29240572e-05 9.99983335e-01 4.60831290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.890281693 meters 0.021029272397833462 Centerline is valid? [True, True] Translation: X:198.08, Y:84.51, Z:0.46 [[ 5.44212931e-01 -8.38942232e-01 -2.86668383e-03 1.98081780e+02] [ 8.38931198e-01 5.44220478e-01 -4.30315784e-03 8.45052091e+01] [ 5.17020888e-03 -6.31163538e-05 9.99986632e-01 4.62183391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.920281693 meters 0.019984574854574555 Centerline is valid? [True, True] Translation: X:198.09, Y:84.53, Z:0.46 [[ 5.44857730e-01 -8.38524240e-01 -2.67451688e-03 1.98094652e+02] [ 8.38514622e-01 5.44864291e-01 -4.01660019e-03 8.45279410e+01] [ 4.82526536e-03 -5.41458461e-05 9.99988357e-01 4.62864792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.950281693 meters 0.01926381912205398 Centerline is valid? [True, True] Translation: X:198.11, Y:84.55, Z:0.47 [[ 5.45493409e-01 -8.38113312e-01 -1.73679775e-03 1.98107627e+02] [ 8.38109251e-01 5.45496173e-01 -2.60934136e-03 8.45497648e+01] [ 3.13434026e-03 -3.22477494e-05 9.99995087e-01 4.65843073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.980281693 meters 0.018791191872029395 Centerline is valid? [True, True] Translation: X:198.12, Y:84.57, Z:0.47 [[ 5.45496332e-01 -8.38111702e-01 -1.58934445e-03 1.98120702e+02] [ 8.38108298e-01 5.45498647e-01 -2.38893975e-03 8.45721927e+01] [ 2.86918361e-03 -2.88848996e-05 9.99995883e-01 4.66565666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.010281693 meters 0.018844584753811202 Centerline is valid? [True, True] Translation: X:198.13, Y:84.59, Z:0.47 [[ 5.45444404e-01 -8.38144668e-01 -1.97923800e-03 1.98134435e+02] [ 8.38139383e-01 5.45447994e-01 -2.97663421e-03 8.45941344e+01] [ 3.57442149e-03 -3.52888447e-05 9.99993611e-01 4.65761936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.040281693 meters 0.01865567114062187 Centerline is valid? [True, True] Translation: X:198.15, Y:84.62, Z:0.46 [[ 5.44783108e-01 -8.38570454e-01 -3.31042864e-03 1.98147922e+02] [ 8.38555660e-01 5.44793163e-01 -4.98156157e-03 8.46180720e+01] [ 5.98088924e-03 -6.21080729e-05 9.99982112e-01 4.61991377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.070281693 meters 0.019269584255249782 Centerline is valid? [True, True] Translation: X:198.16, Y:84.64, Z:0.46 [[ 5.44343362e-01 -8.38854632e-01 -3.63468842e-03 1.98161492e+02] [ 8.38836785e-01 5.44355492e-01 -5.47240599e-03 8.46391904e+01] [ 6.56911571e-03 -7.00424794e-05 9.99978421e-01 4.60457607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.100281693 meters 0.01974547098650483 Centerline is valid? [True, True] Translation: X:198.17, Y:84.66, Z:0.46 [[ 5.43825256e-01 -8.39192721e-01 -3.10940502e-03 1.98174637e+02] [ 8.39179652e-01 5.43834141e-01 -4.68387915e-03 8.46608387e+01] [ 5.62167790e-03 -6.21376509e-05 9.99984196e-01 4.62573161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.130281693 meters 0.020905639717206933 Centerline is valid? [True, True] Translation: X:198.19, Y:84.68, Z:0.46 [[ 5.43312150e-01 -8.39525916e-01 -2.85381301e-03 1.98189932e+02] [ 8.39514900e-01 5.43319642e-01 -4.30103130e-03 8.46811838e+01] [ 5.16135990e-03 -5.90159839e-05 9.99986678e-01 4.63112835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.160281693 meters 0.020182355104666174 Centerline is valid? [True, True] Translation: X:198.20, Y:84.70, Z:0.46 [[ 5.42798402e-01 -8.39858510e-01 -2.75286600e-03 1.98203589e+02] [ 8.39848254e-01 5.42805379e-01 -4.15096132e-03 8.47032363e+01] [ 4.98049066e-03 -5.88545386e-05 9.99987596e-01 4.63774867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190281693 meters 0.020480877110332318 Centerline is valid? [True, True] Translation: X:198.22, Y:84.72, Z:0.46 [[ 5.42321736e-01 -8.40166574e-01 -2.69481882e-03 1.98219319e+02] [ 8.40156740e-01 5.42328428e-01 -4.06543719e-03 8.47247506e+01] [ 4.87712129e-03 -5.92952404e-05 9.99988105e-01 4.63672007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220281693 meters 0.021606157177892986 Centerline is valid? [True, True] Translation: X:198.24, Y:84.75, Z:0.46 [[ 5.41117465e-01 -8.40942803e-01 -2.66293654e-03 1.98237676e+02] [ 8.40933201e-01 5.41124013e-01 -4.01920684e-03 8.47456503e+01] [ 4.82090198e-03 -6.44887332e-05 9.99988377e-01 4.63636830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250281693 meters 0.02156902589847081 Centerline is valid? [True, True] Translation: X:198.26, Y:84.77, Z:0.46 [[ 5.39555192e-01 -8.41945731e-01 -2.75331208e-03 1.98255751e+02] [ 8.41935469e-01 5.39562212e-01 -4.15755542e-03 8.47660954e+01] [ 4.98601920e-03 -7.48804859e-05 9.99987567e-01 4.63965720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280281693 meters 0.026199237286192414 Centerline is valid? [True, True] Translation: X:198.28, Y:84.78, Z:0.46 [[ 5.38482519e-01 -8.42631829e-01 -2.85960707e-03 1.98277658e+02] [ 8.42620758e-01 5.38490105e-01 -4.32018961e-03 8.47824315e+01] [ 5.18019938e-03 -8.32176911e-05 9.99986579e-01 4.62632672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310281693 meters 0.025735001359726097 Centerline is valid? [True, True] Translation: X:198.29, Y:84.80, Z:0.46 [[ 5.37278097e-01 -8.43399711e-01 -3.02876376e-03 1.98293553e+02] [ 8.43387292e-01 5.37286626e-01 -4.57788880e-03 8.48049304e+01] [ 5.48830435e-03 -9.48214845e-05 9.99984935e-01 4.62920984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340281693 meters 0.026776896061344955 Centerline is valid? [True, True] Translation: X:198.31, Y:84.83, Z:0.46 [[ 5.36470182e-01 -8.43912745e-01 -3.31998296e-03 1.98310631e+02] [ 8.43897822e-01 5.36480443e-01 -5.01999179e-03 8.48251498e+01] [ 6.01754099e-03 -1.08650483e-04 9.99981889e-01 4.62393937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370281693 meters 0.026255079591800148 Centerline is valid? [True, True] Translation: X:198.33, Y:84.85, Z:0.46 [[ 5.36880100e-01 -8.43651077e-01 -3.55212343e-03 1.98327912e+02] [ 8.43633972e-01 5.36891839e-01 -5.37338692e-03 8.48450535e+01] [ 6.44036974e-03 -1.11827490e-04 9.99979254e-01 4.61592063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40028169299998 meters 0.024950824347769966 Centerline is valid? [True, True] Translation: X:198.34, Y:84.87, Z:0.46 [[ 5.37828987e-01 -8.43047237e-01 -3.36700545e-03 1.98341655e+02] [ 8.43031842e-01 5.37839517e-01 -5.09584106e-03 8.48662425e+01] [ 6.10694331e-03 -9.78017710e-05 9.99981348e-01 4.62419162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43028169299998 meters 0.0211423420261698 Centerline is valid? [True, True] Translation: X:198.35, Y:84.89, Z:0.47 [[ 5.41006497e-01 -8.41012835e-01 -3.06301524e-03 1.98352481e+02] [ 8.41000050e-01 5.41015164e-01 -4.63765822e-03 8.48892476e+01] [ 5.55746778e-03 -6.69927463e-05 9.99984555e-01 4.65515256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46028169299998 meters 0.01811298367402235 Centerline is valid? [True, True] Translation: X:198.36, Y:84.91, Z:0.47 [[ 5.42830022e-01 -8.39837277e-01 -2.98589564e-03 1.98363575e+02] [ 8.39825100e-01 5.42838231e-01 -4.52281929e-03 8.49146466e+01] [ 5.41929055e-03 -5.25080155e-05 9.99985314e-01 4.67134225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.490281693 meters 0.01676905204721663 Centerline is valid? [True, True] Translation: X:198.38, Y:84.94, Z:0.47 [[ 5.44718862e-01 -8.38613536e-01 -2.94932732e-03 1.98375392e+02] [ 8.38601625e-01 5.44726845e-01 -4.46967705e-03 8.49371261e+01] [ 5.35490944e-03 -3.85932866e-05 9.99985662e-01 4.67611210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.520281693 meters 0.014687758890200561 Centerline is valid? [True, True] Translation: X:198.39, Y:84.96, Z:0.47 [[ 5.48094518e-01 -8.36413731e-01 -2.11416180e-03 1.98385109e+02] [ 8.36407590e-01 5.48098595e-01 -3.20523660e-03 8.49608470e+01] [ 3.83967302e-03 -1.15283708e-05 9.99992628e-01 4.70408944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.550281693 meters 0.014069060180493392 Centerline is valid? [True, True] Translation: X:198.40, Y:84.98, Z:0.47 [[ 5.49142992e-01 -8.35726886e-01 -1.59581030e-03 1.98397398e+02] [ 8.35723382e-01 5.49145310e-01 -2.42026151e-03 8.49840221e+01] [ 2.89900936e-03 -4.58633697e-06 9.99995798e-01 4.71818311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.580281693 meters 0.014010325180557164 Centerline is valid? [True, True] Translation: X:198.41, Y:85.01, Z:0.47 [[ 5.50276557e-01 -8.34981435e-01 -1.30927707e-03 1.98410519e+02] [ 8.34979072e-01 5.50278114e-01 -1.98657460e-03 8.50057539e+01] [ 2.37921943e-03 -5.35255036e-08 9.99997170e-01 4.72104194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.610281693 meters 0.013988043813368564 Centerline is valid? [True, True] Translation: X:198.43, Y:85.03, Z:0.47 [[ 5.50307313e-01 -8.34960389e-01 -1.73477219e-03 1.98425009e+02] [ 8.34956235e-01 5.50310048e-01 -2.63383746e-03 8.50272254e+01] [ 3.15381252e-03 9.61161096e-07 9.99995027e-01 4.70907334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.640281693 meters 0.014127464723963196 Centerline is valid? [True, True] Translation: X:198.44, Y:85.05, Z:0.47 [[ 5.49866170e-01 -8.35249853e-01 -2.20844663e-03 1.98440541e+02] [ 8.35243116e-01 5.49870605e-01 -3.35485752e-03 8.50490337e+01] [ 4.01650414e-03 1.32811992e-07 9.99991934e-01 4.69865316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.670281693 meters 0.014491521780581607 Centerline is valid? [True, True] Translation: X:198.46, Y:85.07, Z:0.47 [[ 5.47573396e-01 -8.36753816e-01 -2.53529855e-03 1.98458454e+02] [ 8.36744943e-01 5.47579265e-01 -3.85346939e-03 8.50675693e+01] [ 4.61268214e-03 -1.13409190e-05 9.99989361e-01 4.68579044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.700281693 meters 0.01489634906434539 Centerline is valid? [True, True] Translation: X:198.47, Y:85.09, Z:0.47 [[ 5.46207163e-01 -8.37646151e-01 -2.58091937e-03 1.98474767e+02] [ 8.37636957e-01 5.46213260e-01 -3.92457459e-03 8.50869718e+01] [ 4.69713718e-03 -1.82426937e-05 9.99988968e-01 4.68391702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.730281693 meters 0.015391915661228602 Centerline is valid? [True, True] Translation: X:198.49, Y:85.11, Z:0.47 [[ 5.44863762e-01 -8.38520758e-01 -2.53352137e-03 1.98491397e+02] [ 8.38511901e-01 5.44869652e-01 -3.85424067e-03 8.51075202e+01] [ 4.61229972e-03 -2.43517445e-05 9.99989363e-01 4.69073554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.760281693 meters 0.016930928879526387 Centerline is valid? [True, True] Translation: X:198.51, Y:85.12, Z:0.47 [[ 5.42904469e-01 -8.39791692e-01 -2.15689913e-03 1.98510711e+02] [ 8.39785276e-01 5.42908752e-01 -3.28284515e-03 8.51249486e+01] [ 3.92790550e-03 -2.90608247e-05 9.99992285e-01 4.70227075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.790281693 meters 0.016762461764226088 Centerline is valid? [True, True] Translation: X:198.53, Y:85.15, Z:0.47 [[ 5.42447203e-01 -8.40087063e-01 -2.18137801e-03 1.98525313e+02] [ 8.40080496e-01 5.42451589e-01 -3.32180227e-03 8.51462664e+01] [ 3.97389508e-03 -3.06307688e-05 9.99992104e-01 4.70875521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.820281693 meters 0.01733494128699375 Centerline is valid? [True, True] Translation: X:198.54, Y:85.16, Z:0.47 [[ 5.41664759e-01 -8.40590670e-01 -2.57189866e-03 1.98542524e+02] [ 8.40581538e-01 5.41670864e-01 -3.91834105e-03 8.51648409e+01] [ 4.68684350e-03 -3.94632719e-05 9.99989016e-01 4.69578586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.850281693 meters 0.01799393215069687 Centerline is valid? [True, True] Translation: X:198.56, Y:85.19, Z:0.47 [[ 5.40982154e-01 -8.41029190e-01 -2.86536286e-03 1.98558878e+02] [ 8.41017851e-01 5.40989740e-01 -4.36748896e-03 8.51855449e+01] [ 5.22331762e-03 -4.70877333e-05 9.99986357e-01 4.67998965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.880281693 meters 0.018257652449908925 Centerline is valid? [True, True] Translation: X:198.57, Y:85.21, Z:0.47 [[ 5.40461027e-01 -8.41363053e-01 -3.17670058e-03 1.98574289e+02] [ 8.41349107e-01 5.40470360e-01 -4.84458117e-03 8.52063164e+01] [ 5.79296411e-03 -5.44068788e-05 9.99983219e-01 4.67130793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.910281693 meters 0.01888483349732376 Centerline is valid? [True, True] Translation: X:198.59, Y:85.23, Z:0.47 [[ 5.40333642e-01 -8.41446266e-01 -2.78158816e-03 1.98592136e+02] [ 8.41435564e-01 5.40340800e-01 -4.24408970e-03 8.52252705e+01] [ 5.07417900e-03 -4.73027579e-05 9.99987125e-01 4.66991775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940281693 meters 0.01750763283483135 Centerline is valid? [True, True] Translation: X:198.61, Y:85.25, Z:0.47 [[ 5.40292935e-01 -8.41472588e-01 -2.72548828e-03 1.98606134e+02] [ 8.41462303e-01 5.40299807e-01 -4.16058569e-03 8.52475083e+01] [ 4.97359960e-03 -4.54605925e-05 9.99987631e-01 4.68539362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970281693 meters 0.017394455373327074 Centerline is valid? [True, True] Translation: X:198.62, Y:85.27, Z:0.47 [[ 5.40231107e-01 -8.41512171e-01 -2.76009089e-03 1.98622115e+02] [ 8.41501613e-01 5.40238156e-01 -4.21554266e-03 8.52683771e+01] [ 5.03853687e-03 -4.52536607e-05 9.99987305e-01 4.69105539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000281693 meters 0.017441620411494285 Centerline is valid? [True, True] Translation: X:198.64, Y:85.29, Z:0.47 [[ 5.40473885e-01 -8.41354555e-01 -3.23915035e-03 1.98638708e+02] [ 8.41339995e-01 5.40483589e-01 -4.94993320e-03 8.52877471e+01] [ 5.91535645e-03 -4.99171141e-05 9.99982503e-01 4.67398914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030281693 meters 0.01744129528348214 Centerline is valid? [True, True] Translation: X:198.65, Y:85.31, Z:0.47 [[ 5.40817065e-01 -8.41132174e-01 -3.68349886e-03 1.98653261e+02] [ 8.41113320e-01 5.40829607e-01 -5.63200013e-03 8.53083042e+01] [ 6.72940175e-03 -5.23581706e-05 9.99977356e-01 4.65351308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060281693 meters 0.016110233176803206 Centerline is valid? [True, True] Translation: X:198.67, Y:85.33, Z:0.46 [[ 5.41989046e-01 -8.40375977e-01 -4.01134148e-03 1.98667516e+02] [ 8.40353574e-01 5.42003889e-01 -6.13642372e-03 8.53299821e+01] [ 7.33106576e-03 -4.50707061e-05 9.99973126e-01 4.64018828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090281693 meters 0.015517229254420806 Centerline is valid? [True, True] Translation: X:198.68, Y:85.35, Z:0.47 [[ 5.42618975e-01 -8.39970863e-01 -3.68759325e-03 1.98681623e+02] [ 8.39951901e-01 5.42631504e-01 -5.64400042e-03 8.53507449e+01] [ 6.74180017e-03 -3.48592425e-05 9.99977273e-01 4.65702393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120281693 meters 0.01480561753284897 Centerline is valid? [True, True] Translation: X:198.70, Y:85.37, Z:0.47 [[ 5.43184124e-01 -8.39608130e-01 -3.03254218e-03 1.98695473e+02] [ 8.39595288e-01 5.43192588e-01 -4.64366746e-03 8.53731498e+01] [ 5.54611539e-03 -2.37416868e-05 9.99984620e-01 4.68910150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15028169299998 meters 0.014091801985598488 Centerline is valid? [True, True] Translation: X:198.71, Y:85.39, Z:0.47 [[ 5.44463115e-01 -8.38780847e-01 -2.57031851e-03 1.98710452e+02] [ 8.38771604e-01 5.44469182e-01 -3.93777029e-03 8.53944887e+01] [ 4.70238551e-03 -1.19394957e-05 9.99988944e-01 4.71194233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18028169299998 meters 0.014234046727710286 Centerline is valid? [True, True] Translation: X:198.72, Y:85.42, Z:0.47 [[ 5.45096455e-01 -8.38367104e-01 -3.23336237e-03 1.98724280e+02] [ 8.38352454e-01 5.45106044e-01 -4.95608261e-03 8.54151246e+01] [ 5.91754199e-03 -9.15421959e-06 9.99982491e-01 4.68331862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21028169299998 meters 0.014245977957184823 Centerline is valid? [True, True] Translation: X:198.74, Y:85.44, Z:0.47 [[ 5.46143768e-01 -8.37682155e-01 -3.94872357e-03 1.98737650e+02] [ 8.37660266e-01 5.46158043e-01 -6.05570581e-03 8.54375706e+01] [ 7.22938383e-03 -4.02843998e-07 9.99973868e-01 4.66713412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.240281693 meters 0.015467528109024862 Centerline is valid? [True, True] Translation: X:198.75, Y:85.46, Z:0.47 [[ 5.50052693e-01 -8.35120756e-01 -3.91876750e-03 1.98746543e+02] [ 8.35099111e-01 5.50066652e-01 -6.01280662e-03 8.54631856e+01] [ 7.17700293e-03 3.48012168e-05 9.99974244e-01 4.67390832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.270281693 meters 0.01696401433739016 Centerline is valid? [True, True] Translation: X:198.76, Y:85.49, Z:0.47 [[ 5.52495573e-01 -8.33508793e-01 -3.42561053e-03 1.98757555e+02] [ 8.33492206e-01 5.52506190e-01 -5.25850574e-03 8.54886884e+01] [ 6.27568180e-03 5.00814600e-05 9.99980306e-01 4.69726862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.300281693 meters 0.02100872243006551 Centerline is valid? [True, True] Translation: X:198.76, Y:85.52, Z:0.47 [[ 5.57549693e-01 -8.30139811e-01 -2.49682172e-03 1.98763940e+02] [ 8.30130958e-01 5.57555280e-01 -3.83439722e-03 8.55163909e+01] [ 4.57520191e-03 6.51779872e-05 9.99989532e-01 4.73464031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.330281693 meters 0.024539171550922678 Centerline is valid? [True, True] Translation: X:198.77, Y:85.54, Z:0.47 [[ 5.59292616e-01 -8.28966788e-01 -2.41533590e-03 1.98771682e+02] [ 8.28958485e-01 5.59297826e-01 -3.71107066e-03 8.55425159e+01] [ 4.42724644e-03 7.33612311e-05 9.99990197e-01 4.73025003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.360281693 meters 0.026712691536292132 Centerline is valid? [True, True] Translation: X:198.78, Y:85.57, Z:0.47 [[ 5.60749892e-01 -8.27981002e-01 -2.64955398e-03 1.98781058e+02] [ 8.27970990e-01 5.60756144e-01 -4.07273056e-03 8.55669345e+01] [ 4.85789720e-03 9.00293928e-05 9.99988196e-01 4.72560880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.390281693 meters 0.031063703894927325 Centerline is valid? [True, True] Translation: X:198.79, Y:85.59, Z:0.47 [[ 5.62246306e-01 -8.26964643e-01 -2.92742636e-03 1.98787511e+02] [ 8.26952397e-01 5.62253916e-01 -4.50182209e-03 8.55933645e+01] [ 5.36880464e-03 1.10290597e-04 9.99985582e-01 4.71005642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.420281693 meters 0.029476501142348205 Centerline is valid? [True, True] Translation: X:198.80, Y:85.61, Z:0.47 [[ 5.62260930e-01 -8.26953482e-01 -3.25342643e-03 1.98802550e+02] [ 8.26938341e-01 5.62270329e-01 -5.00562385e-03 8.56145029e+01] [ 5.96872322e-03 1.24083671e-04 9.99982179e-01 4.70854433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.450281693 meters 0.029476501142348205 Centerline is valid? [True, True] Translation: X:198.82, Y:85.64, Z:0.47 [[ 5.62075622e-01 -8.27079451e-01 -3.25230444e-03 1.98816370e+02] [ 8.27064308e-01 5.62085018e-01 -5.00635285e-03 8.56363192e+01] [ 5.96872317e-03 1.24083972e-04 9.99982179e-01 4.70905809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.480281693 meters 0.028850729734907658 Centerline is valid? [True, True] Translation: X:198.83, Y:85.66, Z:0.47 [[ 5.61426759e-01 -8.27520810e-01 -3.05016942e-03 1.98827720e+02] [ 8.27507485e-01 5.61435033e-01 -4.69745349e-03 8.56607184e+01] [ 5.59971248e-03 1.13238063e-04 9.99984315e-01 4.71713567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.510281693 meters 0.027460170545066706 Centerline is valid? [True, True] Translation: X:198.84, Y:85.68, Z:0.47 [[ 5.61378007e-01 -8.27554550e-01 -2.86355990e-03 1.98841320e+02] [ 8.27542795e-01 5.61385300e-01 -4.41222464e-03 8.56837558e+01] [ 5.25891701e-03 1.07207516e-04 9.99986166e-01 4.72209097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.540281693 meters 0.03011739968335185 Centerline is valid? [True, True] Translation: X:198.85, Y:85.71, Z:0.47 [[ 5.61393552e-01 -8.27544085e-01 -2.84028208e-03 1.98849674e+02] [ 8.27532508e-01 5.61400726e-01 -4.37863289e-03 8.57088455e+01] [ 5.21804817e-03 1.07710518e-04 9.99986380e-01 4.71833420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.570281693 meters 0.028655176510128468 Centerline is valid? [True, True] Translation: X:198.86, Y:85.73, Z:0.47 [[ 5.61945875e-01 -8.27169143e-01 -2.83580307e-03 1.98862090e+02] [ 8.27157587e-01 5.61953019e-01 -4.37383921e-03 8.57330360e+01] [ 5.21149293e-03 1.12204875e-04 9.99986414e-01 4.72453646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.600281693 meters 0.03029283127399341 Centerline is valid? [True, True] Translation: X:198.87, Y:85.76, Z:0.47 [[ 5.62369485e-01 -8.26881586e-01 -2.72119077e-03 1.98872668e+02] [ 8.26870932e-01 5.62376058e-01 -4.19900077e-03 8.57578619e+01] [ 5.00240895e-03 1.11316356e-04 9.99987482e-01 4.73090073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.630281693 meters 0.036207042040752986 Centerline is valid? [True, True] Translation: X:198.88, Y:85.79, Z:0.47 [[ 5.63009427e-01 -8.26444481e-01 -3.14704520e-03 1.98875586e+02] [ 8.26430211e-01 5.63018207e-01 -4.85853850e-03 8.57873908e+01] [ 5.78715608e-03 1.34589754e-04 9.99983245e-01 4.70266048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.660281693 meters 0.02970952501530827 Centerline is valid? [True, True] Translation: X:198.90, Y:85.81, Z:0.47 [[ 5.62700528e-01 -8.26652983e-01 -3.60025403e-03 1.98895426e+02] [ 8.26634291e-01 5.62712025e-01 -5.56112303e-03 8.58060742e+01] [ 6.62302517e-03 1.53153427e-04 9.99978056e-01 4.70709047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690281693 meters 0.03085147344664859 Centerline is valid? [True, True] Translation: X:198.91, Y:85.83, Z:0.47 [[ 5.62010000e-01 -8.27121939e-01 -3.74938152e-03 1.98906342e+02] [ 8.27101656e-01 5.62022485e-01 -5.79459548e-03 8.58296625e+01] [ 6.90007377e-03 1.55500943e-04 9.99976182e-01 4.69481940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720281693 meters 0.027878776227648328 Centerline is valid? [True, True] Translation: X:198.92, Y:85.85, Z:0.47 [[ 5.59069871e-01 -8.29112270e-01 -3.70441192e-03 1.98921844e+02] [ 8.29092496e-01 5.59082128e-01 -5.72778624e-03 8.58513421e+01] [ 6.82004836e-03 1.30932593e-04 9.99976735e-01 4.70070743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750281693 meters 0.025668672198348754 Centerline is valid? [True, True] Translation: X:198.94, Y:85.87, Z:0.47 [[ 5.57189423e-01 -8.30378315e-01 -3.43526906e-03 1.98937846e+02] [ 8.30361319e-01 5.57200002e-01 -5.31392828e-03 8.58735148e+01] [ 6.32670274e-03 1.08350082e-04 9.99979980e-01 4.71161383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780281693 meters 0.023574147285146632 Centerline is valid? [True, True] Translation: X:198.95, Y:85.90, Z:0.47 [[ 5.55469758e-01 -8.31531047e-01 -3.07677202e-03 1.98953868e+02] [ 8.31517419e-01 5.55478272e-01 -4.76141060e-03 8.58957204e+01] [ 5.66834074e-03 8.64300633e-05 9.99983931e-01 4.71957651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810281693 meters 0.020363501479786477 Centerline is valid? [True, True] Translation: X:198.97, Y:85.92, Z:0.48 [[ 5.52300155e-01 -8.33642614e-01 -2.12867435e-03 1.98970512e+02] [ 8.33636101e-01 5.52304256e-01 -3.29546918e-03 8.59163540e+01] [ 3.92291944e-03 4.55483596e-05 9.99992304e-01 4.75128252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840281693 meters 0.0186687089470761 Centerline is valid? [True, True] Translation: X:198.99, Y:85.94, Z:0.48 [[ 5.50574926e-01 -8.34783839e-01 -1.78663667e-03 1.98986950e+02] [ 8.34779254e-01 5.50577824e-01 -2.76714062e-03 8.59368006e+01] [ 3.29364680e-03 3.20710167e-05 9.99994575e-01 4.76418085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870281693 meters 0.014877154637195987 Centerline is valid? [True, True] Translation: X:199.01, Y:85.95, Z:0.48 [[ 5.45977449e-01 -8.37797647e-01 -1.93060925e-03 1.99009293e+02] [ 8.37792306e-01 5.45980862e-01 -2.99159579e-03 8.59546303e+01] [ 3.56042762e-03 1.58942590e-05 9.99993662e-01 4.75480845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90028169299998 meters 0.014019466718237712 Centerline is valid? [True, True] Translation: X:199.03, Y:85.97, Z:0.47 [[ 5.43427063e-01 -8.39452982e-01 -2.39145077e-03 1.99028073e+02] [ 8.39444794e-01 5.43432325e-01 -3.70766365e-03 8.59742401e+01] [ 4.41200095e-03 7.35386767e-06 9.99990267e-01 4.73508534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93028169299998 meters 0.013882044673817803 Centerline is valid? [True, True] Translation: X:199.05, Y:85.99, Z:0.47 [[ 5.40963545e-01 -8.41041283e-01 -2.82910411e-03 1.99046658e+02] [ 8.41029833e-01 5.40970943e-01 -4.38861126e-03 8.59935654e+01] [ 5.22146636e-03 -5.28225527e-06 9.99986368e-01 4.72184833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96028169299998 meters 0.014358533344880933 Centerline is valid? [True, True] Translation: X:199.06, Y:86.01, Z:0.47 [[ 5.39104238e-01 -8.42233929e-01 -2.93776440e-03 1.99064867e+02] [ 8.42221587e-01 5.39112242e-01 -4.55954572e-03 8.60126681e+01] [ 5.42398886e-03 -1.61781762e-05 9.99985290e-01 4.71246518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.990281693 meters 0.014690059036220886 Centerline is valid? [True, True] Translation: X:199.08, Y:86.03, Z:0.47 [[ 5.38123837e-01 -8.42860277e-01 -3.04787610e-03 1.99083625e+02] [ 8.42846988e-01 5.38132468e-01 -4.73297608e-03 8.60310423e+01] [ 5.62939862e-03 -2.19659449e-05 9.99984155e-01 4.72606636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.020281693 meters 0.014444948355511774 Centerline is valid? [True, True] Translation: X:199.10, Y:86.05, Z:0.47 [[ 5.38450014e-01 -8.42651320e-01 -3.21494142e-03 1.99098159e+02] [ 8.42636515e-01 5.38459612e-01 -4.99499865e-03 8.60534120e+01] [ 5.94015831e-03 -1.94699429e-05 9.99982357e-01 4.72287589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.050281693 meters 0.014034102699438954 Centerline is valid? [True, True] Translation: X:199.11, Y:86.08, Z:0.47 [[ 5.41444554e-01 -8.40728758e-01 -3.59869933e-03 1.99109047e+02] [ 8.40710146e-01 5.41456513e-01 -5.59411808e-03 8.60779097e+01] [ 6.65167513e-03 3.44172517e-06 9.99977877e-01 4.71513368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.080281693 meters 0.014616723071265773 Centerline is valid? [True, True] Translation: X:199.12, Y:86.10, Z:0.47 [[ 5.43444873e-01 -8.39437304e-01 -3.56120881e-03 1.99119429e+02] [ 8.39419031e-01 5.43456541e-01 -5.53879613e-03 8.61009230e+01] [ 6.58483431e-03 2.06839110e-05 9.99978320e-01 4.71045563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.110281693 meters 0.016977202347069772 Centerline is valid? [True, True] Translation: X:199.13, Y:86.13, Z:0.47 [[ 5.47738905e-01 -8.36645023e-01 -2.68281248e-03 1.99127923e+02] [ 8.36634610e-01 5.47745473e-01 -4.17447349e-03 8.61276575e+01] [ 4.96205086e-03 4.19877654e-05 9.99987688e-01 4.74883641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.140281693 meters 0.018342462897207923 Centerline is valid? [True, True] Translation: X:199.14, Y:86.15, Z:0.48 [[ 5.49296386e-01 -8.35624691e-01 -2.20367211e-03 1.99140248e+02] [ 8.35617651e-01 5.49300805e-01 -3.43038796e-03 8.61519967e+01] [ 4.07699574e-03 4.28723976e-05 9.99991688e-01 4.77121583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.170281693 meters 0.019170097773468165 Centerline is valid? [True, True] Translation: X:199.15, Y:86.17, Z:0.48 [[ 5.49823770e-01 -8.35278173e-01 -2.04825877e-03 1.99152418e+02] [ 8.35272083e-01 5.49827583e-01 -3.19000512e-03 8.61745989e+01] [ 3.79073081e-03 4.30872733e-05 9.99992814e-01 4.77541046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.200281693 meters 0.02008396140143654 Centerline is valid? [True, True] Translation: X:199.16, Y:86.20, Z:0.48 [[ 5.49998980e-01 -8.35162871e-01 -2.02529639e-03 1.99164649e+02] [ 8.35156910e-01 5.50002707e-01 -3.15574242e-03 8.61964119e+01] [ 3.74947739e-03 4.42148376e-05 9.99992970e-01 4.77270249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.230281693 meters 0.018754041251080975 Centerline is valid? [True, True] Translation: X:199.18, Y:86.22, Z:0.48 [[ 5.48918387e-01 -8.35873798e-01 -1.89680399e-03 1.99180620e+02] [ 8.35868570e-01 5.48921663e-01 -2.95682257e-03 8.62172029e+01] [ 3.51272732e-03 3.75754348e-05 9.99993830e-01 4.77766430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.260281693 meters 0.018805407334004296 Centerline is valid? [True, True] Translation: X:199.19, Y:86.24, Z:0.48 [[ 5.48436021e-01 -8.36191195e-01 -1.48887020e-03 1.99194850e+02] [ 8.36187972e-01 5.48438041e-01 -2.32192730e-03 8.62386355e+01] [ 2.75812821e-03 2.84532130e-05 9.99996196e-01 4.79308278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.290281693 meters 0.018843089805264647 Centerline is valid? [True, True] Translation: X:199.21, Y:86.26, Z:0.48 [[ 5.48989438e-01 -8.35828479e-01 -1.16195334e-03 1.99209578e+02] [ 8.35826514e-01 5.48990667e-01 -1.81285700e-03 8.62600695e+01] [ 2.15313905e-03 2.40479314e-05 9.99997682e-01 4.81335958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.320281693 meters 0.02018494465707238 Centerline is valid? [True, True] Translation: X:199.22, Y:86.28, Z:0.48 [[ 5.49576692e-01 -8.35442066e-01 -1.41918162e-03 1.99220557e+02] [ 8.35439129e-01 5.49578523e-01 -2.21545622e-03 8.62832796e+01] [ 2.63083706e-03 3.19232423e-05 9.99996539e-01 4.80939013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.350281693 meters 0.020646794408161088 Centerline is valid? [True, True] Translation: X:199.23, Y:86.31, Z:0.48 [[ 5.50255038e-01 -8.34994389e-01 -1.94002893e-03 1.99233250e+02] [ 8.34988892e-01 5.50258456e-01 -3.03010389e-03 8.63075304e+01] [ 3.59763707e-03 4.74273319e-05 9.99993527e-01 4.79679883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.380281693 meters 0.022678398561289795 Centerline is valid? [True, True] Translation: X:199.24, Y:86.33, Z:0.48 [[ 5.52129656e-01 -8.33754712e-01 -2.43393947e-03 1.99240378e+02] [ 8.33746039e-01 5.52135016e-01 -3.80355193e-03 8.63346889e+01] [ 4.51509255e-03 7.07664290e-05 9.99989804e-01 4.77670247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.410281693 meters 0.02404984440192867 Centerline is valid? [True, True] Translation: X:199.25, Y:86.36, Z:0.48 [[ 5.52968637e-01 -8.33198951e-01 -2.27929425e-03 1.99250322e+02] [ 8.33191334e-01 5.52973330e-01 -3.56333416e-03 8.63595071e+01] [ 4.22935522e-03 7.13238211e-05 9.99991054e-01 4.78018340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440281693 meters 0.024657140989469566 Centerline is valid? [True, True] Translation: X:199.26, Y:86.38, Z:0.48 [[ 5.53224881e-01 -8.33029928e-01 -1.83601045e-03 1.99261479e+02] [ 8.33024981e-01 5.53227924e-01 -2.87142005e-03 8.63841716e+01] [ 3.40771109e-03 5.90984481e-05 9.99994192e-01 4.79088725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470281693 meters 0.022850260759287915 Centerline is valid? [True, True] Translation: X:199.27, Y:86.41, Z:0.48 [[ 5.51531900e-01 -8.34153210e-01 -9.92840189e-04 1.99274602e+02] [ 8.34151764e-01 5.51532793e-01 -1.55315276e-03 8.64077246e+01] [ 1.84315129e-03 2.84339007e-05 9.99998301e-01 4.81453770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500281693 meters 0.0213568568735467 Centerline is valid? [True, True] Translation: X:199.29, Y:86.43, Z:0.48 [[ 5.49516017e-01 -8.35482714e-01 -8.83646197e-04 1.99289052e+02] [ 8.35481570e-01 5.49516727e-01 -1.38287796e-03 8.64290381e+01] [ 1.64094900e-03 2.16434784e-05 9.99998653e-01 4.81896242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530281693 meters 0.016005057995591394 Centerline is valid? [True, True] Translation: X:199.31, Y:86.45, Z:0.48 [[ 5.44269960e-01 -8.38908996e-01 -1.38103172e-03 1.99310145e+02] [ 8.38906208e-01 5.44271712e-01 -2.16269677e-03 8.64485348e+01] [ 2.56596228e-03 1.85348012e-05 9.99996708e-01 4.79324739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560281693 meters 0.01472657252305009 Centerline is valid? [True, True] Translation: X:199.33, Y:86.47, Z:0.48 [[ 5.41462528e-01 -8.40722818e-01 -1.86369670e-03 1.99326354e+02] [ 8.40717748e-01 5.41465736e-01 -2.91994404e-03 8.64688542e+01] [ 3.46399149e-03 1.41973905e-05 9.99994000e-01 4.77091074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590281693 meters 0.013868621528932609 Centerline is valid? [True, True] Translation: X:199.34, Y:86.49, Z:0.48 [[ 5.38967974e-01 -8.42322830e-01 -2.40262762e-03 1.99343110e+02] [ 8.42314409e-01 5.38973329e-01 -3.76651601e-03 8.64895775e+01] [ 4.46757463e-03 6.26364209e-06 9.99990020e-01 4.75289111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620281693 meters 0.014152373858840106 Centerline is valid? [True, True] Translation: X:199.36, Y:86.51, Z:0.47 [[ 5.35560357e-01 -8.44493087e-01 -2.55547246e-03 1.99360550e+02] [ 8.44483575e-01 5.35566454e-01 -4.00825929e-03 8.65095819e+01] [ 4.75357258e-03 -1.13897481e-05 9.99988702e-01 4.74957022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65028169299998 meters 0.014506140110720043 Centerline is valid? [True, True] Translation: X:199.38, Y:86.53, Z:0.48 [[ 5.34226348e-01 -8.45337474e-01 -2.60069104e-03 1.99376496e+02] [ 8.45327622e-01 5.34232678e-01 -4.08132183e-03 8.65311668e+01] [ 4.83946842e-03 -1.80863114e-05 9.99988290e-01 4.75265317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68028169299998 meters 0.015047295711326097 Centerline is valid? [True, True] Translation: X:199.39, Y:86.55, Z:0.47 [[ 5.33198660e-01 -8.45985488e-01 -2.78270860e-03 1.99392517e+02] [ 8.45974206e-01 5.33205921e-01 -4.36901627e-03 8.65512494e+01] [ 5.17988106e-03 -2.45460730e-05 9.99986584e-01 4.74935859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71028169299998 meters 0.01521665971377783 Centerline is valid? [True, True] Translation: X:199.41, Y:86.57, Z:0.47 [[ 5.32462638e-01 -8.46448222e-01 -2.99099999e-03 1.99407520e+02] [ 8.46435183e-01 5.32471038e-01 -4.69834621e-03 8.65725613e+01] [ 5.56952766e-03 -2.99938044e-05 9.99984490e-01 4.74473732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.740281693 meters 0.01613277070423553 Centerline is valid? [True, True] Translation: X:199.42, Y:86.59, Z:0.47 [[ 5.31079073e-01 -8.47315738e-01 -3.32544103e-03 1.99424804e+02] [ 8.47299619e-01 5.31089483e-01 -5.22656171e-03 8.65918406e+01] [ 6.19465475e-03 -4.19273639e-05 9.99980812e-01 4.72925965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.770281693 meters 0.016473764250649572 Centerline is valid? [True, True] Translation: X:199.44, Y:86.61, Z:0.47 [[ 5.30124675e-01 -8.47914381e-01 -3.00507683e-03 1.99440084e+02] [ 8.47901215e-01 5.30133191e-01 -4.72543807e-03 8.66127817e+01] [ 5.59985787e-03 -4.29369698e-05 9.99984320e-01 4.73591361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.800281693 meters 0.018384307399384056 Centerline is valid? [True, True] Translation: X:199.46, Y:86.63, Z:0.48 [[ 5.27981406e-01 -8.49253650e-01 -1.96798454e-03 1.99459338e+02] [ 8.49248009e-01 5.27985072e-01 -3.09570424e-03 8.66314634e+01] [ 3.66810458e-03 -3.68326758e-05 9.99993272e-01 4.76832875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.830281693 meters 0.019436355080119778 Centerline is valid? [True, True] Translation: X:199.47, Y:86.65, Z:0.48 [[ 5.26786127e-01 -8.49996268e-01 -1.64970328e-03 1.99474967e+02] [ 8.49992304e-01 5.26788709e-01 -2.59602225e-03 8.66510633e+01] [ 3.07565428e-03 -3.46865846e-05 9.99995270e-01 4.78498931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.860281693 meters 0.020168123239685285 Centerline is valid? [True, True] Translation: X:199.49, Y:86.67, Z:0.48 [[ 5.25983106e-01 -8.50493581e-01 -1.56230668e-03 1.99490988e+02] [ 8.50490025e-01 5.25985425e-01 -2.45970521e-03 8.66726324e+01] [ 2.91371404e-03 -3.49628626e-05 9.99995755e-01 4.78396590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.890281693 meters 0.019221478996221612 Centerline is valid? [True, True] Translation: X:199.51, Y:86.70, Z:0.48 [[ 5.25586013e-01 -8.50737581e-01 -2.21616253e-03 1.99505168e+02] [ 8.50730418e-01 5.25590683e-01 -3.49125780e-03 8.66953590e+01] [ 4.13493860e-03 -5.04006087e-05 9.99991450e-01 4.76758920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.920281693 meters 0.019523101653147634 Centerline is valid? [True, True] Translation: X:199.52, Y:86.72, Z:0.48 [[ 5.25254417e-01 -8.50940798e-01 -2.74893976e-03 1.99519508e+02] [ 8.50929768e-01 5.25261606e-01 -4.33304842e-03 8.67172897e+01] [ 5.13108019e-03 -6.32018548e-05 9.99986834e-01 4.75242418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.950281693 meters 0.019545743494332916 Centerline is valid? [True, True] Translation: X:199.53, Y:86.74, Z:0.47 [[ 5.25005386e-01 -8.51093074e-01 -3.15018867e-03 1.99532983e+02] [ 8.51078576e-01 5.25014832e-01 -4.96825142e-03 8.67397349e+01] [ 5.88234015e-03 -7.26993372e-05 9.99982696e-01 4.74087910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.980281693 meters 0.020577940880480074 Centerline is valid? [True, True] Translation: X:199.55, Y:86.76, Z:0.47 [[ 5.25559770e-01 -8.50750797e-01 -3.16373787e-03 1.99546166e+02] [ 8.50736152e-01 5.25569288e-01 -4.99232927e-03 8.67617276e+01] [ 5.90999157e-03 -6.77387574e-05 9.99982534e-01 4.72716084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.010281693 meters 0.01807763851878592 Centerline is valid? [True, True] Translation: X:199.56, Y:86.79, Z:0.47 [[ 5.26451153e-01 -8.50200399e-01 -2.90932641e-03 1.99555174e+02] [ 8.50187993e-01 5.26459189e-01 -4.59324366e-03 8.67867353e+01] [ 5.43681921e-03 -5.53559606e-05 9.99985219e-01 4.74696056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.040281693 meters 0.01610787857606287 Centerline is valid? [True, True] Translation: X:199.56, Y:86.81, Z:0.48 [[ 5.29192692e-01 -8.48499099e-01 -2.09120909e-03 1.99563250e+02] [ 8.48492671e-01 5.29196823e-01 -3.30303118e-03 8.68126760e+01] [ 3.90928019e-03 -2.64356273e-05 9.99992358e-01 4.78197472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.070281693 meters 0.015286479990488462 Centerline is valid? [True, True] Translation: X:199.57, Y:86.84, Z:0.48 [[ 5.30000213e-01 -8.47995342e-01 -1.91684547e-03 1.99574676e+02] [ 8.47989932e-01 5.30003679e-01 -3.02905890e-03 8.68368847e+01] [ 3.58456299e-03 -2.00637958e-05 9.99993575e-01 4.78916379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.100281693 meters 0.015045789699134074 Centerline is valid? [True, True] Translation: X:199.59, Y:86.86, Z:0.48 [[ 5.30553092e-01 -8.47649364e-01 -1.99313605e-03 1.99587824e+02] [ 8.47643507e-01 5.30556835e-01 -3.15125244e-03 8.68586465e+01] [ 3.72862908e-03 -1.75621071e-05 9.99993048e-01 4.78459800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.130281693 meters 0.015614063737632104 Centerline is valid? [True, True] Translation: X:199.60, Y:86.88, Z:0.48 [[ 5.29707727e-01 -8.48177728e-01 -2.06525935e-03 1.99602855e+02] [ 8.48171436e-01 5.29711753e-01 -3.26702114e-03 8.68792691e+01] [ 3.86500671e-03 -2.11276438e-05 9.99992531e-01 4.77787485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.160281693 meters 0.016033608072232555 Centerline is valid? [True, True] Translation: X:199.62, Y:86.90, Z:0.48 [[ 5.28497637e-01 -8.48931892e-01 -2.21136176e-03 1.99618224e+02] [ 8.48924677e-01 5.28502263e-01 -3.49999077e-03 8.69007803e+01] [ 4.13996348e-03 -2.75427138e-05 9.99991430e-01 4.77546419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190281693 meters 0.017096569339874496 Centerline is valid? [True, True] Translation: X:199.63, Y:86.92, Z:0.48 [[ 5.27047003e-01 -8.49833647e-01 -2.05653061e-03 1.99634463e+02] [ 8.49827408e-01 5.27051015e-01 -3.25649923e-03 8.69221462e+01] [ 3.85137916e-03 -3.13679178e-05 9.99992583e-01 4.77064586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220281693 meters 0.01784105045242116 Centerline is valid? [True, True] Translation: X:199.65, Y:86.94, Z:0.48 [[ 5.25536128e-01 -8.50770158e-01 -1.38393936e-03 1.99651969e+02] [ 8.50767334e-01 5.25537950e-01 -2.19225325e-03 8.69430942e+01] [ 2.59241630e-03 -2.53021189e-05 9.99996639e-01 4.80202927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250281693 meters 0.018684754177423758 Centerline is valid? [True, True] Translation: X:199.67, Y:86.96, Z:0.48 [[ 5.25652369e-01 -8.50698728e-01 -1.12276861e-03 1.99667903e+02] [ 8.50696868e-01 5.25653568e-01 -1.77921514e-03 8.69624503e+01] [ 2.10376338e-03 -1.98870830e-05 9.99997787e-01 4.82496877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280281693 meters 0.016612516049793667 Centerline is valid? [True, True] Translation: X:199.68, Y:86.99, Z:0.48 [[ 5.26739956e-01 -8.50025155e-01 -1.50148427e-03 1.99681000e+02] [ 8.50021821e-01 5.26742096e-01 -2.38089095e-03 8.69854504e+01] [ 2.81471216e-03 -2.21839989e-05 9.99996038e-01 4.81029113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310281693 meters 0.01664315070844831 Centerline is valid? [True, True] Translation: X:199.70, Y:87.01, Z:0.48 [[ 5.27455295e-01 -8.49581106e-01 -1.68966933e-03 1.99695215e+02] [ 8.49576877e-01 5.27458001e-01 -2.68075927e-03 8.70061556e+01] [ 3.16875204e-03 -2.15233165e-05 9.99994979e-01 4.79372425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340281693 meters 0.015833051289116364 Centerline is valid? [True, True] Translation: X:199.71, Y:87.03, Z:0.48 [[ 5.28210462e-01 -8.49112306e-01 -1.41378097e-03 1.99708251e+02] [ 8.49109341e-01 5.28212354e-01 -2.24406541e-03 8.70278914e+01] [ 2.65224013e-03 -1.51157942e-05 9.99996483e-01 4.79619277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370281693 meters 0.015833051289116364 Centerline is valid? [True, True] Translation: X:199.72, Y:87.05, Z:0.48 [[ 5.28015772e-01 -8.49233388e-01 -1.41326647e-03 1.99721253e+02] [ 8.49230422e-01 5.28017663e-01 -2.24438941e-03 8.70492333e+01] [ 2.65224008e-03 -1.51158728e-05 9.99996483e-01 4.79668980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40028169299998 meters 0.014159928750020827 Centerline is valid? [True, True] Translation: X:199.73, Y:87.07, Z:0.48 [[ 5.29505067e-01 -8.48306637e-01 -4.83729660e-04 1.99734957e+02] [ 8.48306289e-01 5.29505288e-01 -7.68044040e-04 8.70722167e+01] [ 9.07674270e-04 -3.66770231e-06 9.99999588e-01 4.83288655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43028169299998 meters 0.013914284095794186 Centerline is valid? [True, True] Translation: X:199.75, Y:87.09, Z:0.48 [[ 5.30163600e-01 -8.47895138e-01 -6.26046213e-04 1.99747799e+02] [ 8.47894555e-01 5.30163970e-01 -9.94769021e-04 8.70931556e+01] [ 1.17536696e-03 -3.43084994e-06 9.99999309e-01 4.83214293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46028169299998 meters 0.013632098822050019 Centerline is valid? [True, True] Translation: X:199.76, Y:87.12, Z:0.48 [[ 5.30910105e-01 -8.47427606e-01 -9.54970922e-04 1.99759905e+02] [ 8.47426246e-01 5.30910964e-01 -1.51851910e-03 8.71152098e+01] [ 1.79383954e-03 -3.07028716e-06 9.99998391e-01 4.82276690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.490281693 meters 0.013523573791117002 Centerline is valid? [True, True] Translation: X:199.77, Y:87.14, Z:0.48 [[ 5.31830000e-01 -8.46849880e-01 -1.46015396e-03 1.99772645e+02] [ 8.46846692e-01 5.31832005e-01 -2.32355992e-03 8.71377709e+01] [ 2.74426305e-03 -7.87684283e-07 9.99996235e-01 4.80336128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.520281693 meters 0.01383457451707654 Centerline is valid? [True, True] Translation: X:199.79, Y:87.16, Z:0.48 [[ 5.33156033e-01 -8.46014933e-01 -1.83783373e-03 1.99786542e+02] [ 8.46009872e-01 5.33159200e-01 -2.92637556e-03 8.71594334e+01] [ 3.45561539e-03 5.38931107e-06 9.99994029e-01 4.78102166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.550281693 meters 0.013805135488234924 Centerline is valid? [True, True] Translation: X:199.80, Y:87.18, Z:0.48 [[ 5.33170632e-01 -8.46005273e-01 -2.03861895e-03 1.99800466e+02] [ 8.45999038e-01 5.33174529e-01 -3.24792699e-03 8.71810773e+01] [ 3.83470306e-03 7.02961128e-06 9.99992647e-01 4.78323842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.580281693 meters 0.013997162989904565 Centerline is valid? [True, True] Translation: X:199.81, Y:87.20, Z:0.48 [[ 5.33253315e-01 -8.45952218e-01 -2.39731037e-03 1.99814782e+02] [ 8.45943586e-01 5.33258703e-01 -3.82165223e-03 8.72009429e+01] [ 4.51132180e-03 9.91939183e-06 9.99989824e-01 4.76776676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.610281693 meters 0.014086290138400796 Centerline is valid? [True, True] Translation: X:199.83, Y:87.22, Z:0.48 [[ 5.33249935e-01 -8.45954328e-01 -2.40458871e-03 1.99829537e+02] [ 8.45945633e-01 5.33255357e-01 -3.83539386e-03 8.72209659e+01] [ 4.52682784e-03 1.10722033e-05 9.99989754e-01 4.76246349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.640281693 meters 0.01404905521932157 Centerline is valid? [True, True] Translation: X:199.84, Y:87.24, Z:0.48 [[ 5.33296129e-01 -8.45925649e-01 -2.24404837e-03 1.99844545e+02] [ 8.45918068e-01 5.33300850e-01 -3.58120429e-03 8.72414271e+01] [ 4.22618546e-03 1.15613209e-05 9.99991070e-01 4.77155556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.670281693 meters 0.014443048801092526 Centerline is valid? [True, True] Translation: X:199.86, Y:87.26, Z:0.48 [[ 5.33576467e-01 -8.45747997e-01 -2.54555667e-03 1.99859428e+02] [ 8.45738229e-01 5.33582539e-01 -4.06475344e-03 8.72604126e+01] [ 4.79602167e-03 1.59821939e-05 9.99988499e-01 4.75447500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.700281693 meters 0.014823978429626372 Centerline is valid? [True, True] Translation: X:199.87, Y:87.28, Z:0.48 [[ 5.33890105e-01 -8.45550569e-01 -2.36476395e-03 1.99872358e+02] [ 8.45542129e-01 5.33895342e-01 -3.77790303e-03 8.72811644e+01] [ 4.45694451e-03 1.74775015e-05 9.99990068e-01 4.75851393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.730281693 meters 0.014732101993312647 Centerline is valid? [True, True] Translation: X:199.89, Y:87.30, Z:0.48 [[ 5.34325706e-01 -8.45275645e-01 -2.26351369e-03 1.99887314e+02] [ 8.45267903e-01 5.34330500e-01 -3.61785922e-03 8.73033839e+01] [ 4.26755268e-03 1.98397133e-05 9.99990894e-01 4.77699251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.760281693 meters 0.015485209928747667 Centerline is valid? [True, True] Translation: X:199.90, Y:87.33, Z:0.48 [[ 5.35985235e-01 -8.44225048e-01 -1.97355324e-03 1.99900562e+02] [ 8.44219150e-01 5.35988868e-01 -3.15593484e-03 8.73263155e+01] [ 3.72212181e-03 2.54230354e-05 9.99993073e-01 4.79705609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.790281693 meters 0.01696284784675622 Centerline is valid? [True, True] Translation: X:199.91, Y:87.35, Z:0.48 [[ 5.37076966e-01 -8.43531028e-01 -1.93296871e-03 1.99910530e+02] [ 8.43525360e-01 5.37080444e-01 -3.09268534e-03 8.73504043e+01] [ 3.64693574e-03 3.05019350e-05 9.99993349e-01 4.80098602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.820281693 meters 0.01759524361202689 Centerline is valid? [True, True] Translation: X:199.92, Y:87.37, Z:0.48 [[ 5.38277361e-01 -8.42765987e-01 -1.72446314e-03 1.99922858e+02] [ 8.42761467e-01 5.38280122e-01 -2.76041958e-03 8.73748930e+01] [ 3.25463196e-03 3.25602810e-05 9.99994703e-01 4.80636155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.850281693 meters 0.020208384759895014 Centerline is valid? [True, True] Translation: X:199.93, Y:87.40, Z:0.48 [[ 5.40735399e-01 -8.41191884e-01 -1.20116823e-03 1.99931601e+02] [ 8.41189686e-01 5.40736732e-01 -1.92343169e-03 8.74004787e+01] [ 2.26749091e-03 2.96572787e-05 9.99997429e-01 4.81469467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.880281693 meters 0.021366865790470892 Centerline is valid? [True, True] Translation: X:199.94, Y:87.42, Z:0.48 [[ 5.41610987e-01 -8.40628621e-01 -1.03007536e-03 1.99944242e+02] [ 8.40627002e-01 5.41611965e-01 -1.65016051e-03 8.74244567e+01] [ 1.94507329e-03 2.78359046e-05 9.99998108e-01 4.82143645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.910281693 meters 0.02292091204765134 Centerline is valid? [True, True] Translation: X:199.95, Y:87.45, Z:0.48 [[ 5.42895996e-01 -8.39799679e-01 -6.60660807e-04 1.99954295e+02] [ 8.39799012e-01 5.42896397e-01 -1.05857850e-03 8.74500327e+01] [ 1.24766426e-03 1.98757372e-05 9.99999221e-01 4.83452303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940281693 meters 0.024133210499290545 Centerline is valid? [True, True] Translation: X:199.96, Y:87.47, Z:0.48 [[ 5.43293176e-01 -8.39542598e-01 -8.66433490e-04 1.99964773e+02] [ 8.39541449e-01 5.43293866e-01 -1.38919883e-03 8.74734471e+01] [ 1.63701960e-03 2.73354167e-05 9.99998660e-01 4.83270677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970281693 meters 0.02419187082817164 Centerline is valid? [True, True] Translation: X:199.98, Y:87.50, Z:0.48 [[ 5.43475201e-01 -8.39424740e-01 -9.01626018e-04 1.99977647e+02] [ 8.39423494e-01 5.43475948e-01 -1.44622868e-03 8.74965983e+01] [ 1.70401219e-03 2.91433608e-05 9.99998548e-01 4.82914093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000281693 meters 0.024487104391559055 Centerline is valid? [True, True] Translation: X:199.99, Y:87.52, Z:0.48 [[ 5.42907082e-01 -8.39791940e-01 -1.18183328e-03 1.99989753e+02] [ 8.39789799e-01 5.42908367e-01 -1.89694697e-03 8.75194408e+01] [ 2.23466795e-03 3.73744077e-05 9.99997502e-01 4.81705271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030281693 meters 0.02349049829352973 Centerline is valid? [True, True] Translation: X:200.00, Y:87.54, Z:0.48 [[ 5.42048923e-01 -8.40345904e-01 -1.31385018e-03 2.00004334e+02] [ 8.40343256e-01 5.42050514e-01 -2.11007840e-03 8.75411997e+01] [ 2.48536891e-03 3.96805820e-05 9.99996911e-01 4.81232502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060281693 meters 0.02251338554446514 Centerline is valid? [True, True] Translation: X:200.02, Y:87.56, Z:0.48 [[ 5.40812413e-01 -8.41142033e-01 -1.41909950e-03 2.00018991e+02] [ 8.41138943e-01 5.40814274e-01 -2.28033913e-03 8.75625138e+01] [ 2.68555836e-03 3.95758479e-05 9.99996393e-01 4.80351006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090281693 meters 0.018529593670380914 Centerline is valid? [True, True] Translation: X:200.04, Y:87.58, Z:0.48 [[ 5.37648713e-01 -8.43168039e-01 -1.23303217e-03 2.00039849e+02] [ 8.43165709e-01 5.37650126e-01 -1.98223085e-03 8.75812851e+01] [ 2.33429360e-03 2.60934179e-05 9.99997275e-01 4.80899359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120281693 meters 0.017517795704029407 Centerline is valid? [True, True] Translation: X:200.06, Y:87.60, Z:0.48 [[ 5.36160023e-01 -8.44115725e-01 -1.03562431e-03 2.00055581e+02] [ 8.44114082e-01 5.36161022e-01 -1.66553113e-03 8.76017936e+01] [ 1.96116240e-03 1.88061439e-05 9.99998077e-01 4.81521056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15028169299998 meters 0.01640144114325606 Centerline is valid? [True, True] Translation: X:200.07, Y:87.62, Z:0.48 [[ 5.34587056e-01 -8.45112365e-01 -1.33028568e-03 2.00072070e+02] [ 8.45109654e-01 5.34588710e-01 -2.14084024e-03 8.76223703e+01] [ 2.52040627e-03 2.02282104e-05 9.99996824e-01 4.80253168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18028169299998 meters 0.01704575488370339 Centerline is valid? [True, True] Translation: X:200.09, Y:87.64, Z:0.48 [[ 5.34390077e-01 -8.45236067e-01 -1.79883139e-03 2.00085377e+02] [ 8.45231104e-01 5.34393104e-01 -2.89671758e-03 8.76444045e+01] [ 3.40969327e-03 2.75488916e-05 9.99994187e-01 4.78404122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21028169299998 meters 0.017341834899324365 Centerline is valid? [True, True] Translation: X:200.10, Y:87.67, Z:0.48 [[ 5.34438999e-01 -8.45204653e-01 -2.01253310e-03 2.00098633e+02] [ 8.45198434e-01 5.34442787e-01 -3.24272618e-03 8.76656493e+01] [ 3.81635106e-03 3.20495148e-05 9.99992717e-01 4.77152396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.240281693 meters 0.01815245677007305 Centerline is valid? [True, True] Translation: X:200.11, Y:87.69, Z:0.48 [[ 5.35011323e-01 -8.44841332e-01 -2.45097852e-03 2.00111234e+02] [ 8.44832092e-01 5.35016936e-01 -3.95154354e-03 8.76883108e+01] [ 4.64974233e-03 4.34552226e-05 9.99989189e-01 4.75990400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.270281693 meters 0.021147148012048776 Centerline is valid? [True, True] Translation: X:200.12, Y:87.71, Z:0.48 [[ 5.37510509e-01 -8.43253717e-01 -2.37085335e-03 2.00120023e+02] [ 8.43245047e-01 5.37515735e-01 -3.82436411e-03 8.77129307e+01] [ 4.49928023e-03 5.64255499e-05 9.99989877e-01 4.76649428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.300281693 meters 0.023183731728728212 Centerline is valid? [True, True] Translation: X:200.13, Y:87.74, Z:0.48 [[ 5.38887710e-01 -8.42375208e-01 -2.01116475e-03 2.00130240e+02] [ 8.42368957e-01 5.38891460e-01 -3.24570087e-03 8.77360481e+01] [ 3.81789745e-03 5.49255587e-05 9.99992710e-01 4.78055019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.330281693 meters 0.023831926321900617 Centerline is valid? [True, True] Translation: X:200.14, Y:87.76, Z:0.48 [[ 5.40966303e-01 -8.41042808e-01 -1.56654722e-03 2.00143682e+02] [ 8.41039007e-01 5.40968569e-01 -2.52922749e-03 8.77593209e+01] [ 2.97464140e-03 5.06995249e-05 9.99995574e-01 4.79243718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.360281693 meters 0.025369588064050017 Centerline is valid? [True, True] Translation: X:200.16, Y:87.78, Z:0.48 [[ 5.41566401e-01 -8.40656425e-01 -1.61500012e-03 2.00155669e+02] [ 8.40652379e-01 5.41568806e-01 -2.60872199e-03 8.77828926e+01] [ 3.06767259e-03 5.51424924e-05 9.99995293e-01 4.79172003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.390281693 meters 0.025022399391990423 Centerline is valid? [True, True] Translation: X:200.17, Y:87.81, Z:0.48 [[ 5.42236253e-01 -8.40224629e-01 -1.55549557e-03 2.00170229e+02] [ 8.40220870e-01 5.42238481e-01 -2.51379448e-03 8.78055684e+01] [ 2.95560159e-03 5.61106546e-05 9.99995631e-01 4.78963820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.420281693 meters 0.03007847664070175 Centerline is valid? [True, True] Translation: X:200.18, Y:87.83, Z:0.48 [[ 5.42864471e-01 -8.39818667e-01 -1.66515622e-03 2.00177190e+02] [ 8.39814354e-01 5.42867021e-01 -2.69237847e-03 8.78316121e+01] [ 3.16506809e-03 6.31745190e-05 9.99994989e-01 4.78387250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.450281693 meters 0.030881730282848678 Centerline is valid? [True, True] Translation: X:200.19, Y:87.86, Z:0.48 [[ 5.44439163e-01 -8.38798872e-01 -1.56518195e-03 2.00189103e+02] [ 8.38795053e-01 5.44441409e-01 -2.53192153e-03 8.78557269e+01] [ 2.97592279e-03 6.56103608e-05 9.99995570e-01 4.79183545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.480281693 meters 0.03402312114691102 Centerline is valid? [True, True] Translation: X:200.20, Y:87.88, Z:0.48 [[ 5.44988677e-01 -8.38442268e-01 -1.38055395e-03 2.00198273e+02] [ 8.38439293e-01 5.44990422e-01 -2.23421460e-03 8.78808097e+01] [ 2.62564864e-03 6.01109793e-05 9.99996551e-01 4.79550566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.510281693 meters 0.030201684813995787 Centerline is valid? [True, True] Translation: X:200.22, Y:87.90, Z:0.48 [[ 5.46092273e-01 -8.37724216e-01 -1.16948979e-03 2.00216345e+02] [ 8.37722078e-01 5.46093523e-01 -1.89338515e-03 8.79010764e+01] [ 2.22478539e-03 5.42555819e-05 9.99997524e-01 4.80352187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.540281693 meters 0.0364891978024621 Centerline is valid? [True, True] Translation: X:200.22, Y:87.93, Z:0.48 [[ 5.46409231e-01 -8.37517961e-01 -7.85199928e-04 2.00222305e+02] [ 8.37516997e-01 5.46409794e-01 -1.27143743e-03 8.79285233e+01] [ 1.49389262e-03 3.71068642e-05 9.99998883e-01 4.81812830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.570281693 meters 0.03289462532717593 Centerline is valid? [True, True] Translation: X:200.24, Y:87.95, Z:0.48 [[ 5.47571800e-01 -8.36758699e-01 6.44354249e-05 2.00237648e+02] [ 8.36758692e-01 5.47571803e-01 1.05254131e-04 8.79510452e+01] [-1.23355332e-04 -3.71729204e-06 9.99999992e-01 4.84598860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.600281693 meters 0.033329445306274866 Centerline is valid? [True, True] Translation: X:200.25, Y:87.98, Z:0.48 [[ 5.47881612e-01 -8.36555868e-01 1.42305138e-04 2.00249297e+02] [ 8.36555835e-01 5.47881630e-01 2.31649303e-04 8.79752133e+01] [-2.71753955e-04 -7.87019964e-06 9.99999963e-01 4.84322467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.630281693 meters 0.0343889295037699 Centerline is valid? [True, True] Translation: X:200.26, Y:88.00, Z:0.48 [[ 5.48158515e-01 -8.36374413e-01 -2.88589853e-04 2.00260421e+02] [ 8.36374283e-01 5.48158591e-01 -4.67458732e-04 8.79990254e+01] [ 5.49163530e-04 1.48723535e-05 9.99999849e-01 4.82886952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.660281693 meters 0.034195628037956324 Centerline is valid? [True, True] Translation: X:200.27, Y:88.02, Z:0.48 [[ 5.47409194e-01 -8.36863208e-01 -1.77343666e-03 2.00272469e+02] [ 8.36858263e-01 5.47412059e-01 -2.87840337e-03 8.80216309e+01] [ 3.37963049e-03 9.15493449e-05 9.99994285e-01 4.77816228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690281693 meters 0.03401465765189449 Centerline is valid? [True, True] Translation: X:200.29, Y:88.04, Z:0.48 [[ 5.46840498e-01 -8.37234082e-01 -2.13588537e-03 2.00285175e+02] [ 8.37226903e-01 5.46844658e-01 -3.46869601e-03 8.80447352e+01] [ 4.07210802e-03 1.08602758e-04 9.99991703e-01 4.76388963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720281693 meters 0.03303329815231435 Centerline is valid? [True, True] Translation: X:200.30, Y:88.07, Z:0.48 [[ 5.46052251e-01 -8.37748875e-01 -1.93957786e-03 2.00298332e+02] [ 8.37742953e-01 5.46055688e-01 -3.15143198e-03 8.80673875e+01] [ 3.69922612e-03 9.59788476e-05 9.99993153e-01 4.76688745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750281693 meters 0.033116300231346214 Centerline is valid? [True, True] Translation: X:200.31, Y:88.09, Z:0.48 [[ 5.45323467e-01 -8.38224484e-01 -1.42483339e-03 2.00309957e+02] [ 8.38221287e-01 5.45325324e-01 -2.31604910e-03 8.80895822e+01] [ 2.71836679e-03 6.86702519e-05 9.99996303e-01 4.78521189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780281693 meters 0.033161845218850794 Centerline is valid? [True, True] Translation: X:200.32, Y:88.11, Z:0.48 [[ 5.44715583e-01 -8.38620594e-01 -6.58021061e-04 2.00320457e+02] [ 8.38619912e-01 5.44715980e-01 -1.06969265e-03 8.81125558e+01] [ 1.25550087e-03 3.08486924e-05 9.99999211e-01 4.81308677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810281693 meters 0.033699135295325186 Centerline is valid? [True, True] Translation: X:200.33, Y:88.14, Z:0.48 [[ 5.45026864e-01 -8.38418146e-01 -8.54494079e-04 2.00332492e+02] [ 8.38416994e-01 5.45027532e-01 -1.39011768e-03 8.81369429e+01] [ 1.63122269e-03 4.12291218e-05 9.99998669e-01 4.81159353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840281693 meters 0.038908040487487416 Centerline is valid? [True, True] Translation: X:200.34, Y:88.17, Z:0.48 [[ 5.48312335e-01 -8.36272541e-01 -1.34933590e-03 2.00335693e+02] [ 8.36269660e-01 5.48313990e-01 -2.19661385e-03 8.81652601e+01] [ 2.57682760e-03 7.60217992e-05 9.99996677e-01 4.80835059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870281693 meters 0.043353436793748555 Centerline is valid? [True, True] Translation: X:200.34, Y:88.19, Z:0.48 [[ 5.51167270e-01 -8.34393438e-01 -1.49348633e-03 2.00341367e+02] [ 8.34389898e-01 5.51169285e-01 -2.43257582e-03 8.81931417e+01] [ 2.85288909e-03 9.46062685e-05 9.99995926e-01 4.80862565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90028169299998 meters 0.05109520702080093 Centerline is valid? [True, True] Translation: X:200.34, Y:88.23, Z:0.48 [[ 5.56589029e-01 -8.30786192e-01 -1.71949409e-03 2.00338348e+02] [ 8.30781477e-01 5.56591669e-01 -2.80211997e-03 8.82264720e+01] [ 3.28501866e-03 1.31105392e-04 9.99994596e-01 4.79596190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93028169299998 meters 0.05413882629761549 Centerline is valid? [True, True] Translation: X:200.34, Y:88.25, Z:0.48 [[ 5.58126678e-01 -8.29754828e-01 -1.23986009e-03 2.00344643e+02] [ 8.29752372e-01 5.58128046e-01 -2.02121424e-03 8.82526042e+01] [ 2.36911296e-03 9.93167440e-05 9.99997189e-01 4.80722274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96028169299998 meters 0.05473936753986382 Centerline is valid? [True, True] Translation: X:200.35, Y:88.28, Z:0.48 [[ 5.58375433e-01 -8.29588237e-01 -4.82472166e-04 2.00354820e+02] [ 8.29587865e-01 5.58375640e-01 -7.86443498e-04 8.82778128e+01] [ 9.21824980e-04 3.88776744e-05 9.99999574e-01 4.83630154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.990281693 meters 0.053914464658020154 Centerline is valid? [True, True] Translation: X:200.37, Y:88.30, Z:0.49 [[ 5.57234948e-01 -8.30354782e-01 3.85169757e-04 2.00367043e+02] [ 8.30354544e-01 5.57235080e-01 6.29521477e-04 8.83013344e+01] [-7.37356269e-04 -3.09639094e-05 9.99999728e-01 4.86694649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.020281693 meters 0.046227406993813565 Centerline is valid? [True, True] Translation: X:200.39, Y:88.32, Z:0.49 [[ 5.51559556e-01 -8.34134482e-01 1.31240116e-03 2.00386167e+02] [ 8.34131732e-01 5.51561111e-01 2.14371341e-03 8.83211227e+01] [-2.51201471e-03 -8.76701683e-05 9.99996841e-01 4.90288937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.050281693 meters 0.03803669919354396 Centerline is valid? [True, True] Translation: X:200.41, Y:88.34, Z:0.49 [[ 5.47253352e-01 -8.36966403e-01 1.00510409e-03 2.00408459e+02] [ 8.36964792e-01 5.47254272e-01 1.64286666e-03 8.83389852e+01] [-1.92507170e-03 -5.78275508e-05 9.99998145e-01 4.88128715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.080281693 meters 0.02456372377616242 Centerline is valid? [True, True] Translation: X:200.44, Y:88.35, Z:0.48 [[ 5.37394005e-01 -8.43331061e-01 -6.35751806e-04 2.00439780e+02] [ 8.43330422e-01 5.37394381e-01 -1.03842521e-03 8.83519308e+01] [ 1.21738568e-03 2.18946413e-05 9.99999259e-01 4.81214946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.110281693 meters 0.021633469799450293 Centerline is valid? [True, True] Translation: X:200.46, Y:88.37, Z:0.48 [[ 5.32461693e-01 -8.46453101e-01 -1.30093488e-03 2.00458799e+02] [ 8.46450431e-01 5.32463282e-01 -2.12628858e-03 8.83709286e+01] [ 2.49250362e-03 3.09903243e-05 9.99996893e-01 4.78889881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.140281693 meters 0.017079292533970947 Centerline is valid? [True, True] Translation: X:200.48, Y:88.39, Z:0.48 [[ 5.28024169e-01 -8.49227718e-01 -1.66148122e-03 2.00480298e+02] [ 8.49223372e-01 5.28026782e-01 -2.71706151e-03 8.83874031e+01] [ 3.18471052e-03 2.37054639e-05 9.99994929e-01 4.79009981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.170281693 meters 0.013583341078656937 Centerline is valid? [True, True] Translation: X:200.51, Y:88.40, Z:0.48 [[ 5.22207894e-01 -8.52817120e-01 -1.36952380e-03 2.00506361e+02] [ 8.52814177e-01 5.22209690e-01 -2.24042943e-03 8.84025554e+01] [ 2.62585517e-03 2.02062430e-06 9.99996552e-01 4.81237029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.200281693 meters 0.013517821708938432 Centerline is valid? [True, True] Translation: X:200.52, Y:88.42, Z:0.48 [[ 5.20856325e-01 -8.53643810e-01 -9.66237244e-04 2.00523847e+02] [ 8.53642346e-01 5.20857222e-01 -1.58122636e-03 8.84221303e+01] [ 1.85307574e-03 -1.22927365e-06 9.99998283e-01 4.82272323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.230281693 meters 0.013552739860765616 Centerline is valid? [True, True] Translation: X:200.54, Y:88.44, Z:0.48 [[ 5.20516060e-01 -8.53851686e-01 -5.74126003e-04 2.00540185e+02] [ 8.53851169e-01 5.20516377e-01 -9.39654617e-04 8.84427291e+01] [ 1.10116767e-03 -1.11283922e-06 9.99999394e-01 4.83130666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.260281693 meters 0.013552739860765616 Centerline is valid? [True, True] Translation: X:200.55, Y:88.46, Z:0.48 [[ 5.20317020e-01 -8.53972991e-01 -5.73905799e-04 2.00553390e+02] [ 8.53972474e-01 5.20317337e-01 -9.39789062e-04 8.84649165e+01] [ 1.10116761e-03 -1.11151044e-06 9.99999394e-01 4.83182031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.290281693 meters 0.013717648178590046 Centerline is valid? [True, True] Translation: X:200.57, Y:88.49, Z:0.48 [[ 5.20801688e-01 -8.53677688e-01 -8.30657117e-05 2.00569666e+02] [ 8.53677677e-01 5.20801695e-01 -1.35295584e-04 8.84851283e+01] [ 1.58759585e-04 -4.49175364e-07 9.99999987e-01 4.84251022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.320281693 meters 0.01370418850203323 Centerline is valid? [True, True] Translation: X:200.58, Y:88.51, Z:0.48 [[ 5.21103275e-01 -8.53493618e-01 -1.48767800e-04 2.00581961e+02] [ 8.53493583e-01 5.21103296e-01 -2.43295897e-04 8.85057443e+01] [ 2.85174886e-04 -1.90073727e-07 9.99999959e-01 4.83867853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.350281693 meters 0.013743077320444724 Centerline is valid? [True, True] Translation: X:200.60, Y:88.53, Z:0.48 [[ 5.21555422e-01 -8.53217294e-01 -4.36200005e-04 2.00596126e+02] [ 8.53216995e-01 5.21555604e-01 -7.15134823e-04 8.85263331e+01] [ 8.37667956e-04 8.09187133e-07 9.99999649e-01 4.83102404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.380281693 meters 0.013759179531230833 Centerline is valid? [True, True] Translation: X:200.61, Y:88.55, Z:0.48 [[ 5.21309525e-01 -8.53367384e-01 -6.98266184e-04 2.00610668e+02] [ 8.53366614e-01 5.21309993e-01 -1.14603269e-03 8.85469674e+01] [ 1.34200005e-03 1.56070593e-06 9.99999100e-01 4.82370623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.410281693 meters 0.013783090556525312 Centerline is valid? [True, True] Translation: X:200.62, Y:88.57, Z:0.48 [[ 5.21393967e-01 -8.53315665e-01 -8.40993430e-04 2.00624944e+02] [ 8.53314547e-01 5.21394645e-01 -1.38121885e-03 8.85681909e+01] [ 1.61710515e-03 2.52724819e-06 9.99998692e-01 4.81914905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440281693 meters 0.01395445384917263 Centerline is valid? [True, True] Translation: X:200.64, Y:88.59, Z:0.48 [[ 5.21534388e-01 -8.53230168e-01 -4.02382040e-04 2.00639292e+02] [ 8.53229912e-01 5.21534544e-01 -6.60817813e-04 8.85885642e+01] [ 7.73685827e-04 1.31482108e-06 9.99999701e-01 4.83663852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470281693 meters 0.014035538242010393 Centerline is valid? [True, True] Translation: X:200.65, Y:88.61, Z:0.48 [[ 5.21558272e-01 -8.53215662e-01 -5.94263534e-05 2.00652913e+02] [ 8.53215656e-01 5.21558275e-01 -9.68531161e-05 8.86101771e+01] [ 1.13630902e-04 -1.88951243e-07 9.99999994e-01 4.84842907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500281693 meters 0.013897812711957024 Centerline is valid? [True, True] Translation: X:200.67, Y:88.63, Z:0.48 [[ 5.20741445e-01 -8.53714435e-01 -1.00936477e-04 2.00668659e+02] [ 8.53714419e-01 5.20741455e-01 -1.65198934e-04 8.86297208e+01] [ 1.93594523e-04 -1.44994001e-07 9.99999981e-01 4.84351841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530281693 meters 0.013761072317730112 Centerline is valid? [True, True] Translation: X:200.68, Y:88.65, Z:0.48 [[ 5.19982372e-01 -8.54176990e-01 -5.53585774e-05 2.00683411e+02] [ 8.54176985e-01 5.19982375e-01 -9.02679599e-05 8.86500032e+01] [ 1.05890299e-04 -3.48274835e-07 9.99999994e-01 4.84526535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560281693 meters 0.01365182849133724 Centerline is valid? [True, True] Translation: X:200.70, Y:88.67, Z:0.48 [[ 5.19154616e-01 -8.54680333e-01 -1.16657114e-04 2.00698166e+02] [ 8.54680311e-01 5.19154629e-01 -1.91287919e-04 8.86702949e+01] [ 2.24053103e-04 -3.96532387e-07 9.99999975e-01 4.84327547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590281693 meters 0.013625856444243979 Centerline is valid? [True, True] Translation: X:200.72, Y:88.69, Z:0.48 [[ 5.17747937e-01 -8.55532792e-01 -8.45262982e-04 2.00716513e+02] [ 8.55531659e-01 5.17748627e-01 -1.39264368e-03 8.86895101e+01] [ 1.62908608e-03 -2.11085081e-06 9.99998673e-01 4.81703303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620281693 meters 0.013745855591983939 Centerline is valid? [True, True] Translation: X:200.73, Y:88.71, Z:0.48 [[ 5.17318357e-01 -8.55792382e-01 -1.05701949e-03 2.00730922e+02] [ 8.55790607e-01 5.17319436e-01 -1.74272699e-03 8.87095734e+01] [ 2.03822921e-03 -3.04269123e-06 9.99997923e-01 4.80830594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65028169299998 meters 0.013686514930225852 Centerline is valid? [True, True] Translation: X:200.74, Y:88.73, Z:0.48 [[ 5.17343414e-01 -8.55777250e-01 -1.04456530e-03 2.00744107e+02] [ 8.55775515e-01 5.17344468e-01 -1.72316953e-03 8.87297848e+01] [ 2.01504936e-03 -2.44300082e-06 9.99997970e-01 4.81060425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68028169299998 meters 0.013641553178182523 Centerline is valid? [True, True] Translation: X:200.76, Y:88.75, Z:0.49 [[ 5.18000024e-01 -8.55380514e-01 3.88780075e-04 2.00756755e+02] [ 8.55380273e-01 5.18000169e-01 6.42980752e-04 8.87514944e+01] [-7.51381351e-04 -5.09238416e-07 9.99999718e-01 4.86680934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71028169299998 meters 0.013703023812478059 Centerline is valid? [True, True] Translation: X:200.77, Y:88.77, Z:0.49 [[ 5.18175818e-01 -8.55273152e-01 1.28720920e-03 2.00769214e+02] [ 8.55270505e-01 5.18177417e-01 2.12784980e-03 8.87732846e+01] [-2.48689554e-03 -1.68824778e-06 9.99996908e-01 4.89869546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.740281693 meters 0.013874505625484965 Centerline is valid? [True, True] Translation: X:200.78, Y:88.79, Z:0.49 [[ 5.17399304e-01 -8.55741628e-01 2.05559881e-03 2.00783224e+02] [ 8.55734876e-01 5.17403388e-01 3.39944511e-03 8.87933815e+01] [-3.97262048e-03 1.77064880e-07 9.99992109e-01 4.93402790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.770281693 meters 0.013992945245167412 Centerline is valid? [True, True] Translation: X:200.80, Y:88.81, Z:0.49 [[ 5.15931596e-01 -8.56627421e-01 2.01215556e-03 2.00799005e+02] [ 8.56620951e-01 5.15935520e-01 3.32936073e-03 8.88136973e+01] [-3.89016422e-03 5.93220879e-06 9.99992433e-01 4.92474926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.800281693 meters 0.014605382783985888 Centerline is valid? [True, True] Translation: X:200.82, Y:88.83, Z:0.49 [[ 5.14191374e-01 -8.57673419e-01 1.88094267e-03 2.00815264e+02] [ 8.57667765e-01 5.14194814e-01 3.11407737e-03 8.88323312e+01] [-3.63803235e-03 1.19921772e-05 9.99993382e-01 4.92135598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.830281693 meters 0.017234337468244126 Centerline is valid? [True, True] Translation: X:200.84, Y:88.85, Z:0.49 [[ 5.10850780e-01 -8.59669023e-01 8.07231700e-04 2.00837098e+02] [ 8.59667982e-01 5.10851418e-01 1.33772154e-03 8.88478467e+01] [-1.56237323e-03 1.05751521e-05 9.99998779e-01 4.88138564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.860281693 meters 0.01815363922303258 Centerline is valid? [True, True] Translation: X:200.85, Y:88.87, Z:0.49 [[ 5.09314727e-01 -8.60580155e-01 5.53029749e-04 2.00852486e+02] [ 8.60579666e-01 5.09315028e-01 9.17197870e-04 8.88678825e+01] [-1.07098865e-03 8.78377309e-06 9.99999426e-01 4.87029013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.890281693 meters 0.01881781957626837 Centerline is valid? [True, True] Translation: X:200.87, Y:88.89, Z:0.49 [[ 5.08607104e-01 -8.60998375e-01 7.82815143e-04 2.00866421e+02] [ 8.60997395e-01 5.08607706e-01 1.29867069e-03 8.88880668e+01] [-1.51629916e-03 1.34886629e-05 9.99998850e-01 4.88690944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.920281693 meters 0.017819507727762814 Centerline is valid? [True, True] Translation: X:200.88, Y:88.91, Z:0.49 [[ 5.09472175e-01 -8.60485770e-01 1.53043245e-03 2.00877178e+02] [ 8.60482023e-01 5.09474473e-01 2.53942684e-03 8.89100568e+01] [-2.96485693e-03 2.31422969e-05 9.99995605e-01 4.92533725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.950281693 meters 0.016731655281469575 Centerline is valid? [True, True] Translation: X:200.89, Y:88.93, Z:0.49 [[ 5.10423486e-01 -8.59921908e-01 1.47562479e-03 2.00888242e+02] [ 8.59918419e-01 5.10425619e-01 2.44974562e-03 8.89331595e+01] [-2.85978662e-03 1.85092371e-05 9.99995911e-01 4.92184362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.980281693 meters 0.015445896962357807 Centerline is valid? [True, True] Translation: X:200.90, Y:88.96, Z:0.49 [[ 5.11760988e-01 -8.59127066e-01 1.17276091e-03 2.00899029e+02] [ 8.59124857e-01 5.11762332e-01 1.94814392e-03 8.89563801e+01] [-2.27387803e-03 1.05639944e-05 9.99997415e-01 4.90766834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.010281693 meters 0.013872537056245917 Centerline is valid? [True, True] Translation: X:200.91, Y:88.98, Z:0.49 [[ 5.14401046e-01 -8.57549472e-01 6.83312066e-04 2.00908453e+02] [ 8.57548720e-01 5.14401499e-01 1.13605088e-03 8.89807362e+01] [-1.32571658e-03 1.58762901e-06 9.99999121e-01 4.88197729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.040281693 meters 0.01371480474785355 Centerline is valid? [True, True] Translation: X:200.92, Y:89.00, Z:0.49 [[ 5.15033990e-01 -8.57169547e-01 5.97307034e-04 2.00919941e+02] [ 8.57168971e-01 5.15034337e-01 9.93686666e-04 8.90034005e+01] [-1.15939158e-03 2.10647172e-07 9.99999328e-01 4.88010283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.070281693 meters 0.014005715631097171 Centerline is valid? [True, True] Translation: X:200.93, Y:89.03, Z:0.49 [[ 5.16858287e-01 -8.56070827e-01 5.00637146e-04 2.00931107e+02] [ 8.56070421e-01 5.16858530e-01 8.33443010e-04 8.90266173e+01] [-9.72244826e-04 -2.19127412e-06 9.99999527e-01 4.87685082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.100281693 meters 0.014077326919697241 Centerline is valid? [True, True] Translation: X:200.94, Y:89.05, Z:0.49 [[ 5.17585387e-01 -8.55631295e-01 6.74731454e-04 2.00944229e+02] [ 8.55630557e-01 5.17585827e-01 1.12357839e-03 8.90490159e+01] [-1.31060027e-03 -4.22690652e-06 9.99999141e-01 4.87264894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.130281693 meters 0.015235416855286113 Centerline is valid? [True, True] Translation: X:200.95, Y:89.07, Z:0.49 [[ 5.18629765e-01 -8.54998551e-01 8.03167044e-04 2.00953460e+02] [ 8.54997504e-01 5.18630387e-01 1.33806405e-03 8.90724663e+01] [-1.56058965e-03 -7.25402355e-06 9.99998782e-01 4.89301065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.160281693 meters 0.01669797936381252 Centerline is valid? [True, True] Translation: X:200.96, Y:89.10, Z:0.49 [[ 5.20112911e-01 -8.54097112e-01 8.26605520e-04 2.00962194e+02] [ 8.54096001e-01 5.20113567e-01 1.37773628e-03 8.90966169e+01] [-1.60664933e-03 -1.05779592e-05 9.99998709e-01 4.89719405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190281693 meters 0.018790632702188767 Centerline is valid? [True, True] Translation: X:200.97, Y:89.12, Z:0.49 [[ 5.23788858e-01 -8.51848019e-01 4.30286271e-04 2.00969658e+02] [ 8.51847716e-01 5.23789035e-01 7.17846184e-04 8.91235312e+01] [-8.36875080e-04 -9.46145550e-06 9.99999650e-01 4.86907570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220281693 meters 0.020908791102823288 Centerline is valid? [True, True] Translation: X:200.98, Y:89.15, Z:0.49 [[ 5.25355898e-01 -8.50882402e-01 5.64246444e-04 2.00978798e+02] [ 8.50881881e-01 5.25356201e-01 9.41585685e-04 8.91489821e+01] [-1.09760906e-03 -1.45605178e-05 9.99999398e-01 4.87261966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250281693 meters 0.021196833836928927 Centerline is valid? [True, True] Translation: X:200.99, Y:89.17, Z:0.49 [[ 5.26226978e-01 -8.50342767e-01 1.53202347e-03 2.00991122e+02] [ 8.50338925e-01 5.26229206e-01 2.55631818e-03 8.91730494e+01] [-2.97994217e-03 -4.24643946e-05 9.99995559e-01 4.90345368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280281693 meters 0.021212976035505902 Centerline is valid? [True, True] Translation: X:201.00, Y:89.19, Z:0.49 [[ 5.25375400e-01 -8.50868514e-01 1.86047149e-03 2.01003495e+02] [ 8.50862848e-01 5.25378692e-01 3.10539438e-03 8.91947063e+01] [-3.61973438e-03 -4.84917447e-05 9.99993448e-01 4.91699685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310281693 meters 0.020239782083610512 Centerline is valid? [True, True] Translation: X:201.02, Y:89.22, Z:0.49 [[ 5.23925369e-01 -8.51762449e-01 1.71421729e-03 2.01018070e+02] [ 8.51757638e-01 5.23928172e-01 2.86306601e-03 8.92158660e+01] [-3.33677884e-03 -3.99352492e-05 9.99994432e-01 4.91356315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340281693 meters 0.017833313059410504 Centerline is valid? [True, True] Translation: X:201.03, Y:89.24, Z:0.49 [[ 5.21488219e-01 -8.53258072e-01 8.36728361e-04 2.01034408e+02] [ 8.53256926e-01 5.21488890e-01 1.39863890e-03 8.92371610e+01] [-1.62974448e-03 -1.54294397e-05 9.99998672e-01 4.88301920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370281693 meters 0.017310116958795425 Centerline is valid? [True, True] Translation: X:201.05, Y:89.26, Z:0.49 [[ 5.20770392e-01 -8.53696573e-01 6.00143899e-04 2.01047036e+02] [ 8.53695983e-01 5.20770738e-01 1.00394077e-03 8.92599249e+01] [-1.16959818e-03 -1.04821930e-05 9.99999316e-01 4.87129211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40028169299998 meters 0.017704283164798898 Centerline is valid? [True, True] Translation: X:201.06, Y:89.28, Z:0.49 [[ 5.20774579e-01 -8.53693907e-01 7.42339171e-04 2.01057637e+02] [ 8.53693003e-01 5.20775108e-01 1.24230568e-03 8.92826092e+01] [-1.44714055e-03 -1.32314626e-05 9.99998953e-01 4.87844984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43028169299998 meters 0.018869853157290208 Centerline is valid? [True, True] Translation: X:201.07, Y:89.31, Z:0.49 [[ 5.21805739e-01 -8.53062436e-01 1.80294036e-03 2.01066322e+02] [ 8.53057100e-01 5.21808853e-01 3.01753509e-03 8.93074411e+01] [-3.51493608e-03 -3.65560530e-05 9.99993822e-01 4.91316032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46028169299998 meters 0.01854466988978108 Centerline is valid? [True, True] Translation: X:201.08, Y:89.33, Z:0.49 [[ 5.22007053e-01 -8.52939327e-01 1.77238661e-03 2.01079519e+02] [ 8.52934164e-01 5.22010060e-01 2.96798756e-03 8.93303702e+01] [-3.45671695e-03 -3.75813500e-05 9.99994025e-01 4.90379378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.490281693 meters 0.01889640522762998 Centerline is valid? [True, True] Translation: X:201.09, Y:89.35, Z:0.49 [[ 5.22115590e-01 -8.52874472e-01 6.67275269e-04 2.01091562e+02] [ 8.52873739e-01 5.22116016e-01 1.11855357e-03 8.93537252e+01] [-1.30238089e-03 -1.49127020e-05 9.99999152e-01 4.86989509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.520281693 meters 0.019700696774412548 Centerline is valid? [True, True] Translation: X:201.10, Y:89.38, Z:0.49 [[ 5.21976945e-01 -8.52959576e-01 1.74807751e-04 2.01102626e+02] [ 8.52959525e-01 5.21976974e-01 2.93903129e-04 8.93764510e+01] [-3.41933109e-04 -4.30672079e-06 9.99999942e-01 4.86088568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.550281693 meters 0.01911309328612171 Centerline is valid? [True, True] Translation: X:201.12, Y:89.40, Z:0.49 [[ 5.21794159e-01 -8.53071400e-01 2.07403024e-04 2.01116931e+02] [ 8.53071328e-01 5.21794200e-01 3.48664085e-04 8.93987522e+01] [-4.05657054e-04 -5.00130966e-06 9.99999918e-01 4.85834839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.580281693 meters 0.01906405203014351 Centerline is valid? [True, True] Translation: X:201.13, Y:89.42, Z:0.49 [[ 5.21411347e-01 -8.53304924e-01 9.56132510e-04 2.01130104e+02] [ 8.53303415e-01 5.21412223e-01 1.60459144e-03 8.94209228e+01] [-1.86774495e-03 -2.07810454e-05 9.99998256e-01 4.87995331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.610281693 meters 0.019092340881177495 Centerline is valid? [True, True] Translation: X:201.14, Y:89.44, Z:0.49 [[ 5.21063279e-01 -8.53516902e-01 1.39927493e-03 2.01142636e+02] [ 8.53513669e-01 5.21065157e-01 2.34942401e-03 8.94429023e+01] [-2.73438651e-03 -2.98983030e-05 9.99996261e-01 4.90221256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.640281693 meters 0.019479113801852924 Centerline is valid? [True, True] Translation: X:201.15, Y:89.47, Z:0.49 [[ 5.21081121e-01 -8.53505171e-01 1.84094437e-03 2.01154830e+02] [ 8.53499572e-01 5.21084372e-01 3.09175169e-03 8.94655460e+01] [-3.59811339e-03 -3.98082081e-05 9.99993526e-01 4.91952377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.670281693 meters 0.020139023671208425 Centerline is valid? [True, True] Translation: X:201.17, Y:89.49, Z:0.49 [[ 5.21839220e-01 -8.53042745e-01 1.37938245e-03 2.01165996e+02] [ 8.53039596e-01 5.21841042e-01 2.31814188e-03 8.94890264e+01] [-2.69729249e-03 -3.30295028e-05 9.99996362e-01 4.90610092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.700281693 meters 0.020989933273361752 Centerline is valid? [True, True] Translation: X:201.18, Y:89.51, Z:0.49 [[ 5.22330068e-01 -8.52742574e-01 1.18470500e-03 2.01176855e+02] [ 8.52740247e-01 5.22331411e-01 1.99211864e-03 8.95129242e+01] [-2.31757301e-03 -3.02978343e-05 9.99997314e-01 4.89505404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.730281693 meters 0.022086370676851746 Centerline is valid? [True, True] Translation: X:201.19, Y:89.54, Z:0.49 [[ 5.23069327e-01 -8.52289086e-01 1.33918687e-03 2.01187049e+02] [ 8.52286110e-01 5.23071040e-01 2.25251683e-03 8.95358192e+01] [-2.62028538e-03 -3.68520937e-05 9.99996566e-01 4.89428447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.760281693 meters 0.022487642381447542 Centerline is valid? [True, True] Translation: X:201.20, Y:89.56, Z:0.49 [[ 5.23055371e-01 -8.52296245e-01 2.04686706e-03 2.01198212e+02] [ 8.52289287e-01 5.23059372e-01 3.44439495e-03 8.95593237e+01] [-4.00627788e-03 -5.70864130e-05 9.99991973e-01 4.91063843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.790281693 meters 0.02183406601171455 Centerline is valid? [True, True] Translation: X:201.21, Y:89.58, Z:0.49 [[ 5.22141153e-01 -8.52855969e-01 2.30477213e-03 2.01212399e+02] [ 8.52847144e-01 5.22146237e-01 3.88025822e-03 8.95812830e+01] [-4.51272948e-03 -6.04241701e-05 9.99989816e-01 4.91798300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.820281693 meters 0.020314332536064943 Centerline is valid? [True, True] Translation: X:201.23, Y:89.60, Z:0.49 [[ 5.20372284e-01 -8.53935703e-01 2.54985063e-03 2.01227350e+02] [ 8.53924903e-01 5.20378528e-01 4.29510781e-03 8.96015997e+01] [-4.99463342e-03 -5.76741062e-05 9.99987525e-01 4.93159077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.850281693 meters 0.016966846553162863 Centerline is valid? [True, True] Translation: X:201.25, Y:89.62, Z:0.49 [[ 5.16449299e-01 -8.56313202e-01 2.79670849e-03 2.01248298e+02] [ 8.56300232e-01 5.16456870e-01 4.71317613e-03 8.96200680e+01] [-5.48033425e-03 -3.92943801e-05 9.99984982e-01 4.93764822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.880281693 meters 0.015353070300877052 Centerline is valid? [True, True] Translation: X:201.27, Y:89.64, Z:0.49 [[ 5.14447843e-01 -8.57518348e-01 2.38733114e-03 2.01266474e+02] [ 8.57508900e-01 5.14453382e-01 4.02559729e-03 8.96399590e+01] [-4.68019412e-03 -2.38021444e-05 9.99989048e-01 4.90641034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.910281693 meters 0.015087874958117743 Centerline is valid? [True, True] Translation: X:201.28, Y:89.66, Z:0.49 [[ 5.13229080e-01 -8.58249988e-01 1.69395388e-03 2.01281983e+02] [ 8.58245230e-01 5.13231876e-01 2.85770235e-03 8.96607071e+01] [-3.32201413e-03 -1.28281117e-05 9.99994482e-01 4.89048139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940281693 meters 0.014777742962440107 Centerline is valid? [True, True] Translation: X:201.30, Y:89.68, Z:0.49 [[ 5.12341755e-01 -8.58780578e-01 1.35857609e-03 2.01296534e+02] [ 8.58777515e-01 5.12343556e-01 2.29365020e-03 8.96806775e+01] [-2.66579995e-03 -8.41817006e-06 9.99996447e-01 4.87404405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970281693 meters 0.01501835341138143 Centerline is valid? [True, True] Translation: X:201.31, Y:89.70, Z:0.49 [[ 5.12845116e-01 -8.58480074e-01 1.35996212e-03 2.01311204e+02] [ 8.58477001e-01 5.12846919e-01 2.29688090e-03 8.97001159e+01] [-2.66927887e-03 -1.04479439e-05 9.99996437e-01 4.87849703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000281693 meters 0.015614412137728797 Centerline is valid? [True, True] Translation: X:201.32, Y:89.72, Z:0.49 [[ 5.14301089e-01 -8.57608736e-01 1.28304945e-03 2.01324598e+02] [ 8.57605995e-01 5.14302690e-01 2.16825626e-03 8.97227961e+01] [-2.51939129e-03 -1.47856559e-05 9.99996826e-01 4.87645002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030281693 meters 0.018867408323904676 Centerline is valid? [True, True] Translation: X:201.33, Y:89.75, Z:0.49 [[ 5.18073077e-01 -8.55335315e-01 1.33660893e-03 2.01334934e+02] [ 8.55332331e-01 5.18074800e-01 2.25938645e-03 8.97465900e+01] [-2.62499643e-03 -2.72824555e-05 9.99996554e-01 4.87552843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060281693 meters 0.021279184156673438 Centerline is valid? [True, True] Translation: X:201.35, Y:89.77, Z:0.49 [[ 5.20039943e-01 -8.54140542e-01 1.54680933e-03 2.01345544e+02] [ 8.54136536e-01 5.20042242e-01 2.61634313e-03 8.97691945e+01] [-3.03913093e-03 -3.94165700e-05 9.99995381e-01 4.87893056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090281693 meters 0.022159993039769586 Centerline is valid? [True, True] Translation: X:201.36, Y:89.79, Z:0.49 [[ 5.21945996e-01 -8.52976399e-01 1.90796249e-03 2.01360065e+02] [ 8.52970291e-01 5.21949480e-01 3.22843527e-03 8.97923783e+01] [-3.74963912e-03 -5.76335466e-05 9.99992968e-01 4.87449760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120281693 meters 0.025646396764051976 Centerline is valid? [True, True] Translation: X:201.37, Y:89.82, Z:0.49 [[ 5.23601082e-01 -8.51961216e-01 1.99813347e-03 2.01370363e+02] [ 8.51954506e-01 5.23604890e-01 3.38204995e-03 8.98165401e+01] [-3.92760785e-03 -6.85262020e-05 9.99992285e-01 4.88974131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15028169299998 meters 0.025646396764051976 Centerline is valid? [True, True] Translation: X:201.38, Y:89.84, Z:0.49 [[ 5.23411017e-01 -8.52078000e-01 1.99727802e-03 2.01383250e+02] [ 8.52071289e-01 5.23414823e-01 3.38255528e-03 8.98389246e+01] [-3.92760586e-03 -6.86434381e-05 9.99992285e-01 4.89025509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18028169299998 meters 0.027002642591006258 Centerline is valid? [True, True] Translation: X:201.40, Y:89.86, Z:0.49 [[ 5.25791293e-01 -8.50612823e-01 1.15834856e-03 2.01396781e+02] [ 8.50610559e-01 5.25792567e-01 1.96310967e-03 8.98619266e+01] [-2.27889733e-03 -4.68824548e-05 9.99997402e-01 4.85448281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21028169299998 meters 0.027964047972127298 Centerline is valid? [True, True] Translation: X:201.41, Y:89.89, Z:0.48 [[ 5.26496811e-01 -8.50176915e-01 5.65903479e-04 2.01409493e+02] [ 8.50176374e-01 5.26497115e-01 9.59919224e-04 8.98862192e+01] [-1.11404771e-03 -2.42766426e-05 9.99999379e-01 4.83247357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.240281693 meters 0.02892499110706268 Centerline is valid? [True, True] Translation: X:201.42, Y:89.91, Z:0.48 [[ 5.26718836e-01 -8.50039531e-01 2.51378118e-04 2.01420697e+02] [ 8.50039424e-01 5.26718896e-01 4.27236165e-04 8.99084183e+01] [-4.95573234e-04 -1.13520248e-05 9.99999877e-01 4.81880788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.270281693 meters 0.029103019811877438 Centerline is valid? [True, True] Translation: X:201.43, Y:89.93, Z:0.48 [[ 5.26422590e-01 -8.50222953e-01 4.31630887e-04 2.01434022e+02] [ 8.50222637e-01 5.26422766e-01 7.33288361e-04 8.99304847e+01] [-8.50678921e-04 -1.90372067e-05 9.99999638e-01 4.82796024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.300281693 meters 0.02792344874595258 Centerline is valid? [True, True] Translation: X:201.45, Y:89.95, Z:0.48 [[ 5.25813700e-01 -8.50599324e-01 8.62512764e-04 2.01448753e+02] [ 8.50598063e-01 5.25814406e-01 1.46510774e-03 8.99518430e+01] [-1.69974129e-03 -3.67220362e-05 9.99998555e-01 4.84580815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.330281693 meters 0.028533332301017962 Centerline is valid? [True, True] Translation: X:201.46, Y:89.97, Z:0.49 [[ 5.25141206e-01 -8.51013787e-01 1.49917922e-03 2.01460329e+02] [ 8.51009977e-01 5.25143342e-01 2.54736232e-03 8.99742880e+01] [-2.95512444e-03 -6.19084419e-05 9.99995632e-01 4.87451998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.360281693 meters 0.027688306727449364 Centerline is valid? [True, True] Translation: X:201.47, Y:90.00, Z:0.49 [[ 5.24779277e-01 -8.51236699e-01 1.67094103e-03 2.01473828e+02] [ 8.51231963e-01 5.24781933e-01 2.84054293e-03 8.99964109e+01] [-3.29485405e-03 -6.82996534e-05 9.99994570e-01 4.87749572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.390281693 meters 0.02872782913664448 Centerline is valid? [True, True] Translation: X:201.48, Y:90.02, Z:0.49 [[ 5.24242058e-01 -8.51566618e-01 2.13530067e-03 2.01484468e+02] [ 8.51558881e-01 5.24246399e-01 3.63102001e-03 9.00199809e+01] [-4.21147912e-03 -8.51991553e-05 9.99991128e-01 4.89563489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.420281693 meters 0.026847945611365182 Centerline is valid? [True, True] Translation: X:201.50, Y:90.04, Z:0.49 [[ 5.23593457e-01 -8.51963611e-01 2.81028341e-03 2.01498878e+02] [ 8.51950201e-01 5.23600987e-01 4.78128866e-03 9.00424341e+01] [-5.54495111e-03 -1.09229942e-04 9.99984621e-01 4.90563198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.450281693 meters 0.02922500833499425 Centerline is valid? [True, True] Translation: X:201.51, Y:90.07, Z:0.50 [[ 5.22767010e-01 -8.52467728e-01 3.66409080e-03 2.01506734e+02] [ 8.52444922e-01 5.22779833e-01 6.23711897e-03 9.00668902e+01] [-7.23245542e-03 -1.37124438e-04 9.99973836e-01 4.95319293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.480281693 meters 0.027225614719627977 Centerline is valid? [True, True] Translation: X:201.52, Y:90.09, Z:0.49 [[ 5.22343069e-01 -8.52726842e-01 3.82766681e-03 2.01521590e+02] [ 8.52701936e-01 5.22357074e-01 6.51877606e-03 9.00891118e+01] [-7.55814416e-03 -1.41178599e-04 9.99971427e-01 4.94771899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.510281693 meters 0.025394889633385362 Centerline is valid? [True, True] Translation: X:201.54, Y:90.11, Z:0.49 [[ 5.22032345e-01 -8.52917436e-01 3.75214261e-03 2.01535950e+02] [ 8.52893483e-01 5.22045811e-01 6.39361301e-03 9.01112326e+01] [-7.41201435e-03 -1.37494817e-04 9.99972521e-01 4.94282973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.540281693 meters 0.024704481447338784 Centerline is valid? [True, True] Translation: X:201.55, Y:90.13, Z:0.49 [[ 5.20814081e-01 -8.53660698e-01 4.01316401e-03 2.01547828e+02] [ 8.53633291e-01 5.20829524e-01 6.84194314e-03 9.01346045e+01] [-7.93087226e-03 -1.37609922e-04 9.99968541e-01 4.94906829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.570281693 meters 0.024309386131965722 Centerline is valid? [True, True] Translation: X:201.56, Y:90.16, Z:0.50 [[ 5.20038213e-01 -8.54132549e-01 4.22452311e-03 2.01559791e+02] [ 8.54102162e-01 5.20055353e-01 7.20605068e-03 9.01577642e+01] [-8.35190829e-03 -1.39247399e-04 9.99965113e-01 4.95808030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.600281693 meters 0.024376209313880043 Centerline is valid? [True, True] Translation: X:201.57, Y:90.18, Z:0.50 [[ 5.19431301e-01 -8.54501638e-01 4.25123920e-03 2.01570470e+02] [ 8.54470844e-01 5.19448680e-01 7.25567649e-03 9.01807354e+01] [-8.40828804e-03 -1.36265532e-04 9.99964640e-01 4.96646259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.630281693 meters 0.025555841540575785 Centerline is valid? [True, True] Translation: X:201.58, Y:90.21, Z:0.50 [[ 5.19840642e-01 -8.54254799e-01 3.80070081e-03 2.01576973e+02] [ 8.54230152e-01 5.19854520e-01 6.49033114e-03 9.02060523e+01] [-7.52020802e-03 -1.27264675e-04 9.99971715e-01 4.95227570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.660281693 meters 0.02416381828050956 Centerline is valid? [True, True] Translation: X:201.59, Y:90.23, Z:0.49 [[ 5.20094992e-01 -8.54101147e-01 3.52559819e-03 2.01589004e+02] [ 8.54079913e-01 5.20106927e-01 6.02386179e-03 9.02294903e+01] [-6.97867531e-03 -1.21837751e-04 9.99975641e-01 4.92430637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690281693 meters 0.027650530001246895 Centerline is valid? [True, True] Translation: X:201.59, Y:90.26, Z:0.49 [[ 5.20317792e-01 -8.53965500e-01 3.50989871e-03 2.01594758e+02] [ 8.53944428e-01 5.20329616e-01 6.00047055e-03 9.02550702e+01] [-6.95049908e-03 -1.24893142e-04 9.99975837e-01 4.94424698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720281693 meters 0.02610556094517036 Centerline is valid? [True, True] Translation: X:201.61, Y:90.28, Z:0.49 [[ 5.19700735e-01 -8.54342373e-01 3.20240461e-03 2.01605089e+02] [ 8.54324821e-01 5.19710590e-01 5.47756678e-03 9.02789877e+01] [-6.34404099e-03 -1.10801736e-04 9.99979870e-01 4.92395869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750281693 meters 0.02630518581656176 Centerline is valid? [True, True] Translation: X:201.61, Y:90.30, Z:0.49 [[ 5.18735679e-01 -8.54929106e-01 3.08544441e-03 2.01614993e+02] [ 8.54912805e-01 5.18744845e-01 5.28039392e-03 9.03023616e+01] [-6.11492083e-03 -1.01342794e-04 9.99981299e-01 4.92632508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780281693 meters 0.02304659888226791 Centerline is valid? [True, True] Translation: X:201.63, Y:90.33, Z:0.49 [[ 5.16712153e-01 -8.56154382e-01 2.86777896e-03 2.01628558e+02] [ 8.56140305e-01 5.16720105e-01 4.91041442e-03 9.03251712e+01] [-5.68591187e-03 -8.20496541e-05 9.99983832e-01 4.90373901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810281693 meters 0.02265225308385686 Centerline is valid? [True, True] Translation: X:201.64, Y:90.35, Z:0.49 [[ 5.15681309e-01 -8.56775699e-01 2.86163536e-03 2.01639826e+02] [ 8.56761676e-01 5.15689243e-01 4.90256106e-03 9.03479183e+01] [-5.67610976e-03 -7.64196024e-05 9.99983888e-01 4.90528812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840281693 meters 0.02121367521428642 Centerline is valid? [True, True] Translation: X:201.65, Y:90.37, Z:0.49 [[ 5.14954382e-01 -8.57212726e-01 2.88567767e-03 2.01652563e+02] [ 8.57198462e-01 5.14962462e-01 4.94562450e-03 9.03706967e+01] [-5.72546793e-03 -7.31725506e-05 9.99983607e-01 4.89523396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870281693 meters 0.020031558419935175 Centerline is valid? [True, True] Translation: X:201.66, Y:90.39, Z:0.49 [[ 5.14507901e-01 -8.57481064e-01 2.80072065e-03 2.01664159e+02] [ 8.57467616e-01 5.14515519e-01 4.80288449e-03 9.03944317e+01] [-5.55939674e-03 -6.95947598e-05 9.99984544e-01 4.88020565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90028169299998 meters 0.020505719161620143 Centerline is valid? [True, True] Translation: X:201.67, Y:90.42, Z:0.49 [[ 5.14029090e-01 -8.57770292e-01 2.05433358e-03 2.01668822e+02] [ 8.57763050e-01 5.14033193e-01 3.52521961e-03 9.04209694e+01] [-4.07982430e-03 -4.99339987e-05 9.99991676e-01 4.86382418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93028169299998 meters 0.020748119989831545 Centerline is valid? [True, True] Translation: X:201.68, Y:90.44, Z:0.49 [[ 5.13839736e-01 -8.57883794e-01 2.03007037e-03 2.01677981e+02] [ 8.57876715e-01 5.13843744e-01 3.48548294e-03 9.04448430e+01] [-4.03327829e-03 -4.94295348e-05 9.99991865e-01 4.86155868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96028169299998 meters 0.021793390198929875 Centerline is valid? [True, True] Translation: X:201.68, Y:90.47, Z:0.49 [[ 5.13592355e-01 -8.58030748e-01 2.47562761e-03 2.01683165e+02] [ 8.58020212e-01 5.13598318e-01 4.25256708e-03 9.04710436e+01] [-4.92031148e-03 -5.99474136e-05 9.99987893e-01 4.89402874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.990281693 meters 0.02144415868337129 Centerline is valid? [True, True] Translation: X:201.69, Y:90.49, Z:0.49 [[ 5.13074419e-01 -8.58340233e-01 2.58573976e-03 2.01693132e+02] [ 8.58328730e-01 5.13080931e-01 4.44411264e-03 9.04941602e+01] [-5.14125444e-03 -6.07457882e-05 9.99986782e-01 4.89820111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.020281693 meters 0.02078510237242021 Centerline is valid? [True, True] Translation: X:201.70, Y:90.52, Z:0.49 [[ 5.12185303e-01 -8.58870757e-01 2.69035432e-03 2.01704176e+02] [ 8.58858299e-01 5.12192366e-01 4.62640257e-03 9.05174387e+01] [-5.35146082e-03 -5.89422718e-05 9.99985679e-01 4.89488411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.050281693 meters 0.017965633662678965 Centerline is valid? [True, True] Translation: X:201.72, Y:90.54, Z:0.49 [[ 5.09133320e-01 -8.60684220e-01 2.43616175e-03 2.01716315e+02] [ 8.60674018e-01 5.09139147e-01 4.19077099e-03 9.05394097e+01] [-4.84727578e-03 -3.69200291e-05 9.99988251e-01 4.87686969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.080281693 meters 0.016203828227692157 Centerline is valid? [True, True] Translation: X:201.73, Y:90.56, Z:0.49 [[ 5.07105497e-01 -8.61880835e-01 2.33259789e-03 2.01729815e+02] [ 8.61871483e-01 5.07110861e-01 4.01519327e-03 9.05608026e+01] [-4.64350386e-03 -2.57269786e-05 9.99989219e-01 4.86751733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.110281693 meters 0.015529202289990858 Centerline is valid? [True, True] Translation: X:201.74, Y:90.58, Z:0.49 [[ 5.05168402e-01 -8.63017357e-01 2.43438032e-03 2.01741338e+02] [ 8.63007172e-01 5.05174268e-01 4.19283196e-03 9.05821245e+01] [-4.84827305e-03 -1.71985425e-05 9.99988247e-01 4.88144735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.140281693 meters 0.015135712018174962 Centerline is valid? [True, True] Translation: X:201.75, Y:90.60, Z:0.49 [[ 5.03793351e-01 -8.63820103e-01 2.66260286e-03 2.01753233e+02] [ 8.63807918e-01 5.03800386e-01 4.58818773e-03 9.06041377e+01] [-5.30478915e-03 -1.15210374e-05 9.99985929e-01 4.89973671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.170281693 meters 0.01495910572811229 Centerline is valid? [True, True] Translation: X:201.76, Y:90.63, Z:0.49 [[ 5.02885448e-01 -8.64345973e-01 3.50230121e-03 2.01762418e+02] [ 8.64324886e-01 5.02897643e-01 6.03760010e-03 9.06298295e+01] [-6.97987435e-03 -9.09513632e-06 9.99975640e-01 4.91416485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.200281693 meters 0.015010837665491284 Centerline is valid? [True, True] Translation: X:201.77, Y:90.65, Z:0.49 [[ 5.02442184e-01 -8.64601971e-01 3.90954614e-03 2.01772949e+02] [ 8.64575675e-01 5.02457394e-01 6.74315702e-03 9.06539889e+01] [-7.79452721e-03 -7.94805094e-06 9.99969622e-01 4.92811762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.230281693 meters 0.015378005802227434 Centerline is valid? [True, True] Translation: X:201.78, Y:90.68, Z:0.49 [[ 5.01262547e-01 -8.65282747e-01 4.65038694e-03 2.01782741e+02] [ 8.65245531e-01 5.01284118e-01 8.02521356e-03 9.06779223e+01] [-9.27524395e-03 9.87529184e-07 9.99956984e-01 4.94951941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.260281693 meters 0.015741609554099662 Centerline is valid? [True, True] Translation: X:201.79, Y:90.70, Z:0.50 [[ 5.00462449e-01 -8.65744850e-01 4.81586964e-03 2.01794661e+02] [ 8.65704916e-01 5.00485620e-01 8.31519962e-03 9.07003027e+01] [-9.60911475e-03 7.67685814e-06 9.99953831e-01 4.96161445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.290281693 meters 0.016181910179606872 Centerline is valid? [True, True] Translation: X:201.81, Y:90.72, Z:0.50 [[ 4.98786679e-01 -8.66711717e-01 4.75902219e-03 2.01806973e+02] [ 8.66672720e-01 4.98809382e-01 8.22170986e-03 9.07210773e+01] [-9.49969718e-03 2.36353524e-05 9.99954877e-01 4.96646684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.320281693 meters 0.015924213337395358 Centerline is valid? [True, True] Translation: X:201.82, Y:90.74, Z:0.49 [[ 4.98059966e-01 -8.67130131e-01 4.64824812e-03 2.01819672e+02] [ 8.67092910e-01 4.98081655e-01 8.03437037e-03 9.07445158e+01] [-9.28205175e-03 2.88647529e-05 9.99956920e-01 4.94141566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.350281693 meters 0.015686541506615248 Centerline is valid? [True, True] Translation: X:201.83, Y:90.77, Z:0.49 [[ 4.97494681e-01 -8.67456522e-01 4.26905150e-03 2.01831489e+02] [ 8.67425103e-01 4.97512997e-01 7.38300223e-03 9.07676833e+01] [-8.52834204e-03 3.00780979e-05 9.99963633e-01 4.91427442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.380281693 meters 0.01589741128417208 Centerline is valid? [True, True] Translation: X:201.84, Y:90.79, Z:0.49 [[ 4.97382354e-01 -8.67522305e-01 3.98046106e-03 2.01843081e+02] [ 8.67494961e-01 4.97398281e-01 6.88787854e-03 9.07906335e+01] [-7.95526275e-03 2.71206660e-05 9.99968356e-01 4.92170645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.410281693 meters 0.01557792433008199 Centerline is valid? [True, True] Translation: X:201.85, Y:90.82, Z:0.49 [[ 4.99158954e-01 -8.66501926e-01 3.84054259e-03 2.01848296e+02] [ 8.66476411e-01 4.99173729e-01 6.64967901e-03 9.08159286e+01] [-7.67905764e-03 8.49273503e-06 9.99970516e-01 4.92620950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440281693 meters 0.015551862016820526 Centerline is valid? [True, True] Translation: X:201.85, Y:90.84, Z:0.49 [[ 5.00481069e-01 -8.65738989e-01 3.83445596e-03 2.01854902e+02] [ 8.65713504e-01 5.00495758e-01 6.64275538e-03 9.08400046e+01] [-7.67002127e-03 -5.03301603e-06 9.99970585e-01 4.92377253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470281693 meters 0.016171896429007265 Centerline is valid? [True, True] Translation: X:201.86, Y:90.87, Z:0.49 [[ 5.03122883e-01 -8.64207240e-01 3.63459744e-03 2.01858719e+02] [ 8.64184277e-01 5.03136010e-01 6.30000425e-03 9.08669320e+01] [-7.27320614e-03 -2.87143371e-05 9.99973549e-01 4.90038614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500281693 meters 0.016828557626150327 Centerline is valid? [True, True] Translation: X:201.87, Y:90.89, Z:0.49 [[ 5.03570885e-01 -8.63945979e-01 3.70263101e-03 2.01867340e+02] [ 8.63922114e-01 5.03584496e-01 6.42160451e-03 9.08900891e+01] [-7.41250696e-03 -3.49482593e-05 9.99972526e-01 4.91040280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530281693 meters 0.01706940910147853 Centerline is valid? [True, True] Translation: X:201.88, Y:90.91, Z:0.49 [[ 5.03646372e-01 -8.63902142e-01 3.66359138e-03 2.01878119e+02] [ 8.63878752e-01 5.03659695e-01 6.35719105e-03 9.09137063e+01] [-7.33719428e-03 -3.68774554e-05 9.99973082e-01 4.90540500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560281693 meters 0.016026750446887603 Centerline is valid? [True, True] Translation: X:201.89, Y:90.94, Z:0.49 [[ 5.03200905e-01 -8.64162704e-01 3.41615262e-03 2.01889057e+02] [ 8.64142352e-01 5.03212500e-01 5.93094467e-03 9.09376810e+01] [-6.84435188e-03 -3.24145668e-05 9.99976577e-01 4.86846921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590281693 meters 0.016804283622625576 Centerline is valid? [True, True] Translation: X:201.90, Y:90.96, Z:0.49 [[ 5.02889654e-01 -8.64343872e-01 3.41582604e-03 2.01898281e+02] [ 8.64323505e-01 5.02901253e-01 5.93364177e-03 9.09612166e+01] [-6.84653010e-03 -3.15883149e-05 9.99976562e-01 4.89588961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620281693 meters 0.016855495532671315 Centerline is valid? [True, True] Translation: X:201.91, Y:90.98, Z:0.49 [[ 5.02730598e-01 -8.64435962e-01 3.52328078e-03 2.01908163e+02] [ 8.64414274e-01 5.02742943e-01 6.12346323e-03 9.09846878e+01] [-7.06464637e-03 -3.28781285e-05 9.99975045e-01 4.90573633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65028169299998 meters 0.016344028259153952 Centerline is valid? [True, True] Translation: X:201.92, Y:91.01, Z:0.49 [[ 5.02945890e-01 -8.64309755e-01 3.75225489e-03 2.01919229e+02] [ 8.64285128e-01 5.02959885e-01 6.52470946e-03 9.10083058e+01] [-7.52660372e-03 -3.85577027e-05 9.99971674e-01 4.89089359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68028169299998 meters 0.017189836280590166 Centerline is valid? [True, True] Translation: X:201.92, Y:91.04, Z:0.49 [[ 5.04821029e-01 -8.63217126e-01 3.45281343e-03 2.01923229e+02] [ 8.63196224e-01 5.04832835e-01 6.00736955e-03 9.10358105e+01] [-6.92875787e-03 -5.21909681e-05 9.99975995e-01 4.86517750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71028169299998 meters 0.02083161014510565 Centerline is valid? [True, True] Translation: X:201.93, Y:91.06, Z:0.49 [[ 5.06336086e-01 -8.62330547e-01 3.12996995e-03 2.01925319e+02] [ 8.62313333e-01 5.06345756e-01 5.44890586e-03 9.10632001e+01] [-6.28360497e-03 -5.99628484e-05 9.99980256e-01 4.88620729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.740281693 meters 0.02037877346238541 Centerline is valid? [True, True] Translation: X:201.93, Y:91.09, Z:0.48 [[ 5.08395588e-01 -8.61119579e-01 2.64497724e-03 2.01930980e+02] [ 8.61107259e-01 5.08402465e-01 4.60679743e-03 9.10910331e+01] [-5.31171642e-03 -6.44663869e-05 9.99985891e-01 4.80698904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.770281693 meters 0.022549736559191146 Centerline is valid? [True, True] Translation: X:201.94, Y:91.12, Z:0.48 [[ 5.07867089e-01 -8.61432051e-01 2.41677987e-03 2.01937310e+02] [ 8.61421757e-01 5.07872837e-01 4.21174632e-03 9.11171192e+01] [-4.85555012e-03 -5.71405843e-05 9.99988210e-01 4.82169330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.800281693 meters 0.019351669593013918 Centerline is valid? [True, True] Translation: X:201.95, Y:91.14, Z:0.48 [[ 5.05946336e-01 -8.62562123e-01 2.21113312e-03 2.01951855e+02] [ 8.62553509e-01 5.05951165e-01 3.85520243e-03 9.11396500e+01] [-4.44407698e-03 -4.33049146e-05 9.99990124e-01 4.79894838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.830281693 meters 0.015623470853338704 Centerline is valid? [True, True] Translation: X:201.97, Y:91.16, Z:0.48 [[ 5.00833493e-01 -8.65543016e-01 1.04879118e-03 2.01966932e+02] [ 8.65541081e-01 5.00834591e-01 1.83009523e-03 9.11598146e+01] [-2.10929705e-03 -8.80114126e-06 9.99997775e-01 4.75052817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.860281693 meters 0.014855248204542742 Centerline is valid? [True, True] Translation: X:201.98, Y:91.18, Z:0.47 [[ 4.98068801e-01 -8.67137309e-01 5.96666187e-04 2.01980610e+02] [ 8.67136683e-01 4.98069158e-01 1.04222327e-03 9.11799681e+01] [-1.20093170e-03 -1.70775356e-06 9.99999279e-01 4.73813946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.890281693 meters 0.014879848608135227 Centerline is valid? [True, True] Translation: X:202.00, Y:91.20, Z:0.47 [[ 4.95660479e-01 -8.68516266e-01 4.30648033e-04 2.01995198e+02] [ 8.68515939e-01 4.95660666e-01 7.52865256e-04 9.12013232e+01] [-8.67331012e-04 8.59127538e-07 9.99999624e-01 4.71612063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.920281693 meters 0.016885392340879726 Centerline is valid? [True, True] Translation: X:202.01, Y:91.22, Z:0.47 [[ 4.92436114e-01 -8.70348056e-01 9.67374576e-04 2.02009053e+02] [ 8.70346413e-01 4.92437064e-01 1.69083537e-03 9.12222124e+01] [-1.94798637e-03 9.32259270e-06 9.99998103e-01 4.74539358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.950281693 meters 0.01693940378178296 Centerline is valid? [True, True] Translation: X:202.02, Y:91.25, Z:0.47 [[ 4.91306050e-01 -8.70986069e-01 1.27804575e-03 2.02019209e+02] [ 8.70983202e-01 4.91307712e-01 2.23477735e-03 9.12453653e+01] [-2.57437367e-03 1.51967475e-05 9.99996686e-01 4.74371426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.980281693 meters 0.01667831747696751 Centerline is valid? [True, True] Translation: X:202.03, Y:91.27, Z:0.47 [[ 4.90470413e-01 -8.71456602e-01 1.47101752e-03 2.02029731e+02] [ 8.71452803e-01 4.90472619e-01 2.57345858e-03 9.12699923e+01] [-2.96415128e-03 1.97170511e-05 9.99995607e-01 4.73397485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.010281693 meters 0.01906891187321487 Centerline is valid? [True, True] Translation: X:202.05, Y:91.29, Z:0.47 [[ 4.88679594e-01 -8.72462425e-01 1.25355396e-03 2.02045191e+02] [ 8.72459666e-01 4.88681201e-01 2.19443688e-03 9.12908223e+01] [-2.52715197e-03 2.12987423e-05 9.99996807e-01 4.73662062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.040281693 meters 0.02011325294549453 Centerline is valid? [True, True] Translation: X:202.06, Y:91.31, Z:0.47 [[ 4.87354367e-01 -8.73203932e-01 7.83764104e-04 2.02059327e+02] [ 8.73202852e-01 4.87354997e-01 1.37306093e-03 9.13125594e+01] [-1.58093356e-03 1.52178093e-05 9.99998750e-01 4.71886021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.070281693 meters 0.02011325294549453 Centerline is valid? [True, True] Translation: X:202.07, Y:91.33, Z:0.47 [[ 4.87156916e-01 -8.73314105e-01 7.83455295e-04 2.02071400e+02] [ 8.73313025e-01 4.87157546e-01 1.37323722e-03 9.13344065e+01] [-1.58093359e-03 1.52197070e-05 9.99998750e-01 4.71935727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.100281693 meters 0.024429656216378583 Centerline is valid? [True, True] Translation: X:202.09, Y:91.35, Z:0.47 [[ 4.83421630e-01 -8.75387638e-01 9.94649123e-05 2.02090315e+02] [ 8.75387621e-01 4.83421641e-01 1.75177609e-04 9.13534683e+01] [-2.01431804e-04 2.38570775e-06 9.99999980e-01 4.68563816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.130281693 meters 0.02291977365865083 Centerline is valid? [True, True] Translation: X:202.10, Y:91.38, Z:0.47 [[ 4.81245674e-01 -8.76585745e-01 1.81818813e-04 2.02101717e+02] [ 8.76585687e-01 4.81245708e-01 3.19640163e-04 9.13778691e+01] [-3.67691533e-04 5.55432346e-06 9.99999932e-01 4.67608934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.160281693 meters 0.025937734766921426 Centerline is valid? [True, True] Translation: X:202.12, Y:91.40, Z:0.47 [[ 4.79245527e-01 -8.77680752e-01 4.71191394e-04 2.02119225e+02] [ 8.77680363e-01 4.79245758e-01 8.27140543e-04 9.13980161e+01] [-9.51781810e-04 1.71520288e-05 9.99999547e-01 4.68448042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190281693 meters 0.03414744228523185 Centerline is valid? [True, True] Translation: X:202.14, Y:91.41, Z:0.47 [[ 4.76393003e-01 -8.79231993e-01 8.99192189e-04 2.02142817e+02] [ 8.79230577e-01 4.76393850e-01 1.57850209e-03 9.14141987e+01] [-1.81623917e-03 3.86099165e-05 9.99998350e-01 4.70698392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220281693 meters 0.03439340616543379 Centerline is valid? [True, True] Translation: X:202.16, Y:91.44, Z:0.47 [[ 4.76011157e-01 -8.79438604e-01 1.05862042e-03 2.02155916e+02] [ 8.79436639e-01 4.76012332e-01 1.85946065e-03 9.14361691e+01] [-2.13919786e-03 4.58655728e-05 9.99997711e-01 4.71274817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250281693 meters 0.027389555970657304 Centerline is valid? [True, True] Translation: X:202.16, Y:91.46, Z:0.47 [[ 4.76544967e-01 -8.79149153e-01 1.28923246e-03 2.02160543e+02] [ 8.79146235e-01 4.76546708e-01 2.26555960e-03 9.14641554e+01] [-2.60614429e-03 5.37828336e-05 9.99996603e-01 4.70487668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280281693 meters 0.02496970020267316 Centerline is valid? [True, True] Translation: X:202.17, Y:91.49, Z:0.47 [[ 4.79325447e-01 -8.77635996e-01 1.47444531e-03 2.02170853e+02] [ 8.77632172e-01 4.79327712e-01 2.59157796e-03 9.14886918e+01] [-2.98120460e-03 5.18113743e-05 9.99995555e-01 4.71494324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310281693 meters 0.02692501977196342 Centerline is valid? [True, True] Translation: X:202.19, Y:91.51, Z:0.47 [[ 4.81197513e-01 -8.76611320e-01 1.24393317e-03 2.02186244e+02] [ 8.76608591e-01 4.81199119e-01 2.18770787e-03 9.15104424e+01] [-2.51634903e-03 3.77229221e-05 9.99996833e-01 4.72901088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340281693 meters 0.019202921630725976 Centerline is valid? [True, True] Translation: X:202.19, Y:91.54, Z:0.47 [[ 4.85104411e-01 -8.74455684e-01 9.83754942e-04 2.02187020e+02] [ 8.74453970e-01 4.85105408e-01 1.73112518e-03 9.15409486e+01] [-1.99101709e-03 2.04719549e-05 9.99998018e-01 4.69200923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370281693 meters 0.01806505738400923 Centerline is valid? [True, True] Translation: X:202.20, Y:91.56, Z:0.47 [[ 4.86473148e-01 -8.73695139e-01 8.25180156e-04 2.02197768e+02] [ 8.73693930e-01 4.86473848e-01 1.45305967e-03 9.15644893e+01] [-1.67095974e-03 1.40803802e-05 9.99998604e-01 4.69008397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40028169299998 meters 0.017248213258866975 Centerline is valid? [True, True] Translation: X:202.21, Y:91.59, Z:0.47 [[ 4.87314249e-01 -8.73226085e-01 1.01369274e-03 2.02209624e+02] [ 8.73224259e-01 4.87315303e-01 1.78573856e-03 9.15880440e+01] [-2.05334148e-03 1.49652470e-05 9.99997892e-01 4.69022130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43028169299998 meters 0.016913362278742742 Centerline is valid? [True, True] Translation: X:202.22, Y:91.61, Z:0.47 [[ 4.87663071e-01 -8.73031176e-01 1.13756802e-03 2.02222044e+02] [ 8.73028874e-01 4.87664398e-01 2.00499163e-03 9.16104125e+01] [-2.30517163e-03 1.53693501e-05 9.99997343e-01 4.68733868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46028169299998 meters 0.01736779959841875 Centerline is valid? [True, True] Translation: X:202.24, Y:91.63, Z:0.47 [[ 4.87013783e-01 -8.73393679e-01 1.02837073e-03 2.02235675e+02] [ 8.73391796e-01 4.87014868e-01 1.81350851e-03 9.16326906e+01] [-2.08473870e-03 1.49669192e-05 9.99997827e-01 4.67586410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.490281693 meters 0.01792634832076943 Centerline is valid? [True, True] Translation: X:202.25, Y:91.65, Z:0.47 [[ 4.85977491e-01 -8.73971074e-01 6.64377629e-04 2.02249958e+02] [ 8.73970287e-01 4.85977945e-01 1.17254693e-03 9.16549626e+01] [-1.34764497e-03 1.08148925e-05 9.99999092e-01 4.65344670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.520281693 meters 0.019046321363071744 Centerline is valid? [True, True] Translation: X:202.27, Y:91.68, Z:0.46 [[ 4.83545487e-01 -8.75319223e-01 -1.44273940e-04 2.02266646e+02] [ 8.75319186e-01 4.83545508e-01 -2.53705247e-04 9.16765765e+01] [ 2.91836095e-04 -3.60772058e-06 9.99999957e-01 4.61227708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.550281693 meters 0.020046465732966593 Centerline is valid? [True, True] Translation: X:202.28, Y:91.70, Z:0.46 [[ 4.82117501e-01 -8.76106543e-01 -2.01249436e-04 2.02282050e+02] [ 8.76106472e-01 4.82117543e-01 -3.54409532e-04 9.16992175e+01] [ 4.07526393e-04 -5.44889553e-06 9.99999917e-01 4.61157399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.580281693 meters 0.022853863582269627 Centerline is valid? [True, True] Translation: X:202.30, Y:91.72, Z:0.46 [[ 4.80624113e-01 -8.76926682e-01 2.35315257e-04 2.02299650e+02] [ 8.76926584e-01 4.80624171e-01 4.16399259e-04 9.17187338e+01] [-4.78249821e-04 6.22267968e-06 9.99999886e-01 4.64183798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.610281693 meters 0.02185998981705388 Centerline is valid? [True, True] Translation: X:202.31, Y:91.74, Z:0.47 [[ 4.80334140e-01 -8.77085256e-01 7.54087614e-04 2.02311491e+02] [ 8.77084242e-01 4.80334731e-01 1.33340879e-03 9.17423767e+01] [-1.53172766e-03 2.09166005e-05 9.99998827e-01 4.65583489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.640281693 meters 0.021051782223750336 Centerline is valid? [True, True] Translation: X:202.32, Y:91.77, Z:0.47 [[ 4.80383135e-01 -8.77057993e-01 1.14930139e-03 2.02323708e+02] [ 8.77055637e-01 4.80384509e-01 2.03288366e-03 9.17657076e+01] [-2.33506344e-03 3.14382366e-05 9.99997273e-01 4.66307181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.670281693 meters 0.022478775404269524 Centerline is valid? [True, True] Translation: X:202.34, Y:91.79, Z:0.47 [[ 4.80957270e-01 -8.76743675e-01 7.95662883e-04 2.02337134e+02] [ 8.76742544e-01 4.80957928e-01 1.40807794e-03 9.17872803e+01] [-1.61720380e-03 2.03661797e-05 9.99998692e-01 4.66025667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.700281693 meters 0.022062633278638052 Centerline is valid? [True, True] Translation: X:202.35, Y:91.81, Z:0.47 [[ 4.81207548e-01 -8.76606482e-01 6.09912624e-04 2.02346912e+02] [ 8.76605816e-01 4.81207935e-01 1.08008398e-03 9.18097843e+01] [-1.24030341e-03 1.49083916e-05 9.99999231e-01 4.65329880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.730281693 meters 0.01905410380691418 Centerline is valid? [True, True] Translation: X:202.35, Y:91.84, Z:0.46 [[ 4.82635527e-01 -8.75821106e-01 5.82129928e-04 2.02352746e+02] [ 8.75820498e-01 4.82635878e-01 1.03160280e-03 9.18366270e+01] [-1.18445630e-03 1.19531599e-05 9.99999298e-01 4.63238468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.760281693 meters 0.018723654954630374 Centerline is valid? [True, True] Translation: X:202.36, Y:91.86, Z:0.46 [[ 4.82938851e-01 -8.75653797e-01 7.02954361e-04 2.02363644e+02] [ 8.75652910e-01 4.82939363e-01 1.24619252e-03 9.18602837e+01] [-1.43071754e-03 1.37092476e-05 9.99998976e-01 4.62986760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.790281693 meters 0.018372795480658066 Centerline is valid? [True, True] Translation: X:202.38, Y:91.88, Z:0.46 [[ 4.82993514e-01 -8.75623530e-01 8.35902200e-04 2.02375004e+02] [ 8.75622275e-01 4.82994237e-01 1.48251397e-03 9.18841088e+01] [-1.70186006e-03 1.58899531e-05 9.99998552e-01 4.62950684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.820281693 meters 0.018976514234347465 Centerline is valid? [True, True] Translation: X:202.39, Y:91.91, Z:0.46 [[ 4.82646467e-01 -8.75814699e-01 1.00051359e-03 2.02386638e+02] [ 8.75812900e-01 4.82647504e-01 1.77532223e-03 9.19069717e+01] [-2.03774870e-03 1.94097079e-05 9.99997924e-01 4.63063757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.850281693 meters 0.02027628637998765 Centerline is valid? [True, True] Translation: X:202.40, Y:91.93, Z:0.46 [[ 4.80858349e-01 -8.76797970e-01 7.53447023e-04 2.02399807e+02] [ 8.76796950e-01 4.80858939e-01 1.33764672e-03 9.19311087e+01] [-1.53514766e-03 1.74014601e-05 9.99998822e-01 4.62178023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.880281693 meters 0.02174119691271008 Centerline is valid? [True, True] Translation: X:202.41, Y:91.95, Z:0.46 [[ 4.79260370e-01 -8.77672680e-01 4.04239826e-04 2.02414257e+02] [ 8.77672386e-01 4.79260541e-01 7.18456156e-04 9.19533879e+01] [-8.24305538e-04 1.04625694e-05 9.99999660e-01 4.60904658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.910281693 meters 0.02378434469915718 Centerline is valid? [True, True] Translation: X:202.43, Y:91.98, Z:0.46 [[ 4.76635219e-01 -8.79101141e-01 2.29314950e-04 2.02428784e+02] [ 8.79101046e-01 4.76635274e-01 4.08091463e-04 9.19762028e+01] [-4.68053265e-04 7.08024855e-06 9.99999890e-01 4.59446351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940281693 meters 0.02762264474777311 Centerline is valid? [True, True] Translation: X:202.45, Y:92.00, Z:0.46 [[ 4.76013463e-01 -8.79437980e-01 -1.50163450e-04 2.02445226e+02] [ 8.79437940e-01 4.76013486e-01 -2.65881178e-04 9.19957400e+01] [ 3.05305834e-04 -5.49641488e-06 9.99999953e-01 4.58393104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970281693 meters 0.025222407555409443 Centerline is valid? [True, True] Translation: X:202.45, Y:92.02, Z:0.45 [[ 4.76065487e-01 -8.79408545e-01 -1.50457091e-03 2.02453393e+02] [ 8.79404481e-01 4.76067862e-01 -2.67408318e-03 9.20218173e+01] [ 3.06788946e-03 -5.00876902e-05 9.99995293e-01 4.52554509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000281693 meters 0.02411153407842467 Centerline is valid? [True, True] Translation: X:202.46, Y:92.05, Z:0.45 [[ 4.75904914e-01 -8.79494257e-01 -2.08930700e-03 2.02464044e+02] [ 8.79486411e-01 4.75909495e-01 -3.71561621e-03 9.20465381e+01] [ 4.26218416e-03 -6.92370976e-05 9.99990914e-01 4.50678536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030281693 meters 0.028324222871891104 Centerline is valid? [True, True] Translation: X:202.48, Y:92.07, Z:0.45 [[ 4.75407491e-01 -8.79762844e-01 -2.24848466e-03 2.02482094e+02] [ 8.79753751e-01 4.75412802e-01 -4.00064055e-03 9.20654319e+01] [ 4.58857330e-03 -7.61783274e-05 9.99989470e-01 4.48897974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060281693 meters 0.025119634028817027 Centerline is valid? [True, True] Translation: X:202.49, Y:92.09, Z:0.45 [[ 4.74692095e-01 -8.80149534e-01 -2.05256383e-03 2.02491756e+02] [ 8.80141953e-01 4.74696527e-01 -3.65373023e-03 9.20906853e+01] [ 4.19017388e-03 -7.21506831e-05 9.99991219e-01 4.50811059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090281693 meters 0.027463686583791155 Centerline is valid? [True, True] Translation: X:202.51, Y:92.11, Z:0.45 [[ 4.73373275e-01 -8.80860361e-01 -1.66356445e-03 2.02510899e+02] [ 8.80855381e-01 4.73376194e-01 -2.96263747e-03 9.21098180e+01] [ 3.39716172e-03 -6.29262992e-05 9.99994228e-01 4.51686485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120281693 meters 0.02721680702215839 Centerline is valid? [True, True] Translation: X:202.53, Y:92.13, Z:0.45 [[ 4.72590868e-01 -8.81279671e-01 -2.00327139e-03 2.02525104e+02] [ 8.81272446e-01 4.72595107e-01 -3.56952716e-03 9.21330063e+01] [ 4.09248798e-03 -7.85019359e-05 9.99991623e-01 4.50712431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15028169299998 meters 0.02557182797734193 Centerline is valid? [True, True] Translation: X:202.54, Y:92.16, Z:0.45 [[ 4.72834812e-01 -8.81146285e-01 -2.90950854e-03 2.02537757e+02] [ 8.81131023e-01 4.72843750e-01 -5.18736765e-03 9.21560029e+01] [ 5.94657266e-03 -1.10890226e-04 9.99982313e-01 4.48168677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18028169299998 meters 0.026992464274989417 Centerline is valid? [True, True] Translation: X:202.55, Y:92.18, Z:0.45 [[ 4.74180134e-01 -8.80422761e-01 -2.99387505e-03 2.02553776e+02] [ 8.80406568e-01 4.74189574e-01 -5.34061290e-03 9.21771989e+01] [ 6.12166149e-03 -1.03414714e-04 9.99981257e-01 4.46696603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21028169299998 meters 0.022645278355348228 Centerline is valid? [True, True] Translation: X:202.56, Y:92.20, Z:0.45 [[ 4.75790040e-01 -8.79554178e-01 -2.87843868e-03 2.02561885e+02] [ 8.79539180e-01 4.75798739e-01 -5.13721050e-03 9.22041043e+01] [ 5.88801246e-03 -8.74660089e-05 9.99982662e-01 4.48304043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.240281693 meters 0.019090045320922205 Centerline is valid? [True, True] Translation: X:202.57, Y:92.23, Z:0.45 [[ 4.80041383e-01 -8.77243119e-01 -2.18644649e-03 2.02569370e+02] [ 8.77234434e-01 4.80046360e-01 -3.90389193e-03 9.22302238e+01] [ 4.47425802e-03 -4.39964697e-05 9.99989990e-01 4.50124242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.270281693 meters 0.018215921952426304 Centerline is valid? [True, True] Translation: X:202.58, Y:92.25, Z:0.45 [[ 4.82039683e-01 -8.76147282e-01 -1.91922090e-03 2.02580220e+02] [ 8.76140575e-01 4.82043503e-01 -3.42844322e-03 9.22528304e+01] [ 3.92896918e-03 -2.88616217e-05 9.99992281e-01 4.50380053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.300281693 meters 0.016543386265452254 Centerline is valid? [True, True] Translation: X:202.59, Y:92.28, Z:0.45 [[ 4.83609230e-01 -8.75282146e-01 -1.81070978e-03 2.02589601e+02] [ 8.75276163e-01 4.83612619e-01 -3.23631369e-03 9.22774265e+01] [ 3.70836969e-03 -1.97599341e-05 9.99993124e-01 4.50783203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.330281693 meters 0.01591522709640673 Centerline is valid? [True, True] Translation: X:202.60, Y:92.30, Z:0.45 [[ 4.84800651e-01 -8.74622302e-01 -2.03904523e-03 2.02602498e+02] [ 8.74614700e-01 4.84804939e-01 -3.64650558e-03 9.23008175e+01] [ 4.17785430e-03 -1.55506554e-05 9.99991273e-01 4.49680868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.360281693 meters 0.016021206200435664 Centerline is valid? [True, True] Translation: X:202.62, Y:92.32, Z:0.45 [[ 4.84570228e-01 -8.74750234e-01 -1.92918840e-03 2.02615626e+02] [ 8.74743424e-01 4.84574068e-01 -3.45191895e-03 9.23227353e+01] [ 3.95440158e-03 -1.48477145e-05 9.99992181e-01 4.49341793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.390281693 meters 0.016441159190016656 Centerline is valid? [True, True] Translation: X:202.63, Y:92.34, Z:0.45 [[ 4.83044212e-01 -8.75594749e-01 -1.45782740e-03 2.02632491e+02] [ 8.75590860e-01 4.83046411e-01 -2.60973558e-03 9.23434377e+01] [ 2.98926906e-03 -1.58426842e-05 9.99995532e-01 4.50605589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.420281693 meters 0.017337130842836973 Centerline is valid? [True, True] Translation: X:202.65, Y:92.36, Z:0.45 [[ 4.81440258e-01 -8.76477412e-01 -1.62006725e-03 2.02648114e+02] [ 8.76472608e-01 4.81442984e-01 -2.90189564e-03 9.23631519e+01] [ 3.32341599e-03 -2.28551819e-05 9.99994477e-01 4.50346729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.450281693 meters 0.01821330659733693 Centerline is valid? [True, True] Translation: X:202.66, Y:92.39, Z:0.45 [[ 4.79728565e-01 -8.77415087e-01 -1.80794318e-03 2.02664091e+02] [ 8.77409105e-01 4.79731971e-01 -3.24025539e-03 9.23852807e+01] [ 3.71037711e-03 -3.18627335e-05 9.99993116e-01 4.49709566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.480281693 meters 0.01994164451309915 Centerline is valid? [True, True] Translation: X:202.68, Y:92.41, Z:0.45 [[ 4.77484517e-01 -8.78637583e-01 -2.12911081e-03 2.02682453e+02] [ 8.78629290e-01 4.77489261e-01 -3.81790421e-03 9.24053603e+01] [ 4.37118167e-03 -4.77089710e-05 9.99990445e-01 4.49388290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.510281693 meters 0.020394797795066484 Centerline is valid? [True, True] Translation: X:202.70, Y:92.43, Z:0.45 [[ 4.76943672e-01 -8.78931059e-01 -2.21975836e-03 2.02696821e+02] [ 8.78922038e-01 4.76948835e-01 -3.98255869e-03 9.24271647e+01] [ 4.55910569e-03 -5.15383755e-05 9.99989606e-01 4.48686873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.540281693 meters 0.020535187364706883 Centerline is valid? [True, True] Translation: X:202.71, Y:92.45, Z:0.45 [[ 4.76781110e-01 -8.79017958e-01 -2.68379943e-03 2.02713023e+02] [ 8.79004757e-01 4.76788660e-01 -4.81786134e-03 9.24487186e+01] [ 5.51459176e-03 -6.20071857e-05 9.99984793e-01 4.46555578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.570281693 meters 0.021160408406425767 Centerline is valid? [True, True] Translation: X:202.73, Y:92.47, Z:0.44 [[ 4.76153580e-01 -8.79356718e-01 -3.08730571e-03 2.02727453e+02] [ 8.79339236e-01 4.76163583e-01 -5.54539783e-03 9.24697601e+01] [ 6.34644539e-03 -7.43280163e-05 9.99979858e-01 4.44111326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.600281693 meters 0.02176606797242914 Centerline is valid? [True, True] Translation: X:202.74, Y:92.49, Z:0.44 [[ 4.75329292e-01 -8.79800480e-01 -3.63034275e-03 2.02742295e+02] [ 8.79776292e-01 4.75343146e-01 -6.52446081e-03 9.24917227e+01] [ 7.46588230e-03 -9.26221509e-05 9.99972126e-01 4.41699335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.630281693 meters 0.02328490393278903 Centerline is valid? [True, True] Translation: X:202.76, Y:92.51, Z:0.44 [[ 4.74149092e-01 -8.80433707e-01 -4.37326408e-03 2.02760450e+02] [ 8.80398595e-01 4.74169244e-01 -7.86396406e-03 9.25102794e+01] [ 8.99736635e-03 -1.21524135e-04 9.99959516e-01 4.38671001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.660281693 meters 0.02313894995017264 Centerline is valid? [True, True] Translation: X:202.77, Y:92.53, Z:0.44 [[ 4.73933722e-01 -8.80549595e-01 -4.38606044e-03 2.02773979e+02] [ 8.80514242e-01 4.73954002e-01 -7.89144858e-03 9.25319846e+01] [ 9.02760275e-03 -1.21965081e-04 9.99959243e-01 4.39360864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690281693 meters 0.02145476349861501 Centerline is valid? [True, True] Translation: X:202.78, Y:92.56, Z:0.44 [[ 4.75677129e-01 -8.79608988e-01 -4.39271429e-03 2.02783701e+02] [ 8.79573449e-01 4.75697401e-01 -7.90762867e-03 9.25569787e+01] [ 9.04522403e-03 -1.02236749e-04 9.99959086e-01 4.39917289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720281693 meters 0.019969337226554633 Centerline is valid? [True, True] Translation: X:202.79, Y:92.58, Z:0.44 [[ 4.77399727e-01 -8.78673310e-01 -4.76595526e-03 2.02793083e+02] [ 8.78631383e-01 4.77423508e-01 -8.58407444e-03 9.25813573e+01] [ 9.81797618e-03 -8.94830719e-05 9.99951799e-01 4.38046987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750281693 meters 0.017942030375472567 Centerline is valid? [True, True] Translation: X:202.80, Y:92.60, Z:0.44 [[ 4.80471250e-01 -8.76995326e-01 -5.15525854e-03 2.02801284e+02] [ 8.76946114e-01 4.80498903e-01 -9.29074966e-03 9.26043643e+01] [ 1.06250401e-02 -5.69458373e-05 9.99943551e-01 4.35961533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780281693 meters 0.017559289372662136 Centerline is valid? [True, True] Translation: X:202.81, Y:92.63, Z:0.44 [[ 4.81252192e-01 -8.76566826e-01 -5.18919962e-03 2.02812936e+02] [ 8.76516881e-01 4.81280166e-01 -9.35732441e-03 9.26272573e+01] [ 1.06997790e-02 -4.51881820e-05 9.99942755e-01 4.35891402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810281693 meters 0.017216414371087917 Centerline is valid? [True, True] Translation: X:202.82, Y:92.65, Z:0.44 [[ 4.81567750e-01 -8.76394253e-01 -5.06122837e-03 2.02824420e+02] [ 8.76346675e-01 4.81594344e-01 -9.13195447e-03 9.26487195e+01] [ 1.04406514e-02 -3.77358810e-05 9.99945494e-01 4.36124558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840281693 meters 0.01652008370940441 Centerline is valid? [True, True] Translation: X:202.84, Y:92.67, Z:0.44 [[ 4.82323512e-01 -8.75983685e-01 -4.07603458e-03 2.02836114e+02] [ 8.75952783e-01 4.82340734e-01 -7.35786015e-03 9.26701182e+01] [ 8.41140295e-03 -2.15448882e-05 9.99964623e-01 4.40375521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870281693 meters 0.01620692139280293 Centerline is valid? [True, True] Translation: X:202.85, Y:92.69, Z:0.44 [[ 4.82628958e-01 -8.75817835e-01 -3.52267490e-03 2.02848247e+02] [ 8.75794726e-01 4.82641814e-01 -6.36212278e-03 9.26929600e+01] [ 7.27225080e-03 -1.45954080e-05 9.99973557e-01 4.43024779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90028169299998 meters 0.01612782691423719 Centerline is valid? [True, True] Translation: X:202.86, Y:92.72, Z:0.44 [[ 4.82872712e-01 -8.75683775e-01 -3.44538831e-03 2.02860432e+02] [ 8.75661642e-01 4.82885003e-01 -6.22592312e-03 9.27156149e+01] [ 7.11566620e-03 -1.06660032e-05 9.99974683e-01 4.42879236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93028169299998 meters 0.016581204193468143 Centerline is valid? [True, True] Translation: X:202.87, Y:92.74, Z:0.44 [[ 4.83854839e-01 -8.75135546e-01 -4.71918201e-03 2.02870935e+02] [ 8.75093948e-01 4.83877852e-01 -8.53265874e-03 9.27391221e+01] [ 9.75074063e-03 -1.15939984e-06 9.99952460e-01 4.37382876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96028169299998 meters 0.016581204193468143 Centerline is valid? [True, True] Translation: X:202.88, Y:92.76, Z:0.44 [[ 4.83647725e-01 -8.75250037e-01 -4.71718011e-03 2.02882705e+02] [ 8.75208433e-01 4.83670728e-01 -8.53376557e-03 9.27611395e+01] [ 9.75074057e-03 -1.17951654e-06 9.99952460e-01 4.37432579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.990281693 meters 0.017131743549797185 Centerline is valid? [True, True] Translation: X:202.89, Y:92.78, Z:0.43 [[ 4.84368868e-01 -8.74845376e-01 -5.68925412e-03 2.02893487e+02] [ 8.74784775e-01 4.84402279e-01 -1.02970516e-02 9.27847233e+01] [ 1.17642157e-02 1.06983552e-05 9.99930799e-01 4.33479996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02028169299996 meters 0.017800961055279195 Centerline is valid? [True, True] Translation: X:202.90, Y:92.81, Z:0.43 [[ 4.85681009e-01 -8.74113499e-01 -6.28881557e-03 2.02903318e+02] [ 8.74039316e-01 4.85721721e-01 -1.13878880e-02 9.28091158e+01] [ 1.30089209e-02 3.42088664e-05 9.99915380e-01 4.30595042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050281693 meters 0.018744311125611427 Centerline is valid? [True, True] Translation: X:202.91, Y:92.84, Z:0.43 [[ 4.88648416e-01 -8.72456868e-01 -6.46057079e-03 2.02910545e+02] [ 8.72378354e-01 4.88691116e-01 -1.17047446e-02 9.28360145e+01] [ 1.33691084e-02 8.34428251e-05 9.99910626e-01 4.33115585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08028169299996 meters 0.020799458251628995 Centerline is valid? [True, True] Translation: X:202.92, Y:92.86, Z:0.43 [[ 4.90163005e-01 -8.71608806e-01 -6.19014769e-03 2.02916695e+02] [ 8.71536579e-01 4.90202079e-01 -1.12211102e-02 9.28616556e+01] [ 1.28148417e-02 1.05232941e-04 9.99917881e-01 4.31945990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.110281693 meters 0.02352200136985525 Centerline is valid? [True, True] Translation: X:202.92, Y:92.89, Z:0.44 [[ 4.93899750e-01 -8.69500372e-01 -5.66922065e-03 2.02918954e+02] [ 8.69439587e-01 4.93932263e-01 -1.02822378e-02 9.28908188e+01] [ 1.17406206e-02 1.49349825e-04 9.99931065e-01 4.36378881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14028169299996 meters 0.026002704465816533 Centerline is valid? [True, True] Translation: X:202.93, Y:92.92, Z:0.44 [[ 4.96013687e-01 -8.68297004e-01 -5.54390470e-03 2.02925248e+02] [ 8.68238745e-01 4.96044637e-01 -1.00598084e-02 9.29186167e+01] [ 1.14849257e-02 1.76369816e-04 9.99934031e-01 4.36982725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.170281693 meters 0.02722704525456685 Centerline is valid? [True, True] Translation: X:202.93, Y:92.95, Z:0.44 [[ 4.98413537e-01 -8.66922033e-01 -5.48952698e-03 2.02933058e+02] [ 8.66864772e-01 4.98443723e-01 -9.96607227e-03 9.29455380e+01] [ 1.13760279e-02 2.08547782e-04 9.99935269e-01 4.38669012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20028169299997 meters 0.03344586768187569 Centerline is valid? [True, True] Translation: X:202.93, Y:92.98, Z:0.44 [[ 5.03321400e-01 -8.64083523e-01 -5.21855281e-03 2.02929561e+02] [ 8.64031569e-01 5.03348384e-01 -9.47901669e-03 9.29772256e+01] [ 1.08174123e-02 2.61997575e-04 9.99941456e-01 4.39105003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.230281693 meters 0.03435456009896333 Centerline is valid? [True, True] Translation: X:202.94, Y:93.00, Z:0.44 [[ 5.04554631e-01 -8.63366567e-01 -4.77438761e-03 2.02937082e+02] [ 8.63323006e-01 5.04577155e-01 -8.67655714e-03 9.30039258e+01] [ 9.90009627e-03 2.55958431e-04 9.99950960e-01 4.40476940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26028169299997 meters 0.03394860191068359 Centerline is valid? [True, True] Translation: X:202.95, Y:93.03, Z:0.44 [[ 5.05018619e-01 -8.63098171e-01 -4.21210528e-03 2.02946486e+02] [ 8.63064224e-01 5.05036130e-01 -7.65852822e-03 9.30296773e+01] [ 8.73732705e-03 2.32381968e-04 9.99961802e-01 4.42766539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29028169299994 meters 0.032456326711506576 Centerline is valid? [True, True] Translation: X:202.95, Y:93.05, Z:0.45 [[ 5.03341374e-01 -8.64083030e-01 -2.82452964e-03 2.02954773e+02] [ 8.64067769e-01 5.03349278e-01 -5.13756308e-03 9.30546342e+01] [ 5.86100603e-03 1.45363036e-04 9.99982814e-01 4.47296690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32028169299997 meters 0.029967713543217884 Centerline is valid? [True, True] Translation: X:202.97, Y:93.08, Z:0.45 [[ 5.01061570e-01 -8.65408523e-01 -2.32206738e-03 2.02968092e+02] [ 8.65398214e-01 5.01066939e-01 -4.22545011e-03 9.30780719e+01] [ 4.82025173e-03 1.07697704e-04 9.99988377e-01 4.48963156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35028169299994 meters 0.024049503657891665 Centerline is valid? [True, True] Translation: X:202.98, Y:93.10, Z:0.45 [[ 4.94755449e-01 -8.69029184e-01 -2.30703624e-03 2.02984438e+02] [ 8.69019037e-01 4.94760822e-01 -4.20032490e-03 9.30989416e+01] [ 4.79163606e-03 7.32752199e-05 9.99988517e-01 4.49488824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380281693 meters 0.02059832856525985 Centerline is valid? [True, True] Translation: X:203.00, Y:93.12, Z:0.45 [[ 4.91406901e-01 -8.70926600e-01 -2.47295149e-03 2.03001614e+02] [ 8.70914951e-01 4.91413120e-01 -4.50481085e-03 9.31204797e+01] [ 5.13860041e-03 5.99647144e-05 9.99986796e-01 4.48860080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41028169299994 meters 0.018295202172112324 Centerline is valid? [True, True] Translation: X:203.02, Y:93.14, Z:0.45 [[ 4.88442086e-01 -8.72592949e-01 -2.42346448e-03 2.03018544e+02] [ 8.72581772e-01 4.88448096e-01 -4.41686083e-03 9.31422316e+01] [ 5.03785823e-03 4.27097882e-05 9.99987309e-01 4.48952470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440281693 meters 0.016148056346145963 Centerline is valid? [True, True] Translation: X:203.04, Y:93.16, Z:0.45 [[ 4.84002369e-01 -8.75063344e-01 -2.41877046e-03 2.03037000e+02] [ 8.75052229e-01 4.84008412e-01 -4.41052839e-03 9.31627439e+01] [ 5.03019698e-03 1.81557078e-05 9.99987348e-01 4.48867781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47028169299995 meters 0.01587397481825832 Centerline is valid? [True, True] Translation: X:203.05, Y:93.18, Z:0.45 [[ 4.82212105e-01 -8.76050516e-01 -2.64174515e-03 2.03049673e+02] [ 8.76037257e-01 4.82219341e-01 -4.81987973e-03 9.31845526e+01] [ 5.49635873e-03 9.93717204e-06 9.99984895e-01 4.48154983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500281693 meters 0.015790736797958903 Centerline is valid? [True, True] Translation: X:203.06, Y:93.21, Z:0.45 [[ 4.80888923e-01 -8.76776264e-01 -3.03767011e-03 2.03062972e+02] [ 8.76758726e-01 4.80898517e-01 -5.54545814e-03 9.32077724e+01] [ 6.32293712e-03 3.44561865e-06 9.99980010e-01 4.46536348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53028169299995 meters 0.01612827632503809 Centerline is valid? [True, True] Translation: X:203.08, Y:93.23, Z:0.44 [[ 4.79031852e-01 -8.77789818e-01 -3.67691525e-03 2.03077355e+02] [ 8.77764123e-01 4.79045964e-01 -6.71629065e-03 9.32301114e+01] [ 7.65690296e-03 -1.01471378e-05 9.99970685e-01 4.44663524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560281693 meters 0.016217170892824227 Centerline is valid? [True, True] Translation: X:203.09, Y:93.25, Z:0.44 [[ 4.77887693e-01 -8.78412177e-01 -3.92432517e-03 2.03090956e+02] [ 8.78382897e-01 4.77903806e-01 -7.17204800e-03 9.32530946e+01] [ 8.17546423e-03 -1.96266336e-05 9.99966580e-01 4.44127053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59028169299995 meters 0.017234268799919263 Centerline is valid? [True, True] Translation: X:203.10, Y:93.27, Z:0.44 [[ 4.75133389e-01 -8.79905240e-01 -3.87703512e-03 2.03104782e+02] [ 8.79876680e-01 4.75149205e-01 -7.08958377e-03 9.32738442e+01] [ 8.08033206e-03 -4.28148315e-05 9.99967353e-01 4.44252094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620281693 meters 0.01763102518995597 Centerline is valid? [True, True] Translation: X:203.12, Y:93.30, Z:0.44 [[ 4.73766946e-01 -8.80641767e-01 -3.86757315e-03 2.03118533e+02] [ 8.80613339e-01 4.73782729e-01 -7.07615349e-03 9.32959354e+01] [ 8.06394568e-03 -5.33888808e-05 9.99967484e-01 4.44158259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65028169299995 meters 0.01871161160955356 Centerline is valid? [True, True] Translation: X:203.13, Y:93.32, Z:0.44 [[ 4.72077992e-01 -8.81547069e-01 -4.13944488e-03 2.03134367e+02] [ 8.81514505e-01 4.72096135e-01 -7.57741879e-03 9.33182814e+01] [ 8.63406725e-03 -7.18480563e-05 9.99962723e-01 4.43325928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680281693 meters 0.022003249816299975 Centerline is valid? [True, True] Translation: X:203.16, Y:93.34, Z:0.44 [[ 4.67991112e-01 -8.83720140e-01 -4.79924845e-03 2.03156063e+02] [ 8.83676445e-01 4.68015702e-01 -8.78886787e-03 9.33369073e+01] [ 1.00130232e-02 -1.27870763e-04 9.99949860e-01 4.40314414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71028169299996 meters 0.024430361476181245 Centerline is valid? [True, True] Translation: X:203.17, Y:93.36, Z:0.44 [[ 4.65931225e-01 -8.84808372e-01 -4.71578096e-03 2.03173604e+02] [ 8.84766206e-01 4.65955066e-01 -8.63925820e-03 9.33569609e+01] [ 9.84143001e-03 -1.47063475e-04 9.99951561e-01 4.40239611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740281693 meters 0.02587534378879593 Centerline is valid? [True, True] Translation: X:203.19, Y:93.38, Z:0.44 [[ 4.63982916e-01 -8.85833048e-01 -4.43444585e-03 2.03190201e+02] [ 8.85795776e-01 4.64004080e-01 -8.12754138e-03 9.33783728e+01] [ 9.25724572e-03 -1.56973059e-04 9.99957138e-01 4.40965754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77028169299996 meters 0.029207555943451362 Centerline is valid? [True, True] Translation: X:203.21, Y:93.39, Z:0.44 [[ 4.60871828e-01 -8.87455587e-01 -4.44297169e-03 2.03212203e+02] [ 8.87418205e-01 4.60893205e-01 -8.14759160e-03 9.33948511e+01] [ 9.27836114e-03 -1.87778531e-04 9.99956937e-01 4.41682752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800281693 meters 0.030889470836075836 Centerline is valid? [True, True] Translation: X:203.23, Y:93.41, Z:0.44 [[ 4.59613841e-01 -8.88107996e-01 -4.39361910e-03 2.03230354e+02] [ 8.88071429e-01 4.59634799e-01 -8.06155610e-03 9.34141273e+01] [ 9.17899266e-03 -1.96644828e-04 9.99957853e-01 4.41643865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83028169299996 meters 0.03210632989970371 Centerline is valid? [True, True] Translation: X:203.25, Y:93.43, Z:0.44 [[ 4.58534907e-01 -8.88665795e-01 -4.34084323e-03 2.03250776e+02] [ 8.88630087e-01 4.58555409e-01 -7.96909781e-03 9.34316520e+01] [ 9.07238179e-03 -2.03294372e-04 9.99958824e-01 4.42042465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.860281693 meters 0.03099963153148989 Centerline is valid? [True, True] Translation: X:203.26, Y:93.45, Z:0.44 [[ 4.59042907e-01 -8.88402682e-01 -4.50387029e-03 2.03263998e+02] [ 8.88364187e-01 4.59064956e-01 -8.27271060e-03 9.34539769e+01] [ 9.41706730e-03 -2.03547948e-04 9.99955638e-01 4.41546495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89028169299996 meters 0.02757206377854928 Centerline is valid? [True, True] Translation: X:203.27, Y:93.48, Z:0.44 [[ 4.60052071e-01 -8.87879635e-01 -4.67393103e-03 2.03274577e+02] [ 8.87838109e-01 4.60075771e-01 -8.58939834e-03 9.34786142e+01] [ 9.77671428e-03 -1.98123588e-04 9.99952187e-01 4.42286139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.920281693 meters 0.025212078249932088 Centerline is valid? [True, True] Translation: X:203.29, Y:93.50, Z:0.44 [[ 4.64275770e-01 -8.85677448e-01 -4.84440385e-03 2.03289119e+02] [ 8.85632670e-01 4.64301017e-01 -8.90730299e-03 9.34999495e+01] [ 1.01382590e-02 -1.54917366e-04 9.99948595e-01 4.40666057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95028169299997 meters 0.026072430859718825 Centerline is valid? [True, True] Translation: X:203.30, Y:93.52, Z:0.45 [[ 4.67251510e-01 -8.84110575e-01 -4.95156255e-03 2.03299396e+02] [ 8.84063658e-01 4.67277730e-01 -9.10887707e-03 9.35247381e+01] [ 1.03670094e-02 -1.21359942e-04 9.99946254e-01 4.46370634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.980281693 meters 0.016973891890889353 Centerline is valid? [True, True] Translation: X:203.30, Y:93.55, Z:0.44 [[ 4.73589501e-01 -8.80732721e-01 -4.78111470e-03 2.03302152e+02] [ 8.80688763e-01 4.73613632e-01 -8.79941110e-03 9.35547680e+01] [ 1.00143304e-02 -4.33652806e-05 9.99949854e-01 4.42380553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01028169299997 meters 0.016325908759739213 Centerline is valid? [True, True] Translation: X:203.31, Y:93.58, Z:0.44 [[ 4.76133798e-01 -8.79359367e-01 -4.86922913e-03 2.03310355e+02] [ 8.79313652e-01 4.76158695e-01 -8.96652712e-03 9.35786198e+01] [ 1.02033254e-02 -1.23130323e-05 9.99947945e-01 4.41582666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04028169299994 meters 0.01631388676662402 Centerline is valid? [True, True] Translation: X:203.32, Y:93.60, Z:0.44 [[ 4.77739640e-01 -8.78487690e-01 -4.92081406e-03 2.03320937e+02] [ 8.78440903e-01 4.77764982e-01 -9.06650653e-03 9.36027158e+01] [ 1.03158070e-02 8.78521912e-06 9.99946791e-01 4.41130040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07028169299997 meters 0.016545545979611196 Centerline is valid? [True, True] Translation: X:203.33, Y:93.62, Z:0.44 [[ 4.77991580e-01 -8.78349526e-01 -5.11454142e-03 2.03333898e+02] [ 8.78298918e-01 4.78018942e-01 -9.42880045e-03 9.36243428e+01] [ 1.07266301e-02 1.47910368e-05 9.99942468e-01 4.40177457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10028169299994 meters 0.016578117318572082 Centerline is valid? [True, True] Translation: X:203.35, Y:93.64, Z:0.44 [[ 4.75253541e-01 -8.79830987e-01 -5.61308564e-03 2.03354032e+02] [ 8.79770064e-01 4.75286687e-01 -1.03537038e-02 9.36436958e+01] [ 1.17773343e-02 -1.75903158e-05 9.99930645e-01 4.39092710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130281693 meters 0.018139547113283767 Centerline is valid? [True, True] Translation: X:203.38, Y:93.66, Z:0.44 [[ 4.70959063e-01 -8.82137694e-01 -5.53616521e-03 2.03376821e+02] [ 8.82078526e-01 4.70991596e-01 -1.02171773e-02 9.36609350e+01] [ 1.16204445e-02 -7.14601885e-05 9.99932478e-01 4.38812822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16028169299994 meters 0.01975633506480081 Centerline is valid? [True, True] Translation: X:203.39, Y:93.68, Z:0.44 [[ 4.68525302e-01 -8.83432804e-01 -5.52466508e-03 2.03394785e+02] [ 8.83373908e-01 4.68557862e-01 -1.02013623e-02 9.36809471e+01] [ 1.16008434e-02 -1.00748618e-04 9.99932703e-01 4.38935102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190281693 meters 0.02150206022162818 Centerline is valid? [True, True] Translation: X:203.41, Y:93.70, Z:0.44 [[ 4.66303936e-01 -8.84607034e-01 -5.57088570e-03 2.03412326e+02] [ 8.84547168e-01 4.66337194e-01 -1.02921716e-02 9.37010403e+01] [ 1.17024386e-02 -1.28431025e-04 9.99931516e-01 4.38905462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22028169299995 meters 0.023338005259381307 Centerline is valid? [True, True] Translation: X:203.43, Y:93.72, Z:0.44 [[ 4.64414546e-01 -8.85600620e-01 -5.53822659e-03 2.03429039e+02] [ 8.85541461e-01 4.64447543e-01 -1.02372330e-02 9.37217457e+01] [ 1.16383156e-02 -1.50009343e-04 9.99932261e-01 4.38561205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250281693 meters 0.024589249954360563 Centerline is valid? [True, True] Translation: X:203.45, Y:93.74, Z:0.44 [[ 4.61761726e-01 -8.86987576e-01 -5.39890490e-03 2.03446824e+02] [ 8.86931389e-01 4.61793252e-01 -9.98513955e-03 9.37416782e+01] [ 1.13498726e-02 -1.77702955e-04 9.99935572e-01 4.40170165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28028169299995 meters 0.026385195835450015 Centerline is valid? [True, True] Translation: X:203.47, Y:93.76, Z:0.44 [[ 4.60031839e-01 -8.87885797e-01 -5.43314586e-03 2.03467567e+02] [ 8.87828891e-01 4.60063879e-01 -1.00542066e-02 9.37591229e+01] [ 1.14265814e-02 -1.98448740e-04 9.99934695e-01 4.40076705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310281693 meters 0.026761338476299846 Centerline is valid? [True, True] Translation: X:203.48, Y:93.78, Z:0.44 [[ 4.59270465e-01 -8.88278597e-01 -5.63687786e-03 2.03483313e+02] [ 8.88217304e-01 4.59305007e-01 -1.04370166e-02 9.37807971e+01] [ 1.18600247e-02 -2.13358999e-04 9.99929645e-01 4.40204847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34028169299995 meters 0.027807314681332667 Centerline is valid? [True, True] Translation: X:203.50, Y:93.80, Z:0.44 [[ 4.58765932e-01 -8.88537681e-01 -5.88300308e-03 2.03497660e+02] [ 8.88470869e-01 4.58803595e-01 -1.08984674e-02 9.38009343e+01] [ 1.23828419e-02 -2.27031315e-04 9.99923304e-01 4.39092879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370281693 meters 0.029509032382692455 Centerline is valid? [True, True] Translation: X:203.51, Y:93.82, Z:0.44 [[ 4.58567593e-01 -8.88640294e-01 -5.84719603e-03 2.03512322e+02] [ 8.88574222e-01 4.58604815e-01 -1.08386331e-02 9.38206583e+01] [ 1.23131983e-02 -2.25421774e-04 9.99924164e-01 4.37798032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40028169299995 meters 0.030235469141945876 Centerline is valid? [True, True] Translation: X:203.53, Y:93.84, Z:0.44 [[ 4.57548878e-01 -8.89170437e-01 -4.99580808e-03 2.03529722e+02] [ 8.89122182e-01 4.57576106e-01 -9.26562899e-03 9.38402366e+01] [ 1.05246858e-02 -2.02405630e-04 9.99944593e-01 4.41187885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430281693 meters 0.03038571099698511 Centerline is valid? [True, True] Translation: X:203.54, Y:93.86, Z:0.44 [[ 4.56249329e-01 -8.89840142e-01 -4.59031336e-03 2.03544864e+02] [ 8.89799394e-01 4.56272377e-01 -8.51803535e-03 9.38621866e+01] [ 9.67412297e-03 -1.98110130e-04 9.99953185e-01 4.43861366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46028169299996 meters 0.032097395279706085 Centerline is valid? [True, True] Translation: X:203.56, Y:93.88, Z:0.45 [[ 4.53866861e-01 -8.91059517e-01 -4.22001073e-03 2.03564233e+02] [ 8.91025093e-01 4.53886434e-01 -7.83513525e-03 9.38812469e+01] [ 8.89697746e-03 -2.04027209e-04 9.99960400e-01 4.45753632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490281693 meters 0.0329457173071738 Centerline is valid? [True, True] Translation: X:203.58, Y:93.90, Z:0.44 [[ 4.53202363e-01 -8.91396487e-01 -4.46335910e-03 2.03580796e+02] [ 8.91357951e-01 4.53224287e-01 -8.29146168e-03 9.39018915e+01] [ 9.41388256e-03 -2.20740596e-04 9.99955664e-01 4.44675155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52028169299996 meters 0.03130810705597694 Centerline is valid? [True, True] Translation: X:203.60, Y:93.92, Z:0.44 [[ 4.52766563e-01 -8.91615665e-01 -4.89337463e-03 2.03595589e+02] [ 8.91569306e-01 4.52792940e-01 -9.09537867e-03 9.39236475e+01] [ 1.03252676e-02 -2.44699280e-04 9.99946663e-01 4.43614186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550281693 meters 0.03289197521151035 Centerline is valid? [True, True] Translation: X:203.62, Y:93.94, Z:0.44 [[ 4.51437631e-01 -8.92283249e-01 -5.88806434e-03 2.03618029e+02] [ 8.92216103e-01 4.51475921e-01 -1.09507367e-02 9.39410201e+01] [ 1.24294782e-02 -3.09851190e-04 9.99922703e-01 4.40181798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58028169299996 meters 0.03665059549647559 Centerline is valid? [True, True] Translation: X:203.64, Y:93.96, Z:0.44 [[ 4.50645041e-01 -8.92681998e-01 -6.15610340e-03 2.03637720e+02] [ 8.92608549e-01 4.50686964e-01 -1.14559376e-02 9.39592856e+01] [ 1.30009848e-02 -3.32429061e-04 9.99915428e-01 4.38813629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.610281693 meters 0.034951943881736024 Centerline is valid? [True, True] Translation: X:203.66, Y:93.98, Z:0.44 [[ 4.49690193e-01 -8.93162809e-01 -6.23913275e-03 2.03655359e+02] [ 8.93087326e-01 4.49733338e-01 -1.16169067e-02 9.39800122e+01] [ 1.31817350e-02 -3.48081358e-04 9.99913057e-01 4.40531598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64028169299996 meters 0.034740892911679346 Centerline is valid? [True, True] Translation: X:203.67, Y:94.00, Z:0.44 [[ 4.49729707e-01 -8.93143033e-01 -6.22207929e-03 2.03671997e+02] [ 8.93067869e-01 4.49772615e-01 -1.15920837e-02 9.39996962e+01] [ 1.31519096e-02 -3.43434696e-04 9.99913451e-01 4.40313687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.670281693 meters 0.03352111860940862 Centerline is valid? [True, True] Translation: X:203.69, Y:94.02, Z:0.44 [[ 4.50386853e-01 -8.92813868e-01 -5.92285976e-03 2.03688130e+02] [ 8.92745654e-01 4.50425685e-01 -1.10407813e-02 9.40208917e+01] [ 1.25251708e-02 -3.14984598e-04 9.99921507e-01 4.41820364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70028169299997 meters 0.032237049786245815 Centerline is valid? [True, True] Translation: X:203.71, Y:94.04, Z:0.44 [[ 4.54084932e-01 -8.90942553e-01 -5.31432296e-03 2.03707219e+02] [ 8.90887444e-01 4.54115969e-01 -9.91205648e-03 9.40395647e+01] [ 1.12443918e-02 -2.33548107e-04 9.99936753e-01 4.42153451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.730281693 meters 0.026222456601080416 Centerline is valid? [True, True] Translation: X:203.71, Y:94.07, Z:0.44 [[ 4.56284629e-01 -8.89816828e-01 -5.50903876e-03 2.03714389e+02] [ 8.89757456e-01 4.56317837e-01 -1.02810830e-02 9.40651504e+01] [ 1.16621533e-02 -2.10608169e-04 9.99931973e-01 4.43654630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76028169299997 meters 0.022346877771115846 Centerline is valid? [True, True] Translation: X:203.73, Y:94.09, Z:0.44 [[ 4.61388997e-01 -8.87178882e-01 -5.81593659e-03 2.03725006e+02] [ 8.87112435e-01 4.61425627e-01 -1.08590315e-02 9.40881620e+01] [ 1.23175256e-02 -1.49152029e-04 9.99924125e-01 4.41595594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79028169299994 meters 0.01994809479871714 Centerline is valid? [True, True] Translation: X:203.74, Y:94.11, Z:0.44 [[ 4.64107064e-01 -8.85761537e-01 -5.57971219e-03 2.03735768e+02] [ 8.85700222e-01 4.64140592e-01 -1.04224845e-02 9.41109799e+01] [ 1.18216068e-02 -1.04803644e-04 9.99930117e-01 4.42360388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82028169299997 meters 0.017713385186335452 Centerline is valid? [True, True] Translation: X:203.75, Y:94.14, Z:0.44 [[ 4.66724191e-01 -8.84387659e-01 -5.19608204e-03 2.03746832e+02] [ 8.84334345e-01 4.66753110e-01 -9.71089384e-03 9.41350311e+01] [ 1.10134821e-02 -6.27647381e-05 9.99939348e-01 4.44347253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85028169299994 meters 0.016337274173208207 Centerline is valid? [True, True] Translation: X:203.75, Y:94.16, Z:0.44 [[ 4.72533798e-01 -8.81296950e-01 -5.24359550e-03 2.03752813e+02] [ 8.81242401e-01 4.72562890e-01 -9.80541398e-03 9.41596218e+01] [ 1.11194101e-02 1.25108215e-05 9.99938177e-01 4.44456954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880281693 meters 0.016337274173208207 Centerline is valid? [True, True] Translation: X:203.76, Y:94.18, Z:0.44 [[ 4.72315811e-01 -8.81413810e-01 -5.24117183e-03 2.03764283e+02] [ 8.81359253e-01 4.72344890e-01 -9.80670962e-03 9.41818278e+01] [ 1.11194100e-02 1.25087167e-05 9.99938177e-01 4.44506659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91028169299994 meters 0.0174582212883401 Centerline is valid? [True, True] Translation: X:203.77, Y:94.21, Z:0.44 [[ 4.75338395e-01 -8.79787121e-01 -5.29451292e-03 2.03772636e+02] [ 8.79731285e-01 4.75367877e-01 -9.91197952e-03 9.42070097e+01] [ 1.12372733e-02 5.37957832e-05 9.99936858e-01 4.43993663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940281693 meters 0.019267554789139135 Centerline is valid? [True, True] Translation: X:203.78, Y:94.23, Z:0.44 [[ 4.77901849e-01 -8.78397458e-01 -5.26589639e-03 2.03781714e+02] [ 8.78342080e-01 4.77930851e-01 -9.86370503e-03 9.42322644e+01] [ 1.11809878e-02 8.86244800e-05 9.99937487e-01 4.43436036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97028169299995 meters 0.020859219731782497 Centerline is valid? [True, True] Translation: X:203.79, Y:94.26, Z:0.45 [[ 4.81521710e-01 -8.76419272e-01 -5.10906552e-03 2.03792662e+02] [ 8.76366977e-01 4.81548795e-01 -9.57493694e-03 9.42574489e+01] [ 1.08519236e-02 1.33123696e-04 9.99941107e-01 4.46904968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000281693 meters 0.023223337836146187 Centerline is valid? [True, True] Translation: X:203.80, Y:94.28, Z:0.45 [[ 4.82607543e-01 -8.75822565e-01 -4.97932830e-03 2.03801109e+02] [ 8.75772808e-01 4.82633207e-01 -9.33683178e-03 9.42821159e+01] [ 1.05805972e-02 1.45265111e-04 9.99944013e-01 4.46919560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03028169299995 meters 0.025294807786789112 Centerline is valid? [True, True] Translation: X:203.81, Y:94.31, Z:0.45 [[ 4.83154068e-01 -8.75521001e-01 -5.01241559e-03 2.03809843e+02] [ 8.75470506e-01 4.83180042e-01 -9.40420226e-03 9.43062432e+01] [ 1.06554757e-02 1.55456562e-04 9.99943217e-01 4.45541307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060281693 meters 0.02335766624913612 Centerline is valid? [True, True] Translation: X:203.83, Y:94.33, Z:0.44 [[ 4.82883549e-01 -8.75664360e-01 -5.95033562e-03 2.03825984e+02] [ 8.75593135e-01 4.82920175e-01 -1.11699124e-02 9.43284563e+01] [ 1.26546313e-02 1.83693932e-04 9.99919910e-01 4.44070838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09028169299995 meters 0.02511314221834547 Centerline is valid? [True, True] Translation: X:203.84, Y:94.35, Z:0.44 [[ 4.81759590e-01 -8.76279490e-01 -6.47714491e-03 2.03835811e+02] [ 8.76195051e-01 4.81803094e-01 -1.21659893e-02 9.43519414e+01] [ 1.37815153e-02 1.85839698e-04 9.99905013e-01 4.39076072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120281693 meters 0.02189364866686978 Centerline is valid? [True, True] Translation: X:203.85, Y:94.37, Z:0.44 [[ 4.79131936e-01 -8.77717576e-01 -6.66664667e-03 2.03851623e+02] [ 8.77628166e-01 4.79178289e-01 -1.25287716e-02 9.43736685e+01] [ 1.41912354e-02 1.52097730e-04 9.99899288e-01 4.38974247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15028169299995 meters 0.020794964260991207 Centerline is valid? [True, True] Translation: X:203.86, Y:94.40, Z:0.44 [[ 4.77740352e-01 -8.78477657e-01 -6.41579983e-03 2.03863997e+02] [ 8.78394821e-01 4.77783413e-01 -1.20643496e-02 9.43955970e+01] [ 1.36636243e-02 1.28021284e-04 9.99906640e-01 4.40260373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180281693 meters 0.01727893710422968 Centerline is valid? [True, True] Translation: X:203.88, Y:94.42, Z:0.45 [[ 4.74014475e-01 -8.80501848e-01 -5.17428643e-03 2.03882638e+02] [ 8.80448031e-01 4.74042711e-01 -9.73510956e-03 9.44153431e+01] [ 1.10246147e-02 5.88925450e-05 9.99939225e-01 4.45788212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21028169299996 meters 0.0162362643275867 Centerline is valid? [True, True] Translation: X:203.90, Y:94.44, Z:0.45 [[ 4.71412142e-01 -8.81901242e-01 -4.55984559e-03 2.03897758e+02] [ 8.81859461e-01 4.71434194e-01 -8.58433596e-03 9.44350851e+01] [ 9.72020367e-03 2.56172248e-05 9.99952757e-01 4.48253096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240281693 meters 0.015712913515059396 Centerline is valid? [True, True] Translation: X:203.91, Y:94.46, Z:0.45 [[ 4.68917126e-01 -8.83232522e-01 -4.12797958e-03 2.03912884e+02] [ 8.83198291e-01 4.68935295e-01 -7.77610079e-03 9.44552537e+01] [ 8.80386044e-03 5.22324375e-07 9.99961245e-01 4.49911051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27028169299996 meters 0.017125941251875783 Centerline is valid? [True, True] Translation: X:203.93, Y:94.48, Z:0.45 [[ 4.64208015e-01 -8.85713996e-01 -4.65147000e-03 2.03930425e+02] [ 8.85670604e-01 4.64231316e-01 -8.76735969e-03 9.44761976e+01] [ 9.92473122e-03 -4.97916085e-05 9.99950747e-01 4.47456699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300281693 meters 0.01870236029184411 Centerline is valid? [True, True] Translation: X:203.94, Y:94.50, Z:0.45 [[ 4.61630421e-01 -8.87059339e-01 -4.80459432e-03 2.03944766e+02] [ 8.87013070e-01 4.61655416e-01 -9.06040377e-03 9.44966751e+01] [ 1.02551828e-02 -7.91799443e-05 9.99947411e-01 4.46687456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33028169299996 meters 0.02256434978397828 Centerline is valid? [True, True] Translation: X:203.96, Y:94.52, Z:0.45 [[ 4.56719669e-01 -8.89598975e-01 -4.56149092e-03 2.03964080e+02] [ 8.89557351e-01 4.56742430e-01 -8.60651728e-03 9.45159604e+01] [ 9.73977540e-03 -1.26942053e-04 9.99952559e-01 4.48412332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.360281693 meters 0.026314706389916964 Centerline is valid? [True, True] Translation: X:203.98, Y:94.54, Z:0.45 [[ 4.54403672e-01 -8.90784234e-01 -4.55539679e-03 2.03981873e+02] [ 8.90742732e-01 4.54426481e-01 -8.59990656e-03 9.45355251e+01] [ 9.73075411e-03 -1.49857458e-04 9.99952644e-01 4.47239276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39028169299996 meters 0.027174875851337165 Centerline is valid? [True, True] Translation: X:204.00, Y:94.56, Z:0.45 [[ 4.52072352e-01 -8.91966279e-01 -5.17169514e-03 2.03995563e+02] [ 8.91912801e-01 4.52101891e-01 -9.76912456e-03 9.45575109e+01] [ 1.10518628e-02 -1.96349977e-04 9.99938907e-01 4.46144141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.420281693 meters 0.0318886111911899 Centerline is valid? [True, True] Translation: X:204.01, Y:94.58, Z:0.44 [[ 4.48801764e-01 -8.93608639e-01 -6.37006356e-03 2.04013422e+02] [ 8.93527569e-01 4.48846876e-01 -1.20401809e-02 9.45760340e+01] [ 1.36183928e-02 -2.88172991e-04 9.99907224e-01 4.40964807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45028169299997 meters 0.03161069783046386 Centerline is valid? [True, True] Translation: X:204.02, Y:94.60, Z:0.44 [[ 4.48722529e-01 -8.93648452e-01 -6.36687402e-03 2.04024647e+02] [ 8.93567370e-01 4.48767605e-01 -1.20412475e-02 9.45984898e+01] [ 1.36178890e-02 -2.86051824e-04 9.99907231e-01 4.41713518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.480281693 meters 0.02767777295192798 Centerline is valid? [True, True] Translation: X:204.03, Y:94.62, Z:0.45 [[ 4.52128249e-01 -8.91937261e-01 -5.28865237e-03 2.04029649e+02] [ 8.91881135e-01 4.52159138e-01 -1.00077686e-02 9.46240312e+01] [ 1.13176142e-02 -1.92054391e-04 9.99935935e-01 4.47303711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51028169299997 meters 0.024485803004551922 Centerline is valid? [True, True] Translation: X:204.04, Y:94.65, Z:0.45 [[ 4.54831959e-01 -8.90563540e-01 -4.94669321e-03 2.04035693e+02] [ 8.90514304e-01 4.54858835e-01 -9.36562725e-03 9.46507594e+01] [ 1.05907333e-02 -1.45314472e-04 9.99943906e-01 4.48792411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54028169299994 meters 0.020174628129063617 Centerline is valid? [True, True] Translation: X:204.04, Y:94.68, Z:0.45 [[ 4.58205126e-01 -8.88831523e-01 -5.15620442e-03 2.04037917e+02] [ 8.88777858e-01 4.58234124e-01 -9.76769403e-03 9.46791080e+01] [ 1.10445832e-02 -1.07112851e-04 9.99939001e-01 4.49866486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57028169299997 meters 0.017740784340667323 Centerline is valid? [True, True] Translation: X:204.04, Y:94.71, Z:0.45 [[ 4.62638932e-01 -8.86529715e-01 -5.50307591e-03 2.04040332e+02] [ 8.86468350e-01 4.62671657e-01 -1.04308540e-02 9.47066932e+01] [ 1.17933793e-02 -5.25834692e-05 9.99930454e-01 4.47095291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60028169299994 meters 0.018762832200657848 Centerline is valid? [True, True] Translation: X:204.03, Y:94.74, Z:0.45 [[ 4.72095375e-01 -8.81532136e-01 -5.20093284e-03 2.04029174e+02] [ 8.81476949e-01 4.72124018e-01 -9.86406207e-03 9.47401756e+01] [ 1.11509730e-02 7.22756771e-05 9.99937823e-01 4.48555932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630281693 meters 0.020775283660926763 Centerline is valid? [True, True] Translation: X:204.03, Y:94.77, Z:0.45 [[ 4.75475561e-01 -8.79716061e-01 -4.75853857e-03 2.04033321e+02] [ 8.79669719e-01 4.75499360e-01 -9.03020123e-03 9.47671561e+01] [ 1.02066951e-02 1.07697710e-04 9.99947905e-01 4.52105513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66028169299994 meters 0.024450253331100555 Centerline is valid? [True, True] Translation: X:204.03, Y:94.80, Z:0.45 [[ 4.78987558e-01 -8.77812153e-01 -4.09193175e-03 2.04031354e+02] [ 8.77777777e-01 4.79005019e-01 -7.76952075e-03 9.47968032e+01] [ 8.78023558e-03 1.29697015e-04 9.99961445e-01 4.53984822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690281693 meters 0.02476944870665811 Centerline is valid? [True, True] Translation: X:204.04, Y:94.82, Z:0.45 [[ 4.79011160e-01 -8.77799107e-01 -4.12742312e-03 2.04038270e+02] [ 8.77764096e-01 4.79028924e-01 -7.84105524e-03 9.48206738e+01] [ 8.86002635e-03 1.33049144e-04 9.99960740e-01 4.53273127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72028169299995 meters 0.024543376422779026 Centerline is valid? [True, True] Translation: X:204.05, Y:94.84, Z:0.45 [[ 4.78386196e-01 -8.78138991e-01 -4.30818595e-03 2.04047884e+02] [ 8.78100815e-01 4.78405575e-01 -8.18923202e-03 9.48441970e+01] [ 9.25234413e-03 1.34593954e-04 9.99957187e-01 4.52026367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750281693 meters 0.02314618498940682 Centerline is valid? [True, True] Translation: X:204.06, Y:94.87, Z:0.45 [[ 4.77091202e-01 -8.78842047e-01 -4.54334613e-03 2.04058216e+02] [ 8.78799570e-01 4.77112817e-01 -8.64147455e-03 9.48678043e+01] [ 9.76217985e-03 1.30080854e-04 9.99952340e-01 4.52599705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78028169299995 meters 0.021522965096035587 Centerline is valid? [True, True] Translation: X:204.07, Y:94.89, Z:0.45 [[ 4.76244021e-01 -8.79301057e-01 -4.61343638e-03 2.04070346e+02] [ 8.79257231e-01 4.76266349e-01 -8.77989429e-03 9.48914411e+01] [ 9.91739484e-03 1.24974861e-04 9.99950814e-01 4.53967522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810281693 meters 0.021164062951559093 Centerline is valid? [True, True] Translation: X:204.08, Y:94.92, Z:0.45 [[ 4.75429191e-01 -8.79740650e-01 -4.84491274e-03 2.04080903e+02] [ 8.79692283e-01 4.75453860e-01 -9.22576906e-03 9.49155831e+01] [ 1.04198165e-02 1.24167574e-04 9.99945705e-01 4.52388529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84028169299995 meters 0.0204071713591526 Centerline is valid? [True, True] Translation: X:204.09, Y:94.94, Z:0.45 [[ 4.73946615e-01 -8.80539078e-01 -5.05348334e-03 2.04092239e+02] [ 8.80486439e-01 4.73973542e-01 -9.62872044e-03 9.49377068e+01] [ 1.08736820e-02 1.13975911e-04 9.99940873e-01 4.50951672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870281693 meters 0.01978049028489359 Centerline is valid? [True, True] Translation: X:204.10, Y:94.96, Z:0.45 [[ 4.73149504e-01 -8.80970206e-01 -4.58728512e-03 2.04104015e+02] [ 8.80926800e-01 4.73171731e-01 -8.74559020e-03 9.49601931e+01] [ 9.87517803e-03 9.69092638e-05 9.99951235e-01 4.53456954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90028169299995 meters 0.019283815225065015 Centerline is valid? [True, True] Translation: X:204.12, Y:94.98, Z:0.46 [[ 4.72742450e-01 -8.81191806e-01 -3.94674840e-03 2.04115029e+02] [ 8.81159648e-01 4.72758917e-01 -7.52861849e-03 9.49838850e+01] [ 8.50001743e-03 8.13821154e-05 9.99963871e-01 4.56940021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930281693 meters 0.020072634496344187 Centerline is valid? [True, True] Translation: X:204.12, Y:95.01, Z:0.46 [[ 4.73605645e-01 -8.80731918e-01 -2.99700173e-03 2.04120400e+02] [ 8.80713345e-01 4.73615122e-01 -5.72005800e-03 9.50097912e+01] [ 6.45726299e-03 6.95523379e-05 9.99979149e-01 4.61180456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96028169299996 meters 0.020118241140605425 Centerline is valid? [True, True] Translation: X:204.13, Y:95.03, Z:0.46 [[ 4.74162045e-01 -8.80432648e-01 -2.95092232e-03 2.04130799e+02] [ 8.80414615e-01 4.74171222e-01 -5.63543695e-03 9.50340163e+01] [ 6.36086511e-03 7.40751738e-05 9.99979767e-01 4.61367228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990281693 meters 0.021390630660259015 Centerline is valid? [True, True] Translation: X:204.14, Y:95.06, Z:0.46 [[ 4.75014394e-01 -8.79971167e-01 -3.47434051e-03 2.04138422e+02] [ 8.79946128e-01 4.75027090e-01 -6.63896911e-03 9.50598537e+01] [ 7.49250726e-03 9.63734068e-05 9.99971926e-01 4.59385366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02028169299996 meters 0.021392408667700546 Centerline is valid? [True, True] Translation: X:204.15, Y:95.08, Z:0.46 [[ 4.74610767e-01 -8.80188070e-01 -3.68515849e-03 2.04149514e+02] [ 8.80159875e-01 4.74625063e-01 -7.04589566e-03 9.50839308e+01] [ 7.95078188e-03 1.00529312e-04 9.99968387e-01 4.57917304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050281693 meters 0.021625443129351652 Centerline is valid? [True, True] Translation: X:204.16, Y:95.11, Z:0.46 [[ 4.73595675e-01 -8.80733700e-01 -3.90982725e-03 2.04160229e+02] [ 8.80701949e-01 4.73611803e-01 -7.47915236e-03 9.51072403e+01] [ 8.43888187e-03 9.87017293e-05 9.99964387e-01 4.56454564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08028169299996 meters 0.017885635200367487 Centerline is valid? [True, True] Translation: X:204.18, Y:95.13, Z:0.46 [[ 4.69542836e-01 -8.82900709e-01 -3.98283726e-03 2.04178584e+02] [ 8.82867805e-01 4.69559723e-01 -7.62268227e-03 9.51282302e+01] [ 8.60025154e-03 6.28570561e-05 9.99963015e-01 4.56692646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.110281693 meters 0.01704276985124826 Centerline is valid? [True, True] Translation: X:204.19, Y:95.15, Z:0.46 [[ 4.67335019e-01 -8.84070988e-01 -4.05822511e-03 2.04191934e+02] [ 8.84036830e-01 4.67352636e-01 -7.77152402e-03 9.51500292e+01] [ 8.76720112e-03 4.42848597e-05 9.99961566e-01 4.56303866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14028169299996 meters 0.01587822599462941 Centerline is valid? [True, True] Translation: X:204.21, Y:95.17, Z:0.46 [[ 4.63476087e-01 -8.86100405e-01 -3.99873143e-03 2.04206350e+02] [ 8.86067278e-01 4.63493336e-01 -7.66203572e-03 9.51722974e+01] [ 8.64271832e-03 8.02525504e-06 9.99962651e-01 4.57306216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.170281693 meters 0.015866214992761904 Centerline is valid? [True, True] Translation: X:204.22, Y:95.19, Z:0.46 [[ 4.61542833e-01 -8.87109415e-01 -3.88588714e-03 2.04218218e+02] [ 8.87078129e-01 4.61559191e-01 -7.45021849e-03 9.51944295e+01] [ 8.40272588e-03 -8.49054602e-06 9.99964696e-01 4.57708188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20028169299997 meters 0.01602045903718508 Centerline is valid? [True, True] Translation: X:204.23, Y:95.22, Z:0.46 [[ 4.59933224e-01 -8.87946103e-01 -3.62611338e-03 2.04230505e+02] [ 8.87918856e-01 4.59947517e-01 -6.95609408e-03 9.52172956e+01] [ 7.84445848e-03 -2.03556673e-05 9.99969232e-01 4.58843961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.230281693 meters 0.016267912288880065 Centerline is valid? [True, True] Translation: X:204.24, Y:95.24, Z:0.46 [[ 4.58594502e-01 -8.88639060e-01 -3.42109124e-03 2.04242726e+02] [ 8.88614799e-01 4.58607261e-01 -6.56645516e-03 9.52409498e+01] [ 7.40414583e-03 -2.86920730e-05 9.99972589e-01 4.59892005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26028169299997 meters 0.01791756173129404 Centerline is valid? [True, True] Translation: X:204.26, Y:95.26, Z:0.46 [[ 4.55636639e-01 -8.90156068e-01 -4.17468458e-03 2.04256916e+02] [ 8.90119960e-01 4.55655759e-01 -8.01782124e-03 9.52625557e+01] [ 9.03933130e-03 -6.27569496e-05 9.99959142e-01 4.56638025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29028169299994 meters 0.02072004116318636 Centerline is valid? [True, True] Translation: X:204.27, Y:95.28, Z:0.45 [[ 4.52345435e-01 -8.91827848e-01 -5.16697633e-03 2.04272820e+02] [ 8.91772575e-01 4.52374929e-01 -9.92966848e-03 9.52824603e+01] [ 1.11929654e-02 -1.16127586e-04 9.99937350e-01 4.52268760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32028169299997 meters 0.021183893864824586 Centerline is valid? [True, True] Translation: X:204.29, Y:95.31, Z:0.45 [[ 4.50854974e-01 -8.92581610e-01 -5.27844692e-03 2.04285728e+02] [ 8.92523911e-01 4.50885852e-01 -1.01497314e-02 9.53055288e+01] [ 1.14394406e-02 -1.35083203e-04 9.99934558e-01 4.52600585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35028169299994 meters 0.022498057627511222 Centerline is valid? [True, True] Translation: X:204.30, Y:95.33, Z:0.45 [[ 4.49551778e-01 -8.93238889e-01 -5.24273979e-03 2.04299196e+02] [ 8.93181945e-01 4.49582324e-01 -1.00870245e-02 9.53265926e+01] [ 1.13671657e-02 -1.48080738e-04 9.99935381e-01 4.52317709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380281693 meters 0.024526580990608036 Centerline is valid? [True, True] Translation: X:204.31, Y:95.35, Z:0.45 [[ 4.47547102e-01 -8.94248535e-01 -4.59888782e-03 2.04314710e+02] [ 8.94204721e-01 4.47570705e-01 -8.85330674e-03 9.53473055e+01] [ 9.97538404e-03 -1.50075429e-04 9.99950233e-01 4.54318410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41028169299994 meters 0.02451387347671089 Centerline is valid? [True, True] Translation: X:204.33, Y:95.37, Z:0.45 [[ 4.47265005e-01 -8.94390446e-01 -4.44349396e-03 2.04326634e+02] [ 8.94349502e-01 4.47287054e-01 -8.55924931e-03 9.53692743e+01] [ 9.64282813e-03 -1.45783920e-04 9.99953496e-01 4.54802625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440281693 meters 0.023769104497900987 Centerline is valid? [True, True] Translation: X:204.34, Y:95.39, Z:0.45 [[ 4.47567569e-01 -8.94238401e-01 -4.57757884e-03 2.04337603e+02] [ 8.94194886e-01 4.47590954e-01 -8.82291263e-03 9.53924129e+01] [ 9.93867016e-03 -1.44398031e-04 9.99950600e-01 4.54985660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47028169299995 meters 0.021015999409682847 Centerline is valid? [True, True] Translation: X:204.35, Y:95.42, Z:0.46 [[ 4.49339128e-01 -8.93351228e-01 -4.23457443e-03 2.04347841e+02] [ 8.93313910e-01 4.49359066e-01 -8.16628178e-03 9.54172930e+01] [ 9.19820227e-03 -1.13374308e-04 9.99957689e-01 4.57296506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500281693 meters 0.020673314435570692 Centerline is valid? [True, True] Translation: X:204.36, Y:95.44, Z:0.46 [[ 4.50218736e-01 -8.92910635e-01 -3.69972843e-03 2.04359910e+02] [ 8.92882101e-01 4.50233929e-01 -7.13891693e-03 9.54391207e+01] [ 8.04015811e-03 -8.93471341e-05 9.99967673e-01 4.58808290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53028169299995 meters 0.020075689627109067 Centerline is valid? [True, True] Translation: X:204.37, Y:95.46, Z:0.46 [[ 4.50763561e-01 -8.92636138e-01 -3.59690425e-03 2.04372430e+02] [ 8.92609125e-01 4.50777904e-01 -6.94481421e-03 9.54605978e+01] [ 7.82059710e-03 -8.01603726e-05 9.99969415e-01 4.59061824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560281693 meters 0.020136897479678312 Centerline is valid? [True, True] Translation: X:204.38, Y:95.48, Z:0.46 [[ 4.50493793e-01 -8.92769825e-01 -4.16927169e-03 2.04384800e+02] [ 8.92733490e-01 4.50513076e-01 -8.05506041e-03 9.54833978e+01] [ 9.06962628e-03 -9.32937489e-05 9.99958866e-01 4.57507692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59028169299995 meters 0.01940489890696842 Centerline is valid? [True, True] Translation: X:204.40, Y:95.51, Z:0.46 [[ 4.50439388e-01 -8.92796093e-01 -4.41523251e-03 2.04395933e+02] [ 8.92755298e-01 4.50461016e-01 -8.53531022e-03 9.55067537e+01] [ 9.60918174e-03 -9.70823017e-05 9.99953826e-01 4.57083783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620281693 meters 0.017560043103006986 Centerline is valid? [True, True] Translation: X:204.41, Y:95.53, Z:0.46 [[ 4.52916657e-01 -8.91544704e-01 -3.81340472e-03 2.04405696e+02] [ 8.91514197e-01 4.52932707e-01 -7.37567511e-03 9.55326194e+01] [ 8.30295981e-03 -5.91383350e-05 9.99965528e-01 4.59191910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65028169299995 meters 0.01652440864226407 Centerline is valid? [True, True] Translation: X:204.42, Y:95.56, Z:0.46 [[ 4.54925752e-01 -8.90523488e-01 -3.23699264e-03 2.04415282e+02] [ 8.90501456e-01 4.54937267e-01 -6.26417537e-03 9.55566493e+01] [ 7.05102389e-03 -3.28119678e-05 9.99975141e-01 4.62052040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680281693 meters 0.015364410525940066 Centerline is valid? [True, True] Translation: X:204.42, Y:95.58, Z:0.46 [[ 4.59052644e-01 -8.88404201e-01 -2.94019340e-03 2.04418986e+02] [ 8.88385959e-01 4.59062060e-01 -5.69323619e-03 9.55819730e+01] [ 6.40762619e-03 1.46859593e-06 9.99979471e-01 4.63425069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71028169299996 meters 0.016021053417981976 Centerline is valid? [True, True] Translation: X:204.42, Y:95.61, Z:0.46 [[ 4.61247218e-01 -8.87265949e-01 -3.18411913e-03 2.04424920e+02] [ 8.87244500e-01 4.61258208e-01 -6.16956280e-03 9.56065832e+01] [ 6.94274408e-03 2.06014969e-05 9.99975899e-01 4.62060779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740281693 meters 0.01708787308366177 Centerline is valid? [True, True] Translation: X:204.43, Y:95.63, Z:0.46 [[ 4.63595851e-01 -8.86040453e-01 -3.34707082e-03 2.04432064e+02] [ 8.86016691e-01 4.63607932e-01 -6.48912021e-03 9.56326388e+01] [ 7.30135159e-03 4.27685918e-05 9.99973344e-01 4.62288979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77028169299996 meters 0.01708787308366177 Centerline is valid? [True, True] Translation: X:204.44, Y:95.65, Z:0.46 [[ 4.63372377e-01 -8.86157350e-01 -3.34547617e-03 2.04443204e+02] [ 8.86133585e-01 4.63384452e-01 -6.48994242e-03 9.56549944e+01] [ 7.30135181e-03 4.27212503e-05 9.99973344e-01 4.62338683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800281693 meters 0.018410036893694956 Centerline is valid? [True, True] Translation: X:204.45, Y:95.68, Z:0.46 [[ 4.65094200e-01 -8.85254952e-01 -3.32506842e-03 2.04450075e+02] [ 8.85231425e-01 4.65106082e-01 -6.45419673e-03 9.56800621e+01] [ 7.26011915e-03 5.83544094e-05 9.99973643e-01 4.62255349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83028169299996 meters 0.020055483470688043 Centerline is valid? [True, True] Translation: X:204.46, Y:95.71, Z:0.46 [[ 4.66404823e-01 -8.84563663e-01 -3.69679194e-03 2.04455486e+02] [ 8.84534526e-01 4.66419467e-01 -7.18011661e-03 9.57051249e+01] [ 8.07552598e-03 7.89009142e-05 9.99967389e-01 4.60937616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.860281693 meters 0.019974822241128735 Centerline is valid? [True, True] Translation: X:204.47, Y:95.73, Z:0.46 [[ 4.66143966e-01 -8.84701697e-01 -3.56522187e-03 2.04465508e+02] [ 8.84674568e-01 4.66157593e-01 -6.92871214e-03 9.57288018e+01] [ 7.79179863e-03 7.57162383e-05 9.99969641e-01 4.61077105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89028169299996 meters 0.019121370127679657 Centerline is valid? [True, True] Translation: X:204.47, Y:95.75, Z:0.46 [[ 4.65075353e-01 -8.85265800e-01 -3.06242062e-03 2.04474950e+02] [ 8.85245773e-01 4.65085432e-01 -5.95500595e-03 9.57529157e+01] [ 6.69605032e-03 5.85315883e-05 9.99977580e-01 4.61354759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.920281693 meters 0.018406597221817755 Centerline is valid? [True, True] Translation: X:204.49, Y:95.78, Z:0.46 [[ 4.63949561e-01 -8.85855694e-01 -3.23965532e-03 2.04485499e+02] [ 8.85833268e-01 4.63960868e-01 -6.30350684e-03 9.57763714e+01] [ 7.08707072e-03 5.47147709e-05 9.99974885e-01 4.60144384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95028169299997 meters 0.017500094902135593 Centerline is valid? [True, True] Translation: X:204.50, Y:95.80, Z:0.46 [[ 4.62502909e-01 -8.86610829e-01 -3.50689605e-03 2.04497230e+02] [ 8.86584539e-01 4.62516201e-01 -6.82776525e-03 9.57992876e+01] [ 7.67556684e-03 4.87014630e-05 9.99970541e-01 4.59143464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.980281693 meters 0.015830249580092777 Centerline is valid? [True, True] Translation: X:204.51, Y:95.82, Z:0.46 [[ 4.57411382e-01 -8.89245798e-01 -4.09115255e-03 2.04514879e+02] [ 8.89210080e-01 4.57429678e-01 -7.97015000e-03 9.58199556e+01] [ 8.95883699e-03 7.74324168e-06 9.99959869e-01 4.57994708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01028169299997 meters 0.016563221278812587 Centerline is valid? [True, True] Translation: X:204.53, Y:95.84, Z:0.46 [[ 4.53455841e-01 -8.91268401e-01 -4.29400303e-03 2.04532061e+02] [ 8.91229095e-01 4.53476171e-01 -8.37037708e-03 9.58394548e+01] [ 9.40748065e-03 -3.13440547e-05 9.99955748e-01 4.55705021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04028169299994 meters 0.018404210627629855 Centerline is valid? [True, True] Translation: X:204.55, Y:95.86, Z:0.46 [[ 4.49194098e-01 -8.93422847e-01 -4.50322789e-03 2.04549708e+02] [ 8.93379674e-01 4.49216664e-01 -8.78331743e-03 9.58602487e+01] [ 9.87014147e-03 -7.76779105e-05 9.99951286e-01 4.56339494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07028169299997 meters 0.02494982830814223 Centerline is valid? [True, True] Translation: X:204.57, Y:95.88, Z:0.45 [[ 4.41530055e-01 -8.97233011e-01 -4.91269425e-03 2.04573503e+02] [ 8.97181800e-01 4.41557351e-01 -9.58771222e-03 9.58769067e+01] [ 1.07716482e-02 -1.74316761e-04 9.99941969e-01 4.54225341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10028169299994 meters 0.02794799295990885 Centerline is valid? [True, True] Translation: X:204.59, Y:95.90, Z:0.45 [[ 4.38246135e-01 -8.98841674e-01 -4.89590132e-03 2.04590593e+02] [ 8.98790854e-01 4.38273431e-01 -9.56040807e-03 9.58980235e+01] [ 1.07390367e-02 -2.10579447e-04 9.99942313e-01 4.54600770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130281693 meters 0.03582741115933885 Centerline is valid? [True, True] Translation: X:204.62, Y:95.91, Z:0.46 [[ 4.34453208e-01 -9.00683141e-01 -4.50443958e-03 2.04615132e+02] [ 9.00640178e-01 4.34476496e-01 -8.80026487e-03 9.59142485e+01] [ 9.88332333e-03 -2.33575960e-04 9.99951132e-01 4.55329768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16028169299994 meters 0.033411936401588765 Centerline is valid? [True, True] Translation: X:204.63, Y:95.94, Z:0.46 [[ 4.33020371e-01 -9.01373378e-01 -4.40366658e-03 2.04625580e+02] [ 9.01332306e-01 4.33042694e-01 -8.60802996e-03 9.59382897e+01] [ 9.66602469e-03 -2.41714635e-04 9.99953254e-01 4.58115531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190281693 meters 0.038411499606364044 Centerline is valid? [True, True] Translation: X:204.64, Y:95.96, Z:0.46 [[ 4.32055949e-01 -9.01835655e-01 -4.48428814e-03 2.04644680e+02] [ 9.01793049e-01 4.32079144e-01 -8.76982278e-03 9.59570470e+01] [ 9.84650625e-03 -2.54845775e-04 9.99951490e-01 4.56194858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22028169299995 meters 0.0339960714465826 Centerline is valid? [True, True] Translation: X:204.65, Y:95.98, Z:0.46 [[ 4.32883318e-01 -9.01437813e-01 -4.68004893e-03 2.04654281e+02] [ 9.01391332e-01 4.32908541e-01 -9.15761069e-03 9.59818709e+01] [ 1.02810497e-02 -2.54378636e-04 9.99947116e-01 4.57126360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250281693 meters 0.0326684300342883 Centerline is valid? [True, True] Translation: X:204.67, Y:96.01, Z:0.46 [[ 4.34048780e-01 -9.00876279e-01 -4.85660253e-03 2.04665777e+02] [ 9.00826133e-01 4.34075879e-01 -9.50837540e-03 9.60054061e+01] [ 1.06740039e-02 -2.47855736e-04 9.99943000e-01 4.56110034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28028169299995 meters 0.030783333037522526 Centerline is valid? [True, True] Translation: X:204.68, Y:96.03, Z:0.46 [[ 4.35550009e-01 -9.00151903e-01 -4.76890778e-03 2.04677124e+02] [ 9.00103456e-01 4.35576058e-01 -9.34161646e-03 9.60297186e+01] [ 1.04860959e-02 -2.23769244e-04 9.99944994e-01 4.56181399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310281693 meters 0.026795640473947367 Centerline is valid? [True, True] Translation: X:204.69, Y:96.05, Z:0.46 [[ 4.38731252e-01 -8.98610605e-01 -3.72411736e-03 2.04687100e+02] [ 8.98580974e-01 4.38747034e-01 -7.29888284e-03 9.60534815e+01] [ 8.19279897e-03 -1.44172997e-04 9.99966428e-01 4.61156517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34028169299995 meters 0.024990611211029516 Centerline is valid? [True, True] Translation: X:204.70, Y:96.08, Z:0.46 [[ 4.40273241e-01 -8.97857865e-01 -3.27531595e-03 2.04698508e+02] [ 8.97834901e-01 4.40285409e-01 -6.42257338e-03 9.60778422e+01] [ 7.20863185e-03 -1.13005771e-04 9.99974011e-01 4.63685092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370281693 meters 0.021809005383684597 Centerline is valid? [True, True] Translation: X:204.71, Y:96.10, Z:0.47 [[ 4.43053803e-01 -8.96491343e-01 -2.56901172e-03 2.04709754e+02] [ 8.96477180e-01 4.43061245e-01 -5.03972501e-03 9.61004132e+01] [ 5.65629938e-03 -7.01910531e-05 9.99984001e-01 4.66711650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40028169299995 meters 0.02065665248936988 Centerline is valid? [True, True] Translation: X:204.72, Y:96.12, Z:0.47 [[ 4.43890383e-01 -8.96078548e-01 -2.13654425e-03 2.04721846e+02] [ 8.96068737e-01 4.43895521e-01 -4.19336330e-03 9.61233771e+01] [ 4.70598532e-03 -5.30968650e-05 9.99988925e-01 4.68076072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430281693 meters 0.018716410582008073 Centerline is valid? [True, True] Translation: X:204.73, Y:96.15, Z:0.47 [[ 4.44690733e-01 -8.95682621e-01 -1.67158189e-03 2.04732570e+02] [ 8.95676607e-01 4.44693873e-01 -3.28245689e-03 9.61470282e+01] [ 3.68338182e-03 -3.75186356e-05 9.99993216e-01 4.70746803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46028169299996 meters 0.017567288423578957 Centerline is valid? [True, True] Translation: X:204.75, Y:96.17, Z:0.47 [[ 4.47036323e-01 -8.94513958e-01 -1.81782436e-03 2.04745826e+02] [ 8.94506827e-01 4.47040018e-01 -3.57191744e-03 9.61680261e+01] [ 4.00777024e-03 -2.92794640e-05 9.99991968e-01 4.69874049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490281693 meters 0.016388585881163587 Centerline is valid? [True, True] Translation: X:204.76, Y:96.19, Z:0.47 [[ 4.48457121e-01 -8.93801767e-01 -2.14754626e-03 2.04756388e+02] [ 8.93791793e-01 4.48462262e-01 -4.22265376e-03 9.61912180e+01] [ 4.73730884e-03 -2.57800735e-05 9.99988779e-01 4.68108153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52028169299996 meters 0.01511129106468018 Centerline is valid? [True, True] Translation: X:204.77, Y:96.21, Z:0.47 [[ 4.51423387e-01 -8.92306783e-01 -2.35192436e-03 2.04766247e+02] [ 8.92294784e-01 4.51429513e-01 -4.62742924e-03 9.62149927e+01] [ 5.19081457e-03 -9.68005816e-06 9.99986528e-01 4.67376350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550281693 meters 0.014889180346961635 Centerline is valid? [True, True] Translation: X:204.78, Y:96.24, Z:0.47 [[ 4.52660353e-01 -8.91680733e-01 -2.01868625e-03 2.04776117e+02] [ 8.91671877e-01 4.52664854e-01 -3.97409378e-03 9.62374527e+01] [ 4.45741117e-03 -1.09106833e-06 9.99990066e-01 4.68450393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58028169299996 meters 0.014982696804062055 Centerline is valid? [True, True] Translation: X:204.79, Y:96.26, Z:0.47 [[ 4.53591521e-01 -8.91207707e-01 -1.88528208e-03 2.04786693e+02] [ 8.91199970e-01 4.53595439e-01 -3.71375099e-03 9.62608018e+01] [ 4.16487886e-03 4.36263061e-06 9.99991327e-01 4.70117267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.610281693 meters 0.015221719587658748 Centerline is valid? [True, True] Translation: X:204.80, Y:96.28, Z:0.47 [[ 4.54503594e-01 -8.90742784e-01 -1.94297139e-03 2.04796712e+02] [ 8.90734552e-01 4.54507747e-01 -3.82967727e-03 9.62833527e+01] [ 4.29435294e-03 9.93033092e-06 9.99990779e-01 4.69673716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64028169299996 meters 0.015408811123045336 Centerline is valid? [True, True] Translation: X:204.81, Y:96.31, Z:0.47 [[ 4.54509865e-01 -8.90739590e-01 -1.94056012e-03 2.04807258e+02] [ 8.90731368e-01 4.54514007e-01 -3.82718968e-03 9.63052811e+01] [ 4.29104112e-03 1.09776929e-05 9.99990793e-01 4.69682210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.670281693 meters 0.015357931071245159 Centerline is valid? [True, True] Translation: X:204.82, Y:96.33, Z:0.47 [[ 4.54194168e-01 -8.90900845e-01 -1.82809792e-03 2.04819817e+02] [ 8.90893541e-01 4.54197847e-01 -3.60755456e-03 9.63278071e+01] [ 4.04429154e-03 9.88961374e-06 9.99991822e-01 4.70229745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70028169299997 meters 0.015089149514185843 Centerline is valid? [True, True] Translation: X:204.83, Y:96.35, Z:0.47 [[ 4.52304155e-01 -8.91861302e-01 -2.09041316e-03 2.04834684e+02] [ 8.91851750e-01 4.52308985e-01 -4.12764106e-03 9.63478237e+01] [ 4.62679599e-03 2.61056730e-06 9.99989296e-01 4.68199489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.730281693 meters 0.015225277158706767 Centerline is valid? [True, True] Translation: X:204.85, Y:96.37, Z:0.47 [[ 4.51077540e-01 -8.92481291e-01 -2.48954560e-03 2.04848119e+02] [ 8.92467736e-01 4.51084410e-01 -4.91880747e-03 9.63687069e+01] [ 5.51293885e-03 -3.07555206e-06 9.99984804e-01 4.65834874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76028169299997 meters 0.016476734387524408 Centerline is valid? [True, True] Translation: X:204.87, Y:96.39, Z:0.46 [[ 4.47714126e-01 -8.94172094e-01 -2.88584287e-03 2.04865879e+02] [ 8.94153892e-01 4.47723426e-01 -5.70540810e-03 9.63864667e+01] [ 6.39367616e-03 -2.59958363e-05 9.99979560e-01 4.63299816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79028169299994 meters 0.01817577719751627 Centerline is valid? [True, True] Translation: X:204.88, Y:96.41, Z:0.46 [[ 4.45206955e-01 -8.95422660e-01 -3.00452115e-03 2.04882030e+02] [ 8.95402935e-01 4.45217091e-01 -5.94349748e-03 9.64065336e+01] [ 6.65960649e-03 -4.41706456e-05 9.99977824e-01 4.62761069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82028169299997 meters 0.019138733395866782 Centerline is valid? [True, True] Translation: X:204.90, Y:96.43, Z:0.46 [[ 4.42796076e-01 -8.96617157e-01 -3.05111435e-03 2.04896606e+02] [ 8.96596821e-01 4.42806584e-01 -6.03904645e-03 9.64287355e+01] [ 6.76576617e-03 -6.15533513e-05 9.99977110e-01 4.63461250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85028169299994 meters 0.021562273286265338 Centerline is valid? [True, True] Translation: X:204.91, Y:96.45, Z:0.46 [[ 4.39662152e-01 -8.98156690e-01 -3.42817184e-03 2.04912170e+02] [ 8.98131033e-01 4.39675507e-01 -6.78942198e-03 9.64498625e+01] [ 7.60524796e-03 -9.38956430e-05 9.99971075e-01 4.62738191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880281693 meters 0.021513211039923992 Centerline is valid? [True, True] Translation: X:204.92, Y:96.47, Z:0.46 [[ 4.38947928e-01 -8.98505322e-01 -3.59196110e-03 2.04923687e+02] [ 8.98477131e-01 4.38962613e-01 -7.11830772e-03 9.64727528e+01] [ 7.97257400e-03 -1.02728476e-04 9.99968213e-01 4.63227906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91028169299994 meters 0.021725163078473192 Centerline is valid? [True, True] Translation: X:204.94, Y:96.49, Z:0.46 [[ 4.38459866e-01 -8.98743453e-01 -3.62653110e-03 2.04935547e+02] [ 8.98714687e-01 4.38474851e-01 -7.19142075e-03 9.64949300e+01] [ 8.05338500e-03 -1.06067385e-04 9.99967565e-01 4.63326919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940281693 meters 0.02222223151056616 Centerline is valid? [True, True] Translation: X:204.95, Y:96.52, Z:0.47 [[ 4.38376017e-01 -8.98786324e-01 -3.10034131e-03 2.04947814e+02] [ 8.98765278e-01 4.38386971e-01 -6.15132497e-03 9.65156357e+01] [ 6.88787599e-03 -8.98857830e-05 9.99976274e-01 4.65364603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97028169299995 meters 0.024343280198089633 Centerline is valid? [True, True] Translation: X:204.96, Y:96.54, Z:0.47 [[ 4.37966787e-01 -8.98986898e-01 -2.76599323e-03 2.04962066e+02] [ 8.98970131e-01 4.37975513e-01 -5.49118455e-03 9.65358535e+01] [ 6.14794027e-03 -8.15888456e-05 9.99981098e-01 4.65533348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000281693 meters 0.022793493307174388 Centerline is valid? [True, True] Translation: X:204.97, Y:96.56, Z:0.47 [[ 4.36833749e-01 -8.99539564e-01 -2.20180772e-03 2.04973551e+02] [ 8.99528934e-01 4.36839292e-01 -4.37366667e-03 9.65583589e+01] [ 4.89612234e-03 -7.00245467e-05 9.99988011e-01 4.68394305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03028169299995 meters 0.026276530351726873 Centerline is valid? [True, True] Translation: X:204.99, Y:96.58, Z:0.47 [[ 4.35896419e-01 -8.99994014e-01 -2.25550096e-03 2.04990487e+02] [ 8.99982850e-01 4.35902248e-01 -4.48322298e-03 9.65774790e+01] [ 5.01805179e-03 -7.56913398e-05 9.99987407e-01 4.67437406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060281693 meters 0.025743295489394347 Centerline is valid? [True, True] Translation: X:205.00, Y:96.60, Z:0.47 [[ 4.35297443e-01 -9.00283939e-01 -2.22809009e-03 2.05000715e+02] [ 9.00273036e-01 4.35303139e-01 -4.43157518e-03 9.65999357e+01] [ 4.95957057e-03 -7.68360816e-05 9.99987698e-01 4.68365653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09028169299995 meters 0.023394032426361393 Centerline is valid? [True, True] Translation: X:205.01, Y:96.63, Z:0.47 [[ 4.35845940e-01 -9.00018027e-01 -2.42228984e-03 2.05007671e+02] [ 9.00005119e-01 4.35852664e-01 -4.82085687e-03 9.66255466e+01] [ 5.39461957e-03 -7.89223633e-05 9.99985446e-01 4.68210134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120281693 meters 0.023957537834464287 Centerline is valid? [True, True] Translation: X:205.02, Y:96.65, Z:0.47 [[ 4.35868653e-01 -9.00005758e-01 -2.85536892e-03 2.05019614e+02] [ 8.99987798e-01 4.35877996e-01 -5.68651665e-03 9.66466536e+01] [ 6.36249021e-03 -9.12228275e-05 9.99979755e-01 4.65899381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15028169299995 meters 0.023378469058562053 Centerline is valid? [True, True] Translation: X:205.03, Y:96.67, Z:0.46 [[ 4.36248623e-01 -8.99817835e-01 -3.87346952e-03 2.05030286e+02] [ 8.99784731e-01 4.36265803e-01 -7.71925725e-03 9.66698140e+01] [ 8.63578763e-03 -1.17773384e-04 9.99962704e-01 4.61648508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180281693 meters 0.021032308825538092 Centerline is valid? [True, True] Translation: X:205.04, Y:96.70, Z:0.46 [[ 4.37101812e-01 -8.99404059e-01 -3.78746891e-03 2.05037192e+02] [ 8.99372353e-01 4.37118208e-01 -7.55266286e-03 9.66951780e+01] [ 8.44846725e-03 -1.05062199e-04 9.99964306e-01 4.64009518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21028169299996 meters 0.019469215844180973 Centerline is valid? [True, True] Translation: X:205.05, Y:96.72, Z:0.47 [[ 4.38734704e-01 -8.98610710e-01 -3.26357498e-03 2.05045281e+02] [ 8.98587120e-01 4.38746835e-01 -6.51171149e-03 9.67206531e+01] [ 7.28337688e-03 -7.56926294e-05 9.99973473e-01 4.66274619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240281693 meters 0.015688097202912345 Centerline is valid? [True, True] Translation: X:205.05, Y:96.75, Z:0.47 [[ 4.44611537e-01 -8.95720505e-01 -2.31495005e-03 2.05047201e+02] [ 8.95708584e-01 4.44617563e-01 -4.62126538e-03 9.67495996e+01] [ 5.16862961e-03 -1.88527273e-05 9.99986642e-01 4.70529253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27028169299996 meters 0.01522442935531845 Centerline is valid? [True, True] Translation: X:205.05, Y:96.77, Z:0.47 [[ 4.47920833e-01 -8.94069600e-01 -2.54519127e-03 2.05051586e+02] [ 8.94055144e-01 4.47928064e-01 -5.08419299e-03 9.67746121e+01] [ 5.68568499e-03 1.77461192e-06 9.99983836e-01 4.68843058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300281693 meters 0.01828664263524966 Centerline is valid? [True, True] Translation: X:205.05, Y:96.80, Z:0.47 [[ 4.53935725e-01 -8.91028466e-01 -3.26050622e-03 2.05050395e+02] [ 8.91004633e-01 4.53947431e-01 -6.51720636e-03 9.68049350e+01] [ 7.28711480e-03 5.32666424e-05 9.99973447e-01 4.65995122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33028169299996 meters 0.02058162328884357 Centerline is valid? [True, True] Translation: X:205.06, Y:96.83, Z:0.47 [[ 4.56449932e-01 -8.89744092e-01 -2.98503166e-03 2.05056207e+02] [ 8.89724067e-01 4.56459687e-01 -5.96976432e-03 9.68311958e+01] [ 6.67410915e-03 6.90440080e-05 9.99977726e-01 4.67686800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.360281693 meters 0.02376589585318583 Centerline is valid? [True, True] Translation: X:205.06, Y:96.86, Z:0.47 [[ 4.59135361e-01 -8.88363245e-01 -2.33757586e-03 2.05060365e+02] [ 8.88350936e-01 4.59141307e-01 -4.67699323e-03 9.68572508e+01] [ 5.22814652e-03 7.07852709e-05 9.99986331e-01 4.70533632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39028169299996 meters 0.02514023633920826 Centerline is valid? [True, True] Translation: X:205.07, Y:96.88, Z:0.47 [[ 4.61634321e-01 -8.87068470e-01 -1.81199721e-03 2.05067108e+02] [ 8.87061057e-01 4.61637872e-01 -3.62709944e-03 9.68830192e+01] [ 4.05397209e-03 6.70414218e-05 9.99991780e-01 4.73338583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.420281693 meters 0.0321366638668778 Centerline is valid? [True, True] Translation: X:205.06, Y:96.91, Z:0.47 [[ 4.67613128e-01 -8.83931519e-01 -1.74152424e-03 2.05062992e+02] [ 8.83924642e-01 4.67616362e-01 -3.48798442e-03 9.69142436e+01] [ 3.89750460e-03 9.16511103e-05 9.99992401e-01 4.73759076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45028169299997 meters 0.03911244929937887 Centerline is valid? [True, True] Translation: X:205.06, Y:96.94, Z:0.47 [[ 4.70099251e-01 -8.82610993e-01 -2.12817930e-03 2.05062977e+02] [ 8.82600697e-01 4.70104051e-01 -4.26510961e-03 9.69425380e+01] [ 4.76489834e-03 1.26692296e-04 9.99988640e-01 4.71650891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.480281693 meters 0.04472603968882567 Centerline is valid? [True, True] Translation: X:205.06, Y:96.97, Z:0.47 [[ 4.73703336e-01 -8.80679909e-01 -2.83692863e-03 2.05062619e+02] [ 8.80661555e-01 4.73711790e-01 -5.68911407e-03 9.69712488e+01] [ 6.35417500e-03 1.96578333e-04 9.99979793e-01 4.68577479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51028169299997 meters 0.0418511613434357 Centerline is valid? [True, True] Translation: X:205.07, Y:96.99, Z:0.47 [[ 4.74446201e-01 -8.80279649e-01 -2.92273625e-03 2.05074095e+02] [ 8.80260139e-01 4.74455157e-01 -5.86452026e-03 9.69947111e+01] [ 6.54912512e-03 2.09631136e-04 9.99978532e-01 4.69657550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54028169299994 meters 0.0475288135569206 Centerline is valid? [True, True] Translation: X:205.07, Y:97.02, Z:0.47 [[ 4.74680600e-01 -8.80153328e-01 -2.90648299e-03 2.05074629e+02] [ 8.80134010e-01 4.74689451e-01 -5.83530418e-03 9.70226962e+01] [ 6.51563920e-03 2.11811160e-04 9.99978751e-01 4.68661677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57028169299997 meters 0.04327497503513471 Centerline is valid? [True, True] Translation: X:205.08, Y:97.05, Z:0.47 [[ 4.73965409e-01 -8.80537365e-01 -3.27726337e-03 2.05084707e+02] [ 8.80512782e-01 4.73976681e-01 -6.58383468e-03 9.70456123e+01] [ 7.35065885e-03 2.34837610e-04 9.99972956e-01 4.67199799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60028169299994 meters 0.03927787321006366 Centerline is valid? [True, True] Translation: X:205.10, Y:97.07, Z:0.47 [[ 4.73130794e-01 -8.80986489e-01 -3.17159397e-03 2.05099062e+02] [ 8.80963449e-01 4.73141372e-01 -6.37521822e-03 9.70684271e+01] [ 7.11709343e-03 2.22253695e-04 9.99974648e-01 4.67780779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630281693 meters 0.04079369698632569 Centerline is valid? [True, True] Translation: X:205.10, Y:97.10, Z:0.47 [[ 4.71063382e-01 -8.82096634e-01 -2.19497896e-03 2.05103005e+02] [ 8.82085601e-01 4.71068474e-01 -4.41420112e-03 9.70962960e+01] [ 4.92773734e-03 1.43209173e-04 9.99987848e-01 4.72187895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66028169299994 meters 0.03689149170671287 Centerline is valid? [True, True] Translation: X:205.12, Y:97.12, Z:0.47 [[ 4.69770494e-01 -8.82786506e-01 -1.91526430e-03 2.05115768e+02] [ 8.82778102e-01 4.69774384e-01 -3.85367949e-03 9.71188568e+01] [ 4.30171836e-03 1.19591534e-04 9.99990740e-01 4.74584158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690281693 meters 0.03689149170671287 Centerline is valid? [True, True] Translation: X:205.13, Y:97.14, Z:0.47 [[ 4.69569508e-01 -8.82893432e-01 -1.91438613e-03 2.05126991e+02] [ 8.82885028e-01 4.69573395e-01 -3.85411576e-03 9.71421010e+01] [ 4.30171829e-03 1.19592387e-04 9.99990740e-01 4.74635542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72028169299995 meters 0.03862819868298116 Centerline is valid? [True, True] Translation: X:205.13, Y:97.17, Z:0.47 [[ 4.66015467e-01 -8.84772965e-01 -2.52700520e-03 2.05131891e+02] [ 8.84758330e-01 4.66022298e-01 -5.09068932e-03 9.71681324e+01] [ 5.68174506e-03 1.36551056e-04 9.99983849e-01 4.70755611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750281693 meters 0.03128368114428039 Centerline is valid? [True, True] Translation: X:205.15, Y:97.19, Z:0.47 [[ 4.64033670e-01 -8.85812887e-01 -2.87784141e-03 2.05151305e+02] [ 8.85793904e-01 4.64042572e-01 -5.80090240e-03 9.71876767e+01] [ 6.47395503e-03 1.42639654e-04 9.99979034e-01 4.70157443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78028169299995 meters 0.03042823106511323 Centerline is valid? [True, True] Translation: X:205.16, Y:97.21, Z:0.47 [[ 4.62797748e-01 -8.86458811e-01 -3.00333512e-03 2.05161508e+02] [ 8.86438125e-01 4.62807472e-01 -6.05766130e-03 9.72105300e+01] [ 6.75983317e-03 1.41201252e-04 9.99977142e-01 4.70250401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810281693 meters 0.030627799374995313 Centerline is valid? [True, True] Translation: X:205.17, Y:97.23, Z:0.47 [[ 4.62474805e-01 -8.86628088e-01 -2.77271617e-03 2.05166571e+02] [ 8.86610437e-01 4.62483099e-01 -5.59604850e-03 9.72348645e+01] [ 6.24394814e-03 1.29712347e-04 9.99980498e-01 4.71622799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84028169299995 meters 0.031345090249950594 Centerline is valid? [True, True] Translation: X:205.17, Y:97.26, Z:0.47 [[ 4.62439435e-01 -8.86646395e-01 -2.81752134e-03 2.05174589e+02] [ 8.86628146e-01 4.62447999e-01 -5.69017394e-03 9.72582106e+01] [ 6.34812932e-03 1.33267104e-04 9.99979842e-01 4.71000936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870281693 meters 0.029861830235036416 Centerline is valid? [True, True] Translation: X:205.19, Y:97.28, Z:0.47 [[ 4.61203730e-01 -8.87289673e-01 -2.85570620e-03 2.05185168e+02] [ 8.87270916e-01 4.61212554e-01 -5.77076906e-03 9.72818476e+01] [ 6.43743134e-03 1.27715160e-04 9.99979271e-01 4.70315810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90028169299995 meters 0.0290816333338882 Centerline is valid? [True, True] Translation: X:205.19, Y:97.30, Z:0.47 [[ 4.60144702e-01 -8.87839236e-01 -2.88865676e-03 2.05194507e+02] [ 8.87820030e-01 4.60153753e-01 -5.84101378e-03 9.73042322e+01] [ 6.51510746e-03 1.23104215e-04 9.99978769e-01 4.70188389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930281693 meters 0.02751539551599505 Centerline is valid? [True, True] Translation: X:205.21, Y:97.33, Z:0.47 [[ 4.59175158e-01 -8.88341234e-01 -2.83307265e-03 2.05205764e+02] [ 8.88322747e-01 4.59183883e-01 -5.73221773e-03 9.73273337e+01] [ 6.39306668e-03 1.15409108e-04 9.99979557e-01 4.71315959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96028169299996 meters 0.026327856359050654 Centerline is valid? [True, True] Translation: X:205.22, Y:97.35, Z:0.47 [[ 4.57781318e-01 -8.89060803e-01 -2.67454892e-03 2.05216921e+02] [ 8.89044321e-01 4.57789119e-01 -5.41460308e-03 9.73506227e+01] [ 6.03829076e-03 1.00911603e-04 9.99981764e-01 4.71734462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990281693 meters 0.023161428320537143 Centerline is valid? [True, True] Translation: X:205.23, Y:97.37, Z:0.47 [[ 4.54726291e-01 -8.90628414e-01 -2.24252121e-03 2.05231981e+02] [ 8.90616834e-01 4.54731816e-01 -4.54206936e-03 9.73715588e+01] [ 5.06504177e-03 6.81712196e-05 9.99987170e-01 4.73818527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02028169299996 meters 0.022694397917135865 Centerline is valid? [True, True] Translation: X:205.24, Y:97.39, Z:0.47 [[ 4.53349022e-01 -8.91330203e-01 -2.26580607e-03 2.05242888e+02] [ 8.91318377e-01 4.53354680e-01 -4.59177947e-03 9.73940410e+01] [ 5.12000552e-03 6.21241398e-05 9.99986891e-01 4.74416541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050281693 meters 0.021051217222650145 Centerline is valid? [True, True] Translation: X:205.25, Y:97.42, Z:0.47 [[ 4.52848340e-01 -8.91584532e-01 -2.32462616e-03 2.05254299e+02] [ 8.91572073e-01 4.52854302e-01 -4.71382557e-03 9.74178264e+01] [ 5.25549092e-03 6.20763208e-05 9.99986188e-01 4.74954516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08028169299996 meters 0.02279570643632728 Centerline is valid? [True, True] Translation: X:205.26, Y:97.44, Z:0.47 [[ 4.53000029e-01 -8.91507491e-01 -2.31690101e-03 2.05261662e+02] [ 8.91495099e-01 4.53005949e-01 -4.70098401e-03 9.74423829e+01] [ 5.24053240e-03 6.40399948e-05 9.99986266e-01 4.74554427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.110281693 meters 0.020882890262301036 Centerline is valid? [True, True] Translation: X:205.28, Y:97.46, Z:0.48 [[ 4.52969383e-01 -8.91523168e-01 -2.27587787e-03 2.05275766e+02] [ 8.91511196e-01 4.52975096e-01 -4.62053502e-03 9.74649008e+01] [ 5.15023002e-03 6.39902968e-05 9.99986735e-01 4.75151948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14028169299996 meters 0.023355025684479905 Centerline is valid? [True, True] Translation: X:205.28, Y:97.49, Z:0.47 [[ 4.52836266e-01 -8.91590220e-01 -2.48919987e-03 2.05283362e+02] [ 8.91575884e-01 4.52843102e-01 -5.05637980e-03 9.74892579e+01] [ 5.63543577e-03 7.04015703e-05 9.99984118e-01 4.73321054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.170281693 meters 0.022681387815687622 Centerline is valid? [True, True] Translation: X:205.30, Y:97.51, Z:0.47 [[ 4.51960630e-01 -8.92033374e-01 -2.83712441e-03 2.05296228e+02] [ 8.92014738e-01 4.51969528e-01 -5.76646990e-03 9.75111841e+01] [ 6.42617738e-03 7.54605809e-05 9.99979349e-01 4.71446450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20028169299997 meters 0.021864621061004348 Centerline is valid? [True, True] Translation: X:205.31, Y:97.53, Z:0.47 [[ 4.52079112e-01 -8.91969879e-01 -3.76979161e-03 2.05310977e+02] [ 8.91936934e-01 4.52094818e-01 -7.66692687e-03 9.75336378e+01] [ 8.54297109e-03 1.03641120e-04 9.99963503e-01 4.68472353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.230281693 meters 0.0247127073985731 Centerline is valid? [True, True] Translation: X:205.32, Y:97.56, Z:0.47 [[ 4.52832309e-01 -8.91587290e-01 -3.87347175e-03 2.05318051e+02] [ 8.91552459e-01 4.52848861e-01 -7.88175520e-03 9.75588635e+01] [ 8.78137003e-03 1.15710143e-04 9.99961436e-01 4.66587303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26028169299997 meters 0.023764435010984037 Centerline is valid? [True, True] Translation: X:205.33, Y:97.58, Z:0.47 [[ 4.54170682e-01 -8.90907898e-01 -3.47980617e-03 2.05329525e+02] [ 8.90879739e-01 4.54183997e-01 -7.08430988e-03 9.75833920e+01] [ 7.89193990e-03 1.17397036e-04 9.99968851e-01 4.70552223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29028169299994 meters 0.024828546453315562 Centerline is valid? [True, True] Translation: X:205.34, Y:97.61, Z:0.47 [[ 4.54041051e-01 -8.90973874e-01 -3.50436789e-03 2.05338674e+02] [ 8.90945284e-01 4.54054558e-01 -7.13858814e-03 9.76070067e+01] [ 7.95146974e-03 1.19012018e-04 9.99968379e-01 4.69882295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32028169299997 meters 0.024796501148847516 Centerline is valid? [True, True] Translation: X:205.35, Y:97.63, Z:0.47 [[ 4.53536712e-01 -8.91229523e-01 -3.79310443e-03 2.05349140e+02] [ 8.91195999e-01 4.53552556e-01 -7.73112262e-03 9.76290090e+01] [ 8.61057694e-03 1.25948442e-04 9.99962920e-01 4.69222546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35028169299994 meters 0.022557199308869232 Centerline is valid? [True, True] Translation: X:205.36, Y:97.65, Z:0.47 [[ 4.52028237e-01 -8.91994159e-01 -4.11003431e-03 2.05363446e+02] [ 8.91954784e-01 4.52046905e-01 -8.38203526e-03 9.76508595e+01] [ 9.33465479e-03 1.22951855e-04 9.99956424e-01 4.69016434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380281693 meters 0.022825446034559476 Centerline is valid? [True, True] Translation: X:205.37, Y:97.67, Z:0.47 [[ 4.50947488e-01 -8.92541299e-01 -4.04863905e-03 2.05373227e+02] [ 8.92503076e-01 4.50965649e-01 -8.26092721e-03 9.76738845e+01] [ 9.19901584e-03 1.11821568e-04 9.99957682e-01 4.68041619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41028169299994 meters 0.02146846949692112 Centerline is valid? [True, True] Translation: X:205.39, Y:97.70, Z:0.47 [[ 4.49747257e-01 -8.93147126e-01 -3.95173246e-03 2.05386375e+02] [ 8.93110691e-01 4.49764607e-01 -8.06799989e-03 9.76962240e+01] [ 8.98326031e-03 9.92263180e-05 9.99959645e-01 4.68713655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440281693 meters 0.019055731005829916 Centerline is valid? [True, True] Translation: X:205.40, Y:97.72, Z:0.47 [[ 4.47358855e-01 -8.94348177e-01 -3.37536962e-03 2.05401447e+02] [ 8.94321599e-01 4.47371583e-01 -6.89526459e-03 9.77179190e+01] [ 7.67681177e-03 6.59917159e-05 9.99970531e-01 4.72120039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47028169299995 meters 0.01855202425970096 Centerline is valid? [True, True] Translation: X:205.41, Y:97.74, Z:0.47 [[ 4.45652243e-01 -8.95201319e-01 -2.94554281e-03 2.05412792e+02] [ 8.95181074e-01 4.45661975e-01 -6.02073750e-03 9.77409630e+01] [ 6.70248858e-03 4.63609925e-05 9.99977537e-01 4.72920455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500281693 meters 0.01643224713922662 Centerline is valid? [True, True] Translation: X:205.43, Y:97.76, Z:0.47 [[ 4.41995664e-01 -8.97011980e-01 -3.05622940e-03 2.05427934e+02] [ 8.96990200e-01 4.42006229e-01 -6.25099600e-03 9.77615023e+01] [ 6.95809073e-03 2.15053073e-05 9.99975792e-01 4.73803132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53028169299995 meters 0.016568792513941496 Centerline is valid? [True, True] Translation: X:205.44, Y:97.78, Z:0.47 [[ 4.40851731e-01 -8.97573018e-01 -3.52539852e-03 2.05439502e+02] [ 8.97544015e-01 4.40865826e-01 -7.21553780e-03 9.77833448e+01] [ 8.03069978e-03 1.67819811e-05 9.99967753e-01 4.70270781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560281693 meters 0.016525414348053206 Centerline is valid? [True, True] Translation: X:205.45, Y:97.81, Z:0.47 [[ 4.39633074e-01 -8.98167958e-01 -4.13285038e-03 2.05452750e+02] [ 8.98128073e-01 4.39652499e-01 -8.46433929e-03 9.78055940e+01] [ 9.41941633e-03 9.37454846e-06 9.99955636e-01 4.69727569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59028169299995 meters 0.016515449721449728 Centerline is valid? [True, True] Translation: X:205.46, Y:97.83, Z:0.47 [[ 4.38639335e-01 -8.98653300e-01 -4.21670726e-03 2.05464796e+02] [ 8.98611747e-01 4.38659602e-01 -8.64181879e-03 9.78267991e+01] [ 9.61569810e-03 1.45896612e-06 9.99953768e-01 4.68906764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620281693 meters 0.01604536636504855 Centerline is valid? [True, True] Translation: X:205.48, Y:97.85, Z:0.47 [[ 4.37427542e-01 -8.99248361e-01 -3.08715539e-03 2.05476511e+02] [ 8.99226077e-01 4.37438435e-01 -6.33075435e-03 9.78485147e+01] [ 7.04336090e-03 -6.80432268e-06 9.99975195e-01 4.74426707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65028169299995 meters 0.01587100601374696 Centerline is valid? [True, True] Translation: X:205.49, Y:97.87, Z:0.48 [[ 4.36911826e-01 -8.99501465e-01 -2.27386426e-03 2.05487803e+02] [ 8.99489365e-01 4.36917743e-01 -4.66562919e-03 9.78708481e+01] [ 5.19023194e-03 -6.84814680e-06 9.99986531e-01 4.76598369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680281693 meters 0.01592389775616486 Centerline is valid? [True, True] Translation: X:205.50, Y:97.89, Z:0.48 [[ 4.36133172e-01 -8.99879612e-01 -2.13071575e-03 2.05502355e+02] [ 8.99868980e-01 4.36138377e-01 -4.37434621e-03 9.78909764e+01] [ 4.86567188e-03 -9.56751756e-06 9.99988163e-01 4.76570017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71028169299996 meters 0.016097817767837776 Centerline is valid? [True, True] Translation: X:205.52, Y:97.91, Z:0.48 [[ 4.35511223e-01 -9.00179658e-01 -2.56090671e-03 2.05515460e+02] [ 9.00164285e-01 4.35518752e-01 -5.26078380e-03 9.79136733e+01] [ 5.85097345e-03 -1.41063678e-05 9.99982883e-01 4.75723214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740281693 meters 0.01629401253748016 Centerline is valid? [True, True] Translation: X:205.53, Y:97.94, Z:0.47 [[ 4.34966271e-01 -9.00442089e-01 -2.89617860e-03 2.05528027e+02] [ 9.00422408e-01 4.34975913e-01 -5.95338615e-03 9.79356775e+01] [ 6.62044739e-03 -1.82619384e-05 9.99978084e-01 4.74309827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77028169299996 meters 0.016582735562128876 Centerline is valid? [True, True] Translation: X:205.54, Y:97.96, Z:0.47 [[ 4.34754452e-01 -9.00543657e-01 -3.11252249e-03 2.05539700e+02] [ 9.00520900e-01 4.34765593e-01 -6.40220618e-03 9.79583973e+01] [ 7.11868385e-03 -1.95039104e-05 9.99974662e-01 4.72595918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800281693 meters 0.016220483695661973 Centerline is valid? [True, True] Translation: X:205.55, Y:97.98, Z:0.47 [[ 4.35996386e-01 -8.99943318e-01 -3.02927585e-03 2.05548500e+02] [ 8.99921720e-01 4.36006910e-01 -6.23482936e-03 9.79819183e+01] [ 6.93177822e-03 -7.74806112e-06 9.99975975e-01 4.74284867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83028169299996 meters 0.016152893903502857 Centerline is valid? [True, True] Translation: X:205.56, Y:98.01, Z:0.48 [[ 4.37581550e-01 -8.99173910e-01 -2.94389314e-03 2.05557182e+02] [ 8.99153470e-01 4.37591453e-01 -6.06281494e-03 9.80069964e+01] [ 6.73974749e-03 5.96422955e-06 9.99977288e-01 4.76178847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.860281693 meters 0.018614294351435936 Centerline is valid? [True, True] Translation: X:205.56, Y:98.04, Z:0.47 [[ 4.43421835e-01 -8.96304819e-01 -3.84030296e-03 2.05558155e+02] [ 8.96269891e-01 4.43438460e-01 -7.91300592e-03 9.80358410e+01] [ 8.79540336e-03 6.68516968e-05 9.99961317e-01 4.72312655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89028169299996 meters 0.02260908176278908 Centerline is valid? [True, True] Translation: X:205.56, Y:98.06, Z:0.47 [[ 4.46365702e-01 -8.94840547e-01 -4.24931972e-03 2.05560180e+02] [ 8.94797668e-01 4.46385914e-01 -8.76064509e-03 9.80635744e+01] [ 9.73621691e-03 1.08170117e-04 9.99952596e-01 4.67795946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.920281693 meters 0.025843299087667842 Centerline is valid? [True, True] Translation: X:205.56, Y:98.09, Z:0.47 [[ 4.50446853e-01 -8.92792119e-01 -4.45693148e-03 2.05561907e+02] [ 8.92744790e-01 4.50468872e-01 -9.19428681e-03 9.80913567e+01] [ 1.02162957e-02 1.62635196e-04 9.99947799e-01 4.67385231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95028169299997 meters 0.02709813005928064 Centerline is valid? [True, True] Translation: X:205.57, Y:98.12, Z:0.47 [[ 4.51181623e-01 -8.92421694e-01 -4.32014789e-03 2.05568371e+02] [ 8.92377154e-01 4.51202274e-01 -8.91753465e-03 9.81159801e+01] [ 9.90746193e-03 1.68226480e-04 9.99950906e-01 4.67962737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.980281693 meters 0.026216949616157097 Centerline is valid? [True, True] Translation: X:205.58, Y:98.14, Z:0.47 [[ 4.51248910e-01 -8.92389435e-01 -3.93921023e-03 2.05578215e+02] [ 8.92352359e-01 4.51266076e-01 -8.13602126e-03 9.81406661e+01] [ 9.03813136e-03 1.56207184e-04 9.99959143e-01 4.69838114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01028169299997 meters 0.024599717154789095 Centerline is valid? [True, True] Translation: X:205.59, Y:98.17, Z:0.47 [[ 4.49564751e-01 -8.93239601e-01 -3.81448630e-03 2.05587292e+02] [ 8.93204828e-01 4.49580913e-01 -7.88275998e-03 9.81665450e+01] [ 8.75611360e-03 1.36693452e-04 9.99961655e-01 4.71051311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04028169299994 meters 0.024758037851201918 Centerline is valid? [True, True] Translation: X:205.60, Y:98.19, Z:0.47 [[ 4.48245517e-01 -8.93901477e-01 -4.01332020e-03 2.05595730e+02] [ 8.93862964e-01 4.48263463e-01 -8.29878133e-03 9.81905943e+01] [ 9.21731770e-03 1.32533239e-04 9.99957511e-01 4.69384333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07028169299997 meters 0.020880146730267623 Centerline is valid? [True, True] Translation: X:205.61, Y:98.21, Z:0.47 [[ 4.44703164e-01 -8.95668107e-01 -4.21172804e-03 2.05609127e+02] [ 8.95625718e-01 4.44723096e-01 -8.71438934e-03 9.82136154e+01] [ 9.67825333e-03 1.03184561e-04 9.99953159e-01 4.69763728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10028169299994 meters 0.0197552013806618 Centerline is valid? [True, True] Translation: X:205.62, Y:98.24, Z:0.47 [[ 4.42889971e-01 -8.96568019e-01 -3.77638604e-03 2.05620327e+02] [ 8.96533932e-01 4.42906064e-01 -7.81836944e-03 9.82360517e+01] [ 8.68228428e-03 7.70191869e-05 9.99962305e-01 4.71713845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130281693 meters 0.018779750240889157 Centerline is valid? [True, True] Translation: X:205.63, Y:98.26, Z:0.47 [[ 4.40906842e-01 -8.97547334e-01 -3.15283999e-03 2.05631748e+02] [ 8.97523570e-01 4.40918112e-01 -6.53148170e-03 9.82580133e+01] [ 7.25245825e-03 5.00267646e-05 9.99973699e-01 4.73646834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16028169299994 meters 0.01675432641367651 Centerline is valid? [True, True] Translation: X:205.65, Y:98.28, Z:0.48 [[ 4.37521711e-01 -8.99203383e-01 -2.83354819e-03 2.05646882e+02] [ 8.99184199e-01 4.37530886e-01 -5.87369515e-03 9.82792146e+01] [ 6.52141140e-03 2.19873959e-05 9.99978735e-01 4.75799835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190281693 meters 0.016601933314609185 Centerline is valid? [True, True] Translation: X:205.66, Y:98.30, Z:0.47 [[ 4.36064671e-01 -8.99908854e-01 -3.41413941e-03 2.05659381e+02] [ 8.99880989e-01 4.36078036e-01 -7.08179790e-03 9.83022088e+01] [ 7.86180385e-03 1.58027183e-05 9.99969095e-01 4.74318157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22028169299995 meters 0.016914520983617214 Centerline is valid? [True, True] Translation: X:205.67, Y:98.32, Z:0.47 [[ 4.32868416e-01 -9.01447007e-01 -4.26952665e-03 2.05674001e+02] [ 9.01403446e-01 4.32889471e-01 -8.86191285e-03 9.83230643e+01] [ 9.83677795e-03 -1.25238643e-05 9.99951618e-01 4.69588595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250281693 meters 0.01708750050016293 Centerline is valid? [True, True] Translation: X:205.69, Y:98.35, Z:0.47 [[ 4.31272912e-01 -9.02212225e-01 -4.09584116e-03 2.05686796e+02] [ 9.02172120e-01 4.31292360e-01 -8.50681747e-03 9.83456679e+01] [ 9.44145972e-03 -2.63937527e-05 9.99955428e-01 4.70951091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28028169299995 meters 0.01778073614013321 Centerline is valid? [True, True] Translation: X:205.70, Y:98.36, Z:0.47 [[ 4.28263779e-01 -9.03647694e-01 -3.31354402e-03 2.05702106e+02] [ 9.03621456e-01 4.28276596e-01 -6.88637717e-03 9.83649694e+01] [ 7.64197221e-03 -4.50035585e-05 9.99970799e-01 4.74642018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310281693 meters 0.018718574841278198 Centerline is valid? [True, True] Translation: X:205.72, Y:98.39, Z:0.48 [[ 4.26344320e-01 -9.04554788e-01 -3.34017942e-03 2.05716642e+02] [ 9.04528121e-01 4.26357400e-01 -6.94592739e-03 9.83869730e+01] [ 7.70708209e-03 -5.99295243e-05 9.99970298e-01 4.75291357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34028169299995 meters 0.0207643992281742 Centerline is valid? [True, True] Translation: X:205.74, Y:98.41, Z:0.47 [[ 4.23212005e-01 -9.06022426e-01 -3.86818720e-03 2.05735224e+02] [ 9.05986678e-01 4.23229671e-01 -8.04884153e-03 9.84071927e+01] [ 8.92956253e-03 -9.81597022e-05 9.99960126e-01 4.72567178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370281693 meters 0.02150401394702367 Centerline is valid? [True, True] Translation: X:205.75, Y:98.43, Z:0.47 [[ 4.21759950e-01 -9.06698518e-01 -4.04258239e-03 2.05749797e+02] [ 9.06659458e-01 4.21779308e-01 -8.41678786e-03 9.84293189e+01] [ 9.33656668e-03 -1.15381527e-04 9.99956407e-01 4.72165798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40028169299995 meters 0.022122211939875205 Centerline is valid? [True, True] Translation: X:205.76, Y:98.45, Z:0.47 [[ 4.20764114e-01 -9.07162695e-01 -3.66126647e-03 2.05763814e+02] [ 9.07130637e-01 4.20780028e-01 -7.62732349e-03 9.84512737e+01] [ 8.45981114e-03 -1.11942977e-04 9.99964209e-01 4.73752269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430281693 meters 0.022454473634580415 Centerline is valid? [True, True] Translation: X:205.78, Y:98.47, Z:0.48 [[ 4.20707003e-01 -9.07192867e-01 -2.59212687e-03 2.05776315e+02] [ 9.07176780e-01 4.20714981e-01 -5.40327319e-03 9.84720661e+01] [ 5.99235750e-03 -7.83224369e-05 9.99982043e-01 4.79266610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46028169299996 meters 0.020968973280990042 Centerline is valid? [True, True] Translation: X:205.79, Y:98.50, Z:0.48 [[ 4.21233680e-01 -9.06948683e-01 -2.50453159e-03 2.05785221e+02] [ 9.06933641e-01 4.21241120e-01 -5.22392117e-03 9.84967576e+01] [ 5.79284012e-03 -7.09524087e-05 9.99983219e-01 4.80564756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490281693 meters 0.020673418841235466 Centerline is valid? [True, True] Translation: X:205.80, Y:98.52, Z:0.47 [[ 4.22771110e-01 -9.06229267e-01 -3.62010087e-03 2.05796471e+02] [ 9.06197772e-01 4.22786600e-01 -7.55574310e-03 9.85199960e+01] [ 8.37776566e-03 -8.61774458e-05 9.99964902e-01 4.74111585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52028169299996 meters 0.020067334975715893 Centerline is valid? [True, True] Translation: X:205.81, Y:98.54, Z:0.47 [[ 4.23032920e-01 -9.06104986e-01 -4.11126577e-03 2.05806343e+02] [ 9.06064306e-01 4.23052887e-01 -8.58648879e-03 9.85433489e+01] [ 9.51954316e-03 -9.27037461e-05 9.99954684e-01 4.72335291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550281693 meters 0.01984871349156768 Centerline is valid? [True, True] Translation: X:205.82, Y:98.57, Z:0.47 [[ 4.23228975e-01 -9.06011924e-01 -4.43041930e-03 2.05816825e+02] [ 9.05964615e-01 4.23252153e-01 -9.25914183e-03 9.85668732e+01] [ 1.02640774e-02 -9.50660110e-05 9.99947318e-01 4.71053664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58028169299996 meters 0.01984871349156768 Centerline is valid? [True, True] Translation: X:205.83, Y:98.59, Z:0.47 [[ 4.22999194e-01 -9.06119239e-01 -4.42807260e-03 2.05827303e+02] [ 9.06071924e-01 4.23022359e-01 -9.26026428e-03 9.85895396e+01] [ 1.02640773e-02 -9.50679356e-05 9.99947318e-01 4.71103370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.610281693 meters 0.019915659737735462 Centerline is valid? [True, True] Translation: X:205.84, Y:98.61, Z:0.47 [[ 4.22588744e-01 -9.06309186e-01 -4.73416266e-03 2.05839685e+02] [ 9.06255049e-01 4.22615248e-01 -9.90648593e-03 9.86127871e+01] [ 1.09790685e-02 -1.03989360e-04 9.99939723e-01 4.70742515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64028169299996 meters 0.02015432121369691 Centerline is valid? [True, True] Translation: X:205.85, Y:98.64, Z:0.47 [[ 4.21633534e-01 -9.06753421e-01 -4.83707137e-03 2.05851928e+02] [ 9.06696864e-01 4.21661263e-01 -1.01279966e-02 9.86355916e+01] [ 1.12232012e-02 -1.15454464e-04 9.99937011e-01 4.71093624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.670281693 meters 0.020856045539113684 Centerline is valid? [True, True] Translation: X:205.87, Y:98.66, Z:0.47 [[ 4.20932151e-01 -9.07080826e-01 -4.52756619e-03 2.05865625e+02] [ 9.07031232e-01 4.20956484e-01 -9.48585998e-03 9.86568157e+01] [ 1.05103501e-02 -1.13740495e-04 9.99944758e-01 4.72128329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70028169299997 meters 0.02106551301963075 Centerline is valid? [True, True] Translation: X:205.88, Y:98.68, Z:0.47 [[ 4.20551726e-01 -9.07259167e-01 -4.12908850e-03 2.05877904e+02] [ 9.07217873e-01 4.20571983e-01 -8.65664892e-03 9.86782285e+01] [ 9.59040303e-03 -1.05414238e-04 9.99954005e-01 4.74086652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.730281693 meters 0.02056130900244015 Centerline is valid? [True, True] Translation: X:205.89, Y:98.70, Z:0.48 [[ 4.20053373e-01 -9.07491283e-01 -3.83872311e-03 2.05890221e+02] [ 9.07455559e-01 4.20070901e-01 -8.05277538e-03 9.87018946e+01] [ 8.92035934e-03 -1.00875160e-04 9.99960208e-01 4.76196471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76028169299997 meters 0.020411537805352337 Centerline is valid? [True, True] Translation: X:205.90, Y:98.72, Z:0.48 [[ 4.19904645e-01 -9.07560476e-01 -3.75119696e-03 2.05903077e+02] [ 9.07526324e-01 4.19921388e-01 -7.87388796e-03 9.87248159e+01] [ 8.72123734e-03 -9.80278630e-05 9.99961964e-01 4.76803398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79028169299994 meters 0.020529065138671858 Centerline is valid? [True, True] Translation: X:205.92, Y:98.74, Z:0.47 [[ 4.20020725e-01 -9.07505807e-01 -3.97495970e-03 2.05917603e+02] [ 9.07467404e-01 4.20039522e-01 -8.34925832e-03 9.87448581e+01] [ 9.24664058e-03 -1.00284830e-04 9.99957244e-01 4.74887382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82028169299997 meters 0.020946076751351763 Centerline is valid? [True, True] Translation: X:205.93, Y:98.77, Z:0.47 [[ 4.19175169e-01 -9.07895974e-01 -4.13259559e-03 2.05933696e+02] [ 9.07854428e-01 4.19195525e-01 -8.68618610e-03 9.87656673e+01] [ 9.61851896e-03 -1.10761684e-04 9.99953735e-01 4.74745870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85028169299994 meters 0.021166120060808122 Centerline is valid? [True, True] Translation: X:205.95, Y:98.79, Z:0.47 [[ 4.19058449e-01 -9.07949939e-01 -4.11409774e-03 2.05946516e+02] [ 9.07908710e-01 4.19078629e-01 -8.65316601e-03 9.87868692e+01] [ 9.58077199e-03 -1.09042847e-04 9.99954097e-01 4.74888679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880281693 meters 0.02102594894629326 Centerline is valid? [True, True] Translation: X:205.96, Y:98.81, Z:0.47 [[ 4.19119617e-01 -9.07921175e-01 -4.22931816e-03 2.05958525e+02] [ 9.07877543e-01 4.19140941e-01 -8.90158096e-03 9.88083341e+01] [ 9.85461424e-03 -1.08875781e-04 9.99951436e-01 4.74228253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91028169299994 meters 0.020786663524582465 Centerline is valid? [True, True] Translation: X:205.97, Y:98.83, Z:0.47 [[ 4.18793453e-01 -9.08069053e-01 -4.75797356e-03 2.05972846e+02] [ 9.08013774e-01 4.18820462e-01 -1.00203427e-02 9.88292301e+01] [ 1.10918998e-02 -1.23851582e-04 9.99938475e-01 4.71936960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940281693 meters 0.021411661595407618 Centerline is valid? [True, True] Translation: X:205.99, Y:98.85, Z:0.47 [[ 4.18642659e-01 -9.08139280e-01 -4.62296899e-03 2.05986222e+02] [ 9.08087039e-01 4.18668166e-01 -9.74150735e-03 9.88495979e+01] [ 1.07821354e-02 -1.19847684e-04 9.99941864e-01 4.71188892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97028169299995 meters 0.020221655713807917 Centerline is valid? [True, True] Translation: X:206.00, Y:98.87, Z:0.47 [[ 4.18691328e-01 -9.08118018e-01 -4.38605090e-03 2.05997126e+02] [ 9.08070936e-01 4.18714286e-01 -9.24781166e-03 9.88733302e+01] [ 1.02346066e-02 -1.10866808e-04 9.99947619e-01 4.74443585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000281693 meters 0.020221921220399185 Centerline is valid? [True, True] Translation: X:206.01, Y:98.89, Z:0.47 [[ 4.19478230e-01 -9.07757383e-01 -3.81420626e-03 2.06011066e+02] [ 9.07721715e-01 4.19495561e-01 -8.04747003e-03 9.88941214e+01] [ 8.90519293e-03 -8.64993669e-05 9.99960344e-01 4.74834056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03028169299995 meters 0.01974363214336525 Centerline is valid? [True, True] Translation: X:206.02, Y:98.92, Z:0.48 [[ 4.19735274e-01 -9.07639267e-01 -3.64151750e-03 2.06023038e+02] [ 9.07606709e-01 4.19751063e-01 -7.68808172e-03 9.89167220e+01] [ 8.50653570e-03 -7.81066259e-05 9.99963816e-01 4.76096832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060281693 meters 0.018170443021098034 Centerline is valid? [True, True] Translation: X:206.03, Y:98.94, Z:0.48 [[ 4.21143529e-01 -9.06986858e-01 -3.60101306e-03 2.06034483e+02] [ 9.06954954e-01 4.21158920e-01 -7.60755277e-03 9.89391167e+01] [ 8.41654915e-03 -6.20850140e-05 9.99964578e-01 4.76303774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09028169299995 meters 0.017714531050451645 Centerline is valid? [True, True] Translation: X:206.05, Y:98.96, Z:0.48 [[ 4.21801853e-01 -9.06680874e-01 -3.60405095e-03 2.06045503e+02] [ 9.06648863e-01 4.21817246e-01 -7.61902869e-03 9.89617309e+01] [ 8.42827844e-03 -5.38882738e-05 9.99964480e-01 4.76037245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120281693 meters 0.017149956528224937 Centerline is valid? [True, True] Translation: X:206.06, Y:98.98, Z:0.48 [[ 4.22726298e-01 -9.06250736e-01 -3.47580087e-03 2.06056691e+02] [ 9.06220910e-01 4.22740585e-01 -7.35255975e-03 9.89848889e+01] [ 8.13262478e-03 -4.17230677e-05 9.99966929e-01 4.76994698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15028169299995 meters 0.015573088425624786 Centerline is valid? [True, True] Translation: X:206.07, Y:99.01, Z:0.48 [[ 4.26327848e-01 -9.04565471e-01 -2.42376174e-03 2.06065333e+02] [ 9.04550924e-01 4.26334738e-01 -5.13002401e-03 9.90094555e+01] [ 5.67377641e-03 -5.34382747e-06 9.99983904e-01 4.81590990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180281693 meters 0.015575884452959888 Centerline is valid? [True, True] Translation: X:206.07, Y:99.03, Z:0.48 [[ 4.28630340e-01 -9.03477569e-01 -2.07722102e-03 2.06074155e+02] [ 9.03466858e-01 4.28635373e-01 -4.39925565e-03 9.90336251e+01] [ 4.86499920e-03 8.95408779e-06 9.99988166e-01 4.83432649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21028169299996 meters 0.01805344402558076 Centerline is valid? [True, True] Translation: X:206.08, Y:99.06, Z:0.48 [[ 4.33814214e-01 -9.00999192e-01 -2.38428022e-03 2.06080395e+02] [ 9.00985023e-01 4.33820764e-01 -5.05300339e-03 9.90591730e+01] [ 5.58710224e-03 4.38639209e-05 9.99984391e-01 4.81681116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240281693 meters 0.019710691564223705 Centerline is valid? [True, True] Translation: X:206.09, Y:99.08, Z:0.48 [[ 4.35416264e-01 -9.00225451e-01 -2.61045177e-03 2.06089511e+02] [ 9.00208431e-01 4.35424085e-01 -5.53594684e-03 9.90826611e+01] [ 6.12025382e-03 6.04905955e-05 9.99981269e-01 4.80539284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27028169299996 meters 0.02007806223070724 Centerline is valid? [True, True] Translation: X:206.10, Y:99.11, Z:0.48 [[ 4.36130348e-01 -8.99879414e-01 -2.71275737e-03 2.06100762e+02] [ 8.99861003e-01 4.36138779e-01 -5.75675409e-03 9.91058222e+01] [ 6.36352319e-03 6.95905998e-05 9.99979750e-01 4.80271610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300281693 meters 0.021989519820754474 Centerline is valid? [True, True] Translation: X:206.11, Y:99.13, Z:0.48 [[ 4.37119435e-01 -8.99399724e-01 -2.59541081e-03 2.06109758e+02] [ 8.99382841e-01 4.37127134e-01 -5.51126239e-03 9.91292423e+01] [ 6.09135237e-03 7.48119534e-05 9.99981445e-01 4.79575129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33028169299996 meters 0.024422774160238383 Centerline is valid? [True, True] Translation: X:206.12, Y:99.15, Z:0.48 [[ 4.39219567e-01 -8.98374617e-01 -3.03636104e-03 2.06120209e+02] [ 8.98351457e-01 4.39230049e-01 -6.45165859e-03 9.91531423e+01] [ 7.12966733e-03 1.05975331e-04 9.99974578e-01 4.77854804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.360281693 meters 0.02429588984204885 Centerline is valid? [True, True] Translation: X:206.13, Y:99.18, Z:0.48 [[ 4.40436713e-01 -8.97777448e-01 -3.34006709e-03 2.06132784e+02] [ 8.97749373e-01 4.40449358e-01 -7.10107348e-03 9.91772985e+01] [ 7.84631403e-03 1.29030318e-04 9.99969209e-01 4.77371509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39028169299996 meters 0.02694192608265073 Centerline is valid? [True, True] Translation: X:206.14, Y:99.20, Z:0.47 [[ 4.41001159e-01 -8.97499270e-01 -3.61071495e-03 2.06140173e+02] [ 8.97466411e-01 4.41015916e-01 -7.68136388e-03 9.92021530e+01] [ 8.48640124e-03 1.46994992e-04 9.99963979e-01 4.74579949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.420281693 meters 0.026033138213556788 Centerline is valid? [True, True] Translation: X:206.15, Y:99.22, Z:0.47 [[ 4.40667024e-01 -8.97664089e-01 -3.42894984e-03 2.06152698e+02] [ 8.97634421e-01 4.40680343e-01 -7.29940479e-03 9.92249139e+01] [ 8.06348434e-03 1.38663583e-04 9.99967480e-01 4.74571362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45028169299997 meters 0.024629023233892794 Centerline is valid? [True, True] Translation: X:206.17, Y:99.25, Z:0.48 [[ 4.38263426e-01 -8.98840862e-01 -3.20534675e-03 2.06167794e+02] [ 8.98814943e-01 4.38275133e-01 -6.82691331e-03 9.92455791e+01] [ 7.54113241e-03 1.10972862e-04 9.99971559e-01 4.76098489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.480281693 meters 0.02260550639275337 Centerline is valid? [True, True] Translation: X:206.18, Y:99.27, Z:0.48 [[ 4.36865709e-01 -8.99521639e-01 -3.02857067e-03 2.06182454e+02] [ 8.99498489e-01 4.36876197e-01 -6.45425875e-03 9.92671427e+01] [ 7.12885585e-03 9.54495878e-05 9.99974585e-01 4.77226269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51028169299997 meters 0.022603456104923758 Centerline is valid? [True, True] Translation: X:206.19, Y:99.29, Z:0.48 [[ 4.36122299e-01 -8.99883023e-01 -2.80792087e-03 2.06193117e+02] [ 8.99863105e-01 4.36131330e-01 -5.98795864e-03 9.92892101e+01] [ 6.61308459e-03 8.47378935e-05 9.99978130e-01 4.78972299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54028169299994 meters 0.021823550777820087 Centerline is valid? [True, True] Translation: X:206.20, Y:99.31, Z:0.48 [[ 4.36455795e-01 -8.99722612e-01 -2.35812049e-03 2.06204074e+02] [ 8.99708543e-01 4.36462159e-01 -5.03195128e-03 9.93117312e+01] [ 5.55659070e-03 7.46031466e-05 9.99984559e-01 4.81092066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57028169299997 meters 0.024058603486849794 Centerline is valid? [True, True] Translation: X:206.21, Y:99.34, Z:0.48 [[ 4.36953951e-01 -8.99481761e-01 -1.95107564e-03 2.06210409e+02] [ 8.99472115e-01 4.36958302e-01 -4.16602298e-03 9.93362102e+01] [ 4.59980038e-03 6.54220719e-05 9.99989419e-01 4.81709621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60028169299994 meters 0.024992407414132063 Centerline is valid? [True, True] Translation: X:206.22, Y:99.36, Z:0.48 [[ 4.37449494e-01 -8.99241867e-01 -1.41580318e-03 2.06218787e+02] [ 8.99236781e-01 4.37451782e-01 -3.02476615e-03 9.93609237e+01] [ 3.33934198e-03 5.00401287e-05 9.99994423e-01 4.83993100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630281693 meters 0.023386459004127714 Centerline is valid? [True, True] Translation: X:206.23, Y:99.38, Z:0.48 [[ 4.37371074e-01 -8.99280011e-01 -1.41593761e-03 2.06230671e+02] [ 8.99274918e-01 4.37373363e-01 -3.02700135e-03 9.93830127e+01] [ 3.34141520e-03 5.06056498e-05 9.99994416e-01 4.84385464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66028169299994 meters 0.026432083966671998 Centerline is valid? [True, True] Translation: X:206.24, Y:99.41, Z:0.48 [[ 4.37911025e-01 -8.99016078e-01 -2.00643755e-03 2.06235208e+02] [ 8.99005833e-01 4.37915615e-01 -4.29266061e-03 9.94084137e+01] [ 4.73782124e-03 7.60043475e-05 9.99988774e-01 4.81011614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690281693 meters 0.0258450800311026 Centerline is valid? [True, True] Translation: X:206.25, Y:99.43, Z:0.48 [[ 4.37756074e-01 -8.99091220e-01 -2.14447175e-03 2.06246239e+02] [ 8.99079502e-01 4.37761319e-01 -4.59096704e-03 9.94312696e+01] [ 5.06646494e-03 8.16731118e-05 9.99987162e-01 4.79658987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72028169299995 meters 0.02514060521621842 Centerline is valid? [True, True] Translation: X:206.26, Y:99.45, Z:0.48 [[ 4.36951946e-01 -8.99482656e-01 -1.98691416e-03 2.06257068e+02] [ 8.99472589e-01 4.36956457e-01 -4.25627912e-03 9.94540983e+01] [ 4.69664422e-03 7.26146239e-05 9.99988968e-01 4.80131582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750281693 meters 0.02165214352656105 Centerline is valid? [True, True] Translation: X:206.27, Y:99.48, Z:0.48 [[ 4.34654213e-01 -9.00595747e-01 -1.73675907e-03 2.06272079e+02] [ 9.00588055e-01 4.34657680e-01 -3.72258007e-03 9.94761294e+01] [ 4.10743544e-03 5.39306426e-05 9.99991563e-01 4.82300731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78028169299995 meters 0.021281327059593225 Centerline is valid? [True, True] Translation: X:206.28, Y:99.50, Z:0.48 [[ 4.33249019e-01 -9.01272543e-01 -1.75816629e-03 2.06281585e+02] [ 9.01264655e-01 4.33252584e-01 -3.77095495e-03 9.94987297e+01] [ 4.16038824e-03 4.91894013e-05 9.99991344e-01 4.82247373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810281693 meters 0.018849123025448777 Centerline is valid? [True, True] Translation: X:206.30, Y:99.52, Z:0.48 [[ 4.30590319e-01 -9.02545732e-01 -1.78324845e-03 2.06296152e+02] [ 9.02537618e-01 4.30594010e-01 -3.82725392e-03 9.95210041e+01] [ 4.22212779e-03 3.85296730e-05 9.99991086e-01 4.81239371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84028169299995 meters 0.0176289522255117 Centerline is valid? [True, True] Translation: X:206.31, Y:99.54, Z:0.48 [[ 4.28968179e-01 -9.03317828e-01 -1.78953285e-03 2.06310101e+02] [ 9.03309653e-01 4.28971911e-01 -3.84322954e-03 9.95430877e+01] [ 4.23931709e-03 3.21208803e-05 9.99991014e-01 4.81321035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870281693 meters 0.01633099996514307 Centerline is valid? [True, True] Translation: X:206.33, Y:99.56, Z:0.48 [[ 4.25661017e-01 -9.04881247e-01 -1.62081187e-03 2.06326504e+02] [ 9.04874543e-01 4.25664103e-01 -3.48319172e-03 9.95619677e+01] [ 3.84179630e-03 1.60275336e-05 9.99992620e-01 4.81156868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90028169299995 meters 0.015590762124792708 Centerline is valid? [True, True] Translation: X:206.34, Y:99.58, Z:0.48 [[ 4.24273652e-01 -9.05532684e-01 -1.55778508e-03 2.06342297e+02] [ 9.05526488e-01 4.24276511e-01 -3.34994621e-03 9.95835915e+01] [ 3.69441740e-03 1.06782537e-05 9.99993176e-01 4.82333605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930281693 meters 0.015328550006987497 Centerline is valid? [True, True] Translation: X:206.36, Y:99.60, Z:0.48 [[ 4.22926722e-01 -9.06162212e-01 -1.74195995e-03 2.06355186e+02] [ 9.06154458e-01 4.22930309e-01 -3.74866501e-03 9.96041782e+01] [ 4.13362623e-03 6.92583022e-06 9.99991457e-01 4.81909450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96028169299996 meters 0.015471699755450546 Centerline is valid? [True, True] Translation: X:206.37, Y:99.63, Z:0.48 [[ 4.22185959e-01 -9.06505879e-01 -2.47126744e-03 2.06370457e+02] [ 9.06490255e-01 4.22193192e-01 -5.32230081e-03 9.96257103e+01] [ 5.86804926e-03 6.82081838e-06 9.99982783e-01 4.78713699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990281693 meters 0.015690856346061766 Centerline is valid? [True, True] Translation: X:206.38, Y:99.65, Z:0.48 [[ 4.23008011e-01 -9.06122713e-01 -2.41909636e-03 2.06380869e+02] [ 9.06107714e-01 4.23014928e-01 -5.21349230e-03 9.96474023e+01] [ 5.74737766e-03 1.33871422e-05 9.99983484e-01 4.78521299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02028169299996 meters 0.017852810760141113 Centerline is valid? [True, True] Translation: X:206.39, Y:99.67, Z:0.48 [[ 4.27349131e-01 -9.04084260e-01 -2.09046508e-03 2.06386926e+02] [ 9.04073022e-01 4.27354243e-01 -4.50802580e-03 9.96724925e+01] [ 4.96900429e-03 3.65678301e-05 9.99987654e-01 4.80579043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050281693 meters 0.019515875790178668 Centerline is valid? [True, True] Translation: X:206.39, Y:99.70, Z:0.48 [[ 4.29832762e-01 -9.02906065e-01 -2.10570649e-03 2.06394740e+02] [ 9.02894634e-01 4.29837917e-01 -4.54371648e-03 9.96983425e+01] [ 5.00766166e-03 5.18071116e-05 9.99987460e-01 4.80496443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08028169299996 meters 0.02167111780529759 Centerline is valid? [True, True] Translation: X:206.40, Y:99.72, Z:0.48 [[ 4.32289614e-01 -9.01732188e-01 -2.17957682e-03 2.06401556e+02] [ 9.01719910e-01 4.32295103e-01 -4.70605243e-03 9.97244154e+01] [ 5.18581934e-03 6.90097695e-05 9.99986551e-01 4.79357283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.110281693 meters 0.02522212820322645 Centerline is valid? [True, True] Translation: X:206.41, Y:99.75, Z:0.48 [[ 4.35734568e-01 -9.00072041e-01 -2.38922714e-03 2.06407199e+02] [ 9.00057243e-01 4.35741107e-01 -5.16201008e-03 9.97510605e+01] [ 5.68726543e-03 9.88250365e-05 9.99983823e-01 4.77860918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14028169299996 meters 0.027565943839251168 Centerline is valid? [True, True] Translation: X:206.41, Y:99.78, Z:0.48 [[ 4.36070846e-01 -8.99909003e-01 -2.45015556e-03 2.06413562e+02] [ 8.99893418e-01 4.36077716e-01 -5.29725187e-03 9.97752240e+01] [ 5.83550289e-03 1.05098237e-04 9.99982968e-01 4.77962861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.170281693 meters 0.025251923728566418 Centerline is valid? [True, True] Translation: X:206.42, Y:99.80, Z:0.48 [[ 4.35476554e-01 -9.00197867e-01 -1.99277334e-03 2.06424495e+02] [ 9.00187548e-01 4.35481106e-01 -4.31097098e-03 9.97994071e+01] [ 4.74854202e-03 8.34570458e-05 9.99988722e-01 4.80148202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20028169299997 meters 0.025139815451602324 Centerline is valid? [True, True] Translation: X:206.43, Y:99.82, Z:0.48 [[ 4.34407855e-01 -9.00714336e-01 -1.87111337e-03 2.06433780e+02] [ 9.00705232e-01 4.34411878e-01 -4.05041972e-03 9.98225280e+01] [ 4.46110498e-03 7.42125353e-05 9.99990046e-01 4.79654242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.230281693 meters 0.02438281920900913 Centerline is valid? [True, True] Translation: X:206.44, Y:99.84, Z:0.48 [[ 4.33234984e-01 -9.01278515e-01 -2.11827526e-03 2.06444580e+02] [ 9.01266838e-01 4.33240155e-01 -4.58844417e-03 9.98441507e+01] [ 5.05318805e-03 7.87432921e-05 9.99987229e-01 4.78987262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26028169299997 meters 0.02262417476312359 Centerline is valid? [True, True] Translation: X:206.46, Y:99.87, Z:0.48 [[ 4.31140669e-01 -9.02282305e-01 -2.08932068e-03 2.06456787e+02] [ 9.02270944e-01 4.31145727e-01 -4.52841840e-03 9.98660402e+01] [ 4.98671347e-03 6.72520014e-05 9.99987564e-01 4.78783657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29028169299994 meters 0.02163167987689467 Centerline is valid? [True, True] Translation: X:206.47, Y:99.89, Z:0.48 [[ 4.29921030e-01 -9.02865064e-01 -1.60757965e-03 2.06467565e+02] [ 9.02858334e-01 4.29924033e-01 -3.48625025e-03 9.98893176e+01] [ 3.83875068e-03 4.73956112e-05 9.99992631e-01 4.81009273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32028169299997 meters 0.01940897140528243 Centerline is valid? [True, True] Translation: X:206.48, Y:99.91, Z:0.49 [[ 4.27407128e-01 -9.04059139e-01 -4.69825188e-04 2.06479496e+02] [ 9.04058565e-01 4.27407386e-01 -1.01875191e-03 9.99124873e+01] [ 1.12181873e-03 1.06723426e-05 9.99999371e-01 4.85813501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35028169299994 meters 0.01799193577947061 Centerline is valid? [True, True] Translation: X:206.49, Y:99.93, Z:0.49 [[ 4.25924068e-01 -9.04758891e-01 -1.93697903e-04 2.06492267e+02] [ 9.04758794e-01 4.25924112e-01 -4.19514618e-04 9.99343167e+01] [ 4.62060188e-04 3.43149223e-06 9.99999893e-01 4.86451845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380281693 meters 0.017058698625295333 Centerline is valid? [True, True] Translation: X:206.51, Y:99.96, Z:0.49 [[ 4.24244590e-01 -9.05547627e-01 -1.48433312e-04 2.06505837e+02] [ 9.05547570e-01 4.24244616e-01 -3.21460359e-04 9.99566658e+01] [ 3.54069699e-04 1.96439339e-06 9.99999937e-01 4.86438068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41028169299994 meters 0.01582021839207941 Centerline is valid? [True, True] Translation: X:206.52, Y:99.98, Z:0.49 [[ 4.22021093e-01 -9.06585840e-01 -5.58161300e-04 2.06520427e+02] [ 9.06585029e-01 4.22021462e-01 -1.21284028e-03 9.99773362e+01] [ 1.33509987e-03 5.82350339e-06 9.99999109e-01 4.85938826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440281693 meters 0.01585848775583518 Centerline is valid? [True, True] Translation: X:206.53, Y:100.00, Z:0.49 [[ 4.21757737e-01 -9.06708270e-01 -7.24234924e-04 2.06530060e+02] [ 9.06706902e-01 4.21758359e-01 -1.57486691e-03 1.00000038e+02] [ 1.73339698e-03 7.54349925e-06 9.99998498e-01 4.85502435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47028169299995 meters 0.015985678180453607 Centerline is valid? [True, True] Translation: X:206.54, Y:100.02, Z:0.48 [[ 4.21481054e-01 -9.06836330e-01 -1.26192630e-03 2.06538253e+02] [ 9.06832169e-01 4.21482943e-01 -2.74694500e-03 1.00023595e+02] [ 3.02290993e-03 1.34299030e-05 9.99995431e-01 4.82062608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500281693 meters 0.015985678180453607 Centerline is valid? [True, True] Translation: X:206.55, Y:100.05, Z:0.48 [[ 4.21254051e-01 -9.06941803e-01 -1.26121574e-03 2.06548363e+02] [ 9.06937642e-01 4.21255939e-01 -2.74727124e-03 1.00046442e+02] [ 3.02290975e-03 1.34551133e-05 9.99995431e-01 4.82112310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53028169299995 meters 0.015981629420605555 Centerline is valid? [True, True] Translation: X:206.56, Y:100.07, Z:0.48 [[ 4.20240668e-01 -9.07411182e-01 -1.65182587e-03 2.06558712e+02] [ 9.07404037e-01 4.20243914e-01 -3.60092162e-03 1.00068668e+02] [ 3.96168631e-03 1.43802408e-05 9.99992152e-01 4.80063932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560281693 meters 0.015346413529246618 Centerline is valid? [True, True] Translation: X:206.57, Y:100.09, Z:0.48 [[ 4.18356405e-01 -9.08281221e-01 -1.77263015e-03 2.06572368e+02] [ 9.08272989e-01 4.18360160e-01 -3.86701593e-03 1.00090376e+02] [ 4.25393578e-03 7.75880102e-06 9.99990952e-01 4.79353337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59028169299995 meters 0.015663002679603123 Centerline is valid? [True, True] Translation: X:206.59, Y:100.11, Z:0.48 [[ 4.13507038e-01 -9.10498705e-01 -2.00965407e-03 2.06589608e+02] [ 9.10488134e-01 4.13511921e-01 -4.38733512e-03 1.00109202e+02] [ 4.82567886e-03 -1.55722305e-05 9.99988356e-01 4.77695518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620281693 meters 0.01649843275615195 Centerline is valid? [True, True] Translation: X:206.60, Y:100.13, Z:0.48 [[ 4.11413856e-01 -9.11446944e-01 -1.76286133e-03 2.06602745e+02] [ 9.11438808e-01 4.11417632e-01 -3.85110671e-03 1.00130320e+02] [ 4.23535167e-03 -2.23415661e-05 9.99991031e-01 4.79248876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65028169299995 meters 0.017235834982084166 Centerline is valid? [True, True] Translation: X:206.62, Y:100.15, Z:0.48 [[ 4.09616345e-01 -9.12256738e-01 -1.44685147e-03 2.06615315e+02] [ 9.12251256e-01 4.09618900e-01 -3.16267866e-03 1.00152802e+02] [ 3.47783262e-03 -2.44071954e-05 9.99993952e-01 4.80836664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680281693 meters 0.019413513286504473 Centerline is valid? [True, True] Translation: X:206.63, Y:100.17, Z:0.48 [[ 4.06500834e-01 -9.13648763e-01 -1.73502474e-03 2.06632140e+02] [ 9.13640881e-01 4.06504534e-01 -3.79520679e-03 1.00174468e+02] [ 4.17278141e-03 -4.24348119e-05 9.99991293e-01 4.79235618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71028169299996 meters 0.021000109333148123 Centerline is valid? [True, True] Translation: X:206.65, Y:100.20, Z:0.48 [[ 4.04785352e-01 -9.14409268e-01 -2.12341849e-03 2.06645992e+02] [ 9.14397458e-01 4.04790917e-01 -4.64787351e-03 1.00196364e+02] [ 5.10959913e-03 -6.02573568e-05 9.99986944e-01 4.77515975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740281693 meters 0.02202246219045707 Centerline is valid? [True, True] Translation: X:206.66, Y:100.22, Z:0.48 [[ 4.03406270e-01 -9.15019492e-01 -1.64670342e-03 2.06659585e+02] [ 9.15012386e-01 4.03409627e-01 -3.60634788e-03 1.00219054e+02] [ 3.96417462e-03 -5.19306808e-05 9.99992141e-01 4.80385135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77028169299996 meters 0.021650863050103764 Centerline is valid? [True, True] Translation: X:206.67, Y:100.24, Z:0.48 [[ 4.03322635e-01 -9.15057052e-01 -1.20133045e-03 2.06669950e+02] [ 9.15053267e-01 4.03324423e-01 -2.63228442e-03 1.00242705e+02] [ 2.89321633e-03 -3.76214679e-05 9.99995814e-01 4.82754986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800281693 meters 0.022069283390418446 Centerline is valid? [True, True] Translation: X:206.68, Y:100.26, Z:0.48 [[ 4.03015979e-01 -9.15192573e-01 -8.21197012e-04 2.06681210e+02] [ 9.15190803e-01 4.03016815e-01 -1.80016545e-03 1.00264813e+02] [ 1.97845426e-03 -2.60565103e-05 9.99998043e-01 4.84982743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83028169299996 meters 0.023730728961864615 Centerline is valid? [True, True] Translation: X:206.70, Y:100.29, Z:0.49 [[ 4.01898713e-01 -9.15683897e-01 -6.51622821e-04 2.06695418e+02] [ 9.15682783e-01 4.01899240e-01 -1.42898956e-03 1.00285412e+02] [ 1.57038944e-03 -2.23707354e-05 9.99998767e-01 4.85207310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.860281693 meters 0.023958635956025598 Centerline is valid? [True, True] Translation: X:206.71, Y:100.31, Z:0.48 [[ 4.00502885e-01 -9.16295299e-01 -6.04363194e-04 2.06707910e+02] [ 9.16294339e-01 4.00503340e-01 -1.32618665e-03 1.00308944e+02] [ 1.45722807e-03 -2.26329939e-05 9.99998938e-01 4.84649497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89028169299996 meters 0.02477039814330688 Centerline is valid? [True, True] Translation: X:206.72, Y:100.33, Z:0.49 [[ 3.97734435e-01 -9.17500513e-01 -3.58064039e-04 2.06722618e+02] [ 9.17500177e-01 3.97734596e-01 -7.85711909e-04 1.00331310e+02] [ 8.63305535e-04 -1.60191377e-05 9.99999627e-01 4.85742249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.920281693 meters 0.025506805760538067 Centerline is valid? [True, True] Translation: X:206.73, Y:100.35, Z:0.49 [[ 3.97101827e-01 -9.17774553e-01 -9.65498212e-05 2.06734006e+02] [ 9.17774528e-01 3.97101839e-01 -2.11220404e-04 1.00352936e+02] [ 2.32192824e-04 -4.73495807e-06 9.99999973e-01 4.87301048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95028169299997 meters 0.02444732485223474 Centerline is valid? [True, True] Translation: X:206.74, Y:100.38, Z:0.49 [[ 3.97453996e-01 -9.17622092e-01 -1.31442302e-04 2.06743100e+02] [ 9.17622047e-01 3.97454017e-01 -2.87962702e-04 1.00377147e+02] [ 3.16483209e-04 -6.16242758e-06 9.99999950e-01 4.87803236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.980281693 meters 0.021310136147743627 Centerline is valid? [True, True] Translation: X:206.75, Y:100.40, Z:0.48 [[ 4.00652383e-01 -9.16229772e-01 -8.19717754e-04 2.06750599e+02] [ 9.16227998e-01 4.00653221e-01 -1.80365065e-03 1.00403222e+02] [ 1.98098098e-03 -2.84114238e-05 9.99998037e-01 4.84485854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01028169299997 meters 0.020327025736682325 Centerline is valid? [True, True] Translation: X:206.76, Y:100.43, Z:0.48 [[ 4.02196852e-01 -9.15552297e-01 -1.29789431e-03 2.06759260e+02] [ 9.15547836e-01 4.02198944e-01 -2.85824347e-03 1.00427045e+02] [ 3.13888309e-03 -3.87077985e-05 9.99995073e-01 4.82895987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04028169299994 meters 0.01756250379327846 Centerline is valid? [True, True] Translation: X:206.76, Y:100.45, Z:0.48 [[ 4.05957159e-01 -9.13890097e-01 -1.91725441e-03 2.06762408e+02] [ 9.13880328e-01 4.05961685e-01 -4.22562414e-03 1.00453227e+02] [ 4.64008788e-03 -3.67187210e-05 9.99989234e-01 4.80363783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07028169299997 meters 0.01618093664110904 Centerline is valid? [True, True] Translation: X:206.77, Y:100.48, Z:0.48 [[ 4.07651143e-01 -9.13135750e-01 -1.91013071e-03 2.06768582e+02] [ 9.13126032e-01 4.07655617e-01 -4.21276873e-03 1.00478101e+02] [ 4.62550525e-03 -2.68500864e-05 9.99989302e-01 4.80095619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10028169299994 meters 0.01570170662349178 Centerline is valid? [True, True] Translation: X:206.78, Y:100.50, Z:0.48 [[ 4.08921007e-01 -9.12567528e-01 -2.02909740e-03 2.06776791e+02] [ 9.12556539e-01 4.08926041e-01 -4.47843893e-03 1.00500740e+02] [ 4.91662871e-03 -2.03383367e-05 9.99987913e-01 4.79070529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130281693 meters 0.015016050271992118 Centerline is valid? [True, True] Translation: X:206.78, Y:100.53, Z:0.48 [[ 4.10664216e-01 -9.11784403e-01 -2.02620019e-03 2.06782472e+02] [ 9.11773420e-01 4.10669214e-01 -4.47522785e-03 1.00525207e+02] [ 4.91254099e-03 -9.61954233e-06 9.99987933e-01 4.78905535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16028169299994 meters 0.014864365502885632 Centerline is valid? [True, True] Translation: X:206.79, Y:100.55, Z:0.48 [[ 4.11076378e-01 -9.11599013e-01 -1.85784417e-03 2.06789755e+02] [ 9.11589765e-01 4.11080576e-01 -4.10613982e-03 1.00549764e+02] [ 4.50687666e-03 -5.65465108e-06 9.99989844e-01 4.80350593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190281693 meters 0.014755000112385973 Centerline is valid? [True, True] Translation: X:206.80, Y:100.57, Z:0.48 [[ 4.11793481e-01 -9.11275492e-01 -1.76249128e-03 2.06796272e+02] [ 9.11267155e-01 4.11797252e-01 -3.89810103e-03 1.00573587e+02] [ 4.27803300e-03 -8.87829505e-07 9.99990849e-01 4.81232133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22028169299995 meters 0.014997612794405578 Centerline is valid? [True, True] Translation: X:206.80, Y:100.60, Z:0.48 [[ 4.14373906e-01 -9.10105760e-01 -1.33132586e-03 2.06798776e+02] [ 9.10100991e-01 4.14376045e-01 -2.94626619e-03 1.00600862e+02] [ 3.23308337e-03 9.21484196e-06 9.99994774e-01 4.82983852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250281693 meters 0.015564157656902862 Centerline is valid? [True, True] Translation: X:206.80, Y:100.63, Z:0.48 [[ 4.15202177e-01 -9.09728360e-01 -1.20979104e-03 2.06804218e+02] [ 9.09724415e-01 4.15203939e-01 -2.67905956e-03 1.00625404e+02] [ 2.93952646e-03 1.17749084e-05 9.99995680e-01 4.83431302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28028169299995 meters 0.015341107556348342 Centerline is valid? [True, True] Translation: X:206.81, Y:100.65, Z:0.48 [[ 4.15022093e-01 -9.09810883e-01 -9.05147231e-04 2.06812022e+02] [ 9.09808673e-01 4.15023080e-01 -2.00553547e-03 1.00649829e+02] [ 2.20031499e-03 8.83072931e-06 9.99997579e-01 4.84541551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310281693 meters 0.014965439105044822 Centerline is valid? [True, True] Translation: X:206.82, Y:100.67, Z:0.48 [[ 4.13613178e-01 -9.10452127e-01 -1.03114338e-03 2.06823453e+02] [ 9.10449256e-01 4.13614463e-01 -2.28647837e-03 1.00671720e+02] [ 2.50822491e-03 6.91386471e-06 9.99996854e-01 4.83763457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34028169299995 meters 0.014589336355844137 Centerline is valid? [True, True] Translation: X:206.84, Y:100.69, Z:0.48 [[ 4.12183680e-01 -9.11100108e-01 -1.09855525e-03 2.06836700e+02] [ 9.11096847e-01 4.12185144e-01 -2.43777985e-03 1.00694236e+02] [ 2.67386963e-03 3.92284646e-06 9.99996425e-01 4.83402598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370281693 meters 0.014545270876966946 Centerline is valid? [True, True] Translation: X:206.85, Y:100.72, Z:0.48 [[ 4.10868213e-01 -9.11693766e-01 -1.33717193e-03 2.06847925e+02] [ 9.11688930e-01 4.10870389e-01 -2.96961899e-03 1.00715543e+02] [ 3.25678747e-03 1.03720204e-06 9.99994697e-01 4.82430177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40028169299995 meters 0.014484324914706683 Centerline is valid? [True, True] Translation: X:206.86, Y:100.74, Z:0.48 [[ 4.09962522e-01 -9.12101426e-01 -1.31098435e-03 2.06857946e+02] [ 9.12096773e-01 4.09964619e-01 -2.91349591e-03 1.00738044e+02] [ 3.19486098e-03 -1.32045829e-06 9.99994896e-01 4.82510829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430281693 meters 0.014527513634861672 Centerline is valid? [True, True] Translation: X:206.87, Y:100.76, Z:0.48 [[ 4.09985027e-01 -9.12091303e-01 -1.31653795e-03 2.06866677e+02] [ 9.12086603e-01 4.09987141e-01 -2.92788642e-03 1.00760737e+02] [ 3.21026337e-03 -4.07034852e-07 9.99994847e-01 4.82155235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46028169299996 meters 0.014611643723217514 Centerline is valid? [True, True] Translation: X:206.88, Y:100.78, Z:0.48 [[ 4.09925738e-01 -9.12117838e-01 -1.39261876e-03 2.06875414e+02] [ 9.12112572e-01 4.09928103e-01 -3.09931142e-03 1.00784242e+02] [ 3.39781080e-03 2.62440143e-07 9.99994227e-01 4.82148471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490281693 meters 0.014574644295129542 Centerline is valid? [True, True] Translation: X:206.88, Y:100.81, Z:0.48 [[ 4.09963391e-01 -9.12100667e-01 -1.54641916e-03 2.06883495e+02] [ 9.12094165e-01 4.09966307e-01 -3.44396550e-03 1.00807523e+02] [ 3.77522298e-03 1.41988454e-06 9.99992874e-01 4.80617384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52028169299996 meters 0.01465433961607513 Centerline is valid? [True, True] Translation: X:206.89, Y:100.83, Z:0.48 [[ 4.09805219e-01 -9.12171826e-01 -1.49762488e-03 2.06893605e+02] [ 9.12165720e-01 4.09807955e-01 -3.33738782e-03 1.00830702e+02] [ 3.65800973e-03 1.59686494e-06 9.99993309e-01 4.81036059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550281693 meters 0.014579153829455248 Centerline is valid? [True, True] Translation: X:206.91, Y:100.85, Z:0.48 [[ 4.08858499e-01 -9.12596537e-01 -1.51264775e-03 2.06905939e+02] [ 9.12590303e-01 4.08861297e-01 -3.37323240e-03 1.00853062e+02] [ 3.69686333e-03 -1.25293345e-06 9.99993167e-01 4.80243800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58028169299996 meters 0.014793004668205016 Centerline is valid? [True, True] Translation: X:206.92, Y:100.87, Z:0.48 [[ 4.07456784e-01 -9.13223116e-01 -1.58385909e-03 2.06918225e+02] [ 9.13216276e-01 4.07459863e-01 -3.53464015e-03 1.00874586e+02] [ 3.87327410e-03 -6.19278874e-06 9.99992499e-01 4.79476323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.610281693 meters 0.015213154660418483 Centerline is valid? [True, True] Translation: X:206.93, Y:100.90, Z:0.48 [[ 4.05453382e-01 -9.14114152e-01 -1.69483581e-03 2.06930981e+02] [ 9.14106315e-01 4.05456924e-01 -3.78515933e-03 1.00895825e+02] [ 4.14725062e-03 -1.45544694e-05 9.99991400e-01 4.79047708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64028169299996 meters 0.01743732448366778 Centerline is valid? [True, True] Translation: X:206.95, Y:100.92, Z:0.48 [[ 4.01742596e-01 -9.15751345e-01 -1.53638411e-03 2.06947714e+02] [ 9.15744910e-01 4.01745533e-01 -3.43330606e-03 1.00916248e+02] [ 3.76129010e-03 -2.76306384e-05 9.99992926e-01 4.79707100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.670281693 meters 0.017380993551244887 Centerline is valid? [True, True] Translation: X:206.96, Y:100.94, Z:0.48 [[ 4.00434050e-01 -9.16324770e-01 -1.21939935e-03 2.06959455e+02] [ 9.16320715e-01 4.00435906e-01 -2.72632803e-03 1.00939119e+02] [ 2.98649319e-03 -2.56463114e-05 9.99995540e-01 4.81614848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70028169299997 meters 0.018211528059557787 Centerline is valid? [True, True] Translation: X:206.97, Y:100.96, Z:0.48 [[ 3.99297082e-01 -9.16821040e-01 -1.01008194e-03 2.06972727e+02] [ 9.16818256e-01 3.99298359e-01 -2.25971762e-03 1.00960212e+02] [ 2.47508072e-03 -2.37629055e-05 9.99996937e-01 4.82347733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.730281693 meters 0.01998036318851659 Centerline is valid? [True, True] Translation: X:206.99, Y:100.98, Z:0.48 [[ 3.97754622e-01 -9.17489743e-01 -1.95753241e-03 2.06989211e+02] [ 9.17479273e-01 3.97759435e-01 -4.38354822e-03 1.00980459e+02] [ 4.80048752e-03 -5.24188495e-05 9.99988476e-01 4.78156262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76028169299997 meters 0.019399643061012953 Centerline is valid? [True, True] Translation: X:207.00, Y:101.00, Z:0.48 [[ 3.97211034e-01 -9.17723472e-01 -2.65020083e-03 2.06999629e+02] [ 9.17704257e-01 3.97219869e-01 -5.93913466e-03 1.01003922e+02] [ 6.50319570e-03 -7.30107614e-05 9.99978851e-01 4.75026864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79028169299994 meters 0.02092765023334869 Centerline is valid? [True, True] Translation: X:207.02, Y:101.02, Z:0.47 [[ 3.96412578e-01 -9.18066282e-01 -3.37188348e-03 2.07015478e+02] [ 9.18035151e-01 3.96426907e-01 -7.56104534e-03 1.01024216e+02] [ 8.27824612e-03 -9.82140779e-05 9.99965730e-01 4.71366019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82028169299997 meters 0.02077970716116842 Centerline is valid? [True, True] Translation: X:207.03, Y:101.05, Z:0.47 [[ 3.95977809e-01 -9.18253872e-01 -3.37660763e-03 2.07026091e+02] [ 9.18222620e-01 3.95992193e-01 -7.57653338e-03 1.01047365e+02] [ 8.29429137e-03 -1.00338415e-04 9.99965597e-01 4.72213515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85028169299994 meters 0.02027587518671348 Centerline is valid? [True, True] Translation: X:207.04, Y:101.07, Z:0.47 [[ 3.95998710e-01 -9.18245598e-01 -3.16918463e-03 2.07036458e+02] [ 9.18218033e-01 3.96011380e-01 -7.11558827e-03 1.01070901e+02] [ 7.78889079e-03 -9.22387013e-05 9.99969662e-01 4.73587043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880281693 meters 0.021100787527688028 Centerline is valid? [True, True] Translation: X:207.05, Y:101.09, Z:0.47 [[ 3.96011499e-01 -9.18241086e-01 -2.86370845e-03 2.07048666e+02] [ 9.18218552e-01 3.96021845e-01 -6.43350040e-03 1.01092696e+02] [ 7.04159550e-03 -8.17700814e-05 9.99975204e-01 4.74655362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91028169299994 meters 0.020389758362745893 Centerline is valid? [True, True] Translation: X:207.06, Y:101.11, Z:0.48 [[ 3.96473500e-01 -9.18041783e-01 -2.83710661e-03 2.07061626e+02] [ 9.18019631e-01 3.96483644e-01 -6.37795254e-03 1.01114141e+02] [ 6.98009328e-03 -7.58304001e-05 9.99975636e-01 4.75413169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940281693 meters 0.02023260251610283 Centerline is valid? [True, True] Translation: X:207.07, Y:101.14, Z:0.47 [[ 3.96694367e-01 -9.17945567e-01 -3.08464253e-03 2.07073628e+02] [ 9.17919341e-01 3.96706352e-01 -6.93928600e-03 1.01135137e+02] [ 7.59358411e-03 -7.86773717e-05 9.99971165e-01 4.74252984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97028169299995 meters 0.019827278727147214 Centerline is valid? [True, True] Translation: X:207.09, Y:101.16, Z:0.47 [[ 3.96912830e-01 -9.17850464e-01 -3.27570076e-03 2.07089911e+02] [ 9.17820846e-01 3.96926339e-01 -7.37406254e-03 1.01155991e+02] [ 8.06849863e-03 -7.96464047e-05 9.99967446e-01 4.72947093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000281693 meters 0.019033544132924903 Centerline is valid? [True, True] Translation: X:207.10, Y:101.18, Z:0.48 [[ 3.96328973e-01 -9.18103369e-01 -3.09009707e-03 2.07102585e+02] [ 9.18076984e-01 3.96341011e-01 -6.96096338e-03 1.01178795e+02] [ 7.61561613e-03 -7.81155273e-05 9.99970998e-01 4.75239066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03028169299995 meters 0.01915816154532218 Centerline is valid? [True, True] Translation: X:207.12, Y:101.20, Z:0.48 [[ 3.95866275e-01 -9.18304696e-01 -2.52530302e-03 2.07115498e+02] [ 9.18287055e-01 3.95874324e-01 -5.69251706e-03 1.01200075e+02] [ 6.22716777e-03 -6.54775522e-05 9.99980609e-01 4.77827220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060281693 meters 0.017152964432259856 Centerline is valid? [True, True] Translation: X:207.13, Y:101.22, Z:0.49 [[ 3.97773521e-01 -9.17483184e-01 -9.12785680e-04 2.07126036e+02] [ 9.17480876e-01 3.97774568e-01 -2.05822130e-03 1.01224388e+02] [ 2.25146636e-03 -1.87574709e-05 9.99997465e-01 4.86135117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09028169299995 meters 0.015705739894826855 Centerline is valid? [True, True] Translation: X:207.13, Y:101.25, Z:0.49 [[ 3.99992634e-01 -9.16518293e-01 -3.35580933e-04 2.07134567e+02] [ 9.16517980e-01 3.99992774e-01 -7.56384886e-04 1.01247902e+02] [ 8.27470533e-04 -5.01757682e-06 9.99999658e-01 4.89698298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120281693 meters 0.014234125180094866 Centerline is valid? [True, True] Translation: X:207.14, Y:101.27, Z:0.49 [[ 4.06026914e-01 -9.13861118e-01 -5.24361797e-05 2.07137167e+02] [ 9.13861110e-01 4.06026917e-01 -1.17217719e-04 1.01274842e+02] [ 1.28411216e-04 -3.25836522e-07 9.99999992e-01 4.91493966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15028169299995 meters 0.015434582477827991 Centerline is valid? [True, True] Translation: X:207.14, Y:101.30, Z:0.49 [[ 4.09078114e-01 -9.12499364e-01 -8.74563462e-05 2.07141893e+02] [ 9.12499343e-01 4.09078123e-01 -1.96428006e-04 1.01299997e+02] [ 2.15016908e-04 5.50539785e-07 9.99999977e-01 4.91103306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180281693 meters 0.018133614402955765 Centerline is valid? [True, True] Translation: X:207.15, Y:101.33, Z:0.49 [[ 4.14222460e-01 -9.10175480e-01 -5.91131537e-04 2.07145937e+02] [ 9.10174499e-01 4.14222881e-01 -1.33616627e-03 1.01327853e+02] [ 1.46100599e-03 1.54372296e-05 9.99998933e-01 4.88264444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21028169299996 meters 0.02047304285974878 Centerline is valid? [True, True] Translation: X:207.15, Y:101.35, Z:0.49 [[ 4.15947337e-01 -9.09388106e-01 -1.04175424e-03 2.07151952e+02] [ 9.09385052e-01 4.15948640e-01 -2.35699943e-03 1.01353448e+02] [ 2.57674351e-03 3.30319012e-05 9.99996680e-01 4.86426311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240281693 meters 0.022945103905157645 Centerline is valid? [True, True] Translation: X:207.16, Y:101.38, Z:0.48 [[ 4.17093707e-01 -9.08861998e-01 -1.64553286e-03 2.07158053e+02] [ 9.08854363e-01 4.17096949e-01 -3.72586895e-03 1.01378694e+02] [ 4.07264744e-03 5.84867736e-05 9.99991705e-01 4.84260488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27028169299996 meters 0.023974657197931352 Centerline is valid? [True, True] Translation: X:207.17, Y:101.40, Z:0.48 [[ 4.17773425e-01 -9.08548529e-01 -2.22158318e-03 2.07166332e+02] [ 9.08534590e-01 4.17779324e-01 -5.03341100e-03 1.01403641e+02] [ 5.50122968e-03 8.44401908e-05 9.99984865e-01 4.81405601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300281693 meters 0.023556643144898932 Centerline is valid? [True, True] Translation: X:207.17, Y:101.43, Z:0.48 [[ 4.18032544e-01 -9.08428376e-01 -2.58417313e-03 2.07174575e+02] [ 9.08409486e-01 4.18040519e-01 -5.85913141e-03 1.01427361e+02] [ 6.40289031e-03 1.01820222e-04 9.99979496e-01 4.79696264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33028169299996 meters 0.023689459942159447 Centerline is valid? [True, True] Translation: X:207.18, Y:101.45, Z:0.48 [[ 4.17187586e-01 -9.08817478e-01 -2.30420316e-03 2.07183614e+02] [ 9.08802448e-01 4.17193940e-01 -5.22751176e-03 1.01450123e+02] [ 5.71215366e-03 8.67875351e-05 9.99983682e-01 4.80184999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.360281693 meters 0.01924308612040086 Centerline is valid? [True, True] Translation: X:207.20, Y:101.47, Z:0.48 [[ 4.13075220e-01 -9.10694876e-01 -1.92484653e-03 2.07202763e+02] [ 9.10684396e-01 4.13079701e-01 -4.36936857e-03 1.01470510e+02] [ 4.77427660e-03 5.19501832e-05 9.99988602e-01 4.81800225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39028169299996 meters 0.01924308612040086 Centerline is valid? [True, True] Translation: X:207.21, Y:101.49, Z:0.48 [[ 4.12840640e-01 -9.10801244e-01 -1.92376530e-03 2.07212531e+02] [ 9.10790762e-01 4.12845119e-01 -4.36984466e-03 1.01493515e+02] [ 4.77427706e-03 5.19018032e-05 9.99988602e-01 4.81849933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.420281693 meters 0.017238058926239322 Centerline is valid? [True, True] Translation: X:207.23, Y:101.51, Z:0.48 [[ 4.09453716e-01 -9.12328516e-01 -2.08169745e-03 2.07227973e+02] [ 9.12316246e-01 4.09459006e-01 -4.73189638e-03 1.01514538e+02] [ 5.16941377e-03 3.83261555e-05 9.99986638e-01 4.80750296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45028169299997 meters 0.015186071470316878 Centerline is valid? [True, True] Translation: X:207.25, Y:101.53, Z:0.48 [[ 4.05474411e-01 -9.14102913e-01 -2.52320102e-03 2.07245476e+02] [ 9.14084893e-01 4.05482261e-01 -5.73968330e-03 1.01534565e+02] [ 6.26977448e-03 2.08747759e-05 9.99980345e-01 4.78868143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.480281693 meters 0.015941341206109173 Centerline is valid? [True, True] Translation: X:207.27, Y:101.55, Z:0.48 [[ 3.97378159e-01 -9.17650530e-01 -2.84657994e-03 2.07270276e+02] [ 9.17627651e-01 3.97388353e-01 -6.48003247e-03 1.01551126e+02] [ 7.07760295e-03 -3.70770901e-05 9.99974953e-01 4.77330339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51028169299997 meters 0.018678226300340627 Centerline is valid? [True, True] Translation: X:207.29, Y:101.57, Z:0.48 [[ 3.93708801e-01 -9.19230695e-01 -2.88255436e-03 2.07289831e+02] [ 9.19207245e-01 3.93719348e-01 -6.56626422e-03 1.01569770e+02] [ 7.17082905e-03 -6.44688388e-05 9.99974287e-01 4.76260619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54028169299994 meters 0.022049766232582882 Centerline is valid? [True, True] Translation: X:207.31, Y:101.59, Z:0.48 [[ 3.89195638e-01 -9.21151211e-01 -2.68349283e-03 2.07312533e+02] [ 9.21130908e-01 3.89204879e-01 -6.11658783e-03 1.01588296e+02] [ 6.67873079e-03 -9.12988827e-05 9.99977693e-01 4.78981972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57028169299997 meters 0.021814954013615107 Centerline is valid? [True, True] Translation: X:207.32, Y:101.61, Z:0.48 [[ 3.88358629e-01 -9.21505122e-01 -2.42611405e-03 2.07324479e+02] [ 9.21488511e-01 3.88366198e-01 -5.53358993e-03 1.01611213e+02] [ 6.04145215e-03 -8.66188191e-05 9.99981747e-01 4.80883048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60028169299994 meters 0.0215626034879903 Centerline is valid? [True, True] Translation: X:207.34, Y:101.63, Z:0.48 [[ 3.88030177e-01 -9.21643779e-01 -2.30779765e-03 2.07336250e+02] [ 9.21628730e-01 3.88037031e-01 -5.26741224e-03 1.01633528e+02] [ 5.75018867e-03 -8.30177140e-05 9.99983464e-01 4.81306874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630281693 meters 0.021322889668152177 Centerline is valid? [True, True] Translation: X:207.35, Y:101.65, Z:0.48 [[ 3.88621208e-01 -9.21394678e-01 -2.32488600e-03 2.07353015e+02] [ 9.21379378e-01 3.88628154e-01 -5.31030419e-03 1.01652517e+02] [ 5.79640217e-03 -7.84051922e-05 9.99983198e-01 4.80595703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66028169299994 meters 0.021810431889366735 Centerline is valid? [True, True] Translation: X:207.37, Y:101.67, Z:0.48 [[ 3.88637143e-01 -9.21388190e-01 -2.23013321e-03 2.07367514e+02] [ 9.21374092e-01 3.88643535e-01 -5.09755898e-03 1.01673332e+02] [ 5.56355750e-03 -7.36862065e-05 9.99984521e-01 4.80895032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690281693 meters 0.021292635687514494 Centerline is valid? [True, True] Translation: X:207.38, Y:101.69, Z:0.48 [[ 3.89138989e-01 -9.21177036e-01 -1.92768198e-03 2.07382423e+02] [ 9.21166486e-01 3.89143759e-01 -4.40920496e-03 1.01693314e+02] [ 4.81180376e-03 -5.99224819e-05 9.99988421e-01 4.82286731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72028169299995 meters 0.019997937202856354 Centerline is valid? [True, True] Translation: X:207.39, Y:101.72, Z:0.48 [[ 3.89490715e-01 -9.21028776e-01 -1.72547541e-03 2.07393465e+02] [ 9.21020310e-01 3.89494533e-01 -3.94932324e-03 1.01716224e+02] [ 4.30950359e-03 -5.09731614e-05 9.99990713e-01 4.82728020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750281693 meters 0.019514691893564227 Centerline is valid? [True, True] Translation: X:207.41, Y:101.74, Z:0.48 [[ 3.89718898e-01 -9.20932361e-01 -1.66321869e-03 2.07406119e+02] [ 9.20924484e-01 3.89722444e-01 -3.80942982e-03 1.01738088e+02] [ 4.15642085e-03 -4.70920189e-05 9.99991361e-01 4.83190476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78028169299995 meters 0.01926867389298448 Centerline is valid? [True, True] Translation: X:207.42, Y:101.76, Z:0.48 [[ 3.90025566e-01 -9.20802722e-01 -1.55082910e-03 2.07418454e+02] [ 9.20795863e-01 3.90028647e-01 -3.55445387e-03 1.01759809e+02] [ 3.87781857e-03 -4.16691439e-05 9.99992480e-01 4.83507966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810281693 meters 0.016420710829231754 Centerline is valid? [True, True] Translation: X:207.43, Y:101.78, Z:0.49 [[ 3.93507074e-01 -9.19320267e-01 -1.55852160e-03 2.07426819e+02] [ 9.19313318e-01 3.93510159e-01 -3.57455793e-03 1.01784458e+02] [ 3.89945763e-03 -2.61558336e-05 9.99992397e-01 4.85243684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84028169299995 meters 0.01482580487066953 Centerline is valid? [True, True] Translation: X:207.43, Y:101.81, Z:0.49 [[ 3.96110319e-01 -9.18201684e-01 -1.51068652e-03 2.07433362e+02] [ 9.18195138e-01 3.96113200e-01 -3.46712754e-03 1.01809735e+02] [ 3.78192522e-03 -1.37400184e-05 9.99992848e-01 4.85475927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870281693 meters 0.01494644890373682 Centerline is valid? [True, True] Translation: X:207.44, Y:101.84, Z:0.48 [[ 4.02273179e-01 -9.15516794e-01 -2.29979991e-03 2.07435683e+02] [ 9.15501554e-01 4.02279752e-01 -5.28250523e-03 1.01836139e+02] [ 5.76138519e-03 1.95397763e-05 9.99983403e-01 4.81745282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90028169299995 meters 0.01639590198167736 Centerline is valid? [True, True] Translation: X:207.44, Y:101.86, Z:0.48 [[ 4.04558633e-01 -9.14508618e-01 -2.50986734e-03 2.07442782e+02] [ 9.14490423e-01 4.04566417e-01 -5.76898875e-03 1.01860888e+02] [ 6.29119797e-03 3.86445614e-05 9.99980209e-01 4.80633408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930281693 meters 0.017478616778716476 Centerline is valid? [True, True] Translation: X:207.45, Y:101.89, Z:0.48 [[ 4.06339340e-01 -9.13719366e-01 -2.29384085e-03 2.07450919e+02] [ 9.13704136e-01 4.06345811e-01 -5.27571892e-03 1.01886044e+02] [ 5.75261917e-03 4.78402695e-05 9.99983452e-01 4.81591454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96028169299996 meters 0.01878519686736527 Centerline is valid? [True, True] Translation: X:207.46, Y:101.91, Z:0.48 [[ 4.07814421e-01 -9.13062884e-01 -1.88896784e-03 2.07458319e+02] [ 9.13052537e-01 4.07818793e-01 -4.34705409e-03 1.01911896e+02] [ 4.73949033e-03 4.80644662e-05 9.99988767e-01 4.83928601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990281693 meters 0.02118121854687185 Centerline is valid? [True, True] Translation: X:207.46, Y:101.94, Z:0.49 [[ 4.10147560e-01 -9.12018560e-01 -1.06074703e-03 2.07462228e+02] [ 9.12015291e-01 4.10148930e-01 -2.44213775e-03 1.01937270e+02] [ 2.66233921e-03 3.42193291e-05 9.99996455e-01 4.88121994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02028169299996 meters 0.02081889932539638 Centerline is valid? [True, True] Translation: X:207.47, Y:101.96, Z:0.49 [[ 4.10314291e-01 -9.11943950e-01 -6.43076968e-04 2.07471239e+02] [ 9.11942748e-01 4.10314795e-01 -1.48104886e-03 1.01960644e+02] [ 1.61449754e-03 2.12461355e-05 9.99998696e-01 4.89477482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050281693 meters 0.020465617333647046 Centerline is valid? [True, True] Translation: X:207.48, Y:101.98, Z:0.49 [[ 4.08694515e-01 -9.12670880e-01 -8.10920646e-04 2.07478403e+02] [ 9.12668966e-01 4.08695319e-01 -1.86925443e-03 1.01983984e+02] [ 2.03743356e-03 2.38519252e-05 9.99997924e-01 4.88548860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08028169299996 meters 0.018017114678821472 Centerline is valid? [True, True] Translation: X:207.49, Y:102.01, Z:0.49 [[ 4.06742216e-01 -9.13542150e-01 -1.22862351e-03 2.07492092e+02] [ 9.13537752e-01 4.06744071e-01 -2.83484781e-03 1.02005950e+02] [ 3.08948829e-03 3.06583175e-05 9.99995227e-01 4.86750835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.110281693 meters 0.015840614411165046 Centerline is valid? [True, True] Translation: X:207.51, Y:102.03, Z:0.49 [[ 4.03298716e-01 -9.15066495e-01 -1.85891968e-03 2.07507388e+02] [ 9.15056427e-01 4.03302999e-01 -4.29260505e-03 1.02028089e+02] [ 4.67772693e-03 3.01857046e-05 9.99989059e-01 4.85375579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14028169299996 meters 0.01552004872330802 Centerline is valid? [True, True] Translation: X:207.52, Y:102.05, Z:0.49 [[ 4.01931664e-01 -9.15668399e-01 -1.52355970e-03 2.07517395e+02] [ 9.15661632e-01 4.01934551e-01 -3.52036214e-03 1.02050679e+02] [ 3.83585565e-03 1.98798497e-05 9.99992643e-01 4.86806034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.170281693 meters 0.014890939047287112 Centerline is valid? [True, True] Translation: X:207.53, Y:102.07, Z:0.49 [[ 4.00608402e-01 -9.16248749e-01 -1.06724311e-03 2.07527766e+02] [ 9.16245426e-01 4.00609823e-01 -2.46740227e-03 1.02072857e+02] [ 2.68830232e-03 1.06054578e-05 9.99996386e-01 4.89155550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20028169299997 meters 0.014184670684069759 Centerline is valid? [True, True] Translation: X:207.54, Y:102.09, Z:0.49 [[ 3.98851614e-01 -9.17015121e-01 -8.10746797e-04 2.07541190e+02] [ 9.17013204e-01 3.98852438e-01 -1.87541134e-03 1.02094348e+02] [ 2.04314889e-03 4.54532346e-06 9.99997913e-01 4.89073502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.230281693 meters 0.014190078031128931 Centerline is valid? [True, True] Translation: X:207.55, Y:102.12, Z:0.49 [[ 3.97945684e-01 -9.17408107e-01 -1.26381556e-03 2.07552911e+02] [ 9.17403441e-01 3.97947690e-01 -2.92626492e-03 1.02115588e+02] [ 3.18751165e-03 5.06575391e-06 9.99994920e-01 4.86367085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26028169299997 meters 0.01425069812356481 Centerline is valid? [True, True] Translation: X:207.56, Y:102.14, Z:0.48 [[ 3.97236671e-01 -9.17714318e-01 -1.85965369e-03 2.07564761e+02] [ 9.17704198e-01 3.97241024e-01 -4.30961073e-03 1.02138225e+02] [ 4.69372220e-03 5.32341644e-06 9.99988984e-01 4.83731256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29028169299994 meters 0.01443663680344214 Centerline is valid? [True, True] Translation: X:207.57, Y:102.16, Z:0.48 [[ 3.98017252e-01 -9.17375952e-01 -1.90501736e-03 2.07574403e+02] [ 9.17365315e-01 3.98021811e-01 -4.41788069e-03 1.02162182e+02] [ 4.81109596e-03 1.07958863e-05 9.99988427e-01 4.83768363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32028169299997 meters 0.014865565281909687 Centerline is valid? [True, True] Translation: X:207.58, Y:102.19, Z:0.49 [[ 3.99222974e-01 -9.16852241e-01 -1.72761306e-03 2.07582168e+02] [ 9.16843476e-01 3.99226712e-01 -4.00923465e-03 1.02185018e+02] [ 4.36558505e-03 1.66278139e-05 9.99990471e-01 4.85328285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35028169299994 meters 0.016912556462176338 Centerline is valid? [True, True] Translation: X:207.59, Y:102.21, Z:0.48 [[ 4.02592700e-01 -9.15377245e-01 -1.90203661e-03 2.07588726e+02] [ 9.15366588e-01 4.02597192e-01 -4.41720508e-03 1.02209642e+02] [ 4.80916362e-03 3.72737606e-05 9.99988435e-01 4.84691357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380281693 meters 0.018067323163728843 Centerline is valid? [True, True] Translation: X:207.60, Y:102.23, Z:0.48 [[ 4.03817802e-01 -9.14837106e-01 -2.06200340e-03 2.07597543e+02] [ 9.14824558e-01 4.03823064e-01 -4.79187635e-03 1.02234380e+02] [ 5.21647082e-03 4.86736282e-05 9.99986393e-01 4.83314907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41028169299994 meters 0.01903679774435115 Centerline is valid? [True, True] Translation: X:207.61, Y:102.26, Z:0.48 [[ 4.04949179e-01 -9.14336394e-01 -2.26316617e-03 2.07606435e+02] [ 9.14321250e-01 4.04955498e-01 -5.26280600e-03 1.02259629e+02] [ 5.72845664e-03 6.19080496e-05 9.99983590e-01 4.82578669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440281693 meters 0.0208994028444411 Centerline is valid? [True, True] Translation: X:207.61, Y:102.28, Z:0.49 [[ 4.06740253e-01 -9.13542499e-01 -1.57145862e-03 2.07614385e+02] [ 9.13535184e-01 4.06743286e-01 -3.65605986e-03 1.02283998e+02] [ 3.97914630e-03 5.14839764e-05 9.99992082e-01 4.85144482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47028169299995 meters 0.02105505322868902 Centerline is valid? [True, True] Translation: X:207.62, Y:102.31, Z:0.49 [[ 4.06363424e-01 -9.13710652e-01 -1.26996449e-03 2.07623659e+02] [ 9.13705870e-01 4.06365406e-01 -2.95619984e-03 1.02306226e+02] [ 3.21718092e-03 4.09174721e-05 9.99994824e-01 4.87129704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500281693 meters 0.019730452069514907 Centerline is valid? [True, True] Translation: X:207.64, Y:102.33, Z:0.49 [[ 4.05134154e-01 -9.14256237e-01 -1.36049543e-03 2.07635726e+02] [ 9.14250744e-01 4.05136436e-01 -3.16927069e-03 1.02329019e+02] [ 3.44871176e-03 4.01458409e-05 9.99994052e-01 4.86890617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53028169299995 meters 0.019999888523763155 Centerline is valid? [True, True] Translation: X:207.64, Y:102.35, Z:0.49 [[ 4.05048948e-01 -9.14294049e-01 -1.31983296e-03 2.07643901e+02] [ 9.14288873e-01 4.05051097e-01 -3.07668663e-03 1.02351896e+02] [ 3.34759607e-03 3.95000949e-05 9.99994396e-01 4.87153052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560281693 meters 0.02035586408851059 Centerline is valid? [True, True] Translation: X:207.65, Y:102.38, Z:0.49 [[ 4.05371595e-01 -9.14151350e-01 -1.08635861e-03 2.07651501e+02] [ 9.14147838e-01 4.05373049e-01 -2.53401139e-03 1.02375952e+02] [ 2.75685044e-03 3.41238634e-05 9.99996199e-01 4.88306792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59028169299995 meters 0.021833685830075077 Centerline is valid? [True, True] Translation: X:207.65, Y:102.40, Z:0.49 [[ 4.06902536e-01 -9.13471126e-01 -9.10090824e-04 2.07654969e+02] [ 9.13468657e-01 4.06903553e-01 -2.12410468e-03 1.02402927e+02] [ 2.31062748e-03 3.29641381e-05 9.99997330e-01 4.88986730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620281693 meters 0.022710744082935313 Centerline is valid? [True, True] Translation: X:207.66, Y:102.43, Z:0.49 [[ 4.06817234e-01 -9.13508471e-01 -1.41807614e-03 2.07661110e+02] [ 9.13502467e-01 4.06819702e-01 -3.31260245e-03 1.02427344e+02] [ 3.60299172e-03 5.22077160e-05 9.99993508e-01 4.85901239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65028169299995 meters 0.020510133835330506 Centerline is valid? [True, True] Translation: X:207.67, Y:102.45, Z:0.48 [[ 4.04454855e-01 -9.14554397e-01 -2.55461100e-03 2.07672019e+02] [ 9.14534897e-01 4.04462914e-01 -5.97266502e-03 1.02450980e+02] [ 6.49557247e-03 7.93924552e-05 9.99978900e-01 4.80696341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680281693 meters 0.01916010960803116 Centerline is valid? [True, True] Translation: X:207.68, Y:102.47, Z:0.48 [[ 4.02248568e-01 -9.15525715e-01 -2.95883127e-03 2.07682638e+02] [ 9.15499544e-01 4.02259443e-01 -6.92280970e-03 1.02473132e+02] [ 7.52822812e-03 7.58816171e-05 9.99971660e-01 4.79454201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71028169299996 meters 0.017948455322165158 Centerline is valid? [True, True] Translation: X:207.69, Y:102.50, Z:0.48 [[ 4.00449375e-01 -9.16314173e-01 -2.93830372e-03 2.07693258e+02] [ 9.16288350e-01 4.00460150e-01 -6.87952821e-03 1.02496532e+02] [ 7.48048275e-03 6.25693083e-05 9.99972019e-01 4.79981882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740281693 meters 0.015731720188237545 Centerline is valid? [True, True] Translation: X:207.70, Y:102.52, Z:0.48 [[ 3.97319262e-01 -9.17677355e-01 -2.38246300e-03 2.07704894e+02] [ 9.17660382e-01 3.97326404e-01 -5.58146109e-03 1.02520201e+02] [ 6.06859591e-03 3.13300942e-05 9.99981585e-01 4.82906127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77028169299996 meters 0.014820419292371363 Centerline is valid? [True, True] Translation: X:207.72, Y:102.54, Z:0.49 [[ 3.95618846e-01 -9.18413100e-01 -1.76260986e-03 2.07716770e+02] [ 9.18403806e-01 3.95622772e-01 -4.13173246e-03 1.02542964e+02] [ 4.49196582e-03 1.58036268e-05 9.99989911e-01 4.85997504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800281693 meters 0.014163923734239529 Centerline is valid? [True, True] Translation: X:207.73, Y:102.57, Z:0.49 [[ 3.93994552e-01 -9.19111929e-01 -1.24682937e-03 2.07728782e+02] [ 9.19107277e-01 3.93996525e-01 -2.92434059e-03 1.02565352e+02] [ 3.17904276e-03 6.20431724e-06 9.99994947e-01 4.88778924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83028169299996 meters 0.013891441696517924 Centerline is valid? [True, True] Translation: X:207.74, Y:102.59, Z:0.49 [[ 3.91814140e-01 -9.20043954e-01 -8.95276514e-04 2.07740278e+02] [ 9.20041556e-01 3.91815163e-01 -2.10091132e-03 1.02586741e+02] [ 2.28371367e-03 -5.24835323e-07 9.99997392e-01 4.90532572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.860281693 meters 0.013809763286674598 Centerline is valid? [True, True] Translation: X:207.75, Y:102.61, Z:0.49 [[ 3.91363451e-01 -9.20235714e-01 -9.38031668e-04 2.07750659e+02] [ 9.20233077e-01 3.91364575e-01 -2.20289107e-03 1.02610544e+02] [ 2.39429140e-03 -1.07671784e-06 9.99997134e-01 4.89639764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89028169299996 meters 0.01396754998456465 Centerline is valid? [True, True] Translation: X:207.76, Y:102.63, Z:0.49 [[ 3.91493492e-01 -9.20179784e-01 -1.41838294e-03 2.07761108e+02] [ 9.20173744e-01 3.91496061e-01 -3.33395828e-03 1.02632326e+02] [ 3.62313234e-03 6.42300671e-08 9.99993436e-01 4.86438760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.920281693 meters 0.014099262664953559 Centerline is valid? [True, True] Translation: X:207.77, Y:102.65, Z:0.49 [[ 3.91450559e-01 -9.20197564e-01 -1.70369811e-03 2.07770799e+02] [ 9.20188837e-01 3.91454266e-01 -4.00781611e-03 1.02654472e+02] [ 4.35490252e-03 1.13787220e-06 9.99990517e-01 4.85388892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95028169299997 meters 0.01423206555128468 Centerline is valid? [True, True] Translation: X:207.78, Y:102.68, Z:0.48 [[ 3.91725394e-01 -9.20080195e-01 -1.91059165e-03 2.07779928e+02] [ 9.20069200e-01 3.91730054e-01 -4.49804254e-03 1.02676911e+02] [ 4.88699603e-03 4.12095514e-06 9.99988059e-01 4.84810046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.980281693 meters 0.01565897465656508 Centerline is valid? [True, True] Translation: X:207.78, Y:102.70, Z:0.48 [[ 3.95134375e-01 -9.18619909e-01 -2.50769191e-03 2.07784778e+02] [ 9.18600908e-01 3.95142331e-01 -5.90846092e-03 1.02701854e+02] [ 6.41852506e-03 3.10679460e-05 9.99979401e-01 4.83281712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01028169299997 meters 0.01755521890764708 Centerline is valid? [True, True] Translation: X:207.79, Y:102.73, Z:0.48 [[ 3.97731783e-01 -9.17498186e-01 -2.55116693e-03 2.07790276e+02] [ 9.17478470e-01 3.97739961e-01 -6.01503987e-03 1.02727598e+02] [ 6.53348920e-03 5.17317939e-05 9.99978655e-01 4.82870248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04028169299994 meters 0.022449290722028413 Centerline is valid? [True, True] Translation: X:207.79, Y:102.76, Z:0.48 [[ 4.03672523e-01 -9.14901170e-01 -2.08394535e-03 2.07791721e+02] [ 9.14887965e-01 4.03677894e-01 -4.91615346e-03 1.02755040e+02] [ 5.33903723e-03 7.79395463e-05 9.99985744e-01 4.84115192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07028169299997 meters 0.02416022478909219 Centerline is valid? [True, True] Translation: X:207.80, Y:102.78, Z:0.48 [[ 4.05743021e-01 -9.13985358e-01 -1.83472194e-03 2.07798974e+02] [ 9.13975101e-01 4.05747161e-01 -4.33072064e-03 1.02780436e+02] [ 4.70264847e-03 8.02695059e-05 9.99988939e-01 4.84758662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10028169299994 meters 0.02963554074440737 Centerline is valid? [True, True] Translation: X:207.80, Y:102.81, Z:0.48 [[ 4.07400363e-01 -9.13247911e-01 -1.78785423e-03 2.07801432e+02] [ 9.13238152e-01 4.07404277e-01 -4.22285174e-03 1.02807107e+02] [ 4.58488999e-03 8.76546359e-05 9.99989486e-01 4.84052995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130281693 meters 0.02760497437325361 Centerline is valid? [True, True] Translation: X:207.81, Y:102.83, Z:0.48 [[ 4.08754919e-01 -9.12642048e-01 -1.97699743e-03 2.07813907e+02] [ 9.12630091e-01 4.08759686e-01 -4.67289044e-03 1.02829969e+02] [ 5.07279315e-03 1.05799609e-04 9.99987128e-01 4.84433748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16028169299994 meters 0.03185224616074987 Centerline is valid? [True, True] Translation: X:207.82, Y:102.86, Z:0.48 [[ 4.11849618e-01 -9.11247702e-01 -2.74203487e-03 2.07816153e+02] [ 9.11224634e-01 4.11858709e-01 -6.48617830e-03 1.02856288e+02] [ 7.03984601e-03 1.72720334e-04 9.99975205e-01 4.81355600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190281693 meters 0.03250009182444813 Centerline is valid? [True, True] Translation: X:207.82, Y:102.88, Z:0.48 [[ 4.12129091e-01 -9.11119534e-01 -3.28737301e-03 2.07823255e+02] [ 9.11086329e-01 4.12142147e-01 -7.78151951e-03 1.02882361e+02] [ 8.44475940e-03 2.11909953e-04 9.99964320e-01 4.78485291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22028169299995 meters 0.031499359388285166 Centerline is valid? [True, True] Translation: X:207.83, Y:102.91, Z:0.48 [[ 4.10997617e-01 -9.11631570e-01 -2.97308287e-03 2.07833889e+02] [ 9.11604390e-01 4.11008329e-01 -7.04196645e-03 1.02906018e+02] [ 7.64164075e-03 1.83956033e-04 9.99970785e-01 4.80004226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250281693 meters 0.0299625908730342 Centerline is valid? [True, True] Translation: X:207.84, Y:102.93, Z:0.48 [[ 4.09062137e-01 -9.12502735e-01 -2.63180883e-03 2.07844932e+02] [ 9.12481429e-01 4.09070575e-01 -6.23748317e-03 1.02929375e+02] [ 6.76831601e-03 1.50041509e-04 9.99977083e-01 4.81585350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28028169299995 meters 0.026707261603573364 Centerline is valid? [True, True] Translation: X:207.86, Y:102.95, Z:0.48 [[ 4.05513821e-01 -9.14086477e-01 -2.11047635e-03 2.07856074e+02] [ 9.14072780e-01 4.05519300e-01 -5.00498083e-03 1.02951962e+02] [ 5.43082418e-03 1.00459916e-04 9.99985248e-01 4.84467709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310281693 meters 0.026707261603573364 Centerline is valid? [True, True] Translation: X:207.87, Y:102.98, Z:0.48 [[ 4.05288683e-01 -9.14186324e-01 -2.10925276e-03 2.07865477e+02] [ 9.14172626e-01 4.05294159e-01 -5.00549654e-03 1.02975131e+02] [ 5.43082431e-03 1.00449969e-04 9.99985248e-01 4.84517421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34028169299995 meters 0.02515705052372487 Centerline is valid? [True, True] Translation: X:207.88, Y:103.00, Z:0.49 [[ 4.03662259e-01 -9.14905908e-01 -1.99025092e-03 2.07876054e+02] [ 9.14893705e-01 4.03667156e-01 -4.72608861e-03 1.02998969e+02] [ 5.12732532e-03 8.68755662e-05 9.99986851e-01 4.85231080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370281693 meters 0.022749395640115713 Centerline is valid? [True, True] Translation: X:207.89, Y:103.02, Z:0.49 [[ 4.02275483e-01 -9.15516896e-01 -1.80232960e-03 2.07888570e+02] [ 9.15506882e-01 4.02279514e-01 -4.28261387e-03 1.03021773e+02] [ 4.64584564e-03 7.27454147e-05 9.99989205e-01 4.86331630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40028169299995 meters 0.02132978484007755 Centerline is valid? [True, True] Translation: X:207.90, Y:103.04, Z:0.49 [[ 3.99724569e-01 -9.16633602e-01 -1.76319832e-03 2.07900836e+02] [ 9.16624016e-01 3.99728453e-01 -4.19250039e-03 1.03044172e+02] [ 4.54778727e-03 5.96554879e-05 9.99989657e-01 4.86066220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430281693 meters 0.020573552221232094 Centerline is valid? [True, True] Translation: X:207.91, Y:103.07, Z:0.48 [[ 3.98497109e-01 -9.17167042e-01 -2.16150046e-03 2.07911597e+02] [ 9.17152622e-01 3.98502965e-01 -5.14337780e-03 1.03066803e+02] [ 5.57870095e-03 6.71953643e-05 9.99984437e-01 4.84075107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46028169299996 meters 0.019193355598480174 Centerline is valid? [True, True] Translation: X:207.92, Y:103.09, Z:0.48 [[ 3.97177161e-01 -9.17737351e-01 -2.90837261e-03 2.07923238e+02] [ 9.17711220e-01 3.97187800e-01 -6.92592303e-03 1.03089742e+02] [ 7.51134837e-03 8.17722726e-05 9.99971786e-01 4.81628199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490281693 meters 0.018922738179789067 Centerline is valid? [True, True] Translation: X:207.93, Y:103.11, Z:0.48 [[ 3.96505888e-01 -9.18028295e-01 -2.67039525e-03 2.07933185e+02] [ 9.18006242e-01 3.96514873e-01 -6.36363788e-03 1.03113382e+02] [ 6.90085107e-03 7.17803791e-05 9.99976186e-01 4.83346855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52028169299996 meters 0.018055219877849873 Centerline is valid? [True, True] Translation: X:207.94, Y:103.14, Z:0.49 [[ 3.95604913e-01 -9.18418586e-01 -2.01325076e-03 2.07944097e+02] [ 9.18406040e-01 3.95610033e-01 -4.80074489e-03 1.03136514e+02] [ 5.20555553e-03 5.02166092e-05 9.99986450e-01 4.86764482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550281693 meters 0.018606316854939645 Centerline is valid? [True, True] Translation: X:207.95, Y:103.16, Z:0.49 [[ 3.96174040e-01 -9.18174431e-01 -1.35816015e-03 2.07951402e+02] [ 9.18168713e-01 3.96176366e-01 -3.24055820e-03 1.03159495e+02] [ 3.51346863e-03 3.68048807e-05 9.99993827e-01 4.90278939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58028169299996 meters 0.020210036926310553 Centerline is valid? [True, True] Translation: X:207.96, Y:103.18, Z:0.49 [[ 3.97037226e-01 -9.17801362e-01 -1.44971758e-03 2.07957665e+02] [ 9.17794835e-01 3.97039870e-01 -3.46143880e-03 1.03183271e+02] [ 3.75250893e-03 4.37767528e-05 9.99992958e-01 4.88610858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.610281693 meters 0.021731965835590134 Centerline is valid? [True, True] Translation: X:207.96, Y:103.21, Z:0.49 [[ 3.98596853e-01 -9.17124483e-01 -1.79764193e-03 2.07963732e+02] [ 9.17114428e-01 3.98600901e-01 -4.29509365e-03 1.03208905e+02] [ 4.65567724e-03 6.33674579e-05 9.99989160e-01 4.86624178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64028169299996 meters 0.022478633623609006 Centerline is valid? [True, True] Translation: X:207.97, Y:103.23, Z:0.49 [[ 3.98687281e-01 -9.17085056e-01 -1.85789063e-03 2.07971191e+02] [ 9.17074302e-01 3.98691604e-01 -4.44181519e-03 1.03232478e+02] [ 4.81424773e-03 6.70714655e-05 9.99988409e-01 4.86885756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.670281693 meters 0.0220861790746555 Centerline is valid? [True, True] Translation: X:207.98, Y:103.26, Z:0.49 [[ 3.98408044e-01 -9.17206319e-01 -1.89727118e-03 2.07980808e+02] [ 9.17195090e-01 3.98412556e-01 -4.53896484e-03 1.03256427e+02] [ 4.91906389e-03 6.81922891e-05 9.99987899e-01 4.87194672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70028169299997 meters 0.02093563490425094 Centerline is valid? [True, True] Translation: X:207.99, Y:103.28, Z:0.49 [[ 3.98270136e-01 -9.17266191e-01 -1.90622140e-03 2.07988373e+02] [ 9.17254841e-01 3.98274692e-01 -4.56365499e-03 1.03280577e+02] [ 4.94528616e-03 6.90766894e-05 9.99987770e-01 4.87544647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.730281693 meters 0.021753994764306932 Centerline is valid? [True, True] Translation: X:207.99, Y:103.31, Z:0.49 [[ 3.98549084e-01 -9.17145215e-01 -1.81179310e-03 2.07993869e+02] [ 9.17134945e-01 3.98553196e-01 -4.34077842e-03 1.03305023e+02] [ 4.70322008e-03 6.83544991e-05 9.99988937e-01 4.87549630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76028169299997 meters 0.023257249133777913 Centerline is valid? [True, True] Translation: X:208.00, Y:103.33, Z:0.49 [[ 3.99582829e-01 -9.16696093e-01 -1.35467461e-03 2.07997033e+02] [ 9.16690342e-01 3.99585121e-01 -3.24761334e-03 1.03331603e+02] [ 3.51838228e-03 5.58733969e-05 9.99993809e-01 4.89573912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79028169299994 meters 0.02288470848439144 Centerline is valid? [True, True] Translation: X:208.01, Y:103.36, Z:0.49 [[ 3.99457594e-01 -9.16750774e-01 -1.28415138e-03 2.08005014e+02] [ 9.16745599e-01 3.99459654e-01 -3.08064870e-03 1.03355849e+02] [ 3.33715375e-03 5.33483956e-05 9.99994430e-01 4.89324607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82028169299997 meters 0.02348182786016333 Centerline is valid? [True, True] Translation: X:208.01, Y:103.38, Z:0.49 [[ 3.98963134e-01 -9.16965552e-01 -1.61068871e-03 2.08011420e+02] [ 9.16957399e-01 3.98966380e-01 -3.86722066e-03 1.03379973e+02] [ 4.18871877e-03 6.59455441e-05 9.99991225e-01 4.87985177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85028169299994 meters 0.02231651023130777 Centerline is valid? [True, True] Translation: X:208.02, Y:103.40, Z:0.49 [[ 3.97255827e-01 -9.17705460e-01 -2.12024878e-03 2.08018020e+02] [ 9.17691321e-01 3.97261478e-01 -5.09489453e-03 1.03403815e+02] [ 5.51790570e-03 7.82426433e-05 9.99984773e-01 4.85318098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880281693 meters 0.019985327349412958 Centerline is valid? [True, True] Translation: X:208.03, Y:103.43, Z:0.49 [[ 3.95731951e-01 -9.18363062e-01 -2.34732666e-03 2.08029784e+02] [ 9.18345716e-01 3.95738905e-01 -5.64488325e-03 1.03426622e+02] [ 6.11298075e-03 7.82032803e-05 9.99981313e-01 4.85405413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91028169299994 meters 0.02082814781898084 Centerline is valid? [True, True] Translation: X:208.04, Y:103.45, Z:0.48 [[ 3.94179071e-01 -9.19030276e-01 -2.49250276e-03 2.08036407e+02] [ 9.19010701e-01 3.94186944e-01 -5.99868535e-03 1.03450380e+02] [ 6.49548550e-03 7.39195049e-05 9.99978901e-01 4.83707264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940281693 meters 0.016737170459892738 Centerline is valid? [True, True] Translation: X:208.05, Y:103.47, Z:0.48 [[ 3.89762536e-01 -9.20910859e-01 -2.89066825e-03 2.08052032e+02] [ 9.20884544e-01 3.89773252e-01 -6.96189309e-03 1.03472094e+02] [ 7.53798811e-03 5.15133919e-05 9.99971588e-01 4.82129478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97028169299995 meters 0.015576796275512625 Centerline is valid? [True, True] Translation: X:208.06, Y:103.49, Z:0.48 [[ 3.86670902e-01 -9.22212195e-01 -3.20652752e-03 2.08064525e+02] [ 9.22179813e-01 3.86684196e-01 -7.72825924e-03 1.03493185e+02] [ 8.36700843e-03 3.12980239e-05 9.99964995e-01 4.79989935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000281693 meters 0.01487575581281594 Centerline is valid? [True, True] Translation: X:208.08, Y:103.51, Z:0.48 [[ 3.81999619e-01 -9.24156288e-01 -3.38316763e-03 2.08080538e+02] [ 9.24120264e-01 3.82014600e-01 -8.15985519e-03 1.03514458e+02] [ 8.83340092e-03 -9.39219188e-06 9.99960985e-01 4.79600659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03028169299995 meters 0.014951471192139607 Centerline is valid? [True, True] Translation: X:208.09, Y:103.54, Z:0.48 [[ 3.80882247e-01 -9.24617832e-01 -3.25233433e-03 2.08091438e+02] [ 9.24584511e-01 3.80896132e-01 -7.84978110e-03 1.03537245e+02] [ 8.49684915e-03 -1.72156798e-05 9.99963901e-01 4.80672559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060281693 meters 0.014857651739728075 Centerline is valid? [True, True] Translation: X:208.10, Y:103.56, Z:0.48 [[ 3.80597518e-01 -9.24735756e-01 -3.05133161e-03 2.08101820e+02] [ 9.24706388e-01 3.80609749e-01 -7.36992807e-03 1.03559431e+02] [ 7.97660256e-03 -1.66095015e-05 9.99968186e-01 4.82318102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09028169299995 meters 0.014774009154266242 Centerline is valid? [True, True] Translation: X:208.11, Y:103.58, Z:0.48 [[ 3.80497601e-01 -9.24777436e-01 -2.87578399e-03 2.08111820e+02] [ 9.24751312e-01 3.80508468e-01 -6.95106798e-03 1.03582401e+02] [ 7.52245098e-03 -1.45203305e-05 9.99971706e-01 4.83009774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120281693 meters 0.014435417898918695 Centerline is valid? [True, True] Translation: X:208.12, Y:103.60, Z:0.48 [[ 3.80693853e-01 -9.24697682e-01 -2.52748758e-03 2.08120732e+02] [ 9.24677470e-01 3.80702243e-01 -6.11377635e-03 1.03604349e+02] [ 6.61561500e-03 -9.63374649e-06 9.99978117e-01 4.84772954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15028169299995 meters 0.014113407248278219 Centerline is valid? [True, True] Translation: X:208.13, Y:103.63, Z:0.49 [[ 3.82398393e-01 -9.23995489e-01 -1.95082239e-03 2.08128207e+02] [ 9.23983422e-01 3.82403369e-01 -4.72210664e-03 1.03628489e+02] [ 5.10920629e-03 3.19844871e-06 9.99986948e-01 4.88445529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180281693 meters 0.014092762035580282 Centerline is valid? [True, True] Translation: X:208.14, Y:103.65, Z:0.49 [[ 3.83428597e-01 -9.23568801e-01 -1.78332855e-03 2.08136555e+02] [ 9.23558699e-01 3.83432744e-01 -4.31978119e-03 1.03652223e+02] [ 4.67340170e-03 9.31904825e-06 9.99989080e-01 4.89723330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21028169299996 meters 0.014545757930721678 Centerline is valid? [True, True] Translation: X:208.14, Y:103.68, Z:0.49 [[ 3.84357287e-01 -9.23182573e-01 -1.84755694e-03 2.08144724e+02] [ 9.23171708e-01 3.84361728e-01 -4.47886360e-03 1.03675406e+02] [ 4.84493899e-03 1.58715711e-05 9.99988263e-01 4.89114446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240281693 meters 0.015276224339280019 Centerline is valid? [True, True] Translation: X:208.15, Y:103.70, Z:0.49 [[ 3.85367869e-01 -9.22761206e-01 -1.83396464e-03 2.08154117e+02] [ 9.22750479e-01 3.85372232e-01 -4.44927638e-03 1.03697785e+02] [ 4.81237869e-03 2.23164020e-05 9.99988420e-01 4.89571044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27028169299996 meters 0.015332358644317692 Centerline is valid? [True, True] Translation: X:208.16, Y:103.72, Z:0.49 [[ 3.85137748e-01 -9.22857302e-01 -1.82100922e-03 2.08163369e+02] [ 9.22846712e-01 3.85142052e-01 -4.42109765e-03 1.03720487e+02] [ 4.78138948e-03 2.22192230e-05 9.99988569e-01 4.88990374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300281693 meters 0.01479427737107869 Centerline is valid? [True, True] Translation: X:208.18, Y:103.74, Z:0.49 [[ 3.84170168e-01 -9.23260640e-01 -1.75270289e-03 2.08175173e+02] [ 9.23250820e-01 3.84174166e-01 -4.25825642e-03 1.03743101e+02] [ 4.60482372e-03 1.77107033e-05 9.99989398e-01 4.89317997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33028169299996 meters 0.014707688293830285 Centerline is valid? [True, True] Translation: X:208.19, Y:103.77, Z:0.49 [[ 3.83914057e-01 -9.23367001e-01 -1.83813845e-03 2.08185054e+02] [ 9.23356186e-01 3.83918457e-01 -4.46909429e-03 1.03766374e+02] [ 4.83230947e-03 1.84916100e-05 9.99988324e-01 4.89389613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.360281693 meters 0.015034094085841923 Centerline is valid? [True, True] Translation: X:208.19, Y:103.79, Z:0.49 [[ 3.83649112e-01 -9.23477136e-01 -1.82723621e-03 2.08193478e+02] [ 9.23466435e-01 3.83653463e-01 -4.44554877e-03 1.03789241e+02] [ 4.80638814e-03 1.81395282e-05 9.99988449e-01 4.88802110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39028169299996 meters 0.014587818948369536 Centerline is valid? [True, True] Translation: X:208.20, Y:103.81, Z:0.49 [[ 3.83433024e-01 -9.23567639e-01 -1.39031376e-03 2.08204709e+02] [ 9.23561437e-01 3.83435545e-01 -3.38452072e-03 1.03812285e+02] [ 3.65892952e-03 1.36968409e-05 9.99993306e-01 4.92185216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.420281693 meters 0.014506394868059377 Centerline is valid? [True, True] Translation: X:208.21, Y:103.84, Z:0.49 [[ 3.83175228e-01 -9.23675045e-01 -1.07506136e-03 2.08214203e+02] [ 9.23671333e-01 3.83176736e-01 -2.61866433e-03 1.03835859e+02] [ 2.83073340e-03 1.04039394e-05 9.99995993e-01 4.93772133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45028169299997 meters 0.014444471032872117 Centerline is valid? [True, True] Translation: X:208.22, Y:103.86, Z:0.50 [[ 3.82609983e-01 -9.23909623e-01 -7.81312133e-04 2.08224404e+02] [ 9.23907660e-01 3.82610780e-01 -1.90415899e-03 1.03859698e+02] [ 2.05820926e-03 6.68997544e-06 9.99997882e-01 4.95154407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.480281693 meters 0.01394323675118882 Centerline is valid? [True, True] Translation: X:208.24, Y:103.88, Z:0.50 [[ 3.80306199e-01 -9.24860480e-01 -5.36693163e-04 2.08238658e+02] [ 9.24859554e-01 3.80306578e-01 -1.30850886e-03 1.03880389e+02] [ 1.41429608e-03 1.26823256e-06 9.99999000e-01 4.95974194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51028169299997 meters 0.01386775693790157 Centerline is valid? [True, True] Translation: X:208.25, Y:103.90, Z:0.49 [[ 3.78777650e-01 -9.25487403e-01 -7.47463869e-04 2.08251164e+02] [ 9.25485605e-01 3.78778388e-01 -1.82431447e-03 1.03902371e+02] [ 1.97150322e-03 -7.57502860e-07 9.99998057e-01 4.94832790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54028169299994 meters 0.01380290073570402 Centerline is valid? [True, True] Translation: X:208.26, Y:103.93, Z:0.49 [[ 3.78233472e-01 -9.25709653e-01 -1.03905365e-03 2.08261950e+02] [ 9.25706173e-01 3.78234899e-01 -2.53833956e-03 1.03925639e+02] [ 2.74277178e-03 -1.77339734e-06 9.99996239e-01 4.93809999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57028169299997 meters 0.014002316972494924 Centerline is valid? [True, True] Translation: X:208.27, Y:103.95, Z:0.49 [[ 3.79074538e-01 -9.25365600e-01 -1.00047053e-03 2.08269131e+02] [ 9.25362368e-01 3.79075859e-01 -2.44581918e-03 1.03950138e+02] [ 2.64253116e-03 1.35000214e-06 9.99996509e-01 4.94090775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60028169299994 meters 0.01437715973528719 Centerline is valid? [True, True] Translation: X:208.27, Y:103.97, Z:0.49 [[ 3.80487737e-01 -9.24785304e-01 -1.10634388e-03 2.08274403e+02] [ 9.24781342e-01 3.80489345e-01 -2.70678267e-03 1.03974104e+02] [ 2.92414489e-03 6.77142975e-06 9.99995725e-01 4.94194849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630281693 meters 0.015075698553747617 Centerline is valid? [True, True] Translation: X:208.28, Y:104.00, Z:0.49 [[ 3.82048723e-01 -9.24141198e-01 -1.34860303e-03 2.08279783e+02] [ 9.24135299e-01 3.82051103e-01 -3.30221535e-03 1.03999536e+02] [ 3.56694853e-03 1.53154914e-05 9.99993638e-01 4.93901645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66028169299994 meters 0.01755233020079614 Centerline is valid? [True, True] Translation: X:208.28, Y:104.03, Z:0.49 [[ 3.85743498e-01 -9.22603967e-01 -1.96839359e-03 2.08280069e+02] [ 9.22591357e-01 3.85748518e-01 -4.82379008e-03 1.04027433e+02] [ 5.20975277e-03 4.47227436e-05 9.99986428e-01 4.91872456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690281693 meters 0.01900045822832041 Centerline is valid? [True, True] Translation: X:208.29, Y:104.05, Z:0.49 [[ 3.87578357e-01 -9.21834312e-01 -2.12557882e-03 2.08285304e+02] [ 9.21819576e-01 3.87584181e-01 -5.21262261e-03 1.04053950e+02] [ 5.62901511e-03 6.08995384e-05 9.99984155e-01 4.91207389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72028169299995 meters 0.02195301648934894 Centerline is valid? [True, True] Translation: X:208.29, Y:104.08, Z:0.49 [[ 3.90618482e-01 -9.20549755e-01 -2.31289613e-03 2.08287334e+02] [ 9.20532261e-01 3.90625319e-01 -5.67589436e-03 1.04081524e+02] [ 6.12841896e-03 8.80137385e-05 9.99981217e-01 4.90374991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750281693 meters 0.023308415449882772 Centerline is valid? [True, True] Translation: X:208.29, Y:104.11, Z:0.49 [[ 3.90620500e-01 -9.20549285e-01 -2.15395698e-03 2.08291804e+02] [ 9.20534091e-01 3.90626430e-01 -5.28964285e-03 1.04106064e+02] [ 5.71076946e-03 8.34521009e-05 9.99983690e-01 4.90919912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78028169299995 meters 0.02189733881826494 Centerline is valid? [True, True] Translation: X:208.30, Y:104.13, Z:0.49 [[ 3.89961228e-01 -9.20829659e-01 -1.72614633e-03 2.08300035e+02] [ 9.20819891e-01 3.89965043e-01 -4.24190678e-03 1.04129879e+02] [ 4.57921030e-03 6.47093054e-05 9.99989513e-01 4.93134439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810281693 meters 0.020249508938806685 Centerline is valid? [True, True] Translation: X:208.31, Y:104.16, Z:0.49 [[ 3.87909427e-01 -9.21696406e-01 -1.41829280e-03 2.08308077e+02] [ 9.21689809e-01 3.87912018e-01 -3.48755920e-03 1.04155144e+02] [ 3.76464360e-03 4.56310764e-05 9.99992913e-01 4.94468422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84028169299995 meters 0.019130903462379608 Centerline is valid? [True, True] Translation: X:208.32, Y:104.18, Z:0.49 [[ 3.86451555e-01 -9.22308179e-01 -1.67871984e-03 2.08318234e+02] [ 9.22298929e-01 3.86455198e-01 -4.13097921e-03 1.04179057e+02] [ 4.45878592e-03 4.81418220e-05 9.99990058e-01 4.93341957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870281693 meters 0.017911560865726386 Centerline is valid? [True, True] Translation: X:208.33, Y:104.20, Z:0.49 [[ 3.84754190e-01 -9.23017037e-01 -1.93977480e-03 2.08328878e+02] [ 9.23004677e-01 3.84759077e-01 -4.77701981e-03 1.04201912e+02] [ 5.15561664e-03 4.75571737e-05 9.99986709e-01 4.91652645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90028169299995 meters 0.01586332298543264 Centerline is valid? [True, True] Translation: X:208.34, Y:104.22, Z:0.49 [[ 3.80884862e-01 -9.24620150e-01 -2.07348064e-03 2.08341467e+02] [ 9.24606030e-01 3.80890505e-01 -5.11002206e-03 1.04224161e+02] [ 5.51459846e-03 2.91773436e-05 9.99984794e-01 4.89979610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930281693 meters 0.014995274351914023 Centerline is valid? [True, True] Translation: X:208.35, Y:104.25, Z:0.49 [[ 3.79143328e-01 -9.25336221e-01 -1.79310875e-03 2.08353413e+02] [ 9.25325655e-01 3.79147568e-01 -4.42205386e-03 1.04246894e+02] [ 4.77173943e-03 1.73826926e-05 9.99988615e-01 4.91723019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96028169299996 meters 0.014352967140117795 Centerline is valid? [True, True] Translation: X:208.37, Y:104.27, Z:0.49 [[ 3.76573951e-01 -9.26385510e-01 -1.39528584e-03 2.08366615e+02] [ 9.26379111e-01 3.76576536e-01 -3.44323266e-03 1.04268444e+02] [ 3.71519275e-03 4.06807246e-06 9.99993099e-01 4.93552036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990281693 meters 0.01429106291027926 Centerline is valid? [True, True] Translation: X:208.38, Y:104.29, Z:0.49 [[ 3.75521454e-01 -9.26812312e-01 -1.60530048e-03 2.08376415e+02] [ 9.26803831e-01 3.75524885e-01 -3.96470822e-03 1.04290499e+02] [ 4.27737067e-03 1.03435634e-06 9.99990852e-01 4.92918652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02028169299996 meters 0.014422138372303757 Centerline is valid? [True, True] Translation: X:208.39, Y:104.31, Z:0.49 [[ 3.74993482e-01 -9.27025853e-01 -1.71947250e-03 2.08386078e+02] [ 9.27016111e-01 3.74997424e-01 -4.24992421e-03 1.04314087e+02] [ 4.58458737e-03 -2.84832455e-07 9.99989491e-01 4.91683077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050281693 meters 0.014538251243872612 Centerline is valid? [True, True] Translation: X:208.40, Y:104.34, Z:0.49 [[ 3.74954350e-01 -9.27041619e-01 -1.75264951e-03 2.08396599e+02] [ 9.27031483e-01 3.74958446e-01 -4.33510846e-03 1.04337212e+02] [ 4.67599670e-03 7.06493023e-07 9.99989067e-01 4.91370068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08028169299996 meters 0.014532941466466125 Centerline is valid? [True, True] Translation: X:208.41, Y:104.36, Z:0.49 [[ 3.75080287e-01 -9.26990966e-01 -1.58952470e-03 2.08406470e+02] [ 9.26982617e-01 3.75083655e-01 -3.93437150e-03 1.04361203e+02] [ 4.24333157e-03 2.24342158e-06 9.99990997e-01 4.92708738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.110281693 meters 0.014332142759535102 Centerline is valid? [True, True] Translation: X:208.42, Y:104.39, Z:0.49 [[ 3.75312637e-01 -9.26897255e-01 -1.37945331e-03 2.08415556e+02] [ 9.26890957e-01 3.75315173e-01 -3.41676925e-03 1.04385433e+02] [ 3.68472379e-03 3.75387612e-06 9.99993211e-01 4.94205166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14028169299996 meters 0.014926567185036195 Centerline is valid? [True, True] Translation: X:208.42, Y:104.41, Z:0.49 [[ 3.77005768e-01 -9.26209855e-01 -1.39852565e-03 2.08422172e+02] [ 9.26203367e-01 3.77008362e-01 -3.46666807e-03 1.04410652e+02] [ 3.73811799e-03 1.16346948e-05 9.99993013e-01 4.94526923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.170281693 meters 0.015426690068859097 Centerline is valid? [True, True] Translation: X:208.43, Y:104.43, Z:0.49 [[ 3.78019215e-01 -9.25796241e-01 -1.67153226e-03 2.08429634e+02] [ 9.25786955e-01 3.78022910e-01 -4.14658812e-03 1.04434341e+02] [ 4.47077318e-03 2.00072265e-05 9.99990006e-01 4.93038230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20028169299997 meters 0.015426690068859097 Centerline is valid? [True, True] Translation: X:208.44, Y:104.46, Z:0.49 [[ 3.77777987e-01 -9.25894703e-01 -1.67051364e-03 2.08438673e+02] [ 9.25885417e-01 3.77781680e-01 -4.14699852e-03 1.04457647e+02] [ 4.47077342e-03 1.99405379e-05 9.99990006e-01 4.93087937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.230281693 meters 0.01687599100093714 Centerline is valid? [True, True] Translation: X:208.45, Y:104.48, Z:0.49 [[ 3.79378238e-01 -9.25239057e-01 -2.19991502e-03 2.08445853e+02] [ 9.25222914e-01 3.79384615e-01 -5.46563260e-03 1.04482150e+02] [ 5.89163067e-03 3.81302809e-05 9.99982643e-01 4.89634861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26028169299997 meters 0.01662858564736702 Centerline is valid? [True, True] Translation: X:208.46, Y:104.50, Z:0.49 [[ 3.79459643e-01 -9.25205830e-01 -2.13348696e-03 2.08456104e+02] [ 9.25190625e-01 3.79465639e-01 -5.30445021e-03 1.04504991e+02] [ 5.71729325e-03 3.89426479e-05 9.99983655e-01 4.91493684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29028169299994 meters 0.016501193998982477 Centerline is valid? [True, True] Translation: X:208.47, Y:104.53, Z:0.49 [[ 3.79355282e-01 -9.25249197e-01 -1.86911506e-03 2.08465979e+02] [ 9.25237511e-01 3.79359885e-01 -4.65046728e-03 1.04528048e+02] [ 5.01190838e-03 3.48039618e-05 9.99987440e-01 4.93441908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32028169299997 meters 0.016752477742702634 Centerline is valid? [True, True] Translation: X:208.48, Y:104.55, Z:0.49 [[ 3.79370585e-01 -9.25243434e-01 -1.59618899e-03 2.08475450e+02] [ 9.25234899e-01 3.79373941e-01 -3.97426753e-03 1.04550330e+02] [ 4.28271745e-03 3.08704359e-05 9.99990829e-01 4.94969305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35028169299994 meters 0.017877489118724478 Centerline is valid? [True, True] Translation: X:208.48, Y:104.57, Z:0.50 [[ 3.79895626e-01 -9.25028128e-01 -1.50819355e-03 2.08484684e+02] [ 9.25020495e-01 3.79898619e-01 -3.75802245e-03 1.04573113e+02] [ 4.04923712e-03 3.25463471e-05 9.99991801e-01 4.95287421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380281693 meters 0.01906535235550023 Centerline is valid? [True, True] Translation: X:208.49, Y:104.60, Z:0.49 [[ 3.81545847e-01 -9.24348322e-01 -1.71629555e-03 2.08492897e+02] [ 9.24338416e-01 3.81549704e-01 -4.27977850e-03 1.04598212e+02] [ 4.61085814e-03 4.64938012e-05 9.99989369e-01 4.94479187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41028169299994 meters 0.019291658422895496 Centerline is valid? [True, True] Translation: X:208.50, Y:104.62, Z:0.50 [[ 3.82740091e-01 -9.23854469e-01 -1.71522018e-03 2.08502340e+02] [ 9.23844557e-01 3.82743931e-01 -4.27999244e-03 1.04622855e+02] [ 4.61058026e-03 5.35278690e-05 9.99989370e-01 4.95167678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440281693 meters 0.021467993058465643 Centerline is valid? [True, True] Translation: X:208.51, Y:104.65, Z:0.50 [[ 3.84452658e-01 -9.23143192e-01 -1.67345263e-03 2.08507807e+02] [ 9.23133736e-01 3.84456295e-01 -4.17871942e-03 1.04647836e+02] [ 4.50092579e-03 6.16992144e-05 9.99989869e-01 4.95476591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47028169299995 meters 0.023867249942916884 Centerline is valid? [True, True] Translation: X:208.51, Y:104.67, Z:0.50 [[ 3.86943300e-01 -9.22101979e-01 -1.68044522e-03 2.08513145e+02] [ 9.22092420e-01 3.86946942e-01 -4.19913036e-03 1.04673885e+02] [ 4.52226955e-03 7.52995559e-05 9.99989772e-01 4.96547986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500281693 meters 0.03193704080832727 Centerline is valid? [True, True] Translation: X:208.51, Y:104.70, Z:0.50 [[ 3.93172041e-01 -9.19464129e-01 -1.20921220e-03 2.08507727e+02] [ 9.19459161e-01 3.93173893e-01 -3.02333711e-03 1.04703459e+02] [ 3.25528069e-03 7.68703839e-05 9.99994699e-01 4.99205637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53028169299995 meters 0.033973350028651705 Centerline is valid? [True, True] Translation: X:208.51, Y:104.73, Z:0.50 [[ 3.95788791e-01 -9.18341167e-01 -8.56825876e-04 2.08511300e+02] [ 9.18338668e-01 3.95789713e-01 -2.14337457e-03 1.04730044e+02] [ 2.30747197e-03 6.14672955e-05 9.99997336e-01 5.00105468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560281693 meters 0.03328594751981616 Centerline is valid? [True, True] Translation: X:208.52, Y:104.76, Z:0.50 [[ 3.97227919e-01 -9.17719501e-01 -9.47895701e-04 2.08517624e+02] [ 9.17716436e-01 3.97229043e-01 -2.37272184e-03 1.04755671e+02] [ 2.55402480e-03 7.26118924e-05 9.99996736e-01 4.97855018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59028169299995 meters 0.03321964193037604 Centerline is valid? [True, True] Translation: X:208.53, Y:104.78, Z:0.50 [[ 3.95671518e-01 -9.18390989e-01 -1.42852669e-03 2.08525943e+02] [ 9.18384021e-01 3.95674083e-01 -3.57902003e-03 1.04779588e+02] [ 3.85217073e-03 1.04180201e-04 9.99992575e-01 4.96244616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620281693 meters 0.02933432193624921 Centerline is valid? [True, True] Translation: X:208.54, Y:104.80, Z:0.50 [[ 3.91416483e-01 -9.20212340e-01 -1.54472349e-03 2.08536466e+02] [ 9.20204194e-01 3.91419520e-01 -3.87298547e-03 1.04803096e+02] [ 4.16860395e-03 9.44893217e-05 9.99991307e-01 4.96971725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65028169299995 meters 0.029101578230146627 Centerline is valid? [True, True] Translation: X:208.54, Y:104.83, Z:0.50 [[ 3.89543838e-01 -9.21007025e-01 -1.28780445e-03 2.08543169e+02] [ 9.21001361e-01 3.89545960e-01 -3.23082832e-03 1.04828281e+02] [ 3.47727460e-03 7.24796120e-05 9.99993952e-01 4.97467302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680281693 meters 0.027814241863628776 Centerline is valid? [True, True] Translation: X:208.55, Y:104.85, Z:0.50 [[ 3.88047129e-01 -9.21638961e-01 -1.02500974e-03 2.08552227e+02] [ 9.21635371e-01 3.88048479e-01 -2.57303576e-03 1.04851715e+02] [ 2.76916348e-03 5.37739097e-05 9.99996164e-01 4.98173480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71028169299996 meters 0.023703345565034072 Centerline is valid? [True, True] Translation: X:208.57, Y:104.87, Z:0.50 [[ 3.85455396e-01 -9.22725663e-01 -1.21974165e-03 2.08565815e+02] [ 9.22720577e-01 3.85457322e-01 -3.06422553e-03 1.04874550e+02] [ 3.29759789e-03 5.56415473e-05 9.99994561e-01 4.97260561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740281693 meters 0.022608555728293477 Centerline is valid? [True, True] Translation: X:208.58, Y:104.90, Z:0.50 [[ 3.83825432e-01 -9.23404247e-01 -1.62323766e-03 2.08575240e+02] [ 9.23395230e-01 3.83828859e-01 -4.08119991e-03 1.04898754e+02] [ 4.39164278e-03 6.75784057e-05 9.99990354e-01 4.95885410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77028169299996 meters 0.0228321756918636 Centerline is valid? [True, True] Translation: X:208.58, Y:104.92, Z:0.49 [[ 3.82130092e-01 -9.24106410e-01 -1.98389293e-03 2.08582117e+02] [ 9.24092929e-01 3.82135234e-01 -4.99208653e-03 1.04922656e+02] [ 5.37133455e-03 7.43250547e-05 9.99985572e-01 4.93539848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800281693 meters 0.020272616929832326 Centerline is valid? [True, True] Translation: X:208.59, Y:104.95, Z:0.49 [[ 3.79950077e-01 -9.25004602e-01 -2.10350466e-03 2.08594468e+02] [ 9.24989438e-01 3.79955894e-01 -5.29699251e-03 1.04945522e+02] [ 5.69898144e-03 6.68731182e-05 9.99983758e-01 4.93452660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83028169299996 meters 0.01952551452001387 Centerline is valid? [True, True] Translation: X:208.61, Y:104.97, Z:0.49 [[ 3.78969635e-01 -9.25407235e-01 -1.86133090e-03 2.08605305e+02] [ 9.25395350e-01 3.78974202e-01 -4.69042966e-03 1.04968784e+02] [ 5.04595394e-03 5.50634623e-05 9.99987268e-01 4.94389920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.860281693 meters 0.020021116125293184 Centerline is valid? [True, True] Translation: X:208.61, Y:104.99, Z:0.50 [[ 3.77942862e-01 -9.25827563e-01 -1.58625829e-03 2.08613389e+02] [ 9.25818923e-01 3.77946189e-01 -4.00013749e-03 1.04992012e+02] [ 4.30295783e-03 4.32354699e-05 9.99990741e-01 4.95706318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89028169299996 meters 0.01745183176718843 Centerline is valid? [True, True] Translation: X:208.62, Y:105.01, Z:0.50 [[ 3.75609563e-01 -9.26776935e-01 -1.40319161e-03 2.08624745e+02] [ 9.26770171e-01 3.75612183e-01 -3.54103222e-03 1.05014977e+02] [ 3.80880285e-03 2.96094356e-05 9.99992746e-01 4.97718718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.920281693 meters 0.01679949815978358 Centerline is valid? [True, True] Translation: X:208.63, Y:105.04, Z:0.50 [[ 3.74435699e-01 -9.27251641e-01 -1.51695671e-03 2.08634755e+02] [ 9.27243727e-01 3.74438771e-01 -3.83110914e-03 1.05038630e+02] [ 4.12040964e-03 2.79154358e-05 9.99991511e-01 4.97424038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95028169299997 meters 0.01627673805996822 Centerline is valid? [True, True] Translation: X:208.65, Y:105.06, Z:0.50 [[ 3.73344537e-01 -9.27691202e-01 -1.70035899e-03 2.08645511e+02] [ 9.27681247e-01 3.73348408e-01 -4.29775555e-03 1.05062053e+02] [ 4.62181633e-03 2.71524054e-05 9.99989319e-01 4.96635327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.980281693 meters 0.015876649854182596 Centerline is valid? [True, True] Translation: X:208.66, Y:105.08, Z:0.50 [[ 3.72048805e-01 -9.28211055e-01 -1.98096008e-03 2.08655196e+02] [ 9.28197528e-01 3.72054077e-01 -5.01122442e-03 1.05084168e+02] [ 5.38849818e-03 2.56978088e-05 9.99985482e-01 4.95303587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01028169299997 meters 0.015562300612981557 Centerline is valid? [True, True] Translation: X:208.66, Y:105.11, Z:0.50 [[ 3.70978609e-01 -9.28639479e-01 -1.89464283e-03 2.08663199e+02] [ 9.28627092e-01 3.70983446e-01 -4.79655557e-03 1.05108592e+02] [ 5.15715200e-03 2.00028525e-05 9.99986702e-01 4.96143290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04028169299994 meters 0.01577197799694875 Centerline is valid? [True, True] Translation: X:208.67, Y:105.13, Z:0.50 [[ 3.71280134e-01 -9.28519579e-01 -1.56650322e-03 2.08669855e+02] [ 9.28511098e-01 3.71283438e-01 -3.96868025e-03 1.05131800e+02] [ 4.26661402e-03 1.89765100e-05 9.99990898e-01 4.98101871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07028169299997 meters 0.01560971082860085 Centerline is valid? [True, True] Translation: X:208.68, Y:105.16, Z:0.50 [[ 3.71265857e-01 -9.28525396e-01 -1.50110733e-03 2.08677710e+02] [ 9.28517596e-01 3.71268891e-01 -3.80591650e-03 1.05156024e+02] [ 4.09120458e-03 1.92022755e-05 9.99991631e-01 4.99817061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10028169299994 meters 0.015710234294308272 Centerline is valid? [True, True] Translation: X:208.69, Y:105.18, Z:0.50 [[ 3.70944671e-01 -9.28653311e-01 -1.75483203e-03 2.08686188e+02] [ 9.28642635e-01 3.70948821e-01 -4.45295770e-03 1.05179418e+02] [ 4.78620679e-03 2.21890869e-05 9.99988546e-01 4.98552608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130281693 meters 0.015716993023626377 Centerline is valid? [True, True] Translation: X:208.69, Y:105.20, Z:0.50 [[ 3.70708699e-01 -9.28747544e-01 -1.74917295e-03 2.08694374e+02] [ 9.28736921e-01 3.70712825e-01 -4.44205578e-03 1.05203909e+02] [ 4.77398924e-03 2.21872195e-05 9.99988604e-01 4.98644738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16028169299994 meters 0.017649217616390513 Centerline is valid? [True, True] Translation: X:208.70, Y:105.23, Z:0.50 [[ 3.73118583e-01 -9.27782312e-01 -1.58236775e-03 2.08695313e+02] [ 9.27773598e-01 3.73121937e-01 -4.02130106e-03 1.05230587e+02] [ 4.32130812e-03 3.23431319e-05 9.99990663e-01 4.99235184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190281693 meters 0.018635074696854947 Centerline is valid? [True, True] Translation: X:208.70, Y:105.26, Z:0.50 [[ 3.75053872e-01 -9.27001659e-01 -1.58668165e-03 2.08700405e+02] [ 9.26992878e-01 3.75057225e-01 -4.03511657e-03 1.05256406e+02] [ 4.33565617e-03 4.25434987e-05 9.99990600e-01 5.00279689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22028169299995 meters 0.02312910106873294 Centerline is valid? [True, True] Translation: X:208.70, Y:105.29, Z:0.50 [[ 3.79987500e-01 -9.24989571e-01 -1.94750591e-03 2.08696177e+02] [ 9.24976295e-01 3.79992482e-01 -4.95645314e-03 1.05286077e+02] [ 5.32470507e-03 8.19934346e-05 9.99985820e-01 4.98914647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250281693 meters 0.026947219360496804 Centerline is valid? [True, True] Translation: X:208.70, Y:105.31, Z:0.50 [[ 3.81943186e-01 -9.24183174e-01 -2.20537087e-03 2.08696112e+02] [ 9.24166111e-01 3.81949538e-01 -5.61689128e-03 1.05313366e+02] [ 6.03337680e-03 1.07204332e-04 9.99981793e-01 4.96787949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28028169299995 meters 0.027060942076683827 Centerline is valid? [True, True] Translation: X:208.70, Y:105.34, Z:0.50 [[ 3.82969549e-01 -9.23758299e-01 -2.22032346e-03 2.08702583e+02] [ 9.23740973e-01 3.82975968e-01 -5.65891688e-03 1.05339206e+02] [ 6.07780196e-03 1.16189094e-04 9.99981523e-01 4.96419706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310281693 meters 0.026659433085595034 Centerline is valid? [True, True] Translation: X:208.71, Y:105.36, Z:0.50 [[ 3.82563855e-01 -9.23926911e-01 -1.98991233e-03 2.08707614e+02] [ 9.23912977e-01 3.82569017e-01 -5.07523487e-03 1.05364162e+02] [ 5.45042488e-03 1.03095596e-04 9.99985141e-01 4.96953859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34028169299995 meters 0.02695567503431613 Centerline is valid? [True, True] Translation: X:208.71, Y:105.39, Z:0.50 [[ 3.81802217e-01 -9.24242227e-01 -1.83627025e-03 2.08713545e+02] [ 9.24230348e-01 3.81806622e-01 -4.68689016e-03 1.05388453e+02] [ 5.03292194e-03 9.23283566e-05 9.99987331e-01 4.97270971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370281693 meters 0.02562439725694649 Centerline is valid? [True, True] Translation: X:208.72, Y:105.41, Z:0.50 [[ 3.80042943e-01 -9.24967741e-01 -1.42848342e-03 2.08718701e+02] [ 9.24960547e-01 3.80045622e-01 -3.64844427e-03 1.05413500e+02] [ 3.91758212e-03 6.52746920e-05 9.99992324e-01 4.99501490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40028169299995 meters 0.02397996495066538 Centerline is valid? [True, True] Translation: X:208.73, Y:105.44, Z:0.50 [[ 3.78436591e-01 -9.25626448e-01 -1.19397405e-03 2.08728699e+02] [ 9.25621420e-01 3.78438472e-01 -3.05137052e-03 1.05437936e+02] [ 3.27627496e-03 4.95823055e-05 9.99994632e-01 5.00971690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430281693 meters 0.021089589453666537 Centerline is valid? [True, True] Translation: X:208.74, Y:105.46, Z:0.50 [[ 3.76092871e-01 -9.26581482e-01 -9.53798111e-04 2.08741805e+02] [ 9.26578273e-01 3.76094079e-01 -2.43895275e-03 1.05461117e+02] [ 2.61860628e-03 3.35041353e-05 9.99996571e-01 5.01856558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46028169299996 meters 0.01881037712669833 Centerline is valid? [True, True] Translation: X:208.76, Y:105.48, Z:0.50 [[ 3.73295409e-01 -9.27712140e-01 -8.49719951e-04 2.08755489e+02] [ 9.27709593e-01 3.73296375e-01 -2.17413571e-03 1.05484539e+02] [ 2.33416947e-03 2.33015279e-05 9.99997276e-01 5.02346699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490281693 meters 0.015583373335123545 Centerline is valid? [True, True] Translation: X:208.77, Y:105.51, Z:0.50 [[ 3.67961016e-01 -9.29840102e-01 -1.44028013e-03 2.08772923e+02] [ 9.29832788e-01 3.67963835e-01 -3.68827089e-03 1.05505569e+02] [ 3.95947318e-03 1.79202168e-05 9.99992161e-01 5.00158461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52028169299996 meters 0.015141652736786075 Centerline is valid? [True, True] Translation: X:208.79, Y:105.53, Z:0.50 [[ 3.65534551e-01 -9.30795539e-01 -2.03903270e-03 2.08785554e+02] [ 9.30780868e-01 3.65540238e-01 -5.22594435e-03 1.05527688e+02] [ 5.60963418e-03 1.23705885e-05 9.99984266e-01 4.96970314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550281693 meters 0.015223727310533472 Centerline is valid? [True, True] Translation: X:208.80, Y:105.55, Z:0.49 [[ 3.61672200e-01 -9.32301826e-01 -2.55445377e-03 2.08803224e+02] [ 9.32278799e-01 3.61681221e-01 -6.55244345e-03 1.05547572e+02] [ 7.03275295e-03 -1.16264497e-05 9.99975270e-01 4.93775922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58028169299996 meters 0.015319998939878236 Centerline is valid? [True, True] Translation: X:208.82, Y:105.57, Z:0.50 [[ 3.60292588e-01 -9.32836328e-01 -2.37404412e-03 2.08816426e+02] [ 9.32816421e-01 3.60300409e-01 -6.09417680e-03 1.05569827e+02] [ 6.54023857e-03 -1.88606054e-05 9.99978612e-01 4.95158612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.610281693 meters 0.015194221120765648 Centerline is valid? [True, True] Translation: X:208.83, Y:105.59, Z:0.50 [[ 3.59601944e-01 -9.33104530e-01 -1.54200149e-03 2.08828219e+02] [ 9.33096124e-01 3.59605250e-01 -3.96078382e-03 1.05592786e+02] [ 4.25033716e-03 -1.45300522e-05 9.99990967e-01 4.99675389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64028169299996 meters 0.014800301186317753 Centerline is valid? [True, True] Translation: X:208.83, Y:105.62, Z:0.50 [[ 3.60748963e-01 -9.32661923e-01 -1.38694283e-03 2.08834856e+02] [ 9.32655110e-01 3.60751629e-01 -3.56482829e-03 1.05616535e+02] [ 3.82512149e-03 -7.53121142e-06 9.99992684e-01 5.01140316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.670281693 meters 0.014701334025598981 Centerline is valid? [True, True] Translation: X:208.84, Y:105.64, Z:0.50 [[ 3.62143529e-01 -9.32120917e-01 -1.63121099e-03 2.08840576e+02] [ 9.32111474e-01 3.62147203e-01 -4.19577886e-03 1.05641712e+02] [ 4.50171173e-03 -9.96314941e-07 9.99989867e-01 4.99573141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70028169299997 meters 0.015121116149271481 Centerline is valid? [True, True] Translation: X:208.85, Y:105.67, Z:0.50 [[ 3.63467460e-01 -9.31604411e-01 -2.15099198e-03 2.08845373e+02] [ 9.31587954e-01 3.63473825e-01 -5.53740261e-03 1.05665639e+02] [ 5.94049798e-03 8.82744779e-06 9.99982355e-01 4.96132297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.730281693 meters 0.016669247690807285 Centerline is valid? [True, True] Translation: X:208.85, Y:105.69, Z:0.50 [[ 3.66722214e-01 -9.30326768e-01 -2.63093926e-03 2.08845709e+02] [ 9.30302075e-01 3.66731650e-01 -6.77833416e-03 1.05692982e+02] [ 7.27091441e-03 3.81974566e-05 9.99973566e-01 4.95218938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76028169299997 meters 0.017857897679404502 Centerline is valid? [True, True] Translation: X:208.85, Y:105.72, Z:0.50 [[ 3.68642753e-01 -9.29567840e-01 -2.48032688e-03 2.08849774e+02] [ 9.29545844e-01 3.68651094e-01 -6.39493499e-03 1.05718389e+02] [ 6.85890112e-03 5.18689018e-05 9.99976476e-01 4.96530991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79028169299994 meters 0.018714699618574155 Centerline is valid? [True, True] Translation: X:208.85, Y:105.74, Z:0.50 [[ 3.70401897e-01 -9.28868872e-01 -2.24810298e-03 2.08854712e+02] [ 9.28850764e-01 3.70408714e-01 -5.80019164e-03 1.05744700e+02] [ 6.22033440e-03 6.02498116e-05 9.99980652e-01 4.98511794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82028169299997 meters 0.018088975068081173 Centerline is valid? [True, True] Translation: X:208.86, Y:105.77, Z:0.50 [[ 3.69202225e-01 -9.29346509e-01 -2.18697147e-03 2.08863406e+02] [ 9.29329356e-01 3.69208698e-01 -5.64663646e-03 1.05769043e+02] [ 6.05513078e-03 5.23339581e-05 9.99981666e-01 4.99153379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85028169299994 meters 0.017048460259264788 Centerline is valid? [True, True] Translation: X:208.87, Y:105.79, Z:0.50 [[ 3.66976468e-01 -9.30227909e-01 -2.07615485e-03 2.08872297e+02] [ 9.30212441e-01 3.66982338e-01 -5.36453980e-03 1.05792412e+02] [ 5.75215680e-03 3.73947969e-05 9.99983456e-01 4.98542341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880281693 meters 0.014808679134257544 Centerline is valid? [True, True] Translation: X:208.89, Y:105.81, Z:0.50 [[ 3.62130491e-01 -9.32125824e-01 -1.71910667e-03 2.08885991e+02] [ 9.32115226e-01 3.62134572e-01 -4.44504627e-03 1.05814804e+02] [ 4.76589038e-03 7.28128891e-06 9.99988643e-01 5.00808764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91028169299994 meters 0.01466051006175758 Centerline is valid? [True, True] Translation: X:208.90, Y:105.84, Z:0.50 [[ 3.59969309e-01 -9.32963200e-01 -1.32825738e-03 2.08896414e+02] [ 9.32956870e-01 3.59971759e-01 -3.43668965e-03 1.05838048e+02] [ 3.68444011e-03 -2.10404912e-06 9.99993212e-01 5.03131557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940281693 meters 0.014807766008082358 Centerline is valid? [True, True] Translation: X:208.91, Y:105.86, Z:0.50 [[ 3.57892790e-01 -9.33762160e-01 -9.89309471e-04 2.08906758e+02] [ 9.33758648e-01 3.57894157e-01 -2.56130578e-03 1.05860063e+02] [ 2.74571850e-03 -7.10340266e-06 9.99996230e-01 5.04989347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97028169299995 meters 0.016035734805304215 Centerline is valid? [True, True] Translation: X:208.92, Y:105.88, Z:0.50 [[ 3.54840789e-01 -9.34926024e-01 -1.15913899e-03 2.08920693e+02] [ 9.34921200e-01 3.54842681e-01 -3.00350606e-03 1.05882894e+02] [ 3.21936797e-03 -1.79371565e-05 9.99994818e-01 5.04845123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000281693 meters 0.01644676870090484 Centerline is valid? [True, True] Translation: X:208.93, Y:105.91, Z:0.50 [[ 3.53890017e-01 -9.35286014e-01 -1.38874645e-03 2.08931546e+02] [ 9.35279080e-01 3.53892741e-01 -3.60136398e-03 1.05906322e+02] [ 3.85977265e-03 -2.43787439e-05 9.99992551e-01 5.03930781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03028169299995 meters 0.01609577679983968 Centerline is valid? [True, True] Translation: X:208.94, Y:105.93, Z:0.50 [[ 3.54466658e-01 -9.35067212e-01 -1.64234677e-03 2.08937720e+02] [ 9.35057497e-01 3.54470462e-01 -4.26256123e-03 1.05930918e+02] [ 4.56794466e-03 -2.47528296e-05 9.99989567e-01 5.03910648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060281693 meters 0.01606412593393879 Centerline is valid? [True, True] Translation: X:208.94, Y:105.96, Z:0.50 [[ 3.55148088e-01 -9.34808343e-01 -1.78823078e-03 2.08943969e+02] [ 9.34796805e-01 3.55152590e-01 -4.64459096e-03 1.05955107e+02] [ 4.97689717e-03 -2.21148156e-05 9.99987615e-01 5.03316749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09028169299995 meters 0.01568575297876975 Centerline is valid? [True, True] Translation: X:208.95, Y:105.98, Z:0.50 [[ 3.55768697e-01 -9.34572394e-01 -1.75367878e-03 2.08950085e+02] [ 9.34561279e-01 3.55773018e-01 -4.55805785e-03 1.05979820e+02] [ 4.88374662e-03 -1.73059863e-05 9.99988074e-01 5.03369627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120281693 meters 0.01568575297876975 Centerline is valid? [True, True] Translation: X:208.96, Y:106.00, Z:0.50 [[ 3.55536197e-01 -9.34660870e-01 -1.75254361e-03 2.08958733e+02] [ 9.34649754e-01 3.55540516e-01 -4.55849437e-03 1.06003257e+02] [ 4.88374657e-03 -1.73046999e-05 9.99988074e-01 5.03419331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15028169299995 meters 0.015470520068407795 Centerline is valid? [True, True] Translation: X:208.97, Y:106.03, Z:0.50 [[ 3.55655464e-01 -9.34615650e-01 -1.66671248e-03 2.08966874e+02] [ 9.34605580e-01 3.55659370e-01 -4.33845224e-03 1.06027444e+02] [ 4.64756727e-03 -1.47245378e-05 9.99989200e-01 5.04150073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180281693 meters 0.015563214228388907 Centerline is valid? [True, True] Translation: X:208.98, Y:106.05, Z:0.51 [[ 3.54303395e-01 -9.35129812e-01 -1.15756827e-03 2.08976585e+02] [ 9.35124951e-01 3.54305285e-01 -3.01503748e-03 1.06051400e+02] [ 3.22958399e-03 -1.42329561e-05 9.99994785e-01 5.07047056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21028169299996 meters 0.015750526682442697 Centerline is valid? [True, True] Translation: X:208.98, Y:106.07, Z:0.51 [[ 3.53963670e-01 -9.35258742e-01 -8.97653167e-04 2.08983635e+02] [ 9.35255816e-01 3.53964808e-01 -2.33956412e-03 1.06074561e+02] [ 2.50583543e-03 -1.14146413e-05 9.99996860e-01 5.08184161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240281693 meters 0.01592819850728505 Centerline is valid? [True, True] Translation: X:208.99, Y:106.10, Z:0.51 [[ 3.53851399e-01 -9.35301308e-01 -8.06705499e-04 2.08991870e+02] [ 9.35298941e-01 3.53852319e-01 -2.10407073e-03 1.06097839e+02] [ 2.25339471e-03 -9.98242796e-06 9.99997461e-01 5.07696193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27028169299996 meters 0.015603445142049597 Centerline is valid? [True, True] Translation: X:209.00, Y:106.12, Z:0.51 [[ 3.53913705e-01 -9.35277313e-01 -1.19906545e-03 2.09000573e+02] [ 9.35272073e-01 3.53915736e-01 -3.13059906e-03 1.06122281e+02] [ 3.35234640e-03 -1.34905183e-05 9.99994381e-01 5.06323903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300281693 meters 0.015570245672879722 Centerline is valid? [True, True] Translation: X:209.01, Y:106.15, Z:0.50 [[ 3.54298500e-01 -9.35129858e-01 -2.17304488e-03 2.09006147e+02] [ 9.35112613e-01 3.54305163e-01 -5.67906867e-03 1.06146929e+02] [ 6.08058770e-03 -1.99561631e-05 9.99981513e-01 5.02888419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33028169299996 meters 0.015522186290389 Centerline is valid? [True, True] Translation: X:209.01, Y:106.17, Z:0.50 [[ 3.54394073e-01 -9.35093262e-01 -2.33071407e-03 2.09011636e+02] [ 9.35073392e-01 3.54401737e-01 -6.09598427e-03 1.06171683e+02] [ 6.52632293e-03 -1.90080115e-05 9.99978703e-01 5.02178592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.360281693 meters 0.015539753399373211 Centerline is valid? [True, True] Translation: X:209.02, Y:106.20, Z:0.50 [[ 3.54720226e-01 -9.34969820e-01 -2.23551361e-03 2.09018378e+02] [ 9.34951512e-01 3.54727270e-01 -5.85102195e-03 1.06195648e+02] [ 6.26352658e-03 -1.46210038e-05 9.99980384e-01 5.01895500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39028169299996 meters 0.016000720170616392 Centerline is valid? [True, True] Translation: X:209.03, Y:106.22, Z:0.50 [[ 3.53064813e-01 -9.35596438e-01 -2.13127283e-03 2.09031101e+02] [ 9.35579788e-01 3.53071245e-01 -5.58182487e-03 1.06216559e+02] [ 5.97482662e-03 -2.32298252e-05 9.99982150e-01 5.01070134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.420281693 meters 0.0171467822368208 Centerline is valid? [True, True] Translation: X:209.05, Y:106.24, Z:0.50 [[ 3.50202640e-01 -9.36671683e-01 -2.06594980e-03 2.09045333e+02] [ 9.36656035e-01 3.50208732e-01 -5.41441033e-03 1.06238836e+02] [ 5.79503850e-03 -3.89435575e-05 9.99983208e-01 5.01321648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45028169299997 meters 0.019679654149935256 Centerline is valid? [True, True] Translation: X:209.06, Y:106.26, Z:0.50 [[ 3.46252684e-01 -9.38139139e-01 -2.00856382e-03 2.09061346e+02] [ 9.38124352e-01 3.46258504e-01 -5.26763084e-03 1.06260618e+02] [ 5.63725297e-03 -6.03513182e-05 9.99984109e-01 5.01562002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.480281693 meters 0.022883274874858 Centerline is valid? [True, True] Translation: X:209.08, Y:106.28, Z:0.50 [[ 3.42171265e-01 -9.39635665e-01 -1.90844342e-03 2.09077512e+02] [ 9.39622320e-01 3.42176578e-01 -5.00846249e-03 1.06282328e+02] [ 5.35915463e-03 -7.94640911e-05 9.99985636e-01 5.01818255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51028169299997 meters 0.030231630000386603 Centerline is valid? [True, True] Translation: X:209.10, Y:106.30, Z:0.50 [[ 3.35443270e-01 -9.42057858e-01 -2.19193941e-03 2.09101086e+02] [ 9.42040281e-01 3.35450405e-01 -5.75622980e-03 1.06299645e+02] [ 6.15798848e-03 -1.34006675e-04 9.99981030e-01 5.00584586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54028169299994 meters 0.03061976122438583 Centerline is valid? [True, True] Translation: X:209.11, Y:106.32, Z:0.50 [[ 3.33137279e-01 -9.42874395e-01 -2.72553349e-03 2.09113067e+02] [ 9.42847206e-01 3.33148377e-01 -7.16277837e-03 1.06322902e+02] [ 7.66160738e-03 -1.83573145e-04 9.99970633e-01 4.98402311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57028169299997 meters 0.03243641455919586 Centerline is valid? [True, True] Translation: X:209.13, Y:106.34, Z:0.50 [[ 3.31481795e-01 -9.43457758e-01 -2.69804594e-03 2.09129149e+02] [ 9.43431095e-01 3.31492718e-01 -7.09558333e-03 1.06344589e+02] [ 7.58876572e-03 -1.93363734e-04 9.99971186e-01 4.98158721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60028169299994 meters 0.0341353202540331 Centerline is valid? [True, True] Translation: X:209.14, Y:106.37, Z:0.50 [[ 3.31675065e-01 -9.43391459e-01 -2.05090765e-03 2.09142951e+02] [ 9.43376029e-01 3.31681374e-01 -5.39752070e-03 1.06365475e+02] [ 5.77222280e-03 -1.44554086e-04 9.99983330e-01 5.01234321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630281693 meters 0.03575648435362532 Centerline is valid? [True, True] Translation: X:209.16, Y:106.39, Z:0.50 [[ 3.32344869e-01 -9.43156800e-01 -1.46215752e-03 2.09157251e+02] [ 9.43148945e-01 3.32348071e-01 -3.85065485e-03 1.06386505e+02] [ 4.11771654e-03 -9.92869386e-05 9.99991517e-01 5.04427135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66028169299994 meters 0.03086800478396571 Centerline is valid? [True, True] Translation: X:209.17, Y:106.41, Z:0.51 [[ 3.33998943e-01 -9.42572318e-01 -1.45986330e-03 2.09165697e+02] [ 9.42564470e-01 3.34002121e-01 -3.84754145e-03 1.06410563e+02] [ 4.11418350e-03 -9.09404988e-05 9.99991533e-01 5.05388687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690281693 meters 0.0279899395071141 Centerline is valid? [True, True] Translation: X:209.17, Y:106.44, Z:0.50 [[ 3.34854757e-01 -9.42267654e-01 -1.98997623e-03 2.09173101e+02] [ 9.42253040e-01 3.34860650e-01 -5.24911388e-03 1.06435548e+02] [ 5.61243495e-03 -1.17370398e-04 9.99984243e-01 5.03274819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72028169299995 meters 0.023782873662923285 Centerline is valid? [True, True] Translation: X:209.18, Y:106.46, Z:0.50 [[ 3.38453302e-01 -9.40979433e-01 -2.65862792e-03 2.09179945e+02] [ 9.40953267e-01 3.38463720e-01 -7.01845001e-03 1.06460788e+02] [ 7.50406621e-03 -1.26227049e-04 9.99971836e-01 5.00585080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750281693 meters 0.021452704118678206 Centerline is valid? [True, True] Translation: X:209.19, Y:106.49, Z:0.50 [[ 3.40751890e-01 -9.40149563e-01 -2.63600746e-03 2.09187123e+02] [ 9.40123778e-01 3.40762069e-01 -6.96382232e-03 1.06486376e+02] [ 7.44528587e-03 -1.05237671e-04 9.99972278e-01 5.00636769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78028169299995 meters 0.02020957796715493 Centerline is valid? [True, True] Translation: X:209.20, Y:106.51, Z:0.50 [[ 3.43033961e-01 -9.39319814e-01 -2.44730437e-03 2.09195061e+02] [ 9.39297533e-01 3.43042681e-01 -6.47011512e-03 1.06510724e+02] [ 6.91703718e-03 -7.92777433e-05 9.99976074e-01 5.01305267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810281693 meters 0.015843828273659512 Centerline is valid? [True, True] Translation: X:209.20, Y:106.54, Z:0.51 [[ 3.49106670e-01 -9.37081907e-01 -1.42565041e-03 2.09196898e+02] [ 9.37074318e-01 3.49109581e-01 -3.77130258e-03 1.06537898e+02] [ 4.03172763e-03 -1.93535007e-05 9.99991872e-01 5.07363815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84028169299995 meters 0.01485638533490103 Centerline is valid? [True, True] Translation: X:209.20, Y:106.56, Z:0.51 [[ 3.52706037e-01 -9.35733456e-01 -1.16225900e-03 2.09200875e+02] [ 9.35728398e-01 3.52707951e-01 -3.07664236e-03 1.06562867e+02] [ 3.28885518e-03 -2.40842423e-06 9.99994592e-01 5.08733222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870281693 meters 0.015511478345839717 Centerline is valid? [True, True] Translation: X:209.20, Y:106.59, Z:0.51 [[ 3.56630244e-01 -9.34244758e-01 -1.26511725e-03 2.09203374e+02] [ 9.34238746e-01 3.56632488e-01 -3.35172703e-03 1.06589395e+02] [ 3.58251533e-03 1.34056738e-05 9.99993583e-01 5.08564347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90028169299995 meters 0.019702632818488136 Centerline is valid? [True, True] Translation: X:209.20, Y:106.62, Z:0.51 [[ 3.63590012e-01 -9.31558111e-01 -1.33764972e-03 2.09199985e+02] [ 9.31551360e-01 3.63592470e-01 -3.54666869e-03 1.06618203e+02] [ 3.79028735e-03 4.34438978e-05 9.99992816e-01 5.07310150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930281693 meters 0.022896550020828934 Centerline is valid? [True, True] Translation: X:209.20, Y:106.65, Z:0.51 [[ 3.65855295e-01 -9.30671216e-01 -9.95178806e-04 2.09201683e+02] [ 9.30667472e-01 3.65856646e-01 -2.64027315e-03 1.06645047e+02] [ 2.82131900e-03 3.97773697e-05 9.99996019e-01 5.08873952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96028169299996 meters 0.02468860734154835 Centerline is valid? [True, True] Translation: X:209.21, Y:106.67, Z:0.51 [[ 3.68735863e-01 -9.29534075e-01 -5.16912668e-04 2.09205578e+02] [ 9.29533063e-01 3.68736225e-01 -1.37178155e-03 1.06671754e+02] [ 1.46572212e-03 2.53376365e-05 9.99998926e-01 5.12066488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990281693 meters 0.027414683887216157 Centerline is valid? [True, True] Translation: X:209.21, Y:106.70, Z:0.51 [[ 3.69591667e-01 -9.29194077e-01 -6.05364357e-04 2.09209182e+02] [ 9.29192687e-01 3.69592161e-01 -1.60791727e-03 1.06696983e+02] [ 1.71780513e-03 3.17726913e-05 9.99998524e-01 5.11951073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02028169299996 meters 0.027779162316351077 Centerline is valid? [True, True] Translation: X:209.22, Y:106.72, Z:0.51 [[ 3.69890765e-01 -9.29074994e-01 -6.90663488e-04 2.09215828e+02] [ 9.29073182e-01 3.69891408e-01 -1.83574253e-03 1.06721612e+02] [ 1.96101297e-03 3.73472841e-05 9.99998077e-01 5.10954151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050281693 meters 0.026654807517351022 Centerline is valid? [True, True] Translation: X:209.22, Y:106.75, Z:0.51 [[ 3.68631911e-01 -9.29575176e-01 -7.10947342e-04 2.09224729e+02] [ 9.29573254e-01 3.68632595e-01 -1.89112166e-03 1.06745415e+02] [ 2.02001812e-03 3.62501582e-05 9.99997959e-01 5.10151574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08028169299996 meters 0.02350187776419937 Centerline is valid? [True, True] Translation: X:209.24, Y:106.77, Z:0.51 [[ 3.66668846e-01 -9.30351296e-01 -6.50794326e-04 2.09238901e+02] [ 9.30349683e-01 3.66669423e-01 -1.73231132e-03 1.06768354e+02] [ 1.85028446e-03 2.97182972e-05 9.99998288e-01 5.10480257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.110281693 meters 0.02214789206835083 Centerline is valid? [True, True] Translation: X:209.25, Y:106.79, Z:0.51 [[ 3.64400066e-01 -9.31242293e-01 -6.19211079e-04 2.09249786e+02] [ 9.31240833e-01 3.64400592e-01 -1.64935820e-03 1.06790940e+02] [ 1.76159300e-03 2.43915984e-05 9.99998448e-01 5.10822459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14028169299996 meters 0.019807158996111428 Centerline is valid? [True, True] Translation: X:209.26, Y:106.81, Z:0.51 [[ 3.61325349e-01 -9.32439398e-01 -8.72788708e-04 2.09260185e+02] [ 9.32436494e-01 3.61326402e-01 -2.32711901e-03 1.06813718e+02] [ 2.48525905e-03 2.70270450e-05 9.99996911e-01 5.09665753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.170281693 meters 0.018781848165094248 Centerline is valid? [True, True] Translation: X:209.27, Y:106.84, Z:0.51 [[ 3.60019856e-01 -9.32943814e-01 -1.24223715e-03 2.09271082e+02] [ 9.32937924e-01 3.60021997e-01 -3.31523195e-03 1.06837401e+02] [ 3.54015785e-03 3.46191782e-05 9.99993733e-01 5.07150928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20028169299997 meters 0.01831822594538086 Centerline is valid? [True, True] Translation: X:209.28, Y:106.86, Z:0.50 [[ 3.58356978e-01 -9.33582960e-01 -1.76993284e-03 2.09281580e+02] [ 9.33570990e-01 3.58361347e-01 -4.72786698e-03 1.06859260e+02] [ 5.04813156e-03 4.19061721e-05 9.99987257e-01 5.03706592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.230281693 meters 0.016382892832374107 Centerline is valid? [True, True] Translation: X:209.30, Y:106.88, Z:0.50 [[ 3.55013991e-01 -9.34858812e-01 -2.01696386e-03 2.09298061e+02] [ 9.34843261e-01 3.55019719e-01 -5.39217258e-03 1.06880737e+02] [ 5.75698200e-03 2.87516356e-05 9.99983428e-01 5.02526677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26028169299997 meters 0.015894277913258092 Centerline is valid? [True, True] Translation: X:209.31, Y:106.90, Z:0.50 [[ 3.54199407e-01 -9.35167742e-01 -2.01822818e-03 2.09307411e+02] [ 9.35152153e-01 3.54205156e-01 -5.39977088e-03 1.06904430e+02] [ 5.76455837e-03 2.52452173e-05 9.99983384e-01 5.04058838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29028169299994 meters 0.016855325609451244 Centerline is valid? [True, True] Translation: X:209.31, Y:106.93, Z:0.50 [[ 3.55367946e-01 -9.34724221e-01 -2.06225919e-03 2.09311904e+02] [ 9.34707910e-01 3.55373928e-01 -5.52207957e-03 1.06929375e+02] [ 5.89449468e-03 3.47600968e-05 9.99982627e-01 5.04050271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32028169299997 meters 0.017611713074210777 Centerline is valid? [True, True] Translation: X:209.32, Y:106.95, Z:0.51 [[ 3.56351530e-01 -9.34350427e-01 -1.69292311e-03 2.09319320e+02] [ 9.34339415e-01 3.56355550e-01 -4.53640569e-03 1.06954068e+02] [ 4.84187514e-03 3.47903263e-05 9.99988277e-01 5.05259893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35028169299994 meters 0.0182660340339456 Centerline is valid? [True, True] Translation: X:209.33, Y:106.98, Z:0.51 [[ 3.57303937e-01 -9.33987159e-01 -1.37232260e-03 2.09325841e+02] [ 9.33979910e-01 3.57306571e-01 -3.67984965e-03 1.06978703e+02] [ 3.92727220e-03 3.31030252e-05 9.99992288e-01 5.07161378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380281693 meters 0.019203612443431276 Centerline is valid? [True, True] Translation: X:209.33, Y:107.00, Z:0.51 [[ 3.58264945e-01 -9.33619006e-01 -1.33420636e-03 2.09331352e+02] [ 9.33612142e-01 3.58267427e-01 -3.58033528e-03 1.07003584e+02] [ 3.82067174e-03 3.70773646e-05 9.99992701e-01 5.07100329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41028169299994 meters 0.021073520151393292 Centerline is valid? [True, True] Translation: X:209.33, Y:107.03, Z:0.50 [[ 3.59957842e-01 -9.32966256e-01 -2.07755105e-03 2.09332840e+02] [ 9.32949573e-01 3.59963831e-01 -5.57990695e-03 1.07031440e+02] [ 5.95370813e-03 7.02809018e-05 9.99982274e-01 5.01891105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440281693 meters 0.021247819778394465 Centerline is valid? [True, True] Translation: X:209.34, Y:107.06, Z:0.50 [[ 3.60252010e-01 -9.32851608e-01 -2.52336755e-03 2.09341025e+02] [ 9.32826956e-01 3.60260836e-01 -6.78238025e-03 1.07056417e+02] [ 7.23602483e-03 8.95008474e-05 9.99973816e-01 4.99557903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47028169299995 meters 0.020248326082095692 Centerline is valid? [True, True] Translation: X:209.35, Y:107.08, Z:0.50 [[ 3.58449411e-01 -9.33546077e-01 -2.39621657e-03 2.09350855e+02] [ 9.33523828e-01 3.58457412e-01 -6.44564328e-03 1.07078724e+02] [ 6.87624659e-03 7.35117715e-05 9.99976356e-01 5.00480195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500281693 meters 0.018851460289772765 Centerline is valid? [True, True] Translation: X:209.36, Y:107.10, Z:0.50 [[ 3.56361716e-01 -9.34345790e-01 -2.06708564e-03 2.09361122e+02] [ 9.34329221e-01 3.56367707e-01 -5.56452636e-03 1.07101468e+02] [ 5.93583434e-03 5.16456428e-05 9.99982381e-01 5.01965512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53028169299995 meters 0.01760065667361936 Centerline is valid? [True, True] Translation: X:209.37, Y:107.12, Z:0.50 [[ 3.54603675e-01 -9.35014546e-01 -2.00837392e-03 2.09371564e+02] [ 9.34998892e-01 3.54609360e-01 -5.41060822e-03 1.07124532e+02] [ 5.77118558e-03 4.07941657e-05 9.99983346e-01 5.02616369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560281693 meters 0.0169210336811118 Centerline is valid? [True, True] Translation: X:209.38, Y:107.15, Z:0.50 [[ 3.53128872e-01 -9.35572060e-01 -2.21832114e-03 2.09380853e+02] [ 9.35552945e-01 3.53135838e-01 -5.98051109e-03 1.07147577e+02] [ 6.37856778e-03 3.65342569e-05 9.99979656e-01 5.01818447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59028169299995 meters 0.017105598473487832 Centerline is valid? [True, True] Translation: X:209.39, Y:107.17, Z:0.50 [[ 3.52937998e-01 -9.35644160e-01 -2.18519618e-03 2.09388079e+02] [ 9.35625586e-01 3.52944760e-01 -5.89560627e-03 1.07171262e+02] [ 6.28744312e-03 3.62580110e-05 9.99980233e-01 5.00915432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620281693 meters 0.016258065886717677 Centerline is valid? [True, True] Translation: X:209.40, Y:107.19, Z:0.50 [[ 3.51947701e-01 -9.36017640e-01 -1.94754422e-03 2.09397699e+02] [ 9.36002871e-01 3.51953088e-01 -5.25835241e-03 1.07194886e+02] [ 5.60735482e-03 2.77580570e-05 9.99984278e-01 5.02281530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65028169299995 meters 0.015366109142179875 Centerline is valid? [True, True] Translation: X:209.41, Y:107.22, Z:0.51 [[ 3.49286515e-01 -9.37014936e-01 -1.39281264e-03 2.09409827e+02] [ 9.37007380e-01 3.49289292e-01 -3.76306841e-03 1.07217864e+02] [ 4.01254585e-03 9.31332654e-06 9.99991950e-01 5.06084252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680281693 meters 0.01500455817579004 Centerline is valid? [True, True] Translation: X:209.42, Y:107.24, Z:0.51 [[ 3.48216189e-01 -9.37413502e-01 -1.18824718e-03 2.09419895e+02] [ 9.37407997e-01 3.48218217e-01 -3.21268254e-03 1.07240590e+02] [ 3.42538130e-03 4.83566316e-06 9.99994133e-01 5.07719951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71028169299996 meters 0.015207613544729541 Centerline is valid? [True, True] Translation: X:209.43, Y:107.27, Z:0.51 [[ 3.49312180e-01 -9.37005343e-01 -1.41029987e-03 2.09426628e+02] [ 9.36997571e-01 3.49315027e-01 -3.81629307e-03 1.07265722e+02] [ 4.06852593e-03 1.16300975e-05 9.99991723e-01 5.07537168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740281693 meters 0.01632911207629682 Centerline is valid? [True, True] Translation: X:209.43, Y:107.29, Z:0.51 [[ 3.51283811e-01 -9.36267311e-01 -1.79051216e-03 2.09429894e+02] [ 9.36254754e-01 3.51288373e-01 -4.84918077e-03 1.07291420e+02] [ 5.16911554e-03 2.70631811e-05 9.99986640e-01 5.05379055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77028169299996 meters 0.01836636182004606 Centerline is valid? [True, True] Translation: X:209.43, Y:107.32, Z:0.51 [[ 3.53879290e-01 -9.35289448e-01 -1.75979625e-03 2.09432008e+02] [ 9.35277287e-01 3.53883663e-01 -4.76957469e-03 1.07317798e+02] [ 5.08369603e-03 4.19562400e-05 9.99987077e-01 5.05206247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800281693 meters 0.023753297859017846 Centerline is valid? [True, True] Translation: X:209.43, Y:107.35, Z:0.51 [[ 3.60593785e-01 -9.32722389e-01 -1.03319520e-03 2.09427871e+02] [ 9.32718182e-01 3.60595262e-01 -2.80176855e-03 1.07347325e+02] [ 2.98583755e-03 4.66203735e-05 9.99995541e-01 5.09774434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83028169299996 meters 0.028430198454552563 Centerline is valid? [True, True] Translation: X:209.43, Y:107.37, Z:0.51 [[ 3.63210908e-01 -9.31706758e-01 -5.94747634e-04 2.09426987e+02] [ 9.31705361e-01 3.63211394e-01 -1.61338845e-03 1.07374560e+02] [ 1.71922403e-03 3.18707235e-05 9.99998522e-01 5.12034455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.860281693 meters 0.03337987024465255 Centerline is valid? [True, True] Translation: X:209.42, Y:107.40, Z:0.51 [[ 3.66488739e-01 -9.30421808e-01 -1.12376765e-03 2.09422192e+02] [ 9.30416805e-01 3.66490455e-01 -3.05202480e-03 1.07402170e+02] [ 3.25152055e-03 7.29604196e-05 9.99994711e-01 5.09438959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89028169299996 meters 0.03487080026661025 Centerline is valid? [True, True] Translation: X:209.43, Y:107.43, Z:0.50 [[ 3.67449269e-01 -9.30041626e-01 -1.89985643e-03 2.09426043e+02] [ 9.30027295e-01 3.67454157e-01 -5.16466402e-03 1.07427723e+02] [ 5.50146266e-03 1.30833686e-04 9.99984858e-01 5.04649385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.920281693 meters 0.03395202946776932 Centerline is valid? [True, True] Translation: X:209.43, Y:107.45, Z:0.50 [[ 3.68465012e-01 -9.29638697e-01 -2.32965912e-03 2.09433665e+02] [ 9.29617108e-01 3.68472337e-01 -6.33789347e-03 1.07452875e+02] [ 6.75036597e-03 1.69601017e-04 9.99977202e-01 5.02382588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95028169299997 meters 0.03531119134991414 Centerline is valid? [True, True] Translation: X:209.44, Y:107.48, Z:0.50 [[ 3.68877649e-01 -9.29475166e-01 -2.27957175e-03 2.09437177e+02] [ 9.29454462e-01 3.68884653e-01 -6.20610057e-03 1.07478550e+02] [ 6.60931539e-03 1.70533645e-04 9.99978144e-01 5.02965608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.980281693 meters 0.039128671747616466 Centerline is valid? [True, True] Translation: X:209.43, Y:107.51, Z:0.51 [[ 3.69405760e-01 -9.29266218e-01 -1.91838095e-03 2.09432314e+02] [ 9.29251533e-01 3.69410711e-01 -5.22636621e-03 1.07506953e+02] [ 5.56535603e-03 1.47991344e-04 9.99984502e-01 5.05375613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01028169299997 meters 0.039128671747616466 Centerline is valid? [True, True] Translation: X:209.44, Y:107.53, Z:0.51 [[ 3.69168084e-01 -9.29360668e-01 -1.91708139e-03 2.09440246e+02] [ 9.29345981e-01 3.69173032e-01 -5.22684297e-03 1.07529753e+02] [ 5.56535702e-03 1.47951724e-04 9.99984502e-01 5.05423670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04028169299994 meters 0.03686733520423616 Centerline is valid? [True, True] Translation: X:209.45, Y:107.55, Z:0.51 [[ 3.69231392e-01 -9.29335310e-01 -2.01532936e-03 2.09447382e+02] [ 9.29319053e-01 3.69236858e-01 -5.49903061e-03 1.07554184e+02] [ 5.85457720e-03 1.57530754e-04 9.99982849e-01 5.05064571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07028169299997 meters 0.03839270929899122 Centerline is valid? [True, True] Translation: X:209.45, Y:107.58, Z:0.50 [[ 3.70078720e-01 -9.28997577e-01 -2.28959820e-03 2.09446939e+02] [ 9.28976558e-01 3.70085755e-01 -6.25204843e-03 1.07582280e+02] [ 6.65548552e-03 1.86767021e-04 9.99977835e-01 5.02796463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10028169299994 meters 0.041558849077228406 Centerline is valid? [True, True] Translation: X:209.45, Y:107.61, Z:0.50 [[ 3.69509255e-01 -9.29224958e-01 -1.97182777e-03 2.09446068e+02] [ 9.29209349e-01 3.69514482e-01 -5.38822972e-03 1.07608567e+02] [ 5.73549646e-03 1.58759949e-04 9.99983539e-01 5.03689299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130281693 meters 0.03592680620617135 Centerline is valid? [True, True] Translation: X:209.45, Y:107.63, Z:0.51 [[ 3.67956267e-01 -9.29841421e-01 -1.76554091e-03 2.09451880e+02] [ 9.29828897e-01 3.67960478e-01 -4.82791390e-03 1.07634688e+02] [ 5.13884360e-03 1.34810220e-04 9.99986787e-01 5.06471364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16028169299994 meters 0.03626291252863439 Centerline is valid? [True, True] Translation: X:209.46, Y:107.66, Z:0.50 [[ 3.66730237e-01 -9.30325120e-01 -2.02605323e-03 2.09455963e+02] [ 9.30308613e-01 3.66735803e-01 -5.54401375e-03 1.07659264e+02] [ 5.90076151e-03 1.48302705e-04 9.99982579e-01 5.04805801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190281693 meters 0.03464981254869117 Centerline is valid? [True, True] Translation: X:209.46, Y:107.68, Z:0.50 [[ 3.65018864e-01 -9.30997355e-01 -2.27030969e-03 2.09463751e+02] [ 9.30976610e-01 3.65025891e-01 -6.21690371e-03 1.07683874e+02] [ 6.61664273e-03 1.55681909e-04 9.99978098e-01 5.03186915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22028169299995 meters 0.029328208241906805 Centerline is valid? [True, True] Translation: X:209.47, Y:107.71, Z:0.50 [[ 3.61010770e-01 -9.32559253e-01 -2.11247581e-03 2.09472658e+02] [ 9.32541293e-01 3.61016931e-01 -5.78897506e-03 1.07707850e+02] [ 6.16120179e-03 1.19911423e-04 9.99981012e-01 5.04497685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250281693 meters 0.02738945857214229 Centerline is valid? [True, True] Translation: X:209.48, Y:107.73, Z:0.51 [[ 3.58564017e-01 -9.33503913e-01 -1.51330537e-03 2.09480036e+02] [ 9.33494692e-01 3.58567203e-01 -4.14976593e-03 1.07731705e+02] [ 4.41644441e-03 7.52942134e-05 9.99990245e-01 5.07592306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28028169299995 meters 0.020309299314283293 Centerline is valid? [True, True] Translation: X:209.49, Y:107.75, Z:0.51 [[ 3.52554475e-01 -9.35791234e-01 -3.29437150e-04 2.09494194e+02] [ 9.35790798e-01 3.52554629e-01 -9.02956859e-04 1.07753391e+02] [ 9.61123705e-04 1.00572279e-05 9.99999538e-01 5.14827746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310281693 meters 0.01685322580683893 Centerline is valid? [True, True] Translation: X:209.51, Y:107.78, Z:0.52 [[ 3.49133256e-01 -9.37073068e-01 -1.85240619e-04 2.09508724e+02] [ 9.37072931e-01 3.49133305e-01 -5.07541656e-04 1.07776305e+02] [ 5.40277286e-04 3.61570060e-06 9.99999854e-01 5.15371217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34028169299995 meters 0.01520349103822884 Centerline is valid? [True, True] Translation: X:209.52, Y:107.80, Z:0.51 [[ 3.45647218e-01 -9.38364472e-01 -3.44221870e-04 2.09519829e+02] [ 9.38363996e-01 3.45647390e-01 -9.44866275e-04 1.07797846e+02] [ 1.00560833e-03 3.58498974e-06 9.99999494e-01 5.14494433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370281693 meters 0.014549979184384932 Centerline is valid? [True, True] Translation: X:209.53, Y:107.82, Z:0.51 [[ 3.42686549e-01 -9.39449642e-01 -5.46998128e-04 2.09530981e+02] [ 9.39448439e-01 3.42686986e-01 -1.50370663e-03 1.07820268e+02] [ 1.60010580e-03 1.42349911e-06 9.99998720e-01 5.13472025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40028169299995 meters 0.015012057010671305 Centerline is valid? [True, True] Translation: X:209.54, Y:107.84, Z:0.51 [[ 3.38480185e-01 -9.40973039e-01 -9.50888077e-04 2.09543376e+02] [ 9.40969401e-01 3.38481520e-01 -2.61674393e-03 1.07842391e+02] [ 2.78414353e-03 -9.04061474e-06 9.99996124e-01 5.11930457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430281693 meters 0.015632798057560588 Centerline is valid? [True, True] Translation: X:209.55, Y:107.86, Z:0.51 [[ 3.37086461e-01 -9.41473116e-01 -1.04343910e-03 2.09553747e+02] [ 9.41468730e-01 3.37088076e-01 -2.87388040e-03 1.07864947e+02] [ 3.05741202e-03 -1.36191063e-05 9.99995326e-01 5.11341860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46028169299996 meters 0.016346140395358158 Centerline is valid? [True, True] Translation: X:209.57, Y:107.89, Z:0.51 [[ 3.34802453e-01 -9.42288181e-01 -5.48514318e-04 2.09565210e+02] [ 9.42286970e-01 3.34802902e-01 -1.51124720e-03 1.07887736e+02] [ 1.60767456e-03 -1.08886236e-05 9.99998708e-01 5.14717083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490281693 meters 0.016970703833091808 Centerline is valid? [True, True] Translation: X:209.58, Y:107.91, Z:0.52 [[ 3.33122032e-01 -9.42883710e-01 -1.48699167e-04 2.09575691e+02] [ 9.42883621e-01 3.33122065e-01 -4.09036436e-04 1.07912296e+02] [ 4.35208766e-04 -3.94696065e-06 9.99999905e-01 5.16510099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52028169299996 meters 0.019901822661256823 Centerline is valid? [True, True] Translation: X:209.59, Y:107.93, Z:0.52 [[ 3.31158851e-01 -9.43575013e-01 9.80217044e-05 2.09590280e+02] [ 9.43574974e-01 3.31158865e-01 2.72120970e-04 1.07933829e+02] [-2.89227304e-04 2.37555949e-06 9.99999958e-01 5.17853492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550281693 meters 0.02166268173618946 Centerline is valid? [True, True] Translation: X:209.61, Y:107.96, Z:0.51 [[ 3.27104483e-01 -9.44988132e-01 -2.94328643e-04 2.09606965e+02] [ 9.44987783e-01 3.27104616e-01 -8.12141803e-04 1.07955467e+02] [ 8.63740623e-04 -1.24817476e-05 9.99999627e-01 5.14510938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58028169299996 meters 0.02339983270942926 Centerline is valid? [True, True] Translation: X:209.62, Y:107.98, Z:0.51 [[ 3.25254022e-01 -9.45626357e-01 -7.83989944e-04 2.09621669e+02] [ 9.45623874e-01 3.25254965e-01 -2.16700132e-03 1.07978083e+02] [ 2.30417019e-03 -3.65337126e-05 9.99997345e-01 5.11815425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.610281693 meters 0.024755880440719885 Centerline is valid? [True, True] Translation: X:209.64, Y:108.00, Z:0.51 [[ 3.23725024e-01 -9.46150292e-01 -1.31672912e-03 2.09637053e+02] [ 9.46143281e-01 3.23727695e-01 -3.64299166e-03 1.08000717e+02] [ 3.87307931e-03 -6.64868479e-05 9.99992497e-01 5.10180147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64028169299996 meters 0.024350931840429163 Centerline is valid? [True, True] Translation: X:209.65, Y:108.02, Z:0.51 [[ 3.24126488e-01 -9.46012862e-01 -1.29765271e-03 2.09645449e+02] [ 9.46006042e-01 3.24129079e-01 -3.59290099e-03 1.08023519e+02] [ 3.81953753e-03 -6.30329275e-05 9.99992704e-01 5.11218399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.670281693 meters 0.022999156019828233 Centerline is valid? [True, True] Translation: X:209.65, Y:108.05, Z:0.51 [[ 3.25369006e-01 -9.45586061e-01 -1.41793257e-03 2.09653754e+02] [ 9.45577900e-01 3.25372090e-01 -3.92905498e-03 1.08047891e+02] [ 4.17661530e-03 -6.23729874e-05 9.99991276e-01 5.10883417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70028169299997 meters 0.021787776129296957 Centerline is valid? [True, True] Translation: X:209.66, Y:108.07, Z:0.51 [[ 3.26670181e-01 -9.45136786e-01 -1.74600184e-03 2.09662512e+02] [ 9.45124385e-01 3.26674840e-01 -4.84205296e-03 1.08071361e+02] [ 5.14677725e-03 -6.84346023e-05 9.99986753e-01 5.09242401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.730281693 meters 0.01894343718915246 Centerline is valid? [True, True] Translation: X:209.67, Y:108.10, Z:0.51 [[ 3.29663562e-01 -9.44096571e-01 -1.89753114e-03 2.09671974e+02] [ 9.44081884e-01 3.29669018e-01 -5.26631293e-03 1.08095597e+02] [ 5.59746521e-03 -5.53132964e-05 9.99984333e-01 5.07250570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76028169299997 meters 0.01784007333671102 Centerline is valid? [True, True] Translation: X:209.68, Y:108.12, Z:0.51 [[ 3.30894877e-01 -9.43666331e-01 -1.56094424e-03 2.09683086e+02] [ 9.43656373e-01 3.30898556e-01 -4.33525591e-03 1.08117539e+02] [ 4.60754924e-03 -3.84810146e-05 9.99989384e-01 5.07903961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79028169299994 meters 0.017849870923030416 Centerline is valid? [True, True] Translation: X:209.69, Y:108.14, Z:0.51 [[ 3.30672080e-01 -9.43744159e-01 -1.71396359e-03 2.09694398e+02] [ 9.43732134e-01 3.30676519e-01 -4.76427822e-03 1.08140077e+02] [ 5.06302726e-03 -4.21087328e-05 9.99987182e-01 5.06644565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82028169299997 meters 0.017684539268790597 Centerline is valid? [True, True] Translation: X:209.71, Y:108.16, Z:0.51 [[ 3.30278136e-01 -9.43881336e-01 -2.09218608e-03 2.09705421e+02] [ 9.43863390e-01 3.30284758e-01 -5.82065646e-03 1.08163272e+02] [ 6.18502617e-03 -5.23022750e-05 9.99980871e-01 5.05935295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85028169299994 meters 0.017512040869377944 Centerline is valid? [True, True] Translation: X:209.72, Y:108.19, Z:0.51 [[ 3.29679961e-01 -9.44089868e-01 -2.33315026e-03 2.09716205e+02] [ 9.44067518e-01 3.29688211e-01 -6.49658494e-03 1.08186635e+02] [ 6.90257216e-03 -6.08575024e-05 9.99976175e-01 5.05382913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880281693 meters 0.018241214841175874 Centerline is valid? [True, True] Translation: X:209.73, Y:108.21, Z:0.51 [[ 3.28935743e-01 -9.44349769e-01 -2.18901137e-03 2.09731465e+02] [ 9.44330066e-01 3.28943021e-01 -6.10040975e-03 1.08206824e+02] [ 6.48098055e-03 -6.05064335e-05 9.99978996e-01 5.06453646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91028169299994 meters 0.01860967568645815 Centerline is valid? [True, True] Translation: X:209.74, Y:108.23, Z:0.51 [[ 3.28815550e-01 -9.44392267e-01 -1.89190577e-03 2.09742948e+02] [ 9.44377527e-01 3.28820989e-01 -5.27670668e-03 1.08228384e+02] [ 5.60537931e-03 -5.16100810e-05 9.99984288e-01 5.07966340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940281693 meters 0.01654660220841411 Centerline is valid? [True, True] Translation: X:209.75, Y:108.25, Z:0.51 [[ 3.31504271e-01 -9.43452886e-01 -1.25276198e-03 2.09752382e+02] [ 9.43446408e-01 3.31506638e-01 -3.49646535e-03 1.08250404e+02] [ 3.71404924e-03 -2.28205951e-05 9.99993103e-01 5.11165214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97028169299995 meters 0.014855716462685577 Centerline is valid? [True, True] Translation: X:209.76, Y:108.27, Z:0.51 [[ 3.34038534e-01 -9.42558962e-01 -9.27381704e-04 2.09757031e+02] [ 9.42555404e-01 3.34039821e-01 -2.59008107e-03 1.08274867e+02] [ 2.75108655e-03 -8.92175202e-06 9.99996216e-01 5.12956703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000281693 meters 0.014430141743584363 Centerline is valid? [True, True] Translation: X:209.76, Y:108.30, Z:0.51 [[ 3.36614442e-01 -9.41642305e-01 -6.98048519e-04 2.09760983e+02] [ 9.41640284e-01 3.36615166e-01 -1.95082882e-03 1.08298514e+02] [ 2.07195667e-03 -6.33449582e-07 9.99997854e-01 5.14090450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03028169299995 meters 0.014755906819872572 Centerline is valid? [True, True] Translation: X:209.77, Y:108.32, Z:0.51 [[ 3.38826589e-01 -9.40848524e-01 -7.72890790e-04 2.09766700e+02] [ 9.40846040e-01 3.38827470e-01 -2.16203253e-03 1.08323425e+02] [ 2.29602174e-03 5.38286663e-06 9.99997364e-01 5.13881339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060281693 meters 0.016362323124432195 Centerline is valid? [True, True] Translation: X:209.77, Y:108.35, Z:0.51 [[ 3.41994999e-01 -9.39700518e-01 -1.53553252e-03 2.09773539e+02] [ 9.39690679e-01 3.41998445e-01 -4.30022140e-03 1.08348502e+02] [ 4.56607001e-03 2.77286149e-05 9.99989575e-01 5.10250261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09028169299995 meters 0.016968042157649462 Centerline is valid? [True, True] Translation: X:209.78, Y:108.37, Z:0.51 [[ 3.42807606e-01 -9.39403877e-01 -1.81711982e-03 2.09781502e+02] [ 9.39390071e-01 3.42812420e-01 -5.09306108e-03 1.08372763e+02] [ 5.40737256e-03 3.89557573e-05 9.99985379e-01 5.08796947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120281693 meters 0.01789482740521817 Centerline is valid? [True, True] Translation: X:209.79, Y:108.40, Z:0.51 [[ 3.43890432e-01 -9.39007651e-01 -2.00050917e-03 2.09788280e+02] [ 9.38990885e-01 3.43896247e-01 -5.61152847e-03 1.08398385e+02] [ 5.95723576e-03 5.12910780e-05 9.99982254e-01 5.07904173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15028169299995 meters 0.01924635427704752 Centerline is valid? [True, True] Translation: X:209.79, Y:108.42, Z:0.51 [[ 3.44549808e-01 -9.38766271e-01 -1.82152734e-03 2.09793923e+02] [ 9.38752346e-01 3.44554619e-01 -5.11350881e-03 1.08422763e+02] [ 5.42800526e-03 5.18954137e-05 9.99985267e-01 5.07802828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180281693 meters 0.01988048288724414 Centerline is valid? [True, True] Translation: X:209.80, Y:108.45, Z:0.51 [[ 3.45744233e-01 -9.38327602e-01 -1.49547291e-03 2.09801530e+02] [ 9.38318198e-01 3.45747464e-01 -4.20119793e-03 1.08448129e+02] [ 4.45915595e-03 4.93105083e-05 9.99990057e-01 5.10554643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21028169299996 meters 0.020637002859497364 Centerline is valid? [True, True] Translation: X:209.81, Y:108.47, Z:0.51 [[ 3.46294744e-01 -9.38124661e-01 -1.43909296e-03 2.09806729e+02] [ 9.38115939e-01 3.46297731e-01 -4.04562980e-03 1.08472182e+02] [ 4.29365970e-03 5.09442959e-05 9.99990781e-01 5.11118622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240281693 meters 0.02162512418125371 Centerline is valid? [True, True] Translation: X:209.81, Y:108.50, Z:0.51 [[ 3.46984332e-01 -9.37869716e-01 -1.50651298e-03 2.09810939e+02] [ 9.37860142e-01 3.46987598e-01 -4.23814798e-03 1.08496457e+02] [ 4.49757196e-03 5.76724691e-05 9.99989884e-01 5.10952771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27028169299996 meters 0.024976023571846338 Centerline is valid? [True, True] Translation: X:209.81, Y:108.52, Z:0.51 [[ 3.49871158e-01 -9.36796047e-01 -1.82740658e-03 2.09813057e+02] [ 9.36781923e-01 3.49875919e-01 -5.14492035e-03 1.08523188e+02] [ 5.45910660e-03 8.81777912e-05 9.99985095e-01 5.08611947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300281693 meters 0.026456275283144263 Centerline is valid? [True, True] Translation: X:209.82, Y:108.55, Z:0.51 [[ 3.51155159e-01 -9.36315349e-01 -1.90306790e-03 2.09818633e+02] [ 9.36300002e-01 3.51160301e-01 -5.36192320e-03 1.08549387e+02] [ 5.68873289e-03 1.01024517e-04 9.99983814e-01 5.08189624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33028169299996 meters 0.028700107315135066 Centerline is valid? [True, True] Translation: X:209.82, Y:108.58, Z:0.51 [[ 3.52901484e-01 -9.35659617e-01 -1.27442404e-03 2.09819807e+02] [ 9.35652722e-01 3.52903777e-01 -3.59290843e-03 1.08576152e+02] [ 3.81148838e-03 7.55243967e-05 9.99992733e-01 5.11590776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.360281693 meters 0.02955303603303972 Centerline is valid? [True, True] Translation: X:209.83, Y:108.60, Z:0.51 [[ 3.53195494e-01 -9.35549160e-01 -8.44562154e-04 2.09825010e+02] [ 9.35546128e-01 3.53196500e-01 -2.38237586e-03 1.08600709e+02] [ 2.52712613e-03 5.13175665e-05 9.99996806e-01 5.14091136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39028169299996 meters 0.029884358056767424 Centerline is valid? [True, True] Translation: X:209.83, Y:108.63, Z:0.52 [[ 3.53203779e-01 -9.35546292e-01 -4.76099364e-04 2.09831810e+02] [ 9.35545327e-01 3.53204099e-01 -1.34345262e-03 1.08625161e+02] [ 1.42502236e-03 2.91000068e-05 9.99998984e-01 5.15627221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.420281693 meters 0.028399763982974252 Centerline is valid? [True, True] Translation: X:209.84, Y:108.65, Z:0.52 [[ 3.51657604e-01 -9.36128537e-01 -5.40991473e-04 2.09840582e+02] [ 9.36127290e-01 3.51658019e-01 -1.52797849e-03 1.08650358e+02] [ 1.62062825e-03 3.08883713e-05 9.99998686e-01 5.15813785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45028169299997 meters 0.027811415137126528 Centerline is valid? [True, True] Translation: X:209.85, Y:108.67, Z:0.51 [[ 3.50601634e-01 -9.36524312e-01 -8.41393536e-04 2.09847208e+02] [ 9.36521291e-01 3.50602641e-01 -2.37890870e-03 1.08674289e+02] [ 2.52290063e-03 4.60663161e-05 9.99996816e-01 5.13769532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.480281693 meters 0.027343909490157102 Centerline is valid? [True, True] Translation: X:209.85, Y:108.70, Z:0.51 [[ 3.49730069e-01 -9.36849653e-01 -1.26750391e-03 2.09851821e+02] [ 9.36842787e-01 3.49732360e-01 -3.58728942e-03 1.08699298e+02] [ 3.80403798e-03 6.71310820e-05 9.99992762e-01 5.11357244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51028169299997 meters 0.02779806403335039 Centerline is valid? [True, True] Translation: X:209.86, Y:108.72, Z:0.51 [[ 3.49600679e-01 -9.36897697e-01 -1.43896173e-03 2.09857734e+02] [ 9.36888833e-01 3.49603632e-01 -4.07611944e-03 1.08722525e+02] [ 4.32197317e-03 7.68669484e-05 9.99990657e-01 5.11172409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54028169299994 meters 0.027680269968917308 Centerline is valid? [True, True] Translation: X:209.86, Y:108.75, Z:0.51 [[ 3.49395602e-01 -9.36974015e-01 -1.55188621e-03 2.09864617e+02] [ 9.36963688e-01 3.49399038e-01 -4.39988701e-03 1.08746011e+02] [ 4.66480735e-03 8.32401387e-05 9.99989116e-01 5.10770590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57028169299997 meters 0.028481854360947266 Centerline is valid? [True, True] Translation: X:209.87, Y:108.77, Z:0.51 [[ 3.49566416e-01 -9.36910285e-01 -1.56144953e-03 2.09867910e+02] [ 9.36899812e-01 3.49569893e-01 -4.43080136e-03 1.08769714e+02] [ 4.69709911e-03 8.59375793e-05 9.99988965e-01 5.10499751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60028169299994 meters 0.027728016864544826 Centerline is valid? [True, True] Translation: X:209.88, Y:108.79, Z:0.51 [[ 3.49675517e-01 -9.36869969e-01 -1.30121235e-03 2.09875297e+02] [ 9.36862685e-01 3.49677931e-01 -3.69513895e-03 1.08794323e+02] [ 3.91686996e-03 7.30423254e-05 9.99992326e-01 5.12257917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630281693 meters 0.02777188009866105 Centerline is valid? [True, True] Translation: X:209.88, Y:108.82, Z:0.51 [[ 3.49646348e-01 -9.36881247e-01 -9.79448873e-04 2.09881452e+02] [ 9.36877115e-01 3.49647716e-01 -2.78323912e-03 1.08819462e+02] [ 2.95002660e-03 5.55261612e-05 9.99995647e-01 5.14268341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66028169299994 meters 0.02722535218079428 Centerline is valid? [True, True] Translation: X:209.89, Y:108.85, Z:0.52 [[ 3.50445360e-01 -9.36582902e-01 -7.19383778e-04 2.09886423e+02] [ 9.36580669e-01 3.50446095e-01 -2.04544703e-03 1.08845710e+02] [ 2.16783595e-03 4.30564782e-05 9.99997649e-01 5.15124281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690281693 meters 0.02976543110999086 Centerline is valid? [True, True] Translation: X:209.89, Y:108.87, Z:0.51 [[ 3.50371061e-01 -9.36610470e-01 -9.73432081e-04 2.09889044e+02] [ 9.36606374e-01 3.50372408e-01 -2.77046298e-03 1.08870328e+02] [ 2.93590837e-03 5.89673600e-05 9.99995688e-01 5.12437332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72028169299995 meters 0.029022186848385364 Centerline is valid? [True, True] Translation: X:209.90, Y:108.90, Z:0.51 [[ 3.49546906e-01 -9.36917365e-01 -1.67680956e-03 2.09896412e+02] [ 9.36905191e-01 3.49550914e-01 -4.77728003e-03 1.08895282e+02] [ 5.06204693e-03 9.88718703e-05 9.99987183e-01 5.07800970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750281693 meters 0.026669990445136113 Centerline is valid? [True, True] Translation: X:209.91, Y:108.92, Z:0.51 [[ 3.48654762e-01 -9.37249518e-01 -1.78837230e-03 2.09906809e+02] [ 9.37235651e-01 3.48659334e-01 -5.09928025e-03 1.08918836e+02] [ 5.40283065e-03 1.01762062e-04 9.99985399e-01 5.08131622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78028169299995 meters 0.027444206548245687 Centerline is valid? [True, True] Translation: X:209.91, Y:108.94, Z:0.51 [[ 3.47169859e-01 -9.37800747e-01 -1.68777173e-03 2.09912784e+02] [ 9.37788383e-01 3.47173950e-01 -4.81628434e-03 1.08943381e+02] [ 5.10266543e-03 8.92960303e-05 9.99986977e-01 5.09022977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810281693 meters 0.023438894480578974 Centerline is valid? [True, True] Translation: X:209.93, Y:108.97, Z:0.51 [[ 3.43529342e-01 -9.39141448e-01 -9.65155876e-04 2.09926574e+02] [ 9.39137406e-01 3.43530696e-01 -2.75574551e-03 1.08965526e+02] [ 2.91959550e-03 4.02654573e-05 9.99995737e-01 5.13188429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84028169299995 meters 0.019737999509702005 Centerline is valid? [True, True] Translation: X:209.94, Y:108.99, Z:0.51 [[ 3.41265924e-01 -9.39966481e-01 -7.63886171e-04 2.09941046e+02] [ 9.39963948e-01 3.41266777e-01 -2.18243668e-03 1.08987889e+02] [ 2.31210630e-03 2.67658095e-05 9.99997327e-01 5.13642731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870281693 meters 0.01918765347336583 Centerline is valid? [True, True] Translation: X:209.95, Y:109.01, Z:0.51 [[ 3.38868743e-01 -9.40833306e-01 -8.16241777e-04 2.09949833e+02] [ 9.40830411e-01 3.38869725e-01 -2.33392647e-03 1.09010532e+02] [ 2.47243538e-03 2.29496410e-05 9.99996943e-01 5.12630000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90028169299995 meters 0.01533048410032443 Centerline is valid? [True, True] Translation: X:209.97, Y:109.03, Z:0.51 [[ 3.33866778e-01 -9.42619752e-01 -9.88837933e-04 2.09967451e+02] [ 9.42615504e-01 3.33868242e-01 -2.83009063e-03 1.09032373e+02] [ 2.99784091e-03 1.27792714e-05 9.99995506e-01 5.12746857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930281693 meters 0.01533048410032443 Centerline is valid? [True, True] Translation: X:209.98, Y:109.06, Z:0.51 [[ 3.33622713e-01 -9.42706163e-01 -9.88148114e-04 2.09975369e+02] [ 9.42701914e-01 3.33624176e-01 -2.83033149e-03 1.09056051e+02] [ 2.99784104e-03 1.27337525e-05 9.99995506e-01 5.12796557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96028169299996 meters 0.014691162430536434 Centerline is valid? [True, True] Translation: X:209.99, Y:109.08, Z:0.51 [[ 3.31398631e-01 -9.43490335e-01 -9.67376529e-04 2.09987038e+02] [ 9.43486259e-01 3.31400042e-01 -2.77310847e-03 1.09078585e+02] [ 2.93698966e-03 6.29788598e-06 9.99995687e-01 5.13557331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990281693 meters 0.014679962192587813 Centerline is valid? [True, True] Translation: X:210.00, Y:109.10, Z:0.51 [[ 3.26999156e-01 -9.45024312e-01 -7.75863620e-04 2.10004329e+02] [ 9.45021691e-01 3.27000076e-01 -2.22560712e-03 1.09098137e+02] [ 2.35696030e-03 -5.43630239e-06 9.99997222e-01 5.14332992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02028169299996 meters 0.015381997382550087 Centerline is valid? [True, True] Translation: X:210.02, Y:109.12, Z:0.51 [[ 3.24839874e-01 -9.45768621e-01 -8.78852621e-04 2.10016450e+02] [ 9.45765255e-01 3.24841063e-01 -2.52308685e-03 1.09120059e+02] [ 2.67174379e-03 -1.15890586e-05 9.99996431e-01 5.14140826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050281693 meters 0.01582079615957933 Centerline is valid? [True, True] Translation: X:210.03, Y:109.14, Z:0.51 [[ 3.23149487e-01 -9.46347532e-01 -8.70121202e-04 2.10027783e+02] [ 9.46344230e-01 3.23150659e-01 -2.50011632e-03 1.09143328e+02] [ 2.64715915e-03 -1.55228709e-05 9.99996496e-01 5.13190693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08028169299996 meters 0.017803100394528946 Centerline is valid? [True, True] Translation: X:210.04, Y:109.16, Z:0.52 [[ 3.21611743e-01 -9.46871374e-01 -6.98873656e-04 2.10043969e+02] [ 9.46869242e-01 3.21612502e-01 -2.00941638e-03 1.09164019e+02] [ 2.12742536e-03 -1.54900642e-05 9.99997737e-01 5.15719532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.110281693 meters 0.016056508925028336 Centerline is valid? [True, True] Translation: X:210.05, Y:109.19, Z:0.52 [[ 3.21957117e-01 -9.46754173e-01 -3.88910824e-04 2.10049955e+02] [ 9.46753512e-01 3.21957352e-01 -1.11847181e-03 1.09188703e+02] [ 1.18413055e-03 -8.10272938e-06 9.99999299e-01 5.18049428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14028169299996 meters 0.01563497764343481 Centerline is valid? [True, True] Translation: X:210.06, Y:109.21, Z:0.52 [[ 3.22792601e-01 -9.46469721e-01 -6.94355191e-05 2.10057024e+02] [ 9.46469700e-01 3.22792608e-01 -1.98535748e-04 1.09212413e+02] [ 2.10321347e-04 -1.63274432e-06 9.99999978e-01 5.19831511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.170281693 meters 0.01456855274377849 Centerline is valid? [True, True] Translation: X:210.06, Y:109.24, Z:0.52 [[ 3.25287843e-01 -9.45615038e-01 1.35110482e-04 2.10062481e+02] [ 9.45614957e-01 3.25287871e-01 3.91277707e-04 1.09237625e+02] [-4.13947886e-04 4.84611615e-07 9.99999914e-01 5.19850823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20028169299997 meters 0.01430535034060416 Centerline is valid? [True, True] Translation: X:210.07, Y:109.26, Z:0.52 [[ 3.26691003e-01 -9.45131202e-01 -2.06884981e-05 2.10068505e+02] [ 9.45131200e-01 3.26691003e-01 -5.81991500e-05 1.09261955e+02] [ 6.17645788e-05 -5.40206326e-07 9.99999998e-01 5.19086608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23028169299994 meters 0.014326750777970658 Centerline is valid? [True, True] Translation: X:210.07, Y:109.29, Z:0.52 [[ 3.28522614e-01 -9.44496060e-01 -2.90753068e-04 2.10072975e+02] [ 9.44495688e-01 3.28522742e-01 -8.38531301e-04 1.09286108e+02] [ 8.87508506e-04 8.61475427e-07 9.99999606e-01 5.18535113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26028169299997 meters 0.01619099056278011 Centerline is valid? [True, True] Translation: X:210.07, Y:109.31, Z:0.52 [[ 3.32806770e-01 -9.42995022e-01 -2.03988747e-04 2.10071060e+02] [ 9.42994839e-01 3.32806833e-01 -5.88465106e-04 1.09314328e+02] [ 6.22808515e-04 3.48483616e-06 9.99999806e-01 5.20457238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29028169299994 meters 0.01850766901755915 Centerline is valid? [True, True] Translation: X:210.07, Y:109.34, Z:0.52 [[ 3.35522543e-01 -9.42032157e-01 -1.95488673e-04 2.10072359e+02] [ 9.42031988e-01 3.35522600e-01 -5.64303728e-04 1.09342142e+02] [ 5.97183126e-04 5.18003877e-06 9.99999822e-01 5.20295758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32028169299997 meters 0.02388772944807515 Centerline is valid? [True, True] Translation: X:210.07, Y:109.37, Z:0.51 [[ 3.41605130e-01 -9.39843124e-01 -9.15530083e-04 2.10066647e+02] [ 9.39839389e-01 3.41606354e-01 -2.64984376e-03 1.09371253e+02] [ 2.80318833e-03 4.47489893e-05 9.99996070e-01 5.14422968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35028169299994 meters 0.027926929899015025 Centerline is valid? [True, True] Translation: X:210.07, Y:109.40, Z:0.51 [[ 3.43809404e-01 -9.39038570e-01 -1.28759942e-03 2.10065419e+02] [ 9.39031165e-01 3.43811808e-01 -3.73001263e-03 1.09398071e+02] [ 3.94531761e-03 7.33174355e-05 9.99992215e-01 5.12046379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380281693 meters 0.028392475518874336 Centerline is valid? [True, True] Translation: X:210.07, Y:109.42, Z:0.51 [[ 3.45171076e-01 -9.38538815e-01 -1.34919790e-03 2.10068973e+02] [ 9.38530669e-01 3.45173703e-01 -3.91124246e-03 1.09424974e+02] [ 4.13656050e-03 8.37841580e-05 9.99991441e-01 5.12721034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41028169299994 meters 0.02889392794220824 Centerline is valid? [True, True] Translation: X:210.07, Y:109.45, Z:0.52 [[ 3.45193599e-01 -9.38531069e-01 -9.00664884e-04 2.10067590e+02] [ 9.38527435e-01 3.45194770e-01 -2.61254780e-03 1.09451319e+02] [ 2.76286209e-03 5.65360755e-05 9.99996182e-01 5.16016685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440281693 meters 0.027755717858781746 Centerline is valid? [True, True] Translation: X:210.07, Y:109.48, Z:0.52 [[ 3.43908390e-01 -9.39002882e-01 -7.79464979e-04 2.10073941e+02] [ 9.39000157e-01 3.43909270e-01 -2.26269840e-03 1.09475942e+02] [ 2.39274555e-03 4.62432270e-05 9.99997136e-01 5.17227995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47028169299995 meters 0.024255160671790097 Centerline is valid? [True, True] Translation: X:210.08, Y:109.50, Z:0.52 [[ 3.40012389e-01 -9.40420477e-01 -9.49991033e-04 2.10082228e+02] [ 9.40416427e-01 3.40013713e-01 -2.76022516e-03 1.09500096e+02] [ 2.91878224e-03 4.51235755e-05 9.99995739e-01 5.15578209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500281693 meters 0.023032916740302688 Centerline is valid? [True, True] Translation: X:210.09, Y:109.52, Z:0.51 [[ 3.37769584e-01 -9.41228226e-01 -1.06543330e-03 2.10089580e+02] [ 9.41223128e-01 3.37771261e-01 -3.09811046e-03 1.09524773e+02] [ 3.27590176e-03 4.36370210e-05 9.99994633e-01 5.14525429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53028169299995 meters 0.019836411880762093 Centerline is valid? [True, True] Translation: X:210.10, Y:109.55, Z:0.52 [[ 3.35121551e-01 -9.42174501e-01 -8.69459717e-04 2.10097278e+02] [ 9.42171105e-01 3.35122677e-01 -2.52985259e-03 1.09550005e+02] [ 2.67493827e-03 2.86283015e-05 9.99996422e-01 5.16325195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560281693 meters 0.018914383422447303 Centerline is valid? [True, True] Translation: X:210.11, Y:109.57, Z:0.52 [[ 3.33768751e-01 -9.42654626e-01 -8.23169151e-04 2.10105282e+02] [ 9.42651579e-01 3.33769765e-01 -2.39682448e-03 1.09574698e+02] [ 2.53412665e-03 2.40234107e-05 9.99996789e-01 5.16500958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59028169299995 meters 0.01775201007897585 Centerline is valid? [True, True] Translation: X:210.11, Y:109.60, Z:0.52 [[ 3.32131612e-01 -9.43232762e-01 -7.41589928e-04 2.10114707e+02] [ 9.43230287e-01 3.32132439e-01 -2.16070558e-03 1.09598904e+02] [ 2.28435437e-03 1.81485480e-05 9.99997391e-01 5.15991650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620281693 meters 0.015414156380524296 Centerline is valid? [True, True] Translation: X:210.13, Y:109.62, Z:0.52 [[ 3.28213455e-01 -9.44603263e-01 -7.76924254e-04 2.10126225e+02] [ 9.44600546e-01 3.28214374e-01 -2.26547505e-03 1.09620811e+02] [ 2.39497283e-03 9.67631713e-06 9.99997132e-01 5.16329963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65028169299995 meters 0.01469704635747758 Centerline is valid? [True, True] Translation: X:210.14, Y:109.64, Z:0.52 [[ 3.25950708e-01 -9.45386425e-01 -8.02133079e-04 2.10135822e+02] [ 9.45383527e-01 3.25951695e-01 -2.34098363e-03 1.09643481e+02] [ 2.47459078e-03 4.72187211e-06 9.99996938e-01 5.16342100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680281693 meters 0.014799493740125845 Centerline is valid? [True, True] Translation: X:210.15, Y:109.66, Z:0.52 [[ 3.21513219e-01 -9.46904986e-01 -4.44009893e-04 2.10147760e+02] [ 9.46904099e-01 3.21513526e-01 -1.29619226e-03 1.09664736e+02] [ 1.37012610e-03 -3.69184157e-06 9.99999061e-01 5.18396133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71028169299996 meters 0.01517538797262849 Centerline is valid? [True, True] Translation: X:210.16, Y:109.69, Z:0.52 [[ 3.19901951e-01 -9.47450584e-01 -3.65813775e-04 2.10156427e+02] [ 9.47449981e-01 3.19902160e-01 -1.06860823e-03 1.09688035e+02] [ 1.12947811e-03 -4.74039806e-06 9.99999362e-01 5.19001935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740281693 meters 0.015354723459323406 Centerline is valid? [True, True] Translation: X:210.16, Y:109.71, Z:0.52 [[ 3.19401076e-01 -9.47619523e-01 -4.38529894e-04 2.10163022e+02] [ 9.47618655e-01 3.19401377e-01 -1.28242941e-03 1.09711922e+02] [ 1.35532220e-03 -5.94977354e-06 9.99999082e-01 5.18581441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77028169299996 meters 0.014872820636317176 Centerline is valid? [True, True] Translation: X:210.16, Y:109.74, Z:0.52 [[ 3.20147364e-01 -9.47367698e-01 -3.33553026e-04 2.10163611e+02] [ 9.47367195e-01 3.20147537e-01 -9.75851799e-04 1.09736820e+02] [ 1.03127665e-03 -3.58081440e-06 9.99999468e-01 5.18539966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800281693 meters 0.014696015460825837 Centerline is valid? [True, True] Translation: X:210.17, Y:109.76, Z:0.52 [[ 3.20396902e-01 -9.47283379e-01 -1.60408738e-04 2.10166623e+02] [ 9.47283263e-01 3.20396942e-01 -4.68860523e-04 1.09760680e+02] [ 4.95538250e-04 -1.73105338e-06 9.99999877e-01 5.20153900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83028169299996 meters 0.015548823750554303 Centerline is valid? [True, True] Translation: X:210.17, Y:109.78, Z:0.52 [[ 3.18345822e-01 -9.47974649e-01 4.62328763e-05 2.10172077e+02] [ 9.47974639e-01 3.18345825e-01 1.37289531e-04 1.09784351e+02] [-1.44865038e-04 1.22045657e-07 9.99999990e-01 5.20856816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.860281693 meters 0.017032437475687886 Centerline is valid? [True, True] Translation: X:210.18, Y:109.81, Z:0.52 [[ 3.15689810e-01 -9.48862436e-01 1.47779355e-04 2.10183102e+02] [ 9.48862336e-01 3.15689845e-01 4.35582210e-04 1.09807131e+02] [-4.59960039e-04 2.71339914e-06 9.99999894e-01 5.21032280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89028169299996 meters 0.019724430961212666 Centerline is valid? [True, True] Translation: X:210.20, Y:109.83, Z:0.52 [[ 3.12467765e-01 -9.49928355e-01 1.25798837e-04 2.10196177e+02] [ 9.49928283e-01 3.12467791e-01 3.71281119e-04 1.09829273e+02] [-3.91998547e-04 3.48649127e-06 9.99999923e-01 5.20967761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.920281693 meters 0.028362870338623548 Centerline is valid? [True, True] Translation: X:210.22, Y:109.85, Z:0.52 [[ 3.04590844e-01 -9.52483289e-01 -4.12558948e-05 2.10218032e+02] [ 9.52483282e-01 3.04590846e-01 -1.19906953e-04 1.09848639e+02] [ 1.26775537e-04 -2.77298997e-06 9.99999992e-01 5.19665908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95028169299997 meters 0.031317678642146914 Centerline is valid? [True, True] Translation: X:210.23, Y:109.87, Z:0.52 [[ 3.00276163e-01 -9.53852271e-01 -2.65229624e-04 2.10231580e+02] [ 9.53851953e-01 3.00276279e-01 -7.79532302e-04 1.09871215e+02] [ 8.23200822e-04 -1.89148264e-05 9.99999661e-01 5.17746627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98028169299994 meters 0.040642870034528045 Centerline is valid? [True, True] Translation: X:210.26, Y:109.89, Z:0.51 [[ 2.93175854e-01 -9.56058042e-01 -9.69429972e-04 2.10255958e+02] [ 9.56053782e-01 2.93177443e-01 -2.85543418e-03 1.09888955e+02] [ 3.01417581e-03 -8.96828370e-05 9.99995453e-01 5.13477955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01028169299997 meters 0.0386802826891651 Centerline is valid? [True, True] Translation: X:210.26, Y:109.91, Z:0.51 [[ 2.90857543e-01 -9.56765575e-01 -1.23484936e-03 2.10264447e+02] [ 9.56758656e-01 2.90860138e-01 -3.64054944e-03 1.09913195e+02] [ 3.84232083e-03 -1.22571549e-04 9.99992611e-01 5.12462231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04028169299994 meters 0.04451589395834496 Centerline is valid? [True, True] Translation: X:210.28, Y:109.93, Z:0.51 [[ 2.89756814e-01 -9.57099287e-01 -1.39440247e-03 2.10282667e+02] [ 9.57090454e-01 2.89760134e-01 -4.11440443e-03 1.09933263e+02] [ 4.34193580e-03 -1.42392574e-04 9.99990564e-01 5.11625915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07028169299997 meters 0.03966455162106891 Centerline is valid? [True, True] Translation: X:210.29, Y:109.96, Z:0.51 [[ 2.90305712e-01 -9.56932186e-01 -1.83990376e-03 2.10291557e+02] [ 9.56916776e-01 2.90311485e-01 -5.43372828e-03 1.09957105e+02] [ 5.73385467e-03 -1.83192421e-04 9.99983545e-01 5.09317006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10028169299994 meters 0.04690231882897465 Centerline is valid? [True, True] Translation: X:210.31, Y:109.98, Z:0.51 [[ 2.90652248e-01 -9.56826714e-01 -1.97766238e-03 2.10312217e+02] [ 9.56808877e-01 2.90658912e-01 -5.84550274e-03 1.09975903e+02] [ 6.16795837e-03 -1.93236408e-04 9.99980959e-01 5.07302947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130281693 meters 0.045875289675367234 Centerline is valid? [True, True] Translation: X:210.32, Y:110.00, Z:0.51 [[ 2.91154035e-01 -9.56674527e-01 -1.78265686e-03 2.10322781e+02] [ 9.56660009e-01 2.91159443e-01 -5.27315818e-03 1.09998897e+02] [ 5.56373348e-03 -1.70095245e-04 9.99984508e-01 5.08881230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16028169299994 meters 0.039486175481493004 Centerline is valid? [True, True] Translation: X:210.33, Y:110.02, Z:0.51 [[ 2.93196947e-01 -9.56051229e-01 -1.26399783e-03 2.10329915e+02] [ 9.56043915e-01 2.93199651e-01 -3.74133054e-03 1.10023351e+02] [ 3.94750739e-03 -1.11490738e-04 9.99992202e-01 5.13597306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190281693 meters 0.0358050085576678 Centerline is valid? [True, True] Translation: X:210.34, Y:110.05, Z:0.51 [[ 2.93953901e-01 -9.55818996e-01 -1.07259358e-03 2.10336118e+02] [ 9.55813721e-01 2.93955843e-01 -3.17702480e-03 1.10047397e+02] [ 3.35195581e-03 -9.13008235e-05 9.99994378e-01 5.14405167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22028169299995 meters 0.03766283062867207 Centerline is valid? [True, True] Translation: X:210.35, Y:110.07, Z:0.51 [[ 2.94446689e-01 -9.55667502e-01 -8.79144918e-04 2.10354111e+02] [ 9.55663952e-01 2.94447992e-01 -2.60591821e-03 1.10067117e+02] [ 2.74925380e-03 -7.28631179e-05 9.99996218e-01 5.14066364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250281693 meters 0.04164066980676065 Centerline is valid? [True, True] Translation: X:210.37, Y:110.09, Z:0.51 [[ 2.94264051e-01 -9.55723708e-01 -9.28783243e-04 2.10370418e+02] [ 9.55719739e-01 2.94265506e-01 -2.75548653e-03 1.10086626e+02] [ 2.90679268e-03 -7.68158503e-05 9.99995772e-01 5.13653719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28028169299995 meters 0.03287549460952907 Centerline is valid? [True, True] Translation: X:210.37, Y:110.11, Z:0.51 [[ 2.93750212e-01 -9.55881685e-01 -1.00880430e-03 2.10369363e+02] [ 9.55876995e-01 2.93751932e-01 -2.99558558e-03 1.10113811e+02] [ 3.15976360e-03 -8.43389198e-05 9.99995004e-01 5.14222092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310281693 meters 0.03793531463199946 Centerline is valid? [True, True] Translation: X:210.39, Y:110.13, Z:0.51 [[ 2.94327536e-01 -9.55704004e-01 -1.07595643e-03 2.10386680e+02] [ 9.55698658e-01 2.94329490e-01 -3.19782068e-03 1.10134100e+02] [ 3.37285574e-03 -8.70834337e-05 9.99994308e-01 5.14135922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34028169299995 meters 0.038966253835184504 Centerline is valid? [True, True] Translation: X:210.40, Y:110.16, Z:0.51 [[ 2.94469435e-01 -9.55660198e-01 -1.15653229e-03 2.10397393e+02] [ 9.55654010e-01 2.94471692e-01 -3.44039994e-03 1.10155136e+02] [ 3.62841930e-03 -9.21520946e-05 9.99993413e-01 5.13421719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370281693 meters 0.03577937982463982 Centerline is valid? [True, True] Translation: X:210.41, Y:110.18, Z:0.51 [[ 2.94163789e-01 -9.55754409e-01 -1.08383027e-03 2.10405663e+02] [ 9.55748966e-01 2.94165773e-01 -3.22679152e-03 1.10178834e+02] [ 3.40284599e-03 -8.66644426e-05 9.99994207e-01 5.13945939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40028169299995 meters 0.03719940895528627 Centerline is valid? [True, True] Translation: X:210.42, Y:110.20, Z:0.51 [[ 2.92967366e-01 -9.56121795e-01 -1.11165804e-03 2.10416915e+02] [ 9.56116062e-01 2.92969460e-01 -3.31241006e-03 1.10201603e+02] [ 3.49274930e-03 -9.24460577e-05 9.99993896e-01 5.13819762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430281693 meters 0.03933943555136465 Centerline is valid? [True, True] Translation: X:210.43, Y:110.22, Z:0.51 [[ 2.91227047e-01 -9.56653261e-01 -1.16004610e-03 2.10429569e+02] [ 9.56647012e-01 2.91229339e-01 -3.45935781e-03 1.10224553e+02] [ 3.64724539e-03 -1.02296073e-04 9.99993344e-01 5.13089449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46028169299996 meters 0.0440343039936885 Centerline is valid? [True, True] Translation: X:210.45, Y:110.24, Z:0.51 [[ 2.87646365e-01 -9.57736097e-01 -1.06634724e-03 2.10447712e+02] [ 9.57730816e-01 2.87648322e-01 -3.18234733e-03 1.10244277e+02] [ 3.35458191e-03 -1.05882973e-04 9.99994368e-01 5.13837982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490281693 meters 0.045994234222619175 Centerline is valid? [True, True] Translation: X:210.46, Y:110.27, Z:0.51 [[ 2.85907530e-01 -9.58256693e-01 -9.97355512e-04 2.10460445e+02] [ 9.58252069e-01 2.85909251e-01 -2.97877019e-03 1.10266348e+02] [ 3.13957964e-03 -1.04065156e-04 9.99995066e-01 5.14865650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52028169299996 meters 0.048018574085724595 Centerline is valid? [True, True] Translation: X:210.47, Y:110.29, Z:0.51 [[ 2.84309091e-01 -9.58732207e-01 -9.46285861e-04 2.10473450e+02] [ 9.58728041e-01 2.84310647e-01 -2.82841351e-03 1.10288528e+02] [ 2.98073027e-03 -1.03087117e-04 9.99995552e-01 5.14974731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550281693 meters 0.053687866545497204 Centerline is valid? [True, True] Translation: X:210.49, Y:110.31, Z:0.51 [[ 2.80657618e-01 -9.59806762e-01 -1.51009841e-03 2.10492788e+02] [ 9.59796146e-01 2.80661622e-01 -4.51795540e-03 1.10307130e+02] [ 4.76019081e-03 -1.81388034e-04 9.99988654e-01 5.10915606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58028169299996 meters 0.05635098796572442 Centerline is valid? [True, True] Translation: X:210.51, Y:110.33, Z:0.51 [[ 2.78532767e-01 -9.60425246e-01 -1.68654703e-03 2.10506349e+02] [ 9.60411993e-01 2.78537791e-01 -5.05005170e-03 1.10328553e+02] [ 5.31996424e-03 -2.13175120e-04 9.99985826e-01 5.09660203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.610281693 meters 0.05979516214280412 Centerline is valid? [True, True] Translation: X:210.52, Y:110.35, Z:0.51 [[ 2.75969111e-01 -9.61165501e-01 -1.38921952e-03 2.10524012e+02] [ 9.61156504e-01 2.75972544e-01 -4.16290828e-03 1.10347162e+02] [ 4.38463027e-03 -1.86423278e-04 9.99990370e-01 5.12683062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64028169299996 meters 0.05272066757450574 Centerline is valid? [True, True] Translation: X:210.53, Y:110.37, Z:0.52 [[ 2.75207314e-01 -9.61384483e-01 -8.99605946e-04 2.10525962e+02] [ 9.61380707e-01 2.75208757e-01 -2.69744040e-03 1.10372866e+02] [ 2.84085678e-03 -1.22508473e-04 9.99995957e-01 5.16360755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.670281693 meters 0.061138909738073274 Centerline is valid? [True, True] Translation: X:210.55, Y:110.39, Z:0.52 [[ 2.75113954e-01 -9.61411459e-01 -5.65581371e-04 2.10547091e+02] [ 9.61409964e-01 2.75114524e-01 -1.69671188e-03 1.10390982e+02] [ 1.78683790e-03 -7.69664505e-05 9.99998401e-01 5.18120106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70028169299997 meters 0.059271155843356876 Centerline is valid? [True, True] Translation: X:210.56, Y:110.41, Z:0.52 [[ 2.76709563e-01 -9.60953247e-01 -8.21969040e-04 2.10559420e+02] [ 9.60950081e-01 2.76710763e-01 -2.46888626e-03 1.10412405e+02] [ 2.59993195e-03 -1.06706777e-04 9.99996614e-01 5.16166467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73028169299994 meters 0.057474733337617885 Centerline is valid? [True, True] Translation: X:210.57, Y:110.44, Z:0.51 [[ 2.78132163e-01 -9.60542209e-01 -1.07958303e-03 2.10566942e+02] [ 9.60536734e-01 2.78134226e-01 -3.24594142e-03 1.10435950e+02] [ 3.41813273e-03 -1.34178448e-04 9.99994149e-01 5.14924999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76028169299997 meters 0.040772041559235826 Centerline is valid? [True, True] Translation: X:210.56, Y:110.47, Z:0.52 [[ 2.83648902e-01 -9.58927678e-01 -1.00424456e-03 2.10555049e+02] [ 9.58922923e-01 2.83650660e-01 -3.02183868e-03 1.10466537e+02] [ 3.18257938e-03 -1.05851902e-04 9.99994930e-01 5.16607376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79028169299994 meters 0.04449217961825655 Centerline is valid? [True, True] Translation: X:210.57, Y:110.49, Z:0.52 [[ 2.87354711e-01 -9.57823899e-01 -8.04674696e-04 2.10567410e+02] [ 9.57820837e-01 2.87355828e-01 -2.42306759e-03 1.10487874e+02] [ 2.55210001e-03 -7.44543025e-05 9.99996741e-01 5.17805405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82028169299997 meters 0.04449217961825655 Centerline is valid? [True, True] Translation: X:210.57, Y:110.51, Z:0.52 [[ 2.87117772e-01 -9.57894952e-01 -8.04034201e-04 2.10574637e+02] [ 9.57891890e-01 2.87118888e-01 -2.42328013e-03 1.10510942e+02] [ 2.55210120e-03 -7.44110503e-05 9.99996741e-01 5.17853463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85028169299994 meters 0.03322624451480455 Centerline is valid? [True, True] Translation: X:210.57, Y:110.54, Z:0.52 [[ 2.90658668e-01 -9.56826595e-01 -6.36390925e-04 2.10567908e+02] [ 9.56824672e-01 2.90659360e-01 -1.91928133e-03 1.10539852e+02] [ 2.02139240e-03 -5.10587830e-05 9.99997956e-01 5.19356137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880281693 meters 0.032955740925054725 Centerline is valid? [True, True] Translation: X:210.58, Y:110.56, Z:0.52 [[ 2.95444624e-01 -9.55359580e-01 -7.39379470e-04 2.10575017e+02] [ 9.55356974e-01 2.95445545e-01 -2.23188757e-03 1.10563049e+02] [ 2.35070155e-03 -4.69721482e-05 9.99997236e-01 5.19046156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91028169299994 meters 0.02654638075329641 Centerline is valid? [True, True] Translation: X:210.57, Y:110.59, Z:0.52 [[ 2.96626463e-01 -9.54993198e-01 -8.56225880e-04 2.10573795e+02] [ 9.54989695e-01 2.96627695e-01 -2.58711382e-03 1.10590022e+02] [ 2.72465641e-03 -5.02804706e-05 9.99996287e-01 5.18299090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940281693 meters 0.029370245719325644 Centerline is valid? [True, True] Translation: X:210.59, Y:110.61, Z:0.52 [[ 2.97842764e-01 -9.54614520e-01 -8.97809172e-04 2.10586927e+02] [ 9.54610660e-01 2.97844113e-01 -2.71511935e-03 1.10611274e+02] [ 2.85929953e-03 -4.83795554e-05 9.99995911e-01 5.16852608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97028169299995 meters 0.0260415194151121 Centerline is valid? [True, True] Translation: X:210.59, Y:110.64, Z:0.52 [[ 2.97193025e-01 -9.54816764e-01 -1.11894411e-03 2.10590430e+02] [ 9.54810759e-01 2.97195125e-01 -3.38707768e-03 1.10635992e+02] [ 3.56658329e-03 -6.17640074e-05 9.99993638e-01 5.16032209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000281693 meters 0.0276076003315037 Centerline is valid? [True, True] Translation: X:210.60, Y:110.66, Z:0.51 [[ 2.95600003e-01 -9.55310534e-01 -1.55598378e-03 2.10600741e+02] [ 9.55298904e-01 2.95604084e-01 -4.71477568e-03 1.10658879e+02] [ 4.96403004e-03 -9.27418955e-05 9.99987675e-01 5.13682038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03028169299995 meters 0.0320945283075611 Centerline is valid? [True, True] Translation: X:210.62, Y:110.68, Z:0.51 [[ 2.91872781e-01 -9.56454834e-01 -2.10498192e-03 2.10615424e+02] [ 9.56433541e-01 2.91880333e-01 -6.38377328e-03 1.10679505e+02] [ 6.72019363e-03 -1.50025654e-04 9.99977408e-01 5.10390247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060281693 meters 0.03433162514831096 Centerline is valid? [True, True] Translation: X:210.63, Y:110.70, Z:0.51 [[ 2.89793116e-01 -9.57087475e-01 -1.87472392e-03 2.10627210e+02] [ 9.57070573e-01 2.89799143e-01 -5.68990125e-03 1.10702069e+02] [ 5.98902661e-03 -1.45348881e-04 9.99982055e-01 5.11119921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09028169299995 meters 0.038134652575100896 Centerline is valid? [True, True] Translation: X:210.64, Y:110.72, Z:0.52 [[ 2.86383649e-01 -9.58114311e-01 -1.17142279e-03 2.10643156e+02] [ 9.58107712e-01 2.86386026e-01 -3.55767562e-03 1.10723465e+02] [ 3.74413904e-03 -1.03489084e-04 9.99992985e-01 5.15737599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120281693 meters 0.0408036177891256 Centerline is valid? [True, True] Translation: X:210.66, Y:110.74, Z:0.52 [[ 2.84617174e-01 -9.58640758e-01 -9.80903521e-04 2.10655883e+02] [ 9.58636126e-01 2.84618850e-01 -2.98128687e-03 1.10744663e+02] [ 3.13716673e-03 -9.18041077e-05 9.99995075e-01 5.17169680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15028169299995 meters 0.04156802415109459 Centerline is valid? [True, True] Translation: X:210.67, Y:110.77, Z:0.52 [[ 2.83141989e-01 -9.59077542e-01 -9.39617602e-04 2.10666534e+02] [ 9.59073287e-01 2.83143533e-01 -2.85816931e-03 1.10767996e+02] [ 3.00725264e-03 -9.18943992e-05 9.99995474e-01 5.17132597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180281693 meters 0.04483391414595884 Centerline is valid? [True, True] Translation: X:210.68, Y:110.79, Z:0.51 [[ 2.80673065e-01 -9.59802474e-01 -1.35697599e-03 2.10683607e+02] [ 9.59793592e-01 2.80676309e-01 -4.13165081e-03 1.10788455e+02] [ 4.34643969e-03 -1.42773767e-04 9.99990544e-01 5.13601975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21028169299996 meters 0.04548810899305666 Centerline is valid? [True, True] Translation: X:210.69, Y:110.81, Z:0.51 [[ 2.80311024e-01 -9.59907636e-01 -1.74910442e-03 2.10694393e+02] [ 9.59892854e-01 2.80316420e-01 -5.33032753e-03 1.10809490e+02] [ 5.60692479e-03 -1.84803267e-04 9.99984264e-01 5.11626006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240281693 meters 0.039540581705737904 Centerline is valid? [True, True] Translation: X:210.70, Y:110.83, Z:0.51 [[ 2.80633138e-01 -9.59812843e-01 -2.08518072e-03 2.10696732e+02] [ 9.59791792e-01 2.80640801e-01 -6.36056369e-03 1.10834760e+02] [ 6.69013751e-03 -2.16354392e-04 9.99977597e-01 5.10985569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27028169299996 meters 0.0374414630507274 Centerline is valid? [True, True] Translation: X:210.71, Y:110.86, Z:0.51 [[ 2.84091843e-01 -9.58794424e-01 -2.25343771e-03 2.10705722e+02] [ 9.58769759e-01 2.84100705e-01 -6.88035433e-03 1.10857098e+02] [ 7.23704861e-03 -2.05875390e-04 9.99973791e-01 5.10461687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300281693 meters 0.03445077874032847 Centerline is valid? [True, True] Translation: X:210.71, Y:110.88, Z:0.51 [[ 2.86417999e-01 -9.58102596e-01 -2.03593790e-03 2.10711321e+02] [ 9.58082411e-01 2.86425185e-01 -6.22145236e-03 1.10882453e+02] [ 6.54393355e-03 -1.68660357e-04 9.99978574e-01 5.12038815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33028169299996 meters 0.02978854499925201 Centerline is valid? [True, True] Translation: X:210.72, Y:110.91, Z:0.51 [[ 2.90886841e-01 -9.56755141e-01 -2.10862654e-03 2.10716274e+02] [ 9.56733415e-01 2.90894449e-01 -6.44924230e-03 1.10906424e+02] [ 6.78373349e-03 -1.41393753e-04 9.99976980e-01 5.12246996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.360281693 meters 0.02692188638225587 Centerline is valid? [True, True] Translation: X:210.72, Y:110.93, Z:0.51 [[ 2.92740129e-01 -9.56189015e-01 -2.40501102e-03 2.10722425e+02] [ 9.56160681e-01 2.92749972e-01 -7.36245073e-03 1.10931011e+02] [ 7.74396143e-03 -1.44292204e-04 9.99970005e-01 5.10185720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39028169299996 meters 0.024714837488743598 Centerline is valid? [True, True] Translation: X:210.73, Y:110.96, Z:0.51 [[ 2.94215204e-01 -9.55735507e-01 -2.65609625e-03 2.10728640e+02] [ 9.55700867e-01 2.94227158e-01 -8.13837698e-03 1.10955754e+02] [ 8.55963150e-03 -1.43999242e-04 9.99963355e-01 5.08790480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.420281693 meters 0.02408144558934279 Centerline is valid? [True, True] Translation: X:210.74, Y:110.98, Z:0.51 [[ 2.97734195e-01 -9.54646134e-01 -2.26019729e-03 2.10737438e+02] [ 9.54620980e-01 2.97742759e-01 -6.93068373e-03 1.10978219e+02] [ 7.28930780e-03 -9.41302129e-05 9.99973428e-01 5.09016612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45028169299997 meters 0.019645586983143844 Centerline is valid? [True, True] Translation: X:210.74, Y:111.00, Z:0.51 [[ 2.99173786e-01 -9.54197236e-01 -1.63703605e-03 2.10739772e+02] [ 9.54184015e-01 2.99178259e-01 -5.02351932e-03 1.11004799e+02] [ 5.28319385e-03 -5.91283350e-05 9.99986042e-01 5.14704126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48028169299994 meters 0.01822915925358297 Centerline is valid? [True, True] Translation: X:210.75, Y:111.03, Z:0.52 [[ 3.00668768e-01 -9.53727887e-01 -1.18755644e-03 2.10746786e+02] [ 9.53720915e-01 3.00671111e-01 -3.64690287e-03 1.11029558e+02] [ 3.83521688e-03 -3.60876249e-05 9.99992645e-01 5.18429128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51028169299997 meters 0.01653441674753464 Centerline is valid? [True, True] Translation: X:210.75, Y:111.05, Z:0.52 [[ 3.03142350e-01 -9.52944250e-01 -1.40429544e-03 2.10751519e+02] [ 9.52934474e-01 3.03145601e-01 -4.31659018e-03 1.11054557e+02] [ 4.53917577e-03 -2.96602496e-05 9.99989697e-01 5.18610461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54028169299994 meters 0.01603459213848676 Centerline is valid? [True, True] Translation: X:210.76, Y:111.08, Z:0.52 [[ 3.04256171e-01 -9.52588710e-01 -1.71254486e-03 2.10756591e+02] [ 9.52574137e-01 3.04260989e-01 -5.26911112e-03 1.11079660e+02] [ 5.54035635e-03 -2.81663685e-05 9.99984652e-01 5.16319797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57028169299997 meters 0.015150779148683565 Centerline is valid? [True, True] Translation: X:210.76, Y:111.10, Z:0.51 [[ 3.07021820e-01 -9.51700784e-01 -1.79422724e-03 2.10760140e+02] [ 9.51684744e-01 3.07027063e-01 -5.52540532e-03 1.11104882e+02] [ 5.80940889e-03 -1.11186928e-05 9.99983125e-01 5.14732482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60028169299994 meters 0.014952568814703996 Centerline is valid? [True, True] Translation: X:210.77, Y:111.13, Z:0.52 [[ 3.08426347e-01 -9.51246819e-01 -1.63648003e-03 2.10766035e+02] [ 9.51233445e-01 3.08430689e-01 -5.04406083e-03 1.11129181e+02] [ 5.30288748e-03 -9.53275857e-07 9.99985940e-01 5.15388257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630281693 meters 0.014970855067569528 Centerline is valid? [True, True] Translation: X:210.77, Y:111.15, Z:0.52 [[ 3.10205168e-01 -9.50668670e-01 -1.35440701e-03 2.10770594e+02] [ 9.50659488e-01 3.10208125e-01 -4.17811359e-03 1.11154480e+02] [ 4.39214975e-03 8.49255172e-06 9.99990354e-01 5.18353268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66028169299994 meters 0.016651830667961966 Centerline is valid? [True, True] Translation: X:210.77, Y:111.18, Z:0.52 [[ 3.14374625e-01 -9.49298654e-01 -8.13309910e-04 2.10767370e+02] [ 9.49295334e-01 3.14375676e-01 -2.51045961e-03 1.11181570e+02] [ 2.63886078e-03 1.71534940e-05 9.99996518e-01 5.22450085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690281693 meters 0.018219218830953766 Centerline is valid? [True, True] Translation: X:210.77, Y:111.21, Z:0.52 [[ 3.16573432e-01 -9.48567648e-01 -8.24631690e-04 2.10769531e+02] [ 9.48564227e-01 3.16574505e-01 -2.54757080e-03 1.11208811e+02] [ 2.67760061e-03 2.42771114e-05 9.99996415e-01 5.22413630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72028169299995 meters 0.021637919337198174 Centerline is valid? [True, True] Translation: X:210.77, Y:111.24, Z:0.52 [[ 3.20005901e-01 -9.47414802e-01 -1.19026763e-03 2.10766567e+02] [ 9.47407653e-01 3.20008111e-01 -3.68088195e-03 1.11235769e+02] [ 3.86821734e-03 5.02352876e-05 9.99992517e-01 5.21095494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750281693 meters 0.022733149174260326 Centerline is valid? [True, True] Translation: X:210.77, Y:111.26, Z:0.52 [[ 3.20775008e-01 -9.47154342e-01 -1.43072601e-03 2.10769597e+02] [ 9.47143990e-01 3.20778192e-01 -4.42873875e-03 1.11261048e+02] [ 4.65364484e-03 6.55251695e-05 9.99989170e-01 5.19006013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78028169299995 meters 0.02338174449122187 Centerline is valid? [True, True] Translation: X:210.77, Y:111.28, Z:0.52 [[ 3.20823598e-01 -9.47137477e-01 -1.67859699e-03 2.10772649e+02] [ 9.47123199e-01 3.20827980e-01 -5.20118059e-03 1.11284818e+02] [ 5.46477395e-03 7.88233199e-05 9.99985065e-01 5.17250451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810281693 meters 0.023695448353626285 Centerline is valid? [True, True] Translation: X:210.78, Y:111.31, Z:0.52 [[ 3.21112591e-01 -9.47039847e-01 -1.49416473e-03 2.10775520e+02] [ 9.47028513e-01 3.21116059e-01 -4.63390218e-03 1.11309302e+02] [ 4.86829030e-03 7.29877376e-05 9.99988147e-01 5.18552034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84028169299995 meters 0.023732329252216557 Centerline is valid? [True, True] Translation: X:210.78, Y:111.33, Z:0.52 [[ 3.21727576e-01 -9.46831425e-01 -1.27223169e-03 2.10781816e+02] [ 9.46823193e-01 3.21730085e-01 -3.94887926e-03 1.11334645e+02] [ 4.14823819e-03 6.58848818e-05 9.99991394e-01 5.20441346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870281693 meters 0.02527940587636158 Centerline is valid? [True, True] Translation: X:210.78, Y:111.36, Z:0.52 [[ 3.22003901e-01 -9.46737710e-01 -1.09363034e-03 2.10784361e+02] [ 9.46731616e-01 3.22005753e-01 -3.39728395e-03 1.11359129e+02] [ 3.56849208e-03 5.85642677e-05 9.99993631e-01 5.21419977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90028169299995 meters 0.025643981616347 Centerline is valid? [True, True] Translation: X:210.78, Y:111.38, Z:0.52 [[ 3.21765496e-01 -9.46818874e-01 -9.93182928e-04 2.10784312e+02] [ 9.46813839e-01 3.21767024e-01 -3.08796493e-03 1.11383484e+02] [ 3.24331699e-03 5.32412267e-05 9.99994739e-01 5.21802174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930281693 meters 0.02461789528533055 Centerline is valid? [True, True] Translation: X:210.79, Y:111.41, Z:0.52 [[ 3.20601751e-01 -9.47213235e-01 -1.26693378e-03 2.10791016e+02] [ 9.47205029e-01 3.20604248e-01 -3.94329879e-03 1.11407215e+02] [ 4.14132915e-03 6.41824521e-05 9.99991423e-01 5.18964317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96028169299996 meters 0.022510216167440644 Centerline is valid? [True, True] Translation: X:210.80, Y:111.43, Z:0.51 [[ 3.17816820e-01 -9.48150174e-01 -1.92779464e-03 2.10800876e+02] [ 9.48131152e-01 3.17822657e-01 -6.00644148e-03 1.11430829e+02] [ 6.30770535e-03 8.11459740e-05 9.99980103e-01 5.14819301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990281693 meters 0.021685299382009176 Centerline is valid? [True, True] Translation: X:210.81, Y:111.45, Z:0.52 [[ 3.16620973e-01 -9.48549947e-01 -2.03895968e-03 2.10808387e+02] [ 9.48528636e-01 3.16627528e-01 -6.35881983e-03 1.11452835e+02] [ 6.67724898e-03 7.93240734e-05 9.99977704e-01 5.15304246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02028169299996 meters 0.021223889304341475 Centerline is valid? [True, True] Translation: X:210.81, Y:111.48, Z:0.52 [[ 3.15818494e-01 -9.48817460e-01 -2.02638162e-03 2.10814831e+02] [ 9.48796378e-01 3.15824986e-01 -6.32545599e-03 1.11476285e+02] [ 6.64168503e-03 7.50724408e-05 9.99977941e-01 5.15929884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050281693 meters 0.0201403673903593 Centerline is valid? [True, True] Translation: X:210.82, Y:111.50, Z:0.52 [[ 3.14402097e-01 -9.49287958e-01 -1.92202509e-03 2.10820473e+02] [ 9.49268966e-01 3.14407965e-01 -6.00509016e-03 1.11500348e+02] [ 6.30485978e-03 6.34941650e-05 9.99980122e-01 5.15901955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08028169299996 meters 0.019347999330386147 Centerline is valid? [True, True] Translation: X:210.83, Y:111.52, Z:0.52 [[ 3.13163876e-01 -9.49697462e-01 -1.76550845e-03 2.10827788e+02] [ 9.49681416e-01 3.13168848e-01 -5.52094187e-03 1.11523414e+02] [ 5.79612673e-03 5.22889947e-05 9.99983201e-01 5.16295789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.110281693 meters 0.01751976091148311 Centerline is valid? [True, True] Translation: X:210.84, Y:111.54, Z:0.52 [[ 3.10540782e-01 -9.50558968e-01 -1.43898546e-03 2.10838270e+02] [ 9.50548301e-01 3.10544114e-01 -4.50339712e-03 1.11544883e+02] [ 4.72761298e-03 3.06632779e-05 9.99988824e-01 5.17607371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14028169299996 meters 0.01631121265725303 Centerline is valid? [True, True] Translation: X:210.85, Y:111.57, Z:0.52 [[ 3.09063849e-01 -9.51040181e-01 -1.45268112e-03 2.10849037e+02] [ 9.51029297e-01 3.09067262e-01 -4.55016884e-03 1.11568644e+02] [ 4.77636958e-03 2.47503885e-05 9.99988593e-01 5.18315080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.170281693 meters 0.01618866145975412 Centerline is valid? [True, True] Translation: X:210.86, Y:111.59, Z:0.52 [[ 3.07945802e-01 -9.51402842e-01 -1.41944570e-03 2.10856598e+02] [ 9.51392435e-01 3.07949073e-01 -4.45004918e-03 1.11591984e+02] [ 4.67090643e-03 1.99240624e-05 9.99989091e-01 5.17702148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20028169299997 meters 0.015900725342580975 Centerline is valid? [True, True] Translation: X:210.86, Y:111.62, Z:0.52 [[ 3.06991609e-01 -9.51711209e-01 -1.38796479e-03 2.10864538e+02] [ 9.51701244e-01 3.06994746e-01 -4.35526509e-03 1.11615549e+02] [ 4.57105250e-03 1.61020200e-05 9.99989553e-01 5.18144545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23028169299994 meters 0.015583097235813458 Centerline is valid? [True, True] Translation: X:210.87, Y:111.64, Z:0.52 [[ 3.05424811e-01 -9.52214353e-01 -1.87369110e-03 2.10873355e+02] [ 9.52196166e-01 3.05430558e-01 -5.88527522e-03 1.11639165e+02] [ 6.17632606e-03 1.33875902e-05 9.99980926e-01 5.15432435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26028169299997 meters 0.016116142464696403 Centerline is valid? [True, True] Translation: X:210.88, Y:111.66, Z:0.51 [[ 3.03693086e-01 -9.52765707e-01 -2.83164977e-03 2.10882469e+02] [ 9.52724111e-01 3.03706287e-01 -8.90275276e-03 1.11662868e+02] [ 9.34222736e-03 5.92344625e-06 9.99956360e-01 5.07631055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29028169299994 meters 0.016120644381719035 Centerline is valid? [True, True] Translation: X:210.89, Y:111.69, Z:0.51 [[ 3.02637925e-01 -9.53100903e-01 -2.99257531e-03 2.10890544e+02] [ 9.53054375e-01 3.02652720e-01 -9.41748588e-03 1.11686027e+02] [ 9.88152535e-03 -1.99860874e-06 9.99951177e-01 5.08294777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32028169299997 meters 0.015922528250958433 Centerline is valid? [True, True] Translation: X:210.90, Y:111.71, Z:0.51 [[ 3.02311382e-01 -9.53205190e-01 -2.77384752e-03 2.10897531e+02] [ 9.53165145e-01 3.02324107e-01 -8.73734386e-03 1.11709424e+02] [ 9.16708249e-03 -2.53627318e-06 9.99957981e-01 5.10635387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35028169299994 meters 0.015319812031843507 Centerline is valid? [True, True] Translation: X:210.90, Y:111.73, Z:0.52 [[ 3.02857691e-01 -9.53034150e-01 -1.76884853e-03 2.10902781e+02] [ 9.53017835e-01 3.02862856e-01 -5.57650564e-03 1.11732845e+02] [ 5.85031883e-03 3.14342324e-06 9.99982887e-01 5.17197625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380281693 meters 0.015217254975527318 Centerline is valid? [True, True] Translation: X:210.91, Y:111.76, Z:0.52 [[ 3.02798157e-01 -9.53053566e-01 -1.47564336e-03 2.10909014e+02] [ 9.53042191e-01 3.02801752e-01 -4.65639706e-03 1.11755179e+02] [ 4.88462322e-03 3.59806533e-06 9.99988070e-01 5.18667355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41028169299994 meters 0.015131810632347734 Centerline is valid? [True, True] Translation: X:210.92, Y:111.78, Z:0.52 [[ 3.02397278e-01 -9.53180875e-01 -1.45129307e-03 2.10916634e+02] [ 9.53169853e-01 3.02400760e-01 -4.58376611e-03 1.11779456e+02] [ 4.80803032e-03 2.78958651e-06 9.99988441e-01 5.19870181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440281693 meters 0.015306696451524066 Centerline is valid? [True, True] Translation: X:210.92, Y:111.80, Z:0.52 [[ 3.01734710e-01 -9.53390273e-01 -1.77537685e-03 2.10922268e+02] [ 9.53373751e-01 3.01739933e-01 -5.61284819e-03 1.11803017e+02] [ 5.88693696e-03 9.93436388e-07 9.99982672e-01 5.17681265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47028169299995 meters 0.015366615295553394 Centerline is valid? [True, True] Translation: X:210.93, Y:111.83, Z:0.52 [[ 3.01908986e-01 -9.53335176e-01 -1.73386688e-03 2.10927172e+02] [ 9.53319387e-01 3.01913965e-01 -5.48680811e-03 1.11826251e+02] [ 5.75424580e-03 3.58775662e-06 9.99983444e-01 5.17483113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500281693 meters 0.01526929262752796 Centerline is valid? [True, True] Translation: X:210.93, Y:111.85, Z:0.52 [[ 3.01488996e-01 -9.53467903e-01 -1.82837239e-03 2.10934971e+02] [ 9.53450314e-01 3.01494540e-01 -5.79147041e-03 1.11849450e+02] [ 6.07322544e-03 2.80236611e-06 9.99981558e-01 5.16773724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53028169299995 meters 0.015238236583229458 Centerline is valid? [True, True] Translation: X:210.95, Y:111.87, Z:0.52 [[ 2.99831619e-01 -9.53990154e-01 -1.94589666e-03 2.10945701e+02] [ 9.53970204e-01 2.99837933e-01 -6.16957348e-03 1.11872778e+02] [ 6.46916599e-03 -6.49423343e-06 9.99979075e-01 5.17400742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560281693 meters 0.015710904890656716 Centerline is valid? [True, True] Translation: X:210.96, Y:111.90, Z:0.52 [[ 2.97420374e-01 -9.54744629e-01 -1.95308621e-03 2.10957589e+02] [ 9.54724510e-01 2.97426785e-01 -6.19823831e-03 1.11895138e+02] [ 6.49863489e-03 -2.11769160e-05 9.99978883e-01 5.17580570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59028169299995 meters 0.017267853463766816 Centerline is valid? [True, True] Translation: X:210.97, Y:111.92, Z:0.52 [[ 2.94635025e-01 -9.55607904e-01 -1.93294130e-03 2.10971460e+02] [ 9.55588178e-01 2.94641363e-01 -6.14009927e-03 1.11916269e+02] [ 6.43705186e-03 -3.80075546e-05 9.99979281e-01 5.16431286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620281693 meters 0.019873758090743477 Centerline is valid? [True, True] Translation: X:210.99, Y:111.94, Z:0.52 [[ 2.89277082e-01 -9.57243575e-01 -1.87322254e-03 2.10989281e+02] [ 9.57225051e-01 2.89283138e-01 -5.95546963e-03 1.11938075e+02] [ 6.24272673e-03 -7.03146628e-05 9.99980512e-01 5.16843777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65028169299995 meters 0.02171620466143346 Centerline is valid? [True, True] Translation: X:211.00, Y:111.96, Z:0.52 [[ 2.86812842e-01 -9.57984709e-01 -1.92133781e-03 2.11002815e+02] [ 9.57965204e-01 2.86819264e-01 -6.11366313e-03 1.11960824e+02] [ 6.40787249e-03 -8.70976691e-05 9.99979466e-01 5.16056728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680281693 meters 0.023362826816767976 Centerline is valid? [True, True] Translation: X:211.02, Y:111.98, Z:0.51 [[ 2.84798111e-01 -9.58584779e-01 -2.29298721e-03 2.11019156e+02] [ 9.58556966e-01 2.84807317e-01 -7.30304581e-03 1.11982499e+02] [ 7.65364808e-03 -1.18065212e-04 9.99970703e-01 5.14105022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71028169299996 meters 0.022928218781905874 Centerline is valid? [True, True] Translation: X:211.03, Y:112.00, Z:0.51 [[ 2.85422341e-01 -9.58398707e-01 -2.45049515e-03 2.11027961e+02] [ 9.58366872e-01 2.85432836e-01 -7.81252614e-03 1.12004629e+02] [ 8.18696673e-03 -1.18603869e-04 9.99966479e-01 5.14108474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740281693 meters 0.022928218781905874 Centerline is valid? [True, True] Translation: X:211.03, Y:112.03, Z:0.51 [[ 2.85154469e-01 -9.58478448e-01 -2.44829146e-03 2.11034829e+02] [ 9.58446609e-01 2.85164955e-01 -7.81321693e-03 1.12027800e+02] [ 8.18696696e-03 -1.18582919e-04 9.99966479e-01 5.14156520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77028169299996 meters 0.023107912717033708 Centerline is valid? [True, True] Translation: X:211.04, Y:112.05, Z:0.51 [[ 2.86707123e-01 -9.58015023e-01 -2.49840029e-03 2.11044455e+02] [ 9.57981784e-01 2.86717990e-01 -7.98099478e-03 1.12049603e+02] [ 8.36224921e-03 -1.05213906e-04 9.99965030e-01 5.12730437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800281693 meters 0.01765725154718374 Centerline is valid? [True, True] Translation: X:211.05, Y:112.08, Z:0.51 [[ 2.91767928e-01 -9.56486094e-01 -2.41423085e-03 2.11046566e+02] [ 9.56454947e-01 2.91777910e-01 -7.71922078e-03 1.12075456e+02] [ 8.08774656e-03 -5.68819837e-05 9.99967292e-01 5.14828360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83028169299996 meters 0.016125581434985437 Centerline is valid? [True, True] Translation: X:211.05, Y:112.10, Z:0.52 [[ 2.94511945e-01 -9.55645088e-01 -2.27607979e-03 2.11051023e+02] [ 9.55617326e-01 2.94520739e-01 -7.28426857e-03 1.12100282e+02] [ 7.63152818e-03 -2.97571791e-05 9.99970879e-01 5.16138225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.860281693 meters 0.015386635501686794 Centerline is valid? [True, True] Translation: X:211.05, Y:112.12, Z:0.52 [[ 2.97394948e-01 -9.54752256e-01 -2.09132546e-03 2.11054948e+02] [ 9.54728752e-01 2.97402302e-01 -6.69934042e-03 1.12124788e+02] [ 7.01817539e-03 -4.29855103e-06 9.99975372e-01 5.17459492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89028169299996 meters 0.01739544337999466 Centerline is valid? [True, True] Translation: X:211.06, Y:112.15, Z:0.52 [[ 3.02935507e-01 -9.53009183e-01 -1.89103054e-03 2.11055004e+02] [ 9.52989894e-01 3.02941407e-01 -6.06350388e-03 1.12150002e+02] [ 6.35144633e-03 3.47176316e-05 9.99979829e-01 5.17272387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.920281693 meters 0.018026493987431932 Centerline is valid? [True, True] Translation: X:211.06, Y:112.17, Z:0.52 [[ 3.04762756e-01 -9.52426566e-01 -1.81645682e-03 2.11062021e+02] [ 9.52408725e-01 3.04768166e-01 -5.82971306e-03 1.12174124e+02] [ 6.10597180e-03 4.66700946e-05 9.99981357e-01 5.18401220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95028169299997 meters 0.019676900348415263 Centerline is valid? [True, True] Translation: X:211.07, Y:112.20, Z:0.52 [[ 3.06615905e-01 -9.51831521e-01 -1.85542969e-03 2.11067603e+02] [ 9.51812862e-01 3.06621513e-01 -5.96024037e-03 1.12198183e+02] [ 6.24205931e-03 6.14826493e-05 9.99980516e-01 5.17092297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98028169299994 meters 0.01995258467656965 Centerline is valid? [True, True] Translation: X:211.08, Y:112.22, Z:0.52 [[ 3.06726278e-01 -9.51796087e-01 -1.78873710e-03 2.11075815e+02] [ 9.51778712e-01 3.06731487e-01 -5.75134352e-03 1.12221150e+02] [ 6.02276825e-03 6.16062916e-05 9.99981861e-01 5.17752132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01028169299997 meters 0.019981799189466028 Centerline is valid? [True, True] Translation: X:211.08, Y:112.24, Z:0.52 [[ 3.06285553e-01 -9.51938207e-01 -1.67638793e-03 2.11083777e+02] [ 9.51922919e-01 3.06290135e-01 -5.39524451e-03 1.12243085e+02] [ 5.64940047e-03 5.66933519e-05 9.99984040e-01 5.19107590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04028169299994 meters 0.02026412708860088 Centerline is valid? [True, True] Translation: X:211.09, Y:112.27, Z:0.52 [[ 3.06227994e-01 -9.51956465e-01 -1.81767935e-03 2.11092344e+02] [ 9.51938456e-01 3.06233382e-01 -5.85587241e-03 1.12265414e+02] [ 6.13116970e-03 6.29131842e-05 9.99981202e-01 5.18867336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07028169299997 meters 0.021314046359508572 Centerline is valid? [True, True] Translation: X:211.10, Y:112.29, Z:0.52 [[ 3.07115390e-01 -9.51670186e-01 -1.99872330e-03 2.11098042e+02] [ 9.51648364e-01 3.07121884e-01 -6.44507519e-03 1.12290070e+02] [ 6.74743757e-03 7.73000221e-05 9.99977233e-01 5.17811896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10028169299994 meters 0.023202705712063537 Centerline is valid? [True, True] Translation: X:211.10, Y:112.32, Z:0.52 [[ 3.08601144e-01 -9.51189321e-01 -2.05187873e-03 2.11103229e+02] [ 9.51166273e-01 3.08607952e-01 -6.62218872e-03 1.12315267e+02] [ 6.93218128e-03 9.19371768e-05 9.99975968e-01 5.16971903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130281693 meters 0.023957613692294932 Centerline is valid? [True, True] Translation: X:211.11, Y:112.34, Z:0.52 [[ 3.10250999e-01 -9.50653305e-01 -1.61611542e-03 2.11110798e+02] [ 9.50638977e-01 3.10255197e-01 -5.22003221e-03 1.12339467e+02] [ 5.46384908e-03 8.31778989e-05 9.99985070e-01 5.20652503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16028169299994 meters 0.025991864125967507 Centerline is valid? [True, True] Translation: X:211.12, Y:112.36, Z:0.52 [[ 3.10874941e-01 -9.50449594e-01 -1.53010652e-03 2.11115382e+02] [ 9.50436726e-01 3.10878695e-01 -4.94649822e-03 1.12363038e+02] [ 5.17707474e-03 8.34729071e-05 9.99986595e-01 5.21146164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190281693 meters 0.028211927702456396 Centerline is valid? [True, True] Translation: X:211.12, Y:112.39, Z:0.52 [[ 3.12013579e-01 -9.50076055e-01 -1.73659548e-03 2.11118929e+02] [ 9.50059443e-01 3.12018394e-01 -5.61921853e-03 1.12387161e+02] [ 5.88053471e-03 1.03403545e-04 9.99982704e-01 5.19974203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22028169299995 meters 0.02920780952141296 Centerline is valid? [True, True] Translation: X:211.12, Y:112.41, Z:0.52 [[ 3.12562414e-01 -9.49895577e-01 -1.76942224e-03 2.11123988e+02] [ 9.49878298e-01 3.12567403e-01 -5.73034463e-03 1.12412404e+02] [ 5.99629273e-03 1.10354566e-04 9.99982016e-01 5.19295728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250281693 meters 0.02871325461227235 Centerline is valid? [True, True] Translation: X:211.13, Y:112.44, Z:0.52 [[ 3.12798311e-01 -9.49818231e-01 -1.59512725e-03 2.11131070e+02] [ 9.49804164e-01 3.12802362e-01 -5.17035490e-03 1.12435828e+02] [ 5.40985691e-03 1.02219778e-04 9.99985361e-01 5.21127295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28028169299995 meters 0.03027765600026655 Centerline is valid? [True, True] Translation: X:211.14, Y:112.46, Z:0.52 [[ 3.12845748e-01 -9.49803337e-01 -1.07706332e-03 2.11135384e+02] [ 9.49796913e-01 3.12847594e-01 -3.49392330e-03 1.12458716e+02] [ 3.65549668e-03 7.00676294e-05 9.99993316e-01 5.24670866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310281693 meters 0.03040890301311844 Centerline is valid? [True, True] Translation: X:211.14, Y:112.48, Z:0.52 [[ 3.12647666e-01 -9.49868355e-01 -1.24278348e-03 2.11141789e+02] [ 9.49859786e-01 3.12650125e-01 -4.03563082e-03 1.12482061e+02] [ 4.22187442e-03 8.12605091e-05 9.99991085e-01 5.23305015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34028169299995 meters 0.026097759682586846 Centerline is valid? [True, True] Translation: X:211.15, Y:112.50, Z:0.52 [[ 3.12307274e-01 -9.49979798e-01 -1.59684355e-03 2.11154028e+02] [ 9.49965623e-01 3.12311339e-01 -5.19059653e-03 1.12504768e+02] [ 5.42967419e-03 1.04114574e-04 9.99985254e-01 5.21084660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370281693 meters 0.028945918074289968 Centerline is valid? [True, True] Translation: X:211.15, Y:112.53, Z:0.52 [[ 3.11644422e-01 -9.50196285e-01 -2.18489565e-03 2.11153747e+02] [ 9.50169698e-01 3.11652049e-01 -7.10950914e-03 1.12530765e+02] [ 7.43635638e-03 1.39617219e-04 9.99972340e-01 5.16610569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40028169299995 meters 0.030419555124514608 Centerline is valid? [True, True] Translation: X:211.16, Y:112.55, Z:0.52 [[ 3.11022065e-01 -9.50400216e-01 -2.16914889e-03 2.11157528e+02] [ 9.50373965e-01 3.11029600e-01 -7.06508271e-03 1.12554156e+02] [ 7.38932564e-03 1.35893982e-04 9.99972689e-01 5.16434371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430281693 meters 0.025792088527291597 Centerline is valid? [True, True] Translation: X:211.17, Y:112.58, Z:0.52 [[ 3.08980419e-01 -9.51065681e-01 -2.27401683e-03 2.11170873e+02] [ 9.51036795e-01 3.08988760e-01 -7.41359856e-03 1.12576515e+02] [ 7.75346480e-03 1.27983109e-04 9.99969933e-01 5.17745583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46028169299996 meters 0.023247218526440946 Centerline is valid? [True, True] Translation: X:211.18, Y:112.60, Z:0.52 [[ 3.07379243e-01 -9.51584245e-01 -2.32935515e-03 2.11181475e+02] [ 9.51553894e-01 3.07388046e-01 -7.60104252e-03 1.12600107e+02] [ 7.94904824e-03 1.19895732e-04 9.99968399e-01 5.17110040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490281693 meters 0.023898731942205 Centerline is valid? [True, True] Translation: X:211.19, Y:112.62, Z:0.51 [[ 3.05444760e-01 -9.52206662e-01 -2.44351421e-03 2.11186872e+02] [ 9.52173230e-01 3.05454513e-01 -7.97999050e-03 1.12623816e+02] [ 8.34498256e-03 1.10797462e-04 9.99965174e-01 5.14054317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52028169299996 meters 0.01888332189280579 Centerline is valid? [True, True] Translation: X:211.20, Y:112.65, Z:0.51 [[ 3.00541350e-01 -9.53765438e-01 -2.52727010e-03 2.11204500e+02] [ 9.53729667e-01 3.00551967e-01 -8.26061455e-03 1.12645248e+02] [ 8.63826466e-03 7.23237740e-05 9.99962687e-01 5.14521871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550281693 meters 0.016908978508397895 Centerline is valid? [True, True] Translation: X:211.22, Y:112.67, Z:0.52 [[ 2.97653177e-01 -9.54670849e-01 -2.48103135e-03 2.11217945e+02] [ 9.54636344e-01 2.97663513e-01 -8.11692560e-03 1.12667697e+02] [ 8.48750476e-03 4.75459908e-05 9.99963979e-01 5.16058934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58028169299996 meters 0.0156144841338476 Centerline is valid? [True, True] Translation: X:211.23, Y:112.69, Z:0.52 [[ 2.92849575e-01 -9.56156386e-01 -2.02312226e-03 2.11233334e+02] [ 9.56133435e-01 2.92856563e-01 -6.62486897e-03 1.12688232e+02] [ 6.92689540e-03 5.71522943e-06 9.99976009e-01 5.16874604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.610281693 meters 0.015437790437967306 Centerline is valid? [True, True] Translation: X:211.24, Y:112.71, Z:0.52 [[ 2.90941670e-01 -9.56738899e-01 -1.90360068e-03 2.11243607e+02] [ 9.56718553e-01 2.90947897e-01 -6.23952751e-03 1.12710693e+02] [ 6.52344729e-03 -5.87153969e-06 9.99978722e-01 5.19275761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64028169299996 meters 0.015786443762196005 Centerline is valid? [True, True] Translation: X:211.25, Y:112.73, Z:0.52 [[ 2.89103624e-01 -9.57295601e-01 -2.05597559e-03 2.11254675e+02] [ 9.57271832e-01 2.89110934e-01 -6.74589816e-03 1.12733614e+02] [ 7.05222366e-03 -1.78639147e-05 9.99975133e-01 5.18332990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.670281693 meters 0.016790333532137543 Centerline is valid? [True, True] Translation: X:211.27, Y:112.76, Z:0.52 [[ 2.86818109e-01 -9.57982114e-01 -2.37532434e-03 2.11267939e+02] [ 9.57950346e-01 2.86827942e-01 -7.80170682e-03 1.12755293e+02] [ 8.15520499e-03 -3.77719760e-05 9.99966745e-01 5.16540936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70028169299997 meters 0.01889302447956008 Centerline is valid? [True, True] Translation: X:211.29, Y:112.78, Z:0.51 [[ 2.83377013e-01 -9.59004223e-01 -2.89273085e-03 2.11286980e+02] [ 9.58957070e-01 2.83391767e-01 -9.51024642e-03 1.12776373e+02] [ 9.94014259e-03 -7.90194739e-05 9.99950592e-01 5.14195425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73028169299994 meters 0.019747411927945692 Centerline is valid? [True, True] Translation: X:211.30, Y:112.80, Z:0.51 [[ 2.81866630e-01 -9.59449413e-01 -2.83325988e-03 2.11298818e+02] [ 9.59404110e-01 2.81880855e-01 -9.32397498e-03 1.12797877e+02] [ 9.74452403e-03 -9.01237662e-05 9.99952517e-01 5.14063269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76028169299997 meters 0.022993857476038753 Centerline is valid? [True, True] Translation: X:211.32, Y:112.82, Z:0.51 [[ 2.78028314e-01 -9.60569167e-01 -2.67066114e-03 2.11318705e+02] [ 9.60528895e-01 2.78041115e-01 -8.79655798e-03 1.12817102e+02] [ 9.19225597e-03 -1.19555011e-04 9.99957743e-01 5.13956130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79028169299994 meters 0.024162051989333105 Centerline is valid? [True, True] Translation: X:211.33, Y:112.84, Z:0.51 [[ 2.76338622e-01 -9.61056863e-01 -2.58285876e-03 2.11332081e+02] [ 9.61019151e-01 2.76350662e-01 -8.51480926e-03 1.12839323e+02] [ 8.89699061e-03 -1.29206078e-04 9.99960413e-01 5.14587847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82028169299997 meters 0.023886674888255178 Centerline is valid? [True, True] Translation: X:211.34, Y:112.86, Z:0.52 [[ 2.75625691e-01 -9.61261899e-01 -2.45754086e-03 2.11342554e+02] [ 9.61227700e-01 2.75636618e-01 -8.10946376e-03 1.12862194e+02] [ 8.47270679e-03 -1.27079791e-04 9.99964098e-01 5.16296164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85028169299994 meters 0.023794934837834316 Centerline is valid? [True, True] Translation: X:211.35, Y:112.88, Z:0.52 [[ 2.76266333e-01 -9.61078874e-01 -2.07632735e-03 2.11354875e+02] [ 9.61054413e-01 2.76274117e-01 -6.85768458e-03 1.12882966e+02] [ 7.16441128e-03 -1.00916189e-04 9.99974330e-01 5.19432855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880281693 meters 0.02286976913138986 Centerline is valid? [True, True] Translation: X:211.36, Y:112.91, Z:0.52 [[ 2.76988291e-01 -9.60871324e-01 -1.94578256e-03 2.11363645e+02] [ 9.60849796e-01 2.76995112e-01 -6.43248975e-03 1.12905663e+02] [ 6.71976720e-03 -8.78804328e-05 9.99977418e-01 5.20543301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91028169299994 meters 0.020712697754780917 Centerline is valid? [True, True] Translation: X:211.37, Y:112.93, Z:0.52 [[ 2.78064528e-01 -9.60560751e-01 -1.77835344e-03 2.11370447e+02] [ 9.60542729e-01 2.78070206e-01 -5.88446250e-03 1.12929891e+02] [ 6.14689082e-03 -7.19241798e-05 9.99981105e-01 5.22283143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940281693 meters 0.017434067050067087 Centerline is valid? [True, True] Translation: X:211.37, Y:112.95, Z:0.52 [[ 2.82604174e-01 -9.59235375e-01 -1.54138196e-03 2.11374194e+02] [ 9.59221791e-01 2.82608375e-01 -5.10503960e-03 1.12954053e+02] [ 5.33254203e-03 -3.58216683e-05 9.99985781e-01 5.23715768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97028169299995 meters 0.0157250598521843 Centerline is valid? [True, True] Translation: X:211.38, Y:112.98, Z:0.52 [[ 2.85330891e-01 -9.58427860e-01 -1.52327097e-03 2.11376789e+02] [ 9.58414556e-01 2.85334956e-01 -5.04992077e-03 1.12979246e+02] [ 5.27462722e-03 -1.90266821e-05 9.99986089e-01 5.24593823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000281693 meters 0.015697119901454008 Centerline is valid? [True, True] Translation: X:211.38, Y:113.01, Z:0.52 [[ 2.91603628e-01 -9.56537614e-01 -1.76563729e-03 2.11375860e+02] [ 9.56519668e-01 2.91608973e-01 -5.85938649e-03 1.13005765e+02] [ 6.11959925e-03 1.97515651e-05 9.99981275e-01 5.23972205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03028169299995 meters 0.017318473237390896 Centerline is valid? [True, True] Translation: X:211.38, Y:113.03, Z:0.52 [[ 2.95168655e-01 -9.55443279e-01 -1.89889323e-03 2.11378348e+02] [ 9.55422459e-01 2.95174759e-01 -6.30763346e-03 1.13031741e+02] [ 6.58709134e-03 4.75704444e-05 9.99978304e-01 5.23942612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060281693 meters 0.020632971772450173 Centerline is valid? [True, True] Translation: X:211.38, Y:113.06, Z:0.52 [[ 2.98605432e-01 -9.54374683e-01 -1.93908155e-03 2.11377521e+02] [ 9.54352909e-01 2.98611719e-01 -6.44723598e-03 1.13057252e+02] [ 6.73211127e-03 7.46115715e-05 9.99977336e-01 5.22924462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09028169299995 meters 0.02596671725335724 Centerline is valid? [True, True] Translation: X:211.37, Y:113.08, Z:0.52 [[ 3.04739986e-01 -9.52433043e-01 -2.19991680e-03 2.11373888e+02] [ 9.52404910e-01 3.04747896e-01 -7.32170187e-03 1.13084594e+02] [ 7.64385081e-03 1.36003757e-04 9.99970776e-01 5.21798167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120281693 meters 0.02968506489538159 Centerline is valid? [True, True] Translation: X:211.37, Y:113.11, Z:0.52 [[ 3.07764661e-01 -9.51459890e-01 -2.23407073e-03 2.11373712e+02] [ 9.51430796e-01 3.07772726e-01 -7.44245017e-03 1.13109994e+02] [ 7.76877886e-03 1.64959468e-04 9.99969809e-01 5.22355163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15028169299995 meters 0.032802542022685795 Centerline is valid? [True, True] Translation: X:211.37, Y:113.14, Z:0.52 [[ 3.10944929e-01 -9.50425566e-01 -2.11993645e-03 2.11373451e+02] [ 9.50399296e-01 3.10952102e-01 -7.06885099e-03 1.13136059e+02] [ 7.37761540e-03 1.83237265e-04 9.99972768e-01 5.24624384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180281693 meters 0.04066429715834161 Centerline is valid? [True, True] Translation: X:211.36, Y:113.17, Z:0.53 [[ 3.17071136e-01 -9.48400087e-01 -1.78029465e-03 2.11361411e+02] [ 9.48381499e-01 3.17076074e-01 -5.94104615e-03 1.13165192e+02] [ 6.19897753e-03 1.95335752e-04 9.99980767e-01 5.25701666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21028169299996 meters 0.04364836942078914 Centerline is valid? [True, True] Translation: X:211.36, Y:113.19, Z:0.52 [[ 3.19020984e-01 -9.47745581e-01 -1.98131020e-03 2.11360150e+02] [ 9.47722502e-01 3.19027051e-01 -6.61814543e-03 1.13190523e+02] [ 6.90440964e-03 2.33595004e-04 9.99976137e-01 5.24107757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240281693 meters 0.04613118908625349 Centerline is valid? [True, True] Translation: X:211.36, Y:113.22, Z:0.52 [[ 3.20588182e-01 -9.47216276e-01 -2.13166091e-03 2.11359716e+02] [ 9.47189505e-01 3.20595159e-01 -7.12638246e-03 1.13215598e+02] [ 7.43362562e-03 2.65547151e-04 9.99972335e-01 5.22461731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27028169299996 meters 0.04821193573558299 Centerline is valid? [True, True] Translation: X:211.35, Y:113.24, Z:0.52 [[ 3.21834824e-01 -9.46793373e-01 -2.15744082e-03 2.11354486e+02] [ 9.46765892e-01 3.21841933e-01 -7.21917883e-03 1.13242278e+02] [ 7.52942560e-03 2.80791771e-04 9.99971614e-01 5.23371217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300281693 meters 0.04468764526074596 Centerline is valid? [True, True] Translation: X:211.36, Y:113.27, Z:0.53 [[ 3.21783302e-01 -9.46811281e-01 -1.97594048e-03 2.11359807e+02] [ 9.46788188e-01 3.21789265e-01 -6.61788577e-03 1.13266863e+02] [ 6.90172534e-03 2.58728027e-04 9.99976149e-01 5.26465098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33028169299996 meters 0.04359475317385252 Centerline is valid? [True, True] Translation: X:211.36, Y:113.30, Z:0.53 [[ 3.22329141e-01 -9.46626022e-01 -1.76063216e-03 2.11356346e+02] [ 9.46607653e-01 3.22333863e-01 -5.90178799e-03 1.13295508e+02] [ 6.15429745e-03 2.35690379e-04 9.99981034e-01 5.27986952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.360281693 meters 0.05010390994050808 Centerline is valid? [True, True] Translation: X:211.35, Y:113.32, Z:0.53 [[ 3.21909724e-01 -9.46768796e-01 -1.72541879e-03 2.11349096e+02] [ 9.46751124e-01 3.21914266e-01 -5.78919646e-03 1.13323013e+02] [ 6.03646749e-03 2.30056452e-04 9.99981754e-01 5.26987375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39028169299996 meters 0.044868705563644425 Centerline is valid? [True, True] Translation: X:211.36, Y:113.35, Z:0.53 [[ 3.21124001e-01 -9.47035475e-01 -1.78496838e-03 2.11356856e+02] [ 9.47016530e-01 3.21128876e-01 -5.99474097e-03 1.13347086e+02] [ 6.25043725e-03 2.34660641e-04 9.99980438e-01 5.27291570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.420281693 meters 0.04869697520684601 Centerline is valid? [True, True] Translation: X:211.35, Y:113.37, Z:0.53 [[ 3.20050453e-01 -9.47398819e-01 -1.78499783e-03 2.11353355e+02] [ 9.47379845e-01 3.20055348e-01 -6.00022029e-03 1.13374686e+02] [ 6.25589971e-03 2.29302252e-04 9.99980405e-01 5.26459782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45028169299997 meters 0.04512608284772968 Centerline is valid? [True, True] Translation: X:211.35, Y:113.40, Z:0.53 [[ 3.16558985e-01 -9.48571916e-01 -1.31523671e-03 2.11353756e+02] [ 9.48561609e-01 3.16561680e-01 -4.42447777e-03 1.13401235e+02] [ 4.61328889e-03 1.53025138e-04 9.99989347e-01 5.29575400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48028169299994 meters 0.04014028214244156 Centerline is valid? [True, True] Translation: X:211.36, Y:113.43, Z:0.53 [[ 3.11722946e-01 -9.50172211e-01 -1.25449135e-03 2.11356841e+02] [ 9.50162831e-01 3.11725446e-01 -4.22379317e-03 1.13425809e+02] [ 4.40438777e-03 1.24682203e-04 9.99990293e-01 5.29911937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51028169299997 meters 0.0334242422723733 Centerline is valid? [True, True] Translation: X:211.37, Y:113.45, Z:0.53 [[ 3.09315501e-01 -9.50958229e-01 -1.53873278e-03 2.11368805e+02] [ 9.50944100e-01 3.09319296e-01 -5.18575780e-03 1.13450014e+02] [ 5.40739880e-03 1.40786414e-04 9.99985370e-01 5.28020517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54028169299994 meters 0.0349949717841488 Centerline is valid? [True, True] Translation: X:211.37, Y:113.48, Z:0.52 [[ 3.06948838e-01 -9.51724064e-01 -1.92795861e-03 2.11369155e+02] [ 9.51701863e-01 3.06954851e-01 -6.50264029e-03 1.13476333e+02] [ 6.78051549e-03 1.61136080e-04 9.99976999e-01 5.24099146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57028169299997 meters 0.030805602962883746 Centerline is valid? [True, True] Translation: X:211.38, Y:113.50, Z:0.52 [[ 3.04407557e-01 -9.52539106e-01 -2.30012897e-03 2.11377008e+02] [ 9.52507473e-01 3.04416197e-01 -7.76486736e-03 1.13500577e+02] [ 8.09653633e-03 1.72794266e-04 9.99967208e-01 5.22443616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60028169299994 meters 0.029336281185332817 Centerline is valid? [True, True] Translation: X:211.38, Y:113.53, Z:0.52 [[ 3.00836528e-01 -9.53672133e-01 -2.61672589e-03 2.11378308e+02] [ 9.53631153e-01 3.00847863e-01 -8.84236980e-03 1.13525249e+02] [ 9.21995805e-03 1.64716499e-04 9.99957482e-01 5.19617560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630281693 meters 0.029336281185332817 Centerline is valid? [True, True] Translation: X:211.38, Y:113.55, Z:0.52 [[ 3.00593194e-01 -9.53748865e-01 -2.61445378e-03 2.11384761e+02] [ 9.53707882e-01 3.00604518e-01 -8.84304180e-03 1.13548516e+02] [ 9.21995769e-03 1.64732994e-04 9.99957482e-01 5.19665609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66028169299994 meters 0.027308081482390247 Centerline is valid? [True, True] Translation: X:211.39, Y:113.57, Z:0.52 [[ 2.98613309e-01 -9.54370933e-01 -2.49258541e-03 2.11392799e+02] [ 9.54333638e-01 2.98623679e-01 -8.43832313e-03 1.13572418e+02] [ 8.79763535e-03 1.41037488e-04 9.99961290e-01 5.19916877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690281693 meters 0.02109237708202888 Centerline is valid? [True, True] Translation: X:211.41, Y:113.59, Z:0.52 [[ 2.93871204e-01 -9.55842854e-01 -2.03832349e-03 2.11408076e+02] [ 9.55817905e-01 2.93878262e-01 -6.90652851e-03 1.13594312e+02] [ 7.20057489e-03 8.13637633e-05 9.99974072e-01 5.23643974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72028169299995 meters 0.01832856667558023 Centerline is valid? [True, True] Translation: X:211.42, Y:113.62, Z:0.52 [[ 2.91430235e-01 -9.56589813e-01 -2.08517845e-03 2.11418903e+02] [ 9.56563673e-01 2.91437687e-01 -7.07211203e-03 1.13618097e+02] [ 7.37280991e-03 6.64213164e-05 9.99972818e-01 5.24799820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750281693 meters 0.01786717681253608 Centerline is valid? [True, True] Translation: X:211.43, Y:113.64, Z:0.52 [[ 2.89816634e-01 -9.57079218e-01 -2.38538359e-03 2.11425509e+02] [ 9.57044955e-01 2.89826443e-01 -8.09862835e-03 1.13641838e+02] [ 8.44237612e-03 6.41978730e-05 9.99964360e-01 5.23083298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78028169299995 meters 0.01730541651883837 Centerline is valid? [True, True] Translation: X:211.43, Y:113.67, Z:0.52 [[ 2.88426270e-01 -9.57498719e-01 -2.54765255e-03 2.11432136e+02] [ 9.57459575e-01 2.88437516e-01 -8.65804673e-03 1.13666061e+02] [ 9.02490722e-03 5.79338007e-05 9.99959273e-01 5.21464538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810281693 meters 0.01737439060808664 Centerline is valid? [True, True] Translation: X:211.44, Y:113.69, Z:0.52 [[ 2.88261828e-01 -9.57548932e-01 -2.27209694e-03 2.11438010e+02] [ 9.57517739e-01 2.88270777e-01 -7.72900506e-03 1.13690149e+02] [ 8.05587969e-03 5.24040004e-05 9.99967550e-01 5.22840158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84028169299995 meters 0.017513897990253526 Centerline is valid? [True, True] Translation: X:211.44, Y:113.71, Z:0.53 [[ 2.88297339e-01 -9.57538940e-01 -1.95533305e-03 2.11443169e+02] [ 9.57515794e-01 2.88303966e-01 -6.65790961e-03 1.13714233e+02] [ 6.93893798e-03 4.71953436e-05 9.99975924e-01 5.25020297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870281693 meters 0.017924409774707196 Centerline is valid? [True, True] Translation: X:211.44, Y:113.74, Z:0.53 [[ 2.88840550e-01 -9.57375597e-01 -1.76171042e-03 2.11443943e+02] [ 9.57356768e-01 2.88845919e-01 -6.00452650e-03 1.13739543e+02] [ 6.25745000e-03 4.77653414e-05 9.99980421e-01 5.27164130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90028169299995 meters 0.018433668084753406 Centerline is valid? [True, True] Translation: X:211.45, Y:113.76, Z:0.53 [[ 2.89229245e-01 -9.57257977e-01 -1.89996488e-03 2.11446707e+02] [ 9.57236027e-01 2.89235480e-01 -6.48266487e-03 1.13763832e+02] [ 6.75511991e-03 5.62614348e-05 9.99977182e-01 5.26228388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930281693 meters 0.018870014482480775 Centerline is valid? [True, True] Translation: X:211.45, Y:113.79, Z:0.52 [[ 2.89816472e-01 -9.57079210e-01 -2.40821990e-03 2.11450490e+02] [ 9.57043871e-01 2.89826466e-01 -8.22489820e-03 1.13790210e+02] [ 8.56984493e-03 7.89388842e-05 9.99963275e-01 5.24419993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96028169299996 meters 0.018982469542954142 Centerline is valid? [True, True] Translation: X:211.45, Y:113.81, Z:0.52 [[ 2.89685876e-01 -9.57118749e-01 -2.40702508e-03 2.11454928e+02] [ 9.57083378e-01 2.89695865e-01 -8.22881750e-03 1.13814485e+02] [ 8.57326072e-03 8.00485105e-05 9.99963246e-01 5.24589544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990281693 meters 0.01840294935519636 Centerline is valid? [True, True] Translation: X:211.46, Y:113.84, Z:0.53 [[ 2.88979916e-01 -9.57332771e-01 -2.13851645e-03 2.11460058e+02] [ 9.57304805e-01 2.88987821e-01 -7.31779437e-03 1.13839626e+02] [ 7.62356957e-03 6.74835290e-05 9.99970938e-01 5.26162423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02028169299996 meters 0.01685789012513346 Centerline is valid? [True, True] Translation: X:211.46, Y:113.86, Z:0.53 [[ 2.86230533e-01 -9.58159591e-01 -1.51032300e-03 2.11464114e+02] [ 9.58145630e-01 2.86234515e-01 -5.17246405e-03 1.13864629e+02] [ 5.38835260e-03 3.34077610e-05 9.99985482e-01 5.29450264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050281693 meters 0.015919139987492392 Centerline is valid? [True, True] Translation: X:211.47, Y:113.89, Z:0.53 [[ 2.84264219e-01 -9.58744727e-01 -1.54973088e-03 2.11472032e+02] [ 9.58730008e-01 2.84268442e-01 -5.31270810e-03 1.13887574e+02] [ 5.53407046e-03 2.44393168e-05 9.99984687e-01 5.28785438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08028169299996 meters 0.015355339027089493 Centerline is valid? [True, True] Translation: X:211.48, Y:113.91, Z:0.53 [[ 2.80467182e-01 -9.59861527e-01 -2.00237321e-03 2.11480977e+02] [ 9.59836925e-01 2.80474330e-01 -6.87222972e-03 1.13909545e+02] [ 7.15800319e-03 5.48316081e-06 9.99974381e-01 5.25166954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.110281693 meters 0.015485113548346809 Centerline is valid? [True, True] Translation: X:211.49, Y:113.93, Z:0.52 [[ 2.79173747e-01 -9.60238023e-01 -2.22647896e-03 2.11486486e+02] [ 9.60207555e-01 2.79182626e-01 -7.64933832e-03 1.13933318e+02] [ 7.96677975e-03 -2.38747533e-06 9.99968265e-01 5.23675709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14028169299996 meters 0.01555957303600639 Centerline is valid? [True, True] Translation: X:211.49, Y:113.96, Z:0.52 [[ 2.78348478e-01 -9.60477410e-01 -2.29580460e-03 2.11489606e+02] [ 9.60444957e-01 2.78357945e-01 -7.89551263e-03 1.13957651e+02] [ 8.22251697e-03 -7.29002827e-06 9.99966195e-01 5.23724831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.170281693 meters 0.015531548334639276 Centerline is valid? [True, True] Translation: X:211.50, Y:113.98, Z:0.52 [[ 2.77781126e-01 -9.60641775e-01 -2.24206867e-03 2.11495604e+02] [ 9.60610766e-01 2.77790174e-01 -7.71846094e-03 1.13981972e+02] [ 8.03750066e-03 -9.71253143e-06 9.99967699e-01 5.24598795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20028169299997 meters 0.015473334831244696 Centerline is valid? [True, True] Translation: X:211.50, Y:114.01, Z:0.53 [[ 2.76654765e-01 -9.60967118e-01 -2.08322319e-03 2.11502500e+02] [ 9.60940306e-01 2.76662608e-01 -7.17845435e-03 1.14006851e+02] [ 7.47460854e-03 -1.58995237e-05 9.99972065e-01 5.26374469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23028169299994 meters 0.015881704107788414 Centerline is valid? [True, True] Translation: X:211.51, Y:114.03, Z:0.53 [[ 2.74900482e-01 -9.61470850e-01 -1.87867171e-03 2.11510627e+02] [ 9.61449015e-01 2.74906900e-01 -6.47978867e-03 1.14030355e+02] [ 6.74658774e-03 -2.49500411e-05 9.99977241e-01 5.27374438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26028169299997 meters 0.017369119302089273 Centerline is valid? [True, True] Translation: X:211.52, Y:114.05, Z:0.53 [[ 2.70902867e-01 -9.62605811e-01 -1.29997749e-03 2.11521615e+02] [ 9.62595351e-01 2.70905983e-01 -4.48754904e-03 1.14053938e+02] [ 4.67191246e-03 -3.56623869e-05 9.99989086e-01 5.30702756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29028169299994 meters 0.018997737419782574 Centerline is valid? [True, True] Translation: X:211.53, Y:114.08, Z:0.53 [[ 2.68602608e-01 -9.63250314e-01 -1.21286368e-03 2.11532722e+02] [ 9.63241199e-01 2.68605343e-01 -4.19075577e-03 1.14076111e+02] [ 4.36252848e-03 -4.26323376e-05 9.99990483e-01 5.30844517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32028169299997 meters 0.02304397654093141 Centerline is valid? [True, True] Translation: X:211.55, Y:114.10, Z:0.53 [[ 2.63860923e-01 -9.64559609e-01 -1.47432615e-03 2.11549779e+02] [ 9.64546134e-01 2.63865031e-01 -5.09919265e-03 1.14096601e+02] [ 5.30749838e-03 -7.65779067e-05 9.99985912e-01 5.29486522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35028169299994 meters 0.024650131532260932 Centerline is valid? [True, True] Translation: X:211.56, Y:114.12, Z:0.53 [[ 2.62091526e-01 -9.65041484e-01 -1.72241264e-03 2.11560857e+02] [ 9.65023068e-01 2.62097167e-01 -5.96268449e-03 1.14119441e+02] [ 6.20567736e-03 -9.93988473e-05 9.99980740e-01 5.27667992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380281693 meters 0.025642139199312016 Centerline is valid? [True, True] Translation: X:211.57, Y:114.14, Z:0.52 [[ 2.61182748e-01 -9.65287370e-01 -1.96606690e-03 2.11570650e+02] [ 9.65263337e-01 2.61190121e-01 -6.81258155e-03 1.14142828e+02] [ 7.08961618e-03 -1.18443524e-04 9.99974861e-01 5.24671834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41028169299994 meters 0.025878278988322855 Centerline is valid? [True, True] Translation: X:211.58, Y:114.16, Z:0.52 [[ 2.61179219e-01 -9.65287038e-01 -2.51997872e-03 2.11581262e+02] [ 9.65247469e-01 2.61191333e-01 -8.74131232e-03 1.14164869e+02] [ 9.09607207e-03 -1.49353959e-04 9.99958619e-01 5.21325310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440281693 meters 0.02518569682399768 Centerline is valid? [True, True] Translation: X:211.59, Y:114.19, Z:0.52 [[ 2.61286623e-01 -9.65257758e-01 -2.60018639e-03 2.11589733e+02] [ 9.65215542e-01 2.61299517e-01 -9.02879739e-03 1.14188068e+02] [ 9.39454417e-03 -1.50636330e-04 9.99955859e-01 5.21728780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47028169299995 meters 0.02545521244722528 Centerline is valid? [True, True] Translation: X:211.60, Y:114.21, Z:0.52 [[ 2.61259616e-01 -9.65265366e-01 -2.48731614e-03 2.11599716e+02] [ 9.65226656e-01 2.61271417e-01 -8.64577232e-03 1.14209585e+02] [ 8.99532919e-03 -1.42032685e-04 9.99959531e-01 5.22421159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500281693 meters 0.023811787718133037 Centerline is valid? [True, True] Translation: X:211.61, Y:114.23, Z:0.53 [[ 2.62117927e-01 -9.65033971e-01 -1.90430247e-03 2.11610672e+02] [ 9.65011234e-01 2.62124825e-01 -6.62526868e-03 1.14232512e+02] [ 6.89277429e-03 -1.01071589e-04 9.99976239e-01 5.26464890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53028169299995 meters 0.021474242269772806 Centerline is valid? [True, True] Translation: X:211.62, Y:114.26, Z:0.53 [[ 2.63071649e-01 -9.64774754e-01 -1.72703703e-03 2.11616209e+02] [ 9.64756012e-01 2.63077304e-01 -6.01416335e-03 1.14257300e+02] [ 6.25665721e-03 -8.40134919e-05 9.99980423e-01 5.28353817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560281693 meters 0.019622007815515305 Centerline is valid? [True, True] Translation: X:211.62, Y:114.28, Z:0.53 [[ 2.66454253e-01 -9.63845809e-01 -1.84044252e-03 2.11623722e+02] [ 9.63824459e-01 2.66460601e-01 -6.41559050e-03 1.14280325e+02] [ 6.67404544e-03 -6.44021469e-05 9.99977726e-01 5.26304122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59028169299995 meters 0.018185300144543903 Centerline is valid? [True, True] Translation: X:211.63, Y:114.30, Z:0.53 [[ 2.68595185e-01 -9.63251202e-01 -1.93624272e-03 2.11628708e+02] [ 9.63227506e-01 2.68602159e-01 -6.75661094e-03 1.14303198e+02] [ 7.02839258e-03 -5.02490850e-05 9.99975299e-01 5.25605871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620281693 meters 0.016753214423188875 Centerline is valid? [True, True] Translation: X:211.63, Y:114.33, Z:0.53 [[ 2.70547268e-01 -9.62704693e-01 -1.96210416e-03 2.11632363e+02] [ 9.62680295e-01 2.70554381e-01 -6.85389761e-03 1.14328221e+02] [ 7.12913527e-03 -3.45757402e-05 9.99974587e-01 5.25793720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65028169299995 meters 0.015815447069477392 Centerline is valid? [True, True] Translation: X:211.64, Y:114.35, Z:0.53 [[ 2.72444778e-01 -9.62169371e-01 -1.98585812e-03 2.11636541e+02] [ 9.62144315e-01 2.72452015e-01 -6.94379101e-03 1.14353691e+02] [ 7.22215407e-03 -1.88824989e-05 9.99973920e-01 5.26956515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680281693 meters 0.015718391432859143 Centerline is valid? [True, True] Translation: X:211.64, Y:114.38, Z:0.53 [[ 2.72274650e-01 -9.62217571e-01 -1.96482783e-03 2.11644565e+02] [ 9.62192996e-01 2.72281738e-01 -6.87699473e-03 1.14378114e+02] [ 7.15215190e-03 -1.81122473e-05 9.99974423e-01 5.26998369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71028169299996 meters 0.01602214177759156 Centerline is valid? [True, True] Translation: X:211.65, Y:114.40, Z:0.53 [[ 2.71860944e-01 -9.62334633e-01 -1.91884132e-03 2.11653959e+02] [ 9.62311150e-01 2.71867715e-01 -6.72280421e-03 1.14401190e+02] [ 6.99125833e-03 -1.88544994e-05 9.99975561e-01 5.25472272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740281693 meters 0.01643952968787013 Centerline is valid? [True, True] Translation: X:211.67, Y:114.42, Z:0.52 [[ 2.70461713e-01 -9.62729005e-01 -1.82354456e-03 2.11666664e+02] [ 9.62707763e-01 2.70467859e-01 -6.39537825e-03 1.14422274e+02] [ 6.65022633e-03 -2.58355427e-05 9.99977887e-01 5.24980388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77028169299996 meters 0.016511348128390394 Centerline is valid? [True, True] Translation: X:211.67, Y:114.44, Z:0.52 [[ 2.70007318e-01 -9.62856587e-01 -1.80041540e-03 2.11674586e+02] [ 9.62835844e-01 2.70013319e-01 -6.32024391e-03 1.14444578e+02] [ 6.57162462e-03 -2.69923724e-05 9.99978406e-01 5.24647097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800281693 meters 0.016040257089621774 Centerline is valid? [True, True] Translation: X:211.68, Y:114.47, Z:0.53 [[ 2.70190699e-01 -9.62805282e-01 -1.72474166e-03 2.11680897e+02] [ 9.62786209e-01 2.70196203e-01 -6.06032339e-03 1.14469377e+02] [ 6.30093002e-03 -2.31144680e-05 9.99980149e-01 5.27453484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83028169299996 meters 0.016037201836007216 Centerline is valid? [True, True] Translation: X:211.69, Y:114.49, Z:0.53 [[ 2.70260188e-01 -9.62785602e-01 -1.82087971e-03 2.11687775e+02] [ 9.62764297e-01 2.70266321e-01 -6.40505808e-03 1.14491836e+02] [ 6.65882016e-03 -2.20457695e-05 9.99977830e-01 5.26280488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.860281693 meters 0.01609556602930157 Centerline is valid? [True, True] Translation: X:211.69, Y:114.51, Z:0.52 [[ 2.70561504e-01 -9.62700583e-01 -2.01507749e-03 2.11693902e+02] [ 9.62674434e-01 2.70569007e-01 -7.09548577e-03 1.14514341e+02] [ 7.37604581e-03 -2.00982795e-05 9.99972796e-01 5.24224958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89028169299996 meters 0.016155949584132603 Centerline is valid? [True, True] Translation: X:211.70, Y:114.54, Z:0.52 [[ 2.70624724e-01 -9.62682438e-01 -2.18704068e-03 2.11699995e+02] [ 9.62651574e-01 2.70633561e-01 -7.70857936e-03 1.14538466e+02] [ 8.01280057e-03 -1.92259918e-05 9.99967897e-01 5.22702581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.920281693 meters 0.015489423368289883 Centerline is valid? [True, True] Translation: X:211.71, Y:114.56, Z:0.53 [[ 2.71086143e-01 -9.62553116e-01 -1.94986169e-03 2.11705944e+02] [ 9.62528534e-01 2.71093155e-01 -6.87912469e-03 1.14562991e+02] [ 7.15011707e-03 -1.19621313e-05 9.99974438e-01 5.25651595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95028169299997 meters 0.015346164121601643 Centerline is valid? [True, True] Translation: X:211.71, Y:114.59, Z:0.53 [[ 2.71844466e-01 -9.62339886e-01 -1.59029299e-03 2.11711475e+02] [ 9.62323501e-01 2.71849118e-01 -5.61580966e-03 1.14586480e+02] [ 5.83663737e-03 -3.74953960e-06 9.99982967e-01 5.26549947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98028169299994 meters 0.01535721740978791 Centerline is valid? [True, True] Translation: X:211.71, Y:114.61, Z:0.53 [[ 2.74453240e-01 -9.61599844e-01 -1.07653141e-03 2.11714261e+02] [ 9.61592316e-01 2.74455352e-01 -3.80487460e-03 1.14611626e+02] [ 3.95422663e-03 9.07583543e-06 9.99992182e-01 5.31687820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01028169299997 meters 0.01591075775991301 Centerline is valid? [True, True] Translation: X:211.72, Y:114.64, Z:0.53 [[ 2.75879524e-01 -9.61191656e-01 -1.04292229e-03 2.11717455e+02] [ 9.61184574e-01 2.75881495e-01 -3.69002925e-03 1.14635184e+02] [ 3.83454828e-03 1.55626993e-05 9.99992648e-01 5.31548212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04028169299994 meters 0.017837818172824756 Centerline is valid? [True, True] Translation: X:211.72, Y:114.66, Z:0.53 [[ 2.77736627e-01 -9.60656464e-01 -1.23443418e-03 2.11718308e+02] [ 9.60646513e-01 2.77739368e-01 -4.37267070e-03 1.14659888e+02] [ 4.54348535e-03 2.85959213e-05 9.99989678e-01 5.29857516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07028169299997 meters 0.021378057433459947 Centerline is valid? [True, True] Translation: X:211.72, Y:114.69, Z:0.53 [[ 2.83330180e-01 -9.59021543e-01 -1.30009932e-03 2.11716672e+02] [ 9.59010464e-01 2.83333156e-01 -4.60993987e-03 1.14687104e+02] [ 4.78939289e-03 5.93262389e-05 9.99988529e-01 5.30123253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10028169299994 meters 0.02404112669599111 Centerline is valid? [True, True] Translation: X:211.72, Y:114.71, Z:0.53 [[ 2.85998214e-01 -9.58229360e-01 -1.23056329e-03 2.11718037e+02] [ 9.58219410e-01 2.86000853e-01 -4.36748318e-03 1.14713492e+02] [ 4.53699276e-03 6.99427647e-05 9.99989705e-01 5.31267798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130281693 meters 0.028197918005455333 Centerline is valid? [True, True] Translation: X:211.72, Y:114.74, Z:0.53 [[ 2.89539113e-01 -9.57165182e-01 -1.38442222e-03 2.11715001e+02] [ 9.57152552e-01 2.89542406e-01 -4.91811936e-03 1.14739094e+02] [ 5.10830156e-03 9.88846587e-05 9.99986948e-01 5.31029920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16028169299994 meters 0.02872406516355429 Centerline is valid? [True, True] Translation: X:211.72, Y:114.76, Z:0.53 [[ 2.90015255e-01 -9.57020831e-01 -1.51051642e-03 2.11719168e+02] [ 9.57005765e-01 2.90019167e-01 -5.37111415e-03 1.14764247e+02] [ 5.57834684e-03 1.12132118e-04 9.99984435e-01 5.30501658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190281693 meters 0.029332333287335373 Centerline is valid? [True, True] Translation: X:211.72, Y:114.79, Z:0.53 [[ 2.89571056e-01 -9.57155320e-01 -1.51521163e-03 2.11722656e+02] [ 9.57140131e-01 2.89574999e-01 -5.39344836e-03 1.14787448e+02] [ 5.60113520e-03 1.11516685e-04 9.99984307e-01 5.30185995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22028169299995 meters 0.028488608004071214 Centerline is valid? [True, True] Translation: X:211.73, Y:114.81, Z:0.53 [[ 2.88620037e-01 -9.57443259e-01 -9.38586488e-04 2.11725771e+02] [ 9.57437422e-01 2.88621555e-01 -3.34367025e-03 1.14811892e+02] [ 3.47227083e-03 6.64124028e-05 9.99993969e-01 5.34416882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250281693 meters 0.025518240222911093 Centerline is valid? [True, True] Translation: X:211.73, Y:114.84, Z:0.54 [[ 2.88527539e-01 -9.57471374e-01 -6.54249776e-04 2.11733910e+02] [ 9.57468534e-01 2.88528277e-01 -2.33251269e-03 1.14835601e+02] [ 2.42208369e-03 4.65705706e-05 9.99997066e-01 5.36996693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28028169299995 meters 0.027088821055709773 Centerline is valid? [True, True] Translation: X:211.73, Y:114.86, Z:0.54 [[ 2.88755054e-01 -9.57402760e-01 -6.88590229e-04 2.11732344e+02] [ 9.57399607e-01 2.88755870e-01 -2.45758751e-03 1.14861850e+02] [ 2.55173554e-03 5.03847988e-05 9.99996743e-01 5.36390807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310281693 meters 0.029935250818564046 Centerline is valid? [True, True] Translation: X:211.73, Y:114.89, Z:0.53 [[ 2.88748304e-01 -9.57404668e-01 -8.47539646e-04 2.11731847e+02] [ 9.57399880e-01 2.88749541e-01 -3.02854936e-03 1.14887826e+02] [ 3.14427398e-03 6.30541348e-05 9.99995055e-01 5.34613528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34028169299995 meters 0.031878051420979624 Centerline is valid? [True, True] Translation: X:211.73, Y:114.91, Z:0.53 [[ 2.89490813e-01 -9.57179852e-01 -1.34189856e-03 2.11728764e+02] [ 9.57167817e-01 2.89493904e-01 -4.80103214e-03 1.14914086e+02] [ 4.98392269e-03 1.05432583e-04 9.99987575e-01 5.29534050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370281693 meters 0.032691005900191715 Centerline is valid? [True, True] Translation: X:211.73, Y:114.94, Z:0.53 [[ 2.89835816e-01 -9.57074703e-01 -1.79228118e-03 2.11730019e+02] [ 9.57053188e-01 2.89841321e-01 -6.41906605e-03 1.14939766e+02] [ 6.66300288e-03 1.45166825e-04 9.99977791e-01 5.26174629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40028169299995 meters 0.0335807272686732 Centerline is valid? [True, True] Translation: X:211.73, Y:114.96, Z:0.52 [[ 2.89974776e-01 -9.57031771e-01 -2.19495836e-03 2.11731168e+02] [ 9.56999436e-01 2.89983027e-01 -7.86915439e-03 1.14964648e+02] [ 8.16753143e-03 1.81282367e-04 9.99966629e-01 5.23618733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430281693 meters 0.03310101293345673 Centerline is valid? [True, True] Translation: X:211.73, Y:114.99, Z:0.52 [[ 2.89254489e-01 -9.57249443e-01 -2.31182326e-03 2.11734858e+02] [ 9.57213508e-01 2.89263667e-01 -8.29647312e-03 1.14989192e+02] [ 8.61052075e-03 1.86883638e-04 9.99962911e-01 5.23021663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46028169299996 meters 0.025676400614615943 Centerline is valid? [True, True] Translation: X:211.75, Y:115.01, Z:0.53 [[ 2.85193938e-01 -9.58468043e-01 -1.85136172e-03 2.11748709e+02] [ 9.58444980e-01 2.85199921e-01 -6.65026250e-03 1.15011953e+02] [ 6.90207230e-03 1.22186210e-04 9.99976173e-01 5.27554988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490281693 meters 0.02531389595974727 Centerline is valid? [True, True] Translation: X:211.75, Y:115.04, Z:0.53 [[ 2.82108382e-01 -9.59381461e-01 -1.43984390e-03 2.11754169e+02] [ 9.59367500e-01 2.82112045e-01 -5.17620930e-03 1.15035622e+02] [ 5.37215655e-03 7.89125893e-05 9.99985567e-01 5.28367934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52028169299996 meters 0.020309010865691823 Centerline is valid? [True, True] Translation: X:211.77, Y:115.06, Z:0.53 [[ 2.78747567e-01 -9.60363735e-01 -1.13612901e-03 2.11767625e+02] [ 9.60355036e-01 2.78749878e-01 -4.08775755e-03 1.15058380e+02] [ 4.24242993e-03 4.83652518e-05 9.99991000e-01 5.30867633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550281693 meters 0.020309010865691823 Centerline is valid? [True, True] Translation: X:211.77, Y:115.08, Z:0.53 [[ 2.78501955e-01 -9.60434991e-01 -1.13508224e-03 2.11773982e+02] [ 9.60426292e-01 2.78504264e-01 -4.08804827e-03 1.15082527e+02] [ 4.24242985e-03 4.83666104e-05 9.99991000e-01 5.30917338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58028169299996 meters 0.01669600575656419 Centerline is valid? [True, True] Translation: X:211.79, Y:115.11, Z:0.53 [[ 2.72921026e-01 -9.62035869e-01 -1.04876756e-03 2.11785886e+02] [ 9.62028440e-01 2.72923040e-01 -3.78077986e-03 1.15105025e+02] [ 3.92347867e-03 2.29100978e-05 9.99992303e-01 5.30248530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.610281693 meters 0.016036002326671593 Centerline is valid? [True, True] Translation: X:211.79, Y:115.13, Z:0.53 [[ 2.70798016e-01 -9.62635303e-01 -1.30702417e-03 2.11794838e+02] [ 9.62623745e-01 2.70801169e-01 -4.71726916e-03 1.15127430e+02] [ 4.89495350e-03 1.92546282e-05 9.99988019e-01 5.28432476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64028169299996 meters 0.016041062334292797 Centerline is valid? [True, True] Translation: X:211.80, Y:115.15, Z:0.52 [[ 2.68384838e-01 -9.63309124e-01 -2.26041237e-03 2.11804535e+02] [ 9.63274488e-01 2.68394356e-01 -8.16881528e-03 1.15149626e+02] [ 8.47577622e-03 1.49885935e-05 9.99964080e-01 5.21919896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.670281693 meters 0.016635515251112242 Centerline is valid? [True, True] Translation: X:211.81, Y:115.17, Z:0.52 [[ 2.68859908e-01 -9.63176058e-01 -2.49611550e-03 2.11808297e+02] [ 9.63133728e-01 2.68871494e-01 -9.03002118e-03 1.15173316e+02] [ 9.36863451e-03 2.37176426e-05 9.99956113e-01 5.18643805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70028169299997 meters 0.016916751807108728 Centerline is valid? [True, True] Translation: X:211.81, Y:115.20, Z:0.52 [[ 2.70270911e-01 -9.62781026e-01 -2.51627976e-03 2.11812158e+02] [ 9.62737901e-01 2.70282621e-01 -9.11250473e-03 1.15197483e+02] [ 9.45345334e-03 4.03270581e-05 9.99955314e-01 5.20788445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73028169299994 meters 0.018282134803826674 Centerline is valid? [True, True] Translation: X:211.81, Y:115.22, Z:0.53 [[ 2.74240222e-01 -9.61659642e-01 -1.74183159e-03 2.11814195e+02] [ 9.61638916e-01 2.74245748e-01 -6.31379609e-03 1.15223017e+02] [ 6.54941279e-03 5.64838003e-05 9.99978551e-01 5.27090695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76028169299997 meters 0.019422919131257307 Centerline is valid? [True, True] Translation: X:211.82, Y:115.25, Z:0.53 [[ 2.75731776e-01 -9.61233745e-01 -1.29413032e-03 2.11817945e+02] [ 9.61222279e-01 2.75734809e-01 -4.69537637e-03 1.15246929e+02] [ 4.87019099e-03 5.07175731e-05 9.99988139e-01 5.30555111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79028169299994 meters 0.019738768661262375 Centerline is valid? [True, True] Translation: X:211.82, Y:115.27, Z:0.53 [[ 2.76233804e-01 -9.61089991e-01 -9.56159060e-04 2.11822925e+02] [ 9.61083720e-01 2.76235456e-01 -3.47223682e-03 1.15271952e+02] [ 3.60125709e-03 4.02002799e-05 9.99993515e-01 5.32684176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82028169299997 meters 0.020255618886865116 Centerline is valid? [True, True] Translation: X:211.83, Y:115.30, Z:0.53 [[ 2.76497590e-01 -9.61013937e-01 -1.13815424e-03 2.11827615e+02] [ 9.61005031e-01 2.76499928e-01 -4.13773509e-03 1.15296767e+02] [ 4.29112065e-03 5.03018261e-05 9.99990792e-01 5.31134042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85028169299994 meters 0.020450527882721094 Centerline is valid? [True, True] Translation: X:211.84, Y:115.32, Z:0.53 [[ 2.76436173e-01 -9.61031263e-01 -1.39742810e-03 2.11835037e+02] [ 9.61017807e-01 2.76439698e-01 -5.08600528e-03 1.15321586e+02] [ 5.27411468e-03 6.30025482e-05 9.99986090e-01 5.28463397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880281693 meters 0.02141283373157851 Centerline is valid? [True, True] Translation: X:211.84, Y:115.34, Z:0.52 [[ 2.75652266e-01 -9.61255368e-01 -1.98668449e-03 2.11841877e+02] [ 9.61228120e-01 2.75659411e-01 -7.23816856e-03 1.15344884e+02] [ 7.50537666e-03 8.55605703e-05 9.99971831e-01 5.22864103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91028169299994 meters 0.019996779801856445 Centerline is valid? [True, True] Translation: X:211.85, Y:115.37, Z:0.52 [[ 2.75057707e-01 -9.61425817e-01 -1.91231938e-03 2.11850351e+02] [ 9.61400525e-01 2.75064343e-01 -6.97404779e-03 1.15368513e+02] [ 7.23104047e-03 7.97607429e-05 9.99973853e-01 5.24484554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940281693 meters 0.01981740230143572 Centerline is valid? [True, True] Translation: X:211.86, Y:115.39, Z:0.53 [[ 2.74958968e-01 -9.61454614e-01 -1.60950513e-03 2.11855541e+02] [ 9.61436664e-01 2.74963670e-01 -5.87544538e-03 1.15393682e+02] [ 6.09152951e-03 6.80691481e-05 9.99981444e-01 5.27522773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97028169299995 meters 0.021353733403848708 Centerline is valid? [True, True] Translation: X:211.86, Y:115.42, Z:0.53 [[ 2.75741984e-01 -9.61231391e-01 -7.55382875e-04 2.11856416e+02] [ 9.61227431e-01 2.75743017e-01 -2.75932940e-03 1.15418386e+02] [ 2.86064559e-03 3.47682244e-05 9.99995908e-01 5.33189076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000281693 meters 0.02118019145295731 Centerline is valid? [True, True] Translation: X:211.86, Y:115.44, Z:0.53 [[ 2.75864450e-01 -9.61196255e-01 -7.51823411e-04 2.11862019e+02] [ 9.61192324e-01 2.75865472e-01 -2.74921370e-03 1.15443212e+02] [ 2.84993604e-03 3.57634355e-05 9.99995938e-01 5.33333804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03028169299995 meters 0.02091851210706856 Centerline is valid? [True, True] Translation: X:211.87, Y:115.47, Z:0.53 [[ 2.75508767e-01 -9.61298013e-01 -1.02428653e-03 2.11867376e+02] [ 9.61290700e-01 2.75510667e-01 -3.75005019e-03 1.15468595e+02] [ 3.88711766e-03 4.85345880e-05 9.99992444e-01 5.30740578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060281693 meters 0.01973150847363358 Centerline is valid? [True, True] Translation: X:211.87, Y:115.49, Z:0.53 [[ 2.73345631e-01 -9.61914697e-01 -1.51060200e-03 2.11873709e+02] [ 9.61898765e-01 2.73349798e-01 -5.53650882e-03 1.15492487e+02] [ 5.73857195e-03 6.03342966e-05 9.99983532e-01 5.25960939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09028169299995 meters 0.018550656462591207 Centerline is valid? [True, True] Translation: X:211.88, Y:115.52, Z:0.53 [[ 2.71512345e-01 -9.62433476e-01 -1.68873570e-03 2.11881254e+02] [ 9.62413535e-01 2.71517590e-01 -6.19558345e-03 1.15516390e+02] [ 6.42135836e-03 5.69152994e-05 9.99979381e-01 5.25581951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120281693 meters 0.017675872314138356 Centerline is valid? [True, True] Translation: X:211.89, Y:115.54, Z:0.53 [[ 2.69777653e-01 -9.62921234e-01 -1.64770000e-03 2.11888400e+02] [ 9.62902221e-01 2.69782681e-01 -6.05132663e-03 1.15539604e+02] [ 6.27147183e-03 4.59387077e-05 9.99980333e-01 5.26041455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15028169299995 meters 0.015539104265661068 Centerline is valid? [True, True] Translation: X:211.90, Y:115.56, Z:0.53 [[ 2.65766138e-01 -9.64036802e-01 -1.18492738e-03 2.11899562e+02] [ 9.64026962e-01 2.65768779e-01 -4.35568649e-03 1.15562932e+02] [ 4.51395878e-03 1.52920375e-05 9.99989812e-01 5.29786681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180281693 meters 0.015084828549598257 Centerline is valid? [True, True] Translation: X:211.91, Y:115.59, Z:0.53 [[ 2.63860857e-01 -9.64560116e-01 -1.10937168e-03 2.11908787e+02] [ 9.64551479e-01 2.63863189e-01 -4.08198061e-03 1.15587134e+02] [ 4.23003804e-03 7.02880969e-06 9.99991053e-01 5.30017301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21028169299996 meters 0.015242319118081384 Centerline is valid? [True, True] Translation: X:211.92, Y:115.61, Z:0.53 [[ 2.62484909e-01 -9.64934631e-01 -1.68214879e-03 2.11916301e+02] [ 9.64914732e-01 2.62490299e-01 -6.19695701e-03 1.15611640e+02] [ 6.42120616e-03 3.47754968e-06 9.99979384e-01 5.25955220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240281693 meters 0.015510916054505669 Centerline is valid? [True, True] Translation: X:211.92, Y:115.64, Z:0.52 [[ 2.62851267e-01 -9.64834265e-01 -2.01336142e-03 2.11920214e+02] [ 9.64805698e-01 2.62858977e-01 -7.42444869e-03 1.15635639e+02] [ 7.69259261e-03 9.02317038e-06 9.99970412e-01 5.23664720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27028169299996 meters 0.015773228256170595 Centerline is valid? [True, True] Translation: X:211.92, Y:115.66, Z:0.53 [[ 2.64274795e-01 -9.64445366e-01 -1.99221886e-03 2.11922894e+02] [ 9.64417331e-01 2.64282303e-01 -7.35365820e-03 1.15660900e+02] [ 7.61870976e-03 2.20561172e-05 9.99970977e-01 5.25169427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300281693 meters 0.01763038408905782 Centerline is valid? [True, True] Translation: X:211.92, Y:115.69, Z:0.53 [[ 2.68806483e-01 -9.63193062e-01 -1.48332456e-03 2.11919287e+02] [ 9.63177472e-01 2.68810572e-01 -5.48026878e-03 1.15688480e+02] [ 5.67729019e-03 4.44269718e-05 9.99983883e-01 5.29927618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33028169299996 meters 0.01850490777891136 Centerline is valid? [True, True] Translation: X:211.92, Y:115.72, Z:0.53 [[ 2.70671321e-01 -9.62671103e-01 -1.17649979e-03 2.11921513e+02] [ 9.62661273e-01 2.70673875e-01 -4.35052898e-03 1.15715550e+02] [ 4.50657628e-03 4.49926403e-05 9.99989844e-01 5.31699563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.360281693 meters 0.02102894777580112 Centerline is valid? [True, True] Translation: X:211.92, Y:115.74, Z:0.53 [[ 2.73418815e-01 -9.61894907e-01 -5.81858865e-04 2.11916883e+02] [ 9.61892499e-01 2.73419433e-01 -2.15276581e-03 1.15742661e+02] [ 2.22982599e-03 2.89210004e-05 9.99997514e-01 5.34823660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39028169299996 meters 0.023326173324751773 Centerline is valid? [True, True] Translation: X:211.92, Y:115.77, Z:0.54 [[ 2.74152732e-01 -9.61685989e-01 -5.81052118e-04 2.11915898e+02] [ 9.61683582e-01 2.74153346e-01 -2.15191393e-03 1.15768786e+02] [ 2.22876286e-03 3.11647994e-05 9.99997516e-01 5.35082006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.420281693 meters 0.022753981795627938 Centerline is valid? [True, True] Translation: X:211.92, Y:115.79, Z:0.53 [[ 2.74544903e-01 -9.61574059e-01 -6.51848040e-04 2.11919802e+02] [ 9.61571023e-01 2.74545674e-01 -2.41672484e-03 1.15794129e+02] [ 2.50282197e-03 3.67012991e-05 9.99996867e-01 5.34596819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45028169299997 meters 0.021136590228845113 Centerline is valid? [True, True] Translation: X:211.92, Y:115.82, Z:0.53 [[ 2.72555338e-01 -9.62139677e-01 -9.10532872e-04 2.11923545e+02] [ 9.62133742e-01 2.72556855e-01 -3.37995608e-03 1.15820326e+02] [ 3.50016183e-03 4.51706741e-05 9.99993873e-01 5.32839531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48028169299994 meters 0.01957434055754117 Centerline is valid? [True, True] Translation: X:211.93, Y:115.84, Z:0.53 [[ 2.70507097e-01 -9.62717560e-01 -8.99924222e-04 2.11930454e+02] [ 9.62711754e-01 2.70508591e-01 -3.34386063e-03 1.15844652e+02] [ 3.46263058e-03 3.81704070e-05 9.99994004e-01 5.32367340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51028169299997 meters 0.017219919530470938 Centerline is valid? [True, True] Translation: X:211.94, Y:115.87, Z:0.53 [[ 2.66948556e-01 -9.63710031e-01 -1.20187649e-03 2.11939675e+02] [ 9.63699661e-01 2.66951259e-01 -4.47081207e-03 1.15869330e+02] [ 4.62940888e-03 3.52288548e-05 9.99989284e-01 5.29288007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54028169299994 meters 0.017191505478018274 Centerline is valid? [True, True] Translation: X:211.94, Y:115.89, Z:0.53 [[ 2.65962586e-01 -9.63982359e-01 -1.38401058e-03 2.11944872e+02] [ 9.63968582e-01 2.65966184e-01 -5.15387412e-03 1.15893719e+02] [ 5.33634375e-03 3.65949698e-05 9.99985761e-01 5.27847229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57028169299997 meters 0.017689268279766798 Centerline is valid? [True, True] Translation: X:211.95, Y:115.92, Z:0.53 [[ 2.66581077e-01 -9.63811598e-01 -1.31640407e-03 2.11945892e+02] [ 9.63799105e-01 2.66584324e-01 -4.90744644e-03 1.15918149e+02] [ 5.08078649e-03 3.94832949e-05 9.99987092e-01 5.28713564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60028169299994 meters 0.018177467670184095 Centerline is valid? [True, True] Translation: X:211.95, Y:115.94, Z:0.53 [[ 2.67117981e-01 -9.63663218e-01 -1.08933838e-03 2.11949698e+02] [ 9.63654645e-01 2.67120200e-01 -4.06508870e-03 1.15942516e+02] [ 4.20836074e-03 3.61122960e-05 9.99991144e-01 5.30363995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630281693 meters 0.01832904455031253 Centerline is valid? [True, True] Translation: X:211.95, Y:115.97, Z:0.53 [[ 2.67042024e-01 -9.63684536e-01 -8.20064169e-04 2.11954610e+02] [ 9.63679668e-01 2.67043282e-01 -3.06309562e-03 1.15965399e+02] [ 3.17085051e-03 2.76960878e-05 9.99994972e-01 5.31443107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66028169299994 meters 0.017441993957854805 Centerline is valid? [True, True] Translation: X:211.96, Y:115.99, Z:0.53 [[ 2.65862927e-01 -9.64010140e-01 -1.16372090e-03 2.11963348e+02] [ 9.64000316e-01 2.65865471e-01 -4.35227484e-03 1.15988954e+02] [ 4.50503028e-03 3.52812079e-05 9.99989852e-01 5.28982717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690281693 meters 0.016934621771477677 Centerline is valid? [True, True] Translation: X:211.97, Y:116.01, Z:0.53 [[ 2.64839475e-01 -9.64291400e-01 -1.46566634e-03 2.11971551e+02] [ 9.64275786e-01 2.64843528e-01 -5.48769242e-03 1.16013423e+02] [ 5.67990685e-03 4.00510208e-05 9.99983868e-01 5.26678068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72028169299995 meters 0.01706010075772426 Centerline is valid? [True, True] Translation: X:211.98, Y:116.04, Z:0.52 [[ 2.64300491e-01 -9.64438719e-01 -1.79118032e-03 2.11979486e+02] [ 9.64415351e-01 2.64306556e-01 -6.71379788e-03 1.16037900e+02] [ 6.94846733e-03 4.70182814e-05 9.99975858e-01 5.24536001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750281693 meters 0.016548189727315882 Centerline is valid? [True, True] Translation: X:211.99, Y:116.06, Z:0.52 [[ 2.62877591e-01 -9.64827344e-01 -1.88908716e-03 2.11991551e+02] [ 9.64801306e-01 2.62884375e-01 -7.08837719e-03 1.16059845e+02] [ 7.33567164e-03 4.07817535e-05 9.99973093e-01 5.23908894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78028169299995 meters 0.016112286161533932 Centerline is valid? [True, True] Translation: X:212.00, Y:116.08, Z:0.53 [[ 2.61975134e-01 -9.65073382e-01 -1.54806302e-03 2.11999987e+02] [ 9.65055864e-01 2.61979706e-01 -5.81491004e-03 1.16081861e+02] [ 6.01737599e-03 2.93945416e-05 9.99981895e-01 5.26989143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810281693 meters 0.014912481864010728 Centerline is valid? [True, True] Translation: X:212.01, Y:116.10, Z:0.53 [[ 2.59689861e-01 -9.65691876e-01 -6.14179757e-04 2.12011225e+02] [ 9.65689117e-01 2.59690587e-01 -2.30830917e-03 1.16103936e+02] [ 2.38861212e-03 6.33778007e-06 9.99997147e-01 5.33190813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84028169299995 meters 0.014648563256759914 Centerline is valid? [True, True] Translation: X:212.02, Y:116.13, Z:0.53 [[ 2.58549150e-01 -9.65997909e-01 -6.14193648e-04 2.12020425e+02] [ 9.65995145e-01 2.58549879e-01 -2.31086361e-03 1.16125979e+02] [ 2.39108911e-03 4.16373955e-06 9.99997141e-01 5.32727184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870281693 meters 0.014858010592298566 Centerline is valid? [True, True] Translation: X:212.03, Y:116.15, Z:0.53 [[ 2.58065822e-01 -9.66126976e-01 -8.35351612e-04 2.12030212e+02] [ 9.66121851e-01 2.58067174e-01 -3.14692160e-03 1.16149660e+02] [ 3.25590268e-03 5.06146446e-06 9.99994700e-01 5.30843903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90028169299995 meters 0.015404103538677105 Centerline is valid? [True, True] Translation: X:212.04, Y:116.17, Z:0.53 [[ 2.58931995e-01 -9.65894416e-01 -1.48264742e-03 2.12037783e+02] [ 9.65878227e-01 2.58936240e-01 -5.59227192e-03 1.16172809e+02] [ 5.78545537e-03 1.59612691e-05 9.99983264e-01 5.27487566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930281693 meters 0.01586146560399638 Centerline is valid? [True, True] Translation: X:212.04, Y:116.20, Z:0.53 [[ 2.60329121e-01 -9.65518856e-01 -1.44517598e-03 2.12041496e+02] [ 9.65503437e-01 2.60333131e-01 -5.45651217e-03 1.16197277e+02] [ 5.64459257e-03 2.51666368e-05 9.99984069e-01 5.27742830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96028169299996 meters 0.016761776226138572 Centerline is valid? [True, True] Translation: X:212.05, Y:116.22, Z:0.53 [[ 2.62231474e-01 -9.65004059e-01 -1.34929896e-03 2.12045379e+02] [ 9.64990584e-01 2.62234943e-01 -5.09977549e-03 1.16222798e+02] [ 5.27513738e-03 3.52608538e-05 9.99986086e-01 5.29645969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990281693 meters 0.02006645235137982 Centerline is valid? [True, True] Translation: X:212.05, Y:116.25, Z:0.53 [[ 2.66329125e-01 -9.63881173e-01 -1.37197022e-03 2.12046055e+02] [ 9.63867201e-01 2.66332652e-01 -5.19005864e-03 1.16248940e+02] [ 5.36800027e-03 5.98666800e-05 9.99985590e-01 5.29308077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02028169299996 meters 0.022710625954653695 Centerline is valid? [True, True] Translation: X:212.05, Y:116.27, Z:0.53 [[ 2.68051767e-01 -9.63403377e-01 -1.47797481e-03 2.12046820e+02] [ 9.63387124e-01 2.68055830e-01 -5.59660468e-03 1.16273767e+02] [ 5.78796761e-03 7.63178740e-05 9.99983247e-01 5.28092049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050281693 meters 0.02456820028203092 Centerline is valid? [True, True] Translation: X:212.05, Y:116.30, Z:0.53 [[ 2.72742293e-01 -9.62086680e-01 -9.27962634e-04 2.12046218e+02] [ 9.62080255e-01 2.72743864e-01 -3.51683461e-03 1.16300526e+02] [ 3.63659585e-03 6.64150100e-05 9.99993385e-01 5.32741764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08028169299996 meters 0.028886287226842278 Centerline is valid? [True, True] Translation: X:212.04, Y:116.33, Z:0.54 [[ 2.75688453e-01 -9.61246970e-01 -3.73133311e-04 2.12043666e+02] [ 9.61245930e-01 2.75688704e-01 -1.41449785e-03 1.16327654e+02] [ 1.46255041e-03 3.12878492e-05 9.99998930e-01 5.36626538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.110281693 meters 0.03276270372170938 Centerline is valid? [True, True] Translation: X:212.04, Y:116.35, Z:0.54 [[ 2.79373037e-01 -9.60182642e-01 -1.93571429e-05 2.12042336e+02] [ 9.60182639e-01 2.79373038e-01 -7.15882528e-05 1.16354771e+02] [ 7.41456616e-05 1.41343510e-06 9.99999997e-01 5.40518581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14028169299996 meters 0.038267501592897914 Centerline is valid? [True, True] Translation: X:212.04, Y:116.38, Z:0.54 [[ 2.82988323e-01 -9.59123355e-01 9.59471332e-06 2.12038150e+02] [ 9.59123354e-01 2.82988323e-01 3.85266960e-05 1.16381761e+02] [-3.96670457e-05 -1.70009146e-06 9.99999999e-01 5.41167484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.170281693 meters 0.043494304869566146 Centerline is valid? [True, True] Translation: X:212.03, Y:116.41, Z:0.53 [[ 2.89412045e-01 -9.57204333e-01 -7.29641627e-04 2.12029841e+02] [ 9.57200315e-01 2.89412946e-01 -2.77569578e-03 1.16410976e+02] [ 2.86807576e-03 1.04906597e-04 9.99995882e-01 5.34845370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20028169299997 meters 0.05025744680002523 Centerline is valid? [True, True] Translation: X:212.02, Y:116.44, Z:0.53 [[ 2.91733059e-01 -9.56499268e-01 -9.86755296e-04 2.12019807e+02] [ 9.56491898e-01 2.91734688e-01 -3.75788094e-03 1.16439875e+02] [ 3.88228111e-03 1.52474655e-04 9.99992452e-01 5.31448780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23028169299994 meters 0.04988905595294245 Centerline is valid? [True, True] Translation: X:212.02, Y:116.47, Z:0.53 [[ 2.91238736e-01 -9.56650086e-01 -7.81660178e-04 2.12023214e+02] [ 9.56645456e-01 2.91239760e-01 -2.97904793e-03 1.16465793e+02] [ 3.07755698e-03 1.19842495e-04 9.99995257e-01 5.33467648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26028169299997 meters 0.04884833226803571 Centerline is valid? [True, True] Translation: X:212.03, Y:116.49, Z:0.53 [[ 2.89830838e-01 -9.57077672e-01 -6.43840811e-04 2.12027372e+02] [ 9.57074527e-01 2.89831537e-01 -2.45577315e-03 1.16490800e+02] [ 2.53697102e-03 9.55551498e-05 9.99996777e-01 5.34956851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29028169299994 meters 0.041945122279436566 Centerline is valid? [True, True] Translation: X:212.04, Y:116.52, Z:0.53 [[ 2.88084364e-01 -9.57604755e-01 -7.29623766e-04 2.12039913e+02] [ 9.57600708e-01 2.88085269e-01 -2.78596055e-03 1.16515093e+02] [ 2.87804293e-03 1.03903439e-04 9.99995853e-01 5.34624171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32028169299997 meters 0.03728608642169795 Centerline is valid? [True, True] Translation: X:212.05, Y:116.54, Z:0.53 [[ 2.83464171e-01 -9.58981936e-01 -1.30753781e-03 2.12048864e+02] [ 9.58968921e-01 2.83467140e-01 -4.99890837e-03 1.16540189e+02] [ 5.16450683e-03 1.63123293e-04 9.99986651e-01 5.29724773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35028169299994 meters 0.03710971268126424 Centerline is valid? [True, True] Translation: X:212.05, Y:116.57, Z:0.53 [[ 2.80930885e-01 -9.59726787e-01 -1.52747092e-03 2.12053480e+02] [ 9.59708999e-01 2.80934982e-01 -5.84585965e-03 1.16565527e+02] [ 6.03954811e-03 1.76354938e-04 9.99981746e-01 5.27287201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380281693 meters 0.038660767587437965 Centerline is valid? [True, True] Translation: X:212.05, Y:116.59, Z:0.53 [[ 2.78295854e-01 -9.60494441e-01 -1.35858097e-03 2.12051788e+02] [ 9.60480356e-01 2.78299133e-01 -5.20372467e-03 1.16592119e+02] [ 5.37624052e-03 1.43284670e-04 9.99985538e-01 5.27891995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41028169299994 meters 0.038646607313719404 Centerline is valid? [True, True] Translation: X:212.05, Y:116.62, Z:0.53 [[ 2.77787983e-01 -9.60641383e-01 -1.40338957e-03 2.12054317e+02] [ 9.60626325e-01 2.77791489e-01 -5.38073057e-03 1.16615585e+02] [ 5.55880213e-03 1.46569328e-04 9.99984539e-01 5.28063295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440281693 meters 0.038646607313719404 Centerline is valid? [True, True] Translation: X:212.06, Y:116.64, Z:0.53 [[ 2.77537784e-01 -9.60713700e-01 -1.40196713e-03 2.12059998e+02] [ 9.60698641e-01 2.77541286e-01 -5.38110129e-03 1.16639020e+02] [ 5.55880149e-03 1.46591007e-04 9.99984539e-01 5.28111356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47028169299995 meters 0.03249837940040713 Centerline is valid? [True, True] Translation: X:212.07, Y:116.66, Z:0.53 [[ 2.77433912e-01 -9.60743668e-01 -1.42441534e-03 2.12072143e+02] [ 9.60728089e-01 2.77437528e-01 -5.47325137e-03 1.16661832e+02] [ 5.65357786e-03 1.49989716e-04 9.99984007e-01 5.28538136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500281693 meters 0.036834033974311266 Centerline is valid? [True, True] Translation: X:212.07, Y:116.69, Z:0.53 [[ 2.77396623e-01 -9.60754102e-01 -1.63373195e-03 2.12067178e+02] [ 9.60733566e-01 2.77401379e-01 -6.28407911e-03 1.16688020e+02] [ 6.49065428e-03 1.73601194e-04 9.99978920e-01 5.25965941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53028169299995 meters 0.03298409269795448 Centerline is valid? [True, True] Translation: X:212.08, Y:116.71, Z:0.53 [[ 2.77353810e-01 -9.60766547e-01 -1.58345665e-03 2.12075686e+02] [ 9.60747215e-01 2.77358278e-01 -6.09702296e-03 1.16712377e+02] [ 6.29700050e-03 1.69730977e-04 9.99980159e-01 5.26918280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560281693 meters 0.03599662487508301 Centerline is valid? [True, True] Translation: X:212.07, Y:116.74, Z:0.53 [[ 2.77743738e-01 -9.60654218e-01 -1.37473238e-03 2.12072615e+02] [ 9.60639619e-01 2.77747100e-01 -5.29830435e-03 1.16738827e+02] [ 5.47166635e-03 1.50948465e-04 9.99985019e-01 5.28196004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59028169299995 meters 0.0405878254704761 Centerline is valid? [True, True] Translation: X:212.07, Y:116.76, Z:0.53 [[ 2.76878081e-01 -9.60904297e-01 -1.20815765e-03 2.12070127e+02] [ 9.60893002e-01 2.76880687e-01 -4.66089554e-03 1.16764484e+02] [ 4.81319008e-03 1.29589587e-04 9.99988408e-01 5.28767097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620281693 meters 0.03192214240457615 Centerline is valid? [True, True] Translation: X:212.09, Y:116.79, Z:0.53 [[ 2.74551407e-01 -9.61571823e-01 -1.07401801e-03 2.12085663e+02] [ 9.61562886e-01 2.74553487e-01 -4.14708874e-03 1.16787987e+02] [ 4.28259907e-03 1.05853187e-04 9.99990824e-01 5.31006081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65028169299995 meters 0.024860552314808552 Centerline is valid? [True, True] Translation: X:212.10, Y:116.81, Z:0.53 [[ 2.67152312e-01 -9.63653655e-01 -1.12960827e-03 2.12098247e+02] [ 9.63643767e-01 2.67154689e-01 -4.36608524e-03 1.16809930e+02] [ 4.50917414e-03 7.78697971e-05 9.99989831e-01 5.30483634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680281693 meters 0.017608474416165566 Centerline is valid? [True, True] Translation: X:212.12, Y:116.83, Z:0.53 [[ 2.58273239e-01 -9.66071282e-01 -1.10048537e-03 2.12116046e+02] [ 9.66061901e-01 2.58275581e-01 -4.25760895e-03 1.16830356e+02] [ 4.39738224e-03 3.64894629e-05 9.99990331e-01 5.30230428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71028169299996 meters 0.015296121922183053 Centerline is valid? [True, True] Translation: X:212.13, Y:116.85, Z:0.53 [[ 2.54052728e-01 -9.67189985e-01 -8.63143617e-04 2.12127923e+02] [ 9.67184211e-01 2.54054194e-01 -3.34202430e-03 1.16854685e+02] [ 3.45165769e-03 1.42315136e-05 9.99994043e-01 5.31451187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740281693 meters 0.014537756153871945 Centerline is valid? [True, True] Translation: X:212.14, Y:116.88, Z:0.53 [[ 2.50750102e-01 -9.68051556e-01 -7.55469204e-04 2.12137276e+02] [ 9.68047129e-01 2.50751240e-01 -2.92761977e-03 1.16877123e+02] [ 3.02352172e-03 2.77116347e-06 9.99995429e-01 5.32455603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77028169299996 meters 0.014896709829730655 Centerline is valid? [True, True] Translation: X:212.15, Y:116.90, Z:0.53 [[ 2.46671350e-01 -9.69098988e-01 -6.29227931e-04 2.12148169e+02] [ 9.69095916e-01 2.46672153e-01 -2.44035827e-03 1.16900877e+02] [ 2.52016174e-03 -7.81574684e-06 9.99996824e-01 5.33951192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800281693 meters 0.015059584474069182 Centerline is valid? [True, True] Translation: X:212.15, Y:116.92, Z:0.53 [[ 2.45739551e-01 -9.69335661e-01 -6.70879242e-04 2.12154456e+02] [ 9.69332161e-01 2.45740467e-01 -2.60479231e-03 1.16923295e+02] [ 2.68978025e-03 -1.02043321e-05 9.99996383e-01 5.33521647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83028169299996 meters 0.014899488427508201 Centerline is valid? [True, True] Translation: X:212.16, Y:116.95, Z:0.53 [[ 2.46215284e-01 -9.69214741e-01 -9.05500091e-04 2.12157551e+02] [ 9.69208348e-01 2.46216949e-01 -3.52041864e-03 1.16948547e+02] [ 3.63499111e-03 -1.08373712e-05 9.99993393e-01 5.32452071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.860281693 meters 0.014721798255933146 Centerline is valid? [True, True] Translation: X:212.16, Y:116.97, Z:0.53 [[ 2.46698712e-01 -9.69091848e-01 -8.57937171e-04 2.12161376e+02] [ 9.69086096e-01 2.46700204e-01 -3.33891624e-03 1.16972353e+02] [ 3.44736978e-03 -7.70864827e-06 9.99994058e-01 5.33132195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89028169299996 meters 0.014481257486231624 Centerline is valid? [True, True] Translation: X:212.17, Y:117.00, Z:0.53 [[ 2.47223625e-01 -9.68958115e-01 -8.07222332e-04 2.12165076e+02] [ 9.68953011e-01 2.47224943e-01 -3.14483684e-03 1.16997276e+02] [ 3.24678067e-03 -4.68254524e-06 9.99994729e-01 5.33540417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.920281693 meters 0.014567205859888284 Centerline is valid? [True, True] Translation: X:212.17, Y:117.02, Z:0.53 [[ 2.48361616e-01 -9.68666925e-01 -9.46075444e-04 2.12167246e+02] [ 9.68659897e-01 2.48363418e-01 -3.69010432e-03 1.17022673e+02] [ 3.80945253e-03 5.49303156e-08 9.99992744e-01 5.32646297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95028169299997 meters 0.014546011769940964 Centerline is valid? [True, True] Translation: X:212.17, Y:117.05, Z:0.53 [[ 2.48500954e-01 -9.68631138e-01 -9.97072206e-04 2.12172253e+02] [ 9.68623314e-01 2.48502954e-01 -3.89319628e-03 1.17047716e+02] [ 4.01884653e-03 1.67560429e-06 9.99991924e-01 5.31852270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98028169299994 meters 0.014664276702963398 Centerline is valid? [True, True] Translation: X:212.18, Y:117.07, Z:0.53 [[ 2.46158997e-01 -9.69228811e-01 -1.12263898e-03 2.12179902e+02] [ 9.69218876e-01 2.46161557e-01 -4.38848072e-03 1.17070494e+02] [ 4.52979251e-03 -7.81887897e-06 9.99989740e-01 5.30704078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01028169299997 meters 0.015029526419709855 Centerline is valid? [True, True] Translation: X:212.19, Y:117.09, Z:0.53 [[ 2.44440560e-01 -9.69663574e-01 -1.16848872e-03 2.12187628e+02] [ 9.69652792e-01 2.44443352e-01 -4.57277774e-03 1.17093441e+02] [ 4.71968531e-03 -1.52559999e-05 9.99988862e-01 5.30047804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04028169299994 meters 0.015605299566525281 Centerline is valid? [True, True] Translation: X:212.20, Y:117.12, Z:0.53 [[ 2.42580589e-01 -9.70130571e-01 -1.15431196e-03 2.12196019e+02] [ 9.70120032e-01 2.42583334e-01 -4.52209768e-03 1.17117864e+02] [ 4.66704206e-03 -2.28480410e-05 9.99989109e-01 5.30107788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07028169299997 meters 0.016609599862683434 Centerline is valid? [True, True] Translation: X:212.21, Y:117.14, Z:0.53 [[ 2.40337421e-01 -9.70688771e-01 -1.11107544e-03 2.12205939e+02] [ 9.70678992e-01 2.40339987e-01 -4.35723411e-03 1.17141346e+02] [ 4.49655408e-03 -3.12911806e-05 9.99989890e-01 5.29958911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10028169299994 meters 0.018799213084918418 Centerline is valid? [True, True] Translation: X:212.22, Y:117.16, Z:0.53 [[ 2.37605981e-01 -9.71361226e-01 -8.75608103e-04 2.12219117e+02] [ 9.71355147e-01 2.37607592e-01 -3.43660001e-03 1.17164147e+02] [ 3.54623113e-03 -3.39697221e-05 9.99993712e-01 5.31206805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130281693 meters 0.017906465158064103 Centerline is valid? [True, True] Translation: X:212.22, Y:117.19, Z:0.53 [[ 2.37729894e-01 -9.71330970e-01 -8.02398648e-04 2.12223161e+02] [ 9.71325857e-01 2.37731246e-01 -3.15192590e-03 1.17188914e+02] [ 3.25231847e-03 -3.00835451e-05 9.99994711e-01 5.32577551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16028169299994 meters 0.016000417020467127 Centerline is valid? [True, True] Translation: X:212.22, Y:117.21, Z:0.53 [[ 2.40012864e-01 -9.70769028e-01 -1.14868155e-03 2.12223553e+02] [ 9.70758515e-01 2.40015611e-01 -4.51790975e-03 1.17214982e+02] [ 4.66154836e-03 -3.07359410e-05 9.99989134e-01 5.30755411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190281693 meters 0.01581364290597053 Centerline is valid? [True, True] Translation: X:212.23, Y:117.24, Z:0.53 [[ 2.41075492e-01 -9.70505435e-01 -1.34428912e-03 2.12228053e+02] [ 9.70490999e-01 2.41079238e-01 -5.29364111e-03 1.17238738e+02] [ 5.46158767e-03 -2.84533528e-05 9.99985085e-01 5.28829883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22028169299995 meters 0.01623736277652148 Centerline is valid? [True, True] Translation: X:212.24, Y:117.26, Z:0.53 [[ 2.40091749e-01 -9.70749568e-01 -1.10868231e-03 2.12236873e+02] [ 9.70739730e-01 2.40094308e-01 -4.37041745e-03 1.17261967e+02] [ 4.50876916e-03 -2.69407945e-05 9.99989835e-01 5.29619177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250281693 meters 0.017230309262474288 Centerline is valid? [True, True] Translation: X:212.25, Y:117.29, Z:0.53 [[ 2.37805704e-01 -9.71312246e-01 -9.83616627e-04 2.12247147e+02] [ 9.71304492e-01 2.37807736e-01 -3.88135794e-03 1.17285842e+02] [ 4.00392215e-03 -3.23821900e-05 9.99991984e-01 5.30984394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28028169299995 meters 0.01831533747109575 Centerline is valid? [True, True] Translation: X:212.26, Y:117.31, Z:0.53 [[ 2.35096632e-01 -9.71971532e-01 -9.56268653e-04 2.12257669e+02] [ 9.71964193e-01 2.35098573e-01 -3.77724165e-03 1.17310062e+02] [ 3.89618875e-03 -4.14420999e-05 9.99992409e-01 5.31735919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310281693 meters 0.022697197684914967 Centerline is valid? [True, True] Translation: X:212.28, Y:117.33, Z:0.53 [[ 2.29312491e-01 -9.73352172e-01 -1.15326333e-03 2.12277533e+02] [ 9.73341492e-01 2.29315378e-01 -4.56031049e-03 1.17332195e+02] [ 4.70324914e-03 -7.67828904e-05 9.99988937e-01 5.29319219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34028169299995 meters 0.027194401518284516 Centerline is valid? [True, True] Translation: X:212.29, Y:117.35, Z:0.53 [[ 2.25861411e-01 -9.74158696e-01 -1.20756825e-03 2.12293518e+02] [ 9.74146976e-01 2.25864619e-01 -4.77945525e-03 1.17353864e+02] [ 4.92869483e-03 -9.68544521e-05 9.99987849e-01 5.28975159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370281693 meters 0.03022796951536893 Centerline is valid? [True, True] Translation: X:212.31, Y:117.38, Z:0.53 [[ 2.22685726e-01 -9.74889880e-01 -8.88590318e-04 2.12307116e+02] [ 9.74883529e-01 2.22687484e-01 -3.51988601e-03 1.17375398e+02] [ 3.62937919e-03 -8.24436941e-05 9.99993410e-01 5.33388836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40028169299995 meters 0.027097098727564897 Centerline is valid? [True, True] Translation: X:212.31, Y:117.40, Z:0.53 [[ 2.23484861e-01 -9.74707050e-01 -8.26624461e-04 2.12309864e+02] [ 9.74701542e-01 2.23486378e-01 -3.27775337e-03 1.17401495e+02] [ 3.37958863e-03 -7.31838785e-05 9.99994287e-01 5.34606551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430281693 meters 0.025117059247125217 Centerline is valid? [True, True] Translation: X:212.31, Y:117.43, Z:0.54 [[ 2.25706534e-01 -9.74195074e-01 -7.20493958e-04 2.12314662e+02] [ 9.74190878e-01 2.25707677e-01 -2.85959418e-03 1.17426169e+02] [ 2.94842358e-03 -5.64695505e-05 9.99995652e-01 5.35467634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46028169299996 meters 0.01938044259883702 Centerline is valid? [True, True] Translation: X:212.32, Y:117.45, Z:0.54 [[ 2.32771262e-01 -9.72531437e-01 -3.77896781e-04 2.12315842e+02] [ 9.72530280e-01 2.32771568e-01 -1.50044881e-03 1.17451872e+02] [ 1.54719726e-03 -1.82546993e-05 9.99998803e-01 5.38164780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490281693 meters 0.016613775207964174 Centerline is valid? [True, True] Translation: X:212.32, Y:117.48, Z:0.54 [[ 2.36245062e-01 -9.71693423e-01 -4.03122206e-04 2.12317678e+02] [ 9.71692102e-01 2.36245406e-01 -1.60238633e-03 1.17478466e+02] [ 1.65226402e-03 -1.31548059e-05 9.99998635e-01 5.37865495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52028169299996 meters 0.014424016891724767 Centerline is valid? [True, True] Translation: X:212.31, Y:117.51, Z:0.53 [[ 2.43880596e-01 -9.69804751e-01 -1.00035483e-03 2.12313318e+02] [ 9.69796571e-01 2.43882647e-01 -3.98314486e-03 1.17505125e+02] [ 4.10684199e-03 1.27105597e-06 9.99991567e-01 5.33948004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550281693 meters 0.015485573665985311 Centerline is valid? [True, True] Translation: X:212.31, Y:117.53, Z:0.53 [[ 2.47371682e-01 -9.68919731e-01 -1.34353062e-03 2.12313626e+02] [ 9.68904929e-01 2.47375330e-01 -5.35589513e-03 1.17531632e+02] [ 5.52178880e-03 2.31433522e-05 9.99984755e-01 5.30858536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58028169299996 meters 0.01688327810507326 Centerline is valid? [True, True] Translation: X:212.31, Y:117.56, Z:0.53 [[ 2.49653876e-01 -9.68333904e-01 -1.54659537e-03 2.12314444e+02] [ 9.68314232e-01 2.49658663e-01 -6.17247374e-03 1.17556107e+02] [ 6.36313653e-03 4.33916881e-05 9.99979754e-01 5.28524361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.610281693 meters 0.017354273096672135 Centerline is valid? [True, True] Translation: X:212.32, Y:117.58, Z:0.53 [[ 2.50988339e-01 -9.67989284e-01 -1.26482570e-03 2.12316324e+02] [ 9.67976096e-01 2.50991522e-01 -5.05311790e-03 1.17581416e+02] [ 5.20882450e-03 4.39526176e-05 9.99986433e-01 5.30813155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64028169299996 meters 0.017573052847111553 Centerline is valid? [True, True] Translation: X:212.32, Y:117.61, Z:0.53 [[ 2.50413106e-01 -9.68138459e-01 -1.09524917e-03 2.12321595e+02] [ 9.68128551e-01 2.50415499e-01 -4.38027337e-03 1.17605500e+02] [ 4.51497848e-03 3.65358734e-05 9.99989807e-01 5.31542024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.670281693 meters 0.016139831240661224 Centerline is valid? [True, True] Translation: X:212.33, Y:117.63, Z:0.53 [[ 2.47601945e-01 -9.68860950e-01 -1.31778788e-03 2.12331859e+02] [ 9.68846581e-01 2.47605450e-01 -5.27678431e-03 1.17627857e+02] [ 5.43876172e-03 2.98077724e-05 9.99985209e-01 5.29264146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70028169299997 meters 0.015667203591888237 Centerline is valid? [True, True] Translation: X:212.34, Y:117.65, Z:0.53 [[ 2.46085310e-01 -9.69246957e-01 -1.53492048e-03 2.12339606e+02] [ 9.69227423e-01 2.46090095e-01 -6.15368548e-03 1.17651430e+02] [ 6.34216965e-03 2.66445812e-05 9.99979888e-01 5.27154269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73028169299994 meters 0.015270706734320271 Centerline is valid? [True, True] Translation: X:212.35, Y:117.68, Z:0.53 [[ 2.44420980e-01 -9.69667662e-01 -1.73478331e-03 2.12346946e+02] [ 9.69642660e-01 2.44427135e-01 -6.96325241e-03 1.17675101e+02] [ 7.17606880e-03 1.98450667e-05 9.99974252e-01 5.25378001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76028169299997 meters 0.014765424914844097 Centerline is valid? [True, True] Translation: X:212.36, Y:117.70, Z:0.53 [[ 2.41600065e-01 -9.70374522e-01 -1.64204755e-03 2.12355577e+02] [ 9.70352089e-01 2.41605645e-01 -6.59813874e-03 1.17697531e+02] [ 6.79939368e-03 7.46482043e-07 9.99976884e-01 5.26665488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79028169299994 meters 0.01462703277146681 Centerline is valid? [True, True] Translation: X:212.36, Y:117.72, Z:0.53 [[ 2.40363453e-01 -9.70682024e-01 -1.34840391e-03 2.12362735e+02] [ 9.70666871e-01 2.40367235e-01 -5.42388611e-03 1.17720989e+02] [ 5.58898087e-03 -5.14701364e-06 9.99984382e-01 5.28987435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82028169299997 meters 0.014757383166630748 Centerline is valid? [True, True] Translation: X:212.37, Y:117.74, Z:0.53 [[ 2.37730897e-01 -9.71330771e-01 -7.44096606e-04 2.12371420e+02] [ 9.71326152e-01 2.37732062e-01 -2.99556409e-03 1.17743061e+02] [ 3.08657920e-03 -1.06223542e-05 9.99995236e-01 5.34548386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85028169299994 meters 0.01544531328362712 Centerline is valid? [True, True] Translation: X:212.38, Y:117.77, Z:0.54 [[ 2.36170263e-01 -9.71711495e-01 -6.14226893e-04 2.12378701e+02] [ 9.71708342e-01 2.36171062e-01 -2.47526396e-03 1.17765517e+02] [ 2.55030506e-03 -1.22656554e-05 9.99996748e-01 5.35370344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880281693 meters 0.016030458708319907 Centerline is valid? [True, True] Translation: X:212.39, Y:117.79, Z:0.53 [[ 2.34411960e-01 -9.72137181e-01 -5.77959238e-04 2.12386923e+02] [ 9.72134385e-01 2.34412672e-01 -2.33170152e-03 1.17789049e+02] [ 2.40221471e-03 -1.52753249e-05 9.99997115e-01 5.34891195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91028169299994 meters 0.018747435782607437 Centerline is valid? [True, True] Translation: X:212.40, Y:117.81, Z:0.53 [[ 2.30917824e-01 -9.72972961e-01 -7.58903384e-04 2.12401198e+02] [ 9.72968131e-01 2.30919069e-01 -3.06570097e-03 1.17810208e+02] [ 3.15808941e-03 -3.04638105e-05 9.99995013e-01 5.33961523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940281693 meters 0.020627443645428217 Centerline is valid? [True, True] Translation: X:212.41, Y:117.83, Z:0.53 [[ 2.27757736e-01 -9.73717469e-01 -8.38554526e-04 2.12412853e+02] [ 9.73711566e-01 2.27759276e-01 -3.39090764e-03 1.17833044e+02] [ 3.49277457e-03 -4.42047933e-05 9.99993899e-01 5.33412211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97028169299995 meters 0.022183742964229855 Centerline is valid? [True, True] Translation: X:212.42, Y:117.86, Z:0.53 [[ 2.26310172e-01 -9.74054845e-01 -9.30333679e-04 2.12421927e+02] [ 9.74047566e-01 2.26312078e-01 -3.76585206e-03 1.17855442e+02] [ 3.87869219e-03 -5.39386263e-05 9.99992476e-01 5.32583472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000281693 meters 0.022666111620820276 Centerline is valid? [True, True] Translation: X:212.43, Y:117.88, Z:0.53 [[ 2.25229294e-01 -9.74305280e-01 -9.93265051e-04 2.12429620e+02] [ 9.74296969e-01 2.25231475e-01 -4.02475106e-03 1.17879582e+02] [ 4.14505076e-03 -6.12432911e-05 9.99991407e-01 5.33053987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03028169299995 meters 0.02283257436325484 Centerline is valid? [True, True] Translation: X:212.44, Y:117.90, Z:0.54 [[ 2.25236600e-01 -9.74303690e-01 -8.90911501e-04 2.12436729e+02] [ 9.74296989e-01 2.25238355e-01 -3.61389449e-03 1.17902253e+02] [ 3.72169818e-03 -5.40310856e-05 9.99993073e-01 5.35158239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060281693 meters 0.019799937633854514 Centerline is valid? [True, True] Translation: X:212.44, Y:117.93, Z:0.54 [[ 2.25755796e-01 -9.74183644e-01 -7.40239025e-04 2.12438452e+02] [ 9.74179008e-01 2.25757005e-01 -3.00584044e-03 1.17928352e+02] [ 3.09535474e-03 -4.25394197e-05 9.99995208e-01 5.36556264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09028169299995 meters 0.01979447866693429 Centerline is valid? [True, True] Translation: X:212.45, Y:117.95, Z:0.54 [[ 2.27399903e-01 -9.73801082e-01 -8.58573345e-04 2.12446455e+02] [ 9.73794828e-01 2.27401520e-01 -3.49036996e-03 1.17951665e+02] [ 3.59416692e-03 -4.23644929e-05 9.99993540e-01 5.35681030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120281693 meters 0.019264529564711946 Centerline is valid? [True, True] Translation: X:212.45, Y:117.97, Z:0.53 [[ 2.28110113e-01 -9.73634800e-01 -1.02632817e-03 2.12451946e+02] [ 9.73625841e-01 2.28112418e-01 -4.17695638e-03 1.17974813e+02] [ 4.30094829e-03 -4.64536341e-05 9.99990750e-01 5.34290721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15028169299995 meters 0.017709122761963226 Centerline is valid? [True, True] Translation: X:212.46, Y:118.00, Z:0.53 [[ 2.29007056e-01 -9.73424159e-01 -1.08371722e-03 2.12455070e+02] [ 9.73414146e-01 2.29009616e-01 -4.41552145e-03 1.17999839e+02] [ 4.54635692e-03 -4.37201028e-05 9.99989664e-01 5.33854443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180281693 meters 0.0160860980547867 Centerline is valid? [True, True] Translation: X:212.46, Y:118.03, Z:0.53 [[ 2.32063798e-01 -9.72699956e-01 -1.09099832e-03 2.12456196e+02] [ 9.72689776e-01 2.32066360e-01 -4.45011182e-03 1.18025165e+02] [ 4.58180758e-03 -2.84930689e-05 9.99989503e-01 5.34247006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21028169299996 meters 0.015010349089494035 Centerline is valid? [True, True] Translation: X:212.46, Y:118.05, Z:0.54 [[ 2.34049655e-01 -9.72224176e-01 -9.54028502e-04 2.12458126e+02] [ 9.72216372e-01 2.34051599e-01 -3.89554008e-03 1.18049947e+02] [ 4.01063014e-03 -1.57723159e-05 9.99991957e-01 5.35982593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240281693 meters 0.014212605627062811 Centerline is valid? [True, True] Translation: X:212.46, Y:118.07, Z:0.54 [[ 2.36810305e-01 -9.71555457e-01 -9.34766350e-04 2.12459576e+02] [ 9.71547942e-01 2.36812150e-01 -3.82128298e-03 1.18074868e+02] [ 3.93395236e-03 -3.25113563e-06 9.99992262e-01 5.36286033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27028169299996 meters 0.01435309090957526 Centerline is valid? [True, True] Translation: X:212.46, Y:118.10, Z:0.53 [[ 2.37260384e-01 -9.71445412e-01 -1.14962436e-03 2.12464782e+02] [ 9.71434016e-01 2.37263169e-01 -4.70545045e-03 1.18099929e+02] [ 4.84385177e-03 -3.67228390e-07 9.99988268e-01 5.34070056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300281693 meters 0.01457270210318191 Centerline is valid? [True, True] Translation: X:212.47, Y:118.12, Z:0.53 [[ 2.37381259e-01 -9.71415392e-01 -1.50811623e-03 2.12470799e+02] [ 9.71395732e-01 2.37386050e-01 -6.18030075e-03 1.18124414e+02] [ 6.36164503e-03 2.10990572e-06 9.99979765e-01 5.31213459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33028169299996 meters 0.014923816524332674 Centerline is valid? [True, True] Translation: X:212.48, Y:118.15, Z:0.53 [[ 2.35789337e-01 -9.71802643e-01 -1.73557284e-03 2.12483585e+02] [ 9.71776560e-01 2.35795724e-01 -7.11992749e-03 1.18146695e+02] [ 7.32840500e-03 -7.78602945e-06 9.99973147e-01 5.28212187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.360281693 meters 0.014923816524332674 Centerline is valid? [True, True] Translation: X:212.49, Y:118.17, Z:0.53 [[ 2.35544836e-01 -9.71861937e-01 -1.73383631e-03 2.12489171e+02] [ 9.71835853e-01 2.35551217e-01 -7.12035050e-03 1.18171019e+02] [ 7.32840488e-03 -7.84249506e-06 9.99973147e-01 5.28261884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39028169299996 meters 0.014898156892336548 Centerline is valid? [True, True] Translation: X:212.50, Y:118.19, Z:0.53 [[ 2.33654465e-01 -9.72318627e-01 -1.44170985e-03 2.12499504e+02] [ 9.72300563e-01 2.33658912e-01 -5.92681622e-03 1.18194311e+02] [ 6.09962216e-03 -1.69482209e-05 9.99981397e-01 5.30732031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.420281693 meters 0.015217914555416316 Centerline is valid? [True, True] Translation: X:212.51, Y:118.22, Z:0.54 [[ 2.31105154e-01 -9.72928510e-01 -7.22902900e-04 2.12512263e+02] [ 9.72923964e-01 2.31106284e-01 -2.97418771e-03 1.18215955e+02] [ 3.06073942e-03 -1.59794453e-05 9.99995316e-01 5.38618554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45028169299997 meters 0.015558176019371565 Centerline is valid? [True, True] Translation: X:212.52, Y:118.24, Z:0.54 [[ 2.30199394e-01 -9.73143326e-01 -5.53401333e-04 2.12521001e+02] [ 9.73140657e-01 2.30200058e-01 -2.27908962e-03 1.18238648e+02] [ 2.34527388e-03 -1.38922880e-05 9.99997250e-01 5.40348612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48028169299994 meters 0.01585992639888191 Centerline is valid? [True, True] Translation: X:212.53, Y:118.26, Z:0.54 [[ 2.29618426e-01 -9.73280541e-01 -6.05323699e-04 2.12529774e+02] [ 9.73277340e-01 2.29619224e-01 -2.49622166e-03 1.18260714e+02] [ 2.56851793e-03 -1.59693507e-05 9.99996701e-01 5.39712048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51028169299997 meters 0.016220541888908934 Centerline is valid? [True, True] Translation: X:212.54, Y:118.28, Z:0.54 [[ 2.28942912e-01 -9.73439362e-01 -9.75736332e-04 2.12540769e+02] [ 9.73431020e-01 2.28944990e-01 -4.03005415e-03 1.18283241e+02] [ 4.14640328e-03 -2.71596808e-05 9.99991403e-01 5.35462543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54028169299994 meters 0.016325221926635356 Centerline is valid? [True, True] Translation: X:212.55, Y:118.31, Z:0.53 [[ 2.29454198e-01 -9.73318801e-01 -1.13264486e-03 2.12547888e+02] [ 9.73307530e-01 2.29456992e-01 -4.68421313e-03 1.18306021e+02] [ 4.81912599e-03 -2.75994067e-05 9.99988388e-01 5.33826262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57028169299997 meters 0.01534782315165938 Centerline is valid? [True, True] Translation: X:212.55, Y:118.33, Z:0.53 [[ 2.30621162e-01 -9.73043024e-01 -1.07423690e-03 2.12552349e+02] [ 9.73032858e-01 2.30623663e-01 -4.44786570e-03 1.18329921e+02] [ 4.57570914e-03 -1.94958420e-05 9.99989531e-01 5.34878371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60028169299994 meters 0.014503354419508844 Centerline is valid? [True, True] Translation: X:212.56, Y:118.35, Z:0.54 [[ 2.33132340e-01 -9.72444569e-01 -9.33807028e-04 2.12557284e+02] [ 9.72436866e-01 2.33134210e-01 -3.87064521e-03 1.18354043e+02] [ 3.98169027e-03 -5.69580757e-06 9.99992073e-01 5.36858698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630281693 meters 0.014613827835755794 Centerline is valid? [True, True] Translation: X:212.56, Y:118.38, Z:0.54 [[ 2.35196108e-01 -9.71947205e-01 -1.19261089e-03 2.12561250e+02] [ 9.71934600e-01 2.35199131e-01 -4.94994383e-03 1.18376921e+02] [ 5.09158512e-03 5.06773244e-06 9.99987038e-01 5.35226600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66028169299994 meters 0.01507179127043324 Centerline is valid? [True, True] Translation: X:212.56, Y:118.40, Z:0.53 [[ 2.36282823e-01 -9.71683330e-01 -1.39068547e-03 2.12564648e+02] [ 9.71666143e-01 2.36286915e-01 -5.77926516e-03 1.18400105e+02] [ 5.94421640e-03 1.42590970e-05 9.99982333e-01 5.32596704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690281693 meters 0.015665572401722318 Centerline is valid? [True, True] Translation: X:212.57, Y:118.42, Z:0.53 [[ 2.37179215e-01 -9.71464592e-01 -1.60198772e-03 2.12568005e+02] [ 9.71441725e-01 2.37184624e-01 -6.66547145e-03 1.18424491e+02] [ 6.85523635e-03 2.46735708e-05 9.99976502e-01 5.30997117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72028169299995 meters 0.016411634963538674 Centerline is valid? [True, True] Translation: X:212.57, Y:118.45, Z:0.53 [[ 2.38978751e-01 -9.71023746e-01 -1.42890999e-03 2.12570542e+02] [ 9.71005504e-01 2.38983020e-01 -5.95207281e-03 1.18448986e+02] [ 6.12108926e-03 3.49394583e-05 9.99981265e-01 5.32929204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750281693 meters 0.016969597279325847 Centerline is valid? [True, True] Translation: X:212.58, Y:118.47, Z:0.53 [[ 2.39932795e-01 -9.70788754e-01 -1.20373904e-03 2.12575451e+02] [ 9.70775777e-01 2.39935812e-01 -5.01971822e-03 1.18473252e+02] [ 5.16190610e-03 3.58343269e-05 9.99986677e-01 5.34755321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78028169299995 meters 0.01859052331895071 Centerline is valid? [True, True] Translation: X:212.58, Y:118.50, Z:0.54 [[ 2.41333894e-01 -9.70441766e-01 -8.54245829e-04 2.12577848e+02] [ 9.70435215e-01 2.41335403e-01 -3.56594083e-03 1.18496774e+02] [ 3.66669768e-03 3.15921488e-05 9.99993277e-01 5.36775854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810281693 meters 0.01812007124890823 Centerline is valid? [True, True] Translation: X:212.58, Y:118.52, Z:0.54 [[ 2.41763644e-01 -9.70334906e-01 -7.14654568e-04 2.12582880e+02] [ 9.70330311e-01 2.41764699e-01 -2.98642130e-03 1.18521615e+02] [ 3.07060708e-03 2.85571081e-05 9.99995285e-01 5.38131757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84028169299995 meters 0.019743118840668022 Centerline is valid? [True, True] Translation: X:212.58, Y:118.55, Z:0.54 [[ 2.42567029e-01 -9.70134370e-01 -7.34984768e-04 2.12583121e+02] [ 9.70129497e-01 2.42568140e-01 -3.07508579e-03 1.18545839e+02] [ 3.16153030e-03 3.28840195e-05 9.99995002e-01 5.38031722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870281693 meters 0.020758231393307153 Centerline is valid? [True, True] Translation: X:212.58, Y:118.57, Z:0.54 [[ 2.43989897e-01 -9.69777342e-01 -9.14561267e-04 2.12584761e+02] [ 9.69769774e-01 2.43991607e-01 -3.83160994e-03 1.18571269e+02] [ 3.93895378e-03 4.79602435e-05 9.99992241e-01 5.36886413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90028169299995 meters 0.02244872387280112 Centerline is valid? [True, True] Translation: X:212.59, Y:118.60, Z:0.54 [[ 2.44578492e-01 -9.69628902e-01 -1.07393328e-03 2.12586978e+02] [ 9.69618439e-01 2.44580843e-01 -4.50493845e-03 1.18595948e+02] [ 4.63078203e-03 6.05055467e-05 9.99989276e-01 5.35210052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930281693 meters 0.022791734211749185 Centerline is valid? [True, True] Translation: X:212.59, Y:118.62, Z:0.53 [[ 2.45356441e-01 -9.69432169e-01 -1.21946201e-03 2.12590724e+02] [ 9.69418643e-01 2.45359460e-01 -5.12158977e-03 1.18621333e+02] [ 5.26424041e-03 7.44458363e-05 9.99986141e-01 5.34868097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96028169299996 meters 0.02394182716784659 Centerline is valid? [True, True] Translation: X:212.59, Y:118.64, Z:0.53 [[ 2.44973734e-01 -9.69528816e-01 -1.32102270e-03 2.12594121e+02] [ 9.69512905e-01 2.44977283e-01 -5.55501261e-03 1.18644425e+02] [ 5.70936535e-03 8.00836283e-05 9.99983698e-01 5.33084250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990281693 meters 0.023555034571553397 Centerline is valid? [True, True] Translation: X:212.60, Y:118.67, Z:0.53 [[ 2.44235659e-01 -9.69714858e-01 -1.42712608e-03 2.12601241e+02] [ 9.69696247e-01 2.44239814e-01 -6.00856595e-03 1.18668111e+02] [ 6.17515669e-03 8.36272615e-05 9.99980930e-01 5.31568303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02028169299996 meters 0.020399475506255905 Centerline is valid? [True, True] Translation: X:212.62, Y:118.69, Z:0.53 [[ 2.41918672e-01 -9.70295772e-01 -1.21267886e-03 2.12615073e+02] [ 9.70282313e-01 2.41921704e-01 -5.11108296e-03 1.18691131e+02] [ 5.25263552e-03 5.98255506e-05 9.99986203e-01 5.33802450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050281693 meters 0.019432454047607888 Centerline is valid? [True, True] Translation: X:212.62, Y:118.71, Z:0.53 [[ 2.40379144e-01 -9.70678432e-01 -1.11734092e-03 2.12623688e+02] [ 9.70666984e-01 2.40381736e-01 -4.71457109e-03 1.18713842e+02] [ 4.84492082e-03 4.87186247e-05 9.99988262e-01 5.34795777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08028169299996 meters 0.018340706871146202 Centerline is valid? [True, True] Translation: X:212.63, Y:118.74, Z:0.54 [[ 2.38873615e-01 -9.71050153e-01 -9.97723404e-04 2.12633035e+02] [ 9.71041008e-01 2.38875696e-01 -4.21456429e-03 1.18737456e+02] [ 4.33088517e-03 3.79178667e-05 9.99990621e-01 5.36479455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.110281693 meters 0.01681814030251029 Centerline is valid? [True, True] Translation: X:212.65, Y:118.76, Z:0.54 [[ 2.36677794e-01 -9.71587966e-01 -6.67787553e-04 2.12645611e+02] [ 9.71583864e-01 2.36678736e-01 -2.82345200e-03 1.18759114e+02] [ 2.90128310e-03 1.94367805e-05 9.99995791e-01 5.39858440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14028169299996 meters 0.015529318523439441 Centerline is valid? [True, True] Translation: X:212.66, Y:118.78, Z:0.54 [[ 2.34644530e-01 -9.72081079e-01 -5.66575072e-04 2.12659274e+02] [ 9.72078121e-01 2.34645214e-01 -2.39813224e-03 1.18781297e+02] [ 2.46412310e-03 1.19533808e-05 9.99996964e-01 5.40686843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.170281693 meters 0.015148033432713832 Centerline is valid? [True, True] Translation: X:212.67, Y:118.81, Z:0.54 [[ 2.33656971e-01 -9.72318837e-01 -7.06388630e-04 2.12668135e+02] [ 9.72314227e-01 2.33658039e-01 -2.99412066e-03 1.18805360e+02] [ 3.07629330e-03 1.27654494e-05 9.99995268e-01 5.39671082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20028169299997 meters 0.015028205268244152 Centerline is valid? [True, True] Translation: X:212.68, Y:118.83, Z:0.54 [[ 2.32733711e-01 -9.72540145e-01 -8.28150296e-04 2.12675834e+02] [ 9.72533793e-01 2.32735184e-01 -3.51489951e-03 1.18828266e+02] [ 3.61112059e-03 1.26314599e-05 9.99993480e-01 5.38586590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23028169299994 meters 0.014836810701444348 Centerline is valid? [True, True] Translation: X:212.69, Y:118.85, Z:0.54 [[ 2.31165657e-01 -9.72913853e-01 -1.03648882e-03 2.12687595e+02] [ 9.72903878e-01 2.31167980e-01 -4.40548182e-03 1.18849824e+02] [ 4.52575731e-03 9.99210355e-06 9.99989759e-01 5.37168845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26028169299997 meters 0.014657936591576977 Centerline is valid? [True, True] Translation: X:212.70, Y:118.87, Z:0.54 [[ 2.30554816e-01 -9.73058804e-01 -1.02005774e-03 2.12696660e+02] [ 9.73049121e-01 2.30557073e-01 -4.34093866e-03 1.18874010e+02] [ 4.45917011e-03 8.25803251e-06 9.99990058e-01 5.37982274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29028169299994 meters 0.01456355981639323 Centerline is valid? [True, True] Translation: X:212.71, Y:118.90, Z:0.54 [[ 2.29808909e-01 -9.73235244e-01 -1.01224327e-03 2.12705784e+02] [ 9.73225689e-01 2.29811138e-01 -4.31275285e-03 1.18897512e+02] [ 4.42994785e-03 5.96787485e-06 9.99990188e-01 5.38282278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32028169299997 meters 0.014456630266454449 Centerline is valid? [True, True] Translation: X:212.71, Y:118.92, Z:0.54 [[ 2.29363493e-01 -9.73340384e-01 -9.40497640e-04 2.12711728e+02] [ 9.73332117e-01 2.29365421e-01 -4.01161518e-03 1.18922658e+02] [ 4.12038470e-03 4.70151261e-06 9.99991511e-01 5.39380029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35028169299994 meters 0.014463251976144247 Centerline is valid? [True, True] Translation: X:212.72, Y:118.95, Z:0.54 [[ 2.28997055e-01 -9.73426822e-01 -7.55786560e-04 2.12717824e+02] [ 9.73421473e-01 2.28998302e-01 -3.22713347e-03 1.18946215e+02] [ 3.31445211e-03 3.30519491e-06 9.99994507e-01 5.40656631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380281693 meters 0.014326142354757609 Centerline is valid? [True, True] Translation: X:212.73, Y:118.97, Z:0.54 [[ 2.28246951e-01 -9.73603049e-01 -6.57320063e-04 2.12726811e+02] [ 9.73598995e-01 2.28247897e-01 -2.80984514e-03 1.18969771e+02] [ 2.88570572e-03 1.37243199e-06 9.99995836e-01 5.41766909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41028169299994 meters 0.014412949915084978 Centerline is valid? [True, True] Translation: X:212.73, Y:118.99, Z:0.54 [[ 2.28252352e-01 -9.73601670e-01 -8.06974098e-04 2.12733420e+02] [ 9.73595542e-01 2.28253779e-01 -3.45435023e-03 1.18994048e+02] [ 3.54735604e-03 2.79718077e-06 9.99993708e-01 5.40193495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440281693 meters 0.015207580831106956 Centerline is valid? [True, True] Translation: X:212.74, Y:119.02, Z:0.54 [[ 2.30505802e-01 -9.73070408e-01 -1.02801559e-03 2.12736304e+02] [ 9.73060430e-01 2.30508094e-01 -4.40669862e-03 1.19017483e+02] [ 4.52499393e-03 1.54483020e-05 9.99989762e-01 5.38269819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47028169299995 meters 0.01576474550369976 Centerline is valid? [True, True] Translation: X:212.74, Y:119.04, Z:0.54 [[ 2.32189843e-01 -9.72670078e-01 -8.91812732e-04 2.12740686e+02] [ 9.72662549e-01 2.32191555e-01 -3.82729832e-03 1.19043093e+02] [ 3.92976994e-03 2.12269510e-05 9.99992278e-01 5.39841886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500281693 meters 0.016603547236940585 Centerline is valid? [True, True] Translation: X:212.74, Y:119.07, Z:0.54 [[ 2.33851649e-01 -9.72271994e-01 -7.59213382e-04 2.12744420e+02] [ 9.72266523e-01 2.33852880e-01 -3.26175670e-03 1.19068011e+02] [ 3.34885893e-03 2.46094265e-05 9.99994392e-01 5.41539055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53028169299995 meters 0.01919155934879139 Centerline is valid? [True, True] Translation: X:212.74, Y:119.09, Z:0.54 [[ 2.37056389e-01 -9.71495530e-01 -8.39027712e-04 2.12744036e+02] [ 9.71488826e-01 2.37057870e-01 -3.60918146e-03 1.19093597e+02] [ 3.70520178e-03 4.04734769e-05 9.99993135e-01 5.41281988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560281693 meters 0.021885219542528703 Centerline is valid? [True, True] Translation: X:212.74, Y:119.12, Z:0.54 [[ 2.38912780e-01 -9.71040482e-01 -1.03286993e-03 2.12743537e+02] [ 9.71030292e-01 2.38915005e-01 -4.44889449e-03 1.19118850e+02] [ 4.56682477e-03 5.99497586e-05 9.99989570e-01 5.38764035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59028169299995 meters 0.026072276996139395 Centerline is valid? [True, True] Translation: X:212.74, Y:119.15, Z:0.54 [[ 2.43506627e-01 -9.69898168e-01 -1.43754445e-03 2.12740369e+02] [ 9.69878355e-01 2.43510843e-01 -6.20045061e-03 1.19145465e+02] [ 6.36386335e-03 1.15607566e-04 9.99979744e-01 5.35453304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620281693 meters 0.028146748806322612 Centerline is valid? [True, True] Translation: X:212.74, Y:119.17, Z:0.54 [[ 2.45450798e-01 -9.69407871e-01 -1.51168448e-03 2.12742043e+02] [ 9.69385900e-01 2.45455414e-01 -6.52809218e-03 1.19171085e+02] [ 6.69943508e-03 1.36919812e-04 9.99977549e-01 5.35524051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65028169299995 meters 0.028712964078125344 Centerline is valid? [True, True] Translation: X:212.75, Y:119.20, Z:0.54 [[ 2.46559137e-01 -9.69126573e-01 -1.50939219e-03 2.12745637e+02] [ 9.69104614e-01 2.46563714e-01 -6.52543876e-03 1.19197164e+02] [ 6.69613745e-03 1.46147619e-04 9.99977570e-01 5.35889664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680281693 meters 0.029021325034994848 Centerline is valid? [True, True] Translation: X:212.75, Y:119.22, Z:0.54 [[ 2.45886097e-01 -9.69297507e-01 -1.53977337e-03 2.12748057e+02] [ 9.69274604e-01 2.45890875e-01 -6.66481778e-03 1.19221727e+02] [ 6.83880747e-03 1.46322810e-04 9.99976604e-01 5.35997716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71028169299996 meters 0.026923010659133845 Centerline is valid? [True, True] Translation: X:212.76, Y:119.25, Z:0.54 [[ 2.44208441e-01 -9.69721836e-01 -1.34117411e-03 2.12755609e+02] [ 9.69704429e-01 2.44212095e-01 -5.81150856e-03 1.19247019e+02] [ 5.96307769e-03 1.18676973e-04 9.99982214e-01 5.37618298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740281693 meters 0.02349894206868921 Centerline is valid? [True, True] Translation: X:212.77, Y:119.27, Z:0.54 [[ 2.39988083e-01 -9.70775313e-01 -1.00563571e-03 2.12765529e+02] [ 9.70765515e-01 2.39990180e-01 -4.36216378e-03 1.19269722e+02] [ 4.47602360e-03 7.06308562e-05 9.99989980e-01 5.40026687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77028169299996 meters 0.021551843247067236 Centerline is valid? [True, True] Translation: X:212.77, Y:119.29, Z:0.54 [[ 2.37440837e-01 -9.71401543e-01 -9.43613380e-04 2.12774873e+02] [ 9.71392901e-01 2.37442706e-01 -4.09799128e-03 1.19293317e+02] [ 4.20484917e-03 5.64111423e-05 9.99991158e-01 5.40293027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800281693 meters 0.018520208640660556 Centerline is valid? [True, True] Translation: X:212.79, Y:119.32, Z:0.54 [[ 2.33234756e-01 -9.72420099e-01 -8.36130086e-04 2.12787629e+02] [ 9.72413305e-01 2.33236252e-01 -3.63530482e-03 1.19315848e+02] [ 3.73005932e-03 3.48154123e-05 9.99993043e-01 5.41630439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83028169299996 meters 0.01705610094845412 Centerline is valid? [True, True] Translation: X:212.80, Y:119.34, Z:0.54 [[ 2.30907132e-01 -9.72975464e-01 -8.02056584e-04 2.12797087e+02] [ 9.72969200e-01 2.30908523e-01 -3.49131234e-03 1.19339388e+02] [ 3.58216295e-03 2.57925659e-05 9.99993584e-01 5.42420815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.860281693 meters 0.015639936753107535 Centerline is valid? [True, True] Translation: X:212.81, Y:119.36, Z:0.54 [[ 2.28464464e-01 -9.73551889e-01 -8.41313870e-04 2.12806577e+02] [ 9.73544984e-01 2.28466012e-01 -3.66693036e-03 1.19362524e+02] [ 3.76215860e-03 1.87063786e-05 9.99992923e-01 5.41399148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89028169299996 meters 0.014746118780770217 Centerline is valid? [True, True] Translation: X:212.82, Y:119.38, Z:0.54 [[ 2.25059294e-01 -9.74344434e-01 -1.11245694e-03 2.12820521e+02] [ 9.74332334e-01 2.25062043e-01 -4.85589111e-03 1.19383985e+02] [ 4.98168231e-03 8.96065221e-06 9.99987591e-01 5.38588951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.920281693 meters 0.014563178391317811 Centerline is valid? [True, True] Translation: X:212.83, Y:119.41, Z:0.54 [[ 2.23828993e-01 -9.74627720e-01 -1.17862110e-03 2.12830874e+02] [ 9.74614106e-01 2.23832096e-01 -5.15134944e-03 1.19407765e+02] [ 5.28446119e-03 4.32061109e-06 9.99986037e-01 5.38355602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95028169299997 meters 0.014665254561288402 Centerline is valid? [True, True] Translation: X:212.84, Y:119.43, Z:0.54 [[ 2.23495379e-01 -9.74704091e-01 -1.32335743e-03 2.12841926e+02] [ 9.74686885e-01 2.23499296e-01 -5.79147655e-03 1.19430542e+02] [ 5.94074534e-03 4.50911014e-06 9.99982354e-01 5.37878843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98028169299994 meters 0.014655013056408433 Centerline is valid? [True, True] Translation: X:212.85, Y:119.45, Z:0.54 [[ 2.23626340e-01 -9.74674087e-01 -1.29749093e-03 2.12849000e+02] [ 9.74657505e-01 2.23630104e-01 -5.68553548e-03 1.19454678e+02] [ 5.83170214e-03 6.82621737e-06 9.99982995e-01 5.38426994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01028169299997 meters 0.014703389117399693 Centerline is valid? [True, True] Translation: X:212.86, Y:119.48, Z:0.54 [[ 2.24076342e-01 -9.74570737e-01 -1.29334796e-03 2.12855563e+02] [ 9.74554215e-01 2.24080074e-01 -5.67475957e-03 1.19478007e+02] [ 5.82026812e-03 1.11416580e-05 9.99983062e-01 5.37848122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04028169299994 meters 0.015231065950012921 Centerline is valid? [True, True] Translation: X:212.86, Y:119.50, Z:0.54 [[ 2.25135236e-01 -9.74326540e-01 -1.38549370e-03 2.12861215e+02] [ 9.74307527e-01 2.25139498e-01 -6.08687751e-03 1.19501320e+02] [ 6.24253566e-03 2.04736607e-05 9.99980515e-01 5.37514337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07028169299997 meters 0.017001073930670112 Centerline is valid? [True, True] Translation: X:212.86, Y:119.53, Z:0.54 [[ 2.28918152e-01 -9.73444609e-01 -1.44013790e-03 2.12864777e+02] [ 9.73423998e-01 2.28922676e-01 -6.33467878e-03 1.19526821e+02] [ 6.49613913e-03 4.82581665e-05 9.99978899e-01 5.38333273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10028169299994 meters 0.022328294068224484 Centerline is valid? [True, True] Translation: X:212.86, Y:119.55, Z:0.54 [[ 2.34507275e-01 -9.72113556e-01 -1.25370857e-03 2.12861705e+02] [ 9.72097884e-01 2.34510614e-01 -5.52060348e-03 1.19552861e+02] [ 5.66066144e-03 7.58942285e-05 9.99983975e-01 5.40066492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130281693 meters 0.023914491753027196 Centerline is valid? [True, True] Translation: X:212.86, Y:119.58, Z:0.54 [[ 2.37358165e-01 -9.71421626e-01 -1.06079857e-03 2.12864827e+02] [ 9.71410374e-01 2.37360522e-01 -4.67624320e-03 1.19577928e+02] [ 4.79439548e-03 7.94737729e-05 9.99988504e-01 5.42160752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16028169299994 meters 0.027608988731380006 Centerline is valid? [True, True] Translation: X:212.86, Y:119.60, Z:0.54 [[ 2.40512856e-01 -9.70645442e-01 -9.95567724e-04 2.12864788e+02] [ 9.70635501e-01 2.40514900e-01 -4.39395524e-03 1.19602899e+02] [ 4.50442150e-03 9.04693507e-05 9.99989851e-01 5.42573569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190281693 meters 0.03034359678067568 Centerline is valid? [True, True] Translation: X:212.87, Y:119.63, Z:0.54 [[ 2.43119820e-01 -9.69995873e-01 -8.71334770e-04 2.12866075e+02] [ 9.69988237e-01 2.43121365e-01 -3.85006151e-03 1.19628796e+02] [ 3.94638387e-03 9.08417860e-05 9.99992209e-01 5.43617689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22028169299995 meters 0.03334609732383342 Centerline is valid? [True, True] Translation: X:212.87, Y:119.65, Z:0.54 [[ 2.46035308e-01 -9.69260545e-01 -7.89168034e-04 2.12866507e+02] [ 9.69254263e-01 2.46036556e-01 -3.49104673e-03 1.19654384e+02] [ 3.57789804e-03 9.40162775e-05 9.99993595e-01 5.44826816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250281693 meters 0.03334609732383342 Centerline is valid? [True, True] Translation: X:212.87, Y:119.68, Z:0.54 [[ 2.45786142e-01 -9.69323760e-01 -7.88246398e-04 2.12871689e+02] [ 9.69317477e-01 2.45787388e-01 -3.49125487e-03 1.19678818e+02] [ 3.57789732e-03 9.40410558e-05 9.99993595e-01 5.44876536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28028169299995 meters 0.03295880209923776 Centerline is valid? [True, True] Translation: X:212.88, Y:119.70, Z:0.54 [[ 2.45565276e-01 -9.69379680e-01 -8.55161253e-04 2.12877376e+02] [ 9.69372267e-01 2.45566743e-01 -3.79239616e-03 1.19703998e+02] [ 3.88627094e-03 1.02311208e-04 9.99992443e-01 5.44478896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310281693 meters 0.028926774026985 Centerline is valid? [True, True] Translation: X:212.89, Y:119.73, Z:0.54 [[ 2.43210546e-01 -9.69972943e-01 -1.05805455e-03 2.12889177e+02] [ 9.69961574e-01 2.43212819e-01 -4.69773570e-03 1.19728840e+02] [ 4.81400895e-03 1.16266608e-04 9.99988406e-01 5.42920427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34028169299995 meters 0.02932524543762968 Centerline is valid? [True, True] Translation: X:212.89, Y:119.75, Z:0.54 [[ 2.41760291e-01 -9.70335320e-01 -1.15239547e-03 2.12894910e+02] [ 9.70321806e-01 2.41763008e-01 -5.12252869e-03 1.19753294e+02] [ 5.24917711e-03 1.20229570e-04 9.99986216e-01 5.41099858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370281693 meters 0.02861493584712777 Centerline is valid? [True, True] Translation: X:212.90, Y:119.78, Z:0.54 [[ 2.39377590e-01 -9.70925551e-01 -1.39408493e-03 2.12904779e+02] [ 9.70905731e-01 2.39381613e-01 -6.20516925e-03 1.19776294e+02] [ 6.35847567e-03 1.31853415e-04 9.99979776e-01 5.38529398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40028169299995 meters 0.027099514985901324 Centerline is valid? [True, True] Translation: X:212.91, Y:119.80, Z:0.54 [[ 2.38678424e-01 -9.71097648e-01 -1.40266115e-03 2.12913641e+02] [ 9.71077537e-01 2.38682510e-01 -6.25110944e-03 1.19800848e+02] [ 6.40522837e-03 1.29912214e-04 9.99979478e-01 5.39263197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430281693 meters 0.028207839026749313 Centerline is valid? [True, True] Translation: X:212.92, Y:119.82, Z:0.54 [[ 2.38744416e-01 -9.71081334e-01 -1.46528673e-03 2.12918680e+02] [ 9.71059330e-01 2.38748873e-01 -6.53854889e-03 1.19824386e+02] [ 6.69929833e-03 1.38161691e-04 9.99977550e-01 5.39494670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46028169299996 meters 0.02847000558433341 Centerline is valid? [True, True] Translation: X:212.92, Y:119.85, Z:0.54 [[ 2.38472936e-01 -9.71147976e-01 -1.50603112e-03 2.12924056e+02] [ 9.71124672e-01 2.38477650e-01 -6.72914842e-03 1.19848175e+02] [ 6.89415363e-03 1.42175810e-04 9.99976225e-01 5.38994351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490281693 meters 0.027843131353614527 Centerline is valid? [True, True] Translation: X:212.93, Y:119.87, Z:0.54 [[ 2.37882207e-01 -9.71292893e-01 -1.47370280e-03 2.12931329e+02] [ 9.71270524e-01 2.37886732e-01 -6.59332220e-03 1.19871779e+02] [ 6.75462134e-03 1.37069939e-04 9.99977178e-01 5.38652904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52028169299996 meters 0.02664926918705748 Centerline is valid? [True, True] Translation: X:212.94, Y:119.90, Z:0.54 [[ 2.37139536e-01 -9.71475109e-01 -9.76635273e-04 2.12942253e+02] [ 9.71465265e-01 2.37141530e-01 -4.37413185e-03 1.19895719e+02] [ 4.48096100e-03 8.85123519e-05 9.99989957e-01 5.42709034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550281693 meters 0.029023807839769118 Centerline is valid? [True, True] Translation: X:212.95, Y:119.92, Z:0.55 [[ 2.37231682e-01 -9.71452909e-01 -6.12543191e-04 2.12945257e+02] [ 9.71449029e-01 2.37232467e-01 -2.74595995e-03 1.19920406e+02] [ 2.81288591e-03 5.63742107e-05 9.99996042e-01 5.45353223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58028169299996 meters 0.02893797127327606 Centerline is valid? [True, True] Translation: X:212.95, Y:119.94, Z:0.55 [[ 2.37790515e-01 -9.71316358e-01 -4.52335595e-04 2.12953463e+02] [ 9.71314238e-01 2.37790941e-01 -2.02969514e-03 1.19944500e+02] [ 2.07903739e-03 4.32822479e-05 9.99997838e-01 5.47013146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.610281693 meters 0.029033231628422577 Centerline is valid? [True, True] Translation: X:212.96, Y:119.97, Z:0.55 [[ 2.37523354e-01 -9.71381642e-01 -6.01932962e-04 2.12959733e+02] [ 9.71377877e-01 2.37524110e-01 -2.70500046e-03 1.19967944e+02] [ 2.77056138e-03 5.77964196e-05 9.99996160e-01 5.46152768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64028169299996 meters 0.027668960351916398 Centerline is valid? [True, True] Translation: X:212.97, Y:119.99, Z:0.55 [[ 2.36473528e-01 -9.71637658e-01 -7.29391460e-04 2.12967392e+02] [ 9.71632116e-01 2.36474644e-01 -3.28250539e-03 1.19991974e+02] [ 3.36188844e-03 6.75254639e-05 9.99994347e-01 5.45115405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.670281693 meters 0.024822963481689428 Centerline is valid? [True, True] Translation: X:212.98, Y:120.02, Z:0.54 [[ 2.33401240e-01 -9.72380027e-01 -9.71963686e-04 2.12977220e+02] [ 9.72370163e-01 2.33403251e-01 -4.38045845e-03 1.20015516e+02] [ 4.48632979e-03 7.72959459e-05 9.99989933e-01 5.42486927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70028169299997 meters 0.023803640239382702 Centerline is valid? [True, True] Translation: X:212.98, Y:120.04, Z:0.54 [[ 2.31648630e-01 -9.72798950e-01 -1.05556287e-03 2.12984887e+02] [ 9.72787290e-01 2.31651022e-01 -4.76361970e-03 1.20038406e+02] [ 4.87856646e-03 7.66478386e-05 9.99988097e-01 5.41495823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73028169299994 meters 0.020874853657641006 Centerline is valid? [True, True] Translation: X:213.00, Y:120.06, Z:0.54 [[ 2.28036834e-01 -9.73651828e-01 -1.14868900e-03 2.12999318e+02] [ 9.73637993e-01 2.28039718e-01 -5.19087803e-03 1.20059705e+02] [ 5.31605460e-03 6.53041403e-05 9.99985868e-01 5.40444029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76028169299997 meters 0.019522077019239508 Centerline is valid? [True, True] Translation: X:213.01, Y:120.08, Z:0.54 [[ 2.25892280e-01 -9.74151595e-01 -1.16099447e-03 2.13007722e+02] [ 9.74137431e-01 2.25895256e-01 -5.25337161e-03 1.20082240e+02] [ 5.37984348e-03 5.57279229e-05 9.99985527e-01 5.40777500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79028169299994 meters 0.018255821528498327 Centerline is valid? [True, True] Translation: X:213.01, Y:120.10, Z:0.54 [[ 2.23800275e-01 -9.74634543e-01 -9.71513005e-04 2.13014587e+02] [ 9.74624606e-01 2.23802381e-01 -4.40137994e-03 1.20104946e+02] [ 4.50716385e-03 3.81695627e-05 9.99989842e-01 5.42580554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82028169299997 meters 0.0171218654693421 Centerline is valid? [True, True] Translation: X:213.02, Y:120.13, Z:0.54 [[ 2.23245124e-01 -9.74761884e-01 -9.40702464e-04 2.13022979e+02] [ 9.74752544e-01 2.23247103e-01 -4.26727185e-03 1.20129535e+02] [ 4.36958304e-03 3.56955148e-05 9.99990453e-01 5.42893583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85028169299994 meters 0.018183264862780994 Centerline is valid? [True, True] Translation: X:213.03, Y:120.15, Z:0.54 [[ 2.22951735e-01 -9.74828910e-01 -1.05809882e-03 2.13027076e+02] [ 9.74817062e-01 2.22954243e-01 -4.80646229e-03 1.20153582e+02] [ 4.92138602e-03 4.01563263e-05 9.99987889e-01 5.40701338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880281693 meters 0.018480828770703603 Centerline is valid? [True, True] Translation: X:213.03, Y:120.18, Z:0.54 [[ 2.22572520e-01 -9.74915215e-01 -1.34045031e-03 2.13032106e+02] [ 9.74896146e-01 2.22576551e-01 -6.09786397e-03 1.20176576e+02] [ 6.24325317e-03 5.04171109e-05 9.99980509e-01 5.37918416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91028169299994 meters 0.018015302882920425 Centerline is valid? [True, True] Translation: X:213.04, Y:120.20, Z:0.54 [[ 2.22689750e-01 -9.74888451e-01 -1.33550689e-03 2.13036945e+02] [ 9.74869471e-01 2.22693748e-01 -6.08350586e-03 1.20201071e+02] [ 6.22814864e-03 5.27895023e-05 9.99980604e-01 5.38820756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940281693 meters 0.019305745102634306 Centerline is valid? [True, True] Translation: X:213.04, Y:120.23, Z:0.54 [[ 2.24271491e-01 -9.74525898e-01 -1.25381329e-03 2.13037796e+02] [ 9.74509122e-01 2.24274988e-01 -5.71846478e-03 1.20227237e+02] [ 5.85399098e-03 6.06361331e-05 9.99982863e-01 5.40045336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97028169299995 meters 0.020230248919351473 Centerline is valid? [True, True] Translation: X:213.04, Y:120.25, Z:0.54 [[ 2.24850453e-01 -9.74392532e-01 -1.21168096e-03 2.13040900e+02] [ 9.74376821e-01 2.24853708e-01 -5.53359457e-03 1.20251090e+02] [ 5.66434418e-03 6.35974036e-05 9.99983955e-01 5.40182830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000281693 meters 0.020525915699979472 Centerline is valid? [True, True] Translation: X:213.05, Y:120.28, Z:0.54 [[ 2.24802709e-01 -9.74403383e-01 -1.33778829e-03 2.13045393e+02] [ 9.74384179e-01 2.24806678e-01 -6.11798794e-03 1.20275538e+02] [ 6.26213189e-03 7.18205184e-05 9.99980390e-01 5.39411278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03028169299995 meters 0.019585389455966686 Centerline is valid? [True, True] Translation: X:213.05, Y:120.30, Z:0.54 [[ 2.23784331e-01 -9.74637072e-01 -1.77497521e-03 2.13052850e+02] [ 9.74603174e-01 2.23791352e-01 -8.12919592e-03 1.20299147e+02] [ 8.32023981e-03 8.92901967e-05 9.99965382e-01 5.36439453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060281693 meters 0.019116380971695976 Centerline is valid? [True, True] Translation: X:213.06, Y:120.32, Z:0.54 [[ 2.22532141e-01 -9.74923630e-01 -1.83373031e-03 2.13059024e+02] [ 9.74887357e-01 2.22539680e-01 -8.41021616e-03 1.20322133e+02] [ 8.60739623e-03 8.38629106e-05 9.99962952e-01 5.35239358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09028169299995 meters 0.01756896791697994 Centerline is valid? [True, True] Translation: X:213.07, Y:120.34, Z:0.54 [[ 2.20430491e-01 -9.75401822e-01 -1.29809650e-03 2.13067271e+02] [ 9.75383608e-01 2.20434308e-01 -5.96093078e-03 1.20344661e+02] [ 6.10044775e-03 4.78288481e-05 9.99981391e-01 5.40341280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120281693 meters 0.017275363976142773 Centerline is valid? [True, True] Translation: X:213.07, Y:120.37, Z:0.54 [[ 2.20066528e-01 -9.75484352e-01 -1.00134874e-03 2.13072292e+02] [ 9.75473488e-01 2.20068803e-01 -4.60387757e-03 1.20368542e+02] [ 4.71137614e-03 3.63702092e-05 9.99988901e-01 5.43227042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15028169299995 meters 0.018533732559239777 Centerline is valid? [True, True] Translation: X:213.07, Y:120.39, Z:0.54 [[ 2.20777150e-01 -9.75323809e-01 -9.58096269e-04 2.13074465e+02] [ 9.75313835e-01 2.20779225e-01 -4.41102958e-03 1.20392113e+02] [ 4.51370992e-03 3.94099914e-05 9.99989812e-01 5.44011907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180281693 meters 0.019582389408572796 Centerline is valid? [True, True] Translation: X:213.08, Y:120.42, Z:0.54 [[ 2.22466266e-01 -9.74939488e-01 -1.32516622e-03 2.13078285e+02] [ 9.74920344e-01 2.22470203e-01 -6.10998714e-03 1.20417742e+02] [ 6.25167773e-03 6.73345160e-05 9.99980456e-01 5.40552325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21028169299996 meters 0.020593107642884155 Centerline is valid? [True, True] Translation: X:213.08, Y:120.44, Z:0.54 [[ 2.22801019e-01 -9.74862909e-01 -1.41921679e-03 2.13081318e+02] [ 9.74840893e-01 2.22805526e-01 -6.55214925e-03 1.20440952e+02] [ 6.70365663e-03 7.63149640e-05 9.99977527e-01 5.38519594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240281693 meters 0.02010620901295223 Centerline is valid? [True, True] Translation: X:213.09, Y:120.46, Z:0.54 [[ 2.22052373e-01 -9.75033901e-01 -1.27903938e-03 2.13086749e+02] [ 9.75015977e-01 2.22056047e-01 -5.91248870e-03 1.20464562e+02] [ 6.04889535e-03 6.57983121e-05 9.99981703e-01 5.40451030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27028169299996 meters 0.018952637715075406 Centerline is valid? [True, True] Translation: X:213.09, Y:120.49, Z:0.54 [[ 2.20277307e-01 -9.75436554e-01 -1.19863144e-03 2.13094245e+02] [ 9.75420779e-01 2.20280562e-01 -5.54775408e-03 1.20488676e+02] [ 5.67551733e-03 5.28743139e-05 9.99983893e-01 5.40975622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300281693 meters 0.01564775019234535 Centerline is valid? [True, True] Translation: X:213.11, Y:120.51, Z:0.54 [[ 2.14478194e-01 -9.76728050e-01 -1.19173612e-03 2.13108087e+02] [ 9.76712436e-01 2.14481504e-01 -5.52292436e-03 1.20510639e+02] [ 5.65000050e-03 2.05633598e-05 9.99984038e-01 5.40421401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33028169299996 meters 0.014927882612781837 Centerline is valid? [True, True] Translation: X:213.12, Y:120.53, Z:0.54 [[ 2.10841789e-01 -9.77519429e-01 -1.22696413e-03 2.13118720e+02] [ 9.77502846e-01 2.10845359e-01 -5.69393427e-03 1.20533176e+02] [ 5.82463107e-03 1.15835732e-06 9.99983037e-01 5.40986729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.360281693 meters 0.015460067624800495 Centerline is valid? [True, True] Translation: X:213.13, Y:120.56, Z:0.54 [[ 2.07084161e-01 -9.78322404e-01 -1.19320929e-03 2.13129515e+02] [ 9.78306691e-01 2.07087598e-01 -5.54482172e-03 1.20556001e+02] [ 5.67172217e-03 -1.90798773e-05 9.99983915e-01 5.41189148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39028169299996 meters 0.01899357166492468 Centerline is valid? [True, True] Translation: X:213.15, Y:120.58, Z:0.54 [[ 2.00387140e-01 -9.79716337e-01 -9.44608539e-04 2.13145793e+02] [ 9.79706483e-01 2.00389362e-01 -4.39445190e-03 1.20577064e+02] [ 4.49460582e-03 -4.48474608e-05 9.99989898e-01 5.43958517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.420281693 meters 0.021892601689587267 Centerline is valid? [True, True] Translation: X:213.16, Y:120.60, Z:0.54 [[ 1.97351813e-01 -9.80332338e-01 -8.76921607e-04 2.13156857e+02] [ 9.80323832e-01 1.97353754e-01 -4.08406780e-03 1.20599548e+02] [ 4.17680750e-03 -5.36689657e-05 9.99991276e-01 5.44011955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45028169299997 meters 0.026581154055181064 Centerline is valid? [True, True] Translation: X:213.17, Y:120.62, Z:0.54 [[ 1.91970610e-01 -9.81400247e-01 -9.16414935e-04 2.13171113e+02] [ 9.81390947e-01 1.91972781e-01 -4.27327848e-03 1.20621939e+02] [ 4.36972328e-03 -7.90174470e-05 9.99990450e-01 5.42867528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48028169299994 meters 0.026505285486498015 Centerline is valid? [True, True] Translation: X:213.18, Y:120.65, Z:0.54 [[ 1.89647531e-01 -9.81851813e-01 -9.11364794e-04 2.13177820e+02] [ 9.81842597e-01 1.89649700e-01 -4.25512085e-03 1.20646558e+02] [ 4.35073819e-03 -8.78436121e-05 9.99990532e-01 5.43723814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51028169299997 meters 0.03032919706638079 Centerline is valid? [True, True] Translation: X:213.19, Y:120.67, Z:0.54 [[ 1.88156496e-01 -9.82138715e-01 -8.22493292e-04 2.13190214e+02] [ 9.82131193e-01 1.88158275e-01 -3.84494781e-03 1.20669020e+02] [ 3.93103102e-03 -8.43444100e-05 9.99992270e-01 5.44766228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54028169299994 meters 0.028318881894902698 Centerline is valid? [True, True] Translation: X:213.19, Y:120.69, Z:0.55 [[ 1.87529790e-01 -9.82258484e-01 -9.21213196e-04 2.13193610e+02] [ 9.82249021e-01 1.87532028e-01 -4.31260522e-03 1.20693951e+02] [ 4.40885004e-03 -9.61188109e-05 9.99990276e-01 5.45118348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57028169299997 meters 0.027137195875875948 Centerline is valid? [True, True] Translation: X:213.20, Y:120.72, Z:0.54 [[ 1.88451380e-01 -9.82081951e-01 -1.05783354e-03 2.13197255e+02] [ 9.82069435e-01 1.88454321e-01 -4.95930978e-03 1.20718936e+02] [ 5.06980193e-03 -1.04277212e-04 9.99987143e-01 5.43787626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60028169299994 meters 0.02345457547119194 Centerline is valid? [True, True] Translation: X:213.20, Y:120.74, Z:0.54 [[ 1.92394296e-01 -9.81317097e-01 -1.09130345e-03 2.13199592e+02] [ 9.81303728e-01 1.92397372e-01 -5.12305734e-03 1.20744130e+02] [ 5.23730767e-03 -8.52531359e-05 9.99986282e-01 5.43836084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630281693 meters 0.021530637119449712 Centerline is valid? [True, True] Translation: X:213.20, Y:120.77, Z:0.54 [[ 1.94615182e-01 -9.80879170e-01 -9.92860968e-04 2.13202872e+02] [ 9.80868072e-01 1.94617703e-01 -4.66645405e-03 1.20768378e+02] [ 4.77045589e-03 -6.57028188e-05 9.99988619e-01 5.44648173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66028169299994 meters 0.020967874531594734 Centerline is valid? [True, True] Translation: X:213.21, Y:120.79, Z:0.54 [[ 1.96646004e-01 -9.80474064e-01 -9.79176415e-04 2.13207979e+02] [ 9.80463239e-01 1.96648435e-01 -4.60762933e-03 1.20791999e+02] [ 4.71021457e-03 -5.39745806e-05 9.99988905e-01 5.44476869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690281693 meters 0.0176285404233621 Centerline is valid? [True, True] Translation: X:213.21, Y:120.82, Z:0.54 [[ 1.99207392e-01 -9.79956739e-01 -1.09734422e-03 2.13208083e+02] [ 9.79943099e-01 1.99210409e-01 -5.17062962e-03 1.20817356e+02] [ 5.28559574e-03 -4.53072595e-05 9.99986030e-01 5.43221908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72028169299995 meters 0.017762315712919256 Centerline is valid? [True, True] Translation: X:213.21, Y:120.84, Z:0.54 [[ 2.00109086e-01 -9.79772963e-01 -1.13801681e-03 2.13213722e+02] [ 9.79758248e-01 2.00112318e-01 -5.36993529e-03 1.20840060e+02] [ 5.48904859e-03 -4.04085062e-05 9.99984934e-01 5.41099098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750281693 meters 0.016519633342612937 Centerline is valid? [True, True] Translation: X:213.22, Y:120.86, Z:0.54 [[ 2.02073043e-01 -9.79369439e-01 -1.40962214e-03 2.13218084e+02] [ 9.79346782e-01 2.02077957e-01 -6.66182438e-03 1.20862579e+02] [ 6.80924076e-03 -3.43337848e-05 9.99976816e-01 5.37751918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78028169299995 meters 0.015695242982559518 Centerline is valid? [True, True] Translation: X:213.22, Y:120.89, Z:0.54 [[ 2.03564720e-01 -9.79060224e-01 -1.57558888e-03 2.13221073e+02] [ 9.79031827e-01 2.03570816e-01 -7.45682791e-03 1.20887152e+02] [ 7.62142751e-03 -2.46045688e-05 9.99970956e-01 5.37646231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810281693 meters 0.015368249375308523 Centerline is valid? [True, True] Translation: X:213.22, Y:120.91, Z:0.54 [[ 2.05537589e-01 -9.78647731e-01 -1.70799728e-03 2.13223593e+02] [ 9.78614251e-01 2.05544685e-01 -8.09510397e-03 1.20910672e+02] [ 8.27332490e-03 -7.62232710e-06 9.99965775e-01 5.35642117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84028169299995 meters 0.0158061266205728 Centerline is valid? [True, True] Translation: X:213.22, Y:120.94, Z:0.54 [[ 2.09643921e-01 -9.77776501e-01 -1.59410207e-03 2.13224097e+02] [ 9.77747232e-01 2.09649980e-01 -7.56542618e-03 1.20935663e+02] [ 7.73149940e-03 2.74167213e-05 9.99970111e-01 5.37382544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870281693 meters 0.01650926004717164 Centerline is valid? [True, True] Translation: X:213.23, Y:120.96, Z:0.54 [[ 2.12229604e-01 -9.77218776e-01 -1.43526610e-03 2.13230344e+02] [ 9.77194971e-01 2.12234452e-01 -6.82093849e-03 1.20959260e+02] [ 6.97016207e-03 4.50702611e-05 9.99975707e-01 5.39250597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90028169299995 meters 0.01840312257506678 Centerline is valid? [True, True] Translation: X:213.23, Y:120.98, Z:0.54 [[ 2.12984300e-01 -9.77054596e-01 -1.41579469e-03 2.13232306e+02] [ 9.77031362e-01 2.12988999e-01 -6.73824093e-03 1.20983290e+02] [ 6.88517796e-03 5.18637092e-05 9.99976296e-01 5.37545622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930281693 meters 0.017870626420273036 Centerline is valid? [True, True] Translation: X:213.24, Y:121.01, Z:0.54 [[ 2.13980368e-01 -9.76837112e-01 -1.28802848e-03 2.13238554e+02] [ 9.76817824e-01 2.13984237e-01 -6.13875772e-03 1.21007592e+02] [ 6.27218416e-03 5.54044551e-05 9.99980328e-01 5.40200154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96028169299996 meters 0.023423241114349257 Centerline is valid? [True, True] Translation: X:213.23, Y:121.03, Z:0.54 [[ 2.17456731e-01 -9.76069432e-01 -1.01708210e-03 2.13233524e+02] [ 9.76057369e-01 2.17459101e-01 -4.85294569e-03 1.21033101e+02] [ 4.95798570e-03 6.25752241e-05 9.99987707e-01 5.40729603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990281693 meters 0.022474647122555032 Centerline is valid? [True, True] Translation: X:213.24, Y:121.06, Z:0.54 [[ 2.19205915e-01 -9.75677950e-01 -1.14201966e-03 2.13241188e+02] [ 9.75662698e-01 2.19208875e-01 -5.45605761e-03 1.21057940e+02] [ 5.57369595e-03 8.17741171e-05 9.99984464e-01 5.41048842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02028169299996 meters 0.026558493610079646 Centerline is valid? [True, True] Translation: X:213.24, Y:121.08, Z:0.54 [[ 2.21919690e-01 -9.75063976e-01 -1.37630136e-03 2.13240548e+02] [ 9.75041751e-01 2.21923926e-01 -6.58451222e-03 1.21083242e+02] [ 6.72575486e-03 1.19281624e-04 9.99977375e-01 5.38819368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050281693 meters 0.026174660184183893 Centerline is valid? [True, True] Translation: X:213.24, Y:121.11, Z:0.54 [[ 2.22528787e-01 -9.74925229e-01 -1.31780644e-03 2.13244847e+02] [ 9.74904798e-01 2.22532656e-01 -6.31276437e-03 1.21108465e+02] [ 6.44772822e-03 1.20035971e-04 9.99979206e-01 5.40067026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08028169299996 meters 0.02759928063154807 Centerline is valid? [True, True] Translation: X:213.25, Y:121.13, Z:0.54 [[ 2.23247244e-01 -9.74761294e-01 -1.04277538e-03 2.13246407e+02] [ 9.74748469e-01 2.23249657e-01 -5.00133506e-03 1.21133098e+02] [ 5.10790708e-03 1.00090565e-04 9.99986950e-01 5.41395836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.110281693 meters 0.027097294498579193 Centerline is valid? [True, True] Translation: X:213.25, Y:121.16, Z:0.54 [[ 2.23157930e-01 -9.74782119e-01 -5.98597788e-04 2.13253366e+02] [ 9.74777885e-01 2.23158725e-01 -2.87376121e-03 1.21157263e+02] [ 2.93487336e-03 5.78027152e-05 9.99995692e-01 5.44387602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14028169299996 meters 0.026260635926255438 Centerline is valid? [True, True] Translation: X:213.26, Y:121.18, Z:0.54 [[ 2.21804232e-01 -9.75091048e-01 -5.75511703e-04 2.13260152e+02] [ 9.75087124e-01 2.21804972e-01 -2.76668462e-03 1.21179949e+02] [ 2.82542076e-03 5.24883049e-05 9.99996007e-01 5.44709027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.170281693 meters 0.026260635926255438 Centerline is valid? [True, True] Translation: X:213.26, Y:121.20, Z:0.54 [[ 2.21534989e-01 -9.75152254e-01 -5.74737703e-04 2.13264699e+02] [ 9.75148330e-01 2.21535728e-01 -2.76684543e-03 1.21203679e+02] [ 2.82542049e-03 5.24985602e-05 9.99996007e-01 5.44757076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20028169299997 meters 0.021528557085497373 Centerline is valid? [True, True] Translation: X:213.28, Y:121.23, Z:0.54 [[ 2.17103173e-01 -9.76148279e-01 -8.65541121e-04 2.13277351e+02] [ 9.76139358e-01 2.17104889e-01 -4.17389013e-03 1.21226845e+02] [ 4.26224888e-03 6.12760367e-05 9.99990915e-01 5.42490626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23028169299994 meters 0.020755032443259224 Centerline is valid? [True, True] Translation: X:213.28, Y:121.25, Z:0.54 [[ 2.14950150e-01 -9.76624402e-01 -1.09985613e-03 2.13284170e+02] [ 9.76609958e-01 2.14952953e-01 -5.31207950e-03 1.21250270e+02] [ 5.42432379e-03 6.77018335e-05 9.99985286e-01 5.39853890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26028169299997 meters 0.019193900100625376 Centerline is valid? [True, True] Translation: X:213.29, Y:121.27, Z:0.54 [[ 2.13313297e-01 -9.76983069e-01 -1.23292772e-03 2.13293922e+02] [ 9.76964869e-01 2.13316849e-01 -5.96381772e-03 1.21273223e+02] [ 6.08955320e-03 6.76345495e-05 9.99981456e-01 5.38777279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29028169299994 meters 0.018800065355428962 Centerline is valid? [True, True] Translation: X:213.30, Y:121.30, Z:0.54 [[ 2.11958789e-01 -9.77277715e-01 -1.31869891e-03 2.13303531e+02] [ 9.77256841e-01 2.11962881e-01 -6.38777602e-03 1.21295177e+02] [ 6.52214638e-03 6.52377383e-05 9.99978728e-01 5.38629562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32028169299997 meters 0.019640951093955764 Centerline is valid? [True, True] Translation: X:213.31, Y:121.32, Z:0.54 [[ 2.11774800e-01 -9.77317557e-01 -1.35174714e-03 2.13306790e+02] [ 9.77295560e-01 2.11779103e-01 -6.55738933e-03 1.21318727e+02] [ 6.69492351e-03 6.76333373e-05 9.99977586e-01 5.38511554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35028169299994 meters 0.02097744304992631 Centerline is valid? [True, True] Translation: X:213.31, Y:121.34, Z:0.54 [[ 2.13417545e-01 -9.76960209e-01 -1.30454396e-03 2.13308243e+02] [ 9.76939662e-01 2.13421517e-01 -6.33668942e-03 1.21344375e+02] [ 6.46911117e-03 7.78999622e-05 9.99979072e-01 5.39387673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380281693 meters 0.022635776025370653 Centerline is valid? [True, True] Translation: X:213.31, Y:121.37, Z:0.54 [[ 2.14561405e-01 -9.76709740e-01 -1.21979298e-03 2.13310273e+02] [ 9.76691726e-01 2.14564856e-01 -5.93250603e-03 1.21368773e+02] [ 6.05606113e-03 8.15251111e-05 9.99981659e-01 5.39403030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41028169299994 meters 0.02271438968579201 Centerline is valid? [True, True] Translation: X:213.32, Y:121.39, Z:0.54 [[ 2.15931893e-01 -9.76407940e-01 -9.75427275e-04 2.13316539e+02] [ 9.76396391e-01 2.15934084e-01 -4.74971337e-03 1.21393881e+02] [ 4.84828584e-03 7.32109269e-05 9.99988244e-01 5.41485244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440281693 meters 0.023227127664479288 Centerline is valid? [True, True] Translation: X:213.32, Y:121.42, Z:0.54 [[ 2.15694747e-01 -9.76460452e-01 -8.72979333e-04 2.13320198e+02] [ 9.76451177e-01 2.15696503e-01 -4.25654034e-03 1.21417368e+02] [ 4.34464190e-03 6.56916936e-05 9.99990560e-01 5.43186475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47028169299995 meters 0.02330343102245429 Centerline is valid? [True, True] Translation: X:213.32, Y:121.44, Z:0.54 [[ 2.15035786e-01 -9.76605926e-01 -6.89719132e-04 2.13324349e+02] [ 9.76600122e-01 2.15036887e-01 -3.36731393e-03 1.21440286e+02] [ 3.43685380e-03 5.05132103e-05 9.99994093e-01 5.44513167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500281693 meters 0.021035538113398016 Centerline is valid? [True, True] Translation: X:213.33, Y:121.46, Z:0.55 [[ 2.14170247e-01 -9.76796214e-01 -5.11817041e-04 2.13334796e+02] [ 9.76793011e-01 2.14170855e-01 -2.50157472e-03 1.21464074e+02] [ 2.55314501e-03 3.58235658e-05 9.99996740e-01 5.46659130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53028169299995 meters 0.022631154336182888 Centerline is valid? [True, True] Translation: X:213.34, Y:121.49, Z:0.55 [[ 2.14195442e-01 -9.76790642e-01 -5.95921506e-04 2.13337640e+02] [ 9.76786287e-01 2.14196266e-01 -2.91705423e-03 1.21487921e+02] [ 2.97699543e-03 4.27317638e-05 9.99995568e-01 5.45765103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560281693 meters 0.023728680021279553 Centerline is valid? [True, True] Translation: X:213.34, Y:121.51, Z:0.54 [[ 2.15906714e-01 -9.76413299e-01 -1.16650133e-03 2.13341259e+02] [ 9.76396544e-01 2.15909844e-01 -5.72092272e-03 1.21513608e+02] [ 5.83784415e-03 9.62177562e-05 9.99982955e-01 5.41030550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59028169299995 meters 0.024710930811171043 Centerline is valid? [True, True] Translation: X:213.34, Y:121.54, Z:0.54 [[ 2.17012836e-01 -9.76167562e-01 -1.52313058e-03 2.13344991e+02] [ 9.76138907e-01 2.17018138e-01 -7.48075007e-03 1.21538768e+02] [ 7.63301252e-03 1.36631772e-04 9.99970859e-01 5.38182592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620281693 meters 0.026051689918815304 Centerline is valid? [True, True] Translation: X:213.35, Y:121.56, Z:0.54 [[ 2.18129425e-01 -9.75918336e-01 -1.71921820e-03 2.13348690e+02] [ 9.75881720e-01 2.18136136e-01 -8.45547696e-03 1.21564011e+02] [ 8.62687862e-03 1.66634714e-04 9.99962774e-01 5.36193404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65028169299995 meters 0.0277915505832535 Centerline is valid? [True, True] Translation: X:213.35, Y:121.59, Z:0.54 [[ 2.18736028e-01 -9.75782989e-01 -1.45176479e-03 2.13352181e+02] [ 9.75756804e-01 2.18740796e-01 -7.15013426e-03 1.21587225e+02] [ 7.29453957e-03 1.47422595e-04 9.99973384e-01 5.38024198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680281693 meters 0.029606782166817835 Centerline is valid? [True, True] Translation: X:213.35, Y:121.61, Z:0.54 [[ 2.18392206e-01 -9.75860416e-01 -1.13695729e-03 2.13353871e+02] [ 9.75844313e-01 2.18395135e-01 -5.60737705e-03 1.21611104e+02] [ 5.72032325e-03 1.15114141e-04 9.99983632e-01 5.40733180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71028169299996 meters 0.027635384055189054 Centerline is valid? [True, True] Translation: X:213.36, Y:121.63, Z:0.54 [[ 2.18622041e-01 -9.75809253e-01 -8.39344037e-04 2.13361610e+02] [ 9.75800454e-01 2.18623635e-01 -4.14485299e-03 1.21634944e+02] [ 4.22808635e-03 8.71239299e-05 9.99991058e-01 5.43629732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740281693 meters 0.028131220087614966 Centerline is valid? [True, True] Translation: X:213.37, Y:121.66, Z:0.54 [[ 2.18564697e-01 -9.75822009e-01 -9.37686059e-04 2.13365426e+02] [ 9.75810994e-01 2.18566686e-01 -4.63761304e-03 1.21658417e+02] [ 4.73043181e-03 9.86141235e-05 9.99988807e-01 5.42698826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77028169299996 meters 0.03111215968635408 Centerline is valid? [True, True] Translation: X:213.36, Y:121.68, Z:0.54 [[ 2.18406624e-01 -9.75857288e-01 -1.04891514e-03 2.13364581e+02] [ 9.75843462e-01 2.18409114e-01 -5.19578669e-03 1.21682474e+02] [ 5.29943893e-03 1.11217243e-04 9.99985952e-01 5.41274176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800281693 meters 0.0328874108398278 Centerline is valid? [True, True] Translation: X:213.36, Y:121.71, Z:0.54 [[ 2.19850538e-01 -9.75533052e-01 -1.00305501e-03 2.13362517e+02] [ 9.75520371e-01 2.19852796e-01 -4.97528092e-03 1.21708427e+02] [ 5.07407543e-03 1.15317588e-04 9.99987120e-01 5.41606822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83028169299996 meters 0.029887980952600063 Centerline is valid? [True, True] Translation: X:213.37, Y:121.73, Z:0.54 [[ 2.21072437e-01 -9.75256894e-01 -9.84078698e-04 2.13369936e+02] [ 9.75244656e-01 2.21074594e-01 -4.88723864e-03 1.21733955e+02] [ 4.98386797e-03 1.20716263e-04 9.99987573e-01 5.42713546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.860281693 meters 0.034868361839928225 Centerline is valid? [True, True] Translation: X:213.36, Y:121.76, Z:0.54 [[ 2.23086884e-01 -9.74798045e-01 -1.00696104e-03 2.13364424e+02] [ 9.74785192e-01 2.23089115e-01 -5.00764525e-03 1.21759987e+02] [ 5.10608485e-03 1.35569265e-04 9.99986955e-01 5.42937290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89028169299996 meters 0.03632846661236367 Centerline is valid? [True, True] Translation: X:213.36, Y:121.78, Z:0.54 [[ 2.23038050e-01 -9.74809193e-01 -1.03242990e-03 2.13364703e+02] [ 9.74795642e-01 2.23040396e-01 -5.14174834e-03 1.21784108e+02] [ 5.24249712e-03 1.40397358e-04 9.99986248e-01 5.42381636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.920281693 meters 0.034038285767287645 Centerline is valid? [True, True] Translation: X:213.37, Y:121.81, Z:0.54 [[ 2.21131221e-01 -9.75243533e-01 -1.01695301e-03 2.13368331e+02] [ 9.75230356e-01 2.21133522e-01 -5.07138301e-03 1.21809429e+02] [ 5.17071589e-03 1.29677675e-04 9.99986623e-01 5.41665614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95028169299997 meters 0.03282552726858408 Centerline is valid? [True, True] Translation: X:213.37, Y:121.83, Z:0.54 [[ 2.19527442e-01 -9.75605770e-01 -1.04140299e-03 2.13372428e+02] [ 9.75591919e-01 2.19529876e-01 -5.20006272e-03 1.21833946e+02] [ 5.30183026e-03 1.25572129e-04 9.99985937e-01 5.41362611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98028169299994 meters 0.031544255063273505 Centerline is valid? [True, True] Translation: X:213.38, Y:121.86, Z:0.54 [[ 2.18130829e-01 -9.75918912e-01 -1.10354633e-03 2.13376710e+02] [ 9.75903322e-01 2.18133584e-01 -5.51777449e-03 1.21858532e+02] [ 5.62562099e-03 1.26642199e-04 9.99984168e-01 5.41125918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01028169299997 meters 0.030272758691921 Centerline is valid? [True, True] Translation: X:213.38, Y:121.88, Z:0.54 [[ 2.16668363e-01 -9.76244537e-01 -1.19351887e-03 2.13380869e+02] [ 9.76226257e-01 2.16671612e-01 -5.97564662e-03 1.21883552e+02] [ 6.09229402e-03 1.29589113e-04 9.99981433e-01 5.40556942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04028169299994 meters 0.02810152000716813 Centerline is valid? [True, True] Translation: X:213.38, Y:121.91, Z:0.54 [[ 2.15875565e-01 -9.76419983e-01 -1.32557829e-03 2.13384870e+02] [ 9.76397372e-01 2.15879589e-01 -6.64645970e-03 1.21908063e+02] [ 6.77590136e-03 1.40517088e-04 9.99977033e-01 5.40268852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07028169299997 meters 0.02722406191135884 Centerline is valid? [True, True] Translation: X:213.39, Y:121.93, Z:0.54 [[ 2.16343165e-01 -9.76316382e-01 -1.39907875e-03 2.13386526e+02] [ 9.76291124e-01 2.16347634e-01 -7.02437317e-03 1.21934533e+02] [ 7.16069798e-03 1.53766955e-04 9.99974350e-01 5.40323705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10028169299994 meters 0.029234757540580567 Centerline is valid? [True, True] Translation: X:213.39, Y:121.96, Z:0.54 [[ 2.16555870e-01 -9.76269201e-01 -1.41512109e-03 2.13385762e+02] [ 9.76243288e-01 2.16560435e-01 -7.11487954e-03 1.21959992e+02] [ 7.25249700e-03 1.59266466e-04 9.99973688e-01 5.39922821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130281693 meters 0.031123223462015924 Centerline is valid? [True, True] Translation: X:213.39, Y:121.98, Z:0.54 [[ 2.16865895e-01 -9.76200395e-01 -1.40458561e-03 2.13385056e+02] [ 9.76174791e-01 2.16870383e-01 -7.07211886e-03 1.21984907e+02] [ 7.20841824e-03 1.62580327e-04 9.99974006e-01 5.39489017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16028169299994 meters 0.03230736789153437 Centerline is valid? [True, True] Translation: X:213.38, Y:122.01, Z:0.54 [[ 2.17920787e-01 -9.75965662e-01 -1.24822740e-03 2.13384647e+02] [ 9.75945384e-01 2.17924308e-01 -6.29306596e-03 1.22011232e+02] [ 6.41383537e-03 1.53188119e-04 9.99979419e-01 5.41333581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190281693 meters 0.03355852869111513 Centerline is valid? [True, True] Translation: X:213.39, Y:122.04, Z:0.54 [[ 2.18375963e-01 -9.75864055e-01 -1.13331434e-03 2.13385945e+02] [ 9.75847295e-01 2.18378857e-01 -5.72120406e-03 1.22035687e+02] [ 5.83060928e-03 1.43431716e-04 9.99982992e-01 5.42443232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22028169299995 meters 0.03329384523491905 Centerline is valid? [True, True] Translation: X:213.39, Y:122.06, Z:0.55 [[ 2.18733479e-01 -9.75784335e-01 -7.72196363e-04 2.13386171e+02] [ 9.75776535e-01 2.18734819e-01 -3.90283790e-03 1.22061162e+02] [ 3.97723432e-03 1.00190218e-04 9.99992086e-01 5.45786767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250281693 meters 0.0350846020075484 Centerline is valid? [True, True] Translation: X:213.39, Y:122.09, Z:0.55 [[ 2.18811594e-01 -9.75766965e-01 -5.62262034e-04 2.13385234e+02] [ 9.75762820e-01 2.18812304e-01 -2.84506007e-03 1.22085631e+02] [ 2.89914548e-03 7.38977414e-05 9.99995795e-01 5.48084982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28028169299995 meters 0.03549823075192729 Centerline is valid? [True, True] Translation: X:213.39, Y:122.11, Z:0.55 [[ 2.18819352e-01 -9.75765291e-01 -4.32562345e-04 2.13386660e+02] [ 9.75762833e-01 2.18819772e-01 -2.19118265e-03 1.22109706e+02] [ 2.23273317e-03 5.73949077e-05 9.99997506e-01 5.49445326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310281693 meters 0.033838687222483795 Centerline is valid? [True, True] Translation: X:213.39, Y:122.13, Z:0.55 [[ 2.17968685e-01 -9.75955682e-01 -3.98966369e-04 2.13390228e+02] [ 9.75953585e-01 2.17969044e-01 -2.02372773e-03 1.22134503e+02] [ 2.06203090e-03 5.17366139e-05 9.99997873e-01 5.50650199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34028169299995 meters 0.03411831816359339 Centerline is valid? [True, True] Translation: X:213.39, Y:122.16, Z:0.55 [[ 2.17386760e-01 -9.76085476e-01 -3.74465804e-04 2.13391310e+02] [ 9.76083624e-01 2.17387077e-01 -1.90198553e-03 1.22158795e+02] [ 1.93790448e-03 4.79565326e-05 9.99998121e-01 5.51189638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370281693 meters 0.032148468537145224 Centerline is valid? [True, True] Translation: X:213.39, Y:122.18, Z:0.55 [[ 2.16655906e-01 -9.76247946e-01 -4.08068402e-04 2.13390851e+02] [ 9.76245740e-01 2.16656285e-01 -2.07598509e-03 1.22183868e+02] [ 2.11508676e-03 5.13993914e-05 9.99997762e-01 5.51044046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40028169299995 meters 0.03364581939521807 Centerline is valid? [True, True] Translation: X:213.39, Y:122.21, Z:0.55 [[ 2.16305361e-01 -9.76325644e-01 -4.76581950e-04 2.13388762e+02] [ 9.76322626e-01 2.16305878e-01 -2.42858453e-03 1.22208151e+02] [ 2.47417684e-03 6.00181131e-05 9.99996937e-01 5.50777779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430281693 meters 0.03201133943472448 Centerline is valid? [True, True] Translation: X:213.39, Y:122.23, Z:0.55 [[ 2.16138199e-01 -9.76362568e-01 -6.44052848e-04 2.13390825e+02] [ 9.76357035e-01 2.16139143e-01 -3.28795399e-03 1.22232963e+02] [ 3.34944023e-03 8.18269247e-05 9.99994387e-01 5.49118038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46028169299996 meters 0.032663411710063324 Centerline is valid? [True, True] Translation: X:213.38, Y:122.26, Z:0.55 [[ 2.16623349e-01 -9.76254894e-01 -8.40937790e-04 2.13383871e+02] [ 9.76245430e-01 2.16624953e-01 -4.30001471e-03 1.22259843e+02] [ 4.38007851e-03 1.10521913e-04 9.99990401e-01 5.46141031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490281693 meters 0.03429304798595474 Centerline is valid? [True, True] Translation: X:213.38, Y:122.29, Z:0.55 [[ 2.16203806e-01 -9.76347973e-01 -7.41564353e-04 2.13379855e+02] [ 9.76340595e-01 2.16205056e-01 -3.79693947e-03 1.22285207e+02] [ 3.86746412e-03 9.68933825e-05 9.99992517e-01 5.47024176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52028169299996 meters 0.030260861087736346 Centerline is valid? [True, True] Translation: X:213.38, Y:122.31, Z:0.55 [[ 2.13264342e-01 -9.76994447e-01 -4.12577102e-04 2.13378844e+02] [ 9.76992161e-01 2.13264736e-01 -2.11427447e-03 1.22311491e+02] [ 2.15362257e-03 4.78147604e-05 9.99997680e-01 5.49809926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550281693 meters 0.02751034317451195 Centerline is valid? [True, True] Translation: X:213.38, Y:122.34, Z:0.55 [[ 2.09834488e-01 -9.77736817e-01 -4.51120643e-04 2.13381377e+02] [ 9.77734078e-01 2.09834968e-01 -2.31502397e-03 1.22335515e+02] [ 2.35814506e-03 4.46958433e-05 9.99997219e-01 5.49775445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58028169299996 meters 0.019026991973211074 Centerline is valid? [True, True] Translation: X:213.39, Y:122.36, Z:0.55 [[ 2.00304557e-01 -9.79733383e-01 -7.63817519e-04 2.13391567e+02] [ 9.79725512e-01 2.00306010e-01 -3.92732700e-03 1.22358360e+02] [ 4.00073061e-03 3.83299877e-05 9.99991996e-01 5.45860212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.610281693 meters 0.015356921808844928 Centerline is valid? [True, True] Translation: X:213.40, Y:122.38, Z:0.54 [[ 1.93979748e-01 -9.81005038e-01 -9.86011023e-04 2.13402411e+02] [ 9.80991897e-01 1.93982253e-01 -5.07767772e-03 1.22381890e+02] [ 5.17249607e-03 1.76978207e-05 9.99986622e-01 5.42665082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64028169299996 meters 0.0152867991448403 Centerline is valid? [True, True] Translation: X:213.41, Y:122.41, Z:0.54 [[ 1.87114405e-01 -9.82337639e-01 -9.81098607e-04 2.13413913e+02] [ 9.82324609e-01 1.87116977e-01 -5.05956808e-03 1.22405095e+02] [ 5.15378437e-03 -1.70392324e-05 9.99986719e-01 5.41853071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.670281693 meters 0.026317072491709566 Centerline is valid? [True, True] Translation: X:213.44, Y:122.42, Z:0.55 [[ 1.72544430e-01 -9.85001647e-01 -4.19665848e-04 2.13439313e+02] [ 9.84999266e-01 1.72544936e-01 -2.16576500e-03 1.22424913e+02] [ 2.20569331e-03 -3.96798645e-05 9.99997567e-01 5.46298839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70028169299997 meters 0.03390284478335216 Centerline is valid? [True, True] Translation: X:213.46, Y:122.45, Z:0.55 [[ 1.64558741e-01 -9.86367260e-01 -2.23590228e-04 2.13457859e+02] [ 9.86366585e-01 1.64558890e-01 -1.15433910e-03 1.22447058e+02] [ 1.17539605e-03 -3.05853405e-05 9.99999309e-01 5.48215892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73028169299994 meters 0.04651600575631417 Centerline is valid? [True, True] Translation: X:213.49, Y:122.47, Z:0.55 [[ 1.49151720e-01 -9.88814276e-01 -3.02579088e-04 2.13489169e+02] [ 9.88813040e-01 1.49152013e-01 -1.56517114e-03 1.22466842e+02] [ 1.59279384e-03 -6.57461800e-05 9.99998729e-01 5.47422806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76028169299997 meters 0.05949146763316504 Centerline is valid? [True, True] Translation: X:213.52, Y:122.49, Z:0.54 [[ 1.43233016e-01 -9.89688876e-01 -4.80445398e-04 2.13515465e+02] [ 9.89685751e-01 1.43233773e-01 -2.49002745e-03 1.22486707e+02] [ 2.53316847e-03 -1.18835822e-04 9.99996784e-01 5.44997847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79028169299994 meters 0.0651755881569937 Centerline is valid? [True, True] Translation: X:213.53, Y:122.51, Z:0.54 [[ 1.38894391e-01 -9.90306899e-01 -7.70424666e-04 2.13532620e+02] [ 9.90298841e-01 1.38896373e-01 -4.00035625e-03 1.22507292e+02] [ 4.06858959e-03 -2.07323609e-04 9.99991702e-01 5.42541788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82028169299997 meters 0.06049728837978307 Centerline is valid? [True, True] Translation: X:213.55, Y:122.53, Z:0.54 [[ 1.35065970e-01 -9.90836237e-01 -8.57463005e-04 2.13545996e+02] [ 9.90826235e-01 1.35068466e-01 -4.45893084e-03 1.22530526e+02] [ 4.53388646e-03 -2.47347020e-04 9.99989691e-01 5.43697911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85028169299994 meters 0.06098827905068119 Centerline is valid? [True, True] Translation: X:213.56, Y:122.55, Z:0.55 [[ 1.35644633e-01 -9.90757271e-01 -7.50875587e-04 2.13558892e+02] [ 9.90749579e-01 1.35646543e-01 -3.90976562e-03 1.22553123e+02] [ 3.97548239e-03 -2.13590949e-04 9.99992075e-01 5.45590509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880281693 meters 0.06146832365112894 Centerline is valid? [True, True] Translation: X:213.58, Y:122.57, Z:0.55 [[ 1.41827132e-01 -9.89891299e-01 -5.30526496e-04 2.13578952e+02] [ 9.89887444e-01 1.41828062e-01 -2.76553071e-03 1.22574058e+02] [ 2.81281833e-03 -1.32934228e-04 9.99996035e-01 5.47321584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91028169299994 meters 0.056424158602963466 Centerline is valid? [True, True] Translation: X:213.58, Y:122.60, Z:0.55 [[ 1.45938891e-01 -9.89293379e-01 -6.70404278e-04 2.13584244e+02] [ 9.89287198e-01 1.45940352e-01 -3.50040454e-03 1.22598391e+02] [ 3.56076608e-03 -1.52377212e-04 9.99993649e-01 5.46010342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940281693 meters 0.05364502376656876 Centerline is valid? [True, True] Translation: X:213.59, Y:122.62, Z:0.54 [[ 1.49741513e-01 -9.88724831e-01 -8.29705571e-04 2.13591590e+02] [ 9.88715325e-01 1.49743714e-01 -4.33895985e-03 1.22620880e+02] [ 4.41428054e-03 -1.70620201e-04 9.99990242e-01 5.44087334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97028169299995 meters 0.04157107809310979 Centerline is valid? [True, True] Translation: X:213.59, Y:122.65, Z:0.54 [[ 1.55798344e-01 -9.87788581e-01 -7.71913393e-04 2.13593271e+02] [ 9.87780318e-01 1.55800200e-01 -4.04249421e-03 1.22646108e+02] [ 4.11339388e-03 -1.32666954e-04 9.99991531e-01 5.44713555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000281693 meters 0.03798799444679361 Centerline is valid? [True, True] Translation: X:213.61, Y:122.67, Z:0.55 [[ 1.61313335e-01 -9.86902996e-01 -6.95512134e-04 2.13606588e+02] [ 9.86896261e-01 1.61314805e-01 -3.64752291e-03 1.22667511e+02] [ 3.71194769e-03 -9.80042394e-05 9.99993106e-01 5.46203237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03028169299995 meters 0.030224370625933975 Centerline is valid? [True, True] Translation: X:213.61, Y:122.69, Z:0.55 [[ 1.63998201e-01 -9.86460442e-01 -6.22149032e-04 2.13606900e+02] [ 9.86455034e-01 1.63999362e-01 -3.26728812e-03 1.22692998e+02] [ 3.32508253e-03 -7.78926721e-05 9.99994469e-01 5.47090745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060281693 meters 0.030224370625933975 Centerline is valid? [True, True] Translation: X:213.61, Y:122.72, Z:0.55 [[ 1.63721825e-01 -9.86506350e-01 -6.21264417e-04 2.13611051e+02] [ 9.86500942e-01 1.63722985e-01 -3.26745637e-03 1.22716823e+02] [ 3.32508172e-03 -7.79240127e-05 9.99994469e-01 5.47138803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09028169299995 meters 0.02919591875878451 Centerline is valid? [True, True] Translation: X:213.62, Y:122.74, Z:0.55 [[ 1.66142614e-01 -9.86101556e-01 -5.94643836e-04 2.13619129e+02] [ 9.86096584e-01 1.66143665e-01 -3.13199272e-03 1.22740368e+02] [ 3.18725920e-03 -6.60187974e-05 9.99994919e-01 5.47144675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120281693 meters 0.02321364163591923 Centerline is valid? [True, True] Translation: X:213.62, Y:122.76, Z:0.55 [[ 1.71775127e-01 -9.85136079e-01 -4.60380141e-04 2.13622996e+02] [ 9.85133088e-01 1.71775740e-01 -2.42765877e-03 1.22764618e+02] [ 2.47065638e-03 -3.65243165e-05 9.99996947e-01 5.48754526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15028169299995 meters 0.02031960428522094 Centerline is valid? [True, True] Translation: X:213.63, Y:122.79, Z:0.55 [[ 1.74767759e-01 -9.84609583e-01 -4.45835182e-04 2.13625860e+02] [ 9.84606769e-01 1.74768326e-01 -2.35423789e-03 1.22788072e+02] [ 2.39592306e-03 -2.75274562e-05 9.99997129e-01 5.49905182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180281693 meters 0.01692919251013868 Centerline is valid? [True, True] Translation: X:213.63, Y:122.81, Z:0.55 [[ 1.78141672e-01 -9.84004760e-01 -4.20176117e-04 2.13626202e+02] [ 9.84002252e-01 1.78142167e-01 -2.22194768e-03 1.22813728e+02] [ 2.26125818e-03 -1.76327686e-05 9.99997443e-01 5.50003543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21028169299996 meters 0.014204620927964524 Centerline is valid? [True, True] Translation: X:213.62, Y:122.84, Z:0.55 [[ 1.85514309e-01 -9.82641493e-01 -3.71578959e-04 2.13618552e+02] [ 9.82639523e-01 1.85514681e-01 -1.96743076e-03 1.22839831e+02] [ 2.00221245e-03 -1.41613812e-07 9.99997996e-01 5.50765491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240281693 meters 0.014919044865482978 Centerline is valid? [True, True] Translation: X:213.62, Y:122.87, Z:0.55 [[ 1.88685813e-01 -9.82037476e-01 -2.43508893e-04 2.13616678e+02] [ 9.82036629e-01 1.88685970e-01 -1.29024128e-03 1.22865027e+02] [ 1.31301200e-03 4.31557216e-06 9.99999138e-01 5.51736253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27028169299996 meters 0.017151566748230457 Centerline is valid? [True, True] Translation: X:213.61, Y:122.89, Z:0.55 [[ 1.93124767e-01 -9.81174207e-01 9.58023754e-06 2.13614190e+02] [ 9.81174206e-01 1.93124767e-01 5.37435946e-05 1.22891160e+02] [-5.45820099e-05 -9.79337196e-07 9.99999999e-01 5.53201518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300281693 meters 0.01804379517473424 Centerline is valid? [True, True] Translation: X:213.62, Y:122.92, Z:0.55 [[ 1.93940217e-01 -9.81013348e-01 6.40418468e-05 2.13616019e+02] [ 9.81013287e-01 1.93940228e-01 3.44277695e-04 1.22915090e+02] [-3.50161305e-04 -3.94338841e-06 9.99999939e-01 5.54325686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33028169299996 meters 0.01805891576133007 Centerline is valid? [True, True] Translation: X:213.62, Y:122.94, Z:0.55 [[ 1.93678045e-01 -9.81065136e-01 1.15870210e-04 2.13618508e+02] [ 9.81064940e-01 1.93678080e-01 6.20965360e-04 1.22939042e+02] [-6.31648985e-04 -6.59115665e-06 9.99999801e-01 5.54596391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.360281693 meters 0.017479990196391616 Centerline is valid? [True, True] Translation: X:213.62, Y:122.96, Z:0.55 [[ 1.92713365e-01 -9.81255090e-01 -8.93277606e-05 2.13619132e+02] [ 9.81254975e-01 1.92713385e-01 -4.74219496e-04 1.22963538e+02] [ 4.82544949e-04 3.73512517e-06 9.99999884e-01 5.52901336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39028169299996 meters 0.01832266728661995 Centerline is valid? [True, True] Translation: X:213.62, Y:122.99, Z:0.55 [[ 1.93014554e-01 -9.81195780e-01 -4.73161441e-04 2.13618981e+02] [ 9.81192521e-01 1.93015132e-01 -2.52891508e-03 1.22987730e+02] [ 2.57268812e-03 2.38549490e-05 9.99996690e-01 5.49661093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.420281693 meters 0.019164093544286852 Centerline is valid? [True, True] Translation: X:213.62, Y:123.01, Z:0.55 [[ 1.93726376e-01 -9.81055352e-01 -6.98399239e-04 2.13619437e+02] [ 9.81048223e-01 1.93727630e-01 -3.74021052e-03 1.23011956e+02] [ 3.80465278e-03 3.94140949e-05 9.99992762e-01 5.47336470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45028169299997 meters 0.0205177546206446 Centerline is valid? [True, True] Translation: X:213.62, Y:123.04, Z:0.55 [[ 1.94864976e-01 -9.80829674e-01 -8.90286048e-04 2.13618689e+02] [ 9.80818050e-01 1.94867001e-01 -4.77550943e-03 1.23037423e+02] [ 4.85744873e-03 5.73709048e-05 9.99988201e-01 5.46017042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48028169299994 meters 0.022755528815960598 Centerline is valid? [True, True] Translation: X:213.61, Y:123.06, Z:0.54 [[ 1.96924044e-01 -9.80418228e-01 -1.00993063e-03 2.13614579e+02] [ 9.80403221e-01 1.96926619e-01 -5.42504311e-03 1.23064472e+02] [ 5.51769337e-03 7.81821898e-05 9.99984774e-01 5.44052394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51028169299997 meters 0.02181998473837619 Centerline is valid? [True, True] Translation: X:213.62, Y:123.09, Z:0.54 [[ 1.96706752e-01 -9.80461659e-01 -1.17883651e-03 2.13619349e+02] [ 9.80441148e-01 1.96710263e-01 -6.34249050e-03 1.23089040e+02] [ 6.45045799e-03 9.18308895e-05 9.99979191e-01 5.43121080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54028169299994 meters 0.021917261508071145 Centerline is valid? [True, True] Translation: X:213.62, Y:123.11, Z:0.54 [[ 1.94662094e-01 -9.80869059e-01 -1.59918673e-03 2.13621806e+02] [ 9.80831194e-01 1.94668632e-01 -8.61929525e-03 1.23112512e+02] [ 8.76571152e-03 1.09317829e-04 9.99961574e-01 5.37366842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57028169299997 meters 0.020423170910181886 Centerline is valid? [True, True] Translation: X:213.63, Y:123.14, Z:0.54 [[ 1.93297016e-01 -9.81138681e-01 -1.77539442e-03 2.13627688e+02] [ 9.81091871e-01 1.93305138e-01 -9.58459902e-03 1.23136025e+02] [ 9.74701371e-03 1.10849360e-04 9.99952491e-01 5.36986554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60028169299994 meters 0.019457843507882787 Centerline is valid? [True, True] Translation: X:213.63, Y:123.16, Z:0.54 [[ 1.91717108e-01 -9.81448466e-01 -1.85986129e-03 2.13631920e+02] [ 9.81396947e-01 1.91726101e-01 -1.00566060e-02 1.23159882e+02] [ 1.02266245e-02 1.02761219e-04 9.99947701e-01 5.36821778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630281693 meters 0.017130919011016158 Centerline is valid? [True, True] Translation: X:213.64, Y:123.18, Z:0.54 [[ 1.88226002e-01 -9.82124927e-01 -1.26499605e-03 2.13638888e+02] [ 9.82101048e-01 1.88230247e-01 -6.84871631e-03 1.23183153e+02] [ 6.96440552e-03 4.67525397e-05 9.99975747e-01 5.44307058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66028169299994 meters 0.01559063624701858 Centerline is valid? [True, True] Translation: X:213.65, Y:123.21, Z:0.55 [[ 1.85748938e-01 -9.82597023e-01 -6.49571669e-04 2.13646505e+02] [ 9.82590717e-01 1.85750073e-01 -3.52047861e-03 1.23207426e+02] [ 3.57986979e-03 1.56620720e-05 9.99993592e-01 5.50157474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690281693 meters 0.014612792209766376 Centerline is valid? [True, True] Translation: X:213.66, Y:123.23, Z:0.56 [[ 1.82375272e-01 -9.83228996e-01 2.87782274e-05 2.13655451e+02] [ 9.83228983e-01 1.82375274e-01 1.59565006e-04 1.23230147e+02] [-1.62137377e-04 -8.05124074e-07 9.99999987e-01 5.57235271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72028169299995 meters 0.01453714343428366 Centerline is valid? [True, True] Translation: X:213.66, Y:123.25, Z:0.56 [[ 1.81430406e-01 -9.83403787e-01 -1.28087200e-05 2.13660346e+02] [ 9.83403784e-01 1.81430407e-01 -6.65760450e-05 1.23254239e+02] [ 6.77950261e-05 -5.17224828e-07 9.99999998e-01 5.56292115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750281693 meters 0.014624437666496636 Centerline is valid? [True, True] Translation: X:213.66, Y:123.28, Z:0.55 [[ 1.81363174e-01 -9.83416168e-01 -1.97360841e-04 2.13663333e+02] [ 9.83415583e-01 1.81363282e-01 -1.07252865e-03 1.23277600e+02] [ 1.09053602e-03 4.29473550e-07 9.99999405e-01 5.54199067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78028169299995 meters 0.015296656215585668 Centerline is valid? [True, True] Translation: X:213.66, Y:123.30, Z:0.55 [[ 1.83525256e-01 -9.83014822e-01 -5.83195850e-04 2.13662005e+02] [ 9.83009675e-01 1.83526183e-01 -3.18092372e-03 1.23302404e+02] [ 3.23392688e-03 1.04926796e-05 9.99994771e-01 5.51872105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810281693 meters 0.01602909775114318 Centerline is valid? [True, True] Translation: X:213.66, Y:123.33, Z:0.55 [[ 1.84890345e-01 -9.82758652e-01 -9.96169627e-04 2.13659347e+02] [ 9.82743572e-01 1.84893026e-01 -5.44432172e-03 1.23328107e+02] [ 5.53463909e-03 2.76232240e-05 9.99984683e-01 5.48754202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84028169299995 meters 0.016298867413403025 Centerline is valid? [True, True] Translation: X:213.66, Y:123.35, Z:0.55 [[ 1.85202557e-01 -9.82699856e-01 -1.00337776e-03 2.13660598e+02] [ 9.82684507e-01 1.85205272e-01 -5.49242530e-03 1.23353154e+02] [ 5.58323640e-03 3.12074282e-05 9.99984413e-01 5.48458745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870281693 meters 0.01650798044343037 Centerline is valid? [True, True] Translation: X:213.66, Y:123.38, Z:0.55 [[ 1.84825761e-01 -9.82770942e-01 -8.44898470e-04 2.13662113e+02] [ 9.82760026e-01 1.84827691e-01 -4.63204220e-03 1.23376489e+02] [ 4.70839710e-03 2.57882840e-05 9.99988915e-01 5.48587985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90028169299995 meters 0.01522176519693299 Centerline is valid? [True, True] Translation: X:213.67, Y:123.40, Z:0.55 [[ 1.82146012e-01 -9.83271288e-01 -6.35210305e-04 2.13667295e+02] [ 9.83265105e-01 1.82147120e-01 -3.48726195e-03 1.23400225e+02] [ 3.54462628e-03 1.06107317e-05 9.99993718e-01 5.50708272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930281693 meters 0.01489160428703522 Centerline is valid? [True, True] Translation: X:213.67, Y:123.42, Z:0.55 [[ 1.80193041e-01 -9.83631035e-01 -6.75072125e-04 2.13672147e+02] [ 9.83624030e-01 1.80194305e-01 -3.71202067e-03 1.23424050e+02] [ 3.77290289e-03 4.86312847e-06 9.99992883e-01 5.50854753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96028169299996 meters 0.015380429791422965 Centerline is valid? [True, True] Translation: X:213.68, Y:123.45, Z:0.55 [[ 1.75576499e-01 -9.84465408e-01 -8.67850731e-04 2.13679723e+02] [ 9.84453801e-01 1.75578643e-01 -4.78052912e-03 1.23447049e+02] [ 4.85864160e-03 -1.50103868e-05 9.99988197e-01 5.48598391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990281693 meters 0.01629397561864975 Centerline is valid? [True, True] Translation: X:213.69, Y:123.47, Z:0.55 [[ 1.72969558e-01 -9.84926695e-01 -9.67983384e-04 2.13687159e+02] [ 9.84912214e-01 1.72972264e-01 -5.34096257e-03 1.23471390e+02] [ 5.42789089e-03 -2.95547243e-05 9.99985268e-01 5.47719727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02028169299996 meters 0.017589536017328617 Centerline is valid? [True, True] Translation: X:213.70, Y:123.50, Z:0.55 [[ 1.70204710e-01 -9.85408116e-01 -1.09616279e-03 2.13695220e+02] [ 9.85389497e-01 1.70208233e-01 -6.05775569e-03 1.23495476e+02] [ 6.15593755e-03 -4.90887444e-05 9.99981051e-01 5.46016501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050281693 meters 0.021280777806108885 Centerline is valid? [True, True] Translation: X:213.71, Y:123.52, Z:0.54 [[ 1.65246988e-01 -9.86251372e-01 -1.29035358e-03 2.13706267e+02] [ 9.86225514e-01 1.65252000e-01 -7.14228400e-03 1.23518974e+02] [ 7.25732090e-03 -9.23386986e-05 9.99973661e-01 5.43523045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08028169299996 meters 0.024027327283686478 Centerline is valid? [True, True] Translation: X:213.72, Y:123.54, Z:0.55 [[ 1.61844759e-01 -9.86815562e-01 -1.14898318e-03 2.13718131e+02] [ 9.86795017e-01 1.61848804e-01 -6.36858243e-03 1.23541720e+02] [ 6.47057781e-03 -1.03089195e-04 9.99979060e-01 5.45265476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.110281693 meters 0.024739771696684187 Centerline is valid? [True, True] Translation: X:213.73, Y:123.57, Z:0.55 [[ 1.60377757e-01 -9.87054978e-01 -1.20235398e-03 2.13726150e+02] [ 9.87032420e-01 1.60382222e-01 -6.67422571e-03 1.23566112e+02] [ 6.78066392e-03 -1.16365006e-04 9.99977004e-01 5.46233249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14028169299996 meters 0.024785220189537653 Centerline is valid? [True, True] Translation: X:213.73, Y:123.59, Z:0.55 [[ 1.59268041e-01 -9.87234594e-01 -1.24417395e-03 2.13732736e+02] [ 9.87210371e-01 1.59272850e-01 -6.91689034e-03 1.23590681e+02] [ 7.02675655e-03 -1.26621858e-04 9.99975304e-01 5.46001600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.170281693 meters 0.026756878563999234 Centerline is valid? [True, True] Translation: X:213.74, Y:123.61, Z:0.55 [[ 1.58693120e-01 -9.87327267e-01 -1.16666739e-03 2.13743011e+02] [ 9.87305901e-01 1.58697362e-01 -6.49657881e-03 1.23612818e+02] [ 6.59939644e-03 -1.20895244e-04 9.99978216e-01 5.45208345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20028169299997 meters 0.025651959023310047 Centerline is valid? [True, True] Translation: X:213.75, Y:123.64, Z:0.55 [[ 1.58593850e-01 -9.87343266e-01 -1.12506444e-03 2.13747607e+02] [ 9.87323331e-01 1.58597799e-01 -6.27515583e-03 1.23636859e+02] [ 6.37416559e-03 -1.15601247e-04 9.99979678e-01 5.45509410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23028169299994 meters 0.024477082355518882 Centerline is valid? [True, True] Translation: X:213.75, Y:123.66, Z:0.55 [[ 1.59179812e-01 -9.87248914e-01 -1.17049358e-03 2.13754237e+02] [ 9.87227264e-01 1.59184074e-01 -6.53905876e-03 1.23661207e+02] [ 6.64200259e-03 -1.14657033e-04 9.99977935e-01 5.45097143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26028169299997 meters 0.0258521539999889 Centerline is valid? [True, True] Translation: X:213.76, Y:123.68, Z:0.54 [[ 1.59235930e-01 -9.87239861e-01 -1.17282772e-03 2.13761730e+02] [ 9.87218052e-01 1.59240209e-01 -6.56305036e-03 1.23683700e+02] [ 6.66606625e-03 -1.12763272e-04 9.99977775e-01 5.44349308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29028169299994 meters 0.023865936142857393 Centerline is valid? [True, True] Translation: X:213.76, Y:123.71, Z:0.55 [[ 1.59253797e-01 -9.87237014e-01 -1.14335741e-03 2.13763924e+02] [ 9.87216218e-01 1.59257864e-01 -6.40878497e-03 1.23708752e+02] [ 6.50907840e-03 -1.08117641e-04 9.99978810e-01 5.46305735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32028169299997 meters 0.024419636678275573 Centerline is valid? [True, True] Translation: X:213.77, Y:123.73, Z:0.55 [[ 1.59923241e-01 -9.87128965e-01 -9.81670269e-04 2.13773172e+02] [ 9.87113583e-01 1.59926230e-01 -5.51138092e-03 1.23730879e+02] [ 5.59743857e-03 -8.76221561e-05 9.99984330e-01 5.46289631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35028169299994 meters 0.022235494855870255 Centerline is valid? [True, True] Translation: X:213.78, Y:123.76, Z:0.55 [[ 1.59845536e-01 -9.87141587e-01 -9.44544522e-04 2.13775483e+02] [ 9.87127298e-01 1.59848305e-01 -5.31190549e-03 1.23755067e+02] [ 5.39458665e-03 -8.33013020e-05 9.99985446e-01 5.47641693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380281693 meters 0.02276632748657891 Centerline is valid? [True, True] Translation: X:213.78, Y:123.78, Z:0.55 [[ 1.59852639e-01 -9.87140536e-01 -8.34300105e-04 2.13782188e+02] [ 9.87129353e-01 1.59854800e-01 -4.69926002e-03 1.23777803e+02] [ 4.77219693e-03 -7.23730052e-05 9.99988610e-01 5.48028926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41028169299994 meters 0.02392520301506474 Centerline is valid? [True, True] Translation: X:213.79, Y:123.80, Z:0.55 [[ 1.59514953e-01 -9.87195185e-01 -8.04795779e-04 2.13788985e+02] [ 9.87184745e-01 1.59516967e-01 -4.54053829e-03 1.23800357e+02] [ 4.61077612e-03 -7.01983657e-05 9.99989368e-01 5.47328295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440281693 meters 0.024121344585101213 Centerline is valid? [True, True] Translation: X:213.80, Y:123.82, Z:0.55 [[ 1.58736614e-01 -9.87320515e-01 -9.42152804e-04 2.13797445e+02] [ 9.87306160e-01 1.58739388e-01 -5.32486089e-03 1.23823532e+02] [ 5.40690115e-03 -8.49428768e-05 9.99985379e-01 5.45087827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47028169299995 meters 0.03502069097777373 Centerline is valid? [True, True] Translation: X:213.80, Y:123.85, Z:0.55 [[ 1.58382604e-01 -9.87377154e-01 -1.14330644e-03 2.13802740e+02] [ 9.87355941e-01 1.58386696e-01 -6.47303944e-03 1.23847646e+02] [ 6.57241579e-03 -1.03633563e-04 9.99978396e-01 5.50365042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500281693 meters 0.02350168111535802 Centerline is valid? [True, True] Translation: X:213.81, Y:123.87, Z:0.54 [[ 1.58007406e-01 -9.87437049e-01 -1.31684467e-03 2.13806899e+02] [ 9.87408811e-01 1.58012848e-01 -7.46859012e-03 1.23871925e+02] [ 7.58284096e-03 -1.20171477e-04 9.99971243e-01 5.41712032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53028169299995 meters 0.02395974214928397 Centerline is valid? [True, True] Translation: X:213.81, Y:123.89, Z:0.54 [[ 1.58266483e-01 -9.87395731e-01 -1.17896804e-03 2.13813800e+02] [ 9.87373025e-01 1.58270840e-01 -6.69706294e-03 1.23894945e+02] [ 6.79924762e-03 -1.04160642e-04 9.99976879e-01 5.42599813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560281693 meters 0.02334538569632692 Centerline is valid? [True, True] Translation: X:213.82, Y:123.92, Z:0.55 [[ 1.58515631e-01 -9.87356043e-01 -9.16305069e-04 2.13819629e+02] [ 9.87342286e-01 1.58518260e-01 -5.21269298e-03 1.23918499e+02] [ 5.29203500e-03 -7.84134263e-05 9.99985994e-01 5.45797048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59028169299995 meters 0.021942397086485852 Centerline is valid? [True, True] Translation: X:213.82, Y:123.94, Z:0.55 [[ 1.58940364e-01 -9.87287839e-01 -8.27462284e-04 2.13823645e+02] [ 9.87276583e-01 1.58942503e-01 -4.71476575e-03 1.23942658e+02] [ 4.78634981e-03 -6.75675527e-05 9.99988543e-01 5.48590500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620281693 meters 0.0216977642017103 Centerline is valid? [True, True] Translation: X:213.83, Y:123.97, Z:0.55 [[ 1.58824995e-01 -9.87306210e-01 -1.03410219e-03 2.13827060e+02] [ 9.87288567e-01 1.58828340e-01 -5.90295450e-03 1.23967453e+02] [ 5.99226837e-03 -8.34205534e-05 9.99982043e-01 5.46527137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65028169299995 meters 0.02128709746983532 Centerline is valid? [True, True] Translation: X:213.83, Y:123.99, Z:0.54 [[ 1.59979084e-01 -9.87119214e-01 -1.53271072e-03 2.13830859e+02] [ 9.87080297e-01 1.59986388e-01 -8.76602777e-03 1.23990888e+02] [ 8.89832730e-03 -1.10527455e-04 9.99960403e-01 5.40629577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680281693 meters 0.020451790001504547 Centerline is valid? [True, True] Translation: X:213.83, Y:124.02, Z:0.54 [[ 1.60754258e-01 -9.86993323e-01 -1.49962672e-03 2.13833834e+02] [ 9.86955936e-01 1.60761222e-01 -8.59126052e-03 1.24015570e+02] [ 8.72059860e-03 -9.89837845e-05 9.99961970e-01 5.40752329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71028169299996 meters 0.019006840346921863 Centerline is valid? [True, True] Translation: X:213.84, Y:124.04, Z:0.55 [[ 1.61380231e-01 -9.86891831e-01 -9.66810671e-04 2.13835767e+02] [ 9.86876245e-01 1.61383116e-01 -5.54680170e-03 1.24040504e+02] [ 5.63012021e-03 -5.89783438e-05 9.99984149e-01 5.47792370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740281693 meters 0.01952365296926441 Centerline is valid? [True, True] Translation: X:213.84, Y:124.06, Z:0.55 [[ 1.61592268e-01 -9.86857371e-01 -6.85118183e-04 2.13840694e+02] [ 9.86849520e-01 1.61593715e-01 -3.93647442e-03 1.24063873e+02] [ 3.99544958e-03 -4.00047231e-05 9.99992017e-01 5.50569646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77028169299996 meters 0.017001025233089398 Centerline is valid? [True, True] Translation: X:213.84, Y:124.09, Z:0.55 [[ 1.64262264e-01 -9.86416517e-01 -6.02213012e-04 2.13839919e+02] [ 9.86410430e-01 1.64263366e-01 -3.46561768e-03 1.24089751e+02] [ 3.51746406e-03 -2.47589898e-05 9.99993813e-01 5.51742088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800281693 meters 0.016318886825853356 Centerline is valid? [True, True] Translation: X:213.84, Y:124.11, Z:0.55 [[ 1.65427124e-01 -9.86221790e-01 -6.68810046e-04 2.13842137e+02] [ 9.86214253e-01 1.65428474e-01 -3.85567814e-03 1.24112971e+02] [ 3.91319402e-03 -2.17562560e-05 9.99992343e-01 5.50362417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83028169299996 meters 0.015799873061627962 Centerline is valid? [True, True] Translation: X:213.84, Y:124.14, Z:0.55 [[ 1.66435964e-01 -9.86052090e-01 -5.87937943e-04 2.13844952e+02] [ 9.86046246e-01 1.66437001e-01 -3.39494123e-03 1.24136503e+02] [ 3.44544352e-03 -1.46936874e-05 9.99994064e-01 5.50568844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.860281693 meters 0.014976768418556507 Centerline is valid? [True, True] Translation: X:213.84, Y:124.16, Z:0.56 [[ 1.68390393e-01 -9.85720366e-01 -1.88656078e-04 2.13844486e+02] [ 9.85719764e-01 1.68390499e-01 -1.08908484e-03 1.24160806e+02] [ 1.10530099e-03 -2.57060108e-06 9.99999389e-01 5.56679743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89028169299996 meters 0.014849645502176817 Centerline is valid? [True, True] Translation: X:213.85, Y:124.19, Z:0.56 [[ 1.68486675e-01 -9.85703931e-01 -3.22412482e-05 2.13846493e+02] [ 9.85703914e-01 1.68486678e-01 -1.83751371e-04 1.24185055e+02] [ 1.86556669e-04 -8.20667152e-07 9.99999983e-01 5.58801951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.920281693 meters 0.01485656894320707 Centerline is valid? [True, True] Translation: X:213.85, Y:124.21, Z:0.56 [[ 1.68507491e-01 -9.85700372e-01 -3.66454133e-05 2.13850499e+02] [ 9.85700350e-01 1.68507495e-01 -2.09579511e-04 1.24209858e+02] [ 2.12757629e-04 -8.05679010e-07 9.99999977e-01 5.56834741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95028169299997 meters 0.014764251966684983 Centerline is valid? [True, True] Translation: X:213.85, Y:124.23, Z:0.55 [[ 1.68717306e-01 -9.85664462e-01 -1.97552797e-04 2.13854673e+02] [ 9.85663796e-01 1.68717421e-01 -1.14603382e-03 1.24233638e+02] [ 1.16293541e-03 -1.36490027e-06 9.99999324e-01 5.54421557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98028169299994 meters 0.014764251966684983 Centerline is valid? [True, True] Translation: X:213.86, Y:124.26, Z:0.55 [[ 1.68448505e-01 -9.85710435e-01 -1.97208287e-04 2.13858384e+02] [ 9.85709769e-01 1.68448621e-01 -1.14609307e-03 1.24257526e+02] [ 1.16293536e-03 -1.33247090e-06 9.99999324e-01 5.54469594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01028169299997 meters 0.01486795433981923 Centerline is valid? [True, True] Translation: X:213.86, Y:124.28, Z:0.55 [[ 1.69023567e-01 -9.85611899e-01 -4.67921383e-04 2.13862017e+02] [ 9.85608123e-01 1.69024215e-01 -2.72830509e-03 1.24282325e+02] [ 2.76814001e-03 -3.92566481e-08 9.99996169e-01 5.51911515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04028169299994 meters 0.01549437282554552 Centerline is valid? [True, True] Translation: X:213.86, Y:124.31, Z:0.55 [[ 1.71872512e-01 -9.85118793e-01 -8.96389673e-04 2.13860827e+02] [ 9.85104862e-01 1.71874849e-01 -5.23894844e-03 1.24306465e+02] [ 5.31505340e-03 1.73934041e-05 9.99985875e-01 5.49106184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07028169299997 meters 0.01670331002038107 Centerline is valid? [True, True] Translation: X:213.86, Y:124.33, Z:0.55 [[ 1.74328017e-01 -9.84687214e-01 -9.12505794e-04 2.13858544e+02] [ 9.84672722e-01 1.74330402e-01 -5.34238369e-03 1.24331253e+02] [ 5.41965441e-03 3.28075888e-05 9.99985313e-01 5.49411005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10028169299994 meters 0.020977609542684697 Centerline is valid? [True, True] Translation: X:213.85, Y:124.36, Z:0.55 [[ 1.80643297e-01 -9.83548334e-01 -8.21395159e-04 2.13849386e+02] [ 9.83536543e-01 1.80645153e-01 -4.81636643e-03 1.24358468e+02] [ 4.88551023e-03 6.21721553e-05 9.99988064e-01 5.50016800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130281693 meters 0.0237494753274296 Centerline is valid? [True, True] Translation: X:213.85, Y:124.39, Z:0.55 [[ 1.83896989e-01 -9.82945175e-01 -8.24571904e-04 2.13847180e+02] [ 9.82933250e-01 1.83898821e-01 -4.84256472e-03 1.24385066e+02] [ 4.91161343e-03 8.00339321e-05 9.99987935e-01 5.49710528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16028169299994 meters 0.02818989812052598 Centerline is valid? [True, True] Translation: X:213.84, Y:124.41, Z:0.55 [[ 1.88414269e-01 -9.82089236e-01 -8.91810972e-04 2.13838511e+02] [ 9.82075232e-01 1.88416346e-01 -5.24589115e-03 1.24412240e+02] [ 5.31996500e-03 1.12575276e-04 9.99985843e-01 5.47903177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190281693 meters 0.030416035382749684 Centerline is valid? [True, True] Translation: X:213.84, Y:124.44, Z:0.55 [[ 1.89061499e-01 -9.81964763e-01 -9.76309194e-04 2.13836389e+02] [ 9.81947922e-01 1.89063976e-01 -5.75243210e-03 1.24437177e+02] [ 5.83327052e-03 1.28878653e-04 9.99982978e-01 5.46298981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22028169299995 meters 0.029709553081065977 Centerline is valid? [True, True] Translation: X:213.84, Y:124.46, Z:0.54 [[ 1.87818788e-01 -9.82203013e-01 -1.15923683e-03 2.13837514e+02] [ 9.82179193e-01 1.87822308e-01 -6.84204734e-03 1.24461604e+02] [ 6.93801005e-03 1.46486742e-04 9.99975921e-01 5.44395191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250281693 meters 0.026917703262455673 Centerline is valid? [True, True] Translation: X:213.84, Y:124.49, Z:0.55 [[ 1.86240481e-01 -9.82503493e-01 -1.17011878e-03 2.13843606e+02] [ 9.82479151e-01 1.86244105e-01 -6.91742177e-03 1.24486402e+02] [ 7.01431878e-03 1.38686654e-04 9.99975390e-01 5.45598053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28028169299995 meters 0.02602797572510931 Centerline is valid? [True, True] Translation: X:213.85, Y:124.51, Z:0.55 [[ 1.84475281e-01 -9.82836536e-01 -1.10196474e-03 2.13846230e+02] [ 9.82814882e-01 1.84478533e-01 -6.52517163e-03 1.24510347e+02] [ 6.61646592e-03 1.20705523e-04 9.99978104e-01 5.46315194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310281693 meters 0.02429758562640059 Centerline is valid? [True, True] Translation: X:213.85, Y:124.53, Z:0.55 [[ 1.80533639e-01 -9.83568423e-01 -8.73539159e-04 2.13846566e+02] [ 9.83554782e-01 1.80535736e-01 -5.18055681e-03 1.24534891e+02] [ 5.25313712e-03 7.60911540e-05 9.99986199e-01 5.47735622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34028169299995 meters 0.023132249588154002 Centerline is valid? [True, True] Translation: X:213.85, Y:124.56, Z:0.55 [[ 1.79078761e-01 -9.83834364e-01 -8.60698223e-04 2.13849952e+02] [ 9.83821082e-01 1.79080816e-01 -5.11264833e-03 1.24559638e+02] [ 5.18413366e-03 6.87936716e-05 9.99986560e-01 5.47577917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370281693 meters 0.02229718857980683 Centerline is valid? [True, True] Translation: X:213.85, Y:124.58, Z:0.54 [[ 1.77731906e-01 -9.84078371e-01 -1.06248089e-03 2.13851330e+02] [ 9.84058062e-01 1.77735064e-01 -6.32281603e-03 1.24582598e+02] [ 6.41098661e-03 7.82232518e-05 9.99979446e-01 5.44923981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40028169299995 meters 0.02062161781274615 Centerline is valid? [True, True] Translation: X:213.86, Y:124.61, Z:0.54 [[ 1.77185988e-01 -9.84176764e-01 -1.10578863e-03 2.13855770e+02] [ 9.84154690e-01 1.77189421e-01 -6.59206723e-03 1.24606675e+02] [ 6.68369344e-03 7.97548836e-05 9.99977661e-01 5.44961079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430281693 meters 0.01909953429318623 Centerline is valid? [True, True] Translation: X:213.86, Y:124.63, Z:0.55 [[ 1.75665185e-01 -9.84449574e-01 -8.82181044e-04 2.13857252e+02] [ 9.84435483e-01 1.75667391e-01 -5.26755916e-03 1.24631107e+02] [ 5.34061682e-03 5.68764331e-05 9.99985737e-01 5.48388644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46028169299996 meters 0.018581639849463857 Centerline is valid? [True, True] Translation: X:213.86, Y:124.65, Z:0.55 [[ 1.74532736e-01 -9.84651129e-01 -6.90918786e-04 2.13859996e+02] [ 9.84642459e-01 1.74534099e-01 -4.13225260e-03 1.24654980e+02] [ 4.18941608e-03 4.09053808e-05 9.99991224e-01 5.50465869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490281693 meters 0.018294472148865783 Centerline is valid? [True, True] Translation: X:213.86, Y:124.68, Z:0.55 [[ 1.73348491e-01 -9.84860371e-01 -5.91397717e-04 2.13863307e+02] [ 9.84853999e-01 1.73349497e-01 -3.54301450e-03 1.24678772e+02] [ 3.59189308e-03 3.17358111e-05 9.99993549e-01 5.51969551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52028169299996 meters 0.01756096478458152 Centerline is valid? [True, True] Translation: X:213.87, Y:124.70, Z:0.55 [[ 1.71714129e-01 -9.85146626e-01 -6.19027797e-04 2.13867123e+02] [ 9.85139620e-01 1.71715242e-01 -3.71537042e-03 1.24702053e+02] [ 3.76648114e-03 2.81527848e-05 9.99992906e-01 5.51104808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550281693 meters 0.01727072212857963 Centerline is valid? [True, True] Translation: X:213.87, Y:124.73, Z:0.55 [[ 1.71417947e-01 -9.85198119e-01 -7.44459698e-04 2.13870651e+02] [ 9.85187948e-01 1.71419560e-01 -4.47680373e-03 1.24726144e+02] [ 4.53815357e-03 3.39717809e-05 9.99989702e-01 5.49168106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58028169299996 meters 0.017371675506409116 Centerline is valid? [True, True] Translation: X:213.87, Y:124.75, Z:0.55 [[ 1.71211285e-01 -9.85234057e-01 -7.40573487e-04 2.13873735e+02] [ 9.85223957e-01 1.71212883e-01 -4.46142250e-03 1.24749675e+02] [ 4.52234111e-03 3.42151371e-05 9.99989774e-01 5.49216227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.610281693 meters 0.017624666019886534 Centerline is valid? [True, True] Translation: X:213.88, Y:124.77, Z:0.55 [[ 1.71206331e-01 -9.85234974e-01 -6.62612452e-04 2.13876102e+02] [ 9.85226860e-01 1.71207610e-01 -3.99863906e-03 1.24773519e+02] [ 4.05304334e-03 3.17687360e-05 9.99991786e-01 5.50128717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64028169299996 meters 0.017635397081868218 Centerline is valid? [True, True] Translation: X:213.88, Y:124.80, Z:0.55 [[ 1.71428494e-01 -9.85196410e-01 -5.52223553e-04 2.13877752e+02] [ 9.85190756e-01 1.71429381e-01 -3.33786577e-03 1.24798705e+02] [ 3.38312071e-03 2.81597608e-05 9.99994277e-01 5.53031080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.670281693 meters 0.017648789177662345 Centerline is valid? [True, True] Translation: X:213.88, Y:124.82, Z:0.55 [[ 1.71415579e-01 -9.85198689e-01 -4.91619678e-04 2.13880654e+02] [ 9.85194194e-01 1.71416282e-01 -2.97645573e-03 1.24823578e+02] [ 3.01667191e-03 2.58700306e-05 9.99995450e-01 5.54031408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70028169299997 meters 0.01906475611209797 Centerline is valid? [True, True] Translation: X:213.88, Y:124.85, Z:0.55 [[ 1.72421913e-01 -9.85023090e-01 -4.43478846e-04 2.13881406e+02] [ 9.85019419e-01 1.72422481e-01 -2.68938363e-03 1.24847033e+02] [ 2.72557070e-03 2.68733953e-05 9.99996285e-01 5.53799861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73028169299994 meters 0.01936513052954023 Centerline is valid? [True, True] Translation: X:213.89, Y:124.87, Z:0.55 [[ 1.73054545e-01 -9.84912144e-01 -4.39892451e-04 2.13885006e+02] [ 9.84908519e-01 1.73055101e-01 -2.67216344e-03 1.24871103e+02] [ 2.70797185e-03 2.91762046e-05 9.99996333e-01 5.53621784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76028169299997 meters 0.02055492141746755 Centerline is valid? [True, True] Translation: X:213.89, Y:124.90, Z:0.55 [[ 1.74300966e-01 -9.84692188e-01 -6.83997765e-04 2.13886843e+02] [ 9.84683385e-01 1.74302300e-01 -4.16404596e-03 1.24896186e+02] [ 4.21952592e-03 5.22759987e-05 9.99991096e-01 5.50836021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79028169299994 meters 0.02103493773438328 Centerline is valid? [True, True] Translation: X:213.89, Y:124.92, Z:0.55 [[ 1.74295648e-01 -9.84693084e-01 -7.46649250e-04 2.13889314e+02] [ 9.84682558e-01 1.74297237e-01 -4.55339816e-03 1.24919630e+02] [ 4.61383857e-03 5.84249872e-05 9.99989355e-01 5.50301563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82028169299997 meters 0.022468149176112492 Centerline is valid? [True, True] Translation: X:213.89, Y:124.95, Z:0.55 [[ 1.75918999e-01 -9.84404377e-01 -7.27100980e-04 2.13889824e+02] [ 9.84394360e-01 1.75920490e-01 -4.44137708e-03 1.24945399e+02] [ 4.50002300e-03 6.55685069e-05 9.99989873e-01 5.51905695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85028169299994 meters 0.024132981792205844 Centerline is valid? [True, True] Translation: X:213.89, Y:124.97, Z:0.55 [[ 1.77970471e-01 -9.84035563e-01 -7.22580486e-04 2.13889938e+02] [ 9.84025636e-01 1.77971922e-01 -4.42071560e-03 1.24970730e+02] [ 4.47874040e-03 7.57191152e-05 9.99989968e-01 5.52384489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880281693 meters 0.032094882744748844 Centerline is valid? [True, True] Translation: X:213.88, Y:125.00, Z:0.55 [[ 1.83641206e-01 -9.82992780e-01 -1.04990165e-03 2.13877865e+02] [ 9.82971725e-01 1.83644147e-01 -6.43554622e-03 1.24997003e+02] [ 6.51890376e-03 1.49807839e-04 9.99978741e-01 5.48063901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91028169299994 meters 0.032379513756872196 Centerline is valid? [True, True] Translation: X:213.88, Y:125.02, Z:0.55 [[ 1.85378860e-01 -9.82666408e-01 -1.18731048e-03 2.13878732e+02] [ 9.82639381e-01 1.85382570e-01 -7.29031615e-03 1.25022484e+02] [ 7.38405545e-03 1.84772463e-04 9.99972720e-01 5.46469356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940281693 meters 0.03473697787080767 Centerline is valid? [True, True] Translation: X:213.88, Y:125.05, Z:0.55 [[ 1.85890807e-01 -9.82569699e-01 -1.18112636e-03 2.13876615e+02] [ 9.82542863e-01 1.85894463e-01 -7.26439910e-03 1.25047620e+02] [ 7.35734329e-03 1.89877738e-04 9.99972916e-01 5.46094453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97028169299995 meters 0.03301953798952471 Centerline is valid? [True, True] Translation: X:213.88, Y:125.07, Z:0.55 [[ 1.84048341e-01 -9.82916826e-01 -8.49231684e-04 2.13878843e+02] [ 9.82902916e-01 1.84050256e-01 -5.23074894e-03 1.25072983e+02] [ 5.29769246e-03 1.27998366e-04 9.99985959e-01 5.50213866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000281693 meters 0.028700184672467016 Centerline is valid? [True, True] Translation: X:213.89, Y:125.10, Z:0.55 [[ 1.81523514e-01 -9.83386378e-01 -6.68013351e-04 2.13888033e+02] [ 9.83377748e-01 1.81524720e-01 -4.12067094e-03 1.25097027e+02] [ 4.17347260e-03 9.10892033e-05 9.99991287e-01 5.52817624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03028169299995 meters 0.021687385823223045 Centerline is valid? [True, True] Translation: X:213.90, Y:125.12, Z:0.55 [[ 1.73328604e-01 -9.84863831e-01 -6.56031531e-04 2.13903192e+02] [ 9.84855489e-01 1.73329837e-01 -4.05376879e-03 1.25118797e+02] [ 4.10612010e-03 5.65378323e-05 9.99991568e-01 5.52862502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060281693 meters 0.018341317796694952 Centerline is valid? [True, True] Translation: X:213.91, Y:125.14, Z:0.55 [[ 1.68668560e-01 -9.85672561e-01 -7.20677136e-04 2.13913862e+02] [ 9.85662466e-01 1.68670094e-01 -4.46115875e-03 1.25142958e+02] [ 4.51879845e-03 4.21128191e-05 9.99989789e-01 5.51417333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09028169299995 meters 0.015515626212515973 Centerline is valid? [True, True] Translation: X:213.93, Y:125.17, Z:0.55 [[ 1.62844324e-01 -9.86651519e-01 -7.11658706e-04 2.13926074e+02] [ 9.86641651e-01 1.62845879e-01 -4.41279751e-03 1.25165507e+02] [ 4.46978406e-03 1.64469102e-05 9.99990010e-01 5.51594548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120281693 meters 0.015178924160016045 Centerline is valid? [True, True] Translation: X:213.93, Y:125.19, Z:0.55 [[ 1.61946855e-01 -9.86799327e-01 -5.51263611e-04 2.13931183e+02] [ 9.86793389e-01 1.61947793e-01 -3.42352924e-03 1.25189816e+02] [ 3.46761228e-03 1.04465090e-05 9.99993988e-01 5.52840967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15028169299995 meters 0.015308829629102723 Centerline is valid? [True, True] Translation: X:213.93, Y:125.21, Z:0.55 [[ 1.61927765e-01 -9.86802521e-01 -4.29346053e-04 2.13934502e+02] [ 9.86798907e-01 1.61928334e-01 -2.67042535e-03 1.25213324e+02] [ 2.70470576e-03 8.73779237e-06 9.99996342e-01 5.54885721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180281693 meters 0.015818179358683803 Centerline is valid? [True, True] Translation: X:213.94, Y:125.24, Z:0.56 [[ 1.63435961e-01 -9.86553883e-01 -3.49425889e-04 2.13936266e+02] [ 9.86551482e-01 1.63436334e-01 -2.17668254e-03 1.25237788e+02] [ 2.20452350e-03 1.10215744e-05 9.99997570e-01 5.56605263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21028169299996 meters 0.01666602713222937 Centerline is valid? [True, True] Translation: X:213.94, Y:125.26, Z:0.56 [[ 1.64377934e-01 -9.86397307e-01 -4.96816155e-04 2.13938052e+02] [ 9.86392430e-01 1.64378683e-01 -3.10188989e-03 1.25261085e+02] [ 3.14136182e-03 1.98265560e-05 9.99995066e-01 5.55625308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240281693 meters 0.017794997276425525 Centerline is valid? [True, True] Translation: X:213.94, Y:125.29, Z:0.55 [[ 1.65599845e-01 -9.86192789e-01 -6.88720536e-04 2.13939671e+02] [ 9.86183375e-01 1.65601274e-01 -4.30911499e-03 1.25285332e+02] [ 4.36367113e-03 3.43840330e-05 9.99990479e-01 5.52752393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27028169299996 meters 0.020183892279340917 Centerline is valid? [True, True] Translation: X:213.94, Y:125.31, Z:0.55 [[ 1.68661459e-01 -9.85673711e-01 -8.04288002e-04 2.13937385e+02] [ 9.85660822e-01 1.68663367e-01 -5.04113277e-03 1.25311595e+02] [ 5.10456596e-03 5.74896331e-05 9.99986970e-01 5.51131291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300281693 meters 0.021040966733472274 Centerline is valid? [True, True] Translation: X:213.94, Y:125.34, Z:0.55 [[ 1.69194897e-01 -9.85582554e-01 -3.39413778e-04 2.13937752e+02] [ 9.85580255e-01 1.69195235e-01 -2.12903527e-03 1.25335480e+02] [ 2.15576721e-03 2.57023846e-05 9.99997676e-01 5.54805788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33028169299996 meters 0.01834391995806665 Centerline is valid? [True, True] Translation: X:213.95, Y:125.36, Z:0.56 [[ 1.66295685e-01 -9.86075923e-01 -1.41798679e-04 2.13948585e+02] [ 9.86075522e-01 1.66295746e-01 -8.89116701e-04 1.25359122e+02] [ 9.00317088e-04 8.03206522e-06 9.99999595e-01 5.56783230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.360281693 meters 0.016019942270402498 Centerline is valid? [True, True] Translation: X:213.96, Y:125.38, Z:0.56 [[ 1.61877821e-01 -9.86810795e-01 -1.63804103e-04 2.13960723e+02] [ 9.86810258e-01 1.61877904e-01 -1.02933881e-03 1.25381950e+02] [ 1.04227891e-03 4.98355457e-06 9.99999457e-01 5.56789624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39028169299996 meters 0.015704644695969803 Centerline is valid? [True, True] Translation: X:213.98, Y:125.40, Z:0.55 [[ 1.52102389e-01 -9.88364457e-01 -7.50934456e-04 2.13984898e+02] [ 9.88353092e-01 1.52104241e-01 -4.73980091e-03 1.25403469e+02] [ 4.79887107e-03 -2.12533485e-05 9.99988485e-01 5.50308982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.420281693 meters 0.018661783454074064 Centerline is valid? [True, True] Translation: X:214.00, Y:125.43, Z:0.55 [[ 1.47309655e-01 -9.89089861e-01 -1.05435727e-03 2.13998183e+02] [ 9.89067388e-01 1.47313416e-01 -6.66781361e-03 1.25426627e+02] [ 6.75038781e-03 -6.05970673e-05 9.99977214e-01 5.45808972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45028169299997 meters 0.024244538171043304 Centerline is valid? [True, True] Translation: X:214.02, Y:125.45, Z:0.55 [[ 1.39555809e-01 -9.90213492e-01 -1.18988528e-03 2.14021314e+02] [ 9.90184808e-01 1.39560824e-01 -7.53808756e-03 1.25448869e+02] [ 7.63037738e-03 -1.26222419e-04 9.99970880e-01 5.45149360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48028169299994 meters 0.025314981079411634 Centerline is valid? [True, True] Translation: X:214.03, Y:125.47, Z:0.55 [[ 1.37688424e-01 -9.90475087e-01 -1.00004430e-03 2.14032380e+02] [ 9.90454766e-01 1.37692006e-01 -6.34565223e-03 1.25473123e+02] [ 6.42290855e-03 -1.16775784e-04 9.99979366e-01 5.48395498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51028169299997 meters 0.023305055202670996 Centerline is valid? [True, True] Translation: X:214.04, Y:125.50, Z:0.55 [[ 1.39628451e-01 -9.90203747e-01 -6.60170270e-04 2.14042348e+02] [ 9.90194862e-01 1.39629995e-01 -4.19527376e-03 1.25496438e+02] [ 4.24635537e-03 -6.79176316e-05 9.99990982e-01 5.54004053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54028169299994 meters 0.020516119678845715 Centerline is valid? [True, True] Translation: X:214.05, Y:125.52, Z:0.55 [[ 1.42511017e-01 -9.89792956e-01 -7.17650813e-04 2.14045346e+02] [ 9.89782412e-01 1.42512812e-01 -4.56894638e-03 1.25521223e+02] [ 4.62458537e-03 -5.91929560e-05 9.99989305e-01 5.53543958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57028169299997 meters 0.017940536528296323 Centerline is valid? [True, True] Translation: X:214.05, Y:125.55, Z:0.55 [[ 1.46266719e-01 -9.89244812e-01 -8.65002810e-04 2.14047223e+02] [ 9.89229428e-01 1.46269269e-01 -5.51731563e-03 1.25545306e+02] [ 5.58449919e-03 -4.86865795e-05 9.99984405e-01 5.51975661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60028169299994 meters 0.015006700790283966 Centerline is valid? [True, True] Translation: X:214.04, Y:125.57, Z:0.55 [[ 1.56471759e-01 -9.87682056e-01 -8.63642089e-04 2.14040905e+02] [ 9.87666640e-01 1.56474142e-01 -5.51817038e-03 1.25571243e+02] [ 5.58533552e-03 1.04473456e-05 9.99984402e-01 5.50734868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630281693 meters 0.01958587765358999 Centerline is valid? [True, True] Translation: X:214.03, Y:125.60, Z:0.56 [[ 1.65538555e-01 -9.86203222e-01 -4.37694345e-04 2.14033183e+02] [ 9.86199248e-01 1.65539131e-01 -2.79973616e-03 1.25598432e+02] [ 2.83356436e-03 3.18104439e-05 9.99995985e-01 5.56158769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66028169299994 meters 0.02268809087387725 Centerline is valid? [True, True] Translation: X:214.03, Y:125.62, Z:0.56 [[ 1.68980393e-01 -9.85619357e-01 -3.30183769e-04 2.14031753e+02] [ 9.85617089e-01 1.68980713e-01 -2.11479079e-03 1.25623856e+02] [ 2.14017343e-03 3.19234157e-05 9.99997709e-01 5.57626070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690281693 meters 0.02479906049053165 Centerline is valid? [True, True] Translation: X:214.03, Y:125.65, Z:0.56 [[ 1.71393011e-01 -9.85202695e-01 -2.91078096e-04 2.14033171e+02] [ 9.85200927e-01 1.71393255e-01 -1.86718153e-03 1.25649411e+02] [ 1.88944110e-03 3.32514553e-05 9.99998214e-01 5.57410638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72028169299995 meters 0.026673588225294913 Centerline is valid? [True, True] Translation: X:214.04, Y:125.67, Z:0.56 [[ 1.73243981e-01 -9.84878868e-01 -3.72392212e-04 2.14035435e+02] [ 9.84875960e-01 1.73244374e-01 -2.39378725e-03 1.25674388e+02] [ 2.42210533e-03 4.79490947e-05 9.99997066e-01 5.55781636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750281693 meters 0.02637467127130859 Centerline is valid? [True, True] Translation: X:214.04, Y:125.70, Z:0.56 [[ 1.73179024e-01 -9.84890274e-01 -4.18218245e-04 2.14039009e+02] [ 9.84886592e-01 1.73179520e-01 -2.69363580e-03 1.25698884e+02] [ 2.72536253e-03 5.45836771e-05 9.99996285e-01 5.55645384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78028169299995 meters 0.027826327509901966 Centerline is valid? [True, True] Translation: X:214.04, Y:125.72, Z:0.56 [[ 1.73138656e-01 -9.84897432e-01 -2.35229422e-04 2.14039777e+02] [ 9.84896265e-01 1.73138813e-01 -1.51625164e-03 1.25722331e+02] [ 1.53407969e-03 3.08451907e-05 9.99998823e-01 5.58165658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810281693 meters 0.02873356153412419 Centerline is valid? [True, True] Translation: X:214.04, Y:125.75, Z:0.56 [[ 1.73163668e-01 -9.84893046e-01 -1.80992263e-04 2.14041674e+02] [ 9.84892353e-01 1.73163761e-01 -1.16809315e-03 1.25745541e+02] [ 1.18178813e-03 2.40133999e-05 9.99999301e-01 5.59018166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84028169299995 meters 0.029719163500001596 Centerline is valid? [True, True] Translation: X:214.04, Y:125.77, Z:0.56 [[ 1.73913308e-01 -9.84760920e-01 -3.02060099e-04 2.14040326e+02] [ 9.84758979e-01 1.73913565e-01 -1.95561392e-03 1.25771121e+02] [ 1.97834451e-03 4.26508913e-05 9.99998042e-01 5.57730092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870281693 meters 0.029719163500001596 Centerline is valid? [True, True] Translation: X:214.04, Y:125.80, Z:0.56 [[ 1.73646273e-01 -9.84808043e-01 -3.01575407e-04 2.14043634e+02] [ 9.84806102e-01 1.73646529e-01 -1.95568866e-03 1.25795062e+02] [ 1.97834544e-03 4.26047452e-05 9.99998042e-01 5.57778147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90028169299995 meters 0.029686558292788323 Centerline is valid? [True, True] Translation: X:214.04, Y:125.82, Z:0.56 [[ 1.74138781e-01 -9.84721001e-01 -4.84677817e-04 2.14044466e+02] [ 9.84715963e-01 1.74139441e-01 -3.15078703e-03 1.25820594e+02] [ 3.18704769e-03 7.14042293e-05 9.99994919e-01 5.55271074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930281693 meters 0.03199823773618407 Centerline is valid? [True, True] Translation: X:214.04, Y:125.85, Z:0.55 [[ 1.74651664e-01 -9.84630069e-01 -6.51070865e-04 2.14040983e+02] [ 9.84620940e-01 1.74652849e-01 -4.24109922e-03 1.25845400e+02] [ 4.28962520e-03 9.96570290e-05 9.99990795e-01 5.52340449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96028169299996 meters 0.02968182174739184 Centerline is valid? [True, True] Translation: X:214.05, Y:125.87, Z:0.55 [[ 1.74288384e-01 -9.84694442e-01 -6.44551493e-04 2.14046790e+02] [ 9.84685462e-01 1.74289548e-01 -4.20641935e-03 1.25869094e+02] [ 4.25437634e-03 9.84495481e-05 9.99990945e-01 5.52816079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990281693 meters 0.029681733579178266 Centerline is valid? [True, True] Translation: X:214.05, Y:125.89, Z:0.55 [[ 1.73146675e-01 -9.84895840e-01 -6.42824194e-04 2.14048100e+02] [ 9.84886877e-01 1.73147843e-01 -4.20296466e-03 1.25893510e+02] [ 4.25078603e-03 9.46202438e-05 9.99990961e-01 5.52569370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02028169299996 meters 0.029807902996163323 Centerline is valid? [True, True] Translation: X:214.05, Y:125.92, Z:0.55 [[ 1.72446264e-01 -9.85018780e-01 -5.37669303e-04 2.14049363e+02] [ 9.85012488e-01 1.72447085e-01 -3.52145329e-03 1.25917558e+02] [ 3.56141713e-03 7.76504865e-05 9.99993655e-01 5.54124497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050281693 meters 0.029612141696841225 Centerline is valid? [True, True] Translation: X:214.05, Y:125.94, Z:0.56 [[ 1.72117861e-01 -9.85076248e-01 -4.77352624e-04 2.14050888e+02] [ 9.85071272e-01 1.72118509e-01 -3.13189691e-03 1.25941967e+02] [ 3.16731848e-03 6.88290404e-05 9.99994982e-01 5.55743659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08028169299996 meters 0.03117000350621378 Centerline is valid? [True, True] Translation: X:214.05, Y:125.97, Z:0.55 [[ 1.73322395e-01 -9.84864889e-01 -7.05674189e-04 2.14045076e+02] [ 9.84853966e-01 1.73323797e-01 -4.63970967e-03 1.25968996e+02] [ 4.69179728e-03 1.09179568e-04 9.99988988e-01 5.53434860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.110281693 meters 0.03144236531873073 Centerline is valid? [True, True] Translation: X:214.04, Y:125.99, Z:0.55 [[ 1.74396917e-01 -9.84675167e-01 -7.28552555e-04 2.14043853e+02] [ 9.84663483e-01 1.74398398e-01 -4.79842024e-03 1.25994963e+02] [ 4.85194365e-03 1.19450598e-04 9.99988222e-01 5.53331316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14028169299996 meters 0.03454804806706458 Centerline is valid? [True, True] Translation: X:214.03, Y:126.02, Z:0.55 [[ 1.76816753e-01 -9.84243604e-01 -6.03392654e-04 2.14034993e+02] [ 9.84235560e-01 1.76817749e-01 -3.98067405e-03 1.26020754e+02] [ 4.02464350e-03 1.09969354e-04 9.99991895e-01 5.54753594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.170281693 meters 0.03684361482245513 Centerline is valid? [True, True] Translation: X:214.03, Y:126.05, Z:0.56 [[ 1.77070647e-01 -9.84198002e-01 -5.27156501e-04 2.14030927e+02] [ 9.84191842e-01 1.77071405e-01 -3.48371236e-03 1.26045689e+02] [ 3.52200709e-03 9.80400745e-05 9.99993793e-01 5.55380551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20028169299997 meters 0.03479102769748667 Centerline is valid? [True, True] Translation: X:214.03, Y:126.07, Z:0.55 [[ 1.75222425e-01 -9.84528675e-01 -6.24195683e-04 2.14027439e+02] [ 9.84520007e-01 1.75223502e-01 -4.13281743e-03 1.26072065e+02] [ 4.17825102e-03 1.09629152e-04 9.99991265e-01 5.54454120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23028169299994 meters 0.03169674636536489 Centerline is valid? [True, True] Translation: X:214.03, Y:126.10, Z:0.55 [[ 1.73171031e-01 -9.84891531e-01 -6.82223780e-04 2.14031218e+02] [ 9.84881142e-01 1.73172339e-01 -4.52510175e-03 1.26096995e+02] [ 4.57487668e-03 1.11707199e-04 9.99989529e-01 5.53893140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26028169299997 meters 0.028883845290068155 Centerline is valid? [True, True] Translation: X:214.03, Y:126.12, Z:0.55 [[ 1.68529270e-01 -9.85696359e-01 -7.56985768e-04 2.14031081e+02] [ 9.85683527e-01 1.68530939e-01 -5.03056572e-03 1.26121524e+02] [ 5.08618583e-03 1.01649165e-04 9.99987060e-01 5.52415474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29028169299994 meters 0.02475734283620453 Centerline is valid? [True, True] Translation: X:214.04, Y:126.15, Z:0.55 [[ 1.66021209e-01 -9.86121907e-01 -7.36768573e-04 2.14037186e+02] [ 9.86109712e-01 1.66022821e-01 -4.90490358e-03 1.26146503e+02] [ 4.95915327e-03 8.77833773e-05 9.99987699e-01 5.53209663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32028169299997 meters 0.023741520795415885 Centerline is valid? [True, True] Translation: X:214.04, Y:126.17, Z:0.55 [[ 1.63239052e-01 -9.86586314e-01 -6.75730418e-04 2.14038047e+02] [ 9.86576025e-01 1.63240436e-01 -4.50627881e-03 1.26171439e+02] [ 4.55613953e-03 6.89412524e-05 9.99989618e-01 5.54329639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35028169299994 meters 0.019215666572580694 Centerline is valid? [True, True] Translation: X:214.04, Y:126.20, Z:0.56 [[ 1.58412847e-01 -9.87372853e-01 -4.68898519e-04 2.14042631e+02] [ 9.87367888e-01 1.58413538e-01 -3.13135167e-03 1.26196653e+02] [ 3.16609151e-03 3.30709938e-05 9.99994987e-01 5.55903054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380281693 meters 0.017627166239910737 Centerline is valid? [True, True] Translation: X:214.05, Y:126.22, Z:0.56 [[ 1.56359241e-01 -9.87700138e-01 -4.73470679e-04 2.14047239e+02] [ 9.87695060e-01 1.56359956e-01 -3.16736320e-03 1.26220569e+02] [ 3.20243693e-03 2.76018569e-05 9.99994872e-01 5.56501061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41028169299994 meters 0.01581308608983869 Centerline is valid? [True, True] Translation: X:214.05, Y:126.24, Z:0.56 [[ 1.52698363e-01 -9.88272656e-01 -6.06631904e-04 2.14053145e+02] [ 9.88264289e-01 1.52699567e-01 -4.06671666e-03 1.26244384e+02] [ 4.11165730e-03 2.14683316e-05 9.99991547e-01 5.55131897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440281693 meters 0.01542350523626807 Centerline is valid? [True, True] Translation: X:214.06, Y:126.27, Z:0.55 [[ 1.51069700e-01 -9.88522843e-01 -7.31189796e-04 2.14057846e+02] [ 9.88510640e-01 1.51071468e-01 -4.91174983e-03 1.26268820e+02] [ 4.96583882e-03 1.92276779e-05 9.99987670e-01 5.53939399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47028169299995 meters 0.01488129982229831 Centerline is valid? [True, True] Translation: X:214.06, Y:126.29, Z:0.55 [[ 1.49105116e-01 -9.88821080e-01 -7.32323900e-04 2.14062949e+02] [ 9.88808796e-01 1.49106914e-01 -4.92892194e-03 1.26292688e+02] [ 4.98301647e-03 1.07991614e-05 9.99987585e-01 5.53699264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500281693 meters 0.014750966740782743 Centerline is valid? [True, True] Translation: X:214.07, Y:126.31, Z:0.55 [[ 1.44656591e-01 -9.89481698e-01 -6.62886418e-04 2.14072512e+02] [ 9.89471601e-01 1.44658110e-01 -4.47014587e-03 1.26314803e+02] [ 4.51901942e-03 -9.27122106e-06 9.99989789e-01 5.53079451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53028169299995 meters 0.015433873065992103 Centerline is valid? [True, True] Translation: X:214.08, Y:126.34, Z:0.55 [[ 1.42435423e-01 -9.89803894e-01 -6.33501679e-04 2.14079492e+02] [ 9.89794640e-01 1.42436831e-01 -4.28017013e-03 1.26338847e+02] [ 4.32676303e-03 -1.73887216e-05 9.99990639e-01 5.53627648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560281693 meters 0.017151730951738112 Centerline is valid? [True, True] Translation: X:214.09, Y:126.36, Z:0.55 [[ 1.38657292e-01 -9.90340261e-01 -5.67467801e-04 2.14090425e+02] [ 9.90332815e-01 1.38658450e-01 -3.84057594e-03 1.26363065e+02] [ 3.88216118e-03 -2.94581264e-05 9.99992464e-01 5.53110436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59028169299995 meters 0.018343815534654244 Centerline is valid? [True, True] Translation: X:214.10, Y:126.39, Z:0.55 [[ 1.36720330e-01 -9.90609581e-01 -4.58780648e-04 2.14098863e+02] [ 9.90604700e-01 1.36721096e-01 -3.10976010e-03 1.26387397e+02] [ 3.14328314e-03 -2.93028404e-05 9.99995059e-01 5.54866460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620281693 meters 0.02012008777477692 Centerline is valid? [True, True] Translation: X:214.11, Y:126.41, Z:0.56 [[ 1.33215275e-01 -9.91087088e-01 -2.74845212e-04 2.14113053e+02] [ 9.91085333e-01 1.33215556e-01 -1.86489396e-03 1.26411183e+02] [ 1.88488598e-03 -2.39626978e-05 9.99998223e-01 5.57794763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65028169299995 meters 0.022450617547474423 Centerline is valid? [True, True] Translation: X:214.12, Y:126.43, Z:0.56 [[ 1.31413989e-01 -9.91327546e-01 -2.44877758e-04 2.14123954e+02] [ 9.91326149e-01 1.31414215e-01 -1.66417883e-03 1.26434416e+02] [ 1.68192673e-03 -2.40573458e-05 9.99998585e-01 5.57954464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680281693 meters 0.0224442365243392 Centerline is valid? [True, True] Translation: X:214.13, Y:126.46, Z:0.56 [[ 1.30114554e-01 -9.91498926e-01 -2.88533350e-04 2.14130708e+02] [ 9.91496979e-01 1.30114870e-01 -1.96474977e-03 1.26459454e+02] [ 1.98558977e-03 -3.04374043e-05 9.99998028e-01 5.57514717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71028169299996 meters 0.022498432078558398 Centerline is valid? [True, True] Translation: X:214.14, Y:126.48, Z:0.56 [[ 1.29571976e-01 -9.91569977e-01 -2.88793284e-04 2.14142226e+02] [ 9.91568021e-01 1.29572294e-01 -1.97003660e-03 1.26482353e+02] [ 1.99084876e-03 -3.10966496e-05 9.99998018e-01 5.57840214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740281693 meters 0.021830706364443436 Centerline is valid? [True, True] Translation: X:214.15, Y:126.51, Z:0.56 [[ 1.30443165e-01 -9.91455733e-01 -3.32173764e-04 2.14149079e+02] [ 9.91453133e-01 1.30443583e-01 -2.27101300e-03 1.26505587e+02] [ 2.29493880e-03 -3.30965955e-05 9.99997366e-01 5.58033434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77028169299996 meters 0.01842436319574622 Centerline is valid? [True, True] Translation: X:214.15, Y:126.53, Z:0.55 [[ 1.34759852e-01 -9.90878092e-01 -6.23841706e-04 2.14154248e+02] [ 9.90868862e-01 1.34761290e-01 -4.27703476e-03 1.26529032e+02] [ 4.32208976e-03 -4.17727490e-05 9.99990659e-01 5.54787855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800281693 meters 0.016482346381574003 Centerline is valid? [True, True] Translation: X:214.16, Y:126.55, Z:0.55 [[ 1.37374709e-01 -9.90518904e-01 -7.00586007e-04 2.14156995e+02] [ 9.90507212e-01 1.37376492e-01 -4.81270730e-03 1.26554060e+02] [ 4.86332160e-03 -3.27912276e-05 9.99988173e-01 5.53821839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83028169299996 meters 0.014871302763864348 Centerline is valid? [True, True] Translation: X:214.16, Y:126.58, Z:0.55 [[ 1.40396866e-01 -9.90095081e-01 -6.71064620e-04 2.14158925e+02] [ 9.90084309e-01 1.40398469e-01 -4.61852905e-03 1.26578739e+02] [ 4.66699934e-03 -1.59835449e-05 9.99989109e-01 5.54192080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.860281693 meters 0.015388171044094713 Centerline is valid? [True, True] Translation: X:214.15, Y:126.60, Z:0.56 [[ 1.47934048e-01 -9.88997081e-01 -5.39876916e-04 2.14154921e+02] [ 9.88990076e-01 1.47935032e-01 -3.72220782e-03 1.26603220e+02] [ 3.76111938e-03 1.67083586e-05 9.99992927e-01 5.56578595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89028169299996 meters 0.021627829778677478 Centerline is valid? [True, True] Translation: X:214.15, Y:126.63, Z:0.56 [[ 1.56248911e-01 -9.87717608e-01 -4.51977063e-04 2.14147874e+02] [ 9.87712677e-01 1.56249559e-01 -3.12149856e-03 1.26630143e+02] [ 3.15378031e-03 4.13072759e-05 9.99995026e-01 5.57673283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.920281693 meters 0.025700841755839667 Centerline is valid? [True, True] Translation: X:214.15, Y:126.66, Z:0.56 [[ 1.60053262e-01 -9.87108286e-01 -4.29500925e-04 2.14145692e+02] [ 9.87103816e-01 1.60053830e-01 -2.97128515e-03 1.26656298e+02] [ 3.00172346e-03 5.16018796e-05 9.99995494e-01 5.58331027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95028169299997 meters 0.02949663232564998 Centerline is valid? [True, True] Translation: X:214.14, Y:126.68, Z:0.56 [[ 1.63089977e-01 -9.86611072e-01 -5.01876865e-04 2.14144036e+02] [ 9.86604943e-01 1.63090734e-01 -3.47850431e-03 1.26681513e+02] [ 3.51378233e-03 7.21549937e-05 9.99993824e-01 5.57517966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98028169299994 meters 0.03797030473395156 Centerline is valid? [True, True] Translation: X:214.14, Y:126.71, Z:0.55 [[ 1.67640490e-01 -9.85847913e-01 -7.47482320e-04 2.14135406e+02] [ 9.85834253e-01 1.67642103e-01 -5.19144861e-03 1.26706683e+02] [ 5.24328829e-03 1.33403315e-04 9.99986245e-01 5.53317661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01028169299997 meters 0.035432837303366854 Centerline is valid? [True, True] Translation: X:214.14, Y:126.73, Z:0.55 [[ 1.68952170e-01 -9.85623931e-01 -7.93787979e-04 2.14141443e+02] [ 9.85608467e-01 1.68953968e-01 -5.52334374e-03 1.26731034e+02] [ 5.57805340e-03 1.50816758e-04 9.99984431e-01 5.53215776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04028169299994 meters 0.040100949915265534 Centerline is valid? [True, True] Translation: X:214.14, Y:126.76, Z:0.55 [[ 1.70324695e-01 -9.85387707e-01 -7.51466454e-04 2.14136750e+02] [ 9.85373794e-01 1.70326285e-01 -5.23855506e-03 1.26755903e+02] [ 5.29000225e-03 1.51779941e-04 9.99985996e-01 5.53492390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07028169299997 meters 0.037018417126171765 Centerline is valid? [True, True] Translation: X:214.14, Y:126.78, Z:0.55 [[ 1.69620716e-01 -9.85509125e-01 -7.59561299e-04 2.14143531e+02] [ 9.85494857e-01 1.69622349e-01 -5.30521842e-03 1.26779688e+02] [ 5.35717974e-03 1.51331195e-04 9.99985639e-01 5.53121294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10028169299994 meters 0.03748102889652369 Centerline is valid? [True, True] Translation: X:214.15, Y:126.80, Z:0.55 [[ 1.67342019e-01 -9.85898471e-01 -9.23511550e-04 2.14146384e+02] [ 9.85877307e-01 1.67344480e-01 -6.46225533e-03 1.26803958e+02] [ 6.52567221e-03 1.70937777e-04 9.99978693e-01 5.49292914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130281693 meters 0.03287615183293716 Centerline is valid? [True, True] Translation: X:214.16, Y:126.83, Z:0.55 [[ 1.65805207e-01 -9.86158141e-01 -8.68266381e-04 2.14156307e+02] [ 9.86139373e-01 1.65807410e-01 -6.08604821e-03 1.26828314e+02] [ 6.14577099e-03 1.52866818e-04 9.99981103e-01 5.50447572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16028169299994 meters 0.03625112247242495 Centerline is valid? [True, True] Translation: X:214.15, Y:126.85, Z:0.55 [[ 1.65488641e-01 -9.86211397e-01 -7.68570859e-04 2.14154296e+02] [ 9.86196637e-01 1.65490370e-01 -5.39733516e-03 1.26852163e+02] [ 5.45010453e-03 1.35235665e-04 9.99985139e-01 5.52221111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190281693 meters 0.032427628648306644 Centerline is valid? [True, True] Translation: X:214.16, Y:126.88, Z:0.55 [[ 1.66149643e-01 -9.86100215e-01 -8.14166442e-04 2.14162461e+02] [ 9.86083585e-01 1.66151571e-01 -5.72871001e-03 1.26876808e+02] [ 5.78435720e-03 1.48986957e-04 9.99983259e-01 5.53775370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22028169299995 meters 0.03644226679903536 Centerline is valid? [True, True] Translation: X:214.16, Y:126.90, Z:0.55 [[ 1.66915512e-01 -9.85970738e-01 -9.57393326e-04 2.14157375e+02] [ 9.85947655e-01 1.66918157e-01 -6.74906142e-03 1.26902112e+02] [ 6.81418339e-03 1.82583334e-04 9.99976767e-01 5.51693689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250281693 meters 0.033588928939909946 Centerline is valid? [True, True] Translation: X:214.16, Y:126.93, Z:0.55 [[ 1.66573911e-01 -9.86028510e-01 -9.53908214e-04 2.14162676e+02] [ 9.86005507e-01 1.66576543e-01 -6.73753996e-03 1.26926731e+02] [ 6.80230522e-03 1.81739629e-04 9.99976848e-01 5.52447127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28028169299995 meters 0.03250975014944556 Centerline is valid? [True, True] Translation: X:214.17, Y:126.95, Z:0.55 [[ 1.65624531e-01 -9.86188569e-01 -7.87578065e-04 2.14165146e+02] [ 9.86172833e-01 1.65626339e-01 -5.57314792e-03 1.26951975e+02] [ 5.62661845e-03 1.46361922e-04 9.99984160e-01 5.54686191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310281693 meters 0.03247186855454207 Centerline is valid? [True, True] Translation: X:214.17, Y:126.98, Z:0.55 [[ 1.64414486e-01 -9.86391008e-01 -8.10634905e-04 2.14168203e+02] [ 9.86374275e-01 1.64416420e-01 -5.74724483e-03 1.26976019e+02] [ 5.80231230e-03 1.45340886e-04 9.99983156e-01 5.54276604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34028169299995 meters 0.03182589032104325 Centerline is valid? [True, True] Translation: X:214.17, Y:127.00, Z:0.55 [[ 1.61583041e-01 -9.86858542e-01 -1.06689984e-03 2.14171633e+02] [ 9.86829447e-01 1.61586472e-01 -7.57992262e-03 1.27000062e+02] [ 7.65270796e-03 1.71938766e-04 9.99970703e-01 5.49584553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370281693 meters 0.026910458582653597 Centerline is valid? [True, True] Translation: X:214.18, Y:127.02, Z:0.55 [[ 1.59008666e-01 -9.87276536e-01 -1.13409393e-03 2.14181017e+02] [ 9.87243540e-01 1.59012626e-01 -8.07330977e-03 1.27024512e+02] [ 8.15092456e-03 1.64099312e-04 9.99966767e-01 5.48947333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40028169299995 meters 0.023955753530163645 Centerline is valid? [True, True] Translation: X:214.19, Y:127.05, Z:0.55 [[ 1.56062371e-01 -9.87746607e-01 -1.08469406e-03 2.14188288e+02] [ 9.87716316e-01 1.56066082e-01 -7.73673487e-03 1.27048618e+02] [ 7.81121757e-03 1.36043169e-04 9.99969483e-01 5.50119633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430281693 meters 0.021550197617064008 Centerline is valid? [True, True] Translation: X:214.20, Y:127.07, Z:0.55 [[ 1.51776510e-01 -9.88414397e-01 -9.32772263e-04 2.14195809e+02] [ 9.88391922e-01 1.51779350e-01 -6.66619796e-03 1.27072049e+02] [ 6.73054161e-03 8.98276944e-05 9.99977346e-01 5.53178308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46028169299996 meters 0.019823982242294428 Centerline is valid? [True, True] Translation: X:214.20, Y:127.10, Z:0.55 [[ 1.50032748e-01 -9.88680611e-01 -9.07500691e-04 2.14202538e+02] [ 9.88659253e-01 1.50035473e-01 -6.49905548e-03 1.27096203e+02] [ 6.56164744e-03 7.78621994e-05 9.99978469e-01 5.54151567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490281693 meters 0.018766814493090894 Centerline is valid? [True, True] Translation: X:214.21, Y:127.12, Z:0.55 [[ 1.47496138e-01 -9.89062128e-01 -9.97636948e-04 2.14208384e+02] [ 9.89036212e-01 1.47499496e-01 -7.16030208e-03 1.27119262e+02] [ 7.22913456e-03 6.94178385e-05 9.99973867e-01 5.51569106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52028169299996 meters 0.018483025019979428 Centerline is valid? [True, True] Translation: X:214.21, Y:127.14, Z:0.55 [[ 1.46919273e-01 -9.89147958e-01 -1.02167217e-03 2.14212673e+02] [ 9.89120665e-01 1.46922809e-01 -7.34835492e-03 1.27143754e+02] [ 7.41871721e-03 6.90579025e-05 9.99972479e-01 5.50709228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550281693 meters 0.01852553510395178 Centerline is valid? [True, True] Translation: X:214.22, Y:127.17, Z:0.55 [[ 1.46638652e-01 -9.89189535e-01 -1.08116223e-03 2.14218787e+02] [ 9.89158842e-01 1.46642620e-01 -7.79275735e-03 1.27167901e+02] [ 7.86705849e-03 7.32782584e-05 9.99969052e-01 5.49782100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58028169299996 meters 0.018340880415995034 Centerline is valid? [True, True] Translation: X:214.22, Y:127.19, Z:0.55 [[ 1.46080086e-01 -9.89272167e-01 -1.08985808e-03 2.14222830e+02] [ 9.89240850e-01 1.46084134e-01 -7.87188072e-03 1.27192077e+02] [ 7.94664347e-03 7.17928760e-05 9.99968422e-01 5.50611662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.610281693 meters 0.018563560474404384 Centerline is valid? [True, True] Translation: X:214.23, Y:127.22, Z:0.55 [[ 1.45985381e-01 -9.89286194e-01 -1.04644217e-03 2.14225777e+02] [ 9.89257203e-01 1.45989114e-01 -7.57390706e-03 1.27217002e+02] [ 7.64553085e-03 7.04792473e-05 9.99970770e-01 5.52041644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64028169299996 meters 0.019316980476294775 Centerline is valid? [True, True] Translation: X:214.23, Y:127.24, Z:0.55 [[ 1.46649589e-01 -9.89188169e-01 -8.14984005e-04 2.14228815e+02] [ 9.89170514e-01 1.46651841e-01 -5.91035852e-03 1.27240353e+02] [ 5.96597563e-03 6.05935013e-05 9.99982202e-01 5.54524098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.670281693 meters 0.0196479971908617 Centerline is valid? [True, True] Translation: X:214.23, Y:127.26, Z:0.56 [[ 1.47118648e-01 -9.89118642e-01 -6.45171256e-04 2.14232963e+02] [ 9.89107534e-01 1.47120054e-01 -4.68783563e-03 1.27264420e+02] [ 4.73174324e-03 5.15242905e-05 9.99988804e-01 5.57164735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70028169299997 meters 0.021501028366027363 Centerline is valid? [True, True] Translation: X:214.23, Y:127.29, Z:0.56 [[ 1.49673204e-01 -9.88735426e-01 -4.35197897e-04 2.14232353e+02] [ 9.88730354e-01 1.49673830e-01 -3.16721978e-03 1.27290268e+02] [ 3.19668014e-03 4.37545629e-05 9.99994890e-01 5.61076405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73028169299994 meters 0.023325437985855988 Centerline is valid? [True, True] Translation: X:214.23, Y:127.31, Z:0.56 [[ 1.51224895e-01 -9.88499306e-01 -3.92289682e-04 2.14230387e+02] [ 9.88495169e-01 1.51225398e-01 -2.86016814e-03 1.27314955e+02] [ 2.88659838e-03 4.47521715e-05 9.99995833e-01 5.61750802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76028169299997 meters 0.023854196745178358 Centerline is valid? [True, True] Translation: X:214.23, Y:127.34, Z:0.56 [[ 1.52237451e-01 -9.88343883e-01 -3.56572061e-04 2.14230841e+02] [ 9.88340452e-01 1.52237862e-01 -2.60459492e-03 1.27340418e+02] [ 2.62851922e-03 4.41022984e-05 9.99996544e-01 5.62993903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79028169299994 meters 0.023854196745178358 Centerline is valid? [True, True] Translation: X:214.23, Y:127.36, Z:0.56 [[ 1.51955748e-01 -9.88387234e-01 -3.55874522e-04 2.14233749e+02] [ 9.88383803e-01 1.51956159e-01 -2.60469025e-03 1.27364405e+02] [ 2.62851991e-03 4.40570421e-05 9.99996544e-01 5.63041952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82028169299997 meters 0.025946643285521168 Centerline is valid? [True, True] Translation: X:214.23, Y:127.39, Z:0.57 [[ 1.54066236e-01 -9.88060498e-01 -2.16964832e-04 2.14231565e+02] [ 9.88059220e-01 1.54066386e-01 -1.58977410e-03 1.27389958e+02] [ 1.60421998e-03 3.05564102e-05 9.99998713e-01 5.65133063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85028169299994 meters 0.02922563822024691 Centerline is valid? [True, True] Translation: X:214.23, Y:127.41, Z:0.56 [[ 1.55131403e-01 -9.87893811e-01 -2.58998300e-04 2.14228712e+02] [ 9.87891979e-01 1.55131614e-01 -1.90244065e-03 1.27414962e+02] [ 1.91958817e-03 3.92659432e-05 9.99998157e-01 5.64785480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880281693 meters 0.02956457117105464 Centerline is valid? [True, True] Translation: X:214.23, Y:127.44, Z:0.56 [[ 1.57554985e-01 -9.87510069e-01 -5.39238708e-04 2.14225477e+02] [ 9.87502084e-01 1.57555880e-01 -3.97234697e-03 1.27441433e+02] [ 4.00769286e-03 9.33637193e-05 9.99991965e-01 5.61447583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91028169299994 meters 0.03178966298108116 Centerline is valid? [True, True] Translation: X:214.22, Y:127.47, Z:0.56 [[ 1.58651579e-01 -9.87334406e-01 -6.68046474e-04 2.14221828e+02] [ 9.87322095e-01 1.58652938e-01 -4.93204573e-03 1.27467045e+02] [ 4.97556598e-03 1.22899800e-04 9.99987614e-01 5.59943369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940281693 meters 0.03559970868956888 Centerline is valid? [True, True] Translation: X:214.22, Y:127.49, Z:0.56 [[ 1.59320143e-01 -9.87226702e-01 -7.28615034e-04 2.14216642e+02] [ 9.87211995e-01 1.59321748e-01 -5.39048305e-03 1.27492557e+02] [ 5.43771302e-03 1.39515031e-04 9.99985206e-01 5.59996564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97028169299995 meters 0.033313623909247664 Centerline is valid? [True, True] Translation: X:214.22, Y:127.52, Z:0.57 [[ 1.59441502e-01 -9.87207248e-01 -5.05937498e-04 2.14216522e+02] [ 9.87200133e-01 1.59442275e-01 -3.74956330e-03 1.27516979e+02] [ 3.78226389e-03 9.83744398e-05 9.99992842e-01 5.65106653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000281693 meters 0.033665776035045496 Centerline is valid? [True, True] Translation: X:214.21, Y:127.54, Z:0.57 [[ 1.57800358e-01 -9.87470990e-01 -3.01772443e-04 2.14211622e+02] [ 9.87468452e-01 1.57800637e-01 -2.23950637e-03 1.27542121e+02] [ 2.25906745e-03 5.54041391e-05 9.99997447e-01 5.65565545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03028169299995 meters 0.030377119215239223 Centerline is valid? [True, True] Translation: X:214.22, Y:127.57, Z:0.57 [[ 1.56378335e-01 -9.87697161e-01 -3.67975396e-04 2.14216728e+02] [ 9.87693370e-01 1.56378754e-01 -2.73733218e-03 1.27566561e+02] [ 2.76119876e-03 6.46125897e-05 9.99996186e-01 5.65041950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060281693 meters 0.03124616560557551 Centerline is valid? [True, True] Translation: X:214.22, Y:127.59, Z:0.56 [[ 1.54693707e-01 -9.87962373e-01 -4.54348664e-04 2.14216087e+02] [ 9.87956568e-01 1.54694356e-01 -3.38773997e-03 1.27590945e+02] [ 3.41724479e-03 7.51853060e-05 9.99994158e-01 5.63755159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09028169299995 meters 0.030201733948510494 Centerline is valid? [True, True] Translation: X:214.22, Y:127.61, Z:0.56 [[ 1.53095022e-01 -9.88211328e-01 -5.34194524e-04 2.14218417e+02] [ 9.88203268e-01 1.53095931e-01 -3.99202742e-03 1.27614934e+02] [ 4.02674973e-03 8.32667495e-05 9.99991889e-01 5.63467648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120281693 meters 0.025313697598842208 Centerline is valid? [True, True] Translation: X:214.22, Y:127.64, Z:0.56 [[ 1.49783291e-01 -9.88718671e-01 -5.96066707e-04 2.14222237e+02] [ 9.88708598e-01 1.49784456e-01 -4.46379812e-03 1.27639989e+02] [ 4.50272208e-03 7.92660971e-05 9.99989860e-01 5.63689200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15028169299995 meters 0.022653959089274842 Centerline is valid? [True, True] Translation: X:214.22, Y:127.67, Z:0.56 [[ 1.46671472e-01 -9.89184987e-01 -7.34991936e-04 2.14223610e+02] [ 9.89169612e-01 1.46673291e-01 -5.51589119e-03 1.27665125e+02] [ 5.56404045e-03 8.19921950e-05 9.99984517e-01 5.61777862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180281693 meters 0.0216539450980014 Centerline is valid? [True, True] Translation: X:214.23, Y:127.69, Z:0.56 [[ 1.45142724e-01 -9.89410339e-01 -8.77782822e-04 2.14226583e+02] [ 9.89388316e-01 1.45145350e-01 -6.60205878e-03 1.27689952e+02] [ 6.65955131e-03 8.97727240e-05 9.99977821e-01 5.59608905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21028169299996 meters 0.02143140151780666 Centerline is valid? [True, True] Translation: X:214.23, Y:127.71, Z:0.56 [[ 1.43631817e-01 -9.89630659e-01 -1.02927370e-03 2.14228635e+02] [ 9.89600243e-01 1.43635473e-01 -7.75948695e-03 1.27713716e+02] [ 7.82686640e-03 9.59397033e-05 9.99969365e-01 5.56698217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240281693 meters 0.018866654223129508 Centerline is valid? [True, True] Translation: X:214.23, Y:127.74, Z:0.56 [[ 1.40411106e-01 -9.90092798e-01 -9.86069824e-04 2.14233074e+02] [ 9.90064778e-01 1.40414551e-01 -7.44911052e-03 1.27738714e+02] [ 7.51376923e-03 6.96648437e-05 9.99971769e-01 5.56655543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27028169299996 meters 0.018104319892280535 Centerline is valid? [True, True] Translation: X:214.24, Y:127.76, Z:0.56 [[ 1.39219583e-01 -9.90261148e-01 -8.75004613e-04 2.14235374e+02] [ 9.90238997e-01 1.39222322e-01 -6.62369268e-03 1.27762879e+02] [ 6.68100570e-03 5.56840432e-05 9.99977680e-01 5.59486491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300281693 meters 0.018369441156952434 Centerline is valid? [True, True] Translation: X:214.23, Y:127.79, Z:0.56 [[ 1.39808648e-01 -9.90178246e-01 -7.63894034e-04 2.14234113e+02] [ 9.90161289e-01 1.39810724e-01 -5.79505820e-03 1.27787385e+02] [ 5.84494114e-03 5.38209486e-05 9.99982917e-01 5.61445969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33028169299996 meters 0.01894298429416796 Centerline is valid? [True, True] Translation: X:214.23, Y:127.81, Z:0.56 [[ 1.40270990e-01 -9.90112897e-01 -7.08157857e-04 2.14233633e+02] [ 9.90098257e-01 1.40272767e-01 -5.38448494e-03 1.27810782e+02] [ 5.43058324e-03 5.41411749e-05 9.99985253e-01 5.62227020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.360281693 meters 0.019530447634497964 Centerline is valid? [True, True] Translation: X:214.23, Y:127.84, Z:0.56 [[ 1.41140628e-01 -9.89989375e-01 -6.00196445e-04 2.14230272e+02] [ 9.89978813e-01 1.41141894e-01 -4.57330379e-03 1.27835918e+02] [ 4.61223502e-03 5.12972024e-05 9.99989362e-01 5.64550801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39028169299996 meters 0.019914327665721217 Centerline is valid? [True, True] Translation: X:214.23, Y:127.86, Z:0.56 [[ 1.41418381e-01 -9.89949726e-01 -6.18150722e-04 2.14230013e+02] [ 9.89938472e-01 1.41419721e-01 -4.72067670e-03 1.27860700e+02] [ 4.76065131e-03 5.56592754e-05 9.99988667e-01 5.64067195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.420281693 meters 0.020760157454707384 Centerline is valid? [True, True] Translation: X:214.23, Y:127.88, Z:0.56 [[ 1.41150005e-01 -9.89988004e-01 -6.53941104e-04 2.14230132e+02] [ 9.89975353e-01 1.41151508e-01 -5.00527699e-03 1.27884994e+02] [ 5.04746895e-03 5.91092985e-05 9.99987260e-01 5.63407024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45028169299997 meters 0.01859666483019555 Centerline is valid? [True, True] Translation: X:214.24, Y:127.91, Z:0.56 [[ 1.38398510e-01 -9.90376437e-01 -6.03859574e-04 2.14236453e+02] [ 9.90365609e-01 1.38399821e-01 -4.63139294e-03 1.27909474e+02] [ 4.67039650e-03 4.29361281e-05 9.99989093e-01 5.63755938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48028169299994 meters 0.015489370992278343 Centerline is valid? [True, True] Translation: X:214.25, Y:127.93, Z:0.56 [[ 1.33480505e-01 -9.91051243e-01 -6.23818833e-04 2.14246452e+02] [ 9.91039645e-01 1.33481961e-01 -4.79466080e-03 1.27933228e+02] [ 4.83502311e-03 2.17645528e-05 9.99988311e-01 5.63865501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51028169299997 meters 0.014878388569241273 Centerline is valid? [True, True] Translation: X:214.25, Y:127.96, Z:0.56 [[ 1.31009239e-01 -9.91380950e-01 -6.25593610e-04 2.14251808e+02] [ 9.91369237e-01 1.31010732e-01 -4.81916380e-03 1.27956121e+02] [ 4.85958666e-03 1.11607228e-05 9.99988192e-01 5.63463059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54028169299994 meters 0.014764571861060536 Centerline is valid? [True, True] Translation: X:214.26, Y:127.98, Z:0.56 [[ 1.29374637e-01 -9.91595576e-01 -6.45610630e-04 2.14256356e+02] [ 9.91583045e-01 1.29376248e-01 -4.98503897e-03 1.27979036e+02] [ 5.02666927e-03 4.76105400e-06 9.99987366e-01 5.62986483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57028169299997 meters 0.014801557545366311 Centerline is valid? [True, True] Translation: X:214.26, Y:128.00, Z:0.56 [[ 1.27768732e-01 -9.91803778e-01 -6.46371992e-04 2.14261231e+02] [ 9.91791165e-01 1.27770367e-01 -5.00190087e-03 1.28002756e+02] [ 5.04349136e-03 -1.97949874e-06 9.99987282e-01 5.63846968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60028169299994 meters 0.014815883401582554 Centerline is valid? [True, True] Translation: X:214.26, Y:128.03, Z:0.56 [[ 1.27348070e-01 -9.91857862e-01 -6.71997374e-04 2.14263667e+02] [ 9.91844170e-01 1.27349843e-01 -5.21150217e-03 1.28026881e+02] [ 5.25464816e-03 -2.84193268e-06 9.99986194e-01 5.63747324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630281693 meters 0.014842262226637197 Centerline is valid? [True, True] Translation: X:214.27, Y:128.05, Z:0.56 [[ 1.26406576e-01 -9.91978183e-01 -8.13400477e-04 2.14266160e+02] [ 9.91958032e-01 1.26409193e-01 -6.32287506e-03 1.28051002e+02] [ 6.37497541e-03 -7.60614698e-06 9.99979680e-01 5.61741529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66028169299994 meters 0.015230329367829304 Centerline is valid? [True, True] Translation: X:214.27, Y:128.08, Z:0.56 [[ 1.25729501e-01 -9.92064084e-01 -9.72407980e-04 2.14270273e+02] [ 9.92035152e-01 1.25733261e-01 -7.57653427e-03 1.28075157e+02] [ 7.63867155e-03 -1.20690263e-05 9.99970825e-01 5.58808190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690281693 meters 0.015376705410700117 Centerline is valid? [True, True] Translation: X:214.28, Y:128.10, Z:0.56 [[ 1.25295763e-01 -9.92118958e-01 -9.72540671e-04 2.14275987e+02] [ 9.92089896e-01 1.25299537e-01 -7.59371201e-03 1.28098574e+02] [ 7.65572454e-03 -1.33878317e-05 9.99970694e-01 5.57857453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72028169299995 meters 0.014898555964901012 Centerline is valid? [True, True] Translation: X:214.28, Y:128.12, Z:0.56 [[ 1.25499535e-01 -9.92093359e-01 -7.96255737e-04 2.14278136e+02] [ 9.92073799e-01 1.25502061e-01 -6.22977999e-03 1.28123657e+02] [ 6.28045509e-03 -8.10995945e-06 9.99980278e-01 5.61361032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750281693 meters 0.014637997207972202 Centerline is valid? [True, True] Translation: X:214.28, Y:128.15, Z:0.56 [[ 1.25769995e-01 -9.92059208e-01 -6.60890019e-04 2.14279329e+02] [ 9.92045677e-01 1.25771731e-01 -5.18142080e-03 1.28148322e+02] [ 5.22339749e-03 -3.96581842e-06 9.99986358e-01 5.64183197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78028169299995 meters 0.014561048767306075 Centerline is valid? [True, True] Translation: X:214.28, Y:128.17, Z:0.56 [[ 1.26757125e-01 -9.91933635e-01 -5.43601494e-04 2.14279132e+02] [ 9.91924442e-01 1.26758291e-01 -4.27038416e-03 1.28172651e+02] [ 4.30484368e-03 2.09000978e-06 9.99990734e-01 5.64958419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810281693 meters 0.014532352961725045 Centerline is valid? [True, True] Translation: X:214.28, Y:128.20, Z:0.56 [[ 1.27000206e-01 -9.91902541e-01 -5.44793057e-04 2.14280921e+02] [ 9.91893268e-01 1.27001375e-01 -4.28909619e-03 1.28196848e+02] [ 4.32355488e-03 4.33953580e-06 9.99990653e-01 5.64761117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84028169299995 meters 0.01474722317795859 Centerline is valid? [True, True] Translation: X:214.28, Y:128.22, Z:0.57 [[ 1.27541668e-01 -9.91833100e-01 -4.73513908e-04 2.14282881e+02] [ 9.91826065e-01 1.27542547e-01 -3.73572205e-03 1.28221927e+02] [ 3.76560595e-03 6.81678750e-06 9.99992910e-01 5.65587747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870281693 meters 0.014767102503878412 Centerline is valid? [True, True] Translation: X:214.29, Y:128.25, Z:0.57 [[ 1.27827060e-01 -9.91796358e-01 -4.75789638e-04 2.14285736e+02] [ 9.91789223e-01 1.27827946e-01 -3.76219991e-03 1.28246009e+02] [ 3.79215539e-03 9.02792020e-06 9.99992810e-01 5.65962507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90028169299995 meters 0.015107883478544517 Centerline is valid? [True, True] Translation: X:214.29, Y:128.27, Z:0.57 [[ 1.28434170e-01 -9.91717910e-01 -5.00300354e-04 2.14288516e+02] [ 9.91709983e-01 1.28435144e-01 -3.96538988e-03 1.28269901e+02] [ 3.99680431e-03 1.31387037e-05 9.99992013e-01 5.65045365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930281693 meters 0.01621441328567867 Centerline is valid? [True, True] Translation: X:214.29, Y:128.29, Z:0.56 [[ 1.30440633e-01 -9.91455857e-01 -7.23866342e-04 2.14290331e+02] [ 9.91439172e-01 1.30442638e-01 -5.75212268e-03 1.28294355e+02] [ 5.79739876e-03 3.26410774e-05 9.99983194e-01 5.62924358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96028169299996 meters 0.016614337129930892 Centerline is valid? [True, True] Translation: X:214.29, Y:128.32, Z:0.56 [[ 1.30954064e-01 -9.91388083e-01 -8.37392012e-04 2.14291785e+02] [ 9.91365649e-01 1.30956735e-01 -6.66967426e-03 1.28319094e+02] [ 6.72189770e-03 4.32592775e-05 9.99977407e-01 5.62258139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990281693 meters 0.01685172081214227 Centerline is valid? [True, True] Translation: X:214.29, Y:128.34, Z:0.56 [[ 1.30466279e-01 -9.91452331e-01 -9.08643719e-04 2.14294694e+02] [ 9.91425792e-01 1.30469435e-01 -7.25432703e-03 1.28342531e+02] [ 7.31086967e-03 4.55922344e-05 9.99973274e-01 5.59491537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02028169299996 meters 0.01638293284890023 Centerline is valid? [True, True] Translation: X:214.30, Y:128.37, Z:0.56 [[ 1.29377969e-01 -9.91594983e-01 -8.54813544e-04 2.14300009e+02] [ 9.91571394e-01 1.29380787e-01 -6.83976899e-03 1.28367046e+02] [ 6.89287706e-03 3.73067623e-05 9.99976243e-01 5.59460310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050281693 meters 0.016209287543204706 Centerline is valid? [True, True] Translation: X:214.30, Y:128.39, Z:0.56 [[ 1.28841647e-01 -9.91664864e-01 -7.91564362e-04 2.14304909e+02] [ 9.91644550e-01 1.28844075e-01 -6.34753665e-03 1.28390893e+02] [ 6.39661745e-03 3.28765928e-05 9.99979541e-01 5.60430240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08028169299996 meters 0.016105442655189595 Centerline is valid? [True, True] Translation: X:214.31, Y:128.42, Z:0.56 [[ 1.28790263e-01 -9.91671652e-01 -6.35195874e-04 2.14308997e+02] [ 9.91658518e-01 1.28791826e-01 -5.10381922e-03 1.28415720e+02] [ 5.14312087e-03 2.74248201e-05 9.99986774e-01 5.63231445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.110281693 meters 0.015924882539001293 Centerline is valid? [True, True] Translation: X:214.31, Y:128.44, Z:0.57 [[ 1.28387696e-01 -9.91723900e-01 -5.52297072e-04 2.14312163e+02] [ 9.91713932e-01 1.28388882e-01 -4.44666359e-03 1.28440653e+02] [ 4.48077136e-03 2.31761941e-05 9.99989961e-01 5.65196588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14028169299996 meters 0.015378689846980329 Centerline is valid? [True, True] Translation: X:214.32, Y:128.46, Z:0.57 [[ 1.27215059e-01 -9.91875079e-01 -3.95689535e-04 2.14317628e+02] [ 9.91869944e-01 1.27215674e-01 -3.19162813e-03 1.28463361e+02] [ 3.21603432e-03 1.35506047e-05 9.99994828e-01 5.67898286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.170281693 meters 0.015050618133595003 Centerline is valid? [True, True] Translation: X:214.32, Y:128.49, Z:0.57 [[ 1.26151910e-01 -9.92010826e-01 -4.65130056e-04 2.14321837e+02] [ 9.92003696e-01 1.26152767e-01 -3.76105954e-03 1.28487449e+02] [ 3.78968923e-03 1.30541100e-05 9.99992819e-01 5.66725233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20028169299997 meters 0.01464654016719357 Centerline is valid? [True, True] Translation: X:214.33, Y:128.51, Z:0.56 [[ 1.24452856e-01 -9.92225339e-01 -6.02875312e-04 2.14327837e+02] [ 9.92213301e-01 1.24454316e-01 -4.88750604e-03 1.28511595e+02] [ 4.92453777e-03 1.00831838e-05 9.99987874e-01 5.64170631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23028169299994 meters 0.01477228348633579 Centerline is valid? [True, True] Translation: X:214.33, Y:128.54, Z:0.56 [[ 1.23795539e-01 -9.92307533e-01 -6.51156313e-04 2.14331610e+02] [ 9.92293421e-01 1.23797252e-01 -5.29226956e-03 1.28535033e+02] [ 5.33217032e-03 9.02123948e-06 9.99985784e-01 5.62782432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26028169299997 meters 0.01468188213759775 Centerline is valid? [True, True] Translation: X:214.34, Y:128.56, Z:0.56 [[ 1.23264582e-01 -9.92373640e-01 -6.34292222e-04 2.14338128e+02] [ 9.92360188e-01 1.23266214e-01 -5.16706347e-03 1.28559475e+02] [ 5.20584439e-03 7.46957086e-06 9.99986449e-01 5.63997244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29028169299994 meters 0.014675172528448735 Centerline is valid? [True, True] Translation: X:214.34, Y:128.58, Z:0.56 [[ 1.23197245e-01 -9.92382031e-01 -5.85294890e-04 2.14340603e+02] [ 9.92370525e-01 1.23198635e-01 -4.77894511e-03 1.28581693e+02] [ 4.81464679e-03 7.92347298e-06 9.99988410e-01 5.64598738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32028169299997 meters 0.014871323367493151 Centerline is valid? [True, True] Translation: X:214.34, Y:128.61, Z:0.57 [[ 1.23348997e-01 -9.92363222e-01 -5.10270073e-04 2.14342303e+02] [ 9.92354436e-01 1.23350052e-01 -4.17584216e-03 1.28605721e+02] [ 4.20689402e-03 8.71717105e-06 9.99991151e-01 5.65290034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35028169299994 meters 0.015573501508730145 Centerline is valid? [True, True] Translation: X:214.34, Y:128.63, Z:0.57 [[ 1.25173725e-01 -9.92134787e-01 -3.21880472e-04 2.14339945e+02] [ 9.92131278e-01 1.25174138e-01 -2.63870307e-03 1.28629359e+02] [ 2.65824022e-03 1.09486088e-05 9.99996467e-01 5.68243177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380281693 meters 0.016121225357891573 Centerline is valid? [True, True] Translation: X:214.34, Y:128.65, Z:0.57 [[ 1.26751204e-01 -9.91934493e-01 -3.07283537e-04 2.14340056e+02] [ 9.91931279e-01 1.26751575e-01 -2.52495213e-03 1.28654609e+02] [ 2.54353578e-03 1.52365688e-05 9.99996765e-01 5.68263581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41028169299994 meters 0.018637345612369734 Centerline is valid? [True, True] Translation: X:214.34, Y:128.68, Z:0.57 [[ 1.30241276e-01 -9.91482280e-01 -3.13555584e-04 2.14335530e+02] [ 9.91478917e-01 1.30241651e-01 -2.58244298e-03 1.28679509e+02] [ 2.60128445e-03 2.54569171e-05 9.99996616e-01 5.67759567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440281693 meters 0.018810032983109914 Centerline is valid? [True, True] Translation: X:214.34, Y:128.70, Z:0.57 [[ 1.30231435e-01 -9.91483602e-01 -2.00193290e-04 2.14337014e+02] [ 9.91482228e-01 1.30231588e-01 -1.65059420e-03 1.28703720e+02] [ 1.66260857e-03 1.64711630e-05 9.99998618e-01 5.69302726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47028169299995 meters 0.016758351241276396 Centerline is valid? [True, True] Translation: X:214.35, Y:128.73, Z:0.57 [[ 1.26769582e-01 -9.91932188e-01 -8.88153447e-05 2.14345656e+02] [ 9.91931918e-01 1.26769613e-01 -7.31445268e-04 1.28726632e+02] [ 7.36803192e-04 4.62623561e-06 9.99999729e-01 5.70597082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500281693 meters 0.015038981712678185 Centerline is valid? [True, True] Translation: X:214.36, Y:128.75, Z:0.57 [[ 1.23275630e-01 -9.92372464e-01 -1.05846168e-04 2.14355486e+02] [ 9.92372079e-01 1.23275676e-01 -8.74746902e-04 1.28750749e+02] [ 8.81122997e-04 2.79619417e-06 9.99999612e-01 5.70069030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53028169299995 meters 0.01558778924647325 Centerline is valid? [True, True] Translation: X:214.37, Y:128.77, Z:0.57 [[ 1.14402642e-01 -9.93434424e-01 -2.85519748e-04 2.14373153e+02] [ 9.93431591e-01 1.14402997e-01 -2.37245677e-03 1.28772161e+02] [ 2.38954454e-03 -1.22290159e-05 9.99997145e-01 5.66639395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560281693 meters 0.017957185728829195 Centerline is valid? [True, True] Translation: X:214.38, Y:128.80, Z:0.57 [[ 1.10268665e-01 -9.93901747e-01 -3.72801345e-04 2.14383026e+02] [ 9.93896893e-01 1.10269291e-01 -3.10649804e-03 1.28795527e+02] [ 3.12866237e-03 -2.79767082e-05 9.99995105e-01 5.65401662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59028169299995 meters 0.021849798158243967 Centerline is valid? [True, True] Translation: X:214.40, Y:128.82, Z:0.57 [[ 1.05449482e-01 -9.94424638e-01 -2.14234464e-04 2.14398108e+02] [ 9.94423032e-01 1.05449696e-01 -1.78732663e-03 1.28816933e+02] [ 1.79995259e-03 -2.45670196e-05 9.99998380e-01 5.68371854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620281693 meters 0.02249095231538208 Centerline is valid? [True, True] Translation: X:214.40, Y:128.84, Z:0.57 [[ 1.04389517e-01 -9.94536482e-01 -1.22374860e-04 2.14404604e+02] [ 9.94535957e-01 1.04389588e-01 -1.02157208e-03 1.28841124e+02] [ 1.02876536e-03 -1.50647828e-05 9.99999471e-01 5.70359374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65028169299995 meters 0.022408611815050054 Centerline is valid? [True, True] Translation: X:214.41, Y:128.86, Z:0.57 [[ 1.04371713e-01 -9.94538349e-01 -1.33137317e-04 2.14408292e+02] [ 9.94537725e-01 1.04371796e-01 -1.11415932e-03 1.28863453e+02] [ 1.12196995e-03 -1.61233685e-05 9.99999370e-01 5.70594065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680281693 meters 0.022408611815050054 Centerline is valid? [True, True] Translation: X:214.41, Y:128.89, Z:0.57 [[ 1.04082985e-01 -9.94568607e-01 -1.32797201e-04 2.14410611e+02] [ 9.94567983e-01 1.04083068e-01 -1.11419981e-03 1.28886668e+02] [ 1.12197010e-03 -1.61066022e-05 9.99999370e-01 5.70640448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71028169299996 meters 0.01949293799190209 Centerline is valid? [True, True] Translation: X:214.41, Y:128.91, Z:0.57 [[ 1.06235241e-01 -9.94340960e-01 -3.59640242e-04 2.14409939e+02] [ 9.94336334e-01 1.06235844e-01 -3.03313835e-03 1.28912250e+02] [ 3.05418038e-03 -3.53771761e-05 9.99995335e-01 5.66128852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740281693 meters 0.01815211329465298 Centerline is valid? [True, True] Translation: X:214.41, Y:128.94, Z:0.56 [[ 1.08430083e-01 -9.94103893e-01 -6.05772118e-04 2.14414444e+02] [ 9.94090687e-01 1.08431765e-01 -5.12423051e-03 1.28935856e+02] [ 5.15970244e-03 -4.65716825e-05 9.99986688e-01 5.61979334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77028169299996 meters 0.018316089368017312 Centerline is valid? [True, True] Translation: X:214.42, Y:128.96, Z:0.56 [[ 1.08672859e-01 -9.94077381e-01 -6.08805981e-04 2.14419401e+02] [ 9.94063976e-01 1.08674555e-01 -5.16256616e-03 1.28958788e+02] [ 5.19815197e-03 -4.41612720e-05 9.99986489e-01 5.62003798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800281693 meters 0.017222278077422923 Centerline is valid? [True, True] Translation: X:214.42, Y:128.98, Z:0.56 [[ 1.08595902e-01 -9.94085795e-01 -6.01342867e-04 2.14420653e+02] [ 9.94072653e-01 1.08597558e-01 -5.11183257e-03 1.28983584e+02] [ 5.14690452e-03 -4.26544313e-05 9.99986754e-01 5.63236018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83028169299996 meters 0.01682308186238106 Centerline is valid? [True, True] Translation: X:214.42, Y:129.01, Z:0.56 [[ 1.08551119e-01 -9.94090686e-01 -6.02231435e-04 2.14423589e+02] [ 9.94077438e-01 1.08552781e-01 -5.13240728e-03 1.29007707e+02] [ 5.16745217e-03 -4.15361306e-05 9.99986648e-01 5.62774297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.860281693 meters 0.016508211220552124 Centerline is valid? [True, True] Translation: X:214.43, Y:129.03, Z:0.56 [[ 1.08702682e-01 -9.94074139e-01 -5.77600380e-04 2.14427140e+02] [ 9.94061890e-01 1.08704210e-01 -4.93497739e-03 1.29031958e+02] [ 4.96852099e-03 -3.77252460e-05 9.99987656e-01 5.63222387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89028169299996 meters 0.01691116426932331 Centerline is valid? [True, True] Translation: X:214.43, Y:129.05, Z:0.56 [[ 1.09311804e-01 -9.94007418e-01 -4.27589649e-04 2.14432187e+02] [ 9.94000676e-01 1.09312637e-01 -3.66109712e-03 1.29054917e+02] [ 3.68589865e-03 -2.48232700e-05 9.99993207e-01 5.64790360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.920281693 meters 0.01505122743431604 Centerline is valid? [True, True] Translation: X:214.43, Y:129.08, Z:0.57 [[ 1.11866733e-01 -9.93723205e-01 -1.58164773e-04 2.14429401e+02] [ 9.93722282e-01 1.11866845e-01 -1.35440067e-03 1.29079734e+02] [ 1.36359277e-03 -5.65948087e-06 9.99999070e-01 5.70175664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95028169299997 meters 0.014386396556059935 Centerline is valid? [True, True] Translation: X:214.43, Y:129.10, Z:0.57 [[ 1.13520663e-01 -9.93535630e-01 -1.07219010e-04 2.14428621e+02] [ 9.93535205e-01 1.13520714e-01 -9.18894843e-04 1.29103991e+02] [ 9.25126345e-04 -2.21230906e-06 9.99999572e-01 5.70868552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98028169299994 meters 0.014469708901808492 Centerline is valid? [True, True] Translation: X:214.43, Y:129.13, Z:0.57 [[ 1.16731965e-01 -9.93163444e-01 -1.47662414e-04 2.14426937e+02] [ 9.93162631e-01 1.16732059e-01 -1.27066294e-03 1.29129305e+02] [ 1.27921292e-03 1.67419128e-06 9.99999182e-01 5.68802306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01028169299997 meters 0.014673681756215667 Centerline is valid? [True, True] Translation: X:214.43, Y:129.15, Z:0.57 [[ 1.17511232e-01 -9.93071529e-01 -2.21730826e-04 2.14429240e+02] [ 9.93069682e-01 1.17511441e-01 -1.91523752e-03 1.29154048e+02] [ 1.92802376e-03 4.86775862e-06 9.99998141e-01 5.67796593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04028169299994 meters 0.015199393601237954 Centerline is valid? [True, True] Translation: X:214.43, Y:129.18, Z:0.57 [[ 1.18286013e-01 -9.92979529e-01 -2.71991758e-04 2.14430317e+02] [ 9.92976733e-01 1.18286325e-01 -2.35642871e-03 1.29177952e+02] [ 2.37205837e-03 8.65106879e-06 9.99997187e-01 5.67516763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07028169299997 meters 0.016058291352034685 Centerline is valid? [True, True] Translation: X:214.43, Y:129.20, Z:0.57 [[ 1.19441619e-01 -9.92841213e-01 -1.62027702e-04 2.14430373e+02] [ 9.92840218e-01 1.19441729e-01 -1.40532861e-03 1.29200918e+02] [ 1.41462103e-03 6.98710662e-06 9.99998999e-01 5.70070692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10028169299994 meters 0.01590961286714322 Centerline is valid? [True, True] Translation: X:214.43, Y:129.23, Z:0.57 [[ 1.20097456e-01 -9.92762102e-01 -1.00879423e-04 2.14434992e+02] [ 9.92761716e-01 1.20097498e-01 -8.75396910e-04 1.29225216e+02] [ 8.81176243e-04 4.98371250e-06 9.99999612e-01 5.69732262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130281693 meters 0.0161938787859218 Centerline is valid? [True, True] Translation: X:214.44, Y:129.25, Z:0.57 [[ 1.20415695e-01 -9.92723547e-01 -1.43065779e-04 2.14437065e+02] [ 9.92722764e-01 1.20415780e-01 -1.24667657e-03 1.29249600e+02] [ 1.25483256e-03 8.09477029e-06 9.99999213e-01 5.68706699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16028169299994 meters 0.017274229449813862 Centerline is valid? [True, True] Translation: X:214.44, Y:129.27, Z:0.57 [[ 1.21072733e-01 -9.92643604e-01 -2.61464774e-04 2.14437011e+02] [ 9.92640967e-01 1.21073014e-01 -2.28816294e-03 1.29273368e+02] [ 2.30298663e-03 1.74934947e-05 9.99997348e-01 5.67336500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190281693 meters 0.018124416917820685 Centerline is valid? [True, True] Translation: X:214.44, Y:129.30, Z:0.57 [[ 1.22620204e-01 -9.92453641e-01 -2.38145926e-04 2.14436033e+02] [ 9.92451443e-01 1.22620434e-01 -2.08861693e-03 1.29299009e+02] [ 2.10205703e-03 1.97583656e-05 9.99997791e-01 5.67699102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22028169299995 meters 0.018577275642233135 Centerline is valid? [True, True] Translation: X:214.44, Y:129.32, Z:0.57 [[ 1.22982520e-01 -9.92408832e-01 -9.56310233e-05 2.14437697e+02] [ 9.92408479e-01 1.22982557e-01 -8.37703412e-04 1.29324090e+02] [ 8.43105213e-04 8.11783823e-06 9.99999645e-01 5.69970692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250281693 meters 0.01827299884453033 Centerline is valid? [True, True] Translation: X:214.44, Y:129.35, Z:0.57 [[ 1.22342617e-01 -9.92487922e-01 9.87269243e-05 2.14443651e+02] [ 9.92487534e-01 1.22342657e-01 8.77006974e-04 1.29348679e+02] [-8.82497343e-04 -9.31008689e-06 9.99999611e-01 5.73665451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28028169299995 meters 0.017710305166714367 Centerline is valid? [True, True] Translation: X:214.45, Y:129.37, Z:0.57 [[ 1.21253806e-01 -9.92621535e-01 4.47605111e-05 2.14448027e+02] [ 9.92621454e-01 1.21253814e-01 4.00933872e-04 1.29372279e+02] [-4.03402978e-04 -4.18451434e-06 9.99999919e-01 5.72611060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310281693 meters 0.016906573031350926 Centerline is valid? [True, True] Translation: X:214.45, Y:129.40, Z:0.57 [[ 1.19680959e-01 -9.92812403e-01 -3.39691517e-05 2.14453218e+02] [ 9.92812358e-01 1.19680964e-01 -2.96612527e-04 1.29396036e+02] [ 2.98546057e-04 1.77387808e-06 9.99999955e-01 5.70634443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34028169299995 meters 0.015091432075974218 Centerline is valid? [True, True] Translation: X:214.47, Y:129.42, Z:0.57 [[ 1.15636150e-01 -9.93291615e-01 -2.21808344e-04 2.14466582e+02] [ 9.93289664e-01 1.15636362e-01 -1.96870677e-03 1.29420045e+02] [ 1.98114904e-03 7.33373544e-06 9.99998038e-01 5.66420360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370281693 meters 0.014223943123602513 Centerline is valid? [True, True] Translation: X:214.48, Y:129.44, Z:0.57 [[ 1.11434083e-01 -9.93771785e-01 -2.90508014e-04 2.14484074e+02] [ 9.93768420e-01 1.11434462e-01 -2.58607656e-03 1.29442098e+02] [ 2.60234252e-03 -5.20619349e-07 9.99996614e-01 5.66275885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40028169299995 meters 0.014387252126133109 Centerline is valid? [True, True] Translation: X:214.49, Y:129.47, Z:0.57 [[ 1.09422338e-01 -9.93995301e-01 -3.05662484e-04 2.14492482e+02] [ 9.93991557e-01 1.09422765e-01 -2.72818857e-03 1.29466074e+02] [ 2.74525305e-03 -5.30115706e-06 9.99996232e-01 5.66116903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430281693 meters 0.014429111192700631 Centerline is valid? [True, True] Translation: X:214.50, Y:129.49, Z:0.57 [[ 1.09008022e-01 -9.94040806e-01 -3.57383750e-04 2.14497814e+02] [ 9.94035659e-01 1.09008608e-01 -3.19890849e-03 1.29488013e+02] [ 3.21880348e-03 -6.54550226e-06 9.99994820e-01 5.65481891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46028169299996 meters 0.014207676754940375 Centerline is valid? [True, True] Translation: X:214.50, Y:129.51, Z:0.57 [[ 1.12240012e-01 -9.93681082e-01 -2.93232525e-04 2.14502444e+02] [ 9.93677600e-01 1.12240395e-01 -2.63090989e-03 1.29511536e+02] [ 2.64719793e-03 3.91476705e-06 9.99996496e-01 5.66212640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490281693 meters 0.017155664931365996 Centerline is valid? [True, True] Translation: X:214.50, Y:129.54, Z:0.57 [[ 1.18407503e-01 -9.92965058e-01 -2.40189250e-04 2.14501906e+02] [ 9.92962709e-01 1.18407746e-01 -2.15973300e-03 1.29536611e+02] [ 2.17297967e-03 1.72296237e-05 9.99997639e-01 5.67317448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52028169299996 meters 0.020554669204188056 Centerline is valid? [True, True] Translation: X:214.50, Y:129.56, Z:0.57 [[ 1.21976621e-01 -9.92532926e-01 -3.09494963e-04 2.14498865e+02] [ 9.92529001e-01 1.21977009e-01 -2.79144187e-03 1.29560383e+02] [ 2.80834923e-03 3.33079195e-05 9.99996056e-01 5.66869337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550281693 meters 0.024365922993335336 Centerline is valid? [True, True] Translation: X:214.50, Y:129.58, Z:0.56 [[ 1.25295294e-01 -9.92119402e-01 -4.26344887e-04 2.14496086e+02] [ 9.92111905e-01 1.25296005e-01 -3.85743669e-03 1.29584177e+02] [ 3.88045709e-03 6.03368273e-05 9.99992469e-01 5.64537004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58028169299996 meters 0.02869700486018121 Centerline is valid? [True, True] Translation: X:214.50, Y:129.61, Z:0.56 [[ 1.28614415e-01 -9.91694511e-01 -5.74353658e-04 2.14495375e+02] [ 9.91680824e-01 1.28615658e-01 -5.21108794e-03 1.29607692e+02] [ 5.24167818e-03 1.00645519e-04 9.99986257e-01 5.61510971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.610281693 meters 0.030036974191754835 Centerline is valid? [True, True] Translation: X:214.50, Y:129.63, Z:0.56 [[ 1.29454149e-01 -9.91585247e-01 -5.66388923e-04 2.14498070e+02] [ 9.91571870e-01 1.29455345e-01 -5.15178854e-03 1.29630995e+02] [ 5.18175959e-03 1.05305080e-04 9.99986569e-01 5.61847709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64028169299996 meters 0.0321696341654553 Centerline is valid? [True, True] Translation: X:214.50, Y:129.65, Z:0.57 [[ 1.30765743e-01 -9.91413266e-01 -2.39266135e-04 2.14500111e+02] [ 9.91410872e-01 1.30765953e-01 -2.17903582e-03 1.29653809e+02] [ 2.19161288e-03 4.77321895e-05 9.99997597e-01 5.68227877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.670281693 meters 0.03164977327491752 Centerline is valid? [True, True] Translation: X:214.50, Y:129.68, Z:0.57 [[ 1.31100300e-01 -9.91369101e-01 -1.27360091e-04 2.14503863e+02] [ 9.91368422e-01 1.31100359e-01 -1.16051145e-03 1.29677368e+02] [ 1.16719215e-03 2.58826268e-05 9.99999319e-01 5.70628809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70028169299997 meters 0.0355234794989817 Centerline is valid? [True, True] Translation: X:214.50, Y:129.70, Z:0.57 [[ 1.32801195e-01 -9.91142675e-01 -1.99538290e-04 2.14501013e+02] [ 9.91140995e-01 1.32801337e-01 -1.82585626e-03 1.29701432e+02] [ 1.83618301e-03 4.47053139e-05 9.99998313e-01 5.69385261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73028169299994 meters 0.03219416369693693 Centerline is valid? [True, True] Translation: X:214.51, Y:129.73, Z:0.57 [[ 1.33472214e-01 -9.91052550e-01 -1.06233572e-04 2.14507357e+02] [ 9.91052073e-01 1.33472254e-01 -9.72253561e-04 1.29726671e+02] [ 9.77733605e-04 2.44858329e-05 9.99999522e-01 5.70216700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76028169299997 meters 0.03856634048427861 Centerline is valid? [True, True] Translation: X:214.50, Y:129.75, Z:0.58 [[ 1.35724902e-01 -9.90746547e-01 1.73728302e-04 2.14497623e+02] [ 9.90745247e-01 1.35725006e-01 1.60544593e-03 1.29752063e+02] [-1.61416928e-03 -4.57785022e-05 9.99998696e-01 5.77064009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79028169299994 meters 0.03428573775884039 Centerline is valid? [True, True] Translation: X:214.50, Y:129.78, Z:0.58 [[ 1.37663573e-01 -9.90479016e-01 2.43480641e-04 2.14504011e+02] [ 9.90476452e-01 1.37663771e-01 2.25485861e-03 1.29776513e+02] [-2.26690860e-03 -6.92500516e-05 9.99997428e-01 5.77360461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82028169299997 meters 0.04116428433026499 Centerline is valid? [True, True] Translation: X:214.49, Y:129.80, Z:0.58 [[ 1.40060383e-01 -9.90142944e-01 1.97955874e-04 2.14494674e+02] [ 9.90141239e-01 1.40060509e-01 1.83891062e-03 1.29802175e+02] [-1.84851018e-03 -6.15542518e-05 9.99998290e-01 5.77500446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85028169299994 meters 0.04762735034259115 Centerline is valid? [True, True] Translation: X:214.48, Y:129.83, Z:0.57 [[ 1.44580337e-01 -9.89493065e-01 -2.15788255e-05 2.14481985e+02] [ 9.89493046e-01 1.44580338e-01 -1.95373284e-04 1.29828043e+02] [ 1.96440383e-04 6.89503745e-06 9.99999981e-01 5.72756077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880281693 meters 0.04895716476221622 Centerline is valid? [True, True] Translation: X:214.47, Y:129.85, Z:0.57 [[ 1.45895823e-01 -9.89299956e-01 -7.36418367e-05 2.14474488e+02] [ 9.89299722e-01 1.45895839e-01 -6.80951636e-04 1.29854201e+02] [ 6.84409461e-04 2.64941507e-05 9.99999765e-01 5.71320351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91028169299994 meters 0.048443148319433235 Centerline is valid? [True, True] Translation: X:214.47, Y:129.88, Z:0.57 [[ 1.45299927e-01 -9.89387652e-01 -7.29567114e-05 2.14473397e+02] [ 9.89387422e-01 1.45299943e-01 -6.75847157e-04 1.29879300e+02] [ 6.79275438e-04 2.60180898e-05 9.99999769e-01 5.72077075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940281693 meters 0.044921371767953334 Centerline is valid? [True, True] Translation: X:214.48, Y:129.90, Z:0.57 [[ 1.44046925e-01 -9.89570855e-01 -7.48388446e-05 2.14476226e+02] [ 9.89570611e-01 1.44046943e-01 -6.95377741e-04 1.29904874e+02] [ 6.98905853e-04 2.61087044e-05 9.99999755e-01 5.72200268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97028169299995 meters 0.04094893886246935 Centerline is valid? [True, True] Translation: X:214.48, Y:129.93, Z:0.57 [[ 1.41539940e-01 -9.89932528e-01 -1.87016370e-04 2.14476945e+02] [ 9.89930985e-01 1.41540050e-01 -1.74889127e-03 1.29930423e+02] [ 1.75775466e-03 6.24046651e-05 9.99998453e-01 5.69972083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000281693 meters 0.041395594304439155 Centerline is valid? [True, True] Translation: X:214.48, Y:129.96, Z:0.57 [[ 1.39791185e-01 -9.90180972e-01 -2.58637184e-04 2.14475550e+02] [ 9.90178003e-01 1.39791400e-01 -2.42642030e-03 1.29955410e+02] [ 2.43875046e-03 8.30953180e-05 9.99997023e-01 5.67813553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03028169299995 meters 0.03774344502338737 Centerline is valid? [True, True] Translation: X:214.48, Y:129.98, Z:0.57 [[ 1.36095198e-01 -9.90695702e-01 -3.49694291e-04 2.14476165e+02] [ 9.90690243e-01 1.36095609e-01 -3.29067248e-03 1.29980727e+02] [ 3.30764694e-03 1.01405999e-04 9.99994525e-01 5.65730460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060281693 meters 0.035625509673832684 Centerline is valid? [True, True] Translation: X:214.48, Y:130.01, Z:0.57 [[ 1.33834924e-01 -9.91003583e-01 -3.33336336e-04 2.14478231e+02] [ 9.90998599e-01 1.33835308e-01 -3.14434691e-03 1.30005715e+02] [ 3.16067123e-03 9.04875870e-05 9.99995001e-01 5.65788040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09028169299995 meters 0.032560856578617764 Centerline is valid? [True, True] Translation: X:214.48, Y:130.03, Z:0.57 [[ 1.30104378e-01 -9.91500258e-01 -2.98015263e-04 2.14479612e+02] [ 9.91496257e-01 1.30104700e-01 -2.81772047e-03 1.30030193e+02] [ 2.83254376e-03 7.11167524e-05 9.99995986e-01 5.68395975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120281693 meters 0.03495478309259743 Centerline is valid? [True, True] Translation: X:214.48, Y:130.05, Z:0.57 [[ 1.28760122e-01 -9.91675710e-01 -3.41843077e-04 2.14476014e+02] [ 9.91670417e-01 1.28760552e-01 -3.24119044e-03 1.30054492e+02] [ 3.25822573e-03 7.83404081e-05 9.99994689e-01 5.67914797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15028169299995 meters 0.030633250660697442 Centerline is valid? [True, True] Translation: X:214.48, Y:130.08, Z:0.57 [[ 1.27519488e-01 -9.91835974e-01 -4.25364623e-04 2.14481751e+02] [ 9.91827730e-01 1.27520163e-01 -4.04488681e-03 1.30079318e+02] [ 4.06610681e-03 9.39134659e-05 9.99991729e-01 5.66527787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180281693 meters 0.03355305005164456 Centerline is valid? [True, True] Translation: X:214.47, Y:130.10, Z:0.56 [[ 1.26341150e-01 -9.91986721e-01 -5.09709007e-04 2.14473664e+02] [ 9.91974821e-01 1.26342132e-01 -4.86013937e-03 1.30104003e+02] [ 4.88559144e-03 1.08417099e-04 9.99988060e-01 5.63486720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21028169299996 meters 0.02809493718304212 Centerline is valid? [True, True] Translation: X:214.48, Y:130.13, Z:0.57 [[ 1.24002823e-01 -9.92281803e-01 -3.51132079e-04 2.14478792e+02] [ 9.92276134e-01 1.24003302e-01 -3.35487047e-03 1.30128646e+02] [ 3.37251845e-03 6.75934276e-05 9.99994311e-01 5.67515694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240281693 meters 0.025957716050810115 Centerline is valid? [True, True] Translation: X:214.48, Y:130.15, Z:0.57 [[ 1.21719501e-01 -9.92564504e-01 -2.62926604e-04 2.14482082e+02] [ 9.92561313e-01 1.21719776e-01 -2.51708940e-03 1.30154177e+02] [ 2.53037696e-03 4.54080897e-05 9.99996798e-01 5.69076737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27028169299996 meters 0.02305251351081532 Centerline is valid? [True, True] Translation: X:214.49, Y:130.18, Z:0.57 [[ 1.18622279e-01 -9.92939427e-01 -2.24009237e-04 2.14486511e+02] [ 9.92937102e-01 1.18622486e-01 -2.14899942e-03 1.30179170e+02] [ 2.16039878e-03 3.24921264e-05 9.99997666e-01 5.69659605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300281693 meters 0.018233085845719747 Centerline is valid? [True, True] Translation: X:214.49, Y:130.20, Z:0.57 [[ 1.12401220e-01 -9.93662863e-01 -2.85440680e-04 2.14493756e+02] [ 9.93659067e-01 1.12401580e-01 -2.74668761e-03 1.30202777e+02] [ 2.76136546e-03 2.51003188e-05 9.99996187e-01 5.68066458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33028169299996 meters 0.01464488642433881 Centerline is valid? [True, True] Translation: X:214.50, Y:130.23, Z:0.57 [[ 1.07079182e-01 -9.94250484e-01 -1.53942182e-04 2.14502929e+02] [ 9.94249378e-01 1.07079293e-01 -1.48286038e-03 1.30227306e+02] [ 1.49081867e-03 5.72655806e-06 9.99998889e-01 5.71662143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.360281693 meters 0.014141210096317549 Centerline is valid? [True, True] Translation: X:214.51, Y:130.25, Z:0.58 [[ 1.05206506e-01 -9.94450396e-01 -1.39351173e-05 2.14506412e+02] [ 9.94450388e-01 1.05206507e-01 -1.29819335e-04 1.30250993e+02] [ 1.30564954e-04 -1.99944118e-07 9.99999991e-01 5.75342473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39028169299996 meters 0.013788085746769008 Centerline is valid? [True, True] Translation: X:214.51, Y:130.28, Z:0.58 [[ 1.03576352e-01 -9.94621492e-01 1.64793080e-04 2.14511084e+02] [ 9.94620193e-01 1.03576483e-01 1.60718661e-03 1.30275192e+02] [-1.61561103e-03 -2.56000039e-06 9.99998695e-01 5.78379941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.420281693 meters 0.013757101774226108 Centerline is valid? [True, True] Translation: X:214.52, Y:130.30, Z:0.58 [[ 1.01813520e-01 -9.94803465e-01 2.72510244e-04 2.14516063e+02] [ 9.94799906e-01 1.01813885e-01 2.66077344e-03 1.30298157e+02] [-2.67469196e-03 1.90456268e-07 9.99996423e-01 5.80000616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45028169299997 meters 0.013797264317111063 Centerline is valid? [True, True] Translation: X:214.52, Y:130.32, Z:0.58 [[ 1.00805060e-01 -9.94906175e-01 2.06139507e-04 2.14519611e+02] [ 9.94904125e-01 1.00805271e-01 2.01974175e-03 1.30322156e+02] [-2.03023349e-03 1.48885830e-06 9.99997939e-01 5.78229895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48028169299994 meters 0.014029111897808467 Centerline is valid? [True, True] Translation: X:214.53, Y:130.35, Z:0.57 [[ 9.90281490e-02 -9.95084632e-01 -1.17888449e-05 2.14526934e+02] [ 9.95084626e-01 9.90281497e-02 -1.09894823e-04 1.30345093e+02] [ 1.10522077e-04 -8.48217430e-07 9.99999994e-01 5.73776979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51028169299997 meters 0.014559077697324788 Centerline is valid? [True, True] Translation: X:214.53, Y:130.37, Z:0.57 [[ 9.71388494e-02 -9.95270835e-01 -9.69769617e-05 2.14534130e+02] [ 9.95270384e-01 9.71388977e-02 -9.47550259e-04 1.30369261e+02] [ 9.52489372e-04 -4.47435601e-06 9.99999546e-01 5.72283970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54028169299994 meters 0.015042606617482697 Centerline is valid? [True, True] Translation: X:214.54, Y:130.39, Z:0.57 [[ 9.52722606e-02 -9.95451248e-01 -9.95187327e-05 2.14541549e+02] [ 9.95450770e-01 9.52723123e-02 -9.74991323e-04 1.30393683e+02] [ 9.80037709e-04 -6.17637167e-06 9.99999520e-01 5.72151069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57028169299997 meters 0.017252836482914535 Centerline is valid? [True, True] Translation: X:214.56, Y:130.42, Z:0.57 [[ 9.21561962e-02 -9.95744560e-01 -8.60327994e-05 2.14555956e+02] [ 9.95744201e-01 9.21562360e-02 -8.44654873e-04 1.30417102e+02] [ 8.48988953e-04 -7.82648104e-06 9.99999640e-01 5.72956657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60028169299994 meters 0.017252836482914535 Centerline is valid? [True, True] Translation: X:214.56, Y:130.44, Z:0.57 [[ 9.18666817e-02 -9.95771312e-01 -8.58239762e-05 2.14557869e+02] [ 9.95770954e-01 9.18667215e-02 -8.44676056e-04 1.30440353e+02] [ 8.48988552e-04 -7.86343613e-06 9.99999640e-01 5.73003040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630281693 meters 0.01788044897025087 Centerline is valid? [True, True] Translation: X:214.56, Y:130.46, Z:0.57 [[ 9.01606092e-02 -9.95927228e-01 -1.48344997e-04 2.14564500e+02] [ 9.95926145e-01 9.01607299e-02 -1.46853026e-03 1.30464408e+02] [ 1.47592416e-03 -1.53370784e-05 9.99998911e-01 5.71572553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66028169299994 meters 0.01938163742069821 Centerline is valid? [True, True] Translation: X:214.58, Y:130.49, Z:0.57 [[ 8.89679176e-02 -9.96034462e-01 -2.44669503e-04 2.14577629e+02] [ 9.96031492e-01 8.89682498e-02 -2.43259977e-03 1.30486826e+02] [ 2.44472102e-03 -2.72751950e-05 9.99997011e-01 5.68480749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690281693 meters 0.019685746213996807 Centerline is valid? [True, True] Translation: X:214.58, Y:130.51, Z:0.57 [[ 8.93345223e-02 -9.96001632e-01 -3.02934589e-04 2.14584752e+02] [ 9.95997047e-01 8.93350303e-02 -3.02225214e-03 1.30508608e+02] [ 3.03723074e-03 -3.17305046e-05 9.99995387e-01 5.67282585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72028169299995 meters 0.0164074008928349 Centerline is valid? [True, True] Translation: X:214.59, Y:130.53, Z:0.56 [[ 9.20660495e-02 -9.95752780e-01 -4.93737924e-04 2.14588127e+02] [ 9.95740509e-01 9.20673661e-02 -4.94356206e-03 1.30532977e+02] [ 4.96802281e-03 -3.65006226e-05 9.99987659e-01 5.64858719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750281693 meters 0.0152790531203941 Centerline is valid? [True, True] Translation: X:214.59, Y:130.56, Z:0.56 [[ 9.35657503e-02 -9.95612972e-01 -5.10079595e-04 2.14590697e+02] [ 9.95599798e-01 9.35671363e-02 -5.12179195e-03 1.30557266e+02] [ 5.14704920e-03 -2.86108342e-05 9.99986753e-01 5.64642345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78028169299995 meters 0.014584980729654166 Centerline is valid? [True, True] Translation: X:214.59, Y:130.58, Z:0.56 [[ 9.49012771e-02 -9.95486561e-01 -5.05456497e-04 2.14594255e+02] [ 9.95473550e-01 9.49026210e-02 -5.08955617e-03 1.30580705e+02] [ 5.11455391e-03 -2.01631934e-05 9.99986920e-01 5.64470190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810281693 meters 0.013785771619139166 Centerline is valid? [True, True] Translation: X:214.60, Y:130.60, Z:0.57 [[ 9.86995987e-02 -9.95117208e-01 -3.61770102e-04 2.14596443e+02] [ 9.95110509e-01 9.87002617e-02 -3.65140379e-03 1.30604782e+02] [ 3.66928155e-03 3.90858671e-07 9.99993268e-01 5.66993175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84028169299995 meters 0.01527128990577588 Centerline is valid? [True, True] Translation: X:214.59, Y:130.63, Z:0.57 [[ 1.04254602e-01 -9.94550624e-01 -1.86658806e-04 2.14593754e+02] [ 9.94548834e-01 1.04254769e-01 -1.88666334e-03 1.30630544e+02] [ 1.89584227e-03 1.10520376e-05 9.99998203e-01 5.70053623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870281693 meters 0.018038099570674364 Centerline is valid? [True, True] Translation: X:214.59, Y:130.66, Z:0.57 [[ 1.07517425e-01 -9.94203187e-01 -1.61910935e-04 2.14591174e+02] [ 9.94201834e-01 1.07517546e-01 -1.64013437e-03 1.30655555e+02] [ 1.64803509e-03 1.53708772e-05 9.99998642e-01 5.70569391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90028169299995 meters 0.023164534336066248 Centerline is valid? [True, True] Translation: X:214.59, Y:130.68, Z:0.57 [[ 1.13616210e-01 -9.93524677e-01 -2.70984630e-04 2.14588085e+02] [ 9.93520855e-01 1.13616524e-01 -2.75616414e-03 1.30681570e+02] [ 2.76910541e-03 4.39160413e-05 9.99996165e-01 5.68750290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930281693 meters 0.025661296720932522 Centerline is valid? [True, True] Translation: X:214.59, Y:130.71, Z:0.57 [[ 1.15715068e-01 -9.93282386e-01 -3.52066499e-04 2.14586784e+02] [ 9.93275895e-01 1.15715584e-01 -3.59169712e-03 1.30707574e+02] [ 3.60830906e-03 6.59143082e-05 9.99993488e-01 5.67717187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96028169299996 meters 0.030902257842341244 Centerline is valid? [True, True] Translation: X:214.58, Y:130.73, Z:0.57 [[ 1.17879989e-01 -9.93027750e-01 -4.42859673e-04 2.14580090e+02] [ 9.93017416e-01 1.17880783e-01 -4.53128834e-03 1.30732656e+02] [ 4.55189971e-03 9.43808514e-05 9.99989636e-01 5.66431391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990281693 meters 0.03225955623065528 Centerline is valid? [True, True] Translation: X:214.58, Y:130.76, Z:0.57 [[ 1.21510932e-01 -9.92589994e-01 -4.44857611e-04 2.14576951e+02] [ 9.92579507e-01 1.21511694e-01 -4.56411122e-03 1.30758307e+02] [ 4.58434652e-03 1.13032859e-04 9.99989485e-01 5.67292310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02028169299996 meters 0.033307872705881925 Centerline is valid? [True, True] Translation: X:214.58, Y:130.78, Z:0.57 [[ 1.22109470e-01 -9.92516589e-01 -3.13141876e-04 2.14576919e+02] [ 9.92511370e-01 1.22109843e-01 -3.21973850e-03 1.30784018e+02] [ 3.23388158e-03 8.23636881e-05 9.99994768e-01 5.69702080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050281693 meters 0.03176779718168454 Centerline is valid? [True, True] Translation: X:214.58, Y:130.81, Z:0.57 [[ 1.20409519e-01 -9.92724305e-01 -4.47845738e-05 2.14578692e+02] [ 9.92724200e-01 1.20409527e-01 -4.56978399e-04 1.30808360e+02] [ 4.59046053e-04 1.05658190e-05 9.99999895e-01 5.74518792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08028169299996 meters 0.029001020682219828 Centerline is valid? [True, True] Translation: X:214.58, Y:130.83, Z:0.58 [[ 1.16870379e-01 -9.93147176e-01 3.85447787e-05 2.14581138e+02] [ 9.93147094e-01 1.16870385e-01 4.04518211e-04 1.30832483e+02] [-4.06250862e-04 -8.99556188e-06 9.99999917e-01 5.75485632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.110281693 meters 0.025602050808462742 Centerline is valid? [True, True] Translation: X:214.59, Y:130.86, Z:0.57 [[ 1.15118255e-01 -9.93351794e-01 -2.92907051e-05 2.14587608e+02] [ 9.93351749e-01 1.15118258e-01 -2.98634005e-04 1.30857392e+02] [ 3.00020520e-04 5.28225226e-06 9.99999955e-01 5.74116978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14028169299996 meters 0.024711180625060877 Centerline is valid? [True, True] Translation: X:214.59, Y:130.88, Z:0.57 [[ 1.13500487e-01 -9.93537935e-01 -1.07419683e-04 2.14590360e+02] [ 9.93537312e-01 1.13500537e-01 -1.11290832e-03 1.30881497e+02] [ 1.11790883e-03 1.95901737e-05 9.99999375e-01 5.72353346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.170281693 meters 0.02259824795669805 Centerline is valid? [True, True] Translation: X:214.59, Y:130.91, Z:0.57 [[ 1.11890204e-01 -9.93720568e-01 -1.24492917e-04 2.14592788e+02] [ 9.93719725e-01 1.11890271e-01 -1.29455639e-03 1.30905965e+02] [ 1.30035685e-03 2.11371100e-05 9.99999154e-01 5.72204878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20028169299997 meters 0.025045153302207586 Centerline is valid? [True, True] Translation: X:214.59, Y:130.93, Z:0.57 [[ 1.12297102e-01 -9.93674657e-01 -1.94252800e-04 2.14590780e+02] [ 9.93672585e-01 1.12297265e-01 -2.02912177e-03 1.30929811e+02] [ 2.03810094e-03 3.48408137e-05 9.99997922e-01 5.70542344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23028169299994 meters 0.024793425220708872 Centerline is valid? [True, True] Translation: X:214.59, Y:130.95, Z:0.57 [[ 1.13042258e-01 -9.93590149e-01 -2.52732285e-04 2.14593990e+02] [ 9.93586617e-01 1.13042530e-01 -2.64982451e-03 1.30954788e+02] [ 2.66140903e-03 4.84307297e-05 9.99996457e-01 5.69770328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26028169299997 meters 0.026834108098668364 Centerline is valid? [True, True] Translation: X:214.59, Y:130.98, Z:0.57 [[ 1.14222750e-01 -9.93455099e-01 -3.59570230e-04 2.14592917e+02] [ 9.93447900e-01 1.14223291e-01 -3.78279813e-03 1.30979340e+02] [ 3.79911139e-03 7.48673148e-05 9.99992781e-01 5.68081493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29028169299994 meters 0.034592888755984166 Centerline is valid? [True, True] Translation: X:214.58, Y:131.01, Z:0.56 [[ 1.17931576e-01 -9.93021559e-01 -5.71906543e-04 2.14581549e+02] [ 9.93003219e-01 1.17932875e-01 -6.03692896e-03 1.31005157e+02] [ 6.06224719e-03 1.44039510e-04 9.99981614e-01 5.62533791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32028169299997 meters 0.032843224286665786 Centerline is valid? [True, True] Translation: X:214.58, Y:131.03, Z:0.56 [[ 1.19341625e-01 -9.92853084e-01 -5.74867094e-04 2.14584902e+02] [ 9.92834450e-01 1.19342909e-01 -6.08483494e-03 1.31030245e+02] [ 6.10995344e-03 1.55426236e-04 9.99981322e-01 5.62638579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35028169299994 meters 0.03651691304673886 Centerline is valid? [True, True] Translation: X:214.58, Y:131.06, Z:0.57 [[ 1.22589857e-01 -9.92457336e-01 -4.05333812e-04 2.14579706e+02] [ 9.92448027e-01 1.22590463e-01 -4.30024290e-03 1.31055947e+02] [ 4.31749767e-03 1.24893419e-04 9.99990672e-01 5.66320075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380281693 meters 0.0373697205218638 Centerline is valid? [True, True] Translation: X:214.58, Y:131.08, Z:0.57 [[ 1.23679131e-01 -9.92322208e-01 -3.28282736e-04 2.14577804e+02] [ 9.92316072e-01 1.23679521e-01 -3.49133093e-03 1.31081150e+02] [ 3.50512707e-03 1.06044541e-04 9.99993851e-01 5.68585430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41028169299994 meters 0.034902329621771484 Centerline is valid? [True, True] Translation: X:214.58, Y:131.11, Z:0.57 [[ 1.24456130e-01 -9.92225084e-01 -2.34077994e-04 2.14577555e+02] [ 9.92221950e-01 1.24456325e-01 -2.49496858e-03 1.31107169e+02] [ 2.50470289e-03 7.82568090e-05 9.99996860e-01 5.69851854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440281693 meters 0.03930696430654828 Centerline is valid? [True, True] Translation: X:214.57, Y:131.13, Z:0.57 [[ 1.23578563e-01 -9.92334763e-01 -2.37327635e-04 2.14572188e+02] [ 9.92331523e-01 1.23578766e-01 -2.53722861e-03 1.31131795e+02] [ 2.54710880e-03 7.80393722e-05 9.99996753e-01 5.69366402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47028169299995 meters 0.03623079487804067 Centerline is valid? [True, True] Translation: X:214.58, Y:131.16, Z:0.57 [[ 1.19875323e-01 -9.92788891e-01 -3.54538603e-04 2.14575920e+02] [ 9.92781603e-01 1.19875802e-01 -3.80533525e-03 1.31155366e+02] [ 3.82039516e-03 1.04186391e-04 9.99992697e-01 5.66957798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500281693 meters 0.03126134574254108 Centerline is valid? [True, True] Translation: X:214.58, Y:131.18, Z:0.57 [[ 1.17244818e-01 -9.93102945e-01 -4.40423718e-04 2.14582245e+02] [ 9.93091630e-01 1.17245585e-01 -4.74196771e-03 1.31180520e+02] [ 4.76089983e-03 1.18590035e-04 9.99988660e-01 5.66068515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53028169299995 meters 0.02918181930735329 Centerline is valid? [True, True] Translation: X:214.58, Y:131.21, Z:0.57 [[ 1.15384583e-01 -9.93320765e-01 -5.05823945e-04 2.14584910e+02] [ 9.93305753e-01 1.15385620e-01 -5.46259645e-03 1.31205657e+02] [ 5.48447529e-03 1.27861576e-04 9.99984952e-01 5.65773438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560281693 meters 0.027148091062044376 Centerline is valid? [True, True] Translation: X:214.59, Y:131.23, Z:0.57 [[ 1.12849651e-01 -9.93611936e-01 -5.25505750e-04 2.14588316e+02] [ 9.93595642e-01 1.12850811e-01 -5.69165405e-03 1.31231118e+02] [ 5.71459915e-03 1.20160951e-04 9.99983664e-01 5.65134341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59028169299995 meters 0.0265690658543289 Centerline is valid? [True, True] Translation: X:214.59, Y:131.25, Z:0.57 [[ 1.11530906e-01 -9.93760852e-01 -4.76215885e-04 2.14591271e+02] [ 9.93747398e-01 1.11531875e-01 -5.17194278e-03 1.31254400e+02] [ 5.19278751e-03 1.03593168e-04 9.99986512e-01 5.65808188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620281693 meters 0.024465456060770954 Centerline is valid? [True, True] Translation: X:214.59, Y:131.28, Z:0.57 [[ 1.08799981e-01 -9.94063631e-01 -2.46515664e-04 2.14594305e+02] [ 9.94060014e-01 1.08800250e-01 -2.68232857e-03 1.31278239e+02] [ 2.69322625e-03 4.67859335e-05 9.99996372e-01 5.69768174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65028169299995 meters 0.0236206530400138 Centerline is valid? [True, True] Translation: X:214.60, Y:131.30, Z:0.57 [[ 1.07622337e-01 -9.94191840e-01 -1.30689999e-04 2.14596744e+02] [ 9.94190822e-01 1.07622414e-01 -1.42351204e-03 1.31302303e+02] [ 1.42930923e-03 2.32708958e-05 9.99998978e-01 5.72051619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680281693 meters 0.022281957052905175 Centerline is valid? [True, True] Translation: X:214.60, Y:131.33, Z:0.57 [[ 1.05685669e-01 -9.94399583e-01 -9.22880219e-05 2.14601442e+02] [ 9.94399074e-01 1.05685709e-01 -1.00669064e-03 1.31327292e+02] [ 1.01080628e-03 1.46216503e-05 9.99999489e-01 5.73643341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71028169299996 meters 0.020598229814664998 Centerline is valid? [True, True] Translation: X:214.61, Y:131.35, Z:0.57 [[ 1.04344270e-01 -9.94541223e-01 -1.68648476e-04 2.14606265e+02] [ 9.94539503e-01 1.04344403e-01 -1.84984622e-03 1.31351892e+02] [ 1.85734584e-03 2.52932811e-05 9.99998275e-01 5.72170535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740281693 meters 0.019648219420979118 Centerline is valid? [True, True] Translation: X:214.61, Y:131.38, Z:0.57 [[ 1.02918163e-01 -9.94689795e-01 -2.51610754e-04 2.14609004e+02] [ 9.94685934e-01 1.02918464e-01 -2.77181762e-03 1.31376643e+02] [ 2.78299409e-03 3.49966982e-05 9.99996127e-01 5.70519253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77028169299996 meters 0.019489296466896518 Centerline is valid? [True, True] Translation: X:214.61, Y:131.40, Z:0.57 [[ 1.01591545e-01 -9.94826144e-01 -3.19544633e-04 2.14608047e+02] [ 9.94819869e-01 1.01592039e-01 -3.53345523e-03 1.31400665e+02] [ 3.54763683e-03 4.10798248e-05 9.99993706e-01 5.69174683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800281693 meters 0.02044306869809827 Centerline is valid? [True, True] Translation: X:214.61, Y:131.42, Z:0.57 [[ 1.01418497e-01 -9.94843809e-01 -2.88546119e-04 2.14607164e+02] [ 9.94838663e-01 1.01418900e-01 -3.20027438e-03 1.31424294e+02] [ 3.21303719e-03 3.75101822e-05 9.99994838e-01 5.69862966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83028169299996 meters 0.01929629850968051 Centerline is valid? [True, True] Translation: X:214.61, Y:131.45, Z:0.57 [[ 1.01089120e-01 -9.94877362e-01 -1.56546270e-04 2.14608509e+02] [ 9.94875843e-01 1.01089239e-01 -1.73869816e-03 1.31448597e+02] [ 1.74561658e-03 2.00193643e-05 9.99998476e-01 5.73509418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.860281693 meters 0.018750343226826588 Centerline is valid? [True, True] Translation: X:214.61, Y:131.47, Z:0.57 [[ 1.00166204e-01 -9.94970714e-01 -1.03333713e-04 2.14609119e+02] [ 9.94970050e-01 1.00166256e-01 -1.14918922e-03 1.31473454e+02] [ 1.15376017e-03 1.22959723e-05 9.99999334e-01 5.74573579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89028169299996 meters 0.01765779686604345 Centerline is valid? [True, True] Translation: X:214.61, Y:131.50, Z:0.57 [[ 9.84096045e-02 -9.95145989e-01 -1.02039628e-04 2.14610722e+02] [ 9.95145338e-01 9.84096568e-02 -1.13831474e-03 1.31498284e+02] [ 1.14283104e-03 1.04768435e-05 9.99999347e-01 5.73983403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.920281693 meters 0.014573537283887853 Centerline is valid? [True, True] Translation: X:214.62, Y:131.52, Z:0.57 [[ 9.22501408e-02 -9.95735826e-01 -2.77650178e-04 2.14620961e+02] [ 9.95730944e-01 9.22505580e-02 -3.11795587e-03 1.31522605e+02] [ 3.13027375e-03 1.11669945e-05 9.99995101e-01 5.69628105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95028169299997 meters 0.014034913094706558 Centerline is valid? [True, True] Translation: X:214.63, Y:131.55, Z:0.57 [[ 8.75864782e-02 -9.96156843e-01 -3.92204470e-04 2.14631119e+02] [ 9.96147033e-01 8.75873562e-02 -4.42089012e-03 1.31545019e+02] [ 4.43825210e-03 -3.48312259e-06 9.99990151e-01 5.66581872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98028169299994 meters 0.017826414939664293 Centerline is valid? [True, True] Translation: X:214.65, Y:131.57, Z:0.57 [[ 7.86841824e-02 -9.96899507e-01 -4.14497988e-04 2.14650524e+02] [ 9.96888490e-01 7.86852616e-02 -4.68700632e-03 1.31569162e+02] [ 4.70508917e-03 -4.44150138e-05 9.99988930e-01 5.65626105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01028169299997 meters 0.020056446438181344 Centerline is valid? [True, True] Translation: X:214.66, Y:131.59, Z:0.57 [[ 7.50525267e-02 -9.97179514e-01 -3.67477629e-04 2.14658743e+02] [ 9.97170809e-01 7.50534071e-02 -4.16689892e-03 1.31594292e+02] [ 4.18272669e-03 -5.37016718e-05 9.99991251e-01 5.67573093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04028169299994 meters 0.023667328100175508 Centerline is valid? [True, True] Translation: X:214.67, Y:131.62, Z:0.57 [[ 7.15951028e-02 -9.97433729e-01 -3.12300541e-04 2.14670289e+02] [ 9.97427409e-01 7.15957611e-02 -3.55105377e-03 1.31617514e+02] [ 3.56430020e-03 -5.72590597e-05 9.99993646e-01 5.69830925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07028169299997 meters 0.02333019975137943 Centerline is valid? [True, True] Translation: X:214.67, Y:131.64, Z:0.57 [[ 7.08533719e-02 -9.97486697e-01 -2.99170878e-04 2.14674151e+02] [ 9.97480862e-01 7.08539809e-02 -3.41220224e-03 1.31641837e+02] [ 3.42482379e-03 -5.66511909e-05 9.99994134e-01 5.70691284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10028169299994 meters 0.022362500371698246 Centerline is valid? [True, True] Translation: X:214.68, Y:131.67, Z:0.57 [[ 7.11874251e-02 -9.97462945e-01 -1.54910547e-04 2.14680699e+02] [ 9.97461376e-01 7.11875879e-02 -1.76944417e-03 1.31666352e+02] [ 1.77598270e-03 -2.85551132e-05 9.99998423e-01 5.72911698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130281693 meters 0.022305803530758346 Centerline is valid? [True, True] Translation: X:214.69, Y:131.69, Z:0.57 [[ 7.15307053e-02 -9.97438392e-01 -1.11603025e-04 2.14685055e+02] [ 9.97437575e-01 7.15307895e-02 -1.27715109e-03 1.31690204e+02] [ 1.28186258e-03 -1.99615327e-05 9.99999178e-01 5.73128090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16028169299994 meters 0.02097247877724518 Centerline is valid? [True, True] Translation: X:214.69, Y:131.71, Z:0.57 [[ 7.25218592e-02 -9.97366821e-01 -6.53024792e-05 2.14690376e+02] [ 9.97366541e-01 7.25218877e-02 -7.47069021e-04 1.31714676e+02] [ 7.49837713e-04 -1.09516736e-05 9.99999719e-01 5.72737232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190281693 meters 0.020999025920195112 Centerline is valid? [True, True] Translation: X:214.70, Y:131.74, Z:0.57 [[ 7.28346040e-02 -9.97344030e-01 -8.24945680e-05 2.14695089e+02] [ 9.97343579e-01 7.28346495e-02 -9.48772876e-04 1.31737593e+02] [ 9.52261426e-04 -1.31719310e-05 9.99999547e-01 5.72511581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22028169299995 meters 0.019831704839293623 Centerline is valid? [True, True] Translation: X:214.70, Y:131.76, Z:0.57 [[ 7.32427845e-02 -9.97314125e-01 -1.73093278e-04 2.14696621e+02] [ 9.97312113e-01 7.32429844e-02 -2.00362438e-03 1.31762623e+02] [ 2.01092077e-03 -2.58769939e-05 9.99997978e-01 5.71128685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250281693 meters 0.018294728164786226 Centerline is valid? [True, True] Translation: X:214.70, Y:131.79, Z:0.57 [[ 7.51326459e-02 -9.97173476e-01 -3.79973402e-04 2.14695924e+02] [ 9.97163679e-01 7.51335922e-02 -4.42052883e-03 1.31787926e+02] [ 4.43658287e-03 -4.67696480e-05 9.99990157e-01 5.68293988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28028169299995 meters 0.018336901873440083 Centerline is valid? [True, True] Translation: X:214.70, Y:131.81, Z:0.57 [[ 7.58754962e-02 -9.97117191e-01 -4.64973047e-04 2.14696758e+02] [ 9.97102419e-01 7.58769032e-02 -5.42791102e-03 1.31811185e+02] [ 5.44754411e-03 -5.17803078e-05 9.99985161e-01 5.65951061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310281693 meters 0.016655951268829537 Centerline is valid? [True, True] Translation: X:214.69, Y:131.84, Z:0.57 [[ 7.77978251e-02 -9.96969053e-01 -4.53638348e-04 2.14694153e+02] [ 9.96954900e-01 7.77991379e-02 -5.31242554e-03 1.31835921e+02] [ 5.33161653e-03 -3.89618207e-05 9.99985786e-01 5.65402383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34028169299995 meters 0.015869208106609255 Centerline is valid? [True, True] Translation: X:214.69, Y:131.86, Z:0.57 [[ 7.86420966e-02 -9.96902843e-01 -3.77000846e-04 2.14693219e+02] [ 9.96893004e-01 7.86429954e-02 -4.42924882e-03 1.31859331e+02] [ 4.44517922e-03 -2.75040921e-05 9.99990120e-01 5.66847302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370281693 meters 0.014497443923634596 Centerline is valid? [True, True] Translation: X:214.69, Y:131.88, Z:0.57 [[ 8.11584432e-02 -9.96701167e-01 -3.01129654e-04 2.14686667e+02] [ 9.96694849e-01 8.11590010e-02 -3.54894439e-03 1.31884372e+02] [ 3.56167639e-03 -1.21075732e-05 9.99993657e-01 5.69402849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40028169299995 meters 0.01400723814010128 Centerline is valid? [True, True] Translation: X:214.68, Y:131.91, Z:0.57 [[ 8.22767858e-02 -9.96609470e-01 -3.08803444e-04 2.14683910e+02] [ 9.96602779e-01 8.22773650e-02 -3.65185727e-03 1.31909361e+02] [ 3.66488307e-03 -7.29129186e-06 9.99993284e-01 5.69614461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430281693 meters 0.013941804635580791 Centerline is valid? [True, True] Translation: X:214.68, Y:131.93, Z:0.57 [[ 8.30448511e-02 -9.96545770e-01 -2.86311275e-04 2.14683213e+02] [ 9.96539981e-01 8.30453446e-02 -3.39654803e-03 1.31933596e+02] [ 3.40859239e-03 -3.25480679e-06 9.99994191e-01 5.69874757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46028169299996 meters 0.01382399432591589 Centerline is valid? [True, True] Translation: X:214.68, Y:131.96, Z:0.57 [[ 8.39387643e-02 -9.96470877e-01 -2.73924778e-04 2.14680335e+02] [ 9.96465545e-01 8.39392113e-02 -3.25996695e-03 1.31959012e+02] [ 3.27145516e-03 6.80994382e-07 9.99994649e-01 5.70017063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490281693 meters 0.01382399432591589 Centerline is valid? [True, True] Translation: X:214.68, Y:131.98, Z:0.57 [[ 8.36571320e-02 -9.96494561e-01 -2.73002734e-04 2.14681973e+02] [ 9.96489228e-01 8.36575774e-02 -3.26004422e-03 1.31983120e+02] [ 3.27145508e-03 6.81665996e-07 9.99994649e-01 5.70065103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52028169299996 meters 0.013971532451972123 Centerline is valid? [True, True] Translation: X:214.68, Y:132.01, Z:0.57 [[ 8.41835513e-02 -9.96450240e-01 -2.23472748e-04 2.14677773e+02] [ 9.96446645e-01 8.41838479e-02 -2.67656098e-03 1.32007401e+02] [ 2.68587262e-03 2.64373805e-06 9.99996393e-01 5.70909161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550281693 meters 0.013909627348627215 Centerline is valid? [True, True] Translation: X:214.68, Y:132.03, Z:0.57 [[ 8.41372750e-02 -9.96454152e-01 -2.06810069e-04 2.14677689e+02] [ 9.96451053e-01 8.41375291e-02 -2.48519458e-03 1.32031928e+02] [ 2.49378295e-03 3.02138931e-06 9.99996891e-01 5.71568063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58028169299996 meters 0.014034424192678871 Centerline is valid? [True, True] Translation: X:214.68, Y:132.06, Z:0.57 [[ 8.45860656e-02 -9.96416166e-01 -1.44670679e-04 2.14676397e+02] [ 9.96414643e-01 8.45861892e-02 -1.74235475e-03 1.32055579e+02] [ 1.74834758e-03 3.22695023e-06 9.99998472e-01 5.73162664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.610281693 meters 0.014113001186156042 Centerline is valid? [True, True] Translation: X:214.68, Y:132.08, Z:0.57 [[ 8.47107485e-02 -9.96405572e-01 -1.57643150e-04 2.14675752e+02] [ 9.96403749e-01 8.47108951e-02 -1.90598153e-03 1.32079177e+02] [ 1.91248471e-03 4.38089637e-06 9.99998171e-01 5.72823865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64028169299996 meters 0.014580742152640132 Centerline is valid? [True, True] Translation: X:214.67, Y:132.10, Z:0.57 [[ 8.53433606e-02 -9.96351561e-01 -2.78528178e-04 2.14672807e+02] [ 9.96345812e-01 8.53438143e-02 -3.38459821e-03 1.32103980e+02] [ 3.39602036e-03 1.13426008e-05 9.99994233e-01 5.69382982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.670281693 meters 0.014640380954952015 Centerline is valid? [True, True] Translation: X:214.67, Y:132.13, Z:0.57 [[ 8.52136717e-02 -9.96362646e-01 -3.28166245e-04 2.14673138e+02] [ 9.96354606e-01 8.52143025e-02 -4.00270031e-03 1.32127253e+02] [ 4.01610553e-03 1.41148409e-05 9.99991935e-01 5.67661146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70028169299997 meters 0.014751355043350902 Centerline is valid? [True, True] Translation: X:214.67, Y:132.15, Z:0.57 [[ 8.51399089e-02 -9.96368952e-01 -3.27193868e-04 2.14673770e+02] [ 9.96360905e-01 8.51405363e-02 -4.00459262e-03 1.32151655e+02] [ 4.01790922e-03 1.49474727e-05 9.99991928e-01 5.67733371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73028169299994 meters 0.02083571821830018 Centerline is valid? [True, True] Translation: X:214.67, Y:132.18, Z:0.57 [[ 8.55773967e-02 -9.96331486e-01 -2.80423744e-04 2.14670499e+02] [ 9.96325536e-01 8.55778547e-02 -3.44344243e-03 1.32175072e+02] [ 3.45480817e-03 1.52875015e-05 9.99994032e-01 5.74410475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76028169299997 meters 0.015580136200539756 Centerline is valid? [True, True] Translation: X:214.67, Y:132.20, Z:0.57 [[ 8.62967188e-02 -9.96269461e-01 -1.92256901e-04 2.14668041e+02] [ 9.96266649e-01 8.62969320e-02 -2.36740848e-03 1.32198663e+02] [ 2.37516795e-03 1.27604451e-05 9.99997179e-01 5.71263243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79028169299994 meters 0.01714408359613637 Centerline is valid? [True, True] Translation: X:214.66, Y:132.22, Z:0.57 [[ 8.83130439e-02 -9.96092761e-01 -1.35642801e-04 2.14663553e+02] [ 9.96091353e-01 8.83131472e-02 -1.67446318e-03 1.32222778e+02] [ 1.67989969e-03 1.27643188e-05 9.99998589e-01 5.71749437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82028169299997 meters 0.017806307670683277 Centerline is valid? [True, True] Translation: X:214.66, Y:132.25, Z:0.57 [[ 8.92725419e-02 -9.96007222e-01 -1.66442567e-04 2.14662627e+02] [ 9.96005084e-01 8.92726951e-02 -2.06360304e-03 1.32247409e+02] [ 2.07022231e-03 1.84454465e-05 9.99997857e-01 5.71279403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85028169299994 meters 0.01959204633109882 Centerline is valid? [True, True] Translation: X:214.66, Y:132.27, Z:0.57 [[ 9.06423435e-02 -9.95883483e-01 -2.30261926e-04 2.14659082e+02] [ 9.95879356e-01 9.06426308e-02 -2.86741494e-03 1.32271635e+02] [ 2.87648272e-03 3.05961113e-05 9.99995862e-01 5.70278733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880281693 meters 0.023008972828722322 Centerline is valid? [True, True] Translation: X:214.65, Y:132.30, Z:0.57 [[ 9.34139996e-02 -9.95627271e-01 -4.02019025e-04 2.14650484e+02] [ 9.95614570e-01 9.34148388e-02 -5.02948746e-03 1.32295249e+02] [ 5.04504942e-03 6.95685417e-05 9.99987271e-01 5.66922046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91028169299994 meters 0.024799830073288214 Centerline is valid? [True, True] Translation: X:214.65, Y:132.32, Z:0.57 [[ 9.46747326e-02 -9.95508154e-01 -4.59031188e-04 2.14648318e+02] [ 9.95491471e-01 9.46758038e-02 -5.76401803e-03 1.32319876e+02] [ 5.78158610e-03 8.87452335e-05 9.99983283e-01 5.65777224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940281693 meters 0.02623686207081837 Centerline is valid? [True, True] Translation: X:214.65, Y:132.34, Z:0.57 [[ 9.67255400e-02 -9.95310996e-01 -4.37384002e-04 2.14645739e+02] [ 9.95295741e-01 9.67264795e-02 -5.51138386e-03 1.32344377e+02] [ 5.52784757e-03 9.77651457e-05 9.99984717e-01 5.66062718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97028169299995 meters 0.02805382328559484 Centerline is valid? [True, True] Translation: X:214.64, Y:132.37, Z:0.57 [[ 9.79081097e-02 -9.95195375e-01 -4.09222767e-04 2.14642564e+02] [ 9.95181931e-01 9.79089145e-02 -5.17390908e-03 1.32368671e+02] [ 5.18911694e-03 9.93165543e-05 9.99986532e-01 5.66453114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000281693 meters 0.03211280731997472 Centerline is valid? [True, True] Translation: X:214.63, Y:132.39, Z:0.57 [[ 1.01293318e-01 -9.94856519e-01 -4.11800453e-04 2.14634453e+02] [ 9.94842809e-01 1.01294085e-01 -5.22429904e-03 1.32394032e+02] [ 5.23914091e-03 1.19509867e-04 9.99986268e-01 5.66216877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03028169299995 meters 0.03369261607187528 Centerline is valid? [True, True] Translation: X:214.63, Y:132.42, Z:0.57 [[ 1.02805708e-01 -9.94701364e-01 -4.27533689e-04 2.14632167e+02] [ 9.94686482e-01 1.02806509e-01 -5.44283709e-03 1.32418671e+02] [ 5.45795073e-03 1.34292738e-04 9.99985096e-01 5.66226547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060281693 meters 0.03576700359163589 Centerline is valid? [True, True] Translation: X:214.63, Y:132.44, Z:0.57 [[ 1.03751156e-01 -9.94603206e-01 -3.99250567e-04 2.14628711e+02] [ 9.94590138e-01 1.03751840e-01 -5.10022685e-03 1.32442995e+02] [ 5.11412495e-03 1.32063754e-04 9.99986914e-01 5.66644911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09028169299995 meters 0.03345845994384829 Centerline is valid? [True, True] Translation: X:214.63, Y:132.47, Z:0.57 [[ 1.04692982e-01 -9.94504541e-01 -3.12360333e-04 2.14628475e+02] [ 9.94496493e-01 1.04693391e-01 -4.00252307e-03 1.32468168e+02] [ 4.01322943e-03 1.08394818e-04 9.99991941e-01 5.68796531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120281693 meters 0.0342223535611331 Centerline is valid? [True, True] Translation: X:214.63, Y:132.49, Z:0.57 [[ 1.04996897e-01 -9.94472516e-01 -2.58031489e-04 2.14626754e+02] [ 9.94466990e-01 1.04997174e-01 -3.31635863e-03 1.32493285e+02] [ 3.32512008e-03 9.16035682e-05 9.99994468e-01 5.69865750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15028169299995 meters 0.04017062731308862 Centerline is valid? [True, True] Translation: X:214.61, Y:132.52, Z:0.57 [[ 1.05868831e-01 -9.94380082e-01 -2.06363052e-04 2.14614806e+02] [ 9.94376528e-01 1.05869004e-01 -2.65979443e-03 1.32519152e+02] [ 2.66669406e-03 7.63867521e-05 9.99996441e-01 5.71594413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180281693 meters 0.03735811491445154 Centerline is valid? [True, True] Translation: X:214.62, Y:132.54, Z:0.57 [[ 1.05669233e-01 -9.94401316e-01 -1.87510118e-04 2.14616720e+02] [ 9.94398364e-01 1.05669376e-01 -2.42404588e-03 1.32544055e+02] [ 2.43028850e-03 6.96873143e-05 9.99997044e-01 5.71999475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21028169299996 meters 0.035522912185796396 Centerline is valid? [True, True] Translation: X:214.61, Y:132.57, Z:0.57 [[ 1.04355198e-01 -9.94540085e-01 -1.06803098e-04 2.14613893e+02] [ 9.94539125e-01 1.04355246e-01 -1.38270975e-03 1.32569015e+02] [ 1.38630574e-03 3.80730902e-05 9.99999038e-01 5.73440187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240281693 meters 0.03481214101289525 Centerline is valid? [True, True] Translation: X:214.61, Y:132.59, Z:0.57 [[ 1.03426012e-01 -9.94637141e-01 -1.34108877e-04 2.14613049e+02] [ 9.94635614e-01 1.03426088e-01 -1.74368296e-03 1.32594268e+02] [ 1.74820219e-03 4.69527091e-05 9.99998471e-01 5.73269818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27028169299996 meters 0.03251196959192223 Centerline is valid? [True, True] Translation: X:214.61, Y:132.62, Z:0.57 [[ 1.00711816e-01 -9.94915581e-01 -3.42857181e-04 2.14612546e+02] [ 9.94905482e-01 1.00712339e-01 -4.48397962e-03 1.32619735e+02] [ 4.49571113e-03 1.10479243e-04 9.99989888e-01 5.67373241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300281693 meters 0.030521727553145105 Centerline is valid? [True, True] Translation: X:214.62, Y:132.64, Z:0.57 [[ 9.81499663e-02 -9.95171570e-01 -3.62003006e-04 2.14615293e+02] [ 9.95160235e-01 9.81505766e-02 -4.75090839e-03 1.32644158e+02] [ 4.76349976e-03 1.06050502e-04 9.99988649e-01 5.66616201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33028169299996 meters 0.02711066128614419 Centerline is valid? [True, True] Translation: X:214.62, Y:132.67, Z:0.57 [[ 9.47100741e-02 -9.95504858e-01 -2.81003695e-04 2.14620140e+02] [ 9.95497990e-01 9.47104647e-02 -3.69870758e-03 1.32669426e+02] [ 3.70869535e-03 7.05662551e-05 9.99993120e-01 5.68904805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.360281693 meters 0.020757334363514054 Centerline is valid? [True, True] Translation: X:214.63, Y:132.69, Z:0.57 [[ 8.79091540e-02 -9.96128484e-01 -1.55988731e-04 2.14628807e+02] [ 9.96126360e-01 8.79092887e-02 -2.05706205e-03 1.32692604e+02] [ 2.06281096e-03 2.54500974e-05 9.99997872e-01 5.73408392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39028169299996 meters 0.01865764582934715 Centerline is valid? [True, True] Translation: X:214.63, Y:132.72, Z:0.57 [[ 8.50420172e-02 -9.96377337e-01 -2.41284719e-04 2.14633451e+02] [ 9.96372207e-01 8.50423536e-02 -3.19738664e-03 1.32716487e+02] [ 3.20632301e-03 3.15028217e-05 9.99994859e-01 5.71473105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.420281693 meters 0.01879536145304514 Centerline is valid? [True, True] Translation: X:214.64, Y:132.74, Z:0.57 [[ 8.10393531e-02 -9.96710810e-01 -4.28639872e-04 2.14640899e+02] [ 9.96694474e-01 8.10404790e-02 -5.70668601e-03 1.32740384e+02] [ 5.72265282e-03 3.52431505e-05 9.99983625e-01 5.69329840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45028169299997 meters 0.015147578842370679 Centerline is valid? [True, True] Translation: X:214.65, Y:132.76, Z:0.57 [[ 7.90896990e-02 -9.96867437e-01 -3.65190618e-04 2.14645067e+02] [ 9.96855495e-01 7.90905391e-02 -4.87947556e-03 1.32764363e+02] [ 4.89307341e-03 2.18739789e-05 9.99988029e-01 5.67641368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48028169299994 meters 0.013738172880736296 Centerline is valid? [True, True] Translation: X:214.66, Y:132.79, Z:0.57 [[ 7.38270397e-02 -9.97271047e-01 -1.65416198e-04 2.14655406e+02] [ 9.97268588e-01 7.38272250e-02 -2.21458919e-03 1.32787495e+02] [ 2.22075789e-03 -1.46781440e-06 9.99997534e-01 5.72187759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51028169299997 meters 0.014610555446854577 Centerline is valid? [True, True] Translation: X:214.66, Y:132.81, Z:0.57 [[ 7.01685948e-02 -9.97535137e-01 -1.33900483e-04 2.14664128e+02] [ 9.97533517e-01 7.01687222e-02 -1.79812937e-03 1.32811018e+02] [ 1.80309285e-03 -7.39800835e-06 9.99998374e-01 5.72975689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54028169299994 meters 0.020932456826305984 Centerline is valid? [True, True] Translation: X:214.68, Y:132.83, Z:0.57 [[ 6.14471796e-02 -9.98110314e-01 -2.11985017e-04 2.14684924e+02] [ 9.98106211e-01 6.14475349e-02 -2.86220582e-03 1.32833372e+02] [ 2.86982311e-03 -3.57090876e-05 9.99995881e-01 5.70619147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57028169299997 meters 0.025498183929993923 Centerline is valid? [True, True] Translation: X:214.70, Y:132.86, Z:0.57 [[ 5.69453629e-02 -9.98377262e-01 -2.60447814e-04 2.14696479e+02] [ 9.98371019e-01 5.69459280e-02 -3.53135235e-03 1.32855689e+02] [ 3.54045334e-03 -5.89294084e-05 9.99993731e-01 5.68746857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60028169299994 meters 0.03242612714020952 Centerline is valid? [True, True] Translation: X:214.71, Y:132.88, Z:0.57 [[ 5.07908453e-02 -9.98709281e-01 -2.48821796e-04 2.14713679e+02] [ 9.98703544e-01 5.07913971e-02 -3.38610711e-03 1.32877690e+02] [ 3.39437461e-03 -7.65159670e-05 9.99994236e-01 5.69848013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630281693 meters 0.03393790275567973 Centerline is valid? [True, True] Translation: X:214.72, Y:132.90, Z:0.57 [[ 4.94205712e-02 -9.98778025e-01 -2.54094460e-04 2.14719931e+02] [ 9.98771996e-01 4.94211560e-02 -3.47114768e-03 1.32901407e+02] [ 3.47946367e-03 -8.22363294e-05 9.99993943e-01 5.69974685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66028169299994 meters 0.03189609744198369 Centerline is valid? [True, True] Translation: X:214.72, Y:132.92, Z:0.57 [[ 5.09762874e-02 -9.98699831e-01 -2.57783918e-04 2.14722031e+02] [ 9.98693577e-01 5.09768807e-02 -3.53503428e-03 1.32924708e+02] [ 3.54357916e-03 -7.72442193e-05 9.99993719e-01 5.70388365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690281693 meters 0.0290163390354765 Centerline is valid? [True, True] Translation: X:214.72, Y:132.95, Z:0.57 [[ 5.32706998e-02 -9.98580080e-01 -2.37210612e-04 2.14721335e+02] [ 9.98574745e-01 5.32711907e-02 -3.26475597e-03 1.32949062e+02] [ 3.27275677e-03 -6.29566911e-05 9.99994643e-01 5.70746020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72028169299995 meters 0.026366636621811195 Centerline is valid? [True, True] Translation: X:214.72, Y:132.97, Z:0.57 [[ 5.54695013e-02 -9.98460357e-01 -2.25419218e-04 2.14720794e+02] [ 9.98455503e-01 5.54699346e-02 -3.11370294e-03 1.32973257e+02] [ 3.12141294e-03 -5.23555090e-05 9.99995127e-01 5.70900816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750281693 meters 0.024304812858235884 Centerline is valid? [True, True] Translation: X:214.72, Y:133.00, Z:0.57 [[ 5.91564402e-02 -9.98248683e-01 -2.88168665e-04 2.14719226e+02] [ 9.98240680e-01 5.91571199e-02 -3.99748182e-03 1.32997602e+02] [ 4.00752819e-03 -5.11848896e-05 9.99991969e-01 5.72618208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78028169299995 meters 0.019205932799179423 Centerline is valid? [True, True] Translation: X:214.72, Y:133.02, Z:0.57 [[ 6.19722459e-02 -9.98077826e-01 -3.06198490e-04 2.14717558e+02] [ 9.98068717e-01 6.19729886e-02 -4.26430248e-03 1.33021054e+02] [ 4.27508178e-03 -4.13387321e-05 9.99990861e-01 5.67954826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810281693 meters 0.018296401410770158 Centerline is valid? [True, True] Translation: X:214.72, Y:133.04, Z:0.57 [[ 6.28150616e-02 -9.98025135e-01 -3.12682548e-04 2.14718576e+02] [ 9.98015560e-01 6.28158287e-02 -4.37190760e-03 1.33044243e+02] [ 4.38291509e-03 -3.74404028e-05 9.99990394e-01 5.67967378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84028169299995 meters 0.01746448710852543 Centerline is valid? [True, True] Translation: X:214.72, Y:133.07, Z:0.57 [[ 6.35016220e-02 -9.97981677e-01 -3.42434335e-04 2.14719890e+02] [ 9.97970098e-01 6.35025348e-02 -4.80735324e-03 1.33067580e+02] [ 4.81939590e-03 -3.64644988e-05 9.99988386e-01 5.67650847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870281693 meters 0.015350184620162091 Centerline is valid? [True, True] Translation: X:214.72, Y:133.09, Z:0.57 [[ 6.62626919e-02 -9.97802135e-01 -3.94561477e-04 2.14718205e+02] [ 9.97786636e-01 6.62638618e-02 -5.56146906e-03 1.33091507e+02] [ 5.57539087e-03 -2.51702582e-05 9.99984457e-01 5.66374889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90028169299995 meters 0.014407932325886021 Centerline is valid? [True, True] Translation: X:214.72, Y:133.12, Z:0.57 [[ 6.81174505e-02 -9.97677241e-01 -3.67984844e-04 2.14716502e+02] [ 9.97663657e-01 6.81184433e-02 -5.20626996e-03 1.33115458e+02] [ 5.21924360e-03 -1.24872691e-05 9.99986380e-01 5.66956855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930281693 meters 0.014617450573272127 Centerline is valid? [True, True] Translation: X:214.71, Y:133.14, Z:0.57 [[ 7.33804600e-02 -9.97303980e-01 -2.83203360e-04 2.14707543e+02] [ 9.97295876e-01 7.33810054e-02 -4.02052898e-03 1.33140394e+02] [ 4.03047130e-03 1.25907234e-05 9.99991878e-01 5.68822455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96028169299996 meters 0.01711965481511834 Centerline is valid? [True, True] Translation: X:214.70, Y:133.17, Z:0.57 [[ 7.66937741e-02 -9.97054656e-01 -2.77832671e-04 2.14701874e+02] [ 9.97046796e-01 7.66942727e-02 -3.95929693e-03 1.33165012e+02] [ 3.96894361e-03 2.66412502e-05 9.99992123e-01 5.69249417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990281693 meters 0.024629402529392462 Centerline is valid? [True, True] Translation: X:214.69, Y:133.19, Z:0.57 [[ 8.32773019e-02 -9.96526347e-01 -3.60777583e-04 2.14688891e+02] [ 9.96512975e-01 8.32780536e-02 -5.16299886e-03 1.33190373e+02] [ 5.17510925e-03 7.04410724e-05 9.99986607e-01 5.67151854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02028169299996 meters 0.02425363774144763 Centerline is valid? [True, True] Translation: X:214.69, Y:133.22, Z:0.57 [[ 8.55770617e-02 -9.96331471e-01 -4.08530381e-04 2.14689963e+02] [ 9.96314190e-01 8.55779839e-02 -5.86888108e-03 1.33215862e+02] [ 5.88231212e-03 9.52169823e-05 9.99982695e-01 5.66328349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050281693 meters 0.026701469463013352 Centerline is valid? [True, True] Translation: X:214.69, Y:133.24, Z:0.57 [[ 8.75502250e-02 -9.96160005e-01 -4.50544852e-04 2.14686494e+02] [ 9.96138832e-01 8.75513021e-02 -6.49595982e-03 1.33241090e+02] [ 6.51046115e-03 1.19917521e-04 9.99978800e-01 5.65132163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08028169299996 meters 0.0319904427009352 Centerline is valid? [True, True] Translation: X:214.68, Y:133.27, Z:0.57 [[ 9.19730783e-02 -9.95761379e-01 -4.77604037e-04 2.14676807e+02] [ 9.95737397e-01 9.19741788e-02 -6.91285239e-03 1.33265695e+02] [ 6.92747867e-03 1.60228114e-04 9.99975992e-01 5.65036613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.110281693 meters 0.03374072245464559 Centerline is valid? [True, True] Translation: X:214.67, Y:133.29, Z:0.57 [[ 9.33448316e-02 -9.95633747e-01 -4.30293643e-04 2.14672887e+02] [ 9.95614124e-01 9.33456943e-02 -6.25271898e-03 1.33290187e+02] [ 6.26558408e-03 1.55252571e-04 9.99980359e-01 5.66455969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14028169299996 meters 0.036349281726420726 Centerline is valid? [True, True] Translation: X:214.66, Y:133.32, Z:0.57 [[ 9.55316409e-02 -9.95426359e-01 -2.62029783e-04 2.14664234e+02] [ 9.95419037e-01 9.55319436e-02 -3.81954821e-03 1.33315971e+02] [ 3.82711118e-03 1.04058274e-04 9.99992671e-01 5.71308682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.170281693 meters 0.03777997064028751 Centerline is valid? [True, True] Translation: X:214.66, Y:133.34, Z:0.57 [[ 9.64281589e-02 -9.95339922e-01 -2.25592895e-04 2.14660184e+02] [ 9.95334455e-01 9.64283773e-02 -3.30008162e-03 1.33340998e+02] [ 3.30645654e-03 9.36804136e-05 9.99994529e-01 5.72393351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20028169299997 meters 0.03760284872966544 Centerline is valid? [True, True] Translation: X:214.66, Y:133.37, Z:0.57 [[ 9.80558276e-02 -9.95180894e-01 -2.07548761e-04 2.14655230e+02] [ 9.95176233e-01 9.80560039e-02 -3.04735440e-03 1.33366986e+02] [ 3.05302028e-03 9.22632636e-05 9.99995335e-01 5.72000455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23028169299994 meters 0.04959426010248531 Centerline is valid? [True, True] Translation: X:214.64, Y:133.39, Z:0.57 [[ 9.81942735e-02 -9.95167251e-01 -1.65912252e-04 2.14637315e+02] [ 9.95164253e-01 9.81943851e-02 -2.44392182e-03 1.33392252e+02] [ 2.44840261e-03 7.48691852e-05 9.99997000e-01 5.72573850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26028169299997 meters 0.04183850945418164 Centerline is valid? [True, True] Translation: X:214.65, Y:133.42, Z:0.57 [[ 9.74659545e-02 -9.95238852e-01 -1.22531439e-04 2.14645388e+02] [ 9.95237207e-01 9.74660163e-02 -1.81028433e-03 1.33415861e+02] [ 1.81360795e-03 5.44932437e-05 9.99998354e-01 5.74788278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29028169299994 meters 0.03809143583733568 Centerline is valid? [True, True] Translation: X:214.65, Y:133.44, Z:0.58 [[ 9.39708789e-02 -9.95574940e-01 -1.10015438e-04 2.14646481e+02] [ 9.95573605e-01 9.39709331e-02 -1.63141726e-03 1.33440212e+02] [ 1.63453640e-03 4.37772476e-05 9.99998663e-01 5.75422357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32028169299997 meters 0.03069333344256431 Centerline is valid? [True, True] Translation: X:214.66, Y:133.46, Z:0.57 [[ 9.00565153e-02 -9.95936647e-01 -1.36278341e-04 2.14656620e+02] [ 9.95934578e-01 9.00566061e-02 -2.03074325e-03 1.33464814e+02] [ 2.03476439e-03 4.71573489e-05 9.99997929e-01 5.74511699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35028169299994 meters 0.021873123506287766 Centerline is valid? [True, True] Translation: X:214.67, Y:133.49, Z:0.58 [[ 7.91644332e-02 -9.96861569e-01 -7.10997996e-05 2.14670919e+02] [ 9.96861006e-01 7.91644640e-02 -1.05971974e-03 1.33487344e+02] [ 1.06202246e-03 1.30154948e-05 9.99999436e-01 5.75248391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380281693 meters 0.0154908198339799 Centerline is valid? [True, True] Translation: X:214.69, Y:133.51, Z:0.57 [[ 7.26609841e-02 -9.97356695e-01 -6.16886710e-05 2.14685159e+02] [ 9.97356269e-01 7.26610100e-02 -9.22485684e-04 1.33511753e+02] [ 9.24529634e-04 5.50313480e-06 9.99999573e-01 5.74979309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41028169299994 meters 0.0154908198339799 Centerline is valid? [True, True] Translation: X:214.69, Y:133.54, Z:0.58 [[ 7.23799159e-02 -9.97377132e-01 -6.14598099e-05 2.14686381e+02] [ 9.97376706e-01 7.23799418e-02 -9.22500899e-04 1.33535861e+02] [ 9.24529759e-04 5.47195470e-06 9.99999573e-01 5.75027349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440281693 meters 0.015029731684698821 Centerline is valid? [True, True] Translation: X:214.71, Y:133.56, Z:0.57 [[ 6.02506247e-02 -9.98183267e-01 -1.69536938e-04 2.14708680e+02] [ 9.98179956e-01 6.02508615e-02 -2.57080221e-03 1.33558385e+02] [ 2.57634649e-03 -1.43359339e-05 9.99996681e-01 5.71627030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47028169299995 meters 0.018222287927426143 Centerline is valid? [True, True] Translation: X:214.72, Y:133.58, Z:0.57 [[ 5.49204071e-02 -9.98490710e-01 -2.24899616e-04 2.14719615e+02] [ 9.98484827e-01 5.49208555e-02 -3.42769942e-03 1.33583066e+02] [ 3.43487770e-03 -3.63082076e-05 9.99994100e-01 5.70035276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500281693 meters 0.023731205671919806 Centerline is valid? [True, True] Translation: X:214.73, Y:133.61, Z:0.57 [[ 4.81359025e-02 -9.98840747e-01 -3.12487219e-04 2.14734901e+02] [ 9.98829291e-01 4.81368472e-02 -4.78442556e-03 1.33607762e+02] [ 4.79392135e-03 -8.18187456e-05 9.99988506e-01 5.68650693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53028169299995 meters 0.02484384908760503 Centerline is valid? [True, True] Translation: X:214.74, Y:133.63, Z:0.57 [[ 4.68391480e-02 -9.98902384e-01 -3.48263303e-04 2.14739990e+02] [ 9.98888040e-01 4.68403421e-02 -5.35407036e-03 1.33633104e+02] [ 5.36450642e-03 -9.70959545e-05 9.99985606e-01 5.68185751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560281693 meters 0.024818373343065765 Centerline is valid? [True, True] Translation: X:214.74, Y:133.66, Z:0.57 [[ 4.71871439e-02 -9.98886000e-01 -3.63009412e-04 2.14742724e+02] [ 9.98870280e-01 4.71884382e-02 -5.60499525e-03 1.33656768e+02] [ 5.61588113e-03 -9.81155956e-05 9.99984226e-01 5.67973171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59028169299995 meters 0.019930314380682358 Centerline is valid? [True, True] Translation: X:214.74, Y:133.68, Z:0.57 [[ 5.17515770e-02 -9.98659915e-01 -3.85112680e-04 2.14739196e+02] [ 9.98642060e-01 5.17529548e-02 -5.97216387e-03 1.33682048e+02] [ 5.98409138e-03 -7.55208212e-05 9.99982092e-01 5.67041424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620281693 meters 0.015987782945998015 Centerline is valid? [True, True] Translation: X:214.73, Y:133.71, Z:0.56 [[ 5.83453366e-02 -9.98296336e-01 -4.96878703e-04 2.14734613e+02] [ 9.98266342e-01 5.83474354e-02 -7.73873734e-03 1.33707165e+02] [ 7.75454473e-03 -4.44980497e-05 9.99969932e-01 5.63005879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65028169299995 meters 0.01475726377884894 Centerline is valid? [True, True] Translation: X:214.73, Y:133.73, Z:0.56 [[ 6.14782882e-02 -9.98108283e-01 -5.25748437e-04 2.14730885e+02] [ 9.98074406e-01 6.14805332e-02 -8.22335195e-03 1.33732551e+02] [ 8.24011899e-03 -1.91784581e-05 9.99966049e-01 5.62074252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680281693 meters 0.015327245823741883 Centerline is valid? [True, True] Translation: X:214.72, Y:133.76, Z:0.56 [[ 6.75908928e-02 -9.97712989e-01 -5.13278373e-04 2.14722538e+02] [ 9.97680412e-01 6.75928337e-02 -8.06257691e-03 1.33756403e+02] [ 8.07883165e-03 3.28689931e-05 9.99967365e-01 5.64146977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71028169299996 meters 0.0171687499909817 Centerline is valid? [True, True] Translation: X:214.72, Y:133.78, Z:0.57 [[ 7.05268033e-02 -9.97509765e-01 -4.88791504e-04 2.14718766e+02] [ 9.97479947e-01 7.05284745e-02 -7.71301089e-03 1.33780041e+02] [ 7.72827740e-03 5.64142784e-05 9.99970135e-01 5.65139671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740281693 meters 0.020018475400541375 Centerline is valid? [True, True] Translation: X:214.71, Y:133.80, Z:0.57 [[ 7.38489077e-02 -9.97269330e-01 -4.71501720e-04 2.14714025e+02] [ 9.97241329e-01 7.38503676e-02 -7.47363037e-03 1.33804727e+02] [ 7.48804292e-03 8.17184369e-05 9.99971961e-01 5.66137656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77028169299996 meters 0.02752308853295219 Centerline is valid? [True, True] Translation: X:214.70, Y:133.83, Z:0.57 [[ 8.14248248e-02 -9.96679400e-01 -4.14056367e-04 2.14700959e+02] [ 9.96657614e-01 8.14257831e-02 -6.59108696e-03 1.33829901e+02] [ 6.60291546e-03 1.24005670e-04 9.99978193e-01 5.67353838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800281693 meters 0.03777072524393858 Centerline is valid? [True, True] Translation: X:214.68, Y:133.85, Z:0.57 [[ 8.95861923e-02 -9.95979007e-01 -3.63345435e-04 2.14682921e+02] [ 9.95962083e-01 8.95867889e-02 -5.80834020e-03 1.33854825e+02] [ 5.81753586e-03 1.58468806e-04 9.99983065e-01 5.69604509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83028169299996 meters 0.03808830572004758 Centerline is valid? [True, True] Translation: X:214.68, Y:133.88, Z:0.57 [[ 9.35821104e-02 -9.95611507e-01 -3.41743101e-04 2.14680433e+02] [ 9.95596405e-01 9.35825741e-02 -5.48634599e-03 1.33879981e+02] [ 5.49425039e-03 1.73185634e-04 9.99984892e-01 5.71785878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.860281693 meters 0.04669250140645483 Centerline is valid? [True, True] Translation: X:214.66, Y:133.91, Z:0.57 [[ 1.01653940e-01 -9.94819789e-01 -2.52972359e-04 2.14662840e+02] [ 9.94811452e-01 1.01654125e-01 -4.07597746e-03 1.33906796e+02] [ 4.08057872e-03 1.62679369e-04 9.99991661e-01 5.73709148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89028169299996 meters 0.05409428797581787 Centerline is valid? [True, True] Translation: X:214.65, Y:133.93, Z:0.57 [[ 1.04931187e-01 -9.94479465e-01 -1.98219143e-04 2.14650024e+02] [ 9.94474311e-01 1.04931282e-01 -3.20494125e-03 1.33932199e+02] [ 3.20804765e-03 1.39174443e-04 9.99994845e-01 5.74889068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.920281693 meters 0.05720701931198379 Centerline is valid? [True, True] Translation: X:214.64, Y:133.96, Z:0.57 [[ 1.07074289e-01 -9.94251006e-01 -1.82602151e-04 2.14641711e+02] [ 9.94246597e-01 1.07074359e-01 -2.96408430e-03 1.33956683e+02] [ 2.96659580e-03 1.35825652e-04 9.99995590e-01 5.74743293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95028169299997 meters 0.06020944803716317 Centerline is valid? [True, True] Translation: X:214.63, Y:133.98, Z:0.57 [[ 1.08799254e-01 -9.94063702e-01 -2.81251062e-04 2.14629155e+02] [ 9.94053134e-01 1.08799396e-01 -4.58896625e-03 1.33982305e+02] [ 4.59232472e-03 2.19697604e-04 9.99989431e-01 5.71589160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98028169299994 meters 0.05333266338672445 Centerline is valid? [True, True] Translation: X:214.63, Y:134.01, Z:0.57 [[ 1.07890854e-01 -9.94162696e-01 -3.13888676e-04 2.14634915e+02] [ 9.94149417e-01 1.07891037e-01 -5.14403611e-03 1.34006739e+02] [ 5.14787458e-03 2.42942202e-04 9.99986720e-01 5.70931331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01028169299997 meters 0.0521056201544172 Centerline is valid? [True, True] Translation: X:214.63, Y:134.03, Z:0.57 [[ 1.03700825e-01 -9.94608488e-01 -3.06143033e-04 2.14628975e+02] [ 9.94595749e-01 1.03701048e-01 -5.03870216e-03 1.34031745e+02] [ 5.04328329e-03 2.18029012e-04 9.99987259e-01 5.71010499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04028169299994 meters 0.049158376951145714 Centerline is valid? [True, True] Translation: X:214.63, Y:134.06, Z:0.57 [[ 1.00833780e-01 -9.94903252e-01 -2.60227058e-04 2.14629212e+02] [ 9.94893972e-01 1.00833965e-01 -4.30062004e-03 1.34056642e+02] [ 4.30494059e-03 1.74749445e-04 9.99990718e-01 5.72224725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07028169299997 meters 0.04360986221744762 Centerline is valid? [True, True] Translation: X:214.63, Y:134.08, Z:0.57 [[ 9.78785586e-02 -9.95198339e-01 -2.31350750e-04 2.14633322e+02] [ 9.95190943e-01 9.78787237e-02 -3.83965462e-03 1.34081548e+02] [ 3.84386222e-03 1.45581689e-04 9.99992602e-01 5.73210933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10028169299994 meters 0.04166749730890907 Centerline is valid? [True, True] Translation: X:214.63, Y:134.11, Z:0.57 [[ 9.26509926e-02 -9.95698617e-01 -2.41204142e-04 2.14628074e+02] [ 9.95690505e-01 9.26512120e-02 -4.02141812e-03 1.34106356e+02] [ 4.02646832e-03 1.32423707e-04 9.99991885e-01 5.71933815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130281693 meters 0.03677134648547619 Centerline is valid? [True, True] Translation: X:214.63, Y:134.13, Z:0.57 [[ 8.95850734e-02 -9.95979119e-01 -3.29380433e-04 2.14625891e+02] [ 9.95963844e-01 8.95855245e-02 -5.51866033e-03 1.34131924e+02] [ 5.52597817e-03 1.66338589e-04 9.99984718e-01 5.69924639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16028169299994 meters 0.036849587254562 Centerline is valid? [True, True] Translation: X:214.62, Y:134.16, Z:0.57 [[ 8.89990842e-02 -9.96031645e-01 -3.55090682e-04 2.14622222e+02] [ 9.96013723e-01 8.89996139e-02 -5.97765286e-03 1.34156581e+02] [ 5.98553434e-03 1.78330438e-04 9.99982071e-01 5.69512403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190281693 meters 0.03679496242860886 Centerline is valid? [True, True] Translation: X:214.62, Y:134.18, Z:0.57 [[ 8.82076986e-02 -9.96102042e-01 -3.52558661e-04 2.14618770e+02] [ 9.96084202e-01 8.82082298e-02 -5.96415764e-03 1.34180187e+02] [ 5.97200818e-03 1.74906507e-04 9.99982152e-01 5.69672278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22028169299995 meters 0.03462357436141624 Centerline is valid? [True, True] Translation: X:214.61, Y:134.21, Z:0.57 [[ 8.57179775e-02 -9.96319409e-01 -2.50395887e-04 2.14614929e+02] [ 9.96310340e-01 8.57182660e-02 -4.25264763e-03 1.34206223e+02] [ 4.25845887e-03 1.15056342e-04 9.99990926e-01 5.72380511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250281693 meters 0.03292530557135964 Centerline is valid? [True, True] Translation: X:214.61, Y:134.23, Z:0.57 [[ 8.35992769e-02 -9.96499431e-01 -2.10035883e-04 2.14614578e+02] [ 9.96492999e-01 8.35994922e-02 -3.58151417e-03 1.34231038e+02] [ 3.58653572e-03 9.01127079e-05 9.99993564e-01 5.73595181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28028169299995 meters 0.029353827676433478 Centerline is valid? [True, True] Translation: X:214.61, Y:134.26, Z:0.57 [[ 7.99286650e-02 -9.96800560e-01 -2.26793340e-04 2.14613658e+02] [ 9.96792993e-01 7.99289421e-02 -3.88510514e-03 1.34256629e+02] [ 3.89080233e-03 8.44652550e-05 9.99992427e-01 5.71914755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310281693 meters 0.028214123367189762 Centerline is valid? [True, True] Translation: X:214.61, Y:134.28, Z:0.57 [[ 7.82972455e-02 -9.96930025e-01 -2.57510696e-04 2.14612737e+02] [ 9.96920177e-01 7.82976169e-02 -4.43217726e-03 1.34281562e+02] [ 4.43873307e-03 9.03096624e-05 9.99990145e-01 5.70753123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34028169299995 meters 0.026457036795115095 Centerline is valid? [True, True] Translation: X:214.61, Y:134.31, Z:0.57 [[ 7.64063191e-02 -9.97076721e-01 -2.93625875e-04 2.14612561e+02] [ 9.97063794e-01 7.64068239e-02 -5.07809791e-03 1.34306372e+02] [ 5.08568824e-03 9.52350410e-05 9.99987063e-01 5.69866381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370281693 meters 0.02267930564676139 Centerline is valid? [True, True] Translation: X:214.61, Y:134.33, Z:0.57 [[ 7.24683851e-02 -9.97370687e-01 -2.12391974e-04 2.14611568e+02] [ 9.97363872e-01 7.24686752e-02 -3.68741263e-03 1.34331713e+02] [ 3.69310904e-03 5.53887571e-05 9.99993179e-01 5.72421646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40028169299995 meters 0.021483719296003984 Centerline is valid? [True, True] Translation: X:214.61, Y:134.36, Z:0.57 [[ 7.07012492e-02 -9.97497524e-01 -1.54986961e-04 2.14611348e+02] [ 9.97493868e-01 7.07014097e-02 -2.70080080e-03 1.34355301e+02] [ 2.70499990e-03 3.63514473e-05 9.99996341e-01 5.74633493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430281693 meters 0.0179274570846221 Centerline is valid? [True, True] Translation: X:214.61, Y:134.38, Z:0.58 [[ 6.72226793e-02 -9.97737988e-01 -1.35792093e-04 2.14614867e+02] [ 9.97735158e-01 6.72228120e-02 -2.37656616e-03 1.34380463e+02] [ 2.38031866e-03 2.42745993e-05 9.99997167e-01 5.75547922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46028169299996 meters 0.016444947959136955 Centerline is valid? [True, True] Translation: X:214.62, Y:134.40, Z:0.58 [[ 6.43137580e-02 -9.97929717e-01 -1.45890763e-04 2.14617576e+02] [ 9.97926417e-01 6.43139206e-02 -2.56616173e-03 1.34404276e+02] [ 2.57023186e-03 1.94512580e-05 9.99996697e-01 5.75301243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490281693 meters 0.013278876840751845 Centerline is valid? [True, True] Translation: X:214.63, Y:134.43, Z:0.58 [[ 5.64011184e-02 -9.98408186e-01 -8.67269540e-05 2.14629595e+02] [ 9.98407015e-01 5.64011850e-02 -1.52930019e-03 1.34429167e+02] [ 1.53175733e-03 -3.34558132e-07 9.99998827e-01 5.76327506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52028169299996 meters 0.014136038508059215 Centerline is valid? [True, True] Translation: X:214.64, Y:134.45, Z:0.58 [[ 5.16107110e-02 -9.98667277e-01 -6.48868701e-05 2.14637542e+02] [ 9.98666618e-01 5.16107515e-02 -1.14699006e-03 1.34453113e+02] [ 1.14881030e-03 -5.60337879e-06 9.99999340e-01 5.76789235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550281693 meters 0.017120484342528414 Centerline is valid? [True, True] Translation: X:214.65, Y:134.48, Z:0.58 [[ 4.64836488e-02 -9.98919048e-01 -7.27550575e-05 2.14647398e+02] [ 9.98918210e-01 4.64837040e-02 -1.29414065e-03 1.34477035e+02] [ 1.29612367e-03 -1.25199723e-05 9.99999160e-01 5.76300335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58028169299996 meters 0.026190591408181873 Centerline is valid? [True, True] Translation: X:214.67, Y:134.50, Z:0.57 [[ 3.60690211e-02 -9.99349286e-01 -1.75915887e-04 2.14667559e+02] [ 9.99344306e-01 3.60693968e-02 -3.15527054e-03 1.34501159e+02] [ 3.15956254e-03 -6.19930202e-05 9.99995007e-01 5.73094105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.610281693 meters 0.033320780962213 Centerline is valid? [True, True] Translation: X:214.68, Y:134.53, Z:0.57 [[ 2.78970793e-02 -9.99610760e-01 -2.84382903e-04 2.14684631e+02] [ 9.99597602e-01 2.78981718e-02 -5.13097413e-03 1.34525032e+02] [ 5.13691071e-03 -1.41129276e-04 9.99986796e-01 5.71445268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64028169299996 meters 0.033957525848232056 Centerline is valid? [True, True] Translation: X:214.69, Y:134.55, Z:0.57 [[ 2.49911201e-02 -9.99687636e-01 -2.71186858e-04 2.14690509e+02] [ 9.99675562e-01 2.49921518e-02 -4.91563840e-03 1.34550246e+02] [ 4.92088047e-03 -1.48251565e-04 9.99987881e-01 5.72088696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.670281693 meters 0.04008909730942954 Centerline is valid? [True, True] Translation: X:214.70, Y:134.57, Z:0.57 [[ 2.29137203e-02 -9.99737414e-01 -2.53387063e-04 2.14704983e+02] [ 9.99726780e-01 2.29146458e-02 -4.61344019e-03 1.34574210e+02] [ 4.61803504e-03 -1.47606754e-04 9.99989326e-01 5.72142882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70028169299997 meters 0.03829207734549378 Centerline is valid? [True, True] Translation: X:214.71, Y:134.60, Z:0.57 [[ 2.02778584e-02 -9.99794363e-01 -2.02977402e-04 2.14714377e+02] [ 9.99787484e-01 2.02784723e-02 -3.71089994e-03 1.34599213e+02] [ 3.71425292e-03 -1.27685162e-04 9.99993094e-01 5.73424186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73028169299994 meters 0.047255538472880054 Centerline is valid? [True, True] Translation: X:214.73, Y:134.62, Z:0.57 [[ 1.92919659e-02 -9.99813868e-01 -2.22464655e-04 2.14732683e+02] [ 9.99805521e-01 1.92927144e-02 -4.08783882e-03 1.34622916e+02] [ 4.09136989e-03 -1.43558943e-04 9.99991620e-01 5.72108444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76028169299997 meters 0.04608641509357245 Centerline is valid? [True, True] Translation: X:214.74, Y:134.65, Z:0.57 [[ 1.73756622e-02 -9.99848994e-01 -2.74260032e-04 2.14742109e+02] [ 9.99836174e-01 1.73768292e-02 -5.06662932e-03 1.34647397e+02] [ 5.07063000e-03 -1.86179062e-04 9.99987127e-01 5.71294569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79028169299994 meters 0.04280814119086165 Centerline is valid? [True, True] Translation: X:214.74, Y:134.67, Z:0.57 [[ 1.67043144e-02 -9.99860432e-01 -2.87000992e-04 2.14744011e+02] [ 9.99846257e-01 1.67056069e-02 -5.32778116e-03 1.34672705e+02] [ 5.33183210e-03 -1.97959936e-04 9.99985766e-01 5.71097858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82028169299997 meters 0.04793005801664673 Centerline is valid? [True, True] Translation: X:214.76, Y:134.70, Z:0.57 [[ 1.58978947e-02 -9.99873576e-01 -2.97399364e-04 2.14763357e+02] [ 9.99858206e-01 1.58993005e-02 -5.54795069e-03 1.34696400e+02] [ 5.55197774e-03 -2.09156459e-04 9.99984566e-01 5.69604259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85028169299994 meters 0.04372740885211343 Centerline is valid? [True, True] Translation: X:214.76, Y:134.72, Z:0.57 [[ 1.53930558e-02 -9.99881484e-01 -2.68173683e-04 2.14763938e+02] [ 9.99868863e-01 1.53942098e-02 -5.02736217e-03 1.34721370e+02] [ 5.03089467e-03 -1.90752050e-04 9.99987327e-01 5.71614509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880281693 meters 0.04410629862140767 Centerline is valid? [True, True] Translation: X:214.77, Y:134.74, Z:0.57 [[ 1.55323457e-02 -9.99879344e-01 -2.07413402e-04 2.14774534e+02] [ 9.99871723e-01 1.55330377e-02 -3.90671163e-03 1.34744765e+02] [ 3.90946202e-03 -1.46706400e-04 9.99992347e-01 5.73831757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91028169299994 meters 0.03931872483889053 Centerline is valid? [True, True] Translation: X:214.77, Y:134.77, Z:0.58 [[ 1.63793192e-02 -9.99865833e-01 -1.83128741e-04 2.14773736e+02] [ 9.99859832e-01 1.63798558e-02 -3.46644990e-03 1.34770054e+02] [ 3.46898444e-03 -1.26324983e-04 9.99993975e-01 5.75307154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940281693 meters 0.039179364541083596 Centerline is valid? [True, True] Translation: X:214.79, Y:134.79, Z:0.58 [[ 1.94909416e-02 -9.99810024e-01 -1.35378085e-04 2.14785001e+02] [ 9.99806716e-01 1.94912255e-02 -2.57347364e-03 1.34793172e+02] [ 2.57562343e-03 -8.51924941e-05 9.99996679e-01 5.77576809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97028169299995 meters 0.03615600129885472 Centerline is valid? [True, True] Translation: X:214.79, Y:134.82, Z:0.58 [[ 2.14184392e-02 -9.99770594e-01 -9.46425634e-05 2.14786233e+02] [ 9.99768965e-01 2.14185752e-02 -1.80606013e-03 1.34818445e+02] [ 1.80767291e-03 -5.59377087e-05 9.99998365e-01 5.79593701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000281693 meters 0.03541189842693587 Centerline is valid? [True, True] Translation: X:214.79, Y:134.84, Z:0.58 [[ 2.36569527e-02 -9.99720132e-01 -8.50589546e-05 2.14789309e+02] [ 9.99718803e-01 2.36570600e-02 -1.63042730e-03 1.34843115e+02] [ 1.63198324e-03 -4.64640947e-05 9.99998667e-01 5.80294257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03028169299995 meters 0.028851554238223973 Centerline is valid? [True, True] Translation: X:214.79, Y:134.87, Z:0.58 [[ 2.84652021e-02 -9.99594773e-01 -1.46321286e-04 2.14785651e+02] [ 9.99590780e-01 2.84655021e-02 -2.82643216e-03 1.34868310e+02] [ 2.82945192e-03 -6.58064462e-05 9.99995995e-01 5.78334298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060281693 meters 0.025148030168027195 Centerline is valid? [True, True] Translation: X:214.79, Y:134.89, Z:0.57 [[ 3.28010224e-02 -9.99461872e-01 -2.42648215e-04 2.14785559e+02] [ 9.99450735e-01 3.28018025e-02 -4.71904155e-03 1.34892637e+02] [ 4.72446140e-03 -8.77255495e-05 9.99988836e-01 5.74626017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09028169299995 meters 0.023181739496771527 Centerline is valid? [True, True] Translation: X:214.79, Y:134.92, Z:0.57 [[ 3.41339757e-02 -9.99417231e-01 -2.66081978e-04 2.14785136e+02] [ 9.99403688e-01 3.41348985e-02 -5.20353414e-03 1.34917845e+02] [ 5.20958436e-03 -8.83060028e-05 9.99986426e-01 5.74521105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120281693 meters 0.022766088426586107 Centerline is valid? [True, True] Translation: X:214.79, Y:134.94, Z:0.57 [[ 3.51962012e-02 -9.99380390e-01 -2.54050169e-04 2.14786365e+02] [ 9.99367917e-01 3.51970313e-02 -4.99355094e-03 1.34941286e+02] [ 4.99939869e-03 -7.81355649e-05 9.99987500e-01 5.74870176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15028169299995 meters 0.020312197733856813 Centerline is valid? [True, True] Translation: X:214.78, Y:134.97, Z:0.58 [[ 3.70031601e-02 -9.99315135e-01 -1.66094133e-04 2.14783321e+02] [ 9.99309760e-01 3.70035059e-02 -3.27783295e-03 1.34967137e+02] [ 3.28173414e-03 -4.46893111e-05 9.99994614e-01 5.79044986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180281693 meters 0.018495878425058215 Centerline is valid? [True, True] Translation: X:214.78, Y:134.99, Z:0.58 [[ 3.85689021e-02 -9.99255936e-01 -1.18289230e-04 2.14780672e+02] [ 9.99253188e-01 3.85690735e-02 -2.34349705e-03 1.34992239e+02] [ 2.34631564e-03 -2.78147822e-05 9.99997247e-01 5.80614144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21028169299996 meters 0.015285521063445055 Centerline is valid? [True, True] Translation: X:214.77, Y:135.02, Z:0.58 [[ 4.31915965e-02 -9.99066805e-01 -6.82515768e-05 2.14774391e+02] [ 9.99065886e-01 4.31916494e-02 -1.35508095e-03 1.35017723e+02] [ 1.35676430e-03 -9.65971235e-06 9.99999080e-01 5.81701107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240281693 meters 0.01409551370061106 Centerline is valid? [True, True] Translation: X:214.77, Y:135.04, Z:0.58 [[ 4.53689811e-02 -9.98970293e-01 -9.77114409e-05 2.14771195e+02] [ 9.98968380e-01 4.53690855e-02 -1.95494959e-03 1.35043008e+02] [ 1.95736964e-03 -8.91656897e-06 9.99998084e-01 5.80265255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27028169299996 meters 0.013704195425425792 Centerline is valid? [True, True] Translation: X:214.77, Y:135.07, Z:0.57 [[ 4.86368932e-02 -9.98816491e-01 -2.64250210e-04 2.14766787e+02] [ 9.98802236e-01 4.86376108e-02 -5.33626937e-03 1.35066421e+02] [ 5.34280635e-03 -4.39413749e-06 9.99985727e-01 5.73979601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300281693 meters 0.013704195425425792 Centerline is valid? [True, True] Translation: X:214.77, Y:135.09, Z:0.57 [[ 4.83632198e-02 -9.98829780e-01 -2.62746578e-04 2.14767593e+02] [ 9.98815525e-01 4.83639333e-02 -5.33634354e-03 1.35090551e+02] [ 5.34280631e-03 -4.35260609e-06 9.99985727e-01 5.74027642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33028169299996 meters 0.013881054310713825 Centerline is valid? [True, True] Translation: X:214.77, Y:135.11, Z:0.57 [[ 4.92458731e-02 -9.98786634e-01 -3.21321108e-04 2.14767197e+02] [ 9.98765051e-01 4.92469213e-02 -6.56609658e-03 1.35113911e+02] [ 6.57395358e-03 2.42886668e-06 9.99978391e-01 5.71257998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.360281693 meters 0.014106263715330768 Centerline is valid? [True, True] Translation: X:214.77, Y:135.14, Z:0.57 [[ 5.01819269e-02 -9.98740035e-01 -3.41145515e-04 2.14766214e+02] [ 9.98715411e-01 5.01830852e-02 -7.01331750e-03 1.35137460e+02] [ 7.02160070e-03 1.12345028e-05 9.99975348e-01 5.70672707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39028169299996 meters 0.014503045548800728 Centerline is valid? [True, True] Translation: X:214.76, Y:135.16, Z:0.58 [[ 5.24212349e-02 -9.98625032e-01 -2.45357495e-04 2.14762288e+02] [ 9.98612154e-01 5.24218050e-02 -5.07146433e-03 1.35161842e+02] [ 5.07735331e-03 2.08354466e-05 9.99987110e-01 5.75788356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.420281693 meters 0.01460596348407349 Centerline is valid? [True, True] Translation: X:214.76, Y:135.19, Z:0.58 [[ 5.31208495e-02 -9.98588079e-01 -1.53376602e-04 2.14761280e+02] [ 9.98583001e-01 5.31210685e-02 -3.18482577e-03 1.35186953e+02] [ 3.18847658e-03 1.60213829e-05 9.99994917e-01 5.80159619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45028169299997 meters 0.014211639595322853 Centerline is valid? [True, True] Translation: X:214.76, Y:135.21, Z:0.58 [[ 5.21814187e-02 -9.98637621e-01 -3.63658216e-05 2.14761581e+02] [ 9.98637339e-01 5.21814313e-02 -7.50369115e-04 1.35210273e+02] [ 7.51244448e-04 2.83905768e-06 9.99999718e-01 5.84335535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48028169299994 meters 0.01379345286784927 Centerline is valid? [True, True] Translation: X:214.76, Y:135.23, Z:0.58 [[ 5.07667110e-02 -9.98710538e-01 -5.23208961e-05 2.14763649e+02] [ 9.98709941e-01 5.07667379e-02 -1.09185923e-03 1.35234782e+02] [ 1.09310748e-03 3.17670281e-06 9.99999403e-01 5.82810230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51028169299997 meters 0.013603309785667803 Centerline is valid? [True, True] Translation: X:214.77, Y:135.26, Z:0.58 [[ 4.93442629e-02 -9.98781823e-01 -1.20536152e-04 2.14766066e+02] [ 9.98778579e-01 4.93444099e-02 -2.54530298e-03 1.35259755e+02] [ 2.54815014e-03 5.20717290e-06 9.99996753e-01 5.79490673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54028169299994 meters 0.013759930450403902 Centerline is valid? [True, True] Translation: X:214.77, Y:135.28, Z:0.57 [[ 4.70607238e-02 -9.98891995e-01 -2.64794443e-04 2.14770804e+02] [ 9.98876082e-01 4.70614688e-02 -5.63834006e-03 1.35284542e+02] [ 5.64455437e-03 8.47529178e-07 9.99984069e-01 5.73398177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57028169299997 meters 0.013620564753827278 Centerline is valid? [True, True] Translation: X:214.77, Y:135.31, Z:0.58 [[ 4.61554985e-02 -9.98934239e-01 -2.36296669e-04 2.14772017e+02] [ 9.98921413e-01 4.61561033e-02 -5.06207817e-03 1.35307060e+02] [ 5.06758973e-03 -2.39906152e-06 9.99987160e-01 5.75979375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60028169299994 meters 0.013452964899867952 Centerline is valid? [True, True] Translation: X:214.77, Y:135.33, Z:0.58 [[ 4.59720879e-02 -9.98942706e-01 -1.95277636e-04 2.14771209e+02] [ 9.98933839e-01 4.59725026e-02 -4.20873233e-03 1.35329495e+02] [ 4.21325986e-03 -1.58522614e-06 9.99991124e-01 5.77372674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630281693 meters 0.013467417266282821 Centerline is valid? [True, True] Translation: X:214.77, Y:135.35, Z:0.58 [[ 4.62707679e-02 -9.98928919e-01 -1.73114457e-04 2.14769916e+02] [ 9.98921866e-01 4.62710917e-02 -3.75384123e-03 1.35353597e+02] [ 3.75783075e-03 7.65299163e-07 9.99992939e-01 5.78364724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66028169299994 meters 0.0134078432811708 Centerline is valid? [True, True] Translation: X:214.77, Y:135.38, Z:0.58 [[ 4.55914055e-02 -9.98960157e-01 -1.69000189e-04 2.14771185e+02] [ 9.98953350e-01 4.55917187e-02 -3.68777044e-03 1.35377107e+02] [ 3.69164074e-03 -6.92667378e-07 9.99993186e-01 5.78219473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690281693 meters 0.013586098608268395 Centerline is valid? [True, True] Translation: X:214.77, Y:135.40, Z:0.58 [[ 4.43553708e-02 -9.99015802e-01 -1.69750220e-04 2.14774459e+02] [ 9.99008844e-01 4.43556955e-02 -3.72839889e-03 1.35399996e+02] [ 3.73225879e-03 -4.20745621e-06 9.99993035e-01 5.78054094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72028169299995 meters 0.014704206005580823 Centerline is valid? [True, True] Translation: X:214.78, Y:135.42, Z:0.58 [[ 4.04035224e-02 -9.99183433e-01 -1.49408582e-04 2.14784444e+02] [ 9.99177978e-01 4.04037955e-02 -3.30162667e-03 1.35423104e+02] [ 3.30496735e-03 -1.58884176e-05 9.99994538e-01 5.78548688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750281693 meters 0.016106769103968747 Centerline is valid? [True, True] Translation: X:214.79, Y:135.45, Z:0.58 [[ 3.77706177e-02 -9.99286426e-01 -1.35492369e-04 2.14791252e+02] [ 9.99281886e-01 3.77708545e-02 -3.01233458e-03 1.35445297e+02] [ 3.01530272e-03 -2.16173329e-05 9.99995454e-01 5.78215052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78028169299995 meters 0.017597343905549387 Centerline is valid? [True, True] Translation: X:214.80, Y:135.47, Z:0.58 [[ 3.56613689e-02 -9.99363920e-01 -1.47681850e-04 2.14796752e+02] [ 9.99358452e-01 3.56616623e-02 -3.30610180e-03 1.35468318e+02] [ 3.30926544e-03 -2.96869887e-05 9.99994524e-01 5.77672467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810281693 meters 0.017896429891784155 Centerline is valid? [True, True] Translation: X:214.80, Y:135.49, Z:0.57 [[ 3.54337586e-02 -9.99371996e-01 -2.48052953e-04 2.14800201e+02] [ 9.99356316e-01 3.54345922e-02 -5.59858020e-03 1.35491274e+02] [ 5.60385392e-03 -4.95145463e-05 9.99984297e-01 5.74531381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84028169299995 meters 0.017000870705781965 Centerline is valid? [True, True] Translation: X:214.80, Y:135.52, Z:0.57 [[ 3.65399918e-02 -9.99332148e-01 -2.96541424e-04 2.14800032e+02] [ 9.99309427e-01 3.65411608e-02 -6.73888508e-03 1.35515579e+02] [ 6.74522047e-03 -5.00978347e-05 9.99977250e-01 5.72709166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870281693 meters 0.014616599491713945 Centerline is valid? [True, True] Translation: X:214.80, Y:135.54, Z:0.57 [[ 4.03470890e-02 -9.99185674e-01 -3.18417337e-04 2.14796515e+02] [ 9.99159122e-01 4.03483381e-02 -7.28423892e-03 1.35538460e+02] [ 7.29115479e-03 -2.42517515e-05 9.99973419e-01 5.71849205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90028169299995 meters 0.013965076169391794 Centerline is valid? [True, True] Translation: X:214.79, Y:135.56, Z:0.57 [[ 4.23894075e-02 -9.99101117e-01 -3.10579638e-04 2.14794701e+02] [ 9.99075516e-01 4.23905446e-02 -7.15222443e-03 1.35562645e+02] [ 7.15896106e-03 -7.11395684e-06 9.99974374e-01 5.72682112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930281693 meters 0.014281566383494898 Centerline is valid? [True, True] Translation: X:214.79, Y:135.59, Z:0.57 [[ 4.54239922e-02 -9.98967757e-01 -2.85492861e-04 2.14794035e+02] [ 9.98945830e-01 4.54248867e-02 -6.61876650e-03 1.35585081e+02] [ 6.62490281e-03 1.54588954e-05 9.99978055e-01 5.72904923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96028169299996 meters 0.014285781476491687 Centerline is valid? [True, True] Translation: X:214.80, Y:135.61, Z:0.57 [[ 4.60141263e-02 -9.98940758e-01 -2.48935150e-04 2.14795282e+02] [ 9.98923867e-01 4.60147959e-02 -5.80909241e-03 1.35608913e+02] [ 5.81439388e-03 1.86330493e-05 9.99983096e-01 5.74661221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990281693 meters 0.014359573337275083 Centerline is valid? [True, True] Translation: X:214.80, Y:135.63, Z:0.58 [[ 4.61030724e-02 -9.98936667e-01 -2.06364331e-04 2.14796853e+02] [ 9.98924911e-01 4.61035310e-02 -4.84628266e-03 1.35632533e+02] [ 4.85064357e-03 1.72860489e-05 9.99988235e-01 5.76725695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02028169299996 meters 0.014461681178274387 Centerline is valid? [True, True] Translation: X:214.80, Y:135.66, Z:0.58 [[ 4.61020330e-02 -9.98936719e-01 -1.82675732e-04 2.14800053e+02] [ 9.98927387e-01 4.61023920e-02 -4.31789524e-03 1.35656725e+02] [ 4.32172590e-03 1.65839573e-05 9.99990661e-01 5.78003826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050281693 meters 0.015263669170975307 Centerline is valid? [True, True] Translation: X:214.80, Y:135.68, Z:0.57 [[ 4.67763887e-02 -9.98905351e-01 -2.61530131e-04 2.14802559e+02] [ 9.98885924e-01 4.67771101e-02 -6.23005791e-03 1.35680727e+02] [ 6.23547181e-03 3.01808440e-05 9.99980559e-01 5.74242658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08028169299996 meters 0.01533176710863542 Centerline is valid? [True, True] Translation: X:214.80, Y:135.70, Z:0.57 [[ 4.66359522e-02 -9.98911910e-01 -2.88418406e-04 2.14804803e+02] [ 9.98887945e-01 4.66368312e-02 -6.91952568e-03 1.35703982e+02] [ 6.92544754e-03 3.46010005e-05 9.99976018e-01 5.73112513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.110281693 meters 0.01475345186057626 Centerline is valid? [True, True] Translation: X:214.81, Y:135.73, Z:0.57 [[ 4.59625482e-02 -9.98943125e-01 -2.78126467e-04 2.14808719e+02] [ 9.98920542e-01 4.59633793e-02 -6.71703250e-03 1.35728977e+02] [ 6.72271707e-03 3.09056887e-05 9.99977402e-01 5.74842959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14028169299996 meters 0.01447949848140812 Centerline is valid? [True, True] Translation: X:214.81, Y:135.75, Z:0.58 [[ 4.55711399e-02 -9.98961073e-01 -2.13365345e-04 2.14813331e+02] [ 9.98947616e-01 4.55716335e-02 -5.18521498e-03 1.35753302e+02] [ 5.18955133e-03 2.31553542e-05 9.99986534e-01 5.78812673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.170281693 meters 0.0145738497594699 Centerline is valid? [True, True] Translation: X:214.81, Y:135.78, Z:0.58 [[ 4.58158138e-02 -9.98949892e-01 -1.57978286e-04 2.14814339e+02] [ 9.98942423e-01 4.58160822e-02 -3.86297797e-03 1.35776766e+02] [ 3.86615937e-03 1.91742675e-05 9.99992526e-01 5.80878128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20028169299997 meters 0.016095508772313256 Centerline is valid? [True, True] Translation: X:214.81, Y:135.80, Z:0.58 [[ 4.71844416e-02 -9.98886186e-01 -1.28911849e-04 2.14811444e+02] [ 9.98881150e-01 4.71846131e-02 -3.17198609e-03 1.35800513e+02] [ 3.17453574e-03 2.09007763e-05 9.99994961e-01 5.81394599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23028169299994 meters 0.017476630314353744 Centerline is valid? [True, True] Translation: X:214.81, Y:135.82, Z:0.58 [[ 4.82864571e-02 -9.98833513e-01 -1.77382792e-04 2.14808463e+02] [ 9.98823820e-01 4.82867700e-02 -4.40041016e-03 1.35823270e+02] [ 4.40384238e-03 3.53060578e-05 9.99990302e-01 5.78509378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26028169299997 meters 0.01882660403359876 Centerline is valid? [True, True] Translation: X:214.81, Y:135.85, Z:0.58 [[ 5.12126613e-02 -9.98687736e-01 -2.63908070e-04 2.14805624e+02] [ 9.98665941e-01 5.12132873e-02 -6.59826077e-03 1.35849216e+02] [ 6.60311771e-03 7.43584925e-05 9.99978196e-01 5.75380323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29028169299994 meters 0.020362132288524272 Centerline is valid? [True, True] Translation: X:214.80, Y:135.87, Z:0.58 [[ 5.25974856e-02 -9.98615759e-01 -2.64296847e-04 2.14802347e+02] [ 9.98593601e-01 5.25980793e-02 -6.65292112e-03 1.35874057e+02] [ 6.65761339e-03 8.60017827e-05 9.99977834e-01 5.76472236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32028169299997 meters 0.02297969482187518 Centerline is valid? [True, True] Translation: X:214.79, Y:135.90, Z:0.58 [[ 5.55088953e-02 -9.98458164e-01 -2.40539095e-04 2.14793335e+02] [ 9.98439571e-01 5.55093297e-02 -6.09411475e-03 1.35900215e+02] [ 6.09807079e-03 9.81138265e-05 9.99981402e-01 5.79044447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35028169299994 meters 0.024287013165438805 Centerline is valid? [True, True] Translation: X:214.79, Y:135.93, Z:0.58 [[ 5.65299629e-02 -9.98400872e-01 -2.49751641e-04 2.14788910e+02] [ 9.98380558e-01 5.65304062e-02 -6.36977347e-03 1.35926045e+02] [ 6.37370595e-03 1.10735875e-04 9.99979682e-01 5.78677267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380281693 meters 0.02909076537980883 Centerline is valid? [True, True] Translation: X:214.78, Y:135.95, Z:0.57 [[ 5.67659441e-02 -9.98387476e-01 -2.75832721e-04 2.14778091e+02] [ 9.98362338e-01 5.67664725e-02 -7.08589560e-03 1.35950965e+02] [ 7.09012748e-03 1.26856553e-04 9.99974857e-01 5.74779721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41028169299994 meters 0.024657302869225184 Centerline is valid? [True, True] Translation: X:214.78, Y:135.98, Z:0.58 [[ 5.60017136e-02 -9.98430639e-01 -2.59079724e-04 2.14783131e+02] [ 9.98408146e-01 5.60021913e-02 -6.70283608e-03 1.35975515e+02] [ 6.70682594e-03 1.16703000e-04 9.99977502e-01 5.77354655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440281693 meters 0.023607795965634032 Centerline is valid? [True, True] Translation: X:214.78, Y:136.00, Z:0.58 [[ 5.44471298e-02 -9.98516642e-01 -1.60139339e-04 2.14780123e+02] [ 9.98507955e-01 5.44473241e-02 -4.16577296e-03 1.35999458e+02] [ 4.16831279e-03 6.69139771e-05 9.99991310e-01 5.81376073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47028169299995 meters 0.023452761216602325 Centerline is valid? [True, True] Translation: X:214.78, Y:136.02, Z:0.58 [[ 5.38005892e-02 -9.98551687e-01 -1.59815805e-04 2.14778927e+02] [ 9.98542916e-01 5.38007866e-02 -4.18576705e-03 1.36024171e+02] [ 4.18830296e-03 6.56137939e-05 9.99991227e-01 5.80865600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500281693 meters 0.02430570907187219 Centerline is valid? [True, True] Translation: X:214.77, Y:136.05, Z:0.58 [[ 5.39763524e-02 -9.98542187e-01 -2.34826122e-04 2.14773877e+02] [ 9.98522924e-01 5.39767699e-02 -6.20312866e-03 1.36048369e+02] [ 6.20676081e-03 1.00342992e-04 9.99980733e-01 5.76848094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53028169299995 meters 0.02477995319547622 Centerline is valid? [True, True] Translation: X:214.77, Y:136.07, Z:0.58 [[ 5.41603385e-02 -9.98532224e-01 -2.33370353e-04 2.14771195e+02] [ 9.98512918e-01 5.41607427e-02 -6.21023880e-03 1.36072967e+02] [ 6.21376308e-03 1.03325323e-04 9.99980689e-01 5.77035210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560281693 meters 0.023571717131664865 Centerline is valid? [True, True] Translation: X:214.77, Y:136.10, Z:0.58 [[ 5.39264512e-02 -9.98544899e-01 -1.47850655e-04 2.14769761e+02] [ 9.98537055e-01 5.39266136e-02 -3.95850385e-03 1.36097434e+02] [ 3.96071691e-03 6.58337072e-05 9.99992154e-01 5.81444371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59028169299995 meters 0.02204735165820706 Centerline is valid? [True, True] Translation: X:214.77, Y:136.12, Z:0.58 [[ 5.23025771e-02 -9.98631279e-01 -9.52337020e-05 2.14771529e+02] [ 9.98627989e-01 5.23026493e-02 -2.56369177e-03 1.36122008e+02] [ 2.56516376e-03 3.89846460e-05 9.99996709e-01 5.84352247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620281693 meters 0.02032441167668464 Centerline is valid? [True, True] Translation: X:214.77, Y:136.15, Z:0.59 [[ 5.00002994e-02 -9.98749201e-01 -6.39835086e-05 2.14773968e+02] [ 9.98747702e-01 5.00003352e-02 -1.73043935e-03 1.36147451e+02] [ 1.73147411e-03 2.26191032e-05 9.99998501e-01 5.85879564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65028169299995 meters 0.017204878030121572 Centerline is valid? [True, True] Translation: X:214.78, Y:136.17, Z:0.58 [[ 4.54419639e-02 -9.98966974e-01 -1.11498002e-04 2.14778603e+02] [ 9.98962321e-01 4.54420925e-02 -3.04914793e-03 1.36170711e+02] [ 3.05106478e-03 2.71769670e-05 9.99995345e-01 5.82930759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680281693 meters 0.015583795818926816 Centerline is valid? [True, True] Translation: X:214.78, Y:136.20, Z:0.58 [[ 4.30603888e-02 -9.99072462e-01 -1.38116112e-04 2.14782113e+02] [ 9.99065194e-01 4.30606024e-02 -3.81084698e-03 1.36195462e+02] [ 3.81325963e-03 2.61095524e-05 9.99992729e-01 5.81100861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71028169299996 meters 0.013987835405998171 Centerline is valid? [True, True] Translation: X:214.79, Y:136.22, Z:0.58 [[ 3.94262959e-02 -9.99222470e-01 -1.51714243e-04 2.14786789e+02] [ 9.99213559e-01 3.94265850e-02 -4.22001879e-03 1.36220001e+02] [ 4.22271917e-03 1.47847811e-05 9.99991084e-01 5.80919133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740281693 meters 0.013645259575140895 Centerline is valid? [True, True] Translation: X:214.79, Y:136.24, Z:0.58 [[ 3.76658971e-02 -9.99290374e-01 -1.66914560e-04 2.14788771e+02] [ 9.99279414e-01 3.76662658e-02 -4.68038046e-03 1.36244177e+02] [ 4.68334620e-03 9.49644520e-06 9.99989033e-01 5.80308655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77028169299996 meters 0.01354311612819304 Centerline is valid? [True, True] Translation: X:214.79, Y:136.27, Z:0.58 [[ 3.68532502e-02 -9.99320669e-01 -1.98609296e-04 2.14789711e+02] [ 9.99304885e-01 3.68537844e-02 -5.61655838e-03 1.36267529e+02] [ 5.62006238e-03 8.51719199e-06 9.99984207e-01 5.78364958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800281693 meters 0.013644591176734002 Centerline is valid? [True, True] Translation: X:214.79, Y:136.29, Z:0.58 [[ 3.61120302e-02 -9.99347716e-01 -2.50934784e-04 2.14789721e+02] [ 9.99322067e-01 3.61129012e-02 -7.15994054e-03 1.36291746e+02] [ 7.16433221e-03 7.79532236e-06 9.99974336e-01 5.76697143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83028169299996 meters 0.013920873023847848 Centerline is valid? [True, True] Translation: X:214.79, Y:136.31, Z:0.58 [[ 3.68872761e-02 -9.99319400e-01 -2.55666683e-04 2.14786647e+02] [ 9.99292308e-01 3.68881586e-02 -7.35844720e-03 1.36314496e+02] [ 7.36287012e-03 1.59473240e-05 9.99972894e-01 5.75818468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.860281693 meters 0.013971439490921276 Centerline is valid? [True, True] Translation: X:214.79, Y:136.34, Z:0.58 [[ 3.74564093e-02 -9.99298237e-01 -2.26989650e-04 2.14785600e+02] [ 9.99276533e-01 3.74570918e-02 -6.58606213e-03 1.36339659e+02] [ 6.58994264e-03 1.98648085e-05 9.99978286e-01 5.77652345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89028169299996 meters 0.014299785732961241 Centerline is valid? [True, True] Translation: X:214.78, Y:136.36, Z:0.58 [[ 3.82345605e-02 -9.99268776e-01 -1.77440505e-04 2.14783016e+02] [ 9.99255319e-01 3.82349664e-02 -5.18597248e-03 1.36362943e+02] [ 5.18896481e-03 2.09750098e-05 9.99986537e-01 5.79891280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.920281693 meters 0.015111265098106058 Centerline is valid? [True, True] Translation: X:214.78, Y:136.39, Z:0.58 [[ 3.96760983e-02 -9.99212584e-01 -1.40265966e-04 2.14777183e+02] [ 9.99204049e-01 3.96763392e-02 -4.12997503e-03 1.36387152e+02] [ 4.13228826e-03 2.37069745e-05 9.99991462e-01 5.82442044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95028169299997 meters 0.015035804661518963 Centerline is valid? [True, True] Translation: X:214.78, Y:136.41, Z:0.58 [[ 4.00183557e-02 -9.99198933e-01 -1.53295516e-04 2.14775709e+02] [ 9.99188554e-01 4.00186387e-02 -4.55434268e-03 1.36412087e+02] [ 4.55682903e-03 2.90861800e-05 9.99989617e-01 5.81915236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98028169299994 meters 0.017010092263663266 Centerline is valid? [True, True] Translation: X:214.77, Y:136.44, Z:0.58 [[ 4.23907437e-02 -9.99101082e-01 -2.29756374e-04 2.14768668e+02] [ 9.99077309e-01 4.23913200e-02 -6.89246708e-03 1.36436974e+02] [ 6.89601099e-03 6.26324256e-05 9.99976220e-01 5.78061944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01028169299997 meters 0.01827749856724374 Centerline is valid? [True, True] Translation: X:214.77, Y:136.46, Z:0.58 [[ 4.41662630e-02 -9.99024160e-01 -2.63205212e-04 2.14766024e+02] [ 9.98992426e-01 4.41669581e-02 -7.96323812e-03 1.36462189e+02] [ 7.96709224e-03 8.87664559e-05 9.99968258e-01 5.76338548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04028169299994 meters 0.022226996880587577 Centerline is valid? [True, True] Translation: X:214.76, Y:136.49, Z:0.58 [[ 4.80434337e-02 -9.98845211e-01 -2.69618203e-04 2.14756898e+02] [ 9.98811403e-01 4.80440262e-02 -8.21902017e-03 1.36486582e+02] [ 8.22248248e-03 1.25572216e-04 9.99966187e-01 5.75868380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07028169299997 meters 0.023939462142353273 Centerline is valid? [True, True] Translation: X:214.75, Y:136.51, Z:0.58 [[ 5.01190242e-02 -9.98743227e-01 -2.23075414e-04 2.14752226e+02] [ 9.98719733e-01 5.01193755e-02 -6.85144358e-03 1.36512543e+02] [ 6.85401327e-03 1.20597849e-04 9.99976504e-01 5.79021446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10028169299994 meters 0.02690567823022386 Centerline is valid? [True, True] Translation: X:214.75, Y:136.54, Z:0.58 [[ 5.27928448e-02 -9.98605471e-01 -1.72145836e-04 2.14745878e+02] [ 9.98591263e-01 5.27930122e-02 -5.32793951e-03 1.36537446e+02] [ 5.32959764e-03 1.09373756e-04 9.99985792e-01 5.82246896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130281693 meters 0.03132685362018158 Centerline is valid? [True, True] Translation: X:214.74, Y:136.56, Z:0.59 [[ 5.78568204e-02 -9.98324884e-01 -1.19561251e-04 2.14735816e+02] [ 9.98317934e-01 5.78568639e-02 -3.72651999e-03 1.36563165e+02] [ 3.72719508e-03 9.62444575e-05 9.99993049e-01 5.85373878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16028169299994 meters 0.03538766446612492 Centerline is valid? [True, True] Translation: X:214.72, Y:136.59, Z:0.58 [[ 6.09661941e-02 -9.98139824e-01 -1.23324919e-04 2.14724144e+02] [ 9.98132297e-01 6.09662135e-02 -3.87784342e-03 1.36587520e+02] [ 3.87814860e-03 1.13322770e-04 9.99992474e-01 5.83915908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190281693 meters 0.036775908169184635 Centerline is valid? [True, True] Translation: X:214.72, Y:136.61, Z:0.58 [[ 6.12041843e-02 -9.98125260e-01 -1.17646361e-04 2.14719428e+02] [ 9.98118291e-01 6.12041968e-02 -3.73144443e-03 1.36612563e+02] [ 3.73164940e-03 1.10955029e-04 9.99993031e-01 5.83301806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22028169299995 meters 0.036775908169184635 Centerline is valid? [True, True] Translation: X:214.72, Y:136.64, Z:0.58 [[ 6.09251547e-02 -9.98142331e-01 -1.16620328e-04 2.14719807e+02] [ 9.98135362e-01 6.09251653e-02 -3.73147657e-03 1.36636690e+02] [ 3.73164983e-03 1.10937914e-04 9.99993031e-01 5.83349865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250281693 meters 0.0367874772684353 Centerline is valid? [True, True] Translation: X:214.72, Y:136.66, Z:0.58 [[ 6.05809728e-02 -9.98163280e-01 -1.11939112e-04 2.14717939e+02] [ 9.98156745e-01 6.05809814e-02 -3.61346955e-03 1.36661373e+02] [ 3.61361400e-03 1.07174722e-04 9.99993465e-01 5.82901116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28028169299995 meters 0.0349791462006919 Centerline is valid? [True, True] Translation: X:214.72, Y:136.69, Z:0.58 [[ 5.82026993e-02 -9.98304775e-01 -1.46221044e-04 2.14717187e+02] [ 9.98293405e-01 5.82027345e-02 -4.76643567e-03 1.36686708e+02] [ 4.76686596e-03 1.31447918e-04 9.99988630e-01 5.80776998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310281693 meters 0.03344511823706205 Centerline is valid? [True, True] Translation: X:214.72, Y:136.71, Z:0.58 [[ 5.67968411e-02 -9.98385742e-01 -1.68756953e-04 2.14717614e+02] [ 9.98370320e-01 5.67969020e-02 -5.55128985e-03 1.36712053e+02] [ 5.55191351e-03 1.46813794e-04 9.99984577e-01 5.79953934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34028169299995 meters 0.03816939527352962 Centerline is valid? [True, True] Translation: X:214.71, Y:136.74, Z:0.58 [[ 5.49428864e-02 -9.98489486e-01 -1.57984602e-04 2.14707399e+02] [ 9.98475729e-01 5.49429589e-02 -5.24299896e-03 1.36736824e+02] [ 5.24375948e-03 1.30321705e-04 9.99986243e-01 5.79554150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370281693 meters 0.031885401340224134 Centerline is valid? [True, True] Translation: X:214.71, Y:136.76, Z:0.58 [[ 5.40470337e-02 -9.98538381e-01 -1.41415101e-04 2.14714607e+02] [ 9.98527161e-01 5.40470970e-02 -4.73494190e-03 1.36761173e+02] [ 4.73566429e-03 1.14702745e-04 9.99988780e-01 5.81837212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40028169299995 meters 0.03498303486551419 Centerline is valid? [True, True] Translation: X:214.71, Y:136.79, Z:0.59 [[ 5.17623505e-02 -9.98659427e-01 -8.42976825e-05 2.14706706e+02] [ 9.98655388e-01 5.17623810e-02 -2.84109866e-03 1.36786076e+02] [ 2.84165341e-03 6.28776100e-05 9.99995961e-01 5.85380293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430281693 meters 0.0336361397721049 Centerline is valid? [True, True] Translation: X:214.71, Y:136.81, Z:0.59 [[ 5.05677323e-02 -9.98720632e-01 -6.31227197e-05 2.14706896e+02] [ 9.98718336e-01 5.05677514e-02 -2.14201970e-03 1.36810049e+02] [ 2.14247124e-03 4.52752613e-05 9.99997704e-01 5.86568247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46028169299996 meters 0.02817523094855929 Centerline is valid? [True, True] Translation: X:214.71, Y:136.83, Z:0.59 [[ 4.94821606e-02 -9.98775006e-01 -6.33624663e-05 2.14712210e+02] [ 9.98772649e-01 4.94821815e-02 -2.17020235e-03 1.36834323e+02] [ 2.17067917e-03 4.41016028e-05 9.99997643e-01 5.86300544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490281693 meters 0.027886468336940657 Centerline is valid? [True, True] Translation: X:214.71, Y:136.86, Z:0.59 [[ 4.88719274e-02 -9.98805051e-01 -7.35525196e-05 2.14712174e+02] [ 9.98801806e-01 4.88719562e-02 -2.54642813e-03 1.36858756e+02] [ 2.54697993e-03 5.09844614e-05 9.99996755e-01 5.85416159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52028169299996 meters 0.031546860447477 Centerline is valid? [True, True] Translation: X:214.71, Y:136.88, Z:0.58 [[ 4.75786074e-02 -9.98867492e-01 -9.56135914e-05 2.14706665e+02] [ 9.98861882e-01 4.75786607e-02 -3.34852647e-03 1.36882215e+02] [ 3.34928341e-03 6.38134547e-05 9.99994389e-01 5.83423435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550281693 meters 0.026601476893183103 Centerline is valid? [True, True] Translation: X:214.71, Y:136.91, Z:0.58 [[ 4.68102640e-02 -9.98903790e-01 -1.35238262e-04 2.14713755e+02] [ 9.98892302e-01 4.68103743e-02 -4.79135364e-03 1.36906272e+02] [ 4.79243187e-03 8.91960700e-05 9.99988512e-01 5.81786650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58028169299996 meters 0.02658273164931717 Centerline is valid? [True, True] Translation: X:214.71, Y:136.93, Z:0.58 [[ 4.58443196e-02 -9.98948569e-01 -2.33882919e-04 2.14712292e+02] [ 9.98913399e-01 4.58446684e-02 -8.38379355e-03 1.36929459e+02] [ 8.38570085e-03 1.50720529e-04 9.99964828e-01 5.76268419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.610281693 meters 0.026239698384236062 Centerline is valid? [True, True] Translation: X:214.71, Y:136.95, Z:0.58 [[ 4.53679838e-02 -9.98970316e-01 -2.33196805e-04 2.14710917e+02] [ 9.98934611e-01 4.53683342e-02 -8.44735899e-03 1.36953675e+02] [ 8.44924063e-03 1.50291286e-04 9.99964293e-01 5.75755644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64028169299996 meters 0.02504949559875435 Centerline is valid? [True, True] Translation: X:214.71, Y:136.98, Z:0.58 [[ 4.40037164e-02 -9.99031356e-01 -1.50350955e-04 2.14708019e+02] [ 9.99016241e-01 4.40038778e-02 -5.49620076e-03 1.36977171e+02] [ 5.49749292e-03 9.16502133e-05 9.99984884e-01 5.80551239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.670281693 meters 0.02398651213476994 Centerline is valid? [True, True] Translation: X:214.71, Y:137.00, Z:0.58 [[ 4.29066763e-02 -9.99079079e-01 -1.07094324e-04 2.14708296e+02] [ 9.99071271e-01 4.29067644e-02 -3.95038199e-03 1.37000988e+02] [ 3.95133907e-03 6.25028985e-05 9.99992191e-01 5.83169399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70028169299997 meters 0.02153428865482391 Centerline is valid? [True, True] Translation: X:214.71, Y:137.02, Z:0.58 [[ 4.02756759e-02 -9.99188600e-01 -1.03340902e-04 2.14709294e+02] [ 9.99181174e-01 4.02757750e-02 -3.85275268e-03 1.37024313e+02] [ 3.85378870e-03 5.19159341e-05 9.99992573e-01 5.82935406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73028169299994 meters 0.018420588146994227 Centerline is valid? [True, True] Translation: X:214.71, Y:137.05, Z:0.58 [[ 3.82287848e-02 -9.99269006e-01 -1.14920211e-04 2.14712541e+02] [ 9.99259612e-01 3.82289238e-02 -4.33331992e-03 1.37049376e+02] [ 4.33454556e-03 5.08224291e-05 9.99990605e-01 5.82305583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76028169299997 meters 0.01582579186591091 Centerline is valid? [True, True] Translation: X:214.71, Y:137.07, Z:0.58 [[ 3.44227525e-02 -9.99407356e-01 -1.09271850e-04 2.14714267e+02] [ 9.99398688e-01 3.44229091e-02 -4.16231602e-03 1.37074659e+02] [ 4.16361070e-03 3.40722307e-05 9.99991332e-01 5.82471805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79028169299994 meters 0.015015470902800442 Centerline is valid? [True, True] Translation: X:214.71, Y:137.10, Z:0.58 [[ 3.27307692e-02 -9.99464199e-01 -1.12656339e-04 2.14714915e+02] [ 9.99454782e-01 3.27309499e-02 -4.33865412e-03 1.37098669e+02] [ 4.34001681e-03 2.94125701e-05 9.99990582e-01 5.82529186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82028169299997 meters 0.015291662533191131 Centerline is valid? [True, True] Translation: X:214.71, Y:137.12, Z:0.58 [[ 3.15325686e-02 -9.99502715e-01 -1.40901404e-04 2.14713616e+02] [ 9.99487614e-01 3.15328668e-02 -5.49429083e-03 1.37122629e+02] [ 5.49600162e-03 3.24198949e-05 9.99984896e-01 5.79654187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85028169299994 meters 0.015053344744190664 Centerline is valid? [True, True] Translation: X:214.71, Y:137.15, Z:0.58 [[ 3.11888951e-02 -9.99513490e-01 -1.90302518e-04 2.14714400e+02] [ 9.99485265e-01 3.11894445e-02 -7.51152090e-03 1.37147180e+02] [ 7.51380190e-03 4.40714746e-05 9.99971770e-01 5.76698102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880281693 meters 0.015399840633499584 Centerline is valid? [True, True] Translation: X:214.71, Y:137.17, Z:0.58 [[ 3.12960967e-02 -9.99510141e-01 -1.78171279e-04 2.14714593e+02] [ 9.99484841e-01 3.12965722e-02 -7.11181272e-03 1.37170993e+02] [ 7.11390509e-03 4.44924858e-05 9.99974695e-01 5.76675577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91028169299994 meters 0.015047714913598914 Centerline is valid? [True, True] Translation: X:214.72, Y:137.20, Z:0.58 [[ 3.15673069e-02 -9.99501622e-01 -1.15955103e-04 2.14717044e+02] [ 9.99490701e-01 3.15675040e-02 -4.67248946e-03 1.37195199e+02] [ 4.67382120e-03 3.16018611e-05 9.99989077e-01 5.81189889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940281693 meters 0.015054027215240311 Centerline is valid? [True, True] Translation: X:214.72, Y:137.22, Z:0.58 [[ 3.14518063e-02 -9.99505266e-01 -8.38541295e-05 2.14717281e+02] [ 9.99499444e-01 3.14519093e-02 -3.41167386e-03 1.37219200e+02] [ 3.41262336e-03 2.34911493e-05 9.99994177e-01 5.83827418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97028169299995 meters 0.01550547328319979 Centerline is valid? [True, True] Translation: X:214.72, Y:137.24, Z:0.58 [[ 3.18227268e-02 -9.99493525e-01 -8.37837124e-05 2.14715594e+02] [ 9.99487573e-01 3.18228265e-02 -3.44960591e-03 1.37243856e+02] [ 3.45052500e-03 2.60350870e-05 9.99994047e-01 5.84830608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000281693 meters 0.016303417045185103 Centerline is valid? [True, True] Translation: X:214.71, Y:137.27, Z:0.58 [[ 3.20002895e-02 -9.99487854e-01 -1.04389318e-04 2.14713939e+02] [ 9.99478364e-01 3.20004406e-02 -4.35560301e-03 1.37267967e+02] [ 4.35671281e-03 3.50456924e-05 9.99990509e-01 5.82323149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03028169299995 meters 0.01712213814412824 Centerline is valid? [True, True] Translation: X:214.71, Y:137.29, Z:0.58 [[ 3.28934815e-02 -9.99458854e-01 -1.32841705e-04 2.14712369e+02] [ 9.99443095e-01 3.28937089e-02 -5.61288246e-03 1.37293419e+02] [ 5.61421472e-03 5.18595204e-05 9.99984239e-01 5.80233246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060281693 meters 0.017465284221702775 Centerline is valid? [True, True] Translation: X:214.71, Y:137.32, Z:0.58 [[ 3.33620968e-02 -9.99443322e-01 -1.28627161e-04 2.14711091e+02] [ 9.99428205e-01 3.33622997e-02 -5.49733013e-03 1.37317983e+02] [ 5.49856119e-03 5.48488478e-05 9.99984881e-01 5.80445606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09028169299995 meters 0.01886023294139632 Centerline is valid? [True, True] Translation: X:214.71, Y:137.34, Z:0.58 [[ 3.45694085e-02 -9.99402296e-01 -8.65963968e-05 2.14707545e+02] [ 9.99395304e-01 3.45694906e-02 -3.73856424e-03 1.37341575e+02] [ 3.73932328e-03 4.26959223e-05 9.99993008e-01 5.83561470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120281693 meters 0.01788016720141384 Centerline is valid? [True, True] Translation: X:214.71, Y:137.37, Z:0.59 [[ 3.39119406e-02 -9.99424823e-01 -5.95453274e-05 2.14708825e+02] [ 9.99421454e-01 3.39119809e-02 -2.59513702e-03 1.37365867e+02] [ 2.59566366e-03 2.84952549e-05 9.99996631e-01 5.85501379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15028169299995 meters 0.017104006951275508 Centerline is valid? [True, True] Translation: X:214.71, Y:137.39, Z:0.59 [[ 3.24482473e-02 -9.99473415e-01 -5.66516759e-05 2.14709954e+02] [ 9.99470292e-01 3.24482875e-02 -2.49895431e-03 1.37389500e+02] [ 2.49947665e-03 2.44650204e-05 9.99996876e-01 5.85293718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180281693 meters 0.015190707730697127 Centerline is valid? [True, True] Translation: X:214.71, Y:137.41, Z:0.58 [[ 2.90154739e-02 -9.99578958e-01 -9.25805784e-05 2.14712972e+02] [ 9.99570332e-01 2.90156082e-02 -4.15281903e-03 1.37413095e+02] [ 4.15375680e-03 2.79552128e-05 9.99991373e-01 5.81521438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21028169299996 meters 0.014973077495969623 Centerline is valid? [True, True] Translation: X:214.71, Y:137.44, Z:0.58 [[ 2.78266435e-02 -9.99612759e-01 -1.04595165e-04 2.14713198e+02] [ 9.99601447e-01 2.78268262e-02 -4.75555328e-03 1.37437173e+02] [ 4.75662229e-03 2.77776079e-05 9.99988687e-01 5.79754980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240281693 meters 0.014176276969223231 Centerline is valid? [True, True] Translation: X:214.71, Y:137.46, Z:0.58 [[ 2.68676799e-02 -9.99638993e-01 -1.04516831e-04 2.14712140e+02] [ 9.99627400e-01 2.68678717e-02 -4.81451586e-03 1.37461576e+02] [ 4.81558593e-03 2.48769832e-05 9.99988405e-01 5.80185621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27028169299996 meters 0.014242043842851245 Centerline is valid? [True, True] Translation: X:214.71, Y:137.48, Z:0.58 [[ 2.63607747e-02 -9.99652489e-01 -1.02175965e-04 2.14710505e+02] [ 9.99641109e-01 2.63609622e-02 -4.76993191e-03 1.37484846e+02] [ 4.77096776e-03 2.35998057e-05 9.99988619e-01 5.80012278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300281693 meters 0.013384640636286365 Centerline is valid? [True, True] Translation: X:214.71, Y:137.51, Z:0.58 [[ 2.40953768e-02 -9.99709661e-01 -8.62315705e-05 2.14712182e+02] [ 9.99701348e-01 2.40955281e-02 -4.07678804e-03 1.37508124e+02] [ 4.07768219e-03 1.20259266e-05 9.99991686e-01 5.80566804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33028169299996 meters 0.012823449166067992 Centerline is valid? [True, True] Translation: X:214.72, Y:137.53, Z:0.58 [[ 2.17161918e-02 -9.99764173e-01 -7.26166327e-05 2.14715645e+02] [ 9.99758133e-01 2.17163131e-02 -3.47525785e-03 1.37532562e+02] [ 3.47601526e-03 2.87029701e-06 9.99993959e-01 5.81895548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.360281693 meters 0.013573000079485923 Centerline is valid? [True, True] Translation: X:214.72, Y:137.56, Z:0.58 [[ 1.66185207e-02 -9.99861901e-01 -5.37668472e-05 2.14721922e+02] [ 9.99858519e-01 1.66186043e-02 -2.60080437e-03 1.37556127e+02] [ 2.60133873e-03 -1.05377190e-05 9.99996616e-01 5.83811545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39028169299996 meters 0.014343255107034584 Centerline is valid? [True, True] Translation: X:214.72, Y:137.58, Z:0.58 [[ 1.45948913e-02 -9.99893487e-01 -5.55699671e-05 2.14724185e+02] [ 9.99889772e-01 1.45949886e-02 -2.72601680e-03 1.37580524e+02] [ 2.72653748e-03 -1.57779228e-05 9.99996283e-01 5.83744425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.420281693 meters 0.0164328083065124 Centerline is valid? [True, True] Translation: X:214.73, Y:137.60, Z:0.58 [[ 1.12414147e-02 -9.99936811e-01 -7.53316718e-05 2.14728184e+02] [ 9.99929756e-01 1.12416184e-02 -3.75615591e-03 1.37603794e+02] [ 3.75676541e-03 -3.31018739e-05 9.99992943e-01 5.82337412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45028169299997 meters 0.017404375124482573 Centerline is valid? [True, True] Translation: X:214.73, Y:137.63, Z:0.58 [[ 9.57324059e-03 -9.99954173e-01 -7.54606358e-05 2.14729205e+02] [ 9.99946894e-01 9.57345884e-03 -3.81542159e-03 1.37628598e+02] [ 3.81596916e-03 -3.89306795e-05 9.99992718e-01 5.82339276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48028169299994 meters 0.021349252283663325 Centerline is valid? [True, True] Translation: X:214.74, Y:137.65, Z:0.58 [[ 5.37620058e-03 -9.99985545e-01 -7.95342267e-05 2.14735879e+02] [ 9.99977224e-01 5.37648034e-03 -4.07990836e-03 1.37651966e+02] [ 4.08027700e-03 -5.75980095e-05 9.99991674e-01 5.81618758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51028169299997 meters 0.023989604575838562 Centerline is valid? [True, True] Translation: X:214.74, Y:137.68, Z:0.58 [[ 2.53820029e-03 -9.99996776e-01 -7.58764491e-05 2.14742256e+02] [ 9.99988987e-01 2.53848003e-03 -3.94739987e-03 1.37676239e+02] [ 3.94757975e-03 -6.58563221e-05 9.99992206e-01 5.81586765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54028169299994 meters 0.03064259328549725 Centerline is valid? [True, True] Translation: X:214.76, Y:137.70, Z:0.58 [[-3.69117081e-03 -9.99993186e-01 -5.77013870e-05 2.14755846e+02] [ 9.99988570e-01 -3.69097841e-03 -3.03912475e-03 1.37699260e+02] [ 3.03889107e-03 -6.89186560e-05 9.99995380e-01 5.82889836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57028169299997 meters 0.031100379346810866 Centerline is valid? [True, True] Translation: X:214.76, Y:137.72, Z:0.58 [[-6.61665571e-03 -9.99978108e-01 -5.55407173e-05 2.14757693e+02] [ 9.99973709e-01 -6.61646180e-03 -2.96711036e-03 1.37724761e+02] [ 2.96667792e-03 -7.51716047e-05 9.99995597e-01 5.83029177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60028169299994 meters 0.035623024998074425 Centerline is valid? [True, True] Translation: X:214.77, Y:137.75, Z:0.58 [[-1.06655882e-02 -9.99943118e-01 -8.18907918e-05 2.14767130e+02] [ 9.99933216e-01 -1.06651180e-02 -4.45193813e-03 1.37748032e+02] [ 4.45081152e-03 -1.29367862e-04 9.99990087e-01 5.81049581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630281693 meters 0.039950472908245466 Centerline is valid? [True, True] Translation: X:214.78, Y:137.77, Z:0.58 [[-1.20247224e-02 -9.99927696e-01 -9.26165121e-05 2.14775833e+02] [ 9.99914625e-01 -1.20240914e-02 -5.11506101e-03 1.37771885e+02] [ 5.11357754e-03 -1.54115794e-04 9.99986914e-01 5.79773006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66028169299994 meters 0.04172603796480662 Centerline is valid? [True, True] Translation: X:214.78, Y:137.79, Z:0.58 [[-1.31618238e-02 -9.99913376e-01 -8.83399271e-05 2.14784293e+02] [ 9.99901123e-01 -1.31612250e-02 -4.95241498e-03 1.37794550e+02] [ 4.95082332e-03 -1.53514006e-04 9.99987733e-01 5.79765876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690281693 meters 0.042035463777890865 Centerline is valid? [True, True] Translation: X:214.79, Y:137.82, Z:0.58 [[-1.34134859e-02 -9.99910032e-01 -7.38716587e-05 2.14788719e+02] [ 9.99901213e-01 -1.34130572e-02 -4.20162459e-03 1.37818752e+02] [ 4.20025573e-03 -1.30222793e-04 9.99991170e-01 5.81350858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72028169299995 meters 0.039070692723491895 Centerline is valid? [True, True] Translation: X:214.79, Y:137.84, Z:0.58 [[-1.37385364e-02 -9.99905620e-01 -6.54127023e-05 2.14794202e+02] [ 9.99898491e-01 -1.37381913e-02 -3.77764550e-03 1.37842538e+02] [ 3.77639031e-03 -1.17305382e-04 9.99992863e-01 5.82607293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750281693 meters 0.04272108884864489 Centerline is valid? [True, True] Translation: X:214.80, Y:137.87, Z:0.58 [[-1.42480802e-02 -9.99898488e-01 -7.40045470e-05 2.14803340e+02] [ 9.99889025e-01 -1.42476232e-02 -4.35239493e-03 1.37865104e+02] [ 4.35089873e-03 -1.36009606e-04 9.99990526e-01 5.81187311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78028169299995 meters 0.043318383145696825 Centerline is valid? [True, True] Translation: X:214.81, Y:137.89, Z:0.58 [[-1.45088473e-02 -9.99894738e-01 -8.00499819e-05 2.14811918e+02] [ 9.99883264e-01 -1.45082971e-02 -4.79255572e-03 1.37888113e+02] [ 4.79088985e-03 -1.49575096e-04 9.99988512e-01 5.80213544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810281693 meters 0.04367327345224784 Centerline is valid? [True, True] Translation: X:214.82, Y:137.91, Z:0.58 [[-1.48357501e-02 -9.99889941e-01 -7.67053526e-05 2.14816534e+02] [ 9.99879053e-01 -1.48352304e-02 -4.66846636e-03 1.37912145e+02] [ 4.66681462e-03 -1.45956276e-04 9.99989100e-01 5.80595923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84028169299995 meters 0.03934842918554656 Centerline is valid? [True, True] Translation: X:214.81, Y:137.94, Z:0.58 [[-1.49415377e-02 -9.99888366e-01 -8.19195063e-05 2.14814889e+02] [ 9.99875496e-01 -1.49409296e-02 -5.07554285e-03 1.37936033e+02] [ 5.07375229e-03 -1.57745722e-04 9.99987116e-01 5.80947197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870281693 meters 0.043468689029756 Centerline is valid? [True, True] Translation: X:214.83, Y:137.96, Z:0.58 [[-1.43664084e-02 -9.99896794e-01 -8.71446835e-05 2.14829022e+02] [ 9.99881689e-01 -1.43657122e-02 -5.49852680e-03 1.37959364e+02] [ 5.49670742e-03 -1.66128455e-04 9.99984879e-01 5.79367989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90028169299995 meters 0.04348921847059553 Centerline is valid? [True, True] Translation: X:214.83, Y:137.98, Z:0.58 [[-1.42601208e-02 -9.99898316e-01 -7.88124924e-05 2.14833473e+02] [ 9.99885541e-01 -1.42595400e-02 -5.05669854e-03 1.37983254e+02] [ 5.05506053e-03 -1.50912604e-04 9.99987212e-01 5.79923763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930281693 meters 0.039262577676909764 Centerline is valid? [True, True] Translation: X:214.84, Y:138.01, Z:0.58 [[-1.35409323e-02 -9.99908314e-01 -7.88698178e-05 2.14836382e+02] [ 9.99895061e-01 -1.35403466e-02 -5.15024648e-03 1.38007357e+02] [ 5.14870635e-03 -1.48600680e-04 9.99986734e-01 5.80382304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96028169299996 meters 0.03842104956730351 Centerline is valid? [True, True] Translation: X:214.84, Y:138.03, Z:0.58 [[-1.29889296e-02 -9.99915637e-01 -8.30740060e-05 2.14838433e+02] [ 9.99900380e-01 -1.29882723e-02 -5.52584431e-03 1.38031318e+02] [ 5.52429914e-03 -1.54840533e-04 9.99984729e-01 5.79652312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990281693 meters 0.03527641807272415 Centerline is valid? [True, True] Translation: X:214.84, Y:138.06, Z:0.58 [[-1.02692906e-02 -9.99947266e-01 -8.82643084e-05 2.14839508e+02] [ 9.99929384e-01 -1.02685789e-02 -5.98193778e-03 1.38055297e+02] [ 5.98071598e-03 -1.49688333e-04 9.99982104e-01 5.78544118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02028169299996 meters 0.03383379288966151 Centerline is valid? [True, True] Translation: X:214.84, Y:138.08, Z:0.58 [[-8.99003864e-03 -9.99959585e-01 -8.75836290e-05 2.14839582e+02] [ 9.99941311e-01 -8.98934471e-03 -6.04703493e-03 1.38078888e+02] [ 6.04600322e-03 -1.41941567e-04 9.99981713e-01 5.78279208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050281693 meters 0.028764751285479735 Centerline is valid? [True, True] Translation: X:214.84, Y:138.10, Z:0.58 [[-5.21077864e-03 -9.99986421e-01 -7.98343212e-05 2.14836283e+02] [ 9.99970681e-01 -5.21024863e-03 -5.61156846e-03 1.38103570e+02] [ 5.61107630e-03 -1.09072622e-04 9.99984252e-01 5.79784480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08028169299996 meters 0.027126049915021214 Centerline is valid? [True, True] Translation: X:214.84, Y:138.13, Z:0.58 [[-3.71943458e-03 -9.99993081e-01 -6.57293172e-05 2.14835681e+02] [ 9.99982029e-01 -3.71908440e-03 -4.70211636e-03 1.38127192e+02] [ 4.70183937e-03 -8.32173502e-05 9.99988943e-01 5.81808845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.110281693 meters 0.027126049915021214 Centerline is valid? [True, True] Translation: X:214.84, Y:138.15, Z:0.58 [[-3.99482949e-03 -9.99992019e-01 -6.44449710e-05 2.14835553e+02] [ 9.99980967e-01 -3.99448231e-03 -4.70213406e-03 1.38150510e+02] [ 4.70183911e-03 -8.32279683e-05 9.99988943e-01 5.81855230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14028169299996 meters 0.02261013884156523 Centerline is valid? [True, True] Translation: X:214.83, Y:138.17, Z:0.59 [[-8.33098179e-04 -9.99999652e-01 -3.80418496e-05 2.14831643e+02] [ 9.99995687e-01 -8.32987740e-04 -2.81634325e-03 1.38174958e+02] [ 2.81631058e-03 -4.03879759e-05 9.99996033e-01 5.85068454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.170281693 meters 0.019926592351869648 Centerline is valid? [True, True] Translation: X:214.83, Y:138.20, Z:0.58 [[ 5.91060275e-05 -9.99999997e-01 -4.50364709e-05 2.14827719e+02] [ 9.99994175e-01 5.92593786e-05 -3.41274939e-03 1.38199251e+02] [ 3.41275205e-03 -4.48344945e-05 9.99994176e-01 5.84528749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20028169299997 meters 0.021292740069113122 Centerline is valid? [True, True] Translation: X:214.83, Y:138.22, Z:0.58 [[ 6.64949284e-04 -9.99999777e-01 -5.93989961e-05 2.14829290e+02] [ 9.99989111e-01 6.65216553e-04 -4.61900699e-03 1.38221992e+02] [ 4.61904547e-03 -5.63269439e-05 9.99989331e-01 5.81136506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23028169299994 meters 0.022481487886107817 Centerline is valid? [True, True] Translation: X:214.83, Y:138.24, Z:0.58 [[-3.98311448e-04 -9.99999918e-01 -7.50529439e-05 2.14829316e+02] [ 9.99982018e-01 -3.97855222e-04 -5.98376976e-03 1.38244968e+02] [ 5.98373941e-03 -7.74349983e-05 9.99982094e-01 5.78075973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26028169299997 meters 0.021071602583839225 Centerline is valid? [True, True] Translation: X:214.83, Y:138.27, Z:0.58 [[-2.17337120e-03 -9.99997636e-01 -6.69546656e-05 2.14827981e+02] [ 9.99982797e-01 -2.17297416e-03 -5.44827039e-03 1.38270484e+02] [ 5.44811202e-03 -7.87946278e-05 9.99985156e-01 5.80360643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29028169299994 meters 0.03101885980271299 Centerline is valid? [True, True] Translation: X:214.85, Y:138.29, Z:0.58 [[-7.83060982e-03 -9.99969338e-01 -6.48667412e-05 2.14847202e+02] [ 9.99954767e-01 -7.83014548e-03 -5.39928560e-03 1.38293850e+02] [ 5.39861213e-03 -1.07143506e-04 9.99985422e-01 5.77965496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32028169299997 meters 0.03152791667315087 Centerline is valid? [True, True] Translation: X:214.85, Y:138.32, Z:0.58 [[-1.16939349e-02 -9.99931621e-01 -6.60227099e-05 2.14850838e+02] [ 9.99915783e-01 -1.16933780e-02 -5.62950922e-03 1.38317946e+02] [ 5.62835226e-03 -1.31848264e-04 9.99984152e-01 5.78257617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35028169299994 meters 0.03760699335354419 Centerline is valid? [True, True] Translation: X:214.86, Y:138.34, Z:0.58 [[-1.54160277e-02 -9.99881164e-01 -6.18609784e-05 2.14861454e+02] [ 9.99866573e-01 -1.54154684e-02 -5.40360322e-03 1.38341197e+02] [ 5.40200747e-03 -1.45154822e-04 9.99985399e-01 5.78354156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380281693 meters 0.038074913217489494 Centerline is valid? [True, True] Translation: X:214.87, Y:138.37, Z:0.58 [[-2.22098089e-02 -9.99753331e-01 -5.01953817e-05 2.14866425e+02] [ 9.99743282e-01 -2.22093605e-02 -4.48493088e-03 1.38366207e+02] [ 4.48270978e-03 -1.49791954e-04 9.99989941e-01 5.81127974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41028169299994 meters 0.04486351517759379 Centerline is valid? [True, True] Translation: X:214.88, Y:138.39, Z:0.58 [[-2.56319472e-02 -9.99671447e-01 -3.92418797e-05 2.14881003e+02] [ 9.99665027e-01 -2.56316419e-02 -3.58506258e-03 1.38389826e+02] [ 3.58287886e-03 -1.31120870e-04 9.99993573e-01 5.82791081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440281693 meters 0.04527635557880929 Centerline is valid? [True, True] Translation: X:214.88, Y:138.41, Z:0.58 [[-2.63373843e-02 -9.99653110e-01 -3.23339921e-05 2.14884342e+02] [ 9.99648541e-01 -2.63371661e-02 -3.02445109e-03 1.38414144e+02] [ 3.02255035e-03 -1.11978759e-04 9.99995426e-01 5.84275565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47028169299995 meters 0.043314523160819164 Centerline is valid? [True, True] Translation: X:214.88, Y:138.44, Z:0.59 [[-2.67178049e-02 -9.99643015e-01 -2.54463100e-05 2.14884939e+02] [ 9.99640055e-01 -2.67176638e-02 -2.43441667e-03 1.38439239e+02] [ 2.43286776e-03 -9.04794203e-05 9.99997037e-01 5.85828696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500281693 meters 0.04111442771138417 Centerline is valid? [True, True] Translation: X:214.89, Y:138.46, Z:0.59 [[-2.51443830e-02 -9.99683830e-01 -1.10412239e-05 2.14888303e+02] [ 9.99683274e-01 -2.51443573e-02 -1.05532327e-03 1.38464223e+02] [ 1.05471198e-03 -3.75731792e-05 9.99999443e-01 5.88393859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53028169299995 meters 0.035230701050593276 Centerline is valid? [True, True] Translation: X:214.88, Y:138.49, Z:0.59 [[-2.05024497e-02 -9.99789803e-01 -1.74405044e-05 2.14884917e+02] [ 9.99788283e-01 -2.05023881e-02 -1.74410565e-03 1.38489363e+02] [ 1.74338147e-03 -5.31952501e-05 9.99998479e-01 5.86673040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560281693 meters 0.03457283199554563 Centerline is valid? [True, True] Translation: X:214.89, Y:138.51, Z:0.58 [[-1.89961399e-02 -9.99819557e-01 -2.76732487e-05 2.14885674e+02] [ 9.99815410e-01 -1.89959813e-02 -2.88087845e-03 1.38512797e+02] [ 2.87983293e-03 -8.23937104e-05 9.99995850e-01 5.84424522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59028169299995 meters 0.03506788063522478 Centerline is valid? [True, True] Translation: X:214.89, Y:138.54, Z:0.58 [[-1.83352920e-02 -9.99831893e-01 -4.43674937e-05 2.14890093e+02] [ 9.99820375e-01 -1.83348677e-02 -4.80098386e-03 1.38535596e+02] [ 4.79936331e-03 -1.32386965e-04 9.99988474e-01 5.80302471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620281693 meters 0.03369778106827183 Centerline is valid? [True, True] Translation: X:214.89, Y:138.56, Z:0.58 [[-1.86679379e-02 -9.99825738e-01 -4.91016320e-05 2.14891367e+02] [ 9.99810648e-01 -1.86673863e-02 -5.49517996e-03 1.38560517e+02] [ 5.49330576e-03 -1.51676013e-04 9.99984900e-01 5.79230926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65028169299995 meters 0.033088029922525276 Centerline is valid? [True, True] Translation: X:214.89, Y:138.59, Z:0.58 [[-1.92542184e-02 -9.99814619e-01 -4.73112072e-05 2.14893979e+02] [ 9.99799681e-01 -1.92536720e-02 -5.46756077e-03 1.38585368e+02] [ 5.46563627e-03 -1.52575339e-04 9.99985052e-01 5.79512614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680281693 meters 0.033919158752140126 Centerline is valid? [True, True] Translation: X:214.90, Y:138.61, Z:0.58 [[-1.94251321e-02 -9.99811314e-01 -3.92168035e-05 2.14898759e+02] [ 9.99800371e-01 -1.94247360e-02 -4.67942956e-03 1.38608919e+02] [ 4.67778484e-03 -1.30107512e-04 9.99989051e-01 5.80832593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71028169299996 meters 0.0334320732989536 Centerline is valid? [True, True] Translation: X:214.90, Y:138.63, Z:0.59 [[-1.92905456e-02 -9.99813920e-01 -1.79726257e-05 2.14904584e+02] [ 9.99811536e-01 -1.92904603e-02 -2.18397837e-03 1.38632914e+02] [ 2.18322527e-03 -6.00993728e-05 9.99997615e-01 5.85316073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740281693 meters 0.03125313988727271 Centerline is valid? [True, True] Translation: X:214.91, Y:138.66, Z:0.58 [[-1.86119113e-02 -9.99826783e-01 -1.49841542e-05 2.14909033e+02] [ 9.99825019e-01 -1.86118503e-02 -1.87901875e-03 1.38657895e+02] [ 1.87841439e-03 -4.99536627e-05 9.99998235e-01 5.84867059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77028169299996 meters 0.03261645451001276 Centerline is valid? [True, True] Translation: X:214.91, Y:138.68, Z:0.58 [[-1.84092546e-02 -9.99830535e-01 -2.11039465e-05 2.14914315e+02] [ 9.99826683e-01 -1.84091251e-02 -2.77652066e-03 1.38681258e+02] [ 2.77566163e-03 -7.22139646e-05 9.99996145e-01 5.83558258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800281693 meters 0.03130683936615745 Centerline is valid? [True, True] Translation: X:214.91, Y:138.70, Z:0.58 [[-1.79314274e-02 -9.99839219e-01 -2.95090026e-05 2.14914973e+02] [ 9.99830906e-01 -1.79311580e-02 -4.07834913e-03 1.38704817e+02] [ 4.07716427e-03 -1.02634634e-04 9.99991683e-01 5.81389466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83028169299996 meters 0.027733960788109666 Centerline is valid? [True, True] Translation: X:214.92, Y:138.73, Z:0.58 [[-1.48149604e-02 -9.99890251e-01 -4.46873065e-05 2.14915335e+02] [ 9.99869258e-01 -1.48143597e-02 -6.48088446e-03 1.38729469e+02] [ 6.47951118e-03 -1.40695511e-04 9.99978998e-01 5.78186265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.860281693 meters 0.02686127725352928 Centerline is valid? [True, True] Translation: X:214.92, Y:138.75, Z:0.58 [[-1.33196285e-02 -9.99911289e-01 -4.63681955e-05 2.14917602e+02] [ 9.99886585e-01 -1.33189734e-02 -7.03012800e-03 1.38753028e+02] [ 7.02888677e-03 -1.40001630e-04 9.99975287e-01 5.76654605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89028169299996 meters 0.024371206219982237 Centerline is valid? [True, True] Translation: X:214.92, Y:138.78, Z:0.58 [[-1.15820650e-02 -9.99932925e-01 -3.80968450e-05 2.14921053e+02] [ 9.99914721e-01 -1.15816242e-02 -6.03466256e-03 1.38776860e+02] [ 6.03381656e-03 -1.07987450e-04 9.99981791e-01 5.77895452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.920281693 meters 0.02348982082626587 Centerline is valid? [True, True] Translation: X:214.92, Y:138.80, Z:0.58 [[-1.11796653e-02 -9.99937505e-01 -3.00560031e-05 2.14921973e+02] [ 9.99925181e-01 -1.11793783e-02 -4.96532696e-03 1.38801079e+02] [ 4.96468065e-03 -8.55644482e-05 9.99987672e-01 5.80107945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95028169299997 meters 0.022216664831017936 Centerline is valid? [True, True] Translation: X:214.92, Y:138.83, Z:0.58 [[-1.02246290e-02 -9.99947727e-01 -1.72179128e-05 2.14924004e+02] [ 9.99943392e-01 -1.02245339e-02 -2.94477148e-03 1.38825131e+02] [ 2.94444150e-03 -4.73261339e-05 9.99995664e-01 5.83715698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98028169299994 meters 0.02255096531686282 Centerline is valid? [True, True] Translation: X:214.93, Y:138.85, Z:0.58 [[-1.04616971e-02 -9.99945275e-01 -1.15817149e-05 2.14927531e+02] [ 9.99943162e-01 -1.04616512e-02 -2.05601741e-03 1.38847683e+02] [ 2.05578373e-03 -3.30904879e-05 9.99997886e-01 5.84919711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01028169299997 meters 0.024312299003384066 Centerline is valid? [True, True] Translation: X:214.94, Y:138.87, Z:0.59 [[-1.20003054e-02 -9.99927994e-01 8.16182347e-07 2.14937989e+02] [ 9.99927954e-01 -1.20003047e-02 2.80626507e-04 1.38870298e+02] [-2.80596506e-04 4.18372733e-06 9.99999961e-01 5.88004967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04028169299994 meters 0.024298744449827946 Centerline is valid? [True, True] Translation: X:214.94, Y:138.89, Z:0.59 [[-1.27963887e-02 -9.99918123e-01 2.08421764e-06 2.14941968e+02] [ 9.99917963e-01 -1.27963854e-02 5.65931278e-04 1.38894340e+02] [-5.65858271e-04 9.32592325e-06 9.99999840e-01 5.88800566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07028169299997 meters 0.024141658724373637 Centerline is valid? [True, True] Translation: X:214.95, Y:138.92, Z:0.59 [[-1.30333209e-02 -9.99915063e-01 1.15152966e-06 2.14945748e+02] [ 9.99914984e-01 -1.30333194e-02 3.95483284e-04 1.38917883e+02] [-3.95434684e-04 6.30589230e-06 9.99999922e-01 5.88468608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10028169299994 meters 0.022328609947757965 Centerline is valid? [True, True] Translation: X:214.95, Y:138.94, Z:0.58 [[-1.11413782e-02 -9.99937933e-01 -1.13916976e-05 2.14948646e+02] [ 9.99934515e-01 -1.11413103e-02 -2.61473194e-03 1.38942376e+02] [ 2.61444273e-03 -4.05226691e-05 9.99996582e-01 5.83479835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130281693 meters 0.020929030849069528 Centerline is valid? [True, True] Translation: X:214.95, Y:138.97, Z:0.58 [[-9.34712878e-03 -9.99956315e-01 -1.64063881e-05 2.14948413e+02] [ 9.99947785e-01 -9.34698129e-03 -4.13042788e-03 1.38965456e+02] [ 4.13009409e-03 -5.50131727e-05 9.99991470e-01 5.80897861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16028169299994 meters 0.017104658870259255 Centerline is valid? [True, True] Translation: X:214.95, Y:138.99, Z:0.58 [[-4.98701097e-03 -9.99987565e-01 -1.62698632e-05 2.14945682e+02] [ 9.99977692e-01 -4.98688944e-03 -4.44368873e-03 1.38988333e+02] [ 4.44355234e-03 -3.84302248e-05 9.99990127e-01 5.80541969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190281693 meters 0.015017360448328933 Centerline is valid? [True, True] Translation: X:214.94, Y:139.01, Z:0.58 [[-2.34246342e-03 -9.99997256e-01 -1.26538718e-05 2.14943062e+02] [ 9.99990298e-01 -2.34239992e-03 -3.73067080e-03 1.39011962e+02] [ 3.73063093e-03 -2.13927090e-05 9.99993041e-01 5.82231907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22028169299995 meters 0.013318704155369092 Centerline is valid? [True, True] Translation: X:214.94, Y:139.04, Z:0.58 [[ 2.69478223e-03 -9.99996369e-01 -7.24044455e-06 2.14938622e+02] [ 9.99993815e-01 2.69479171e-03 -2.26021527e-03 1.39036844e+02] [ 2.26022657e-03 -1.14961183e-06 9.99997446e-01 5.84932078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250281693 meters 0.013602744050409163 Centerline is valid? [True, True] Translation: X:214.94, Y:139.06, Z:0.58 [[ 5.21573965e-03 -9.99986398e-01 -5.82508796e-06 2.14935221e+02] [ 9.99984455e-01 5.21574100e-03 -1.97116898e-03 1.39061360e+02] [ 1.97117255e-03 4.45610681e-06 9.99998057e-01 5.84818450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28028169299995 meters 0.014802425830949664 Centerline is valid? [True, True] Translation: X:214.93, Y:139.09, Z:0.58 [[ 8.08885885e-03 -9.99967285e-01 -6.00415720e-06 2.14929839e+02] [ 9.99964682e-01 8.08885150e-03 -2.28138707e-03 1.39086289e+02] [ 2.28136100e-03 1.24498729e-05 9.99997398e-01 5.84104403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310281693 meters 0.020002313539404702 Centerline is valid? [True, True] Translation: X:214.92, Y:139.11, Z:0.58 [[ 1.47085340e-02 -9.99891824e-01 -8.83198524e-06 2.14915371e+02] [ 9.99884121e-01 1.47084554e-02 -3.92502379e-03 1.39110872e+02] [ 3.92472910e-03 4.89003841e-05 9.99992297e-01 5.81835481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34028169299995 meters 0.023368594680229733 Centerline is valid? [True, True] Translation: X:214.91, Y:139.14, Z:0.58 [[ 1.87553901e-02 -9.99824102e-01 -8.21054943e-06 2.14907694e+02] [ 9.99815443e-01 1.87552618e-02 -4.16170570e-03 1.39135790e+02] [ 4.16112765e-03 6.98453797e-05 9.99991340e-01 5.82697249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370281693 meters 0.03176075923583365 Centerline is valid? [True, True] Translation: X:214.89, Y:139.16, Z:0.59 [[ 2.67602689e-02 -9.99641880e-01 -4.52170811e-06 2.14889756e+02] [ 9.99638680e-01 2.67601947e-02 -2.53019521e-03 1.39160981e+02] [ 2.52941010e-03 6.31886300e-05 9.99996799e-01 5.85777286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40028169299995 meters 0.03243553992368115 Centerline is valid? [True, True] Translation: X:214.88, Y:139.19, Z:0.59 [[ 2.91178332e-02 -9.99575986e-01 -2.65611166e-06 2.14884637e+02] [ 9.99574671e-01 2.91177992e-02 -1.62198936e-03 1.39185921e+02] [ 1.62137895e-03 4.45738336e-05 9.99998685e-01 5.87328238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430281693 meters 0.03749219969100064 Centerline is valid? [True, True] Translation: X:214.87, Y:139.21, Z:0.59 [[ 3.06434589e-02 -9.99530379e-01 -1.67937691e-06 2.14873601e+02] [ 9.99529745e-01 3.06434414e-02 -1.12658753e-03 1.39210183e+02] [ 1.12610992e-03 3.28439515e-05 9.99999365e-01 5.87908673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46028169299996 meters 0.035376430406638515 Centerline is valid? [True, True] Translation: X:214.87, Y:139.24, Z:0.59 [[ 3.09821881e-02 -9.99519937e-01 -1.75673689e-06 2.14869613e+02] [ 9.99518709e-01 3.09821528e-02 -1.56713318e-03 1.39235957e+02] [ 1.56643528e-03 4.67973235e-05 9.99998772e-01 5.86422751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490281693 meters 0.04053707536792967 Centerline is valid? [True, True] Translation: X:214.86, Y:139.26, Z:0.59 [[ 3.08398180e-02 -9.99524340e-01 -1.63539732e-06 2.14858928e+02] [ 9.99522126e-01 3.08397531e-02 -2.10455640e-03 1.39259670e+02] [ 2.10360578e-03 6.32695205e-05 9.99997785e-01 5.85143200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52028169299996 meters 0.039436931320132936 Centerline is valid? [True, True] Translation: X:214.85, Y:139.28, Z:0.59 [[ 3.18386706e-02 -9.99493021e-01 -1.01904628e-06 2.14852556e+02] [ 9.99490846e-01 3.18386034e-02 -2.08604157e-03 1.39284660e+02] [ 2.08501644e-03 6.53982629e-05 9.99997824e-01 5.85232027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550281693 meters 0.03824810156771731 Centerline is valid? [True, True] Translation: X:214.85, Y:139.31, Z:0.59 [[ 3.22744149e-02 -9.99479045e-01 -4.70319093e-07 2.14849851e+02] [ 9.99477937e-01 3.22743798e-02 -1.48933944e-03 1.39310571e+02] [ 1.48857874e-03 4.75974856e-05 9.99998891e-01 5.86684203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58028169299996 meters 0.040632240172778514 Centerline is valid? [True, True] Translation: X:214.84, Y:139.33, Z:0.59 [[ 3.35547273e-02 -9.99436882e-01 7.85050446e-08 2.14837575e+02] [ 9.99434722e-01 3.35546546e-02 -2.07898241e-03 1.39334655e+02] [ 2.07780907e-03 6.98381486e-05 9.99997839e-01 5.86957879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.610281693 meters 0.04171106652280712 Centerline is valid? [True, True] Translation: X:214.83, Y:139.36, Z:0.59 [[ 3.41110663e-02 -9.99418048e-01 7.11797234e-07 2.14830749e+02] [ 9.99415657e-01 3.41109831e-02 -2.18739861e-03 1.39360137e+02] [ 2.18610137e-03 7.53258803e-05 9.99997608e-01 5.86445182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64028169299996 meters 0.04319507099365514 Centerline is valid? [True, True] Translation: X:214.82, Y:139.39, Z:0.59 [[ 3.52615702e-02 -9.99378118e-01 2.39954905e-07 2.14819274e+02] [ 9.99377696e-01 3.52615551e-02 -9.18889599e-04 1.39385726e+02] [ 9.18309697e-04 3.26412957e-05 9.99999578e-01 5.88385223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.670281693 meters 0.04461851727745426 Centerline is valid? [True, True] Translation: X:214.81, Y:139.41, Z:0.59 [[ 3.52450933e-02 -9.99378699e-01 7.78747039e-08 2.14812458e+02] [ 9.99378525e-01 3.52450871e-02 -5.90344278e-04 1.39409737e+02] [ 5.89974751e-04 2.08845655e-05 9.99999826e-01 5.89792455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70028169299997 meters 0.041028050555687874 Centerline is valid? [True, True] Translation: X:214.81, Y:139.43, Z:0.59 [[ 3.23569283e-02 -9.99476378e-01 1.86642458e-06 2.14807723e+02] [ 9.99474825e-01 3.23568748e-02 -1.76287043e-03 1.39434499e+02] [ 1.76188696e-03 5.89065164e-05 9.99998446e-01 5.87622214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73028169299994 meters 0.03637500796155962 Centerline is valid? [True, True] Translation: X:214.81, Y:139.46, Z:0.59 [[ 2.95677729e-02 -9.99562778e-01 3.68183314e-06 2.14809538e+02] [ 9.99559453e-01 2.95676650e-02 -2.57949179e-03 1.39460332e+02] [ 2.57825511e-03 7.99500384e-05 9.99996673e-01 5.86254843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76028169299997 meters 0.032275564823522715 Centerline is valid? [True, True] Translation: X:214.81, Y:139.48, Z:0.58 [[ 2.32036928e-02 -9.99730758e-01 4.73484379e-06 2.14807219e+02] [ 9.99726907e-01 2.32035903e-02 -2.77579221e-03 1.39484865e+02] [ 2.77493499e-03 6.91421806e-05 9.99996147e-01 5.84360131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79028169299994 meters 0.030634527291683308 Centerline is valid? [True, True] Translation: X:214.81, Y:139.51, Z:0.59 [[ 2.01647801e-02 -9.99796670e-01 4.56500326e-06 2.14805728e+02] [ 9.99793936e-01 2.01647143e-02 -2.33881693e-03 1.39508637e+02] [ 2.33824933e-03 5.17257917e-05 9.99997265e-01 5.85570359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82028169299997 meters 0.026479111764706225 Centerline is valid? [True, True] Translation: X:214.81, Y:139.53, Z:0.59 [[ 1.71837770e-02 -9.99852348e-01 2.59894423e-06 2.14805002e+02] [ 9.99851540e-01 1.71837598e-02 -1.27163558e-03 1.39533698e+02] [ 1.27140316e-03 2.44500606e-05 9.99999191e-01 5.88987286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85028169299994 meters 0.02686628361235047 Centerline is valid? [True, True] Translation: X:214.80, Y:139.56, Z:0.59 [[ 1.73350581e-02 -9.99849737e-01 1.82512876e-06 2.14800213e+02] [ 9.99849355e-01 1.73350499e-02 -8.73678360e-04 1.39557834e+02] [ 8.73515440e-04 1.69701190e-05 9.99999618e-01 5.90644995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880281693 meters 0.029647011631873756 Centerline is valid? [True, True] Translation: X:214.79, Y:139.58, Z:0.59 [[ 1.99871173e-02 -9.99800238e-01 2.25132658e-06 2.14786173e+02] [ 9.99799818e-01 1.99871068e-02 -9.16349818e-04 1.39583499e+02] [ 9.16121768e-04 2.05660672e-05 9.99999580e-01 5.90500443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91028169299994 meters 0.03453510677696831 Centerline is valid? [True, True] Translation: X:214.77, Y:139.61, Z:0.59 [[ 2.17181487e-02 -9.99764133e-01 4.08905362e-06 2.14774214e+02] [ 9.99763150e-01 2.17181216e-02 -1.40261106e-03 1.39607659e+02] [ 1.40219143e-03 3.45502008e-05 9.99999016e-01 5.89347936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940281693 meters 0.03582694621751998 Centerline is valid? [True, True] Translation: X:214.77, Y:139.63, Z:0.59 [[ 2.33068854e-02 -9.99728358e-01 5.16677712e-06 2.14767359e+02] [ 9.99727056e-01 2.33068467e-02 -1.61410416e-03 1.39632240e+02] [ 1.61354528e-03 4.27851077e-05 9.99998697e-01 5.88805948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97028169299995 meters 0.03784756052926603 Centerline is valid? [True, True] Translation: X:214.75, Y:139.66, Z:0.59 [[ 2.52306301e-02 -9.99681657e-01 5.63168520e-06 2.14753056e+02] [ 9.99680332e-01 2.52305875e-02 -1.62801711e-03 1.39657144e+02] [ 1.62735676e-03 4.67057825e-05 9.99998675e-01 5.89332233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000281693 meters 0.03719876775663238 Centerline is valid? [True, True] Translation: X:214.75, Y:139.68, Z:0.59 [[ 2.44874693e-02 -9.99700137e-01 4.99777580e-06 2.14746958e+02] [ 9.99699208e-01 2.44874398e-02 -1.36306049e-03 1.39681294e+02] [ 1.36252938e-03 3.83741745e-05 9.99999071e-01 5.89542630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03028169299995 meters 0.03719876775663238 Centerline is valid? [True, True] Translation: X:214.75, Y:139.71, Z:0.59 [[ 2.42167270e-02 -9.99706732e-01 5.36620400e-06 2.14746475e+02] [ 9.99705804e-01 2.42166972e-02 -1.36305902e-03 1.39705428e+02] [ 1.36252932e-03 3.83734533e-05 9.99999071e-01 5.89590688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060281693 meters 0.032738964957280375 Centerline is valid? [True, True] Translation: X:214.74, Y:139.73, Z:0.59 [[ 2.04493830e-02 -9.99790890e-01 4.00336317e-06 2.14742221e+02] [ 9.99790404e-01 2.04493692e-02 -9.85156445e-04 1.39730315e+02] [ 9.84868572e-04 2.41483656e-05 9.99999515e-01 5.89284735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09028169299995 meters 0.029739473936349937 Centerline is valid? [True, True] Translation: X:214.74, Y:139.76, Z:0.59 [[ 1.71377711e-02 -9.99853138e-01 4.97245943e-06 2.14742507e+02] [ 9.99852497e-01 1.71377544e-02 -1.13183118e-03 1.39755475e+02] [ 1.13157974e-03 2.43687897e-05 9.99999359e-01 5.88785252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120281693 meters 0.022451127757985988 Centerline is valid? [True, True] Translation: X:214.75, Y:139.78, Z:0.59 [[ 9.33946254e-03 -9.99956386e-01 8.28326512e-07 2.14746027e+02] [ 9.99956348e-01 9.33946195e-03 -2.76243859e-04 1.39778474e+02] [ 2.76224075e-04 3.40825953e-06 9.99999962e-01 5.89847818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15028169299995 meters 0.01885877627181044 Centerline is valid? [True, True] Translation: X:214.75, Y:139.80, Z:0.59 [[ 4.78605819e-03 -9.99988547e-01 -2.48145327e-07 2.14748265e+02] [ 9.99988545e-01 4.78605819e-03 -6.39631642e-05 1.39801865e+02] [ 6.39636193e-05 5.79889455e-08 9.99999998e-01 5.89684789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180281693 meters 0.014426128618477498 Centerline is valid? [True, True] Translation: X:214.76, Y:139.83, Z:0.59 [[-2.95120057e-03 -9.99995645e-01 7.26214374e-06 2.14757936e+02] [ 9.99994717e-01 -2.95120773e-03 -1.36277189e-03 1.39826401e+02] [ 1.36278739e-03 3.24029218e-06 9.99999071e-01 5.87220075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21028169299996 meters 0.01397788888151505 Centerline is valid? [True, True] Translation: X:214.76, Y:139.85, Z:0.59 [[-6.42718806e-03 -9.99979345e-01 8.49377623e-06 2.14763193e+02] [ 9.99978219e-01 -6.42719357e-03 -1.50064900e-03 1.39850111e+02] [ 1.50067260e-03 -1.15136210e-06 9.99998874e-01 5.86852177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240281693 meters 0.015476431739783568 Centerline is valid? [True, True] Translation: X:214.77, Y:139.87, Z:0.59 [[-1.17254524e-02 -9.99931255e-01 3.19113948e-06 2.14770174e+02] [ 9.99931077e-01 -1.17254522e-02 -5.95592560e-04 1.39873429e+02] [ 5.95589034e-04 -3.79267267e-06 9.99999823e-01 5.89473830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27028169299996 meters 0.01654701778036313 Centerline is valid? [True, True] Translation: X:214.77, Y:139.90, Z:0.59 [[-1.37055674e-02 -9.99906074e-01 1.03770023e-06 2.14772203e+02] [ 9.99906045e-01 -1.37055672e-02 -2.41787158e-04 1.39897299e+02] [ 2.41778670e-04 -2.27622745e-06 9.99999971e-01 5.90127925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300281693 meters 0.017376207231372336 Centerline is valid? [True, True] Translation: X:214.77, Y:139.92, Z:0.59 [[-1.49536499e-02 -9.99888188e-01 5.19264487e-06 2.14774916e+02] [ 9.99887839e-01 -1.49536490e-02 -8.35080209e-04 1.39919872e+02] [ 8.35064486e-04 -7.29543461e-06 9.99999651e-01 5.88884823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33028169299996 meters 0.018904168815325844 Centerline is valid? [True, True] Translation: X:214.78, Y:139.94, Z:0.58 [[-1.68257993e-02 -9.99858436e-01 2.42134502e-05 2.14782885e+02] [ 9.99852527e-01 -1.68257831e-02 -3.43772889e-03 1.39942441e+02] [ 3.43764965e-03 -3.36326569e-05 9.99994091e-01 5.83379276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.360281693 meters 0.020012764445666957 Centerline is valid? [True, True] Translation: X:214.79, Y:139.97, Z:0.58 [[-1.84685900e-02 -9.99829441e-01 3.04233882e-05 2.14785804e+02] [ 9.99820886e-01 -1.84685579e-02 -4.13614459e-03 1.39966696e+02] [ 4.13600101e-03 -4.59708198e-05 9.99991446e-01 5.82508188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39028169299996 meters 0.01992661288270234 Centerline is valid? [True, True] Translation: X:214.79, Y:139.99, Z:0.58 [[-1.84921683e-02 -9.99829005e-01 2.85291162e-05 2.14785715e+02] [ 9.99822011e-01 -1.84921456e-02 -3.73986054e-03 1.39989217e+02] [ 3.73974860e-03 -4.06340920e-05 9.99993006e-01 5.83322336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.420281693 meters 0.019483824181217666 Centerline is valid? [True, True] Translation: X:214.79, Y:140.01, Z:0.58 [[-1.81397802e-02 -9.99835460e-01 2.76231782e-05 2.14786426e+02] [ 9.99829357e-01 -1.81397660e-02 -3.49361235e-03 1.40012803e+02] [ 3.49353859e-03 -3.57548958e-05 9.99993897e-01 5.83597788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45028169299997 meters 0.01797940235006318 Centerline is valid? [True, True] Translation: X:214.79, Y:140.04, Z:0.58 [[-1.64210896e-02 -9.99865164e-01 3.78199842e-05 2.14785883e+02] [ 9.99854606e-01 -1.64210900e-02 -4.59507623e-03 1.40036099e+02] [ 4.59507770e-03 -3.76416731e-05 9.99989442e-01 5.81932993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48028169299994 meters 0.016918463687954546 Centerline is valid? [True, True] Translation: X:214.78, Y:140.06, Z:0.58 [[-1.52969394e-02 -9.99882994e-01 4.07160788e-05 2.14781653e+02] [ 9.99871568e-01 -1.52969593e-02 -4.78019376e-03 1.40059859e+02] [ 4.78025728e-03 -3.24114848e-05 9.99988574e-01 5.81911950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51028169299997 meters 0.014858617610123926 Centerline is valid? [True, True] Translation: X:214.77, Y:140.08, Z:0.59 [[-1.29955236e-02 -9.99915554e-01 2.63653470e-05 2.14772537e+02] [ 9.99910994e-01 -1.29955440e-02 -3.01983349e-03 1.40084272e+02] [ 3.01992111e-03 -1.28813171e-05 9.99995440e-01 5.86271087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54028169299994 meters 0.014736584200573876 Centerline is valid? [True, True] Translation: X:214.77, Y:140.11, Z:0.59 [[-1.27398729e-02 -9.99918844e-01 2.30480188e-05 2.14771241e+02] [ 9.99915554e-01 -1.27398901e-02 -2.56511901e-03 1.40107687e+02] [ 2.56520447e-03 -9.63321752e-06 9.99996710e-01 5.87242115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57028169299997 meters 0.014881618644055867 Centerline is valid? [True, True] Translation: X:214.77, Y:140.13, Z:0.59 [[-1.33908368e-02 -9.99910338e-01 2.41087906e-05 2.14771618e+02] [ 9.99906965e-01 -1.33908543e-02 -2.59751398e-03 1.40131865e+02] [ 2.59760392e-03 -1.06763383e-05 9.99996626e-01 5.86841037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60028169299994 meters 0.018184617757500125 Centerline is valid? [True, True] Translation: X:214.78, Y:140.16, Z:0.59 [[-1.79341878e-02 -9.99839169e-01 2.58972611e-05 2.14782445e+02] [ 9.99835499e-01 -1.79341921e-02 -2.70903082e-03 1.40155952e+02] [ 2.70905957e-03 -2.26912664e-05 9.99996330e-01 5.85588057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630281693 meters 0.019493902883005943 Centerline is valid? [True, True] Translation: X:214.79, Y:140.18, Z:0.59 [[-2.16299573e-02 -9.99766045e-01 2.44214855e-05 2.14787001e+02] [ 9.99762927e-01 -2.16299508e-02 -2.49692593e-03 1.40181720e+02] [ 2.49687000e-03 -2.95927055e-05 9.99996882e-01 5.85729983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66028169299994 meters 0.02966490168200401 Centerline is valid? [True, True] Translation: X:214.81, Y:140.21, Z:0.59 [[-2.96849211e-02 -9.99559305e-01 2.03337714e-05 2.14809316e+02] [ 9.99557235e-01 -2.96849010e-02 -2.03493949e-03 1.40205922e+02] [ 2.03464631e-03 -4.00822498e-05 9.99997929e-01 5.87032852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690281693 meters 0.029429905449886218 Centerline is valid? [True, True] Translation: X:214.81, Y:140.23, Z:0.59 [[-3.29680556e-02 -9.99456406e-01 2.07904675e-05 2.14811381e+02] [ 9.99454359e-01 -3.29680302e-02 -2.02323302e-03 1.40230224e+02] [ 2.02281862e-03 -4.59229353e-05 9.99997953e-01 5.87951857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72028169299995 meters 0.03170299541024619 Centerline is valid? [True, True] Translation: X:214.82, Y:140.25, Z:0.59 [[-3.56534656e-02 -9.99364213e-01 2.56858852e-05 2.14821832e+02] [ 9.99361276e-01 -3.56534231e-02 -2.42371209e-03 1.40254775e+02] [ 2.42308691e-03 -6.07442566e-05 9.99997062e-01 5.87767144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750281693 meters 0.03796912423101273 Centerline is valid? [True, True] Translation: X:214.83, Y:140.28, Z:0.59 [[-3.57334620e-02 -9.99361355e-01 3.40461843e-05 2.14834289e+02] [ 9.99356509e-01 -3.57333947e-02 -3.11342229e-03 1.40278040e+02] [ 3.11265050e-03 -7.72290811e-05 9.99995153e-01 5.86106550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78028169299995 meters 0.031079908665942863 Centerline is valid? [True, True] Translation: X:214.83, Y:140.30, Z:0.59 [[-3.46558087e-02 -9.99399306e-01 4.13000813e-05 2.14828555e+02] [ 9.99392587e-01 -3.46557271e-02 -3.66584393e-03 1.40302575e+02] [ 3.66507316e-03 -8.57677907e-05 9.99993280e-01 5.85205211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810281693 meters 0.028052124029913018 Centerline is valid? [True, True] Translation: X:214.83, Y:140.33, Z:0.59 [[-3.16796397e-02 -9.99498073e-01 4.37808412e-05 2.14831722e+02] [ 9.99490903e-01 -3.16795783e-02 -3.78677275e-03 1.40326528e+02] [ 3.78625903e-03 -7.62050439e-05 9.99992829e-01 5.85317361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84028169299995 meters 0.027348061899080317 Centerline is valid? [True, True] Translation: X:214.83, Y:140.35, Z:0.59 [[-3.10382787e-02 -9.99518196e-01 3.52018227e-05 2.14834107e+02] [ 9.99513752e-01 -3.10382457e-02 -2.98096844e-03 1.40349868e+02] [ 2.98062480e-03 -5.73394232e-05 9.99995556e-01 5.86862165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870281693 meters 0.025505720719157788 Centerline is valid? [True, True] Translation: X:214.84, Y:140.37, Z:0.59 [[-2.93953062e-02 -9.99567865e-01 1.59055558e-05 2.14839341e+02] [ 9.99566966e-01 -2.93953011e-02 -1.34018032e-03 1.40373703e+02] [ 1.34006873e-03 -2.34963426e-05 9.99999102e-01 5.90020645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90028169299995 meters 0.0242067131546435 Centerline is valid? [True, True] Translation: X:214.84, Y:140.40, Z:0.59 [[-2.84695750e-02 -9.99594659e-01 9.86094511e-06 2.14841237e+02] [ 9.99594315e-01 -2.84695734e-02 -8.30484387e-04 1.40398149e+02] [ 8.30428495e-04 -1.37865929e-05 9.99999655e-01 5.91151570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930281693 meters 0.02172144091024674 Centerline is valid? [True, True] Translation: X:214.84, Y:140.42, Z:0.59 [[-2.58159481e-02 -9.99666713e-01 2.77572287e-05 2.14844883e+02] [ 9.99664291e-01 -2.58159466e-02 -2.20049898e-03 1.40421557e+02] [ 2.20048216e-03 -2.90600570e-05 9.99997579e-01 5.88431080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96028169299996 meters 0.01975703648390263 Centerline is valid? [True, True] Translation: X:214.84, Y:140.45, Z:0.59 [[-2.46231945e-02 -9.99696802e-01 5.01654321e-05 2.14842995e+02] [ 9.99689382e-01 -2.46232050e-02 -3.85194429e-03 1.40445452e+02] [ 3.85201162e-03 -4.46973236e-05 9.99992580e-01 5.85409372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990281693 meters 0.017746864451957042 Centerline is valid? [True, True] Translation: X:214.84, Y:140.47, Z:0.58 [[-2.12541686e-02 -9.99774102e-01 7.22977983e-05 2.14840139e+02] [ 9.99759469e-01 -2.12542487e-02 -5.40934621e-03 1.40468529e+02] [ 5.40966088e-03 -4.26907479e-05 9.99985367e-01 5.82169217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02028169299996 meters 0.01661842798242219 Centerline is valid? [True, True] Translation: X:214.84, Y:140.49, Z:0.58 [[-1.97913655e-02 -9.99804130e-01 6.25286220e-05 2.14838305e+02] [ 9.99793619e-01 -1.97914442e-02 -4.58461100e-03 1.40491976e+02] [ 4.58495055e-03 -2.82199950e-05 9.99989489e-01 5.83233239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050281693 meters 0.015922687028690714 Centerline is valid? [True, True] Translation: X:214.84, Y:140.51, Z:0.59 [[-1.90108271e-02 -9.99819277e-01 5.00928486e-05 2.14839133e+02] [ 9.99812782e-01 -1.90108842e-02 -3.60371305e-03 1.40514954e+02] [ 3.60401409e-03 -1.84260956e-05 9.99993505e-01 5.85485392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08028169299996 meters 0.01607327708533806 Centerline is valid? [True, True] Translation: X:214.85, Y:140.54, Z:0.59 [[-1.98008855e-02 -9.99803942e-01 4.16347552e-05 2.14846250e+02] [ 9.99799620e-01 -1.98009223e-02 -2.93979347e-03 1.40538596e+02] [ 2.94004151e-03 -1.65841015e-05 9.99995678e-01 5.87091426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.110281693 meters 0.0175025678458282 Centerline is valid? [True, True] Translation: X:214.85, Y:140.56, Z:0.59 [[-2.22360721e-02 -9.99752746e-01 5.61443762e-05 2.14852458e+02] [ 9.99745254e-01 -2.22361228e-02 -3.87053165e-03 1.40561732e+02] [ 3.87082308e-03 -2.99353470e-05 9.99992508e-01 5.85121098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14028169299996 meters 0.018122763074762425 Centerline is valid? [True, True] Translation: X:214.85, Y:140.59, Z:0.58 [[-2.35201580e-02 -9.99723361e-01 5.71106408e-05 2.14854716e+02] [ 9.99715916e-01 -2.35202033e-02 -3.85846014e-03 1.40585322e+02] [ 3.85873599e-03 -3.36571756e-05 9.99992555e-01 5.84686902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.170281693 meters 0.018621699425373638 Centerline is valid? [True, True] Translation: X:214.86, Y:140.61, Z:0.59 [[-2.45106404e-02 -9.99699568e-01 5.28439197e-05 2.14857646e+02] [ 9.99693427e-01 -2.45106751e-02 -3.50413777e-03 1.40609650e+02] [ 3.50438025e-03 -3.30609416e-05 9.99993859e-01 5.85331648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20028169299997 meters 0.017614503403399925 Centerline is valid? [True, True] Translation: X:214.86, Y:140.63, Z:0.59 [[-2.40688955e-02 -9.99710301e-01 3.83011818e-05 2.14859957e+02] [ 9.99707171e-01 -2.40689159e-02 -2.50177545e-03 1.40633084e+02] [ 2.50197256e-03 -2.19250057e-05 9.99996870e-01 5.87971691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23028169299994 meters 0.017027210055610975 Centerline is valid? [True, True] Translation: X:214.86, Y:140.66, Z:0.59 [[-2.32448806e-02 -9.99729800e-01 4.21597569e-05 2.14859052e+02] [ 9.99726162e-01 -2.32449097e-02 -2.69719694e-03 1.40656436e+02] [ 2.69744816e-03 -2.05478088e-05 9.99996362e-01 5.87641404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26028169299997 meters 0.016575294754575805 Centerline is valid? [True, True] Translation: X:214.86, Y:140.68, Z:0.58 [[-2.22347220e-02 -9.99752776e-01 6.73037512e-05 2.14860144e+02] [ 9.99743948e-01 -2.22348086e-02 -4.20141162e-03 1.40679354e+02] [ 4.20186941e-03 -2.61307015e-05 9.99991172e-01 5.84694228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29028169299994 meters 0.016670524106239648 Centerline is valid? [True, True] Translation: X:214.86, Y:140.70, Z:0.58 [[-2.24829051e-02 -9.99747224e-01 8.04288743e-05 2.14861200e+02] [ 9.99735111e-01 -2.24830286e-02 -4.92158320e-03 1.40703341e+02] [ 4.92214743e-03 -3.02439185e-05 9.99987886e-01 5.83222973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32028169299997 meters 0.01674498498069607 Centerline is valid? [True, True] Translation: X:214.86, Y:140.73, Z:0.58 [[-2.23470791e-02 -9.99750269e-01 8.58141795e-05 2.14864069e+02] [ 9.99736978e-01 -2.23472245e-02 -5.15520060e-03 1.40726131e+02] [ 5.15583090e-03 -2.94120671e-05 9.99986708e-01 5.83331792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35028169299994 meters 0.015866222537517058 Centerline is valid? [True, True] Translation: X:214.86, Y:140.75, Z:0.58 [[-2.17799219e-02 -9.99762787e-01 7.53930270e-05 2.14862050e+02] [ 9.99752866e-01 -2.17800416e-02 -4.45389238e-03 1.40749838e+02] [ 4.45447792e-03 -2.16310333e-05 9.99990079e-01 5.84662826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380281693 meters 0.015268531359388412 Centerline is valid? [True, True] Translation: X:214.86, Y:140.77, Z:0.58 [[-2.06730846e-02 -9.99786286e-01 7.15745413e-05 2.14860232e+02] [ 9.99777642e-01 -2.06732035e-02 -4.15763445e-03 1.40773445e+02] [ 4.15822558e-03 -1.43925028e-05 9.99991354e-01 5.84910909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41028169299994 meters 0.014748122577906007 Centerline is valid? [True, True] Translation: X:214.86, Y:140.80, Z:0.59 [[-1.77729949e-02 -9.99842045e-01 7.36873184e-05 2.14855870e+02] [ 9.99833197e-01 -1.77731476e-02 -4.20635289e-03 1.40796138e+02] [ 4.20699813e-03 -1.08446120e-06 9.99991151e-01 5.85870613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440281693 meters 0.01480840520906717 Centerline is valid? [True, True] Translation: X:214.85, Y:140.82, Z:0.59 [[-1.62295762e-02 -9.99868289e-01 7.31778800e-05 2.14850338e+02] [ 9.99859856e-01 -1.62297399e-02 -4.10669305e-03 1.40818700e+02] [ 4.10733981e-03 6.51773680e-06 9.99991565e-01 5.86446086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47028169299995 meters 0.016041746449636702 Centerline is valid? [True, True] Translation: X:214.84, Y:140.84, Z:0.59 [[-1.29193994e-02 -9.99916540e-01 5.30464911e-05 2.14838575e+02] [ 9.99912225e-01 -1.29194995e-02 -2.93740746e-03 1.40842031e+02] [ 2.93784764e-03 1.50922948e-05 9.99995684e-01 5.89218497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500281693 meters 0.016783939262718955 Centerline is valid? [True, True] Translation: X:214.83, Y:140.87, Z:0.59 [[-1.20201314e-02 -9.99927755e-01 4.07528909e-05 2.14833373e+02] [ 9.99925271e-01 -1.20201924e-02 -2.22887327e-03 1.40865401e+02] [ 2.22920211e-03 1.39584958e-05 9.99997515e-01 5.90189561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53028169299995 meters 0.016861662272164273 Centerline is valid? [True, True] Translation: X:214.83, Y:140.89, Z:0.59 [[-1.16539634e-02 -9.99932089e-01 4.39995185e-05 2.14829379e+02] [ 9.99929289e-01 -1.16540349e-02 -2.36670344e-03 1.40888954e+02] [ 2.36705548e-03 1.64149319e-05 9.99997198e-01 5.89233208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560281693 meters 0.017057574103023342 Centerline is valid? [True, True] Translation: X:214.83, Y:140.91, Z:0.59 [[-1.25840867e-02 -9.99920815e-01 6.83961668e-05 2.14825705e+02] [ 9.99914326e-01 -1.25842514e-02 -3.60237684e-03 1.40911702e+02] [ 3.60295230e-03 2.30576846e-05 9.99993509e-01 5.87239348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59028169299995 meters 0.01663310627979134 Centerline is valid? [True, True] Translation: X:214.82, Y:140.94, Z:0.58 [[-1.37160784e-02 -9.99905926e-01 9.62576394e-05 2.14823068e+02] [ 9.99893525e-01 -1.37163877e-02 -4.97988240e-03 1.40935847e+02] [ 4.98073423e-03 2.79429331e-05 9.99987596e-01 5.84894582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620281693 meters 0.016121484140346365 Centerline is valid? [True, True] Translation: X:214.82, Y:140.96, Z:0.58 [[-1.55510315e-02 -9.99879069e-01 1.16475619e-04 2.14818976e+02] [ 9.99861479e-01 -1.55514489e-02 -5.93081176e-03 1.40958803e+02] [ 5.93190591e-03 2.42292444e-05 9.99982406e-01 5.83403833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65028169299995 meters 0.01564778825642097 Centerline is valid? [True, True] Translation: X:214.81, Y:140.98, Z:0.59 [[-1.64510015e-02 -9.99864670e-01 7.69300407e-05 2.14812955e+02] [ 9.99857179e-01 -1.64511761e-02 -3.87055303e-03 1.40982732e+02] [ 3.87129482e-03 1.32445797e-05 9.99992506e-01 5.87902895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680281693 meters 0.015536441182297814 Centerline is valid? [True, True] Translation: X:214.81, Y:141.01, Z:0.59 [[-1.67548450e-02 -9.99859626e-01 5.61976157e-05 2.14808424e+02] [ 9.99855718e-01 -1.67549367e-02 -2.79547006e-03 1.41006592e+02] [ 2.79601923e-03 9.35183982e-06 9.99996091e-01 5.90117173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71028169299996 meters 0.015547919173285369 Centerline is valid? [True, True] Translation: X:214.80, Y:141.03, Z:0.59 [[-1.70981624e-02 -9.99853814e-01 5.16203548e-05 2.14804595e+02] [ 9.99850602e-01 -1.70982383e-02 -2.53472245e-03 1.41030063e+02] [ 2.53523453e-03 8.27354677e-06 9.99996786e-01 5.90281920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740281693 meters 0.01586433447327291 Centerline is valid? [True, True] Translation: X:214.80, Y:141.05, Z:0.59 [[-1.70382391e-02 -9.99854835e-01 8.26090871e-05 2.14798956e+02] [ 9.99846892e-01 -1.70384330e-02 -3.98544328e-03 1.41053729e+02] [ 3.98627226e-03 1.46915034e-05 9.99992055e-01 5.86640340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77028169299996 meters 0.01610411800216093 Centerline is valid? [True, True] Translation: X:214.79, Y:141.08, Z:0.59 [[-1.67283667e-02 -9.99860067e-01 9.33213983e-05 2.14793988e+02] [ 9.99850219e-01 -1.67286162e-02 -4.43770687e-03 1.41076335e+02] [ 4.43864702e-03 1.90718325e-05 9.99990149e-01 5.86367189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800281693 meters 0.018064430976284965 Centerline is valid? [True, True] Translation: X:214.78, Y:141.10, Z:0.59 [[-1.42016458e-02 -9.99899148e-01 8.79502456e-05 2.14780809e+02] [ 9.99890628e-01 -1.42018879e-02 -4.12781366e-03 1.41099248e+02] [ 4.12864642e-03 2.93188786e-05 9.99991477e-01 5.87633229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83028169299996 meters 0.019088439028740516 Centerline is valid? [True, True] Translation: X:214.77, Y:141.12, Z:0.59 [[-1.31962261e-02 -9.99912922e-01 9.32731230e-05 2.14774262e+02] [ 9.99903595e-01 -1.31965059e-02 -4.31894373e-03 1.41122580e+02] [ 4.31979852e-03 3.62703731e-05 9.99990669e-01 5.87605071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.860281693 meters 0.0198369077591679 Centerline is valid? [True, True] Translation: X:214.77, Y:141.15, Z:0.59 [[-1.27007729e-02 -9.99919338e-01 8.89138046e-05 2.14769045e+02] [ 9.99911076e-01 -1.27010294e-02 -4.06502937e-03 1.41145743e+02] [ 4.06583077e-03 3.72768831e-05 9.99991734e-01 5.87895755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89028169299996 meters 0.020150776007134635 Centerline is valid? [True, True] Translation: X:214.76, Y:141.17, Z:0.59 [[-1.27891598e-02 -9.99918212e-01 7.81598554e-05 2.14763008e+02] [ 9.99911979e-01 -1.27893561e-02 -3.53073358e-03 1.41168610e+02] [ 3.53144442e-03 3.29978598e-05 9.99993764e-01 5.88642260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.920281693 meters 0.020150776007134635 Centerline is valid? [True, True] Translation: X:214.76, Y:141.19, Z:0.59 [[-1.30617547e-02 -9.99914689e-01 7.91462813e-05 2.14762013e+02] [ 9.99908456e-01 -1.30619528e-02 -3.53071153e-03 1.41191902e+02] [ 3.53144412e-03 3.30217479e-05 9.99993764e-01 5.88688640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95028169299997 meters 0.019991111594457038 Centerline is valid? [True, True] Translation: X:214.76, Y:141.22, Z:0.59 [[-1.34615975e-02 -9.99909386e-01 7.79509311e-05 2.14758517e+02] [ 9.99903482e-01 -1.34617859e-02 -3.43622359e-03 1.41215391e+02] [ 3.43696157e-03 3.16863486e-05 9.99994093e-01 5.88495559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98028169299994 meters 0.019977661330512944 Centerline is valid? [True, True] Translation: X:214.75, Y:141.24, Z:0.59 [[-1.39169687e-02 -9.99903150e-01 8.92987723e-05 2.14751771e+02] [ 9.99895597e-01 -1.39172107e-02 -3.88668587e-03 1.41238727e+02] [ 3.88755224e-03 3.51985636e-05 9.99992443e-01 5.87558913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01028169299997 meters 0.019225853093565573 Centerline is valid? [True, True] Translation: X:214.75, Y:141.26, Z:0.59 [[-1.51488198e-02 -9.99885245e-01 1.02992798e-04 2.14749971e+02] [ 9.99875445e-01 -1.51491274e-02 -4.42707633e-03 1.41262881e+02] [ 4.42812855e-03 3.59149877e-05 9.99990195e-01 5.85658117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04028169299994 meters 0.01788991985255603 Centerline is valid? [True, True] Translation: X:214.75, Y:141.29, Z:0.58 [[-1.70564127e-02 -9.99854523e-01 1.12019247e-04 2.14750009e+02] [ 9.99843203e-01 -1.70567526e-02 -4.75770506e-03 1.41286825e+02] [ 4.75892361e-03 3.08523019e-05 9.99988676e-01 5.84558177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07028169299997 meters 0.015333055404174211 Centerline is valid? [True, True] Translation: X:214.75, Y:141.31, Z:0.59 [[-2.15987490e-02 -9.99766715e-01 1.00864141e-04 2.14754918e+02] [ 9.99757735e-01 -2.15989825e-02 -4.23746715e-03 1.41310962e+02] [ 4.23865718e-03 9.31571571e-06 9.99991017e-01 5.85271046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10028169299994 meters 0.014892021833803296 Centerline is valid? [True, True] Translation: X:214.76, Y:141.33, Z:0.59 [[-2.39317033e-02 -9.99713591e-01 9.28920618e-05 2.14758110e+02] [ 9.99706138e-01 -2.39318836e-02 -3.86051138e-03 1.41334409e+02] [ 3.86162878e-03 4.76151441e-07 9.99992544e-01 5.86678386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130281693 meters 0.015962899351866962 Centerline is valid? [True, True] Translation: X:214.77, Y:141.36, Z:0.59 [[-2.84970288e-02 -9.99593874e-01 7.43268072e-05 2.14767932e+02] [ 9.99589194e-01 -2.84971228e-02 -3.05910145e-03 1.41358482e+02] [ 3.05997717e-03 -1.28790287e-05 9.99995318e-01 5.89337535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16028169299994 meters 0.016007469018567262 Centerline is valid? [True, True] Translation: X:214.77, Y:141.38, Z:0.59 [[-3.05151695e-02 -9.99534302e-01 6.80631409e-05 2.14768835e+02] [ 9.99530458e-01 -3.05152409e-02 -2.77195525e-03 1.41382743e+02] [ 2.77274132e-03 -1.65555018e-05 9.99996156e-01 5.90904903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190281693 meters 0.017978194676386044 Centerline is valid? [True, True] Translation: X:214.77, Y:141.41, Z:0.59 [[-3.20680111e-02 -9.99485687e-01 6.62165606e-05 2.14774184e+02] [ 9.99482130e-01 -3.20680736e-02 -2.66641541e-03 1.41406902e+02] [ 2.66716747e-03 -1.93243697e-05 9.99996443e-01 5.90456750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22028169299995 meters 0.0187015344250045 Centerline is valid? [True, True] Translation: X:214.78, Y:141.43, Z:0.59 [[-3.28459336e-02 -9.99460425e-01 6.62057284e-05 2.14778058e+02] [ 9.99456950e-01 -3.28459940e-02 -2.63561453e-03 1.41430619e+02] [ 2.63636701e-03 -2.03994446e-05 9.99996525e-01 5.89563842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250281693 meters 0.01684187590210467 Centerline is valid? [True, True] Translation: X:214.78, Y:141.45, Z:0.59 [[-3.25368417e-02 -9.99470532e-01 9.39133955e-05 2.14778716e+02] [ 9.99463727e-01 -3.25369668e-02 -3.68827365e-03 1.41454650e+02] [ 3.68937649e-03 -2.61417438e-05 9.99993194e-01 5.88214501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28028169299995 meters 0.01706126814411065 Centerline is valid? [True, True] Translation: X:214.78, Y:141.48, Z:0.59 [[-3.30566987e-02 -9.99453472e-01 1.09913378e-04 2.14781245e+02] [ 9.99444383e-01 -3.30568669e-02 -4.26245188e-03 1.41478449e+02] [ 4.26375573e-03 -3.10502796e-05 9.99990910e-01 5.87424345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310281693 meters 0.019690111394741354 Centerline is valid? [True, True] Translation: X:214.79, Y:141.50, Z:0.58 [[-3.43361333e-02 -9.99410332e-01 1.31950516e-04 2.14788999e+02] [ 9.99397561e-01 -3.43363617e-02 -5.05271812e-03 1.41501520e+02] [ 5.05426940e-03 -4.16197799e-05 9.99987226e-01 5.84733494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34028169299995 meters 0.019730586516759206 Centerline is valid? [True, True] Translation: X:214.80, Y:141.53, Z:0.59 [[-3.74656635e-02 -9.99297908e-01 1.22519214e-04 2.14795494e+02] [ 9.99287136e-01 -3.74658285e-02 -4.64014810e-03 1.41525778e+02] [ 4.64148058e-03 -5.14143532e-05 9.99989227e-01 5.86178098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370281693 meters 0.02209266488302082 Centerline is valid? [True, True] Translation: X:214.80, Y:141.55, Z:0.59 [[-3.89990544e-02 -9.99239242e-01 1.09106849e-04 2.14802645e+02] [ 9.99230879e-01 -3.89991744e-02 -4.08839244e-03 1.41548809e+02] [ 4.08953724e-03 -5.04205066e-05 9.99991637e-01 5.86762336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40028169299995 meters 0.022148963705738305 Centerline is valid? [True, True] Translation: X:214.81, Y:141.57, Z:0.59 [[-4.01714142e-02 -9.99192800e-01 7.43081327e-05 2.14808844e+02] [ 9.99188988e-01 -4.01714663e-02 -2.76045078e-03 1.41572421e+02] [ 2.76120761e-03 -3.66433438e-05 9.99996187e-01 5.90049741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430281693 meters 0.021151856024644002 Centerline is valid? [True, True] Translation: X:214.81, Y:141.60, Z:0.59 [[-3.99438598e-02 -9.99201922e-01 8.34691137e-05 2.14808111e+02] [ 9.99197223e-01 -3.99439280e-02 -3.06453772e-03 1.41595807e+02] [ 3.06542607e-03 -3.90073586e-05 9.99995301e-01 5.89815412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46028169299996 meters 0.019669143642251162 Centerline is valid? [True, True] Translation: X:214.81, Y:141.62, Z:0.59 [[-3.89269547e-02 -9.99242052e-01 1.18574938e-04 2.14806327e+02] [ 9.99232801e-01 -3.89271046e-02 -4.30002502e-03 1.41620231e+02] [ 4.30138160e-03 -4.89029119e-05 9.99990748e-01 5.88074037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490281693 meters 0.016838502082409442 Centerline is valid? [True, True] Translation: X:214.80, Y:141.65, Z:0.59 [[-3.47961570e-02 -9.99394416e-01 1.68859365e-04 2.14800281e+02] [ 9.99376066e-01 -3.47965414e-02 -6.05637886e-03 1.41645724e+02] [ 6.05858693e-03 -4.19847020e-05 9.99981646e-01 5.85725972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52028169299996 meters 0.015988198671187434 Centerline is valid? [True, True] Translation: X:214.80, Y:141.67, Z:0.59 [[-3.21708433e-02 -9.99482370e-01 1.72012442e-04 2.14795707e+02] [ 9.99463722e-01 -3.21712938e-02 -6.10545550e-03 1.41669638e+02] [ 6.10782900e-03 -2.44974571e-05 9.99981347e-01 5.85322059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550281693 meters 0.015308732616249432 Centerline is valid? [True, True] Translation: X:214.78, Y:141.69, Z:0.59 [[-2.73877790e-02 -9.99624873e-01 1.48668281e-04 2.14783971e+02] [ 9.99611224e-01 -2.73881819e-02 -5.22379027e-03 1.41691925e+02] [ 5.22590244e-03 5.54246847e-06 9.99986345e-01 5.85210528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58028169299996 meters 0.015233260481695236 Centerline is valid? [True, True] Translation: X:214.78, Y:141.72, Z:0.59 [[-2.64882510e-02 -9.99649117e-01 1.20778841e-04 2.14780506e+02] [ 9.99640278e-01 -2.64885247e-02 -4.20398259e-03 1.41715498e+02] [ 4.20570674e-03 9.37924833e-06 9.99991156e-01 5.88635849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.610281693 meters 0.015207695690887504 Centerline is valid? [True, True] Translation: X:214.78, Y:141.74, Z:0.59 [[-2.66623007e-02 -9.99644493e-01 9.47223001e-05 2.14777248e+02] [ 9.99639152e-01 -2.66624679e-02 -3.26780374e-03 1.41738512e+02] [ 3.26916755e-03 7.56095384e-06 9.99994656e-01 5.90136180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64028169299996 meters 0.015126288314074228 Centerline is valid? [True, True] Translation: X:214.78, Y:141.76, Z:0.59 [[-2.76805956e-02 -9.99616812e-01 1.16603820e-04 2.14776948e+02] [ 9.99608899e-01 -2.76808404e-02 -3.97741205e-03 1.41763156e+02] [ 3.97911565e-03 6.46108136e-06 9.99992083e-01 5.89389029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.670281693 meters 0.015188497344872235 Centerline is valid? [True, True] Translation: X:214.78, Y:141.79, Z:0.59 [[-2.86100497e-02 -9.99590637e-01 1.54089817e-04 2.14775728e+02] [ 9.99577112e-01 -2.86104642e-02 -5.19995404e-03 1.41787078e+02] [ 5.20223395e-03 5.25371081e-06 9.99986468e-01 5.86513227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70028169299997 meters 0.015054067591365138 Centerline is valid? [True, True] Translation: X:214.78, Y:141.81, Z:0.59 [[-3.11194716e-02 -9.99515661e-01 1.44919997e-04 2.14776344e+02] [ 9.99503918e-01 -3.11198085e-02 -4.84509564e-03 1.41812245e+02] [ 4.84725886e-03 -5.92871161e-06 9.99988252e-01 5.87668994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73028169299994 meters 0.015445015023362063 Centerline is valid? [True, True] Translation: X:214.78, Y:141.84, Z:0.59 [[-3.30135496e-02 -9.99454897e-01 1.20205467e-04 2.14778447e+02] [ 9.99446955e-01 -3.30137664e-02 -3.98450037e-03 1.41836330e+02] [ 3.98629684e-03 -1.14035126e-05 9.99992055e-01 5.88572142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76028169299997 meters 0.017398751093340898 Centerline is valid? [True, True] Translation: X:214.79, Y:141.86, Z:0.59 [[-3.72644114e-02 -9.99305437e-01 8.68382318e-05 2.14786672e+02] [ 9.99301353e-01 -3.72645074e-02 -2.85715449e-03 1.41859341e+02] [ 2.85840600e-03 -1.96926180e-05 9.99995915e-01 5.90268196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79028169299994 meters 0.018311584900406627 Centerline is valid? [True, True] Translation: X:214.79, Y:141.88, Z:0.59 [[-3.99845202e-02 -9.99200293e-01 1.11200007e-04 2.14789338e+02] [ 9.99193742e-01 -3.99846608e-02 -3.61830748e-03 1.41883090e+02] [ 3.61986019e-03 -3.35659378e-05 9.99993448e-01 5.89379803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82028169299997 meters 0.022981817212420354 Centerline is valid? [True, True] Translation: X:214.80, Y:141.91, Z:0.59 [[-4.56447844e-02 -9.98957721e-01 1.57188822e-04 2.14801545e+02] [ 9.98944925e-01 -4.56449954e-02 -5.05679946e-03 1.41906583e+02] [ 5.05870374e-03 -7.37935452e-05 9.99987202e-01 5.86155132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85028169299994 meters 0.025286392600108905 Centerline is valid? [True, True] Translation: X:214.81, Y:141.93, Z:0.59 [[-4.88896641e-02 -9.98804173e-01 1.60677506e-04 2.14807154e+02] [ 9.98791053e-01 -4.88898456e-02 -5.12012343e-03 1.41930925e+02] [ 5.12185614e-03 -8.98378595e-05 9.99986879e-01 5.86284870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880281693 meters 0.027535271614705616 Centerline is valid? [True, True] Translation: X:214.81, Y:141.96, Z:0.59 [[-5.17859465e-02 -9.98658196e-01 1.51072643e-04 2.14813413e+02] [ 9.98646805e-01 -5.17860776e-02 -4.77090186e-03 1.41955713e+02] [ 4.77232370e-03 -9.61974560e-05 9.99988608e-01 5.86893727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91028169299994 meters 0.03181822393663288 Centerline is valid? [True, True] Translation: X:214.83, Y:141.98, Z:0.59 [[-5.57580887e-02 -9.98444296e-01 1.49748818e-04 2.14826989e+02] [ 9.98433305e-01 -5.57581778e-02 -4.68625805e-03 1.41979965e+02] [ 4.68731735e-03 -1.11782585e-04 9.99989008e-01 5.86977989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940281693 meters 0.03187446506093376 Centerline is valid? [True, True] Translation: X:214.83, Y:142.00, Z:0.59 [[-5.70121396e-02 -9.98373474e-01 1.50232364e-04 2.14830544e+02] [ 9.98362612e-01 -5.70122204e-02 -4.65857178e-03 1.42003908e+02] [ 4.65955958e-03 -1.15608769e-04 9.99989138e-01 5.86649541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97028169299995 meters 0.03291480138876937 Centerline is valid? [True, True] Translation: X:214.84, Y:142.03, Z:0.59 [[-5.69146125e-02 -9.98379038e-01 1.52462715e-04 2.14840893e+02] [ 9.98368060e-01 -5.69147019e-02 -4.68325001e-03 1.42027317e+02] [ 4.68433601e-03 -1.14331455e-04 9.99989022e-01 5.86542374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000281693 meters 0.0313684512033775 Centerline is valid? [True, True] Translation: X:214.84, Y:142.05, Z:0.59 [[-5.65730403e-02 -9.98398451e-01 1.55916298e-04 2.14842294e+02] [ 9.98387183e-01 -5.65731428e-02 -4.74474767e-03 1.42051765e+02] [ 4.74596940e-03 -1.12759968e-04 9.99988731e-01 5.87104185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03028169299995 meters 0.031926601181082044 Centerline is valid? [True, True] Translation: X:214.85, Y:142.07, Z:0.59 [[-5.62324553e-02 -9.98417689e-01 1.71748714e-04 2.14846574e+02] [ 9.98404275e-01 -5.62325903e-02 -5.17690668e-03 1.42074727e+02] [ 5.17837308e-03 -1.19635523e-04 9.99986585e-01 5.85736705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060281693 meters 0.03211249032767209 Centerline is valid? [True, True] Translation: X:214.85, Y:142.10, Z:0.58 [[-5.60861277e-02 -9.98425916e-01 1.91788491e-04 2.14849964e+02] [ 9.98409503e-01 -5.60863056e-02 -5.72637592e-03 1.42097638e+02] [ 5.72811883e-03 -1.29686799e-04 9.99983586e-01 5.84083265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09028169299995 meters 0.029706419612835183 Centerline is valid? [True, True] Translation: X:214.86, Y:142.12, Z:0.59 [[-5.43466979e-02 -9.98522114e-01 1.58479629e-04 2.14855310e+02] [ 9.98511084e-01 -5.43468426e-02 -4.69413575e-03 1.42121831e+02] [ 4.69581122e-03 -9.68671115e-05 9.99988970e-01 5.85925080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120281693 meters 0.02519275393490127 Centerline is valid? [True, True] Translation: X:214.86, Y:142.15, Z:0.59 [[-5.01182989e-02 -9.98743282e-01 1.16134047e-04 2.14856133e+02] [ 9.98737442e-01 -5.01184030e-02 -3.41571660e-03 1.42145621e+02] [ 3.41724446e-03 -5.52024840e-05 9.99994160e-01 5.89154738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15028169299995 meters 0.021986566781275904 Centerline is valid? [True, True] Translation: X:214.85, Y:142.17, Z:0.59 [[-4.74123466e-02 -9.98875394e-01 1.27603286e-04 2.14852898e+02] [ 9.98868467e-01 -4.74124931e-02 -3.72034967e-03 1.42169646e+02] [ 3.72221573e-03 -4.89316096e-05 9.99993071e-01 5.88847128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180281693 meters 0.019638510272445522 Centerline is valid? [True, True] Translation: X:214.85, Y:142.19, Z:0.59 [[-4.49919477e-02 -9.98987337e-01 1.57144051e-04 2.14849848e+02] [ 9.98977025e-01 -4.49921974e-02 -4.53944410e-03 1.42193691e+02] [ 4.54191743e-03 -4.72551353e-05 9.99989684e-01 5.87040164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21028169299996 meters 0.01793535508224916 Centerline is valid? [True, True] Translation: X:214.85, Y:142.22, Z:0.58 [[-4.24194430e-02 -9.99099871e-01 1.94513912e-04 2.14847466e+02] [ 9.99084358e-01 -4.24198684e-02 -5.56789005e-03 1.42217202e+02] [ 5.57112949e-03 -4.18509881e-05 9.99984480e-01 5.83911584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240281693 meters 0.01602265484644034 Centerline is valid? [True, True] Translation: X:214.84, Y:142.24, Z:0.58 [[-3.74892365e-02 -9.99296985e-01 3.03989047e-04 2.14843697e+02] [ 9.99259818e-01 -3.74904640e-02 -8.61863271e-03 1.42241114e+02] [ 8.62397038e-03 -1.93419206e-05 9.99962813e-01 5.78485788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27028169299996 meters 0.01723749871858415 Centerline is valid? [True, True] Translation: X:214.83, Y:142.26, Z:0.58 [[-2.98549505e-02 -9.99554193e-01 3.10454738e-04 2.14833746e+02] [ 9.99516100e-01 -2.98565232e-02 -8.72660553e-03 1.42263881e+02] [ 8.73198425e-03 4.97721328e-05 9.99961874e-01 5.79948758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300281693 meters 0.019591852534254845 Centerline is valid? [True, True] Translation: X:214.83, Y:142.29, Z:0.58 [[-2.53776760e-02 -9.99677901e-01 2.60960021e-04 2.14827328e+02] [ 9.99651413e-01 -2.53789034e-02 -7.27767219e-03 1.42287588e+02] [ 7.28195094e-03 7.61786463e-05 9.99973483e-01 5.83293125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33028169299996 meters 0.02342957684000149 Centerline is valid? [True, True] Translation: X:214.82, Y:142.31, Z:0.59 [[-2.12320229e-02 -9.99774553e-01 2.12388944e-04 2.14819752e+02] [ 9.99757280e-01 -2.12329047e-02 -5.87745574e-03 1.42310445e+02] [ 5.88064032e-03 8.75471184e-05 9.99982705e-01 5.85848705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.360281693 meters 0.03077115226805449 Centerline is valid? [True, True] Translation: X:214.81, Y:142.33, Z:0.59 [[-1.60476524e-02 -9.99871212e-01 1.79143771e-04 2.14807343e+02] [ 9.99859109e-01 -1.60483397e-02 -4.92074714e-03 1.42333684e+02] [ 4.92298837e-03 1.00152092e-04 9.99987877e-01 5.87186612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39028169299996 meters 0.030994183008017834 Centerline is valid? [True, True] Translation: X:214.81, Y:142.36, Z:0.59 [[-1.53405757e-02 -9.99882308e-01 1.93211452e-04 2.14806153e+02] [ 9.99868448e-01 -1.53413806e-02 -5.26586353e-03 1.42357912e+02] [ 5.26820791e-03 1.12404657e-04 9.99986117e-01 5.85727645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.420281693 meters 0.027899234856530727 Centerline is valid? [True, True] Translation: X:214.81, Y:142.38, Z:0.58 [[-1.58484336e-02 -9.99874379e-01 2.30639108e-04 2.14811787e+02] [ 9.99854944e-01 -1.58495639e-02 -6.23564134e-03 1.42382642e+02] [ 6.23851355e-03 1.31780505e-04 9.99980532e-01 5.83667110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45028169299997 meters 0.03138582831671162 Centerline is valid? [True, True] Translation: X:214.81, Y:142.41, Z:0.58 [[-1.59726640e-02 -9.99872406e-01 2.13993036e-04 2.14806789e+02] [ 9.99855926e-01 -1.59736297e-02 -5.74194611e-03 1.42405793e+02] [ 5.74463171e-03 1.22248029e-04 9.99983492e-01 5.83951316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48028169299994 meters 0.03236344598050496 Centerline is valid? [True, True] Translation: X:214.81, Y:142.43, Z:0.59 [[-1.58935159e-02 -9.99873674e-01 1.79497470e-04 2.14805468e+02] [ 9.99862246e-01 -1.58941926e-02 -4.78155257e-03 1.42428140e+02] [ 4.78380150e-03 1.03477062e-04 9.99988552e-01 5.86264175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51028169299997 meters 0.03074913322387722 Centerline is valid? [True, True] Translation: X:214.81, Y:142.45, Z:0.59 [[-1.50873656e-02 -9.99886161e-01 1.91679358e-04 2.14807336e+02] [ 9.99873332e-01 -1.50881433e-02 -5.06628622e-03 1.42452043e+02] [ 5.06860156e-03 1.15218166e-04 9.99987148e-01 5.86503081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54028169299994 meters 0.03233684734354509 Centerline is valid? [True, True] Translation: X:214.80, Y:142.48, Z:0.58 [[-1.54273099e-02 -9.99880953e-01 2.78464706e-04 2.14804018e+02] [ 9.99854349e-01 -1.54289313e-02 -7.29582145e-03 1.42475019e+02] [ 7.29924931e-03 1.65869249e-04 9.99973346e-01 5.81212698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57028169299997 meters 0.03031970347954777 Centerline is valid? [True, True] Translation: X:214.81, Y:142.50, Z:0.58 [[-1.68062159e-02 -9.99858722e-01 2.93944583e-04 2.14806812e+02] [ 9.99829528e-01 -1.68079720e-02 -7.64245972e-03 1.42499546e+02] [ 7.64632062e-03 1.65453646e-04 9.99970753e-01 5.81327206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60028169299994 meters 0.028640356030030262 Centerline is valid? [True, True] Translation: X:214.81, Y:142.52, Z:0.58 [[-1.81443727e-02 -9.99835341e-01 2.68640689e-04 2.14809417e+02] [ 9.99811308e-01 -1.81457995e-02 -6.93385353e-03 1.42523972e+02] [ 6.93758651e-03 1.42779576e-04 9.99975924e-01 5.83132992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630281693 meters 0.028258017894517304 Centerline is valid? [True, True] Translation: X:214.81, Y:142.55, Z:0.59 [[-1.88218917e-02 -9.99822842e-01 1.47377957e-04 2.14809001e+02] [ 9.99815692e-01 -1.88223146e-02 -3.78180985e-03 1.42546764e+02] [ 3.78391387e-03 7.61699787e-05 9.99992838e-01 5.90093006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66028169299994 meters 0.02884317201148774 Centerline is valid? [True, True] Translation: X:214.81, Y:142.57, Z:0.59 [[-1.87327786e-02 -9.99824520e-01 1.11778523e-04 2.14805763e+02] [ 9.99820459e-01 -1.87330212e-02 -2.85018880e-03 1.42570971e+02] [ 2.85178260e-03 5.83664984e-05 9.99995932e-01 5.91691024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690281693 meters 0.033261123038813206 Centerline is valid? [True, True] Translation: X:214.79, Y:142.59, Z:0.59 [[-1.65568157e-02 -9.99862920e-01 1.12759312e-04 2.14794900e+02] [ 9.99858849e-01 -1.65570702e-02 -2.85392363e-03 1.42593962e+02] [ 2.85539938e-03 6.54915083e-05 9.99995921e-01 5.92538629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72028169299995 meters 0.032616516192340274 Centerline is valid? [True, True] Translation: X:214.79, Y:142.62, Z:0.59 [[-1.49897390e-02 -9.99887636e-01 1.50369157e-04 2.14792117e+02] [ 9.99880520e-01 -1.49901998e-02 -3.77358238e-03 1.42618441e+02] [ 3.77541243e-03 9.37861763e-05 9.99992869e-01 5.91609787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750281693 meters 0.03535593078664056 Centerline is valid? [True, True] Translation: X:214.78, Y:142.64, Z:0.59 [[-1.05936251e-02 -9.99943864e-01 2.10146563e-04 2.14781096e+02] [ 9.99930190e-01 -1.05945797e-02 -5.23160141e-03 1.42642905e+02] [ 5.23353414e-03 1.54710269e-04 9.99986293e-01 5.90110137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78028169299995 meters 0.039754684150865215 Centerline is valid? [True, True] Translation: X:214.77, Y:142.67, Z:0.59 [[-8.25385344e-03 -9.99965914e-01 2.11275105e-04 2.14770798e+02] [ 9.99952280e-01 -8.25484474e-03 -5.22443860e-03 1.42666898e+02] [ 5.22600457e-03 1.68143272e-04 9.99986330e-01 5.90677701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810281693 meters 0.03927549080533868 Centerline is valid? [True, True] Translation: X:214.77, Y:142.69, Z:0.59 [[-6.30302762e-03 -9.99980118e-01 1.86269640e-04 2.14767098e+02] [ 9.99969653e-01 -6.30381436e-03 -4.57769509e-03 1.42692488e+02] [ 4.57877829e-03 1.57410649e-04 9.99989505e-01 5.92317993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84028169299995 meters 0.03927549080533868 Centerline is valid? [True, True] Translation: X:214.77, Y:142.72, Z:0.59 [[-6.58867300e-03 -9.99978277e-01 1.87531195e-04 2.14765762e+02] [ 9.99967812e-01 -6.58946252e-03 -4.57764351e-03 1.42716633e+02] [ 4.57877979e-03 1.57364563e-04 9.99989505e-01 5.92366064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870281693 meters 0.043400676814267944 Centerline is valid? [True, True] Translation: X:214.75, Y:142.74, Z:0.59 [[-5.01657494e-03 -9.99987405e-01 1.52347375e-04 2.14754646e+02] [ 9.99980583e-01 -5.01710384e-03 -3.69621709e-03 1.42740896e+02] [ 3.69693488e-03 1.33802067e-04 9.99993157e-01 5.93975126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90028169299995 meters 0.04056637678620711 Centerline is valid? [True, True] Translation: X:214.75, Y:142.77, Z:0.59 [[-5.96184957e-03 -9.99982219e-01 1.36475151e-04 2.14754960e+02] [ 9.99976811e-01 -5.96226645e-03 -3.29083969e-03 1.42765731e+02] [ 3.29159487e-03 1.16852495e-04 9.99994576e-01 5.94954836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930281693 meters 0.040776824035508266 Centerline is valid? [True, True] Translation: X:214.75, Y:142.79, Z:0.59 [[-6.47146680e-03 -9.99979048e-01 1.51949300e-04 2.14748203e+02] [ 9.99972437e-01 -6.47197689e-03 -3.63841470e-03 1.42790469e+02] [ 3.63932188e-03 1.28399232e-04 9.99993369e-01 5.94904167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96028169299996 meters 0.045908391957484036 Centerline is valid? [True, True] Translation: X:214.74, Y:142.81, Z:0.59 [[-5.84157762e-03 -9.99982921e-01 1.85798773e-04 2.14737356e+02] [ 9.99973168e-01 -5.84234177e-03 -4.41935345e-03 1.42814081e+02] [ 4.42036347e-03 1.59977791e-04 9.99990217e-01 5.93370830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990281693 meters 0.048790621187452726 Centerline is valid? [True, True] Translation: X:214.73, Y:142.84, Z:0.59 [[-5.53736836e-03 -9.99984643e-01 2.24857773e-04 2.14729151e+02] [ 9.99970551e-01 -5.53848489e-03 -5.31246608e-03 1.42836581e+02] [ 5.31362987e-03 1.95434070e-04 9.99985863e-01 5.91005927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02028169299996 meters 0.043455104494221235 Centerline is valid? [True, True] Translation: X:214.73, Y:142.86, Z:0.59 [[-5.77011125e-03 -9.99983329e-01 2.18956926e-04 2.14728830e+02] [ 9.99970141e-01 -5.77116043e-03 -5.13911908e-03 1.42861333e+02] [ 5.14029704e-03 1.89297099e-04 9.99986771e-01 5.91901468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050281693 meters 0.04204068087076434 Centerline is valid? [True, True] Translation: X:214.73, Y:142.89, Z:0.59 [[-6.97407019e-03 -9.99975664e-01 1.81589434e-04 2.14726853e+02] [ 9.99966698e-01 -6.97477714e-03 -4.23736589e-03 1.42886178e+02] [ 4.23852931e-03 1.52031700e-04 9.99991006e-01 5.92985078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08028169299996 meters 0.04150157100841488 Centerline is valid? [True, True] Translation: X:214.72, Y:142.91, Z:0.59 [[-9.38440754e-03 -9.99955950e-01 1.73983805e-04 2.14723315e+02] [ 9.99947821e-01 -9.38503319e-03 -4.03433068e-03 1.42909929e+02] [ 4.03578581e-03 1.36114923e-04 9.99991847e-01 5.93319836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.110281693 meters 0.04114979056902461 Centerline is valid? [True, True] Translation: X:214.72, Y:142.93, Z:0.59 [[-1.10457489e-02 -9.99938974e-01 2.00287237e-04 2.14721327e+02] [ 9.99928355e-01 -1.10465551e-02 -4.61071178e-03 1.42932861e+02] [ 4.61264289e-03 1.49344122e-04 9.99989351e-01 5.91705231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14028169299996 meters 0.038276311653984256 Centerline is valid? [True, True] Translation: X:214.72, Y:142.96, Z:0.59 [[-1.27053683e-02 -9.99919251e-01 2.54139964e-04 2.14722614e+02] [ 9.99902395e-01 -1.27066305e-02 -5.80886974e-03 1.42957695e+02] [ 5.81162994e-03 1.80311329e-04 9.99983096e-01 5.89457549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.170281693 meters 0.0347877227553752 Centerline is valid? [True, True] Translation: X:214.72, Y:142.98, Z:0.59 [[-1.64131309e-02 -9.99865239e-01 3.34744951e-04 2.14722959e+02] [ 9.99836361e-01 -1.64152020e-02 -7.60213342e-03 1.42982933e+02] [ 7.60660386e-03 2.09915362e-04 9.99971047e-01 5.86306517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20028169299997 meters 0.03482815197706255 Centerline is valid? [True, True] Translation: X:214.72, Y:143.01, Z:0.59 [[-1.80787772e-02 -9.99836509e-01 3.35896746e-04 2.14719536e+02] [ 9.99807811e-01 -1.80808041e-02 -7.57793779e-03 1.43006156e+02] [ 7.58277215e-03 1.98832342e-04 9.99971231e-01 5.85938397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23028169299994 meters 0.033154595417161065 Centerline is valid? [True, True] Translation: X:214.72, Y:143.03, Z:0.59 [[-1.99170683e-02 -9.99801598e-01 2.75146366e-04 2.14717409e+02] [ 9.99782576e-01 -1.99183871e-02 -6.16912180e-03 1.43030193e+02] [ 6.17337830e-03 1.52215723e-04 9.99980933e-01 5.88946096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26028169299997 meters 0.033275440912463684 Centerline is valid? [True, True] Translation: X:214.72, Y:143.05, Z:0.59 [[-2.05541768e-02 -9.99788709e-01 2.52696232e-04 2.14715388e+02] [ 9.99772871e-01 -2.05552740e-02 -5.62914986e-03 1.43052858e+02] [ 5.63315471e-03 1.36936296e-04 9.99984124e-01 5.89964880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29028169299994 meters 0.0333518690725649 Centerline is valid? [True, True] Translation: X:214.71, Y:143.08, Z:0.59 [[-2.07907443e-02 -9.99783813e-01 2.68677388e-04 2.14713899e+02] [ 9.99766147e-01 -2.07919746e-02 -5.94518527e-03 1.43076764e+02] [ 5.94948633e-03 1.45009730e-04 9.99982291e-01 5.89762291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32028169299997 meters 0.032548940343173925 Centerline is valid? [True, True] Translation: X:214.71, Y:143.10, Z:0.59 [[-2.12515165e-02 -9.99774112e-01 3.11670932e-04 2.14713834e+02] [ 9.99750660e-01 -2.12531534e-02 -6.84995035e-03 1.43100417e+02] [ 6.85502702e-03 1.66021387e-04 9.99976490e-01 5.88664665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35028169299994 meters 0.03152461128637437 Centerline is valid? [True, True] Translation: X:214.71, Y:143.12, Z:0.59 [[-2.15522144e-02 -9.99767670e-01 3.28918226e-04 2.14712592e+02] [ 9.99741896e-01 -2.15540213e-02 -7.18096480e-03 1.43124411e+02] [ 7.18638596e-03 1.74067637e-04 9.99974162e-01 5.88944291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380281693 meters 0.03464661280167247 Centerline is valid? [True, True] Translation: X:214.70, Y:143.15, Z:0.59 [[-2.01070445e-02 -9.99797795e-01 2.75546511e-04 2.14701821e+02] [ 9.99779925e-01 -2.01083331e-02 -5.97963911e-03 1.43147777e+02] [ 5.98397078e-03 1.55253000e-04 9.99982084e-01 5.90801107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41028169299994 meters 0.03621034627775548 Centerline is valid? [True, True] Translation: X:214.70, Y:143.17, Z:0.59 [[-1.91201269e-02 -9.99817168e-01 2.26856199e-04 2.14695791e+02] [ 9.99805198e-01 -1.91210085e-02 -4.89429120e-03 1.43171153e+02] [ 4.89773408e-03 1.33232538e-04 9.99987997e-01 5.92881267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440281693 meters 0.03757469973962626 Centerline is valid? [True, True] Translation: X:214.69, Y:143.19, Z:0.60 [[-1.82195188e-02 -9.99833998e-01 1.59123137e-04 2.14689052e+02] [ 9.99828170e-01 -1.82199561e-02 -3.41522753e-03 1.43194307e+02] [ 3.41755981e-03 9.68719931e-05 9.99994155e-01 5.96150341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47028169299995 meters 0.03373014391612165 Centerline is valid? [True, True] Translation: X:214.69, Y:143.22, Z:0.60 [[-1.93396231e-02 -9.99812956e-01 1.76352197e-04 2.14691599e+02] [ 9.99805888e-01 -1.93401497e-02 -3.76098116e-03 1.43219027e+02] [ 3.76368837e-03 1.03582007e-04 9.99992912e-01 5.95771844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500281693 meters 0.03365776281260092 Centerline is valid? [True, True] Translation: X:214.69, Y:143.24, Z:0.59 [[-2.14140913e-02 -9.99770669e-01 2.14037665e-04 2.14689152e+02] [ 9.99760391e-01 -2.14148420e-02 -4.53487991e-03 1.43242580e+02] [ 4.53842351e-03 1.16876047e-04 9.99989694e-01 5.94305317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53028169299995 meters 0.028145966498968108 Centerline is valid? [True, True] Translation: X:214.69, Y:143.27, Z:0.59 [[-2.65194281e-02 -9.99648274e-01 2.20802234e-04 2.14694414e+02] [ 9.99637468e-01 -2.65201683e-02 -4.64897690e-03 1.43266787e+02] [ 4.65319744e-03 9.74339779e-05 9.99989169e-01 5.93355196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560281693 meters 0.024283008986973637 Centerline is valid? [True, True] Translation: X:214.70, Y:143.29, Z:0.60 [[-2.94816055e-02 -9.99565306e-01 1.84193052e-04 2.14698004e+02] [ 9.99557866e-01 -2.94820969e-02 -3.85718898e-03 1.43291930e+02] [ 3.86094268e-03 7.03954896e-05 9.99992544e-01 5.95205446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59028169299995 meters 0.02165191934783082 Centerline is valid? [True, True] Translation: X:214.70, Y:143.32, Z:0.60 [[-3.44014843e-02 -9.99408081e-01 1.59074064e-04 2.14697988e+02] [ 9.99402589e-01 -3.44018227e-02 -3.31341887e-03 1.43316397e+02] [ 3.31693003e-03 4.49925039e-05 9.99994498e-01 5.96589883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620281693 meters 0.02037606285753078 Centerline is valid? [True, True] Translation: X:214.70, Y:143.34, Z:0.59 [[-3.65334104e-02 -9.99332410e-01 2.09322362e-04 2.14697380e+02] [ 9.99323032e-01 -3.65339745e-02 -4.32970172e-03 1.43340912e+02] [ 4.33445864e-03 5.10018870e-05 9.99990605e-01 5.94470497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65028169299995 meters 0.01878272940229324 Centerline is valid? [True, True] Translation: X:214.70, Y:143.36, Z:0.59 [[-3.94704037e-02 -9.99220670e-01 3.73892059e-04 2.14698086e+02] [ 9.99191194e-01 -3.94721113e-02 -7.67531374e-03 1.43364169e+02] [ 7.68409045e-03 7.06419214e-05 9.99970474e-01 5.88682407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680281693 meters 0.018184519468517495 Centerline is valid? [True, True] Translation: X:214.70, Y:143.39, Z:0.59 [[-4.11329453e-02 -9.99153594e-01 4.18999902e-04 2.14697810e+02] [ 9.99117050e-01 -4.11350246e-02 -8.54577773e-03 1.43387240e+02] [ 8.55578011e-03 6.71169374e-05 9.99963396e-01 5.86783250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71028169299996 meters 0.017268569575760236 Centerline is valid? [True, True] Translation: X:214.70, Y:143.41, Z:0.59 [[-4.28988829e-02 -9.99079336e-01 4.08698397e-04 2.14698025e+02] [ 9.99044979e-01 -4.29007971e-02 -8.28561912e-03 1.43410806e+02] [ 8.29552433e-03 5.28642776e-05 9.99965590e-01 5.87663128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740281693 meters 0.015810712288877135 Centerline is valid? [True, True] Translation: X:214.70, Y:143.43, Z:0.59 [[-4.54283992e-02 -9.98967552e-01 3.00029429e-04 2.14698160e+02] [ 9.98949238e-01 -4.54293831e-02 -6.04897706e-03 1.43434113e+02] [ 6.05636196e-03 2.49188251e-05 9.99981660e-01 5.91407509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77028169299996 meters 0.015483524000532297 Centerline is valid? [True, True] Translation: X:214.70, Y:143.46, Z:0.59 [[-4.65568098e-02 -9.98915601e-01 2.92223191e-04 2.14696775e+02] [ 9.98898433e-01 -4.65577229e-02 -5.85661751e-03 1.43457582e+02] [ 5.86387185e-03 1.92358605e-05 9.99982807e-01 5.92422621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800281693 meters 0.015394948767761318 Centerline is valid? [True, True] Translation: X:214.69, Y:143.48, Z:0.59 [[-4.76737072e-02 -9.98862901e-01 3.51241563e-04 2.14693129e+02] [ 9.98838412e-01 -4.76749980e-02 -6.99442008e-03 1.43480511e+02] [ 7.00321217e-03 1.73836292e-05 9.99975477e-01 5.90132772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83028169299996 meters 0.015522783961531087 Centerline is valid? [True, True] Translation: X:214.69, Y:143.50, Z:0.59 [[-4.76801155e-02 -9.98862587e-01 3.72795653e-04 2.14689803e+02] [ 9.98835331e-01 -4.76815685e-02 -7.37896363e-03 1.43504120e+02] [ 7.38834619e-03 2.05316312e-05 9.99972706e-01 5.89883253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.860281693 meters 0.015232316405701727 Centerline is valid? [True, True] Translation: X:214.69, Y:143.53, Z:0.59 [[-4.81182023e-02 -9.98841594e-01 3.29758502e-04 2.14685590e+02] [ 9.98820513e-01 -4.81193292e-02 -6.48950779e-03 1.43526701e+02] [ 6.49785806e-03 1.71061070e-05 9.99978889e-01 5.91698399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89028169299996 meters 0.015016824180792167 Centerline is valid? [True, True] Translation: X:214.68, Y:143.55, Z:0.59 [[-4.91122482e-02 -9.98793216e-01 3.14721595e-04 2.14683745e+02] [ 9.98774236e-01 -4.91132551e-02 -6.15739457e-03 1.43549254e+02] [ 6.16542093e-03 1.19323304e-05 9.99980994e-01 5.92259271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.920281693 meters 0.014645801848951744 Centerline is valid? [True, True] Translation: X:214.68, Y:143.57, Z:0.59 [[-5.06209412e-02 -9.98717901e-01 2.72865538e-04 2.14682946e+02] [ 9.98703788e-01 -5.06216764e-02 -5.30943527e-03 1.43573459e+02] [ 5.31644096e-03 3.74323549e-06 9.99985868e-01 5.93864204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95028169299997 meters 0.01492223051461995 Centerline is valid? [True, True] Translation: X:214.69, Y:143.60, Z:0.60 [[-5.50987916e-02 -9.98480893e-01 1.74333301e-04 2.14686765e+02] [ 9.98475183e-01 -5.50990660e-02 -3.37675990e-03 1.43597822e+02] [ 3.38123584e-03 -1.19879152e-05 9.99994284e-01 5.98405459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98028169299994 meters 0.01882341004316027 Centerline is valid? [True, True] Translation: X:214.70, Y:143.62, Z:0.60 [[-6.12737733e-02 -9.98120990e-01 1.21213332e-04 2.14696905e+02] [ 9.98118253e-01 -6.12738891e-02 -2.33763546e-03 1.43621554e+02] [ 2.34067023e-03 -2.22505058e-05 9.99997260e-01 6.00450390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01028169299997 meters 0.02198354731683059 Centerline is valid? [True, True] Translation: X:214.70, Y:143.65, Z:0.60 [[-6.50594255e-02 -9.97881385e-01 1.14745814e-04 2.14701414e+02] [ 9.97878958e-01 -6.50595204e-02 -2.20078319e-03 1.43646405e+02] [ 2.20358589e-03 -2.86792569e-05 9.99997572e-01 6.00192828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04028169299994 meters 0.024671281937952618 Centerline is valid? [True, True] Translation: X:214.70, Y:143.67, Z:0.60 [[-6.89718550e-02 -9.97618595e-01 1.51922343e-04 2.14704738e+02] [ 9.97614395e-01 -6.89720055e-02 -2.89498685e-03 1.43670920e+02] [ 2.89857110e-03 -4.81126970e-05 9.99995798e-01 5.99433100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07028169299997 meters 0.030668268373956944 Centerline is valid? [True, True] Translation: X:214.72, Y:143.70, Z:0.60 [[-7.53480966e-02 -9.97157267e-01 2.20789188e-04 2.14716551e+02] [ 9.97148509e-01 -7.53483605e-02 -4.18027370e-03 1.43696384e+02] [ 4.18502640e-03 -9.48160571e-05 9.99991238e-01 5.97403984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10028169299994 meters 0.036078299241478 Centerline is valid? [True, True] Translation: X:214.73, Y:143.72, Z:0.60 [[-7.96596984e-02 -9.96822094e-01 2.13204382e-04 2.14730959e+02] [ 9.96814011e-01 -7.96599114e-02 -4.01572305e-03 1.43720961e+02] [ 4.01994530e-03 -1.07366172e-04 9.99991914e-01 5.98884987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130281693 meters 0.035018458517503265 Centerline is valid? [True, True] Translation: X:214.73, Y:143.75, Z:0.60 [[-8.10932705e-02 -9.96706502e-01 1.74140849e-04 2.14731931e+02] [ 9.96701161e-01 -8.10934063e-02 -3.26419287e-03 1.43745212e+02] [ 3.26756393e-03 -9.11376888e-05 9.99994657e-01 6.00366798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16028169299994 meters 0.03610513669557173 Centerline is valid? [True, True] Translation: X:214.74, Y:143.77, Z:0.60 [[-8.23580366e-02 -9.96602798e-01 1.29413598e-04 2.14735904e+02] [ 9.96599874e-01 -8.23581086e-02 -2.41536702e-03 1.43769306e+02] [ 2.41781979e-03 -6.99513098e-05 9.99997075e-01 6.01117321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190281693 meters 0.039289185413899703 Centerline is valid? [True, True] Translation: X:214.74, Y:143.79, Z:0.60 [[-8.33843953e-02 -9.96517454e-01 8.58759866e-05 2.14743288e+02] [ 9.96516174e-01 -8.33844259e-02 -1.59779981e-03 1.43792626e+02] [ 1.59939612e-03 -4.76547617e-05 9.99998720e-01 6.01962892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22028169299995 meters 0.03627662397045827 Centerline is valid? [True, True] Translation: X:214.75, Y:143.82, Z:0.60 [[-8.28550665e-02 -9.96561593e-01 1.73611783e-04 2.14747350e+02] [ 9.96556456e-01 -8.28551971e-02 -3.20110383e-03 1.43816841e+02] [ 3.20448177e-03 -9.22137285e-05 9.99994861e-01 5.98891524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250281693 meters 0.03534393235124528 Centerline is valid? [True, True] Translation: X:214.75, Y:143.84, Z:0.60 [[-8.15297182e-02 -9.96670865e-01 3.04330500e-04 2.14748273e+02] [ 9.96655296e-01 -8.15301463e-02 -5.57286454e-03 1.43839985e+02] [ 5.57912383e-03 -1.51041471e-04 9.99984425e-01 5.95178551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28028169299995 meters 0.03155690207075637 Centerline is valid? [True, True] Translation: X:214.75, Y:143.86, Z:0.59 [[-7.67363403e-02 -9.97051259e-01 5.66195588e-04 2.14747308e+02] [ 9.96998061e-01 -7.67380962e-02 -1.03020075e-02 1.43862920e+02] [ 1.03150783e-02 -2.26042448e-04 9.99946773e-01 5.85998706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310281693 meters 0.028076466062140714 Centerline is valid? [True, True] Translation: X:214.74, Y:143.89, Z:0.58 [[-7.34600027e-02 -9.97297966e-01 6.28966967e-04 2.14743225e+02] [ 9.97233022e-01 -7.34623980e-02 -1.13831366e-02 1.43886528e+02] [ 1.13985844e-02 -2.08978617e-04 9.99935012e-01 5.84275602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34028169299995 meters 0.024071215760520803 Centerline is valid? [True, True] Translation: X:214.74, Y:143.91, Z:0.59 [[-6.98617458e-02 -9.97556506e-01 5.95156073e-04 2.14737816e+02] [ 9.97498958e-01 -6.98641089e-02 -1.07161153e-02 1.43910657e+02] [ 1.07315106e-02 -1.54978963e-04 9.99942404e-01 5.86019505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370281693 meters 0.01684554322325057 Centerline is valid? [True, True] Translation: X:214.73, Y:143.93, Z:0.60 [[-6.25969865e-02 -9.98038826e-01 3.44136216e-04 2.14726145e+02] [ 9.98019763e-01 -6.25979179e-02 -6.16868175e-03 1.43934412e+02] [ 6.17812611e-03 -4.26861437e-05 9.99980914e-01 5.96324677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40028169299995 meters 0.015095890974879138 Centerline is valid? [True, True] Translation: X:214.72, Y:143.96, Z:0.60 [[-5.93234781e-02 -9.98238774e-01 2.75789406e-04 2.14719086e+02] [ 9.98226654e-01 -5.93241168e-02 -4.91897717e-03 1.43957083e+02] [ 4.92667470e-03 -1.65104980e-05 9.99987864e-01 5.98869436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430281693 meters 0.015213973144044454 Centerline is valid? [True, True] Translation: X:214.71, Y:143.98, Z:0.60 [[-5.31840992e-02 -9.98584668e-01 3.34809317e-04 2.14705587e+02] [ 9.98567024e-01 -5.31851498e-02 -5.93619993e-03 1.43979140e+02] [ 5.94560512e-03 1.86180970e-05 9.99982325e-01 5.96508396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46028169299996 meters 0.016376537988852788 Centerline is valid? [True, True] Translation: X:214.70, Y:144.00, Z:0.59 [[-5.11230450e-02 -9.98692282e-01 4.01312080e-04 2.14698406e+02] [ 9.98667217e-01 -5.11246052e-02 -7.07564045e-03 1.44002499e+02] [ 7.08690442e-03 3.90489336e-05 9.99974887e-01 5.94310365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490281693 meters 0.01953754866101041 Centerline is valid? [True, True] Translation: X:214.68, Y:144.03, Z:0.59 [[-4.64489954e-02 -9.98920571e-01 4.28362232e-04 2.14682889e+02] [ 9.98892324e-01 -4.64509036e-02 -7.51260420e-03 1.44025064e+02] [ 7.52439269e-03 7.89348276e-05 9.99971688e-01 5.92728473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52028169299996 meters 0.021264858756058262 Centerline is valid? [True, True] Translation: X:214.67, Y:144.05, Z:0.59 [[-4.44669131e-02 -9.99010771e-01 4.16485801e-04 2.14673695e+02] [ 9.98984347e-01 -4.44687664e-02 -7.26659904e-03 1.44048189e+02] [ 7.27793132e-03 9.29395675e-05 9.99973511e-01 5.93448307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550281693 meters 0.02460249825584535 Centerline is valid? [True, True] Translation: X:214.66, Y:144.07, Z:0.59 [[-4.16983245e-02 -9.99130159e-01 4.18217977e-04 2.14657942e+02] [ 9.99103801e-01 -4.17002626e-02 -7.25825275e-03 1.44069987e+02] [ 7.26937902e-03 1.15186192e-04 9.99973571e-01 5.94514486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58028169299996 meters 0.02516941682691299 Centerline is valid? [True, True] Translation: X:214.65, Y:144.09, Z:0.59 [[-4.13035462e-02 -9.99146536e-01 4.66466177e-04 2.14650593e+02] [ 9.99114086e-01 -4.13059647e-02 -8.05363370e-03 1.44093879e+02] [ 8.06602805e-03 1.33409297e-04 9.99967460e-01 5.93323797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.610281693 meters 0.025940978032917564 Centerline is valid? [True, True] Translation: X:214.64, Y:144.12, Z:0.59 [[-4.11636428e-02 -9.99152293e-01 5.00591089e-04 2.14643039e+02] [ 9.99115307e-01 -4.11664268e-02 -8.59815590e-03 1.44116550e+02] [ 8.61147473e-03 1.46216801e-04 9.99962910e-01 5.92241180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64028169299996 meters 0.026014395624915455 Centerline is valid? [True, True] Translation: X:214.63, Y:144.14, Z:0.59 [[-4.13618770e-02 -9.99144123e-01 4.65169839e-04 2.14632441e+02] [ 9.99112499e-01 -4.13642694e-02 -7.95051627e-03 1.44139751e+02] [ 7.96295302e-03 1.35908725e-04 9.99968286e-01 5.93919554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.670281693 meters 0.02498270579609949 Centerline is valid? [True, True] Translation: X:214.63, Y:144.16, Z:0.60 [[-4.26176470e-02 -9.99091381e-01 3.84553874e-04 2.14628314e+02] [ 9.99069972e-01 -4.26192516e-02 -6.54145070e-03 1.44162640e+02] [ 6.55189641e-03 1.05414992e-04 9.99978531e-01 5.96160122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70028169299997 meters 0.02271039663954628 Centerline is valid? [True, True] Translation: X:214.62, Y:144.19, Z:0.60 [[-4.53873755e-02 -9.98969419e-01 2.93067233e-04 2.14622622e+02] [ 9.98957094e-01 -4.53882714e-02 -4.96286183e-03 1.44185143e+02] [ 4.97104901e-03 6.75103177e-05 9.99987642e-01 5.99427575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73028169299994 meters 0.02271039663954628 Centerline is valid? [True, True] Translation: X:214.62, Y:144.21, Z:0.60 [[-4.56734751e-02 -9.98956379e-01 2.94496615e-04 2.14620798e+02] [ 9.98944054e-01 -4.56743746e-02 -4.96277713e-03 1.44208396e+02] [ 4.97104882e-03 6.75183650e-05 9.99987642e-01 5.99473958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76028169299997 meters 0.021876632715269354 Centerline is valid? [True, True] Translation: X:214.62, Y:144.23, Z:0.60 [[-4.70594124e-02 -9.98892046e-01 3.02266778e-04 2.14617771e+02] [ 9.98879189e-01 -4.70603405e-02 -5.06859060e-03 1.44231088e+02] [ 5.07719961e-03 6.34030983e-05 9.99987109e-01 5.99146328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79028169299994 meters 0.020765311794323626 Centerline is valid? [True, True] Translation: X:214.62, Y:144.25, Z:0.60 [[-4.84872317e-02 -9.98823742e-01 3.46881839e-04 2.14615899e+02] [ 9.98806978e-01 -4.84884278e-02 -5.78731330e-03 1.44254582e+02] [ 5.79732568e-03 6.58572004e-05 9.99983193e-01 5.97228806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82028169299997 meters 0.019133382384638253 Centerline is valid? [True, True] Translation: X:214.62, Y:144.28, Z:0.59 [[-5.10575694e-02 -9.98695623e-01 4.22225064e-04 2.14615114e+02] [ 9.98671033e-01 -5.10592753e-02 -7.00841089e-03 1.44277547e+02] [ 7.02082779e-03 6.38315152e-05 9.99975352e-01 5.92957305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85028169299994 meters 0.017473206292905365 Centerline is valid? [True, True] Translation: X:214.62, Y:144.30, Z:0.59 [[-5.32196600e-02 -9.98582761e-01 3.71668369e-04 2.14615658e+02] [ 9.98563877e-01 -5.32209393e-02 -6.14125286e-03 1.44301415e+02] [ 6.15232978e-03 4.42992187e-05 9.99981073e-01 5.94690621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880281693 meters 0.016626602381648033 Centerline is valid? [True, True] Translation: X:214.62, Y:144.32, Z:0.60 [[-5.48833520e-02 -9.98492705e-01 3.68425640e-04 2.14615831e+02] [ 9.98474325e-01 -5.48845772e-02 -6.05843330e-03 1.44324546e+02] [ 6.06952234e-03 3.53564149e-05 9.99981580e-01 5.95248514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91028169299994 meters 0.015658451287725323 Centerline is valid? [True, True] Translation: X:214.62, Y:144.35, Z:0.59 [[-5.70261509e-02 -9.98372613e-01 3.78720688e-04 2.14618396e+02] [ 9.98353372e-01 -5.70274032e-02 -6.19835339e-03 1.44348367e+02] [ 6.20986373e-03 2.46288398e-05 9.99980718e-01 5.94806023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940281693 meters 0.01517735277326711 Centerline is valid? [True, True] Translation: X:214.62, Y:144.37, Z:0.59 [[-5.96856131e-02 -9.98217125e-01 4.46436125e-04 2.14623529e+02] [ 9.98190644e-01 -5.96872816e-02 -7.27088255e-03 1.44371944e+02] [ 7.28456603e-03 1.16612804e-05 9.99973467e-01 5.91639786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97028169299995 meters 0.015162724535084432 Centerline is valid? [True, True] Translation: X:214.62, Y:144.40, Z:0.59 [[-6.06463125e-02 -9.98159203e-01 4.79874582e-04 2.14623664e+02] [ 9.98128888e-01 -6.06482106e-02 -7.77926257e-03 1.44395898e+02] [ 7.79404606e-03 7.19309386e-06 9.99969626e-01 5.89888900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000281693 meters 0.015251228258494358 Centerline is valid? [True, True] Translation: X:214.62, Y:144.42, Z:0.59 [[-6.14028541e-02 -9.98112938e-01 5.02933338e-04 2.14624120e+02] [ 9.98079945e-01 -6.14049137e-02 -8.11538072e-03 1.44419679e+02] [ 8.13094907e-03 3.66013991e-06 9.99966943e-01 5.89580451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03028169299995 meters 0.015033837358753917 Centerline is valid? [True, True] Translation: X:214.62, Y:144.44, Z:0.59 [[-6.17893934e-02 -9.98089096e-01 4.76214982e-04 2.14623110e+02] [ 9.98059789e-01 -6.17912284e-02 -7.64857601e-03 1.44442864e+02] [ 7.66338622e-03 2.69015335e-06 9.99970636e-01 5.90900156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060281693 meters 0.014947914505172737 Centerline is valid? [True, True] Translation: X:214.62, Y:144.47, Z:0.59 [[-6.22558544e-02 -9.98060114e-01 4.66609818e-04 2.14622592e+02] [ 9.98032233e-01 -6.22576030e-02 -7.46010509e-03 1.44467159e+02] [ 7.47468334e-03 1.25642181e-06 9.99972064e-01 5.91744217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09028169299995 meters 0.01499114860629625 Centerline is valid? [True, True] Translation: X:214.62, Y:144.49, Z:0.59 [[-6.38552060e-02 -9.97959071e-01 4.52436903e-04 2.14624379e+02] [ 9.97933089e-01 -6.38568082e-02 -7.20121657e-03 1.44491441e+02] [ 7.21541057e-03 -8.33341105e-06 9.99973969e-01 5.92827013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120281693 meters 0.015599834594144194 Centerline is valid? [True, True] Translation: X:214.63, Y:144.52, Z:0.59 [[-6.60659079e-02 -9.97815127e-01 5.17989296e-04 2.14629274e+02] [ 9.97781384e-01 -6.60679337e-02 -8.20592327e-03 1.44515671e+02] [ 8.22221686e-03 -2.52916950e-05 9.99966197e-01 5.90673628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15028169299995 meters 0.01567066253125267 Centerline is valid? [True, True] Translation: X:214.63, Y:144.54, Z:0.59 [[-6.70581662e-02 -9.97748912e-01 5.57613230e-04 2.14630464e+02] [ 9.97710190e-01 -6.70604764e-02 -8.79032736e-03 1.44540101e+02] [ 8.80793337e-03 -3.31268312e-05 9.99961209e-01 5.90781692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180281693 meters 0.015630111536470422 Centerline is valid? [True, True] Translation: X:214.63, Y:144.56, Z:0.59 [[-6.73408607e-02 -9.97729879e-01 5.45513252e-04 2.14631091e+02] [ 9.97693187e-01 -6.73430626e-02 -8.55664686e-03 1.44563302e+02] [ 8.57395877e-03 -3.19571089e-05 9.99963242e-01 5.91504295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21028169299996 meters 0.014502494809763148 Centerline is valid? [True, True] Translation: X:214.63, Y:144.59, Z:0.60 [[-6.38208184e-02 -9.97961308e-01 3.61790798e-04 2.14627301e+02] [ 9.97945310e-01 -6.38218438e-02 -5.65079672e-03 1.44587056e+02] [ 5.66236665e-03 4.08958741e-07 9.99983969e-01 5.98650798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240281693 meters 0.015016552607075078 Centerline is valid? [True, True] Translation: X:214.62, Y:144.61, Z:0.60 [[-6.05584181e-02 -9.98164604e-01 3.18351088e-04 2.14620381e+02] [ 9.98152334e-01 -6.05592522e-02 -4.94935688e-03 1.44609211e+02] [ 4.95955195e-03 1.80376584e-05 9.99987701e-01 6.00511611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27028169299996 meters 0.021314172522419766 Centerline is valid? [True, True] Translation: X:214.60, Y:144.63, Z:0.60 [[-5.12027535e-02 -9.98688158e-01 4.91075582e-04 2.14602912e+02] [ 9.98659287e-01 -5.12050077e-02 -7.59450949e-03 1.44632093e+02] [ 7.60969222e-03 1.01557393e-04 9.99971041e-01 5.95879327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300281693 meters 0.02626732824675628 Centerline is valid? [True, True] Translation: X:214.59, Y:144.66, Z:0.59 [[-4.63966921e-02 -9.98922935e-01 5.63436771e-04 2.14592232e+02] [ 9.98885292e-01 -4.63998359e-02 -8.67342376e-03 1.44655274e+02] [ 8.69022529e-03 1.60390532e-04 9.99962226e-01 5.93841923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33028169299996 meters 0.03681813776530227 Centerline is valid? [True, True] Translation: X:214.57, Y:144.68, Z:0.60 [[-3.78829083e-02 -9.99282074e-01 4.71077995e-04 2.14571851e+02] [ 9.99255999e-01 -3.78853241e-02 -7.22155403e-03 1.44677254e+02] [ 7.23421643e-03 1.97154044e-04 9.99973813e-01 5.96759830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.360281693 meters 0.03994020190008243 Centerline is valid? [True, True] Translation: X:214.56, Y:144.70, Z:0.60 [[-3.45437631e-02 -9.99403122e-01 3.57648642e-04 2.14562636e+02] [ 9.99388212e-01 -3.45452023e-02 -5.46177617e-03 1.44701212e+02] [ 5.47087120e-03 1.68759535e-04 9.99985020e-01 6.00239157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39028169299996 meters 0.042598125998298944 Centerline is valid? [True, True] Translation: X:214.55, Y:144.73, Z:0.60 [[-3.17148659e-02 -9.99496916e-01 2.87826912e-04 2.14553376e+02] [ 9.99487334e-01 -3.17158229e-02 -4.37895754e-03 1.44725360e+02] [ 4.38588322e-03 1.48801302e-04 9.99990371e-01 6.02395619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.420281693 meters 0.047350137849667705 Centerline is valid? [True, True] Translation: X:214.54, Y:144.75, Z:0.60 [[-2.86017708e-02 -9.99590803e-01 4.07511158e-04 2.14537676e+02] [ 9.99571789e-01 -2.86037420e-02 -6.16968167e-03 1.44747353e+02] [ 6.17881340e-03 2.30872836e-04 9.99980884e-01 5.98979647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45028169299997 meters 0.04765664061994108 Centerline is valid? [True, True] Translation: X:214.53, Y:144.77, Z:0.60 [[-2.86149657e-02 -9.99590387e-01 4.92401028e-04 2.14532463e+02] [ 9.99562880e-01 -2.86178339e-02 -7.42084940e-03 1.44770807e+02] [ 7.43190117e-03 2.79838439e-04 9.99972344e-01 5.95648019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48028169299994 meters 0.04626629072920621 Centerline is valid? [True, True] Translation: X:214.53, Y:144.79, Z:0.60 [[-3.06069225e-02 -9.99531383e-01 4.80138431e-04 2.14527364e+02] [ 9.99505451e-01 -3.06095893e-02 -7.20456239e-03 1.44793398e+02] [ 7.21588305e-03 2.59391497e-04 9.99973932e-01 5.95814690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51028169299997 meters 0.044664300016674575 Centerline is valid? [True, True] Translation: X:214.53, Y:144.82, Z:0.60 [[-3.30058710e-02 -9.99455084e-01 3.83395396e-04 2.14525148e+02] [ 9.99438681e-01 -3.30075271e-02 -5.72947882e-03 1.44816497e+02] [ 5.73901167e-03 1.94073750e-04 9.99983513e-01 5.98511061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54028169299994 meters 0.041703311897918004 Centerline is valid? [True, True] Translation: X:214.53, Y:144.84, Z:0.60 [[-3.56516182e-02 -9.99364236e-01 2.94954237e-04 2.14525129e+02] [ 9.99354598e-01 -3.56525704e-02 -4.39107219e-03 1.44840577e+02] [ 4.39879638e-03 1.38215044e-04 9.99990316e-01 6.01596818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57028169299997 meters 0.036389575169913986 Centerline is valid? [True, True] Translation: X:214.53, Y:144.86, Z:0.60 [[-3.96739970e-02 -9.99212649e-01 2.38785687e-04 2.14527450e+02] [ 9.99206377e-01 -3.96745943e-02 -3.54149357e-03 1.44864710e+02] [ 3.54817889e-03 9.80909762e-05 9.99993700e-01 6.02490397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60028169299994 meters 0.03613629638704371 Centerline is valid? [True, True] Translation: X:214.52, Y:144.89, Z:0.60 [[-4.13760131e-02 -9.99143614e-01 2.53993017e-04 2.14524620e+02] [ 9.99136579e-01 -4.13766752e-02 -3.75053166e-03 1.44888135e+02] [ 3.75782915e-03 9.85916674e-05 9.99992934e-01 6.01317366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630281693 meters 0.0325589545980645 Centerline is valid? [True, True] Translation: X:214.52, Y:144.91, Z:0.60 [[-4.44782979e-02 -9.99010313e-01 2.74481393e-04 2.14524024e+02] [ 9.99002164e-01 -4.44790441e-02 -4.03613290e-03 1.44912882e+02] [ 4.04434706e-03 9.46871844e-05 9.99991817e-01 6.00800072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66028169299994 meters 0.03103920025554783 Centerline is valid? [True, True] Translation: X:214.52, Y:144.94, Z:0.60 [[-4.60672851e-02 -9.98938291e-01 3.11098378e-04 2.14522798e+02] [ 9.98927910e-01 -4.60682250e-02 -4.55512502e-03 1.44936524e+02] [ 4.56462055e-03 1.00922610e-04 9.99989577e-01 5.99729734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690281693 meters 0.028694406723274418 Centerline is valid? [True, True] Translation: X:214.52, Y:144.96, Z:0.60 [[-4.76647284e-02 -9.98863322e-01 3.71857614e-04 2.14522966e+02] [ 9.98848623e-01 -4.76660448e-02 -5.42003946e-03 1.44960630e+02] [ 5.43160360e-03 1.13084756e-04 9.99985242e-01 5.97911645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72028169299995 meters 0.02914548314192614 Centerline is valid? [True, True] Translation: X:214.52, Y:144.98, Z:0.59 [[-4.99733888e-02 -9.98750437e-01 4.75155917e-04 2.14518938e+02] [ 9.98726658e-01 -4.99754784e-02 -6.89302322e-03 1.44983108e+02] [ 6.90815609e-03 1.30083151e-04 9.99976130e-01 5.94369299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750281693 meters 0.024844537300075995 Centerline is valid? [True, True] Translation: X:214.52, Y:145.01, Z:0.59 [[-5.18606180e-02 -9.98654168e-01 5.73126633e-04 2.14520778e+02] [ 9.98619884e-01 -5.18635874e-02 -8.27621569e-03 1.45007545e+02] [ 8.29480170e-03 1.43125991e-04 9.99965587e-01 5.93817634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78028169299995 meters 0.024116004596961775 Centerline is valid? [True, True] Translation: X:214.52, Y:145.03, Z:0.59 [[-5.24063069e-02 -9.98625644e-01 6.34158810e-04 2.14518462e+02] [ 9.98584025e-01 -5.24099133e-02 -9.11839275e-03 1.45032200e+02] [ 9.13909704e-03 1.55399568e-04 9.99958226e-01 5.92710930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810281693 meters 0.02605477945779306 Centerline is valid? [True, True] Translation: X:214.51, Y:145.06, Z:0.59 [[-5.27891835e-02 -9.98605470e-01 6.46244182e-04 2.14512277e+02] [ 9.98562615e-01 -5.27929059e-02 -9.25270616e-03 1.45055008e+02] [ 9.27392009e-03 1.56872477e-04 9.99956984e-01 5.91133969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84028169299995 meters 0.025651274403842725 Centerline is valid? [True, True] Translation: X:214.51, Y:145.08, Z:0.60 [[-5.20702871e-02 -9.98643294e-01 5.06833402e-04 2.14507825e+02] [ 9.98617151e-01 -5.20725919e-02 -7.22712438e-03 1.45078211e+02] [ 7.24371142e-03 1.29814086e-04 9.99973756e-01 5.96045067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870281693 meters 0.02907639812462822 Centerline is valid? [True, True] Translation: X:214.50, Y:145.10, Z:0.60 [[-5.15410494e-02 -9.98670779e-01 4.41477321e-04 2.14498612e+02] [ 9.98651112e-01 -5.15428056e-02 -6.26862817e-03 1.45100999e+02] [ 6.28305076e-03 1.17790143e-04 9.99980255e-01 5.97285882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90028169299995 meters 0.027756262242786548 Centerline is valid? [True, True] Translation: X:214.49, Y:145.13, Z:0.60 [[-4.99443337e-02 -9.98751901e-01 4.50748621e-04 2.14494111e+02] [ 9.98731572e-01 -4.99461936e-02 -6.37369504e-03 1.45125635e+02] [ 6.38825322e-03 1.31846927e-04 9.99979586e-01 5.97570984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930281693 meters 0.0327265895923612 Centerline is valid? [True, True] Translation: X:214.48, Y:145.15, Z:0.60 [[-4.94577436e-02 -9.98776092e-01 4.99294213e-04 2.14482991e+02] [ 9.98751366e-01 -4.94600333e-02 -7.02946061e-03 1.45148168e+02] [ 7.04555231e-03 1.51009517e-04 9.99975168e-01 5.95290436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96028169299996 meters 0.03015418438218495 Centerline is valid? [True, True] Translation: X:214.48, Y:145.17, Z:0.60 [[-4.85762389e-02 -9.98819357e-01 4.90619039e-04 2.14482781e+02] [ 9.98795684e-01 -4.85784663e-02 -6.87857889e-03 1.45172564e+02] [ 6.89429127e-03 1.55892688e-04 9.99976222e-01 5.96766609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990281693 meters 0.03285818384968456 Centerline is valid? [True, True] Translation: X:214.47, Y:145.19, Z:0.60 [[-4.65704275e-02 -9.98914922e-01 4.17861180e-04 2.14470944e+02] [ 9.98897889e-01 -4.65720744e-02 -5.83522738e-03 1.45194755e+02] [ 5.84835636e-03 1.45651617e-04 9.99982888e-01 5.98963918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02028169299996 meters 0.03410005405165737 Centerline is valid? [True, True] Translation: X:214.46, Y:145.22, Z:0.60 [[-4.56767039e-02 -9.98956199e-01 3.89040200e-04 2.14463264e+02] [ 9.98941554e-01 -4.56781416e-02 -5.41103320e-03 1.45218325e+02] [ 5.42315579e-03 1.41470261e-04 9.99985285e-01 5.99999304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050281693 meters 0.034289651739861406 Centerline is valid? [True, True] Translation: X:214.45, Y:145.24, Z:0.60 [[-4.38234377e-02 -9.99039211e-01 4.02628802e-04 2.14453392e+02] [ 9.99023648e-01 -4.38250032e-02 -5.57852741e-03 1.45243270e+02] [ 5.59081282e-03 1.57765447e-04 9.99984359e-01 6.00114892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08028169299996 meters 0.037966252107297094 Centerline is valid? [True, True] Translation: X:214.44, Y:145.27, Z:0.60 [[-4.31642562e-02 -9.99067910e-01 3.97916614e-04 2.14442858e+02] [ 9.99052812e-01 -4.31657924e-02 -5.49480001e-03 1.45266606e+02] [ 5.50685475e-03 1.60360757e-04 9.99984824e-01 5.99228232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.110281693 meters 0.038894275777853135 Centerline is valid? [True, True] Translation: X:214.43, Y:145.29, Z:0.60 [[-4.10892139e-02 -9.99155443e-01 2.77215402e-04 2.14431888e+02] [ 9.99148160e-01 -4.10899733e-02 -3.81678777e-03 1.45290755e+02] [ 3.82495505e-03 1.20150450e-04 9.99992678e-01 6.02317150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14028169299996 meters 0.04197898910401944 Centerline is valid? [True, True] Translation: X:214.42, Y:145.31, Z:0.60 [[-4.06269503e-02 -9.99174353e-01 2.51545105e-04 2.14421420e+02] [ 9.99168400e-01 -4.06275771e-02 -3.45074899e-03 1.45313749e+02] [ 3.45811956e-03 1.11142513e-04 9.99994015e-01 6.03026483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.170281693 meters 0.042323975084590196 Centerline is valid? [True, True] Translation: X:214.42, Y:145.34, Z:0.60 [[-4.06706315e-02 -9.99172575e-01 2.53995221e-04 2.14415415e+02] [ 9.99166555e-01 -4.06712686e-02 -3.47036950e-03 1.45337309e+02] [ 3.47782834e-03 1.12641411e-04 9.99993946e-01 6.02797405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20028169299997 meters 0.035190191931348605 Centerline is valid? [True, True] Translation: X:214.42, Y:145.36, Z:0.60 [[-4.41965954e-02 -9.99022823e-01 2.46692237e-04 2.14417281e+02] [ 9.99017185e-01 -4.41971751e-02 -3.35753488e-03 1.45362210e+02] [ 3.36515708e-03 9.80581735e-05 9.99994333e-01 6.02989642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23028169299994 meters 0.030511810909914654 Centerline is valid? [True, True] Translation: X:214.42, Y:145.39, Z:0.60 [[-5.00631454e-02 -9.98746037e-01 1.84932741e-04 2.14416457e+02] [ 9.98742887e-01 -5.00634521e-02 -2.50922156e-03 1.45386521e+02] [ 2.51533346e-03 5.90807360e-05 9.99996835e-01 6.03824266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26028169299997 meters 0.027761716277182984 Centerline is valid? [True, True] Translation: X:214.42, Y:145.41, Z:0.61 [[-5.37496258e-02 -9.98554439e-01 9.73051761e-05 2.14415950e+02] [ 9.98553568e-01 -5.37497075e-02 -1.31907265e-03 1.45409919e+02] [ 1.32239598e-03 2.62647692e-05 9.99999125e-01 6.05498365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29028169299994 meters 0.02343207586566048 Centerline is valid? [True, True] Translation: X:214.42, Y:145.44, Z:0.61 [[-5.77020998e-02 -9.98333844e-01 6.10225715e-05 2.14418691e+02] [ 9.98333502e-01 -5.77021306e-02 -8.26513581e-04 1.45435240e+02] [ 8.28657612e-04 1.32293084e-05 9.99999657e-01 6.05872080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32028169299997 meters 0.017958829422000496 Centerline is valid? [True, True] Translation: X:214.42, Y:145.46, Z:0.60 [[-6.41859598e-02 -9.97937909e-01 3.04765467e-04 2.14424814e+02] [ 9.97929555e-01 -6.41866695e-02 -4.08336561e-03 1.45460868e+02] [ 4.09450722e-03 4.20397265e-05 9.99991617e-01 6.00010950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35028169299994 meters 0.017279033131924807 Centerline is valid? [True, True] Translation: X:214.42, Y:145.48, Z:0.60 [[-6.66332607e-02 -9.97777409e-01 4.99863009e-04 2.14423687e+02] [ 9.97755131e-01 -6.66351133e-02 -6.66783298e-03 1.45484658e+02] [ 6.68632154e-03 5.44414295e-05 9.99977645e-01 5.95410012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380281693 meters 0.01650339226688947 Centerline is valid? [True, True] Translation: X:214.42, Y:145.51, Z:0.59 [[-6.94454025e-02 -9.97585577e-01 5.93972750e-04 2.14421106e+02] [ 9.97554379e-01 -6.94479282e-02 -7.88967568e-03 1.45507680e+02] [ 7.91187684e-03 4.46184147e-05 9.99968700e-01 5.92142022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41028169299994 meters 0.015528081147294663 Centerline is valid? [True, True] Translation: X:214.42, Y:145.53, Z:0.59 [[-7.08080047e-02 -9.97489825e-01 5.25593723e-04 2.14420651e+02] [ 9.97465581e-01 -7.08099483e-02 -6.95456573e-03 1.45531618e+02] [ 6.97432582e-03 3.18227252e-05 9.99975679e-01 5.94433033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440281693 meters 0.014256724089210257 Centerline is valid? [True, True] Translation: X:214.42, Y:145.56, Z:0.60 [[-7.39461823e-02 -9.97262151e-01 4.06062841e-04 2.14423657e+02] [ 9.97247781e-01 -7.39472966e-02 -5.35348838e-03 1.45555833e+02] [ 5.36885858e-03 9.07524008e-06 9.99985588e-01 5.96905651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47028169299995 meters 0.01417939663505284 Centerline is valid? [True, True] Translation: X:214.43, Y:145.58, Z:0.60 [[-7.64791889e-02 -9.97071103e-01 3.87379364e-04 2.14425083e+02] [ 9.97058126e-01 -7.64801700e-02 -5.08686889e-03 1.45578742e+02] [ 5.10159682e-03 -2.79986487e-06 9.99986987e-01 5.96878813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500281693 meters 0.01460271676318002 Centerline is valid? [True, True] Translation: X:214.43, Y:145.60, Z:0.60 [[-7.93842651e-02 -9.96844004e-01 4.12351901e-04 2.14426414e+02] [ 9.96829418e-01 -7.93853342e-02 -5.39251908e-03 1.45602571e+02] [ 5.40823501e-03 -1.70366584e-05 9.99985375e-01 5.96754165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53028169299995 meters 0.017616053577496984 Centerline is valid? [True, True] Translation: X:214.43, Y:145.63, Z:0.60 [[-8.54990790e-02 -9.96338124e-01 5.00311223e-04 2.14434956e+02] [ 9.96316819e-01 -8.55005228e-02 -6.51589710e-03 1.45627212e+02] [ 6.53481357e-03 -5.86347151e-05 9.99978646e-01 5.95038573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560281693 meters 0.019898437557615067 Centerline is valid? [True, True] Translation: X:214.44, Y:145.65, Z:0.60 [[-8.87416339e-02 -9.96054571e-01 4.62429125e-04 2.14440187e+02] [ 9.96036504e-01 -8.87428097e-02 -5.99972561e-03 1.45651231e+02] [ 6.01709138e-03 -7.18291643e-05 9.99981895e-01 5.95797833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59028169299995 meters 0.024076440480528247 Centerline is valid? [True, True] Translation: X:214.45, Y:145.68, Z:0.60 [[-9.46803473e-02 -9.95507675e-01 3.17876966e-04 2.14451486e+02] [ 9.95499189e-01 -9.46808529e-02 -4.11109227e-03 1.45677069e+02] [ 4.12272077e-03 -7.27933825e-05 9.99991499e-01 5.98904352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620281693 meters 0.026060937319346174 Centerline is valid? [True, True] Translation: X:214.45, Y:145.70, Z:0.60 [[-9.71720349e-02 -9.95267558e-01 2.88596899e-04 2.14454983e+02] [ 9.95260611e-01 -9.71724351e-02 -3.71950789e-03 1.45702405e+02] [ 3.72994919e-03 -7.42030238e-05 9.99993041e-01 5.99182883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65028169299995 meters 0.026060937319346174 Centerline is valid? [True, True] Translation: X:214.45, Y:145.73, Z:0.60 [[-9.74735059e-02 -9.95238078e-01 2.89678822e-04 2.14452772e+02] [ 9.95231131e-01 -9.74739081e-02 -3.71942370e-03 1.45725615e+02] [ 3.72994822e-03 -7.42478866e-05 9.99993041e-01 5.99229271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680281693 meters 0.027297817929618332 Centerline is valid? [True, True] Translation: X:214.46, Y:145.75, Z:0.60 [[-9.88605756e-02 -9.95101234e-01 3.48709032e-04 2.14457712e+02] [ 9.95091247e-01 -9.88611461e-02 -4.45912512e-03 1.45750913e+02] [ 4.47175468e-03 -9.38343701e-05 9.99989997e-01 5.98580722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71028169299996 meters 0.02586544205005867 Centerline is valid? [True, True] Translation: X:214.46, Y:145.78, Z:0.60 [[-9.79756124e-02 -9.95188750e-01 3.61096601e-04 2.14455254e+02] [ 9.95178120e-01 -9.79762352e-02 -4.60066577e-03 1.45775140e+02] [ 4.61390971e-03 -9.13976100e-05 9.99989352e-01 5.99310109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740281693 meters 0.02144227859852076 Centerline is valid? [True, True] Translation: X:214.45, Y:145.80, Z:0.60 [[-9.27846933e-02 -9.95686129e-01 3.63757243e-04 2.14447608e+02] [ 9.95675427e-01 -9.27853828e-02 -4.61696483e-03 1.45797503e+02] [ 4.63079920e-03 -6.61995172e-05 9.99989276e-01 5.99751948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77028169299996 meters 0.01840659201150217 Centerline is valid? [True, True] Translation: X:214.44, Y:145.82, Z:0.60 [[-8.92415559e-02 -9.96009931e-01 4.03489430e-04 2.14440330e+02] [ 9.95996870e-01 -8.92424521e-02 -5.10086106e-03 1.45821130e+02] [ 5.11651666e-03 -5.33345676e-05 9.99986909e-01 5.98896520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800281693 meters 0.016150529883232536 Centerline is valid? [True, True] Translation: X:214.43, Y:145.85, Z:0.60 [[-8.58332253e-02 -9.96309429e-01 4.22814846e-04 2.14433902e+02] [ 9.96295199e-01 -8.58342592e-02 -5.32515575e-03 1.45845161e+02] [ 5.34179489e-03 -3.58268926e-05 9.99985732e-01 5.97944875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83028169299996 meters 0.014283992531426754 Centerline is valid? [True, True] Translation: X:214.43, Y:145.87, Z:0.60 [[-8.03967470e-02 -9.96762861e-01 4.03212452e-04 2.14425579e+02] [ 9.96750021e-01 -8.03977579e-02 -5.05929243e-03 1.45867363e+02] [ 5.07533217e-03 -4.84863312e-06 9.99987120e-01 5.98207931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.860281693 meters 0.014332892504916416 Centerline is valid? [True, True] Translation: X:214.42, Y:145.89, Z:0.60 [[-7.81045897e-02 -9.96945122e-01 3.12782215e-04 2.14419420e+02] [ 9.96937447e-01 -7.81052157e-02 -3.91168238e-03 1.45891629e+02] [ 3.92416259e-03 6.30395600e-06 9.99992300e-01 6.00160767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89028169299996 meters 0.015324955999291972 Centerline is valid? [True, True] Translation: X:214.41, Y:145.92, Z:0.60 [[-7.46041819e-02 -9.97213204e-01 2.03903030e-04 2.14408429e+02] [ 9.97209961e-01 -7.46044593e-02 -2.54346413e-03 1.45916081e+02] [ 2.55158809e-03 1.35810721e-05 9.99996745e-01 6.02191551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.920281693 meters 0.0163592731212588 Centerline is valid? [True, True] Translation: X:214.40, Y:145.94, Z:0.60 [[-7.30334200e-02 -9.97329468e-01 2.28864322e-04 2.14401792e+02] [ 9.97325413e-01 -7.30337758e-02 -2.84404325e-03 1.45939991e+02] [ 2.85316296e-03 2.05419991e-05 9.99995930e-01 6.01250572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95028169299997 meters 0.01933208623668077 Centerline is valid? [True, True] Translation: X:214.39, Y:145.96, Z:0.60 [[-6.93387061e-02 -9.97593118e-01 3.37512652e-04 2.14388324e+02] [ 9.97584380e-01 -6.93395115e-02 -4.17573478e-03 1.45962507e+02] [ 4.18908724e-03 4.71573036e-05 9.99991225e-01 6.00690618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98028169299994 meters 0.02111904375972026 Centerline is valid? [True, True] Translation: X:214.38, Y:145.99, Z:0.60 [[-6.82068825e-02 -9.97671149e-01 3.15144993e-04 2.14378860e+02] [ 9.97663587e-01 -6.82075927e-02 -3.88489221e-03 1.45985202e+02] [ 3.89734015e-03 4.94322980e-05 9.99992404e-01 6.00551170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01028169299997 meters 0.021388795381355897 Centerline is valid? [True, True] Translation: X:214.37, Y:146.01, Z:0.60 [[-6.74590446e-02 -9.97721999e-01 3.00224777e-04 2.14372363e+02] [ 9.97715186e-01 -6.74596936e-02 -3.68736404e-03 1.46008638e+02] [ 3.69921730e-03 5.07927641e-05 9.99993157e-01 6.00678267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04028169299994 meters 0.020887995723971677 Centerline is valid? [True, True] Translation: X:214.37, Y:146.03, Z:0.60 [[-6.79365094e-02 -9.97689586e-01 3.47717165e-04 2.14365783e+02] [ 9.97680518e-01 -6.79373746e-02 -4.25410318e-03 1.46032928e+02] [ 4.26789743e-03 5.79017207e-05 9.99990891e-01 5.99216482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07028169299997 meters 0.01981957006045719 Centerline is valid? [True, True] Translation: X:214.36, Y:146.06, Z:0.60 [[-6.99881152e-02 -9.97547740e-01 4.11865226e-04 2.14363048e+02] [ 9.97535113e-01 -6.99893017e-02 -5.01958546e-03 1.46056472e+02] [ 5.03610229e-03 5.95386996e-05 9.99987317e-01 5.98004011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10028169299994 meters 0.01627336502092437 Centerline is valid? [True, True] Translation: X:214.36, Y:146.08, Z:0.60 [[-7.53907783e-02 -9.97153945e-01 4.90836128e-04 2.14361409e+02] [ 9.97136137e-01 -7.53923654e-02 -5.95956619e-03 1.46081309e+02] [ 5.97961024e-03 4.01341067e-05 9.99982121e-01 5.96717921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130281693 meters 0.015131588643386679 Centerline is valid? [True, True] Translation: X:214.36, Y:146.10, Z:0.60 [[-7.83544226e-02 -9.96925459e-01 4.61397237e-04 2.14359200e+02] [ 9.96909832e-01 -7.83557778e-02 -5.58198094e-03 1.46104242e+02] [ 5.60097205e-03 2.25985487e-05 9.99984314e-01 5.96544330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16028169299994 meters 0.014128007668184086 Centerline is valid? [True, True] Translation: X:214.36, Y:146.13, Z:0.60 [[-8.43831728e-02 -9.96433312e-01 3.67494969e-04 2.14362880e+02] [ 9.96423460e-01 -8.43839726e-02 -4.43097147e-03 1.46128813e+02] [ 4.44617826e-03 -7.71882231e-06 9.99990116e-01 5.99387427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190281693 meters 0.014883772701009063 Centerline is valid? [True, True] Translation: X:214.36, Y:146.15, Z:0.60 [[-8.77436291e-02 -9.96143036e-01 3.28004493e-04 2.14364080e+02] [ 9.96135240e-01 -8.77442401e-02 -3.94116161e-03 1.46153001e+02] [ 3.95474120e-03 -1.90749886e-05 9.99992180e-01 6.00437865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22028169299995 meters 0.01710589141069458 Centerline is valid? [True, True] Translation: X:214.37, Y:146.18, Z:0.60 [[-9.09293208e-02 -9.95857301e-01 3.09067197e-04 2.14366787e+02] [ 9.95850426e-01 -9.09298415e-02 -3.70046387e-03 1.46176800e+02] [ 3.71323739e-03 -2.86959661e-05 9.99993106e-01 6.00711506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250281693 meters 0.020113415920843317 Centerline is valid? [True, True] Translation: X:214.37, Y:146.20, Z:0.60 [[-9.70261522e-02 -9.95281804e-01 2.37016239e-04 2.14370096e+02] [ 9.95277783e-01 -9.70264340e-02 -2.82953611e-03 1.46202479e+02] [ 2.83918264e-03 -3.86420036e-05 9.99995969e-01 6.01964709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28028169299995 meters 0.02269349298830978 Centerline is valid? [True, True] Translation: X:214.37, Y:146.23, Z:0.60 [[-1.00192085e-01 -9.94968078e-01 2.64252969e-04 2.14372880e+02] [ 9.94963113e-01 -1.00192420e-01 -3.14381953e-03 1.46226238e+02] [ 3.15447622e-03 -5.20638760e-05 9.99995023e-01 6.01390488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310281693 meters 0.02765011124593467 Centerline is valid? [True, True] Translation: X:214.38, Y:146.25, Z:0.60 [[-1.05642416e-01 -9.94404122e-01 3.50567550e-04 2.14379934e+02] [ 9.94395448e-01 -1.05642959e-01 -4.15428593e-03 1.46250520e+02] [ 4.16807404e-03 -9.02660246e-05 9.99991309e-01 6.00248558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34028169299995 meters 0.02933011895742555 Centerline is valid? [True, True] Translation: X:214.38, Y:146.27, Z:0.60 [[-1.07817559e-01 -9.94170624e-01 3.80646775e-04 2.14380690e+02] [ 9.94160470e-01 -1.07818179e-01 -4.49453146e-03 1.46274750e+02] [ 4.50937178e-03 -1.06165435e-04 9.99989827e-01 5.99706596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370281693 meters 0.031652379779781914 Centerline is valid? [True, True] Translation: X:214.38, Y:146.30, Z:0.60 [[-1.10681802e-01 -9.93855806e-01 4.18090863e-04 2.14382501e+02] [ 9.93843642e-01 -1.10682517e-01 -4.91893775e-03 1.46299035e+02] [ 4.93499019e-03 -1.28919951e-04 9.99987815e-01 5.98557637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40028169299995 meters 0.032731292245542845 Centerline is valid? [True, True] Translation: X:214.38, Y:146.32, Z:0.60 [[-1.11730550e-01 -9.93738457e-01 4.04916682e-04 2.14382598e+02] [ 9.93727125e-01 -1.11731211e-01 -4.74731141e-03 1.46322086e+02] [ 4.76282774e-03 -1.28043025e-04 9.99988649e-01 5.98626475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430281693 meters 0.03431178563275743 Centerline is valid? [True, True] Translation: X:214.38, Y:146.35, Z:0.60 [[-1.12905279e-01 -9.93605675e-01 4.00874767e-04 2.14384041e+02] [ 9.93594646e-01 -1.12905915e-01 -4.68325902e-03 1.46345854e+02] [ 4.69857387e-03 -1.30457642e-04 9.99988953e-01 5.98609874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46028169299996 meters 0.03855016130293759 Centerline is valid? [True, True] Translation: X:214.39, Y:146.37, Z:0.60 [[-1.16650683e-01 -9.93172904e-01 4.49217810e-04 2.14392409e+02] [ 9.93159149e-01 -1.16651433e-01 -5.22956042e-03 1.46369696e+02] [ 5.24625960e-03 -1.63887019e-04 9.99986225e-01 5.97429256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490281693 meters 0.04324532882198668 Centerline is valid? [True, True] Translation: X:214.40, Y:146.39, Z:0.60 [[-1.19839301e-01 -9.92793179e-01 4.96447520e-04 2.14399183e+02] [ 9.92776491e-01 -1.19840167e-01 -5.75969662e-03 1.46394206e+02] [ 5.77768187e-03 -1.97376591e-04 9.99983290e-01 5.96443211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52028169299996 meters 0.049330963865064394 Centerline is valid? [True, True] Translation: X:214.41, Y:146.42, Z:0.60 [[-1.27507077e-01 -9.91837510e-01 5.47282322e-04 2.14412707e+02] [ 9.91817360e-01 -1.27507978e-01 -6.32779548e-03 1.46419396e+02] [ 6.34592777e-03 -2.64034595e-04 9.99979830e-01 5.95071335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550281693 meters 0.0540975143551263 Centerline is valid? [True, True] Translation: X:214.42, Y:146.44, Z:0.60 [[-1.31299751e-01 -9.91342571e-01 5.30783743e-04 2.14421494e+02] [ 9.91323740e-01 -1.31300532e-01 -6.11656498e-03 1.46443196e+02] [ 6.13330344e-03 -2.76924935e-04 9.99981153e-01 5.95253726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58028169299996 meters 0.060906403114899074 Centerline is valid? [True, True] Translation: X:214.44, Y:146.47, Z:0.60 [[-1.36944129e-01 -9.90578679e-01 4.32621810e-04 2.14437081e+02] [ 9.90566244e-01 -1.36944580e-01 -4.96980328e-03 1.46467852e+02] [ 4.98222637e-03 -2.52044819e-04 9.99987557e-01 5.98720460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.610281693 meters 0.06219206956192985 Centerline is valid? [True, True] Translation: X:214.44, Y:146.49, Z:0.60 [[-1.38774884e-01 -9.90323858e-01 4.33788443e-04 2.14440175e+02] [ 9.90311438e-01 -1.38775319e-01 -4.96661041e-03 1.46491998e+02] [ 4.97875191e-03 -2.59655127e-04 9.99987572e-01 5.99523791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64028169299996 meters 0.059046548779423336 Centerline is valid? [True, True] Translation: X:214.44, Y:146.52, Z:0.60 [[-1.39302956e-01 -9.90249717e-01 4.29403212e-04 2.14438158e+02] [ 9.90237627e-01 -1.39303380e-01 -4.90012243e-03 1.46515895e+02] [ 4.91216217e-03 -2.57390322e-04 9.99987902e-01 6.00009522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.670281693 meters 0.054581777549589365 Centerline is valid? [True, True] Translation: X:214.44, Y:146.54, Z:0.60 [[-1.36726853e-01 -9.90608689e-01 4.38483276e-04 2.14440026e+02] [ 9.90596166e-01 -1.36727332e-01 -4.98721796e-03 1.46541080e+02] [ 5.00033410e-03 -2.47526764e-04 9.99987468e-01 6.00577776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70028169299997 meters 0.058256067077545666 Centerline is valid? [True, True] Translation: X:214.45, Y:146.56, Z:0.60 [[-1.34885484e-01 -9.90861080e-01 4.74921785e-04 2.14446490e+02] [ 9.90846492e-01 -1.34886078e-01 -5.38280233e-03 1.46564712e+02] [ 5.39766967e-03 -2.55487313e-04 9.99985400e-01 5.99614258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73028169299994 meters 0.045737552404541165 Centerline is valid? [True, True] Translation: X:214.44, Y:146.59, Z:0.60 [[-1.30891586e-01 -9.91396528e-01 5.63117456e-04 2.14435641e+02] [ 9.91376165e-01 -1.30892511e-01 -6.36000748e-03 1.46588742e+02] [ 6.37899719e-03 -2.74210245e-04 9.99979616e-01 5.98520991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76028169299997 meters 0.04757590646773644 Centerline is valid? [True, True] Translation: X:214.44, Y:146.61, Z:0.60 [[-1.29861367e-01 -9.91532010e-01 5.46753584e-04 2.14440007e+02] [ 9.91512937e-01 -1.29862264e-01 -6.15537707e-03 1.46613288e+02] [ 6.17425606e-03 -2.57232431e-04 9.99980906e-01 5.98416220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79028169299994 meters 0.04421820992410635 Centerline is valid? [True, True] Translation: X:214.44, Y:146.64, Z:0.60 [[-1.28986552e-01 -9.91646283e-01 3.45248273e-04 2.14442388e+02] [ 9.91638718e-01 -1.28986918e-01 -3.87662020e-03 1.46637988e+02] [ 3.88876852e-03 -1.57670320e-04 9.99992426e-01 6.03201382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82028169299997 meters 0.04631462785229797 Centerline is valid? [True, True] Translation: X:214.45, Y:146.66, Z:0.60 [[-1.29005783e-01 -9.91643805e-01 2.66934140e-04 2.14447381e+02] [ 9.91639309e-01 -1.29006002e-01 -2.98872306e-03 1.46661146e+02] [ 2.99818481e-03 -1.20860171e-04 9.99995498e-01 6.04889057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85028169299994 meters 0.05330355868779533 Centerline is valid? [True, True] Translation: X:214.46, Y:146.69, Z:0.60 [[-1.28898124e-01 -9.91657796e-01 2.98931672e-04 2.14464159e+02] [ 9.91652199e-01 -1.28898401e-01 -3.33439248e-03 1.46685623e+02] [ 3.34510811e-03 -1.33360685e-04 9.99994396e-01 6.02470134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880281693 meters 0.05241475802532979 Centerline is valid? [True, True] Translation: X:214.47, Y:146.71, Z:0.60 [[-1.28506684e-01 -9.91708581e-01 3.49904204e-04 2.14465828e+02] [ 9.91700967e-01 -1.28507070e-01 -3.88898313e-03 1.46709786e+02] [ 3.90170311e-03 -1.52759990e-04 9.99992377e-01 6.00837960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91028169299994 meters 0.04584414164851101 Centerline is valid? [True, True] Translation: X:214.46, Y:146.73, Z:0.60 [[-1.28139394e-01 -9.91756077e-01 4.23128594e-04 2.14459021e+02] [ 9.91745021e-01 -1.28139965e-01 -4.68651545e-03 1.46733714e+02] [ 4.70209986e-03 -1.80891574e-04 9.99988929e-01 6.00405014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940281693 meters 0.048566034527717065 Centerline is valid? [True, True] Translation: X:214.47, Y:146.76, Z:0.60 [[-1.25484262e-01 -9.92095422e-01 6.11160916e-04 2.14468121e+02] [ 9.92072531e-01 -1.25485521e-01 -6.74368307e-03 1.46757763e+02] [ 6.76706895e-03 -2.39910136e-04 9.99977074e-01 5.96348717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97028169299995 meters 0.04019146084204077 Centerline is valid? [True, True] Translation: X:214.46, Y:146.78, Z:0.60 [[-1.23460715e-01 -9.92349241e-01 6.60239109e-04 2.14459128e+02] [ 9.92322707e-01 -1.23462245e-01 -7.26076910e-03 1.46780921e+02] [ 7.28673330e-03 -2.41249487e-04 9.99973422e-01 5.96268564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000281693 meters 0.03404030935956474 Centerline is valid? [True, True] Translation: X:214.46, Y:146.81, Z:0.60 [[-1.17990195e-01 -9.93014595e-01 5.72496839e-04 2.14457212e+02] [ 9.92994774e-01 -1.17991459e-01 -6.27648962e-03 1.46805549e+02] [ 6.30019554e-03 -1.72077867e-04 9.99980139e-01 5.98726930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03028169299995 meters 0.031418783970697806 Centerline is valid? [True, True] Translation: X:214.45, Y:146.83, Z:0.60 [[-1.15434147e-01 -9.93315015e-01 4.89102050e-04 2.14453721e+02] [ 9.93300640e-01 -1.15435109e-01 -5.34550240e-03 1.46828305e+02] [ 5.36622735e-03 -1.31228132e-04 9.99985593e-01 6.00465013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060281693 meters 0.026267095126184643 Centerline is valid? [True, True] Translation: X:214.45, Y:146.85, Z:0.60 [[-1.13044710e-01 -9.93589806e-01 4.38132119e-04 2.14445997e+02] [ 9.93578344e-01 -1.13045511e-01 -4.77346400e-03 1.46852277e+02] [ 4.79239403e-03 -1.04296268e-04 9.99988511e-01 6.01192625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09028169299995 meters 0.024927440767708208 Centerline is valid? [True, True] Translation: X:214.45, Y:146.88, Z:0.60 [[-1.09257408e-01 -9.94013345e-01 5.36837016e-04 2.14446671e+02] [ 9.93996265e-01 -1.09258678e-01 -5.82814032e-03 1.46875819e+02] [ 5.85190336e-03 -1.03153514e-04 9.99982872e-01 5.98671751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120281693 meters 0.024047503446478345 Centerline is valid? [True, True] Translation: X:214.45, Y:146.90, Z:0.60 [[-1.08530761e-01 -9.94092888e-01 6.35509655e-04 2.14445076e+02] [ 9.94069117e-01 -1.08532561e-01 -6.87562972e-03 1.46899796e+02] [ 6.90398809e-03 -1.14476801e-04 9.99976161e-01 5.96677724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15028169299995 meters 0.021891976872141096 Centerline is valid? [True, True] Translation: X:214.44, Y:146.92, Z:0.60 [[-1.06460059e-01 -9.94316782e-01 6.26116625e-04 2.14441902e+02] [ 9.94293858e-01 -1.06461857e-01 -6.75253597e-03 1.46923155e+02] [ 6.78081738e-03 -9.63314635e-05 9.99977005e-01 5.97650479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180281693 meters 0.02034996657575055 Centerline is valid? [True, True] Translation: X:214.44, Y:146.95, Z:0.60 [[-1.05184871e-01 -9.94452566e-01 4.86324957e-04 2.14437683e+02] [ 9.94438817e-01 -1.05185974e-01 -5.22974179e-03 1.46947142e+02] [ 5.25188471e-03 -6.64692992e-05 9.99986207e-01 6.01032681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21028169299996 meters 0.017359419919481537 Centerline is valid? [True, True] Translation: X:214.43, Y:146.97, Z:0.60 [[-1.01886097e-01 -9.94796025e-01 3.02029267e-04 2.14432673e+02] [ 9.94790750e-01 -1.01886541e-01 -3.23989993e-03 1.46969666e+02] [ 3.25381229e-03 -2.96448382e-05 9.99994706e-01 6.04077375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240281693 meters 0.01603874773259348 Centerline is valid? [True, True] Translation: X:214.43, Y:146.99, Z:0.60 [[-1.00762276e-01 -9.94910476e-01 3.28444190e-04 2.14428625e+02] [ 9.94904281e-01 -1.00762807e-01 -3.51130736e-03 1.46993233e+02] [ 3.52653144e-03 -2.70367903e-05 9.99993781e-01 6.03946395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27028169299996 meters 0.014803406649617191 Centerline is valid? [True, True] Translation: X:214.42, Y:147.02, Z:0.60 [[-9.90819769e-02 -9.95079217e-01 3.36994375e-04 2.14424747e+02] [ 9.95072738e-01 -9.90825479e-02 -3.59098924e-03 1.47016527e+02] [ 3.60670903e-03 -2.04683980e-05 9.99993496e-01 6.03134751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300281693 meters 0.014540371443691191 Centerline is valid? [True, True] Translation: X:214.42, Y:147.04, Z:0.60 [[-9.85419785e-02 -9.95132838e-01 3.35972469e-04 2.14422535e+02] [ 9.95126440e-01 -9.85425498e-02 -3.56847080e-03 1.47039323e+02] [ 3.58421006e-03 -1.73090860e-05 9.99993577e-01 6.02850660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33028169299996 meters 0.014260211184053484 Centerline is valid? [True, True] Translation: X:214.42, Y:147.06, Z:0.60 [[-9.82053877e-02 -9.95166105e-01 3.53156836e-04 2.14420159e+02] [ 9.95159083e-01 -9.82060214e-02 -3.73858814e-03 1.47063077e+02] [ 3.75519833e-03 -1.57022649e-05 9.99992949e-01 6.02775939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.360281693 meters 0.013593121910780541 Centerline is valid? [True, True] Translation: X:214.42, Y:147.09, Z:0.60 [[-9.71321132e-02 -9.95271415e-01 4.02968820e-04 2.14415920e+02] [ 9.95262335e-01 -9.71329484e-02 -4.25151991e-03 1.47086736e+02] [ 4.27055778e-03 -1.18994244e-05 9.99990881e-01 6.02197930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39028169299996 meters 0.013450068912848228 Centerline is valid? [True, True] Translation: X:214.41, Y:147.11, Z:0.60 [[-9.63724917e-02 -9.95345244e-01 4.33493338e-04 2.14411814e+02] [ 9.95334807e-01 -9.63734663e-02 -4.55813408e-03 1.47109072e+02] [ 4.57869433e-03 -7.80773067e-06 9.99989518e-01 6.01197088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.420281693 meters 0.013406059003039598 Centerline is valid? [True, True] Translation: X:214.41, Y:147.13, Z:0.60 [[-9.41179615e-02 -9.95560891e-01 5.67980965e-04 2.14405055e+02] [ 9.95543108e-01 -9.41196752e-02 -5.95044126e-03 1.47132644e+02] [ 5.97748478e-03 5.40613350e-06 9.99982135e-01 6.00081754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45028169299997 meters 0.013847317578316327 Centerline is valid? [True, True] Translation: X:214.40, Y:147.16, Z:0.60 [[-9.37330396e-02 -9.95597155e-01 6.49466049e-04 2.14401054e+02] [ 9.95574068e-01 -9.37352889e-02 -6.78016623e-03 1.47155122e+02] [ 6.81119210e-03 1.10659665e-05 9.99976804e-01 5.96937678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48028169299994 meters 0.013998116969201108 Centerline is valid? [True, True] Translation: X:214.40, Y:147.18, Z:0.60 [[-9.34264337e-02 -9.95625915e-01 7.34251780e-04 2.14397733e+02] [ 9.95596604e-01 -9.34293173e-02 -7.63964200e-03 1.47179200e+02] [ 7.67482620e-03 1.72740727e-05 9.99970548e-01 5.96154632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51028169299997 meters 0.014289235320638667 Centerline is valid? [True, True] Translation: X:214.39, Y:147.20, Z:0.60 [[-9.21396889e-02 -9.95745850e-01 6.93467337e-04 2.14392098e+02] [ 9.95719874e-01 -9.21422942e-02 -7.19242427e-03 1.47202417e+02] [ 7.22572429e-03 2.77914743e-05 9.99973894e-01 5.97978697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54028169299994 meters 0.014289235320638667 Centerline is valid? [True, True] Translation: X:214.39, Y:147.23, Z:0.60 [[-9.24469797e-02 -9.95717366e-01 6.95689089e-04 2.14389438e+02] [ 9.95691390e-01 -9.24495931e-02 -7.19220962e-03 1.47225605e+02] [ 7.22572419e-03 2.77935799e-05 9.99973894e-01 5.98025076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57028169299997 meters 0.014558903452746345 Centerline is valid? [True, True] Translation: X:214.38, Y:147.25, Z:0.60 [[-9.15329944e-02 -9.95801878e-01 5.75192674e-04 2.14383919e+02] [ 9.95784233e-01 -9.15347967e-02 -5.92809650e-03 1.47247962e+02] [ 5.95585977e-03 3.01513717e-05 9.99982263e-01 6.00206746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60028169299994 meters 0.01699310535856955 Centerline is valid? [True, True] Translation: X:214.37, Y:147.27, Z:0.60 [[-8.83945138e-02 -9.96085439e-01 4.57085589e-04 2.14370775e+02] [ 9.96074365e-01 -8.83956864e-02 -4.69698860e-03 1.47269482e+02] [ 4.71900634e-03 4.01032145e-05 9.99988865e-01 6.02910175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630281693 meters 0.01752118904590488 Centerline is valid? [True, True] Translation: X:214.36, Y:147.29, Z:0.60 [[-8.69353983e-02 -9.96213851e-01 4.45784385e-04 2.14364278e+02] [ 9.96203386e-01 -8.69365285e-02 -4.56667227e-03 1.47293082e+02] [ 4.58813712e-03 4.70864409e-05 9.99989473e-01 6.04027873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66028169299994 meters 0.018967243182975525 Centerline is valid? [True, True] Translation: X:214.36, Y:147.32, Z:0.60 [[-8.59758869e-02 -9.96297122e-01 4.37586990e-04 2.14355923e+02] [ 9.96287102e-01 -8.59769849e-02 -4.46864109e-03 1.47315594e+02] [ 4.48971666e-03 5.17668938e-05 9.99989920e-01 6.03782177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690281693 meters 0.019683799453567585 Centerline is valid? [True, True] Translation: X:214.35, Y:147.34, Z:0.60 [[-8.47487472e-02 -9.96402287e-01 3.64260484e-04 2.14346367e+02] [ 9.96395384e-01 -8.47495160e-02 -3.70920410e-03 1.47338481e+02] [ 3.72673034e-03 4.85970652e-05 9.99993055e-01 6.04865993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72028169299995 meters 0.020116491746219673 Centerline is valid? [True, True] Translation: X:214.34, Y:147.36, Z:0.61 [[-8.45930304e-02 -9.96415538e-01 3.08084833e-04 2.14340268e+02] [ 9.96410628e-01 -8.45935808e-02 -3.12829613e-03 1.47361317e+02] [ 3.14314487e-03 4.23469522e-05 9.99995059e-01 6.06477809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750281693 meters 0.020771048933960447 Centerline is valid? [True, True] Translation: X:214.33, Y:147.38, Z:0.61 [[-8.46692526e-02 -9.96409061e-01 3.16788580e-04 2.14331486e+02] [ 9.96403904e-01 -8.46698337e-02 -3.20612145e-03 1.47383500e+02] [ 3.22143090e-03 4.41894706e-05 9.99994810e-01 6.06332318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78028169299995 meters 0.021903817287189837 Centerline is valid? [True, True] Translation: X:214.32, Y:147.41, Z:0.60 [[-8.57037820e-02 -9.96320571e-01 4.25855176e-04 2.14324620e+02] [ 9.96311319e-01 -8.57048215e-02 -4.29408166e-03 1.47405571e+02] [ 4.31477973e-03 5.62652944e-05 9.99990690e-01 6.03700938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810281693 meters 0.0194654814401569 Centerline is valid? [True, True] Translation: X:214.32, Y:147.43, Z:0.60 [[-8.71876029e-02 -9.96191754e-01 5.57356040e-04 2.14323435e+02] [ 9.96176011e-01 -8.71893587e-02 -5.60091538e-03 1.47429821e+02] [ 5.62818124e-03 6.68943304e-05 9.99984159e-01 6.01974264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84028169299995 meters 0.017426814463668807 Centerline is valid? [True, True] Translation: X:214.32, Y:147.45, Z:0.60 [[-8.94428017e-02 -9.95991747e-01 6.51731315e-04 2.14319310e+02] [ 9.95970355e-01 -8.94451523e-02 -6.52821990e-03 1.47453280e+02] [ 6.56034735e-03 6.52027909e-05 9.99978479e-01 6.00843220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870281693 meters 0.017664435813434628 Centerline is valid? [True, True] Translation: X:214.31, Y:147.48, Z:0.60 [[-8.94896990e-02 -9.95987620e-01 5.04620921e-04 2.14312164e+02] [ 9.95974867e-01 -8.94911069e-02 -5.04039824e-03 1.47475999e+02] [ 5.06533334e-03 5.15260327e-05 9.99987170e-01 6.03724147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90028169299995 meters 0.018538460566576234 Centerline is valid? [True, True] Translation: X:214.31, Y:147.50, Z:0.61 [[-8.92116745e-02 -9.96012612e-01 3.92695924e-04 2.14305763e+02] [ 9.96004932e-01 -8.92125288e-02 -3.91155671e-03 1.47498232e+02] [ 3.93099322e-03 4.21705528e-05 9.99992273e-01 6.05841779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930281693 meters 0.018766694117120092 Centerline is valid? [True, True] Translation: X:214.30, Y:147.52, Z:0.61 [[-8.84025670e-02 -9.96084768e-01 3.48932466e-04 2.14299923e+02] [ 9.96078740e-01 -8.84032460e-02 -3.46557220e-03 1.47521508e+02] [ 3.48285045e-03 4.11987320e-05 9.99993934e-01 6.06850668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96028169299996 meters 0.02025993807736174 Centerline is valid? [True, True] Translation: X:214.29, Y:147.55, Z:0.60 [[-8.68377858e-02 -9.96222324e-01 5.28903475e-04 2.14289445e+02] [ 9.96208574e-01 -8.68393663e-02 -5.23456260e-03 1.47545279e+02] [ 5.26071776e-03 7.23403513e-05 9.99986160e-01 6.03959906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990281693 meters 0.021365812700261718 Centerline is valid? [True, True] Translation: X:214.28, Y:147.57, Z:0.60 [[-8.65450996e-02 -9.96247748e-01 6.08176594e-04 2.14282664e+02] [ 9.96229685e-01 -8.65471931e-02 -5.99984851e-03 1.47567281e+02] [ 6.02997154e-03 8.66260897e-05 9.99981816e-01 6.01727957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02028169299996 meters 0.021999820502619134 Centerline is valid? [True, True] Translation: X:214.27, Y:147.59, Z:0.60 [[-8.68568562e-02 -9.96220658e-01 5.35826629e-04 2.14274498e+02] [ 9.96206720e-01 -8.68584757e-02 -5.27022807e-03 1.47589218e+02] [ 5.29685116e-03 7.60386466e-05 9.99985969e-01 6.02906954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050281693 meters 0.019925789658953353 Centerline is valid? [True, True] Translation: X:214.27, Y:147.61, Z:0.61 [[-8.81486409e-02 -9.96107236e-01 4.38399863e-04 2.14273732e+02] [ 9.96097957e-01 -8.81497122e-02 -4.29986232e-03 1.47613201e+02] [ 4.32176879e-03 5.76621879e-05 9.99990659e-01 6.05243336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08028169299996 meters 0.018185488490464318 Centerline is valid? [True, True] Translation: X:214.27, Y:147.64, Z:0.61 [[-8.99906327e-02 -9.95942560e-01 3.21259566e-04 2.14273913e+02] [ 9.95937600e-01 -8.99911985e-02 -3.14328358e-03 1.47638125e+02] [ 3.15944043e-03 3.70884032e-05 9.99995008e-01 6.07101458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.110281693 meters 0.015163704046818176 Centerline is valid? [True, True] Translation: X:214.28, Y:147.66, Z:0.61 [[-9.51743960e-02 -9.95460584e-01 2.47179703e-04 2.14278986e+02] [ 9.95457659e-01 -9.51747156e-02 -2.41294957e-03 1.47662807e+02] [ 2.42552144e-03 1.64059110e-05 9.99997058e-01 6.07519377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14028169299996 meters 0.013421096446987732 Centerline is valid? [True, True] Translation: X:214.28, Y:147.69, Z:0.61 [[-9.91656471e-02 -9.95070882e-01 3.38933628e-04 2.14282058e+02] [ 9.95065420e-01 -9.91662258e-02 -3.29688806e-03 1.47687160e+02] [ 3.31424807e-03 1.03230953e-05 9.99994508e-01 6.05046575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.170281693 meters 0.013513465650782683 Centerline is valid? [True, True] Translation: X:214.28, Y:147.71, Z:0.60 [[-9.97093101e-02 -9.95016505e-01 4.56020111e-04 2.14279425e+02] [ 9.95006688e-01 -9.97103521e-02 -4.42003908e-03 1.47709584e+02] [ 4.44348176e-03 1.30240132e-05 9.99990128e-01 6.03215287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20028169299997 meters 0.013913458370866143 Centerline is valid? [True, True] Translation: X:214.28, Y:147.73, Z:0.60 [[-9.94817399e-02 -9.95039210e-01 5.95456279e-04 2.14275663e+02] [ 9.95022584e-01 -9.94835199e-02 -5.75202174e-03 1.47733145e+02] [ 5.78272525e-03 2.02713146e-05 9.99983280e-01 6.01603912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23028169299994 meters 0.014669615619841593 Centerline is valid? [True, True] Translation: X:214.27, Y:147.76, Z:0.60 [[-9.82393893e-02 -9.95162548e-01 7.25157315e-04 2.14270639e+02] [ 9.95138053e-01 -9.82420592e-02 -6.98238207e-03 1.47756231e+02] [ 7.01984607e-03 3.56866888e-05 9.99975360e-01 6.00332378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26028169299997 meters 0.018269133642634282 Centerline is valid? [True, True] Translation: X:214.26, Y:147.78, Z:0.60 [[-9.30080052e-02 -9.95665083e-01 7.43377236e-04 2.14259296e+02] [ 9.95639508e-01 -9.30109446e-02 -7.13686149e-03 1.47779535e+02] [ 7.17506601e-03 7.63504946e-05 9.99974256e-01 6.00972387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29028169299994 meters 0.025252056043610093 Centerline is valid? [True, True] Translation: X:214.24, Y:147.80, Z:0.60 [[-8.66048167e-02 -9.96242588e-01 5.57480242e-04 2.14242516e+02] [ 9.96228292e-01 -8.66065609e-02 -5.33802309e-03 1.47800948e+02] [ 5.36624738e-03 9.30790779e-05 9.99985597e-01 6.03683842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32028169299997 meters 0.026539774473325468 Centerline is valid? [True, True] Translation: X:214.24, Y:147.82, Z:0.60 [[-8.43417769e-02 -9.96436751e-01 5.16400902e-04 2.14236108e+02] [ 9.96424555e-01 -8.43433000e-02 -4.93094908e-03 1.47824593e+02] [ 4.95693383e-03 9.86695319e-05 9.99987709e-01 6.04058081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35028169299994 meters 0.02832902004299139 Centerline is valid? [True, True] Translation: X:214.23, Y:147.85, Z:0.60 [[-8.29126099e-02 -9.96556687e-01 5.18270359e-04 2.14229474e+02] [ 9.96544474e-01 -8.29141602e-02 -4.93485046e-03 1.47847963e+02] [ 4.96083018e-03 1.07318131e-04 9.99987689e-01 6.03524936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380281693 meters 0.031216426265702615 Centerline is valid? [True, True] Translation: X:214.22, Y:147.87, Z:0.60 [[-8.19360837e-02 -9.96637460e-01 5.01331943e-04 2.14220686e+02] [ 9.96626099e-01 -8.19375441e-02 -4.76004417e-03 1.47870301e+02] [ 4.78511624e-03 1.09621122e-04 9.99988545e-01 6.03843968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41028169299994 meters 0.031899568873765216 Centerline is valid? [True, True] Translation: X:214.22, Y:147.89, Z:0.60 [[-8.20426782e-02 -9.96628690e-01 5.02895479e-04 2.14215230e+02] [ 9.96617324e-01 -8.20441450e-02 -4.76102024e-03 1.47893114e+02] [ 4.78622900e-03 1.10587494e-04 9.99988540e-01 6.04387127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440281693 meters 0.032100778672454006 Centerline is valid? [True, True] Translation: X:214.21, Y:147.92, Z:0.60 [[-8.11913502e-02 -9.96698364e-01 5.79621322e-04 2.14209159e+02] [ 9.96683356e-01 -8.11933094e-02 -5.47124263e-03 1.47916568e+02] [ 5.50023995e-03 1.33481347e-04 9.99984865e-01 6.03307758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47028169299995 meters 0.03133110169577136 Centerline is valid? [True, True] Translation: X:214.21, Y:147.94, Z:0.60 [[-8.05350957e-02 -9.96751614e-01 5.64614574e-04 2.14207225e+02] [ 9.96737452e-01 -8.05369622e-02 -5.31500623e-03 1.47940608e+02] [ 5.34321338e-03 1.34727956e-04 9.99985716e-01 6.03964191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500281693 meters 0.033399501204706396 Centerline is valid? [True, True] Translation: X:214.20, Y:147.96, Z:0.61 [[-8.01329012e-02 -9.96784099e-01 4.22803441e-04 2.14201567e+02] [ 9.96776198e-01 -8.01339500e-02 -3.97010339e-03 1.47963021e+02] [ 3.99121684e-03 1.03304504e-04 9.99992030e-01 6.05587605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53028169299995 meters 0.0329562078975647 Centerline is valid? [True, True] Translation: X:214.20, Y:147.99, Z:0.61 [[-7.93457682e-02 -9.96847146e-01 1.32532531e-04 2.14197263e+02] [ 9.96846369e-01 -7.93458719e-02 -1.24470415e-03 1.47986848e+02] [ 1.25129569e-03 3.33525658e-05 9.99999217e-01 6.11510436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560281693 meters 0.03525904302264461 Centerline is valid? [True, True] Translation: X:214.19, Y:148.01, Z:0.61 [[-7.90082829e-02 -9.96873955e-01 9.56588261e-05 2.14189180e+02] [ 9.96873551e-01 -7.90083371e-02 -8.97572725e-04 1.48009180e+02] [ 9.02324717e-04 2.44440738e-05 9.99999593e-01 6.12050081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59028169299995 meters 0.03642592274333891 Centerline is valid? [True, True] Translation: X:214.18, Y:148.03, Z:0.61 [[-7.88658309e-02 -9.96885216e-01 2.16410937e-04 2.14182181e+02] [ 9.96883176e-01 -7.88661075e-02 -2.01753540e-03 1.48031917e+02] [ 2.02831870e-03 5.66218170e-05 9.99997941e-01 6.09109701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620281693 meters 0.03387495052629663 Centerline is valid? [True, True] Translation: X:214.18, Y:148.06, Z:0.61 [[-7.97163341e-02 -9.96817550e-01 2.80282277e-04 2.14181850e+02] [ 9.96814151e-01 -7.97167945e-02 -2.60395921e-03 1.48055844e+02] [ 2.61801544e-03 7.18112578e-05 9.99996570e-01 6.07884929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65028169299995 meters 0.03303779080729544 Centerline is valid? [True, True] Translation: X:214.18, Y:148.08, Z:0.61 [[-8.10457100e-02 -9.96710315e-01 3.76693525e-04 2.14178040e+02] [ 9.96704216e-01 -8.10465323e-02 -3.48795557e-03 1.48079177e+02] [ 3.50701100e-03 9.27681891e-05 9.99993846e-01 6.06783402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680281693 meters 0.032925304525180075 Centerline is valid? [True, True] Translation: X:214.17, Y:148.10, Z:0.60 [[-8.33849211e-02 -9.96517279e-01 5.16723908e-04 2.14170311e+02] [ 9.96505875e-01 -8.33864397e-02 -4.76904529e-03 1.48101800e+02] [ 4.79552381e-03 1.17251944e-04 9.99988495e-01 6.04630408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71028169299996 meters 0.03192632241972835 Centerline is valid? [True, True] Translation: X:214.17, Y:148.13, Z:0.60 [[-8.45655666e-02 -9.96417786e-01 5.11245241e-04 2.14167377e+02] [ 9.96406681e-01 -8.45670385e-02 -4.70555218e-03 1.48125648e+02] [ 4.73193038e-03 1.11480488e-04 9.99988798e-01 6.04721313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740281693 meters 0.029307842462751404 Centerline is valid? [True, True] Translation: X:214.17, Y:148.15, Z:0.61 [[-8.60536153e-02 -9.96290422e-01 4.12340066e-04 2.14167495e+02] [ 9.96283232e-01 -8.60545612e-02 -3.78597460e-03 1.48149665e+02] [ 3.80741397e-03 8.50106926e-05 9.99992748e-01 6.06776155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77028169299996 meters 0.030276696466665587 Centerline is valid? [True, True] Translation: X:214.16, Y:148.17, Z:0.61 [[-8.63365045e-02 -9.96265954e-01 3.96945238e-04 2.14161713e+02] [ 9.96259327e-01 -8.63373784e-02 -3.63464911e-03 1.48171845e+02] [ 3.65534838e-03 8.16574966e-05 9.99993316e-01 6.07793926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800281693 meters 0.029344933417626354 Centerline is valid? [True, True] Translation: X:214.16, Y:148.19, Z:0.61 [[-8.62544285e-02 -9.96273049e-01 4.29889212e-04 2.14157517e+02] [ 9.96265324e-01 -8.62554530e-02 -3.92452624e-03 1.48194844e+02] [ 3.94698001e-03 8.97759469e-05 9.99992207e-01 6.07690675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83028169299996 meters 0.031416072469361976 Centerline is valid? [True, True] Translation: X:214.15, Y:148.22, Z:0.61 [[-8.44106325e-02 -9.96430965e-01 4.21855541e-04 2.14147114e+02] [ 9.96423567e-01 -8.44116319e-02 -3.84076127e-03 1.48218452e+02] [ 3.86266298e-03 9.61457146e-05 9.99992535e-01 6.07087641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.860281693 meters 0.03422933581162024 Centerline is valid? [True, True] Translation: X:214.14, Y:148.24, Z:0.61 [[-8.37395948e-02 -9.96487625e-01 3.07412517e-04 2.14137114e+02] [ 9.96483713e-01 -8.37401277e-02 -2.79280867e-03 1.48240612e+02] [ 2.80874204e-03 7.24628998e-05 9.99996053e-01 6.08568326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89028169299996 meters 0.031548343206586595 Centerline is valid? [True, True] Translation: X:214.14, Y:148.26, Z:0.61 [[-8.47111834e-02 -9.96405493e-01 3.30067402e-04 2.14135460e+02] [ 9.96401010e-01 -8.47117927e-02 -2.98997902e-03 1.48264930e+02] [ 3.00719212e-03 7.55948316e-05 9.99995476e-01 6.09310501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.920281693 meters 0.03223061574117789 Centerline is valid? [True, True] Translation: X:214.13, Y:148.29, Z:0.61 [[-8.64513155e-02 -9.96256023e-01 3.27946778e-04 2.14129721e+02] [ 9.96251620e-01 -8.64519087e-02 -2.96275395e-03 1.48287750e+02] [ 2.98001309e-03 7.05835329e-05 9.99995557e-01 6.09442357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95028169299997 meters 0.028401286817239923 Centerline is valid? [True, True] Translation: X:214.13, Y:148.31, Z:0.61 [[-8.89295293e-02 -9.96037877e-01 2.92740647e-04 2.14131122e+02] [ 9.96034386e-01 -8.89299929e-02 -2.63802258e-03 1.48312559e+02] [ 2.65360384e-03 5.69816437e-05 9.99996478e-01 6.09810133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98028169299994 meters 0.02440933206638858 Centerline is valid? [True, True] Translation: X:214.13, Y:148.34, Z:0.61 [[-9.37199219e-02 -9.95598584e-01 1.87810124e-04 2.14134816e+02] [ 9.95597150e-01 -9.37201058e-02 -1.68994554e-03 1.48336451e+02] [ 1.70010898e-03 2.86016602e-05 9.99998554e-01 6.11138085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01028169299997 meters 0.021687423955929895 Centerline is valid? [True, True] Translation: X:214.13, Y:148.36, Z:0.61 [[-9.68936167e-02 -9.95294715e-01 2.39195160e-04 2.14133620e+02] [ 9.95292404e-01 -9.68939073e-02 -2.14519955e-03 1.48360591e+02] [ 2.15828233e-03 3.02129833e-05 9.99997670e-01 6.09882418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04028169299994 meters 0.02154638096925092 Centerline is valid? [True, True] Translation: X:214.13, Y:148.38, Z:0.61 [[-9.71453645e-02 -9.95270144e-01 3.45516311e-04 2.14129491e+02] [ 9.95265353e-01 -9.71459691e-02 -3.08828677e-03 1.48384042e+02] [ 3.10724513e-03 4.38676697e-05 9.99995172e-01 6.08708291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07028169299997 meters 0.022284693194908868 Centerline is valid? [True, True] Translation: X:214.12, Y:148.41, Z:0.61 [[-9.67901987e-02 -9.95304693e-01 4.75564981e-04 2.14124739e+02] [ 9.95295675e-01 -9.67913463e-02 -4.23735780e-03 1.48407625e+02] [ 4.26349268e-03 6.31930656e-05 9.99990909e-01 6.07049487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10028169299994 meters 0.022448560378087224 Centerline is valid? [True, True] Translation: X:214.12, Y:148.43, Z:0.61 [[-9.62896313e-02 -9.95353184e-01 5.88086636e-04 2.14120270e+02] [ 9.95339475e-01 -9.62913920e-02 -5.22468972e-03 1.48431565e+02] [ 5.25703923e-03 8.22623965e-05 9.99986178e-01 6.05528339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130281693 meters 0.023348628656041228 Centerline is valid? [True, True] Translation: X:214.11, Y:148.45, Z:0.61 [[-9.67071710e-02 -9.95312801e-01 3.88675228e-04 2.14114683e+02] [ 9.95306839e-01 -9.67079372e-02 -3.44536105e-03 1.48453648e+02] [ 3.46679994e-03 5.36599926e-05 9.99993989e-01 6.07881798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16028169299994 meters 0.021247321710775043 Centerline is valid? [True, True] Translation: X:214.12, Y:148.48, Z:0.61 [[-9.75282922e-02 -9.95232713e-01 2.82382627e-04 2.14115152e+02] [ 9.95229579e-01 -9.75286939e-02 -2.49772003e-03 1.48478122e+02] [ 2.51335309e-03 3.74371745e-05 9.99996841e-01 6.08995293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190281693 meters 0.023412012911277282 Centerline is valid? [True, True] Translation: X:214.11, Y:148.50, Z:0.61 [[-9.85592324e-02 -9.95131145e-01 2.85423736e-04 2.14109801e+02] [ 9.95127960e-01 -9.85596391e-02 -2.51799527e-03 1.48500966e+02] [ 2.53386678e-03 3.58614595e-05 9.99996789e-01 6.09080868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22028169299995 meters 0.019659019487606982 Centerline is valid? [True, True] Translation: X:214.11, Y:148.53, Z:0.61 [[-1.00257196e-01 -9.94961407e-01 5.41246429e-04 2.14113503e+02] [ 9.94950038e-01 -1.00258638e-01 -4.75692161e-03 1.48525145e+02] [ 4.78721805e-03 6.15975335e-05 9.99988539e-01 6.05292290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250281693 meters 0.01944478814913054 Centerline is valid? [True, True] Translation: X:214.11, Y:148.55, Z:0.60 [[-1.01276426e-01 -9.94858077e-01 7.02102588e-04 2.14111584e+02] [ 9.94839058e-01 -1.01278831e-01 -6.15196747e-03 1.48548365e+02] [ 6.19144265e-03 7.54297999e-05 9.99980830e-01 6.03164394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28028169299995 meters 0.0187976303236762 Centerline is valid? [True, True] Translation: X:214.11, Y:148.57, Z:0.60 [[-1.02726588e-01 -9.94709223e-01 8.99638479e-04 2.14112395e+02] [ 9.94678173e-01 -1.02730490e-01 -7.85988998e-03 1.48572786e+02] [ 7.91072536e-03 8.74310828e-05 9.99968706e-01 5.99583885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310281693 meters 0.018513298197474198 Centerline is valid? [True, True] Translation: X:214.11, Y:148.60, Z:0.60 [[-1.03596634e-01 -9.94618957e-01 9.32078271e-04 2.14111838e+02] [ 9.94585808e-01 -1.03600792e-01 -8.12070194e-03 1.48595712e+02] [ 8.17356814e-03 8.57544313e-05 9.99966592e-01 5.99316635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34028169299995 meters 0.016548175616509165 Centerline is valid? [True, True] Translation: X:214.12, Y:148.62, Z:0.60 [[-1.05161066e-01 -9.94454968e-01 6.83582893e-04 2.14115716e+02] [ 9.94437220e-01 -1.05163274e-01 -5.94143345e-03 1.48621004e+02] [ 5.98037582e-03 5.49727955e-05 9.99982116e-01 6.03842506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370281693 meters 0.016394817872467226 Centerline is valid? [True, True] Translation: X:214.12, Y:148.65, Z:0.61 [[-1.06361805e-01 -9.94327357e-01 5.22213497e-04 2.14115110e+02] [ 9.94317047e-01 -1.06363080e-01 -4.52819382e-03 1.48645173e+02] [ 4.55805123e-03 3.76189141e-05 9.99989611e-01 6.05892043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40028169299995 meters 0.015288414641652124 Centerline is valid? [True, True] Translation: X:214.12, Y:148.67, Z:0.61 [[-1.08023721e-01 -9.94148234e-01 4.04663601e-04 2.14117319e+02] [ 9.94142071e-01 -1.08024476e-01 -3.50075947e-03 1.48669115e+02] [ 3.52398742e-03 2.41280473e-05 9.99993790e-01 6.07531777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430281693 meters 0.014103901729110383 Centerline is valid? [True, True] Translation: X:214.12, Y:148.69, Z:0.61 [[-1.10589891e-01 -9.93866027e-01 4.42251915e-04 2.14122613e+02] [ 9.93858705e-01 -1.10590774e-01 -3.81522753e-03 1.48693313e+02] [ 3.84073401e-03 1.76103170e-05 9.99992624e-01 6.07592097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46028169299996 meters 0.014103901729110383 Centerline is valid? [True, True] Translation: X:214.12, Y:148.72, Z:0.61 [[-1.10897788e-01 -9.93831718e-01 4.43429405e-04 2.14119500e+02] [ 9.93824396e-01 -1.10898674e-01 -3.81509076e-03 1.48716418e+02] [ 3.84073393e-03 1.76058327e-05 9.99992624e-01 6.07638476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490281693 meters 0.014117125791597789 Centerline is valid? [True, True] Translation: X:214.12, Y:148.74, Z:0.61 [[-1.11522875e-01 -9.93761760e-01 4.61483071e-04 2.14118465e+02] [ 9.93753873e-01 -1.11523828e-01 -3.95934196e-03 1.48739734e+02] [ 3.98610900e-03 1.70433919e-05 9.99992055e-01 6.07296652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52028169299996 meters 0.014135040341717038 Centerline is valid? [True, True] Translation: X:214.12, Y:148.76, Z:0.61 [[-1.11263579e-01 -9.93790831e-01 4.47155643e-04 2.14118519e+02] [ 9.93783466e-01 -1.11264476e-01 -3.82612902e-03 1.48763913e+02] [ 3.85212448e-03 1.86670770e-05 9.99992580e-01 6.07824897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550281693 meters 0.014530693496710878 Centerline is valid? [True, True] Translation: X:214.12, Y:148.79, Z:0.61 [[-1.10848989e-01 -9.93837164e-01 4.39553450e-04 2.14116514e+02] [ 9.93830086e-01 -1.10849859e-01 -3.75099417e-03 1.48786768e+02] [ 3.77660185e-03 2.10475304e-05 9.99992868e-01 6.07952692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58028169299996 meters 0.015396155926910448 Centerline is valid? [True, True] Translation: X:214.11, Y:148.81, Z:0.61 [[-1.10318543e-01 -9.93896204e-01 3.93328953e-04 2.14113236e+02] [ 9.93890566e-01 -1.10319242e-01 -3.34790656e-03 1.48809836e+02] [ 3.37086337e-03 2.15897609e-05 9.99994318e-01 6.08220291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.610281693 meters 0.016529762646242674 Centerline is valid? [True, True] Translation: X:214.11, Y:148.83, Z:0.61 [[-1.08956764e-01 -9.94046437e-01 3.23410980e-04 2.14110082e+02] [ 9.94042643e-01 -1.08957241e-01 -2.74642861e-03 1.48834058e+02] [ 2.76531554e-03 2.22423332e-05 9.99996176e-01 6.10034552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64028169299996 meters 0.017403901299460362 Centerline is valid? [True, True] Translation: X:214.11, Y:148.86, Z:0.61 [[-1.08282845e-01 -9.94120059e-01 3.67247320e-04 2.14106061e+02] [ 9.94115193e-01 -1.08283464e-01 -3.11035723e-03 1.48857865e+02] [ 3.13183533e-03 2.82878114e-05 9.99995095e-01 6.09874212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.670281693 meters 0.01819549669734406 Centerline is valid? [True, True] Translation: X:214.10, Y:148.88, Z:0.61 [[-1.07014812e-01 -9.94257268e-01 5.60799070e-04 2.14101557e+02] [ 9.94245994e-01 -1.07016270e-01 -4.73520156e-03 1.48881817e+02] [ 4.76802319e-03 5.08355221e-05 9.99988632e-01 6.07565692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70028169299997 meters 0.018414365368540637 Centerline is valid? [True, True] Translation: X:214.10, Y:148.91, Z:0.61 [[-1.06226901e-01 -9.94341758e-01 5.60989594e-04 2.14098041e+02] [ 9.94330533e-01 -1.06228368e-01 -4.72502822e-03 1.48906478e+02] [ 4.75788587e-03 5.58839747e-05 9.99988680e-01 6.08079121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73028169299994 meters 0.019986133756929564 Centerline is valid? [True, True] Translation: X:214.09, Y:148.93, Z:0.61 [[-1.05048983e-01 -9.94466923e-01 5.00899178e-04 2.14091938e+02] [ 9.94458018e-01 -1.05050162e-01 -4.20884962e-03 1.48929611e+02] [ 4.23818127e-03 5.59878334e-05 9.99991017e-01 6.08468497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76028169299997 meters 0.02329930800671489 Centerline is valid? [True, True] Translation: X:214.08, Y:148.95, Z:0.61 [[-1.01321118e-01 -9.94853710e-01 3.55251174e-04 2.14081997e+02] [ 9.94849251e-01 -1.01321727e-01 -2.97901458e-03 1.48953422e+02] [ 2.99967837e-03 5.15842777e-05 9.99995500e-01 6.11575236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79028169299994 meters 0.02949146766144748 Centerline is valid? [True, True] Translation: X:214.07, Y:148.98, Z:0.61 [[-9.92043792e-02 -9.95067008e-01 3.76295050e-04 2.14068373e+02] [ 9.95062032e-01 -9.92050734e-02 -3.14744054e-03 1.48975474e+02] [ 3.16924462e-03 6.21970324e-05 9.99994976e-01 6.10871666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82028169299997 meters 0.030156954785167844 Centerline is valid? [True, True] Translation: X:214.06, Y:149.00, Z:0.61 [[-9.57463031e-02 -9.95405513e-01 7.14405292e-04 2.14060032e+02] [ 9.95387703e-01 -9.57488648e-02 -5.95619256e-03 1.48998632e+02] [ 5.99723041e-03 1.40826824e-04 9.99982007e-01 6.06538666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85028169299994 meters 0.03118344035344523 Centerline is valid? [True, True] Translation: X:214.05, Y:149.02, Z:0.61 [[-9.49950407e-02 -9.95477453e-01 7.63228557e-04 2.14053256e+02] [ 9.95457231e-01 -9.49979773e-02 -6.34707084e-03 1.49022122e+02] [ 6.39087109e-03 1.56821133e-04 9.99979566e-01 6.05323195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880281693 meters 0.031804575909459974 Centerline is valid? [True, True] Translation: X:214.05, Y:149.05, Z:0.61 [[-9.48252316e-02 -9.95493682e-01 7.10903255e-04 2.14046652e+02] [ 9.95476224e-01 -9.48277802e-02 -5.89740491e-03 1.49045414e+02] [ 5.93824271e-03 1.48464502e-04 9.99982357e-01 6.05477818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91028169299994 meters 0.03144894605181113 Centerline is valid? [True, True] Translation: X:214.04, Y:149.07, Z:0.61 [[-9.54742641e-02 -9.95431699e-01 6.29917054e-04 2.14038382e+02] [ 9.95418058e-01 -9.54762545e-02 -5.21292055e-03 1.49068269e+02] [ 5.24924848e-03 1.29331057e-04 9.99986214e-01 6.06433604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940281693 meters 0.030165900192117876 Centerline is valid? [True, True] Translation: X:214.03, Y:149.09, Z:0.61 [[-9.67778424e-02 -9.95305794e-01 6.52784744e-04 2.14033877e+02] [ 9.95291216e-01 -9.67799591e-02 -5.38840591e-03 1.49091880e+02] [ 5.42628811e-03 1.28232622e-04 9.99985269e-01 6.06139086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97028169299995 meters 0.027099256938936483 Centerline is valid? [True, True] Translation: X:214.03, Y:149.12, Z:0.60 [[-1.00417684e-01 -9.94945054e-01 7.92751423e-04 2.14028070e+02] [ 9.94923651e-01 -1.00420725e-01 -6.52736834e-03 1.49115927e+02] [ 6.57398151e-03 1.33263930e-04 9.99978382e-01 6.04420487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000281693 meters 0.023727141979707673 Centerline is valid? [True, True] Translation: X:214.03, Y:149.14, Z:0.60 [[-1.03625866e-01 -9.94616062e-01 7.54097433e-04 2.14026751e+02] [ 9.94596778e-01 -1.03628553e-01 -6.19458288e-03 1.49140643e+02] [ 6.23937766e-03 1.08103863e-04 9.99980529e-01 6.04986578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03028169299995 meters 0.01764368047607687 Centerline is valid? [True, True] Translation: X:214.03, Y:149.16, Z:0.61 [[-1.11062117e-01 -9.93813313e-01 5.52662512e-04 2.14029433e+02] [ 9.93802991e-01 -1.11063483e-01 -4.52974673e-03 1.49164344e+02] [ 4.56310323e-03 4.61543957e-05 9.99989588e-01 6.07408755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060281693 meters 0.015036330211166769 Centerline is valid? [True, True] Translation: X:214.03, Y:149.19, Z:0.61 [[-1.15604678e-01 -9.93295165e-01 5.22329774e-04 2.14030331e+02] [ 9.93285986e-01 -1.15605856e-01 -4.27037373e-03 1.49187730e+02] [ 4.30212596e-03 2.51476634e-05 9.99990746e-01 6.07602934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09028169299995 meters 0.013547961957180927 Centerline is valid? [True, True] Translation: X:214.04, Y:149.21, Z:0.61 [[-1.24760032e-01 -9.92186776e-01 5.79640030e-04 2.14039167e+02] [ 9.92175519e-01 -1.24761377e-01 -4.72624551e-03 1.49212555e+02] [ 4.76163498e-03 -1.45418909e-05 9.99988663e-01 6.07204503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120281693 meters 0.015208596843214923 Centerline is valid? [True, True] Translation: X:214.04, Y:149.24, Z:0.61 [[-1.28821017e-01 -9.91667692e-01 5.78539743e-04 2.14041580e+02] [ 9.91656530e-01 -1.28822312e-01 -4.70521432e-03 1.49236483e+02] [ 4.74053785e-03 -3.24177784e-05 9.99988763e-01 6.07390952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15028169299995 meters 0.017241499964882296 Centerline is valid? [True, True] Translation: X:214.04, Y:149.26, Z:0.61 [[-1.32514806e-01 -9.91180864e-01 5.66815687e-04 2.14043247e+02] [ 9.91170198e-01 -1.32516010e-01 -4.59839750e-03 1.49260909e+02] [ 4.63295576e-03 -4.75449379e-05 9.99989267e-01 6.08032273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180281693 meters 0.021767982857230805 Centerline is valid? [True, True] Translation: X:214.05, Y:149.29, Z:0.61 [[-1.37902419e-01 -9.90445575e-01 6.97759464e-04 2.14050423e+02] [ 9.90429485e-01 -1.37904156e-01 -5.64606170e-03 1.49285406e+02] [ 5.68834076e-03 -8.75240182e-05 9.99983817e-01 6.06591583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21028169299996 meters 0.02345020903113451 Centerline is valid? [True, True] Translation: X:214.05, Y:149.31, Z:0.61 [[-1.39859584e-01 -9.90170988e-01 8.43126622e-04 2.14051365e+02] [ 9.90147610e-01 -1.39862076e-01 -6.80512891e-03 1.49310089e+02] [ 6.85616265e-03 -1.16942687e-04 9.99976489e-01 6.05102747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240281693 meters 0.024115235902352154 Centerline is valid? [True, True] Translation: X:214.05, Y:149.33, Z:0.60 [[-1.41037611e-01 -9.90003757e-01 9.76454254e-04 2.14050284e+02] [ 9.89972554e-01 -1.41040919e-01 -7.86141603e-03 1.49334431e+02] [ 7.92055141e-03 -1.42092422e-04 9.99968622e-01 6.03848752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27028169299996 meters 0.023188464360794327 Centerline is valid? [True, True] Translation: X:214.05, Y:149.36, Z:0.60 [[-1.39817745e-01 -9.90176733e-01 1.01791342e-03 2.14048978e+02] [ 9.90142995e-01 -1.39821385e-01 -8.17499903e-03 1.49357920e+02] [ 8.23701989e-03 -1.35130089e-04 9.99966066e-01 6.03438703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300281693 meters 0.019837283573371403 Centerline is valid? [True, True] Translation: X:214.04, Y:149.38, Z:0.61 [[-1.36679793e-01 -9.90614959e-01 7.98839139e-04 2.14044202e+02] [ 9.90594280e-01 -1.36682102e-01 -6.40115241e-03 1.49381297e+02] [ 6.45026435e-03 -8.35827035e-05 9.99979193e-01 6.06672366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33028169299996 meters 0.01861576007294605 Centerline is valid? [True, True] Translation: X:214.04, Y:149.40, Z:0.61 [[-1.35232673e-01 -9.90813597e-01 7.34331395e-04 2.14039927e+02] [ 9.90796210e-01 -1.35234651e-01 -5.87014183e-03 1.49404016e+02] [ 5.91552340e-03 -6.62622096e-05 9.99982501e-01 6.07987206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.360281693 meters 0.018049940553771168 Centerline is valid? [True, True] Translation: X:214.04, Y:149.43, Z:0.61 [[-1.33786702e-01 -9.91009906e-01 6.95934729e-04 2.14036560e+02] [ 9.90994368e-01 -1.33788501e-01 -5.54973410e-03 1.49426451e+02] [ 5.59294953e-03 -5.28132227e-05 9.99984358e-01 6.07417114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39028169299996 meters 0.01560413015603428 Centerline is valid? [True, True] Translation: X:214.03, Y:149.45, Z:0.61 [[-1.32035340e-01 -9.91244702e-01 7.80446364e-04 2.14029395e+02] [ 9.91225264e-01 -1.32037638e-01 -6.20787581e-03 1.49449329e+02] [ 6.25657230e-03 -4.60608383e-05 9.99980426e-01 6.06421606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.420281693 meters 0.015656574013505193 Centerline is valid? [True, True] Translation: X:214.03, Y:149.47, Z:0.60 [[-1.32166613e-01 -9.91227049e-01 9.60941939e-04 2.14027544e+02] [ 9.91197733e-01 -1.32170095e-01 -7.62360209e-03 1.49473089e+02] [ 7.68372839e-03 -5.51021962e-05 9.99970478e-01 6.04053525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45028169299997 meters 0.016458367263396043 Centerline is valid? [True, True] Translation: X:214.03, Y:149.50, Z:0.60 [[-1.32682132e-01 -9.91158127e-01 1.00966120e-03 2.14025917e+02] [ 9.91125927e-01 -1.32685960e-01 -7.98955306e-03 1.49496330e+02] [ 8.05287831e-03 -5.93695389e-05 9.99967573e-01 6.02665776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48028169299994 meters 0.01624386105431043 Centerline is valid? [True, True] Translation: X:214.02, Y:149.52, Z:0.60 [[-1.32694062e-01 -9.91156539e-01 1.00106404e-03 2.14022239e+02] [ 9.91125035e-01 -1.32697826e-01 -7.90271376e-03 1.49519987e+02] [ 7.96566544e-03 -5.64635632e-05 9.99968272e-01 6.03591539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51028169299997 meters 0.01501956379327635 Centerline is valid? [True, True] Translation: X:214.02, Y:149.54, Z:0.61 [[-1.31615562e-01 -9.91300489e-01 8.27521230e-04 2.14016131e+02] [ 9.91279058e-01 -1.31618158e-01 -6.51845185e-03 1.49543754e+02] [ 6.57066133e-03 -3.76252375e-05 9.99978412e-01 6.06900762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54028169299994 meters 0.014491685914257223 Centerline is valid? [True, True] Translation: X:214.01, Y:149.57, Z:0.61 [[-1.31345079e-01 -9.91336367e-01 8.23837598e-04 2.14010892e+02] [ 9.91315228e-01 -1.31347658e-01 -6.47397164e-03 1.49566830e+02] [ 6.52609266e-03 -3.36415607e-05 9.99978704e-01 6.07296982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57028169299997 meters 0.014864659867364627 Centerline is valid? [True, True] Translation: X:214.01, Y:149.59, Z:0.61 [[-1.31871317e-01 -9.91266486e-01 8.42468245e-04 2.14007609e+02] [ 9.91244489e-01 -1.31874004e-01 -6.60384341e-03 1.49589217e+02] [ 6.65726831e-03 -3.57655259e-05 9.99977840e-01 6.06106939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60028169299994 meters 0.014736976742125358 Centerline is valid? [True, True] Translation: X:214.00, Y:149.61, Z:0.61 [[-1.32633850e-01 -9.91164842e-01 7.19206784e-04 2.14004328e+02] [ 9.91148884e-01 -1.32635796e-01 -5.62461162e-03 1.49612704e+02] [ 5.67030986e-03 -3.31728944e-05 9.99983923e-01 6.08407587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630281693 meters 0.01578508340494578 Centerline is valid? [True, True] Translation: X:214.01, Y:149.64, Z:0.61 [[-1.34518901e-01 -9.90910894e-01 5.16323211e-04 2.14005306e+02] [ 9.90902701e-01 -1.34519888e-01 -4.02946312e-03 1.49635675e+02] [ 4.06229464e-03 -3.04128848e-05 9.99991748e-01 6.10428526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66028169299994 meters 0.016254154861126177 Centerline is valid? [True, True] Translation: X:214.00, Y:149.66, Z:0.61 [[-1.36076100e-01 -9.90698226e-01 5.66545329e-04 2.14004382e+02] [ 9.90688410e-01 -1.36077274e-01 -4.41024330e-03 1.49660043e+02] [ 4.44631415e-03 -3.88588171e-05 9.99990114e-01 6.09868950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690281693 meters 0.017503226642434404 Centerline is valid? [True, True] Translation: X:214.00, Y:149.68, Z:0.61 [[-1.38086522e-01 -9.90419928e-01 6.92036458e-04 2.14004607e+02] [ 9.90405354e-01 -1.38088245e-01 -5.37329208e-03 1.49684486e+02] [ 5.41737765e-03 -5.65826033e-05 9.99985324e-01 6.08524266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72028169299995 meters 0.02100126555199717 Centerline is valid? [True, True] Translation: X:214.01, Y:149.71, Z:0.61 [[-1.41853219e-01 -9.89887267e-01 9.28718364e-04 2.14011024e+02] [ 9.89861144e-01 -1.41856223e-01 -7.19217056e-03 1.49708636e+02] [ 7.25118254e-03 -1.00930326e-04 9.99973705e-01 6.05417218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750281693 meters 0.020674916602293026 Centerline is valid? [True, True] Translation: X:214.01, Y:149.73, Z:0.61 [[-1.43383645e-01 -9.89666737e-01 9.38618264e-04 2.14009669e+02] [ 9.89640166e-01 -1.43386674e-01 -7.25288548e-03 1.49733801e+02] [ 7.31252485e-03 -1.11050821e-04 9.99973257e-01 6.06873728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78028169299995 meters 0.02431863959748783 Centerline is valid? [True, True] Translation: X:214.02, Y:149.76, Z:0.61 [[-1.45411234e-01 -9.89371080e-01 6.61943389e-04 2.14017856e+02] [ 9.89357916e-01 -1.45412715e-01 -5.10453260e-03 1.49758375e+02] [ 5.14653192e-03 -8.73574560e-05 9.99986753e-01 6.10075611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810281693 meters 0.02356421843509204 Centerline is valid? [True, True] Translation: X:214.02, Y:149.78, Z:0.61 [[-1.46501956e-01 -9.89210231e-01 5.43103809e-04 2.14016617e+02] [ 9.89201407e-01 -1.46502944e-01 -4.17902475e-03 1.49782576e+02] [ 4.21350034e-03 -7.49962492e-05 9.99991120e-01 6.12126719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84028169299995 meters 0.023359244375210243 Centerline is valid? [True, True] Translation: X:214.02, Y:149.81, Z:0.61 [[-1.47328841e-01 -9.89087410e-01 5.54965193e-04 2.14016617e+02] [ 9.89078239e-01 -1.47329865e-01 -4.25999189e-03 1.49806361e+02] [ 4.29526729e-03 -7.87156696e-05 9.99990772e-01 6.12272085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870281693 meters 0.024529575278066457 Centerline is valid? [True, True] Translation: X:214.02, Y:149.83, Z:0.61 [[-1.49102412e-01 -9.88821517e-01 6.92100597e-04 2.14021907e+02] [ 9.88807323e-01 -1.49103981e-01 -5.29917369e-03 1.49832006e+02] [ 5.34313192e-03 -1.05765441e-04 9.99985720e-01 6.10030615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90028169299995 meters 0.027020140790686542 Centerline is valid? [True, True] Translation: X:214.03, Y:149.86, Z:0.61 [[-1.50057785e-01 -9.88676940e-01 7.55339009e-04 2.14025468e+02] [ 9.88660109e-01 -1.50059638e-01 -5.77011471e-03 1.49856043e+02] [ 5.81812526e-03 -1.19077084e-04 9.99983068e-01 6.09115072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930281693 meters 0.02687550386881424 Centerline is valid? [True, True] Translation: X:214.03, Y:149.88, Z:0.61 [[-1.50026706e-01 -9.88681388e-01 1.04906730e-03 2.14029392e+02] [ 9.88649091e-01 -1.50030286e-01 -7.99301845e-03 1.49880899e+02] [ 8.05994044e-03 -1.62006791e-04 9.99967505e-01 6.05863047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96028169299996 meters 0.024947139669283802 Centerline is valid? [True, True] Translation: X:214.03, Y:149.90, Z:0.60 [[-1.48732082e-01 -9.88876783e-01 1.21457765e-03 2.14026576e+02] [ 9.88833710e-01 -1.48736942e-01 -9.23128088e-03 1.49904492e+02] [ 9.30925191e-03 -1.71972304e-04 9.99956653e-01 6.04092946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990281693 meters 0.0230100257420332 Centerline is valid? [True, True] Translation: X:214.02, Y:149.93, Z:0.60 [[-1.46393440e-01 -9.89225665e-01 1.24314564e-03 2.14023021e+02] [ 9.89180769e-01 -1.46398641e-01 -9.42568779e-03 1.49927619e+02] [ 9.50612710e-03 -1.50163093e-04 9.99954805e-01 6.03688048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02028169299996 meters 0.016896982733544626 Centerline is valid? [True, True] Translation: X:214.01, Y:149.95, Z:0.61 [[-1.38856735e-01 -9.90311885e-01 1.08516750e-03 2.14013286e+02] [ 9.90277851e-01 -1.38860959e-01 -8.21041317e-03 1.49951290e+02] [ 8.28155715e-03 -6.54538247e-05 9.99965705e-01 6.06886131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050281693 meters 0.014815995860803557 Centerline is valid? [True, True] Translation: X:214.01, Y:149.97, Z:0.61 [[-1.34854441e-01 -9.90864888e-01 1.02616068e-03 2.14005744e+02] [ 9.90834610e-01 -1.34858342e-01 -7.74620315e-03 1.49974985e+02] [ 7.81382705e-03 -2.78543771e-05 9.99969471e-01 6.08262267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08028169299996 meters 0.015379443464626294 Centerline is valid? [True, True] Translation: X:213.99, Y:150.00, Z:0.61 [[-1.26831953e-01 -9.91923643e-01 1.06920679e-03 2.13992466e+02] [ 9.91890966e-01 -1.26836454e-01 -8.05142381e-03 1.49996044e+02] [ 8.12201203e-03 3.93587483e-05 9.99967015e-01 6.07439310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.110281693 meters 0.018559499531887163 Centerline is valid? [True, True] Translation: X:213.98, Y:150.02, Z:0.61 [[-1.22856772e-01 -9.92423796e-01 1.10575682e-03 2.13982088e+02] [ 9.92389032e-01 -1.22861724e-01 -8.30700942e-03 1.50017758e+02] [ 8.37992901e-03 7.67685756e-05 9.99964885e-01 6.05346516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14028169299996 meters 0.021476662304289632 Centerline is valid? [True, True] Translation: X:213.97, Y:150.04, Z:0.61 [[-1.19187307e-01 -9.92871224e-01 1.05803009e-03 2.13973202e+02] [ 9.92839552e-01 -1.19191956e-01 -7.93104285e-03 1.50040632e+02] [ 8.00061289e-03 1.05174488e-04 9.99967989e-01 6.06388091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.170281693 meters 0.027617437699523996 Centerline is valid? [True, True] Translation: X:213.96, Y:150.06, Z:0.61 [[-1.12460946e-01 -9.93655756e-01 8.79729462e-04 2.13959032e+02] [ 9.93633974e-01 -1.12464307e-01 -6.58075393e-03 1.50063352e+02] [ 6.63794219e-03 1.34051266e-04 9.99977960e-01 6.10311251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20028169299997 meters 0.032257124889455924 Centerline is valid? [True, True] Translation: X:213.95, Y:150.08, Z:0.61 [[-1.08574459e-01 -9.94088018e-01 7.73561904e-04 2.13947577e+02] [ 9.94071259e-01 -1.08577122e-01 -5.77418077e-03 1.50084973e+02] [ 5.82403504e-03 1.42047102e-04 9.99983030e-01 6.11971596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23028169299994 meters 0.033709947260730504 Centerline is valid? [True, True] Translation: X:213.94, Y:150.11, Z:0.61 [[-1.07934080e-01 -9.94157751e-01 7.74526831e-04 2.13942050e+02] [ 9.94141027e-01 -1.07936758e-01 -5.76839361e-03 1.50107400e+02] [ 5.81829313e-03 1.47382645e-04 9.99983063e-01 6.11334767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26028169299997 meters 0.03424326390239107 Centerline is valid? [True, True] Translation: X:213.94, Y:150.13, Z:0.61 [[-1.07666010e-01 -9.94186823e-01 7.68433519e-04 2.13937570e+02] [ 9.94170434e-01 -1.07668649e-01 -5.71047362e-03 1.50130784e+02] [ 5.76001383e-03 1.49129973e-04 9.99983400e-01 6.11509005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29028169299994 meters 0.03528129346859761 Centerline is valid? [True, True] Translation: X:213.93, Y:150.15, Z:0.61 [[-1.07343364e-01 -9.94221820e-01 6.12300623e-04 2.13932134e+02] [ 9.94211457e-01 -1.07345042e-01 -4.54095868e-03 1.50153659e+02] [ 4.58044764e-03 1.21314514e-04 9.99989502e-01 6.13622988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32028169299997 meters 0.035470432448645464 Centerline is valid? [True, True] Translation: X:213.93, Y:150.18, Z:0.61 [[-1.07635659e-01 -9.94190268e-01 5.25062581e-04 2.13928002e+02] [ 9.94182679e-01 -1.07636890e-01 -3.88596756e-03 1.50177392e+02] [ 3.91990723e-03 1.03739443e-04 9.99992312e-01 6.14540572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35028169299994 meters 0.035470432448645464 Centerline is valid? [True, True] Translation: X:213.92, Y:150.20, Z:0.61 [[-1.07924218e-01 -9.94158984e-01 5.26190082e-04 2.13924448e+02] [ 9.94151396e-01 -1.07925451e-01 -3.88581496e-03 1.50200446e+02] [ 3.91990716e-03 1.03739063e-04 9.99992312e-01 6.14586967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380281693 meters 0.03692320304623037 Centerline is valid? [True, True] Translation: X:213.92, Y:150.22, Z:0.61 [[-1.07579259e-01 -9.94196304e-01 6.42081879e-04 2.13918493e+02] [ 9.94185059e-01 -1.07581097e-01 -4.73035669e-03 1.50222689e+02] [ 4.77197901e-03 1.29459944e-04 9.99988606e-01 6.13497689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41028169299994 meters 0.0353305121756941 Centerline is valid? [True, True] Translation: X:213.92, Y:150.25, Z:0.61 [[-1.06713156e-01 -9.94289615e-01 6.80877509e-04 2.13916606e+02] [ 9.94277030e-01 -1.06715232e-01 -5.00468001e-03 1.50246437e+02] [ 5.04876136e-03 1.42915671e-04 9.99987245e-01 6.13542936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440281693 meters 0.03711099868205003 Centerline is valid? [True, True] Translation: X:213.91, Y:150.27, Z:0.61 [[-1.05093442e-01 -9.94462073e-01 7.43732323e-04 2.13909557e+02] [ 9.94447129e-01 -1.05095942e-01 -5.45450143e-03 1.50270198e+02] [ 5.50245805e-03 1.66370144e-04 9.99984848e-01 6.13704374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47028169299995 meters 0.04679426129840361 Centerline is valid? [True, True] Translation: X:213.89, Y:150.29, Z:0.61 [[-1.00343976e-01 -9.94952545e-01 7.21109880e-04 2.13888896e+02] [ 9.94938567e-01 -1.00346391e-01 -5.27733676e-03 1.50290889e+02] [ 5.32306042e-03 1.87911079e-04 9.99985815e-01 6.13613452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500281693 meters 0.049619782203726044 Centerline is valid? [True, True] Translation: X:213.88, Y:150.31, Z:0.61 [[-9.84498590e-02 -9.95141799e-01 6.51368434e-04 2.13879097e+02] [ 9.95130446e-01 -9.84518495e-02 -4.75706774e-03 1.50313315e+02] [ 4.79808537e-03 1.79863912e-04 9.99988473e-01 6.14372003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53028169299995 meters 0.04877733061706935 Centerline is valid? [True, True] Translation: X:213.87, Y:150.34, Z:0.61 [[-9.61110625e-02 -9.95370377e-01 6.89700932e-04 2.13873058e+02] [ 9.95357708e-01 -9.61133218e-02 -5.02608896e-03 1.50336911e+02] [ 5.06910952e-03 2.03436389e-04 9.99987131e-01 6.13775469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560281693 meters 0.049601658139253685 Centerline is valid? [True, True] Translation: X:213.87, Y:150.36, Z:0.61 [[-9.61269281e-02 -9.95368797e-01 7.56292738e-04 2.13866760e+02] [ 9.95353632e-01 -9.61296418e-02 -5.49895523e-03 1.50359359e+02] [ 5.54619060e-03 2.24181050e-04 9.99984595e-01 6.12487993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59028169299995 meters 0.04993656360981 Centerline is valid? [True, True] Translation: X:213.86, Y:150.38, Z:0.61 [[-9.67552236e-02 -9.95307847e-01 8.46769373e-04 2.13860534e+02] [ 9.95288923e-01 -9.67586098e-02 -6.14255440e-03 1.50381704e+02] [ 6.19566482e-03 2.48455953e-04 9.99980776e-01 6.11753656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620281693 meters 0.04297373060837332 Centerline is valid? [True, True] Translation: X:213.86, Y:150.41, Z:0.61 [[-9.99963439e-02 -9.94987477e-01 8.07428502e-04 2.13860688e+02] [ 9.94970333e-01 -9.99993641e-02 -5.84490122e-03 1.50406622e+02] [ 5.89634585e-03 2.18898653e-04 9.99982592e-01 6.12783955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65028169299995 meters 0.040818279678124576 Centerline is valid? [True, True] Translation: X:213.86, Y:150.43, Z:0.62 [[-1.03519291e-01 -9.94627248e-01 6.27658593e-04 2.13855653e+02] [ 9.94616922e-01 -1.03521078e-01 -4.53479601e-03 1.50429371e+02] [ 4.57540757e-03 1.54840989e-04 9.99989521e-01 6.15472803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680281693 meters 0.04194004797636892 Centerline is valid? [True, True] Translation: X:213.85, Y:150.45, Z:0.62 [[-1.04978523e-01 -9.94474349e-01 5.28495006e-04 2.13848571e+02] [ 9.94467056e-01 -1.04979779e-01 -3.81061704e-03 1.50452004e+02] [ 3.84504219e-03 1.25537922e-04 9.99992600e-01 6.16988605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71028169299996 meters 0.03878402363092594 Centerline is valid? [True, True] Translation: X:213.85, Y:150.48, Z:0.62 [[-1.06344829e-01 -9.94329205e-01 4.58741036e-04 2.13846713e+02] [ 9.94323731e-01 -1.06345766e-01 -3.30097902e-03 1.50476167e+02] [ 3.33104501e-03 1.05095050e-04 9.99994447e-01 6.17972144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740281693 meters 0.03601774204546916 Centerline is valid? [True, True] Translation: X:213.84, Y:150.50, Z:0.62 [[-1.08374610e-01 -9.94109921e-01 6.40310613e-04 2.13841513e+02] [ 9.94099306e-01 -1.08376413e-01 -4.59607305e-03 1.50500277e+02] [ 4.63839638e-03 1.38434713e-04 9.99989233e-01 6.16058633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77028169299996 meters 0.03725861933491402 Centerline is valid? [True, True] Translation: X:213.83, Y:150.52, Z:0.61 [[-1.09190396e-01 -9.94020557e-01 7.67460198e-04 2.13834085e+02] [ 9.94005379e-01 -1.09192971e-01 -5.49564984e-03 1.50522129e+02] [ 5.54659017e-03 1.62787385e-04 9.99984604e-01 6.13659068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800281693 meters 0.03604728500281928 Centerline is valid? [True, True] Translation: X:213.83, Y:150.55, Z:0.61 [[-1.10521485e-01 -9.93873435e-01 7.72580302e-04 2.13828461e+02] [ 9.93858117e-01 -1.10524073e-01 -5.52015328e-03 1.50545302e+02] [ 5.57172242e-03 1.57739666e-04 9.99984465e-01 6.13794948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83028169299996 meters 0.036816386938895565 Centerline is valid? [True, True] Translation: X:213.82, Y:150.57, Z:0.61 [[-1.11043884e-01 -9.93815250e-01 7.10764526e-04 2.13822557e+02] [ 9.93802338e-01 -1.11046066e-01 -5.06789416e-03 1.50567992e+02] [ 5.11547810e-03 1.43600798e-04 9.99986906e-01 6.14276433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.860281693 meters 0.03592778945335852 Centerline is valid? [True, True] Translation: X:213.82, Y:150.59, Z:0.62 [[-1.11927747e-01 -9.93716121e-01 6.70774133e-04 2.13818866e+02] [ 9.93704667e-01 -1.11929679e-01 -4.77301666e-03 1.50592059e+02] [ 4.81810313e-03 1.32318384e-04 9.99988384e-01 6.15038054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89028169299996 meters 0.032224176792011894 Centerline is valid? [True, True] Translation: X:213.82, Y:150.62, Z:0.62 [[-1.14121558e-01 -9.93466569e-01 6.68502639e-04 2.13818500e+02] [ 9.93455236e-01 -1.14123450e-01 -4.74689866e-03 1.50616049e+02] [ 4.79217695e-03 1.22403977e-04 9.99988510e-01 6.15096293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.920281693 meters 0.03329510204005461 Centerline is valid? [True, True] Translation: X:213.81, Y:150.64, Z:0.61 [[-1.15834497e-01 -9.93268246e-01 7.49010438e-04 2.13811365e+02] [ 9.93254078e-01 -1.15836847e-01 -5.30671519e-03 1.50638090e+02] [ 5.35775469e-03 1.29256987e-04 9.99985639e-01 6.13645425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95028169299997 meters 0.031021031130158548 Centerline is valid? [True, True] Translation: X:213.81, Y:150.66, Z:0.61 [[-1.16188061e-01 -9.93226922e-01 7.84977111e-04 2.13809950e+02] [ 9.93211429e-01 -1.16190634e-01 -5.54923934e-03 1.50662130e+02] [ 5.60286090e-03 1.34892880e-04 9.99984295e-01 6.13912386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98028169299994 meters 0.03167971670325213 Centerline is valid? [True, True] Translation: X:213.80, Y:150.68, Z:0.61 [[-1.16252743e-01 -9.93219316e-01 8.30569602e-04 2.13803844e+02] [ 9.93202051e-01 -1.16255621e-01 -5.85811091e-03 1.50684357e+02] [ 5.91494730e-03 1.43901970e-04 9.99982496e-01 6.14087451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01028169299997 meters 0.0320327782680145 Centerline is valid? [True, True] Translation: X:213.80, Y:150.71, Z:0.61 [[-1.16141554e-01 -9.93232341e-01 8.10214672e-04 2.13797393e+02] [ 9.93215983e-01 -1.16144293e-01 -5.70217638e-03 1.50707878e+02] [ 5.75768781e-03 1.42458533e-04 9.99983414e-01 6.14926461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04028169299994 meters 0.035231822811934335 Centerline is valid? [True, True] Translation: X:213.78, Y:150.73, Z:0.62 [[-1.15099366e-01 -9.93353723e-01 7.18428095e-04 2.13783162e+02] [ 9.93340918e-01 -1.15101532e-01 -5.04556342e-03 1.50728747e+02] [ 5.09472138e-03 1.32902871e-04 9.99987013e-01 6.15936725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07028169299997 meters 0.037509925246434046 Centerline is valid? [True, True] Translation: X:213.77, Y:150.75, Z:0.62 [[-1.13168179e-01 -9.93575651e-01 6.23550110e-04 2.13772061e+02] [ 9.93566047e-01 -1.13169827e-01 -4.37030403e-03 1.50751748e+02] [ 4.41279473e-03 1.24958871e-04 9.99990256e-01 6.15892885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10028169299994 meters 0.03619428129074895 Centerline is valid? [True, True] Translation: X:213.77, Y:150.77, Z:0.62 [[-1.13097498e-01 -9.93583696e-01 6.28034431e-04 2.13768745e+02] [ 9.93573997e-01 -1.13099170e-01 -4.39211969e-03 1.50774943e+02] [ 4.43496868e-03 1.27260932e-04 9.99990157e-01 6.16341299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130281693 meters 0.03742885021438656 Centerline is valid? [True, True] Translation: X:213.76, Y:150.80, Z:0.62 [[-1.13899697e-01 -9.93492076e-01 5.95394069e-04 2.13761556e+02] [ 9.93483394e-01 -1.13901192e-01 -4.15501916e-03 1.50797530e+02] [ 4.19579470e-03 1.18258699e-04 9.99991191e-01 6.16790862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16028169299994 meters 0.03380936465356165 Centerline is valid? [True, True] Translation: X:213.76, Y:150.82, Z:0.62 [[-1.16367649e-01 -9.93206052e-01 5.55706027e-04 2.13758427e+02] [ 9.93198516e-01 -1.16368931e-01 -3.87032853e-03 1.50821782e+02] [ 3.90870064e-03 1.01545370e-04 9.99992356e-01 6.17517036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190281693 meters 0.03240242185666199 Centerline is valid? [True, True] Translation: X:213.75, Y:150.84, Z:0.62 [[-1.18435220e-01 -9.92961585e-01 6.24257682e-04 2.13754804e+02] [ 9.92952114e-01 -1.18436817e-01 -4.33826293e-03 1.50844786e+02] [ 4.38166353e-03 1.06054862e-04 9.99990395e-01 6.15958702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22028169299995 meters 0.028373953925989463 Centerline is valid? [True, True] Translation: X:213.75, Y:150.87, Z:0.61 [[-1.22532691e-01 -9.92464225e-01 7.07893566e-04 2.13752614e+02] [ 9.92452089e-01 -1.22534694e-01 -4.90916553e-03 1.50869423e+02] [ 4.95891268e-03 1.01017185e-04 9.99987699e-01 6.14755719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250281693 meters 0.027512502300376503 Centerline is valid? [True, True] Translation: X:213.75, Y:150.89, Z:0.62 [[-1.23985257e-01 -9.92283857e-01 6.35057517e-04 2.13747680e+02] [ 9.92274125e-01 -1.23986854e-01 -4.39554643e-03 1.50892253e+02] [ 4.44036855e-03 8.51681897e-05 9.99990138e-01 6.16392498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28028169299995 meters 0.027360951159609594 Centerline is valid? [True, True] Translation: X:213.74, Y:150.91, Z:0.62 [[-1.24696793e-01 -9.92194792e-01 4.52667926e-04 2.13741148e+02] [ 9.92189864e-01 -1.24697601e-01 -3.12766281e-03 1.50914707e+02] [ 3.15969736e-03 5.91230056e-05 9.99995006e-01 6.19347833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310281693 meters 0.027629441313182304 Centerline is valid? [True, True] Translation: X:213.73, Y:150.94, Z:0.62 [[-1.24886877e-01 -9.92170980e-01 1.20734521e-04 2.13731555e+02] [ 9.92170628e-01 -1.24886934e-01 -8.35396917e-04 1.50937527e+02] [ 8.43934742e-04 1.54591336e-05 9.99999644e-01 6.24021983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34028169299995 meters 0.027764688652070074 Centerline is valid? [True, True] Translation: X:213.72, Y:150.96, Z:0.62 [[-1.24881790e-01 -9.92171623e-01 9.94697650e-05 2.13724646e+02] [ 9.92171384e-01 -1.24881829e-01 -6.87579590e-04 1.50960387e+02] [ 6.94618924e-04 1.28248846e-05 9.99999759e-01 6.24023983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370281693 meters 0.02554469902123173 Centerline is valid? [True, True] Translation: X:213.72, Y:150.98, Z:0.62 [[-1.25514094e-01 -9.92091812e-01 2.22939255e-04 2.13716785e+02] [ 9.92090628e-01 -1.25514288e-01 -1.53297007e-03 1.50983164e+02] [ 1.54882911e-03 2.87665968e-05 9.99998800e-01 6.21582099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40028169299995 meters 0.02426658562272397 Centerline is valid? [True, True] Translation: X:213.71, Y:151.01, Z:0.62 [[-1.26867879e-01 -9.91919584e-01 2.81350101e-04 2.13711027e+02] [ 9.91917709e-01 -1.26868187e-01 -1.92935656e-03 1.51006376e+02] [ 1.94946093e-03 3.43027725e-05 9.99998099e-01 6.20506023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430281693 meters 0.02428470747646406 Centerline is valid? [True, True] Translation: X:213.70, Y:151.03, Z:0.62 [[-1.29052630e-01 -9.91637706e-01 2.82290439e-04 2.13704459e+02] [ 9.91635825e-01 -1.29052935e-01 -1.93168679e-03 1.51029218e+02] [ 1.95196387e-03 3.06400521e-05 9.99998094e-01 6.19998616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46028169299996 meters 0.018655703567555873 Centerline is valid? [True, True] Translation: X:213.71, Y:151.05, Z:0.62 [[-1.35266788e-01 -9.90809141e-01 3.76152908e-04 2.13707013e+02] [ 9.90805816e-01 -1.35267308e-01 -2.56725567e-03 1.51052651e+02] [ 2.59454157e-03 2.54300617e-05 9.99996634e-01 6.18635133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490281693 meters 0.015245397411856605 Centerline is valid? [True, True] Translation: X:213.71, Y:151.08, Z:0.62 [[-1.39145982e-01 -9.90271776e-01 4.53686635e-04 2.13709233e+02] [ 9.90266957e-01 -1.39146721e-01 -3.08919337e-03 1.51077401e+02] [ 3.12227001e-03 1.94220374e-05 9.99995126e-01 6.18316145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52028169299996 meters 0.013602495651968886 Centerline is valid? [True, True] Translation: X:213.71, Y:151.10, Z:0.61 [[-1.44973999e-01 -9.89435188e-01 7.40053152e-04 2.13711820e+02] [ 9.89422424e-01 -1.44975888e-01 -5.02573311e-03 1.51100677e+02] [ 5.07992705e-03 3.62455837e-06 9.99987097e-01 6.14665390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550281693 meters 0.013516148362601897 Centerline is valid? [True, True] Translation: X:213.71, Y:151.12, Z:0.61 [[-1.46939279e-01 -9.89145155e-01 8.43052717e-04 2.13709199e+02] [ 9.89128660e-01 -1.46941697e-01 -5.71242057e-03 1.51124428e+02] [ 5.77429272e-03 -5.49135368e-06 9.99983329e-01 6.13520201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58028169299996 meters 0.01384143882364006 Centerline is valid? [True, True] Translation: X:213.71, Y:151.15, Z:0.61 [[-1.48412521e-01 -9.88925176e-01 8.48772955e-04 2.13705257e+02] [ 9.88908523e-01 -1.48414947e-01 -5.73904788e-03 1.51148111e+02] [ 5.80145953e-03 -1.23877543e-05 9.99983171e-01 6.13998344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.610281693 meters 0.014301508011646548 Centerline is valid? [True, True] Translation: X:213.70, Y:151.17, Z:0.62 [[-1.50419053e-01 -9.88622146e-01 6.00871754e-04 2.13700050e+02] [ 9.88613828e-01 -1.50420253e-01 -4.05556839e-03 1.51171228e+02] [ 4.09980800e-03 -1.60046326e-05 9.99991596e-01 6.16386482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64028169299996 meters 0.01444110031070871 Centerline is valid? [True, True] Translation: X:213.70, Y:151.20, Z:0.62 [[-1.51723379e-01 -9.88422874e-01 4.87963164e-04 2.13697266e+02] [ 9.88417408e-01 -1.51724163e-01 -3.28737816e-03 1.51195224e+02] [ 3.32335557e-03 -1.64608373e-05 9.99994478e-01 6.17353788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.670281693 meters 0.01619774799688613 Centerline is valid? [True, True] Translation: X:213.70, Y:151.22, Z:0.62 [[-1.55421860e-01 -9.87848000e-01 6.11311060e-04 2.13700420e+02] [ 9.87839457e-01 -1.55423058e-01 -4.10862490e-03 1.51218496e+02] [ 4.15370873e-03 -3.46929370e-05 9.99991373e-01 6.15408295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70028169299997 meters 0.017351863968695376 Centerline is valid? [True, True] Translation: X:213.70, Y:151.24, Z:0.61 [[-1.57428500e-01 -9.87530054e-01 8.12469005e-04 2.13698484e+02] [ 9.87515023e-01 -1.57430587e-01 -5.44878159e-03 1.51243593e+02] [ 5.50874304e-03 -5.54681637e-05 9.99984825e-01 6.13141359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73028169299994 meters 0.019013020405369476 Centerline is valid? [True, True] Translation: X:213.70, Y:151.27, Z:0.61 [[-1.59773486e-01 -9.87153199e-01 9.97767346e-04 2.13697667e+02] [ 9.87130614e-01 -1.59776580e-01 -6.67795939e-03 1.51266976e+02] [ 6.75158883e-03 -8.20341576e-05 9.99977204e-01 6.10826612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76028169299997 meters 0.02687093401629084 Centerline is valid? [True, True] Translation: X:213.71, Y:151.29, Z:0.61 [[-1.64264601e-01 -9.86415948e-01 8.47831452e-04 2.13709417e+02] [ 9.86399696e-01 -1.64266763e-01 -5.66313214e-03 1.51291670e+02] [ 5.72547438e-03 -9.39514572e-05 9.99983605e-01 6.10872203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79028169299994 meters 0.02411665890891614 Centerline is valid? [True, True] Translation: X:213.70, Y:151.32, Z:0.62 [[-1.66095685e-01 -9.86109399e-01 6.90769713e-04 2.13704011e+02] [ 9.86098649e-01 -1.66097100e-01 -4.60521961e-03 1.51315440e+02] [ 4.65598519e-03 -8.37400244e-05 9.99989157e-01 6.15104630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82028169299997 meters 0.031210819518441606 Centerline is valid? [True, True] Translation: X:213.71, Y:151.34, Z:0.62 [[-1.68015437e-01 -9.85784186e-01 5.93540996e-04 2.13714204e+02] [ 9.85776277e-01 -1.68016467e-01 -3.94953074e-03 1.51340243e+02] [ 3.99310960e-03 -7.84834993e-05 9.99992024e-01 6.15992968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85028169299994 meters 0.02588203665106887 Centerline is valid? [True, True] Translation: X:213.70, Y:151.36, Z:0.62 [[-1.68958424e-01 -9.85622991e-01 6.08924284e-04 2.13704671e+02] [ 9.85614700e-01 -1.68959501e-01 -4.04349249e-03 1.51363470e+02] [ 4.08824270e-03 -8.30173944e-05 9.99991640e-01 6.16621685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880281693 meters 0.026581476345491694 Centerline is valid? [True, True] Translation: X:213.71, Y:151.39, Z:0.62 [[-1.69624754e-01 -9.85508502e-01 6.60508301e-04 2.13710206e+02] [ 9.85498788e-01 -1.69626015e-01 -4.37653768e-03 1.51387309e+02] [ 4.42515448e-03 -9.14389967e-05 9.99990205e-01 6.15743229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91028169299994 meters 0.02599461977014721 Centerline is valid? [True, True] Translation: X:213.71, Y:151.41, Z:0.62 [[-1.69440884e-01 -9.85540190e-01 5.66933928e-04 2.13710040e+02] [ 9.85533061e-01 -1.69441815e-01 -3.74925478e-03 1.51411027e+02] [ 3.79110358e-03 -7.65449155e-05 9.99992811e-01 6.17062048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940281693 meters 0.024974182340628887 Centerline is valid? [True, True] Translation: X:213.71, Y:151.43, Z:0.62 [[-1.68577354e-01 -9.85688309e-01 4.82913694e-04 2.13708163e+02] [ 9.85683156e-01 -1.68578034e-01 -3.18771857e-03 1.51434756e+02] [ 3.22350557e-03 -6.13772681e-05 9.99994803e-01 6.18922368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97028169299995 meters 0.02106849803455428 Centerline is valid? [True, True] Translation: X:213.70, Y:151.46, Z:0.62 [[-1.64461985e-01 -9.86383375e-01 3.06077519e-04 2.13702235e+02] [ 9.86381311e-01 -1.64462267e-01 -2.01781720e-03 1.51457264e+02] [ 2.04067954e-03 -2.99450774e-05 9.99997917e-01 6.21376466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000281693 meters 0.018455573595255244 Centerline is valid? [True, True] Translation: X:213.70, Y:151.48, Z:0.62 [[-1.61597459e-01 -9.86856707e-01 3.18973612e-04 2.13695841e+02] [ 9.86854476e-01 -1.61597772e-01 -2.09837482e-03 1.51480795e+02] [ 2.12234069e-03 -2.43115022e-05 9.99997748e-01 6.21162304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03028169299995 meters 0.013927240860149761 Centerline is valid? [True, True] Translation: X:213.68, Y:151.50, Z:0.62 [[-1.54401262e-01 -9.88008083e-01 5.27168513e-04 2.13684814e+02] [ 9.88002030e-01 -1.54402161e-01 -3.45854976e-03 1.51502408e+02] [ 3.49847108e-03 -1.31608863e-05 9.99993880e-01 6.18757471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060281693 meters 0.013305780133503779 Centerline is valid? [True, True] Translation: X:213.68, Y:151.52, Z:0.62 [[-1.51044969e-01 -9.88526656e-01 6.84328135e-04 2.13675715e+02] [ 9.88516507e-01 -1.51046519e-01 -4.47938986e-03 1.51524596e+02] [ 4.53136166e-03 -1.19644871e-07 9.99989733e-01 6.18042333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09028169299995 meters 0.01554546678674091 Centerline is valid? [True, True] Translation: X:213.66, Y:151.55, Z:0.61 [[-1.45213215e-01 -9.89399947e-01 9.31424280e-04 2.13662229e+02] [ 9.89381244e-01 -1.45216197e-01 -6.08352865e-03 1.51546233e+02] [ 6.15430082e-03 3.81249621e-05 9.99981061e-01 6.14831018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120281693 meters 0.01678397071553013 Centerline is valid? [True, True] Translation: X:213.66, Y:151.57, Z:0.61 [[-1.43350593e-01 -9.89671408e-01 1.05485989e-03 2.13656166e+02] [ 9.89647525e-01 -1.43354462e-01 -6.87562989e-03 1.51569931e+02] [ 6.95583318e-03 5.83138597e-05 9.99975806e-01 6.13524623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15028169299995 meters 0.01988199848079884 Centerline is valid? [True, True] Translation: X:213.65, Y:151.59, Z:0.61 [[-1.40611728e-01 -9.90064273e-01 1.03812383e-03 2.13647251e+02] [ 9.90041246e-01 -1.40615538e-01 -6.75291917e-03 1.51591456e+02] [ 6.83180035e-03 7.82457799e-05 9.99976660e-01 6.12345375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180281693 meters 0.02062986057692131 Centerline is valid? [True, True] Translation: X:213.64, Y:151.61, Z:0.61 [[-1.39958167e-01 -9.90157001e-01 9.07944814e-04 2.13640127e+02] [ 9.90139456e-01 -1.39961092e-01 -5.89495317e-03 1.51614224e+02] [ 5.96400610e-03 7.39451457e-05 9.99982212e-01 6.14283917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21028169299996 meters 0.021476752107671453 Centerline is valid? [True, True] Translation: X:213.63, Y:151.64, Z:0.62 [[-1.39460700e-01 -9.90227293e-01 7.88223721e-04 2.13632665e+02] [ 9.90214119e-01 -1.39462911e-01 -5.10824397e-03 1.51637256e+02] [ 5.16825058e-03 6.81109749e-05 9.99986642e-01 6.15444734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240281693 meters 0.023109001430218417 Centerline is valid? [True, True] Translation: X:213.62, Y:151.66, Z:0.62 [[-1.38247420e-01 -9.90397451e-01 7.35089017e-04 2.13624033e+02] [ 9.90386039e-01 -1.38249356e-01 -4.75492455e-03 1.51659253e+02] [ 4.81089074e-03 7.06658479e-05 9.99988425e-01 6.16070873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27028169299996 meters 0.023109001430218417 Centerline is valid? [True, True] Translation: X:213.62, Y:151.68, Z:0.62 [[-1.38534199e-01 -9.90357377e-01 7.36473568e-04 2.13620030e+02] [ 9.90345965e-01 -1.38536138e-01 -4.75471021e-03 1.51682210e+02] [ 4.81089054e-03 7.06736576e-05 9.99988425e-01 6.16117257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300281693 meters 0.024372173617636675 Centerline is valid? [True, True] Translation: X:213.61, Y:151.71, Z:0.61 [[-1.37824175e-01 -9.90456337e-01 8.61428812e-04 2.13613434e+02] [ 9.90440789e-01 -1.37826838e-01 -5.55036558e-03 1.51705293e+02] [ 5.61612277e-03 8.82196766e-05 9.99984226e-01 6.14416533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33028169299996 meters 0.02509721544720485 Centerline is valid? [True, True] Translation: X:213.61, Y:151.73, Z:0.61 [[-1.36602772e-01 -9.90625375e-01 1.02411192e-03 2.13605783e+02] [ 9.90603492e-01 -1.36606563e-01 -6.58546980e-03 1.51728304e+02] [ 6.66363390e-03 1.14895417e-04 9.99977791e-01 6.12407871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.360281693 meters 0.02704420350914667 Centerline is valid? [True, True] Translation: X:213.60, Y:151.75, Z:0.61 [[-1.36501345e-01 -9.90639343e-01 1.03685445e-03 2.13597777e+02] [ 9.90617001e-01 -1.36505231e-01 -6.65421956e-03 1.51749797e+02] [ 6.73346775e-03 1.18815730e-04 9.99977323e-01 6.11240743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39028169299996 meters 0.024733935412905122 Centerline is valid? [True, True] Translation: X:213.60, Y:151.77, Z:0.61 [[-1.36634955e-01 -9.90620906e-01 1.05327399e-03 2.13596207e+02] [ 9.90597944e-01 -1.36638960e-01 -6.74600140e-03 1.51773355e+02] [ 6.82664829e-03 1.21631457e-04 9.99976691e-01 6.12018591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.420281693 meters 0.023273383907067697 Centerline is valid? [True, True] Translation: X:213.59, Y:151.80, Z:0.61 [[-1.38520989e-01 -9.90359027e-01 9.66058482e-04 2.13592096e+02] [ 9.90339776e-01 -1.38524320e-01 -6.17583301e-03 1.51797559e+02] [ 6.25011456e-03 1.01243646e-04 9.99980463e-01 6.13779413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45028169299997 meters 0.02456207759992287 Centerline is valid? [True, True] Translation: X:213.58, Y:151.82, Z:0.61 [[-1.39832558e-01 -9.90174803e-01 8.45534649e-04 2.13584337e+02] [ 9.90160109e-01 -1.39835090e-01 -5.39509741e-03 1.51819930e+02] [ 5.46032493e-03 8.28044092e-05 9.99985089e-01 6.14752257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48028169299994 meters 0.020353211746178334 Centerline is valid? [True, True] Translation: X:213.58, Y:151.84, Z:0.62 [[-1.42004593e-01 -9.89865890e-01 4.64570042e-04 2.13582308e+02] [ 9.89861464e-01 -1.42005348e-01 -2.96012649e-03 1.51843995e+02] [ 2.99609967e-03 3.95084231e-05 9.99995511e-01 6.20045536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51028169299997 meters 0.018611999354346556 Centerline is valid? [True, True] Translation: X:213.58, Y:151.87, Z:0.62 [[-1.43467440e-01 -9.89654968e-01 3.72723824e-04 2.13579481e+02] [ 9.89652128e-01 -1.43467921e-01 -2.37103815e-03 1.51868662e+02] [ 2.39998359e-03 2.87001529e-05 9.99997120e-01 6.21131634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54028169299994 meters 0.01711042135707795 Centerline is valid? [True, True] Translation: X:213.58, Y:151.89, Z:0.62 [[-1.46973536e-01 -9.89140351e-01 3.82249742e-04 2.13575780e+02] [ 9.89137374e-01 -1.46974032e-01 -2.42686621e-03 1.51892012e+02] [ 2.45669208e-03 2.14123971e-05 9.99996982e-01 6.20068074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57028169299997 meters 0.01596693771503865 Centerline is valid? [True, True] Translation: X:213.57, Y:151.91, Z:0.62 [[-1.49513039e-01 -9.88759682e-01 3.78728730e-04 2.13573291e+02] [ 9.88756769e-01 -1.49513518e-01 -2.39980778e-03 1.51914729e+02] [ 2.42945824e-03 1.56680416e-05 9.99997049e-01 6.19365849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60028169299994 meters 0.014300571818929434 Centerline is valid? [True, True] Translation: X:213.57, Y:151.94, Z:0.62 [[-1.52330805e-01 -9.88329521e-01 2.89842254e-04 2.13573063e+02] [ 9.88327820e-01 -1.52331080e-01 -1.83385914e-03 1.51939191e+02] [ 1.85660911e-03 7.10592381e-06 9.99998276e-01 6.20178900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630281693 meters 0.01321953356624559 Centerline is valid? [True, True] Translation: X:213.57, Y:151.96, Z:0.62 [[-1.57909986e-01 -9.87453500e-01 1.49603173e-04 2.13574597e+02] [ 9.87453046e-01 -1.57910057e-01 -9.46595896e-04 1.51963818e+02] [ 9.58343275e-04 -1.75083571e-06 9.99999541e-01 6.22700333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66028169299994 meters 0.01386086603165684 Centerline is valid? [True, True] Translation: X:213.57, Y:151.99, Z:0.62 [[-1.60369224e-01 -9.87057068e-01 2.37537513e-04 2.13572758e+02] [ 9.87055931e-01 -1.60369400e-01 -1.49794087e-03 1.51986787e+02] [ 1.51664688e-03 -5.76080521e-06 9.99998850e-01 6.22057303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690281693 meters 0.01576121454982534 Centerline is valid? [True, True] Translation: X:213.57, Y:152.01, Z:0.62 [[-1.63959352e-01 -9.86466959e-01 5.20155691e-04 2.13572732e+02] [ 9.86461541e-01 -1.63960175e-01 -3.26930489e-03 1.52011101e+02] [ 3.31034607e-03 -2.29195262e-05 9.99994521e-01 6.18511338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72028169299995 meters 0.01591526010169911 Centerline is valid? [True, True] Translation: X:213.57, Y:152.03, Z:0.62 [[-1.65246489e-01 -9.86252184e-01 4.77167638e-04 2.13568662e+02] [ 9.86247640e-01 -1.65247177e-01 -2.99382733e-03 1.52034929e+02] [ 3.03151935e-03 -2.41139995e-05 9.99995405e-01 6.19229644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750281693 meters 0.01633305411107575 Centerline is valid? [True, True] Translation: X:213.56, Y:152.06, Z:0.62 [[-1.66268351e-01 -9.86080487e-01 3.29633844e-04 2.13564353e+02] [ 9.86078324e-01 -1.66268677e-01 -2.06532868e-03 1.52058259e+02] [ 2.09138809e-03 -1.83540041e-05 9.99997813e-01 6.20709652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78028169299995 meters 0.016209790955051248 Centerline is valid? [True, True] Translation: X:213.56, Y:152.08, Z:0.62 [[-1.66163283e-01 -9.86098168e-01 4.07618250e-04 2.13559168e+02] [ 9.86094876e-01 -1.66163782e-01 -2.54809584e-03 1.52081743e+02] [ 2.58040403e-03 -2.14497028e-05 9.99996671e-01 6.20154251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810281693 meters 0.015310328952229951 Centerline is valid? [True, True] Translation: X:213.55, Y:152.11, Z:0.62 [[-1.65493590e-01 -9.86210695e-01 5.80196673e-04 2.13552306e+02] [ 9.86204057e-01 -1.65494605e-01 -3.61849630e-03 1.52105803e+02] [ 3.66461917e-03 -2.66456310e-05 9.99993285e-01 6.18839927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84028169299995 meters 0.014075202466106959 Centerline is valid? [True, True] Translation: X:213.54, Y:152.13, Z:0.62 [[-1.62581641e-01 -9.86694771e-01 7.98996897e-04 2.13542398e+02] [ 9.86682245e-01 -1.62583603e-01 -4.97196580e-03 1.52127595e+02] [ 5.03571645e-03 -1.99943055e-05 9.99987321e-01 6.17049657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870281693 meters 0.013557384177539258 Centerline is valid? [True, True] Translation: X:213.53, Y:152.15, Z:0.62 [[-1.60913030e-01 -9.86968301e-01 7.55353126e-04 2.13533459e+02] [ 9.86957152e-01 -1.60914803e-01 -4.69115377e-03 1.52149439e+02] [ 4.75156756e-03 -9.36659705e-06 9.99988711e-01 6.17213232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90028169299995 meters 0.01373857908687851 Centerline is valid? [True, True] Translation: X:213.52, Y:152.17, Z:0.62 [[-1.56671929e-01 -9.87650487e-01 6.49073404e-04 2.13518341e+02] [ 9.87642291e-01 -1.56673273e-01 -4.02366677e-03 1.52169872e+02] [ 4.07566890e-03 1.06567088e-05 9.99991694e-01 6.18279312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930281693 meters 0.014584031106713522 Centerline is valid? [True, True] Translation: X:213.51, Y:152.19, Z:0.62 [[-1.54871000e-01 -9.87934439e-01 7.19307160e-04 2.13509263e+02] [ 9.87924417e-01 -1.54872669e-01 -4.45005545e-03 1.52192844e+02] [ 4.50776406e-03 2.14365668e-05 9.99989840e-01 6.17536486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96028169299996 meters 0.015138279409397356 Centerline is valid? [True, True] Translation: X:213.50, Y:152.22, Z:0.62 [[-1.53478297e-01 -9.88151676e-01 8.22838158e-04 2.13501829e+02] [ 9.88138617e-01 -1.53480499e-01 -5.08032864e-03 1.52216082e+02] [ 5.14642487e-03 3.33579732e-05 9.99986757e-01 6.16866072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990281693 meters 0.016547462670909004 Centerline is valid? [True, True] Translation: X:213.49, Y:152.24, Z:0.62 [[-1.51717111e-01 -9.88423639e-01 7.92849561e-04 2.13491893e+02] [ 9.88411560e-01 -1.51719177e-01 -4.88669960e-03 1.52238447e+02] [ 4.95041988e-03 4.22657236e-05 9.99987746e-01 6.17048189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02028169299996 meters 0.016778566257954333 Centerline is valid? [True, True] Translation: X:213.49, Y:152.26, Z:0.62 [[-1.51658248e-01 -9.88432737e-01 7.07159540e-04 2.13485598e+02] [ 9.88423162e-01 -1.51659892e-01 -4.35089727e-03 1.52260461e+02] [ 4.40781704e-03 3.91234111e-05 9.99990285e-01 6.17702622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050281693 meters 0.0168637868278396 Centerline is valid? [True, True] Translation: X:213.48, Y:152.28, Z:0.62 [[-1.52090748e-01 -9.88366307e-01 6.68837615e-04 2.13478708e+02] [ 9.88357774e-01 -1.52092215e-01 -4.10714726e-03 1.52282198e+02] [ 4.16109097e-03 3.63917548e-05 9.99991342e-01 6.17234018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08028169299996 meters 0.01634394705225602 Centerline is valid? [True, True] Translation: X:213.47, Y:152.31, Z:0.62 [[-1.52821076e-01 -9.88253704e-01 5.79286539e-04 2.13474341e+02] [ 9.88247325e-01 -1.52822171e-01 -3.55077868e-03 1.52305703e+02] [ 3.59759801e-03 2.98445534e-05 9.99993528e-01 6.18260563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.110281693 meters 0.01521762993687221 Centerline is valid? [True, True] Translation: X:213.47, Y:152.33, Z:0.62 [[-1.55534868e-01 -9.87830311e-01 4.26361595e-04 2.13470342e+02] [ 9.87826865e-01 -1.55535452e-01 -2.60934645e-03 1.52328033e+02] [ 2.64390586e-03 1.53270818e-05 9.99996505e-01 6.20699619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14028169299996 meters 0.013794422874558381 Centerline is valid? [True, True] Translation: X:213.47, Y:152.35, Z:0.62 [[-1.57866390e-01 -9.87460417e-01 3.59022617e-04 2.13469354e+02] [ 9.87457980e-01 -1.57866798e-01 -2.19352771e-03 1.52352165e+02] [ 2.22269953e-03 8.23544854e-06 9.99997530e-01 6.21494040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.170281693 meters 0.013194366470803059 Centerline is valid? [True, True] Translation: X:213.48, Y:152.38, Z:0.62 [[-1.63896945e-01 -9.86477409e-01 3.36250829e-04 2.13475102e+02] [ 9.86475278e-01 -1.63897290e-01 -2.05066001e-03 1.52377611e+02] [ 2.07804037e-03 -4.39378075e-06 9.99997841e-01 6.21402289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20028169299997 meters 0.014176296142235992 Centerline is valid? [True, True] Translation: X:213.48, Y:152.40, Z:0.62 [[-1.67024392e-01 -9.85952690e-01 3.80738291e-04 2.13477628e+02] [ 9.85949968e-01 -1.67024825e-01 -2.31706357e-03 1.52400745e+02] [ 2.34810781e-03 -1.16172278e-05 9.99997243e-01 6.20983893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23028169299994 meters 0.01739656617224435 Centerline is valid? [True, True] Translation: X:213.49, Y:152.43, Z:0.62 [[-1.72008993e-01 -9.85095245e-01 5.14078770e-04 2.13485542e+02] [ 9.85090300e-01 -1.72009758e-01 -3.12137487e-03 1.52426915e+02] [ 3.16327811e-03 -3.04905375e-05 9.99994996e-01 6.20020921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26028169299997 meters 0.018169278080706612 Centerline is valid? [True, True] Translation: X:213.48, Y:152.45, Z:0.62 [[-1.73629557e-01 -9.84810815e-01 6.60228137e-04 2.13484986e+02] [ 9.84802690e-01 -1.73630807e-01 -4.00061788e-03 1.52450752e+02] [ 4.05448769e-03 -4.44310661e-05 9.99991780e-01 6.18609481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29028169299994 meters 0.0198774851609048 Centerline is valid? [True, True] Translation: X:213.49, Y:152.47, Z:0.62 [[-1.74235679e-01 -9.84703675e-01 7.74755245e-04 2.13486001e+02] [ 9.84692531e-01 -1.74237393e-01 -4.68519761e-03 1.52474155e+02] [ 4.74852264e-03 -5.34328846e-05 9.99988724e-01 6.16620144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32028169299997 meters 0.01671140953399218 Centerline is valid? [True, True] Translation: X:213.48, Y:152.50, Z:0.62 [[-1.71699108e-01 -9.85149074e-01 8.47731164e-04 2.13479935e+02] [ 9.85135786e-01 -1.71701195e-01 -5.11689176e-03 1.52497493e+02] [ 5.18645763e-03 -4.34354422e-05 9.99986549e-01 6.16479004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35028169299994 meters 0.0138027502813589 Centerline is valid? [True, True] Translation: X:213.47, Y:152.52, Z:0.62 [[-1.67028703e-01 -9.85951728e-01 7.76894344e-04 2.13471269e+02] [ 9.85940613e-01 -1.67030509e-01 -4.68163774e-03 1.52519862e+02] [ 4.74563388e-03 -1.59961935e-05 9.99988739e-01 6.17297725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380281693 meters 0.013310272035583182 Centerline is valid? [True, True] Translation: X:213.46, Y:152.54, Z:0.62 [[-1.65212815e-01 -9.86257588e-01 8.33716534e-04 2.13464916e+02] [ 9.86244837e-01 -1.65214919e-01 -5.01512876e-03 1.52542641e+02] [ 5.08395120e-03 -6.31491498e-06 9.99987077e-01 6.17294837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41028169299994 meters 0.013265290012087145 Centerline is valid? [True, True] Translation: X:213.46, Y:152.57, Z:0.62 [[-1.63535598e-01 -9.86537050e-01 8.70532855e-04 2.13459173e+02] [ 9.86523202e-01 -1.63537915e-01 -5.22710812e-03 1.52565742e+02] [ 5.29910095e-03 3.98261037e-06 9.99985960e-01 6.17288602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440281693 meters 0.013436174928904025 Centerline is valid? [True, True] Translation: X:213.45, Y:152.59, Z:0.62 [[-1.62265782e-01 -9.86746736e-01 8.33923894e-04 2.13454457e+02] [ 9.86734077e-01 -1.62267925e-01 -4.99815835e-03 1.52588770e+02] [ 5.06723553e-03 1.18310496e-05 9.99987161e-01 6.18421426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47028169299995 meters 0.01384417380898592 Centerline is valid? [True, True] Translation: X:213.45, Y:152.61, Z:0.62 [[-1.61129337e-01 -9.86933124e-01 5.87384681e-04 2.13450527e+02] [ 9.86926865e-01 -1.61130407e-01 -3.51485134e-03 1.52611365e+02] [ 3.56356874e-03 1.33600572e-05 9.99993650e-01 6.20161565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500281693 meters 0.014011552319791041 Centerline is valid? [True, True] Translation: X:213.45, Y:152.63, Z:0.62 [[-1.60843746e-01 -9.86979829e-01 3.27343085e-04 2.13446298e+02] [ 9.86977889e-01 -1.60844079e-01 -1.95665881e-03 1.52633443e+02] [ 1.98383397e-03 8.36405433e-06 9.99998032e-01 6.23378987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53028169299995 meters 0.014062165596665796 Centerline is valid? [True, True] Translation: X:213.44, Y:152.66, Z:0.62 [[-1.61177826e-01 -9.86925308e-01 3.80471801e-04 2.13442115e+02] [ 9.86922699e-01 -1.61178275e-01 -2.26933527e-03 1.52656905e+02] [ 2.30098820e-03 9.72973079e-06 9.99997353e-01 6.23378203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560281693 meters 0.014173151744002552 Centerline is valid? [True, True] Translation: X:213.44, Y:152.68, Z:0.62 [[-1.61644430e-01 -9.86848915e-01 5.45320038e-04 2.13438276e+02] [ 9.86843579e-01 -1.61645349e-01 -3.24514343e-03 1.52679549e+02] [ 3.29061472e-03 1.35862191e-05 9.99994586e-01 6.21279854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59028169299995 meters 0.013633840044440335 Centerline is valid? [True, True] Translation: X:213.44, Y:152.70, Z:0.62 [[-1.63229233e-01 -9.86587889e-01 7.44992515e-04 2.13438463e+02] [ 9.86577970e-01 -1.63230932e-01 -4.42402935e-03 1.52704061e+02] [ 4.48629960e-03 1.28622872e-05 9.99989936e-01 6.18858016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620281693 meters 0.013312391623893622 Centerline is valid? [True, True] Translation: X:213.44, Y:152.73, Z:0.62 [[-1.64330653e-01 -9.86405055e-01 7.09897986e-04 2.13436768e+02] [ 9.86396078e-01 -1.64332186e-01 -4.20832845e-03 1.52727642e+02] [ 4.26777554e-03 8.68322862e-06 9.99990893e-01 6.19146344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65028169299995 meters 0.013024767796161187 Centerline is valid? [True, True] Translation: X:213.44, Y:152.75, Z:0.62 [[-1.65738657e-01 -9.86169559e-01 5.46978012e-04 2.13436032e+02] [ 9.86164244e-01 -1.65739559e-01 -3.23752864e-03 1.52750857e+02] [ 3.28340809e-03 2.82650980e-06 9.99994610e-01 6.21862279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680281693 meters 0.013059471170437969 Centerline is valid? [True, True] Translation: X:213.43, Y:152.77, Z:0.62 [[-1.65435818e-01 -9.86220462e-01 4.35714988e-04 2.13431049e+02] [ 9.86217101e-01 -1.65436391e-01 -2.57503416e-03 1.52774151e+02] [ 2.61163449e-03 3.70669115e-06 9.99996590e-01 6.23828832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71028169299996 meters 0.013411478356305784 Centerline is valid? [True, True] Translation: X:213.42, Y:152.80, Z:0.62 [[-1.64645960e-01 -9.86352632e-01 4.40096719e-04 2.13424880e+02] [ 9.86349215e-01 -1.64646548e-01 -2.59626937e-03 1.52797634e+02] [ 2.63329753e-03 6.62378967e-06 9.99996533e-01 6.24657940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740281693 meters 0.013907151675163546 Centerline is valid? [True, True] Translation: X:213.42, Y:152.82, Z:0.62 [[-1.63517646e-01 -9.86540245e-01 5.69888053e-04 2.13417684e+02] [ 9.86534540e-01 -1.63518638e-01 -3.35492571e-03 1.52820164e+02] [ 3.40295655e-03 1.36246947e-05 9.99994210e-01 6.23055621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77028169299996 meters 0.01652634245689641 Centerline is valid? [True, True] Translation: X:213.41, Y:152.84, Z:0.62 [[-1.59970790e-01 -9.87121333e-01 9.05694024e-04 2.13406014e+02] [ 9.87106995e-01 -1.59973348e-01 -5.32051069e-03 1.52842475e+02] [ 5.39687651e-03 4.28906103e-05 9.99985436e-01 6.18768743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800281693 meters 0.017922937410148575 Centerline is valid? [True, True] Translation: X:213.40, Y:152.87, Z:0.62 [[-1.56938386e-01 -9.87608109e-01 7.52448934e-04 2.13397411e+02] [ 9.87598249e-01 -1.56940181e-01 -4.41349973e-03 1.52867021e+02] [ 4.47689759e-03 5.04697275e-05 9.99989977e-01 6.21248178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83028169299996 meters 0.019579105551407697 Centerline is valid? [True, True] Translation: X:213.39, Y:152.89, Z:0.62 [[-1.55914473e-01 -9.87770393e-01 5.72408253e-04 2.13389080e+02] [ 9.87764704e-01 -1.55915518e-01 -3.35265302e-03 1.52889241e+02] [ 3.40089872e-03 4.26775402e-05 9.99994216e-01 6.23182779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.860281693 meters 0.02134108802204134 Centerline is valid? [True, True] Translation: X:213.38, Y:152.91, Z:0.63 [[-1.55511158e-01 -9.87834042e-01 4.30273732e-04 2.13380658e+02] [ 9.87830837e-01 -1.55511750e-01 -2.51656535e-03 1.52910615e+02] [ 2.55286154e-03 3.36836679e-05 9.99996741e-01 6.25219491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89028169299996 meters 0.021641197808524776 Centerline is valid? [True, True] Translation: X:213.37, Y:152.93, Z:0.62 [[-1.55242010e-01 -9.87876330e-01 5.25385559e-04 2.13373281e+02] [ 9.87871571e-01 -1.55242893e-01 -3.06636181e-03 1.52933775e+02] [ 3.11074862e-03 4.29852879e-05 9.99995161e-01 6.23933784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.920281693 meters 0.0206052817366163 Centerline is valid? [True, True] Translation: X:213.37, Y:152.96, Z:0.62 [[-1.55689113e-01 -9.87805874e-01 6.75301516e-04 2.13368998e+02] [ 9.87798044e-01 -1.55690568e-01 -3.93325367e-03 1.52956881e+02] [ 3.99042915e-03 5.46967431e-05 9.99992037e-01 6.21552133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95028169299997 meters 0.019775199459942612 Centerline is valid? [True, True] Translation: X:213.36, Y:152.98, Z:0.62 [[-1.57189220e-01 -9.87568064e-01 9.31260305e-04 2.13364366e+02] [ 9.87553233e-01 -1.57191964e-01 -5.41279007e-03 1.52979986e+02] [ 5.49188524e-03 6.88368755e-05 9.99984917e-01 6.17695793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98028169299994 meters 0.018399499654348686 Centerline is valid? [True, True] Translation: X:213.36, Y:153.00, Z:0.62 [[-1.58851624e-01 -9.87302070e-01 8.85886275e-04 2.13361717e+02] [ 9.87288691e-01 -1.58854084e-01 -5.14002491e-03 1.53004199e+02] [ 5.21548388e-03 5.81241969e-05 9.99986398e-01 6.18084239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01028169299997 meters 0.01692592878228253 Centerline is valid? [True, True] Translation: X:213.36, Y:153.03, Z:0.62 [[-1.61071783e-01 -9.86942339e-01 8.37251111e-04 2.13359792e+02] [ 9.86930426e-01 -1.61073953e-01 -4.84930632e-03 1.53028423e+02] [ 4.92084507e-03 4.52221807e-05 9.99987892e-01 6.19194561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04028169299994 meters 0.014630174308055629 Centerline is valid? [True, True] Translation: X:213.36, Y:153.05, Z:0.62 [[-1.65124249e-01 -9.86272550e-01 6.63538980e-04 2.13362044e+02] [ 9.86265086e-01 -1.65125581e-01 -3.83700402e-03 1.53052595e+02] [ 3.89389900e-03 2.08429226e-05 9.99992419e-01 6.21515865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07028169299997 meters 0.013940619964039993 Centerline is valid? [True, True] Translation: X:213.36, Y:153.08, Z:0.62 [[-1.66834274e-01 -9.85984782e-01 5.78087102e-04 2.13360735e+02] [ 9.85979135e-01 -1.66835275e-01 -3.33723641e-03 1.53075832e+02] [ 3.38690964e-03 1.32164082e-05 9.99994264e-01 6.22480874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10028169299994 meters 0.013627066885567364 Centerline is valid? [True, True] Translation: X:213.36, Y:153.10, Z:0.62 [[-1.67773401e-01 -9.85825440e-01 5.35536293e-04 2.13359116e+02] [ 9.85820610e-01 -1.67774256e-01 -3.08612844e-03 1.53099665e+02] [ 3.13223313e-03 1.01724494e-05 9.99995095e-01 6.24082638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130281693 meters 0.013862612263589444 Centerline is valid? [True, True] Translation: X:213.35, Y:153.12, Z:0.62 [[-1.67467605e-01 -9.85877404e-01 5.87693758e-04 2.13354728e+02] [ 9.85871610e-01 -1.67468636e-01 -3.38006957e-03 1.53122527e+02] [ 3.43075449e-03 1.33384350e-05 9.99994115e-01 6.23751223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16028169299994 meters 0.013862612263589444 Centerline is valid? [True, True] Translation: X:213.35, Y:153.15, Z:0.62 [[-1.67769453e-01 -9.85826082e-01 5.88754388e-04 2.13350316e+02] [ 9.85820288e-01 -1.67770485e-01 -3.37988489e-03 1.53145405e+02] [ 3.43075429e-03 1.33645830e-05 9.99994115e-01 6.23797603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190281693 meters 0.014511235669740052 Centerline is valid? [True, True] Translation: X:213.35, Y:153.17, Z:0.62 [[-1.66593268e-01 -9.86025538e-01 5.67713375e-04 2.13345249e+02] [ 9.86020171e-01 -1.66594235e-01 -3.25332698e-03 1.53169150e+02] [ 3.30244126e-03 1.77944637e-05 9.99994547e-01 6.23758316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22028169299995 meters 0.017230509728654978 Centerline is valid? [True, True] Translation: X:213.34, Y:153.19, Z:0.62 [[-1.62329571e-01 -9.86736495e-01 4.46853321e-04 2.13338057e+02] [ 9.86733183e-01 -1.62330184e-01 -2.55691547e-03 1.53192805e+02] [ 2.59553959e-03 2.58620085e-05 9.99996631e-01 6.24855194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250281693 meters 0.02820730081025829 Centerline is valid? [True, True] Translation: X:213.32, Y:153.21, Z:0.62 [[-1.55284840e-01 -9.87869564e-01 5.86252195e-04 2.13317158e+02] [ 9.87863893e-01 -1.55285935e-01 -3.34780689e-03 1.53212610e+02] [ 3.39823325e-03 5.92737176e-05 9.99994224e-01 6.23594849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28028169299995 meters 0.028459927253071095 Centerline is valid? [True, True] Translation: X:213.31, Y:153.24, Z:0.62 [[-1.51217848e-01 -9.88500066e-01 8.83798683e-04 2.13311589e+02] [ 9.88487241e-01 -1.51220389e-01 -5.03674912e-03 1.53236779e+02] [ 5.11247522e-03 1.11977358e-04 9.99986925e-01 6.21105387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310281693 meters 0.032835597978221734 Centerline is valid? [True, True] Translation: X:213.30, Y:153.26, Z:0.62 [[-1.47288242e-01 -9.89092812e-01 1.25822329e-03 2.13299908e+02] [ 9.89066935e-01 -1.47293493e-01 -7.15723883e-03 1.53259903e+02] [ 7.26450158e-03 1.90289936e-04 9.99973595e-01 6.17412825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34028169299995 meters 0.04118951036239643 Centerline is valid? [True, True] Translation: X:213.28, Y:153.28, Z:0.62 [[-1.40104653e-01 -9.90135842e-01 1.30439712e-03 2.13282025e+02] [ 9.90108165e-01 -1.40110495e-01 -7.40741558e-03 1.53281081e+02] [ 7.51710739e-03 2.53680849e-04 9.99971714e-01 6.16438944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370281693 meters 0.04632889118628165 Centerline is valid? [True, True] Translation: X:213.27, Y:153.30, Z:0.62 [[-1.37520214e-01 -9.90498488e-01 9.68023821e-04 2.13269178e+02] [ 9.90483300e-01 -1.37523469e-01 -5.48879781e-03 1.53303043e+02] [ 5.56977193e-03 2.03990781e-04 9.99984468e-01 6.19165735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40028169299995 meters 0.04971518241853723 Centerline is valid? [True, True] Translation: X:213.26, Y:153.33, Z:0.63 [[-1.34197569e-01 -9.90954545e-01 3.18358164e-04 2.13257829e+02] [ 9.90952906e-01 -1.34197927e-01 -1.80428903e-03 1.53325295e+02] [ 1.83069142e-03 7.33467462e-05 9.99998322e-01 6.26480248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430281693 meters 0.05363773220075263 Centerline is valid? [True, True] Translation: X:213.25, Y:153.35, Z:0.63 [[-1.33571745e-01 -9.91039110e-01 2.65446785e-04 2.13247486e+02] [ 9.91037973e-01 -1.33571995e-01 -1.50248694e-03 1.53346885e+02] [ 1.52447958e-03 6.23780411e-05 9.99998836e-01 6.27691188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46028169299996 meters 0.04956141757454437 Centerline is valid? [True, True] Translation: X:213.25, Y:153.37, Z:0.63 [[-1.33739939e-01 -9.91016409e-01 3.26294234e-04 2.13245859e+02] [ 9.91014698e-01 -1.33740315e-01 -1.84297842e-03 1.53371233e+02] [ 1.87006055e-03 7.68825604e-05 9.99998249e-01 6.26601929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490281693 meters 0.05029310861884238 Centerline is valid? [True, True] Translation: X:213.24, Y:153.39, Z:0.63 [[-1.34953156e-01 -9.90851915e-01 3.57503163e-04 2.13239193e+02] [ 9.90849869e-01 -1.34953604e-01 -2.01542886e-03 1.53393486e+02] [ 2.04523789e-03 8.22434770e-05 9.99997905e-01 6.26133993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52028169299996 meters 0.048398948535424126 Centerline is valid? [True, True] Translation: X:213.24, Y:153.42, Z:0.63 [[-1.36455940e-01 -9.90646090e-01 3.17128532e-04 2.13236448e+02] [ 9.90644484e-01 -1.36456290e-01 -1.78506613e-03 1.53417325e+02] [ 1.81164296e-03 7.05787553e-05 9.99998357e-01 6.26544203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550281693 meters 0.04662485099596568 Centerline is valid? [True, True] Translation: X:213.23, Y:153.44, Z:0.63 [[-1.39248315e-01 -9.90257412e-01 4.06011642e-04 2.13233097e+02] [ 9.90254789e-01 -1.39248881e-01 -2.28063708e-03 1.53439862e+02] [ 2.31495444e-03 8.44801027e-05 9.99997317e-01 6.26290301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58028169299996 meters 0.04674671285239024 Centerline is valid? [True, True] Translation: X:213.23, Y:153.46, Z:0.62 [[-1.40164963e-01 -9.90127984e-01 5.99581987e-04 2.13227503e+02] [ 9.90122287e-01 -1.40166192e-01 -3.36086313e-03 1.53462739e+02] [ 3.41172576e-03 1.22584233e-04 9.99994173e-01 6.24399072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.610281693 meters 0.046452038534197694 Centerline is valid? [True, True] Translation: X:213.22, Y:153.49, Z:0.62 [[-1.41212651e-01 -9.89978987e-01 7.69596275e-04 2.13222037e+02] [ 9.89969635e-01 -1.41214664e-01 -4.30587001e-03 1.53485567e+02] [ 4.37139911e-03 1.53833625e-04 9.99990434e-01 6.22930122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64028169299996 meters 0.04609407432044596 Centerline is valid? [True, True] Translation: X:213.22, Y:153.51, Z:0.62 [[-1.41952822e-01 -9.89873156e-01 7.29081903e-04 2.13216910e+02] [ 9.89864788e-01 -1.41954622e-01 -4.07270015e-03 1.53509160e+02] [ 4.13495309e-03 1.43561223e-04 9.99991441e-01 6.23414350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.670281693 meters 0.04485704161714556 Centerline is valid? [True, True] Translation: X:213.21, Y:153.53, Z:0.62 [[-1.43749299e-01 -9.89613819e-01 7.92295798e-04 2.13212435e+02] [ 9.89603968e-01 -1.43751405e-01 -4.41821898e-03 1.53531860e+02] [ 4.48622420e-03 1.48943185e-04 9.99989926e-01 6.22575901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70028169299997 meters 0.04399506734604997 Centerline is valid? [True, True] Translation: X:213.21, Y:153.56, Z:0.62 [[-1.44811259e-01 -9.89458951e-01 8.26530508e-04 2.13208255e+02] [ 9.89448263e-01 -1.44813539e-01 -4.60143265e-03 1.53555542e+02] [ 4.67262153e-03 1.51469919e-04 9.99989072e-01 6.21482104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73028169299994 meters 0.04418770139621803 Centerline is valid? [True, True] Translation: X:213.20, Y:153.58, Z:0.62 [[-1.45559421e-01 -9.89349061e-01 9.43950118e-04 2.13203725e+02] [ 9.89335167e-01 -1.45562382e-01 -5.24592087e-03 1.53578013e+02] [ 5.32745051e-03 1.70289844e-04 9.99985795e-01 6.20433971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76028169299997 meters 0.04032017411095392 Centerline is valid? [True, True] Translation: X:213.20, Y:153.60, Z:0.62 [[-1.46352788e-01 -9.89232117e-01 8.24805783e-04 2.13203677e+02] [ 9.89221542e-01 -1.46355040e-01 -4.57646004e-03 1.53602152e+02] [ 4.64789573e-03 1.46137961e-04 9.99989188e-01 6.21372061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79028169299994 meters 0.03947461796297853 Centerline is valid? [True, True] Translation: X:213.20, Y:153.63, Z:0.62 [[-1.46537597e-01 -9.89204844e-01 7.13232983e-04 2.13198828e+02] [ 9.89196962e-01 -1.46539278e-01 -3.95110405e-03 1.53625625e+02] [ 4.01296791e-03 1.26542609e-04 9.99991940e-01 6.22562193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82028169299997 meters 0.04243062562692925 Centerline is valid? [True, True] Translation: X:213.19, Y:153.65, Z:0.62 [[-1.45846835e-01 -9.89306950e-01 6.78058685e-04 2.13187375e+02] [ 9.89299850e-01 -1.45848359e-01 -3.74997564e-03 1.53646719e+02] [ 3.80877071e-03 1.23881277e-04 9.99992739e-01 6.23187536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85028169299994 meters 0.04643865849714945 Centerline is valid? [True, True] Translation: X:213.18, Y:153.67, Z:0.62 [[-1.45479662e-01 -9.89360963e-01 7.43994043e-04 2.13176009e+02] [ 9.89352446e-01 -1.45481499e-01 -4.10734510e-03 1.53668006e+02] [ 4.17188427e-03 1.38537149e-04 9.99991288e-01 6.21940563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880281693 meters 0.044709759428061595 Centerline is valid? [True, True] Translation: X:213.17, Y:153.69, Z:0.62 [[-1.45195623e-01 -9.89402682e-01 7.51147338e-04 2.13172169e+02] [ 9.89394030e-01 -1.45197496e-01 -4.14002348e-03 1.53691515e+02] [ 4.20521505e-03 1.42067405e-04 9.99991148e-01 6.22455599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91028169299994 meters 0.046921415083390636 Centerline is valid? [True, True] Translation: X:213.16, Y:153.71, Z:0.62 [[-1.45277747e-01 -9.89390716e-01 6.23104372e-04 2.13162841e+02] [ 9.89384780e-01 -1.45279035e-01 -3.42919922e-03 1.53712917e+02] [ 3.48334187e-03 1.18303647e-04 9.99993926e-01 6.23458764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940281693 meters 0.03935802500168181 Centerline is valid? [True, True] Translation: X:213.16, Y:153.74, Z:0.62 [[-1.46768428e-01 -9.89170766e-01 4.72764590e-04 2.13164438e+02] [ 9.89167358e-01 -1.46769164e-01 -2.59820500e-03 1.53737690e+02] [ 2.63945570e-03 8.63088370e-05 9.99996513e-01 6.24980306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97028169299995 meters 0.03757457018602752 Centerline is valid? [True, True] Translation: X:213.16, Y:153.76, Z:0.62 [[-1.48410431e-01 -9.88925715e-01 5.23540378e-04 2.13161897e+02] [ 9.88921549e-01 -1.48411327e-01 -2.87206785e-03 1.53762230e+02] [ 2.91796107e-03 9.14955330e-05 9.99995739e-01 6.23974806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000281693 meters 0.03707721126027008 Centerline is valid? [True, True] Translation: X:213.16, Y:153.79, Z:0.62 [[-1.52981618e-01 -9.88228699e-01 8.14883707e-04 2.13158334e+02] [ 9.88218638e-01 -1.52983739e-01 -4.46093402e-03 1.53785127e+02] [ 4.53308698e-03 1.22842365e-04 9.99989718e-01 6.20543712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03028169299995 meters 0.03175511451536947 Centerline is valid? [True, True] Translation: X:213.16, Y:153.81, Z:0.62 [[-1.55326490e-01 -9.87862807e-01 8.69616945e-04 2.13159604e+02] [ 9.87851383e-01 -1.55328878e-01 -4.75233768e-03 1.53810364e+02] [ 4.82973427e-03 1.20888369e-04 9.99988329e-01 6.21366542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060281693 meters 0.03204623860596796 Centerline is valid? [True, True] Translation: X:213.15, Y:153.83, Z:0.62 [[-1.57343008e-01 -9.87543690e-01 7.98925288e-04 2.13152550e+02] [ 9.87534075e-01 -1.57345002e-01 -4.35903854e-03 1.53832932e+02] [ 4.43044791e-03 1.03101709e-04 9.99990180e-01 6.21774677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09028169299995 meters 0.029279774564770544 Centerline is valid? [True, True] Translation: X:213.15, Y:153.86, Z:0.62 [[-1.58407687e-01 -9.87373655e-01 5.19603030e-04 2.13148034e+02] [ 9.87369598e-01 -1.58408526e-01 -2.83138910e-03 1.53856075e+02] [ 2.87794855e-03 6.45264368e-05 9.99995857e-01 6.24831975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120281693 meters 0.03372614237713518 Centerline is valid? [True, True] Translation: X:213.14, Y:153.88, Z:0.63 [[-1.58363290e-01 -9.87380812e-01 4.48535766e-04 2.13136593e+02] [ 9.87377797e-01 -1.58363915e-01 -2.44039872e-03 1.53877174e+02] [ 2.48063475e-03 5.64046862e-05 9.99996922e-01 6.25469621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15028169299995 meters 0.029321699334890365 Centerline is valid? [True, True] Translation: X:213.14, Y:153.90, Z:0.62 [[-1.59758225e-01 -9.87155926e-01 6.98412094e-04 2.13136247e+02] [ 9.87148648e-01 -1.59759730e-01 -3.79144303e-03 1.53901683e+02] [ 3.85432358e-03 8.37223447e-05 9.99992569e-01 6.22989798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180281693 meters 0.027822001650180228 Centerline is valid? [True, True] Translation: X:213.13, Y:153.93, Z:0.62 [[-1.61638498e-01 -9.86849653e-01 8.70804260e-04 2.13132773e+02] [ 9.86838376e-01 -1.61640814e-01 -4.71869832e-03 1.53925820e+02] [ 4.79740331e-03 9.66197549e-05 9.99988488e-01 6.20852466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21028169299996 meters 0.022003428135902572 Centerline is valid? [True, True] Translation: X:213.14, Y:153.95, Z:0.62 [[-1.66789370e-01 -9.85992251e-01 7.66139262e-04 2.13136465e+02] [ 9.85983540e-01 -1.66791117e-01 -4.14503769e-03 1.53950903e+02] [ 4.21476027e-03 6.40524771e-05 9.99991116e-01 6.21802423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240281693 meters 0.020412078690148095 Centerline is valid? [True, True] Translation: X:213.13, Y:153.97, Z:0.62 [[-1.69728736e-01 -9.85490646e-01 5.85329664e-04 2.13134865e+02] [ 9.85485573e-01 -1.69729741e-01 -3.16228346e-03 1.53974405e+02] [ 3.21574862e-03 4.01035644e-05 9.99994829e-01 6.24366584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27028169299996 meters 0.018235882285267242 Centerline is valid? [True, True] Translation: X:213.13, Y:154.00, Z:0.63 [[-1.72142045e-01 -9.85072075e-01 3.51743923e-04 2.13134106e+02] [ 9.85070246e-01 -1.72142403e-01 -1.89845049e-03 1.53998763e+02] [ 1.93066060e-03 1.96893235e-05 9.99998136e-01 6.27152274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300281693 meters 0.015906762373309073 Centerline is valid? [True, True] Translation: X:213.14, Y:154.02, Z:0.63 [[-1.75234783e-01 -9.84526669e-01 9.49513507e-05 2.13135958e+02] [ 9.84526535e-01 -1.75234809e-01 -5.13890081e-04 1.54024011e+02] [ 5.22577272e-04 3.43070743e-06 9.99999863e-01 6.29906418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33028169299996 meters 0.0156281096139196 Centerline is valid? [True, True] Translation: X:213.13, Y:154.05, Z:0.63 [[-1.76162935e-01 -9.84361017e-01 9.20760995e-05 2.13133860e+02] [ 9.84360891e-01 -1.76162959e-01 -4.97830185e-04 1.54046897e+02] [ 5.06265025e-04 2.93688500e-06 9.99999872e-01 6.29199387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.360281693 meters 0.014041841428983431 Centerline is valid? [True, True] Translation: X:213.14, Y:154.07, Z:0.63 [[-1.78836491e-01 -9.83878808e-01 -3.35603445e-05 2.13137766e+02] [ 9.83878792e-01 -1.78836494e-01 1.76710437e-04 1.54072328e+02] [-1.79863469e-04 -1.41703670e-06 9.99999984e-01 6.29387672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39028169299996 meters 0.013614411428081945 Centerline is valid? [True, True] Translation: X:213.14, Y:154.10, Z:0.63 [[-1.80541994e-01 -9.83567276e-01 -4.69787484e-05 2.13137645e+02] [ 9.83567245e-01 -1.80542000e-01 2.47989455e-04 1.54095730e+02] [-2.52395950e-04 -1.43424731e-06 9.99999968e-01 6.30097003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.420281693 meters 0.01313455797642302 Centerline is valid? [True, True] Translation: X:213.14, Y:154.12, Z:0.63 [[-1.82672736e-01 -9.83173756e-01 1.94869486e-04 2.13143234e+02] [ 9.83173201e-01 -1.82672840e-01 -1.04455413e-03 1.54120021e+02] [ 1.06257557e-03 7.78894916e-07 9.99999435e-01 6.29412468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45028169299997 meters 0.0131001977023614 Centerline is valid? [True, True] Translation: X:213.14, Y:154.14, Z:0.63 [[-1.83344621e-01 -9.83048649e-01 3.23461389e-04 2.13143293e+02] [ 9.83047129e-01 -1.83344906e-01 -1.72863573e-03 1.54143838e+02] [ 1.75863802e-03 1.04172784e-06 9.99998454e-01 6.27881719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48028169299994 meters 0.013142356910062446 Centerline is valid? [True, True] Translation: X:213.14, Y:154.17, Z:0.63 [[-1.83702430e-01 -9.82981786e-01 4.75710786e-04 2.13142260e+02] [ 9.82978513e-01 -1.83703046e-01 -2.53642498e-03 1.54166634e+02] [ 2.58064908e-03 1.66604807e-06 9.99996670e-01 6.26525273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51028169299997 meters 0.01351329020276083 Centerline is valid? [True, True] Translation: X:213.14, Y:154.19, Z:0.62 [[-1.82546204e-01 -9.83197108e-01 5.75452240e-04 2.13142243e+02] [ 9.83192339e-01 -1.82547111e-01 -3.06227060e-03 1.54190699e+02] [ 3.11586274e-03 6.77436003e-06 9.99995146e-01 6.24380756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54028169299994 meters 0.013995403929074784 Centerline is valid? [True, True] Translation: X:213.14, Y:154.21, Z:0.62 [[-1.81641974e-01 -9.83364529e-01 6.28984216e-04 2.13140110e+02] [ 9.83358853e-01 -1.81643063e-01 -3.34118524e-03 1.54213623e+02] [ 3.39985367e-03 1.16177143e-05 9.99994220e-01 6.23790449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57028169299997 meters 0.015278737750576659 Centerline is valid? [True, True] Translation: X:213.14, Y:154.24, Z:0.62 [[-1.79536819e-01 -9.83751018e-01 6.81528591e-04 2.13140239e+02] [ 9.83744381e-01 -1.79538112e-01 -3.61386517e-03 1.54237153e+02] [ 3.67750390e-03 2.16280646e-05 9.99993238e-01 6.23486490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60028169299994 meters 0.016076839350095344 Centerline is valid? [True, True] Translation: X:213.14, Y:154.26, Z:0.62 [[-1.78595741e-01 -9.83922287e-01 7.03249002e-04 2.13137553e+02] [ 9.83915244e-01 -1.78597124e-01 -3.72278315e-03 1.54260867e+02] [ 3.78852756e-03 2.70641984e-05 9.99992823e-01 6.23733860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630281693 meters 0.017095372376097717 Centerline is valid? [True, True] Translation: X:213.13, Y:154.28, Z:0.62 [[-1.77555086e-01 -9.84110639e-01 6.63952470e-04 2.13134046e+02] [ 9.84104383e-01 -1.77556325e-01 -3.50917532e-03 1.54283221e+02] [ 3.57130573e-03 3.03266098e-05 9.99993622e-01 6.24107776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66028169299994 meters 0.019877738722969825 Centerline is valid? [True, True] Translation: X:213.13, Y:154.31, Z:0.63 [[-1.74654931e-01 -9.84629610e-01 4.30839780e-04 2.13128410e+02] [ 9.84626984e-01 -1.74655461e-01 -2.27449946e-03 1.54306405e+02] [ 2.31478804e-03 2.69639254e-05 9.99997321e-01 6.26409289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690281693 meters 0.022111831679180904 Centerline is valid? [True, True] Translation: X:213.12, Y:154.33, Z:0.63 [[-1.72683810e-01 -9.84977240e-01 3.72151777e-04 2.13121233e+02] [ 9.84975286e-01 -1.72684209e-01 -1.96202735e-03 1.54329312e+02] [ 1.99681702e-03 2.77499449e-05 9.99998006e-01 6.28047844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72028169299995 meters 0.02816896659815007 Centerline is valid? [True, True] Translation: X:213.11, Y:154.35, Z:0.63 [[-1.67415103e-01 -9.85886444e-01 3.20260578e-04 2.13108275e+02] [ 9.85885003e-01 -1.67415406e-01 -1.68624969e-03 1.54351602e+02] [ 1.71606726e-03 3.34364354e-05 9.99998527e-01 6.28567694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750281693 meters 0.03182443483476109 Centerline is valid? [True, True] Translation: X:213.10, Y:154.37, Z:0.63 [[-1.64399472e-01 -9.86393797e-01 3.00717250e-04 2.13098465e+02] [ 9.86392531e-01 -1.64399743e-01 -1.58111699e-03 1.54374638e+02] [ 1.60904183e-03 3.66904501e-05 9.99998705e-01 6.27938854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78028169299995 meters 0.03635609643647341 Centerline is valid? [True, True] Translation: X:213.09, Y:154.40, Z:0.63 [[-1.60986629e-01 -9.86956533e-01 3.28571835e-04 2.13087298e+02] [ 9.86955027e-01 -1.60986957e-01 -1.72468003e-03 1.54396476e+02] [ 1.75508001e-03 4.66351998e-05 9.99998459e-01 6.27876140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810281693 meters 0.04385483087042886 Centerline is valid? [True, True] Translation: X:213.07, Y:154.42, Z:0.63 [[-1.54925928e-01 -9.87925990e-01 4.40797900e-04 2.13071274e+02] [ 9.87923295e-01 -1.54926536e-01 -2.30910892e-03 1.54417698e+02] [ 2.34952001e-03 7.77336701e-05 9.99997237e-01 6.26450974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84028169299995 meters 0.046750245291175226 Centerline is valid? [True, True] Translation: X:213.06, Y:154.44, Z:0.62 [[-1.53211166e-01 -9.88193284e-01 6.10761380e-04 2.13061980e+02] [ 9.88188130e-01 -1.53212341e-01 -3.19336424e-03 1.54439739e+02] [ 3.24923727e-03 1.14288087e-04 9.99994715e-01 6.24773782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870281693 meters 0.04804117255062762 Centerline is valid? [True, True] Translation: X:213.05, Y:154.46, Z:0.62 [[-1.50928645e-01 -9.88544349e-01 7.83464179e-04 2.13053080e+02] [ 9.88535904e-01 -1.50930596e-01 -4.08919031e-03 1.54462609e+02] [ 4.16059469e-03 1.57306519e-04 9.99991332e-01 6.22424132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90028169299995 meters 0.04979993886473812 Centerline is valid? [True, True] Translation: X:213.04, Y:154.49, Z:0.62 [[-1.50262939e-01 -9.88645776e-01 7.60257225e-04 2.13043914e+02] [ 9.88637849e-01 -1.50264781e-01 -3.96214136e-03 1.54485263e+02] [ 4.03139420e-03 1.56256064e-04 9.99991862e-01 6.23181650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930281693 meters 0.055333834250375004 Centerline is valid? [True, True] Translation: X:213.03, Y:154.51, Z:0.62 [[-1.48584790e-01 -9.88899474e-01 6.24790028e-04 2.13027440e+02] [ 9.88894137e-01 -1.48586043e-01 -3.25168930e-03 1.54505602e+02] [ 3.30842891e-03 1.34699623e-04 9.99994518e-01 6.23786980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96028169299996 meters 0.05344255429184988 Centerline is valid? [True, True] Translation: X:213.02, Y:154.53, Z:0.62 [[-1.48263179e-01 -9.88947782e-01 5.60790786e-04 2.13022444e+02] [ 9.88943495e-01 -1.48264189e-01 -2.91443409e-03 1.54528866e+02] [ 2.96536832e-03 1.22487136e-04 9.99995596e-01 6.24137552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990281693 meters 0.04916376392533475 Centerline is valid? [True, True] Translation: X:213.02, Y:154.55, Z:0.62 [[-1.48285187e-01 -9.88944486e-01 5.53894853e-04 2.13019824e+02] [ 9.88940317e-01 -1.48286171e-01 -2.87422586e-03 1.54552501e+02] [ 2.92458477e-03 1.21563833e-04 9.99995716e-01 6.24448436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02028169299996 meters 0.05312348371484008 Centerline is valid? [True, True] Translation: X:213.00, Y:154.57, Z:0.62 [[-1.49960665e-01 -9.88691761e-01 6.32686403e-04 2.13002104e+02] [ 9.88686338e-01 -1.49961940e-01 -3.27735175e-03 1.54572801e+02] [ 3.33516955e-03 1.34054554e-04 9.99994429e-01 6.23438576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050281693 meters 0.04731738024102262 Centerline is valid? [True, True] Translation: X:213.00, Y:154.60, Z:0.62 [[-1.51993543e-01 -9.88381129e-01 8.41184511e-04 2.13001000e+02] [ 9.88371573e-01 -1.51995776e-01 -4.34942272e-03 1.54597072e+02] [ 4.42674383e-03 1.70318686e-04 9.99990187e-01 6.21010053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08028169299996 meters 0.04731738024102262 Centerline is valid? [True, True] Translation: X:213.00, Y:154.62, Z:0.62 [[-1.52288264e-01 -9.88335760e-01 8.42464173e-04 2.12996157e+02] [ 9.88326206e-01 -1.52290499e-01 -4.34917495e-03 1.54619864e+02] [ 4.42674442e-03 1.70301116e-04 9.99990187e-01 6.21056464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.110281693 meters 0.04301408658679348 Centerline is valid? [True, True] Translation: X:212.99, Y:154.64, Z:0.62 [[-1.57225593e-01 -9.87562051e-01 1.14397210e-03 2.12990405e+02] [ 9.87544476e-01 -1.57229624e-01 -5.89524073e-03 1.54642849e+02] [ 6.00178233e-03 2.02840610e-04 9.99981969e-01 6.17544943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14028169299996 meters 0.03740616098243946 Centerline is valid? [True, True] Translation: X:212.99, Y:154.67, Z:0.62 [[-1.60858555e-01 -9.86976947e-01 1.01586547e-03 2.12989466e+02] [ 9.86963118e-01 -1.60861681e-01 -5.22715018e-03 1.54667061e+02] [ 5.32249055e-03 1.61789928e-04 9.99985822e-01 6.19680135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.170281693 meters 0.03826587880266262 Centerline is valid? [True, True] Translation: X:212.98, Y:154.69, Z:0.62 [[-1.64998647e-01 -9.86293478e-01 7.88073017e-04 2.12980190e+02] [ 9.86285172e-01 -1.65000493e-01 -4.04930348e-03 1.54689073e+02] [ 4.12383405e-03 1.09135138e-04 9.99991491e-01 6.21493807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20028169299997 meters 0.030877223423969116 Centerline is valid? [True, True] Translation: X:212.98, Y:154.71, Z:0.62 [[-1.69338209e-01 -9.85557834e-01 5.71970156e-04 2.12982306e+02] [ 9.85553465e-01 -1.69339162e-01 -2.93513253e-03 1.54714004e+02] [ 2.98959981e-03 6.66770815e-05 9.99995529e-01 6.24006689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23028169299994 meters 0.022059796183750528 Centerline is valid? [True, True] Translation: X:212.99, Y:154.74, Z:0.63 [[-1.77276152e-01 -9.84161070e-01 3.92821034e-04 2.12987545e+02] [ 9.84159010e-01 -1.77276585e-01 -2.01362950e-03 1.54739526e+02] [ 2.05137374e-03 2.96298700e-05 9.99997896e-01 6.25542419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26028169299997 meters 0.01946362196603763 Centerline is valid? [True, True] Translation: X:212.99, Y:154.76, Z:0.63 [[-1.80620937e-01 -9.83552738e-01 2.99242461e-04 2.12986437e+02] [ 9.83551544e-01 -1.80621184e-01 -1.53230703e-03 1.54762530e+02] [ 1.56115430e-03 1.75536537e-05 9.99998781e-01 6.26178221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29028169299994 meters 0.016207989420110754 Centerline is valid? [True, True] Translation: X:212.99, Y:154.79, Z:0.63 [[-1.85406989e-01 -9.82661753e-01 3.57691003e-04 2.12987017e+02] [ 9.82660053e-01 -1.85407333e-01 -1.82801857e-03 1.54786107e+02] [ 1.86264247e-03 1.25612413e-05 9.99998265e-01 6.25784420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32028169299997 meters 0.015266136976457144 Centerline is valid? [True, True] Translation: X:212.98, Y:154.81, Z:0.63 [[-1.87200611e-01 -9.82321617e-01 4.15444625e-04 2.12984091e+02] [ 9.82319331e-01 -1.87201071e-01 -2.11934336e-03 1.54810163e+02] [ 2.15964848e-03 1.13569146e-05 9.99997668e-01 6.25003583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35028169299994 meters 0.014611008592425888 Centerline is valid? [True, True] Translation: X:212.98, Y:154.83, Z:0.62 [[-1.88546582e-01 -9.82064157e-01 4.22391928e-04 2.12981500e+02] [ 9.82061800e-01 -1.88547055e-01 -2.15143300e-03 1.54833598e+02] [ 2.19248599e-03 9.16963763e-06 9.99997596e-01 6.24771135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380281693 meters 0.014204990099205115 Centerline is valid? [True, True] Translation: X:212.98, Y:154.86, Z:0.62 [[-1.90070522e-01 -9.81770279e-01 5.62899270e-04 2.12979353e+02] [ 9.81766108e-01 -1.90071355e-01 -2.86154694e-03 1.54856167e+02] [ 2.91637277e-03 8.73970507e-06 9.99995747e-01 6.23926126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41028169299994 meters 0.014187865560612441 Centerline is valid? [True, True] Translation: X:212.98, Y:154.88, Z:0.62 [[-1.90545470e-01 -9.81678154e-01 6.52577198e-04 2.12975310e+02] [ 9.81672568e-01 -1.90546587e-01 -3.31160995e-03 1.54878589e+02] [ 3.37528151e-03 9.60486050e-06 9.99994304e-01 6.22805170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440281693 meters 0.014152095344830836 Centerline is valid? [True, True] Translation: X:212.97, Y:154.90, Z:0.62 [[-1.90709662e-01 -9.81646204e-01 7.45484493e-04 2.12972290e+02] [ 9.81638939e-01 -1.90711119e-01 -3.77670083e-03 1.54902201e+02] [ 3.84955622e-03 1.15432659e-05 9.99992590e-01 6.21601940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47028169299995 meters 0.014339972060791637 Centerline is valid? [True, True] Translation: X:212.97, Y:154.92, Z:0.62 [[-1.90754040e-01 -9.81637680e-01 6.00770356e-04 2.12967448e+02] [ 9.81632975e-01 -1.90754986e-01 -3.03943704e-03 1.54924803e+02] [ 3.09822586e-03 9.95109678e-06 9.99995200e-01 6.22949304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500281693 meters 0.014299221125144715 Centerline is valid? [True, True] Translation: X:212.96, Y:154.95, Z:0.62 [[-1.90698573e-01 -9.81648568e-01 3.78010462e-04 2.12961745e+02] [ 9.81646709e-01 -1.90698948e-01 -1.91057079e-03 1.54948007e+02] [ 1.94759528e-03 6.72960211e-06 9.99998103e-01 6.24689373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53028169299995 meters 0.015054025894941812 Centerline is valid? [True, True] Translation: X:212.96, Y:154.97, Z:0.62 [[-1.89712527e-01 -9.81839479e-01 6.28422381e-04 2.12955098e+02] [ 9.81834363e-01 -1.89713567e-01 -3.16945537e-03 1.54970738e+02] [ 3.23111666e-03 1.57213017e-05 9.99994780e-01 6.23077339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560281693 meters 0.015369480852657862 Centerline is valid? [True, True] Translation: X:212.95, Y:154.99, Z:0.62 [[-1.89762715e-01 -9.81829586e-01 8.81171131e-04 2.12950834e+02] [ 9.81819564e-01 -1.89764759e-01 -4.43620201e-03 1.54992900e+02] [ 4.52280961e-03 2.33253165e-05 9.99989772e-01 6.19913969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59028169299995 meters 0.016069743671622106 Centerline is valid? [True, True] Translation: X:212.95, Y:155.02, Z:0.62 [[-1.89375704e-01 -9.81904076e-01 1.10811981e-03 2.12946293e+02] [ 9.81888282e-01 -1.89378943e-01 -5.56936516e-03 1.55015665e+02] [ 5.67843691e-03 3.33474102e-05 9.99983877e-01 6.17462753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620281693 meters 0.016589965146750964 Centerline is valid? [True, True] Translation: X:212.94, Y:155.04, Z:0.62 [[-1.88837602e-01 -9.82007760e-01 1.05807027e-03 2.12940426e+02] [ 9.81993404e-01 -1.88840563e-01 -5.30995638e-03 1.55039219e+02] [ 5.41422496e-03 3.62985981e-05 9.99985342e-01 6.18271665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65028169299995 meters 0.017342563979221726 Centerline is valid? [True, True] Translation: X:212.93, Y:155.06, Z:0.62 [[-1.88198182e-01 -9.82130630e-01 9.33142857e-04 2.12934262e+02] [ 9.82119497e-01 -1.88200492e-01 -4.67627660e-03 1.55061744e+02] [ 4.76833242e-03 3.63910390e-05 9.99988631e-01 6.19279572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680281693 meters 0.019804403208186383 Centerline is valid? [True, True] Translation: X:212.93, Y:155.08, Z:0.62 [[-1.85826529e-01 -9.82582262e-01 7.74668720e-04 2.12925447e+02] [ 9.82574615e-01 -1.85828139e-01 -3.87669516e-03 1.55083169e+02] [ 3.95312714e-03 4.07770157e-05 9.99992186e-01 6.21591762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71028169299996 meters 0.020901681047911756 Centerline is valid? [True, True] Translation: X:212.92, Y:155.10, Z:0.62 [[-1.85015852e-01 -9.82735315e-01 6.60166765e-04 2.12917495e+02] [ 9.82729778e-01 -1.85017026e-01 -3.29900720e-03 1.55104899e+02] [ 3.36419297e-03 3.83969108e-05 9.99994340e-01 6.22550100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740281693 meters 0.023210762283927714 Centerline is valid? [True, True] Translation: X:212.91, Y:155.13, Z:0.62 [[-1.83312884e-01 -9.83054394e-01 6.67543199e-04 2.12905488e+02] [ 9.83048754e-01 -1.83314094e-01 -3.33031772e-03 1.55125439e+02] [ 3.39625355e-03 4.57373635e-05 9.99994232e-01 6.21702679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77028169299996 meters 0.024081996947638094 Centerline is valid? [True, True] Translation: X:212.90, Y:155.15, Z:0.62 [[-1.83032667e-01 -9.83106542e-01 7.54456310e-04 2.12897818e+02] [ 9.83099364e-01 -1.83034214e-01 -3.75726695e-03 1.55147653e+02] [ 3.83188503e-03 5.40029285e-05 9.99992657e-01 6.20815008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800281693 meters 0.02433596373600454 Centerline is valid? [True, True] Translation: X:212.89, Y:155.17, Z:0.62 [[-1.83180282e-01 -9.83079050e-01 7.52269668e-04 2.12891446e+02] [ 9.83071935e-01 -1.83181819e-01 -3.74058871e-03 1.55169879e+02] [ 3.81509652e-03 5.43331044e-05 9.99992721e-01 6.21189075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83028169299996 meters 0.022673081164743616 Centerline is valid? [True, True] Translation: X:212.89, Y:155.19, Z:0.62 [[-1.85069873e-01 -9.82725192e-01 5.82783851e-04 2.12886303e+02] [ 9.82720931e-01 -1.85070787e-01 -2.89399376e-03 1.55191102e+02] [ 2.95185684e-03 3.71228302e-05 9.99995643e-01 6.23803535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.860281693 meters 0.02112493682292618 Centerline is valid? [True, True] Translation: X:212.88, Y:155.21, Z:0.62 [[-1.86899202e-01 -9.82378931e-01 5.70205432e-04 2.12882515e+02] [ 9.82374863e-01 -1.86900069e-01 -2.82711127e-03 1.55213050e+02] [ 2.88386598e-03 3.17706420e-05 9.99995841e-01 6.24293955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89028169299996 meters 0.017580854607097515 Centerline is valid? [True, True] Translation: X:212.88, Y:155.24, Z:0.62 [[-1.90663006e-01 -9.81655471e-01 3.92698773e-04 2.12882067e+02] [ 9.81653545e-01 -1.90663409e-01 -1.94491801e-03 1.55235481e+02] [ 1.98411269e-03 1.46702288e-05 9.99998032e-01 6.24866513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.920281693 meters 0.016290599240572495 Centerline is valid? [True, True] Translation: X:212.88, Y:155.26, Z:0.63 [[-1.92451762e-01 -9.81306399e-01 2.65176235e-04 2.12878800e+02] [ 9.81305522e-01 -1.92451945e-01 -1.31223415e-03 1.55258663e+02] [ 1.33873745e-03 7.67712784e-06 9.99999104e-01 6.26141272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95028169299997 meters 0.015125789960581908 Centerline is valid? [True, True] Translation: X:212.88, Y:155.28, Z:0.62 [[-1.94712300e-01 -9.80860252e-01 5.34187154e-04 2.12875802e+02] [ 9.80856709e-01 -1.94713033e-01 -2.63653002e-03 1.55281407e+02] [ 2.69008070e-03 1.05962283e-05 9.99996382e-01 6.24400300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98028169299994 meters 0.015170376420782809 Centerline is valid? [True, True] Translation: X:212.87, Y:155.30, Z:0.62 [[-1.95033979e-01 -9.80796147e-01 8.15878247e-04 2.12870308e+02] [ 9.80787911e-01 -1.95035685e-01 -4.01930035e-03 1.55303782e+02] [ 4.10123967e-03 1.63033804e-05 9.99991590e-01 6.21901005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01028169299997 meters 0.01522668518503307 Centerline is valid? [True, True] Translation: X:212.86, Y:155.33, Z:0.62 [[-1.95191601e-01 -9.80764833e-01 7.62024420e-04 2.12863998e+02] [ 9.80757670e-01 -1.95193088e-01 -3.74859305e-03 1.55325968e+02] [ 3.82523013e-03 1.56674162e-05 9.99992684e-01 6.22319187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04028169299994 meters 0.014941433744372937 Centerline is valid? [True, True] Translation: X:212.86, Y:155.35, Z:0.62 [[-1.95814017e-01 -9.80640922e-01 5.02884440e-04 2.12859639e+02] [ 9.80637808e-01 -1.95814663e-01 -2.47112081e-03 1.55348736e+02] [ 2.52175433e-03 9.26740344e-06 9.99996820e-01 6.24861780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07028169299997 meters 0.014393208140600215 Centerline is valid? [True, True] Translation: X:212.86, Y:155.37, Z:0.63 [[-1.96869736e-01 -9.80429613e-01 2.83766937e-04 2.12857145e+02] [ 9.80428623e-01 -1.96869940e-01 -1.39358688e-03 1.55371207e+02] [ 1.42217903e-03 3.85814684e-06 9.99998989e-01 6.26512531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10028169299994 meters 0.013779772684470148 Centerline is valid? [True, True] Translation: X:212.86, Y:155.40, Z:0.62 [[-2.01115942e-01 -9.79567361e-01 4.04534154e-04 2.12860880e+02] [ 9.79565355e-01 -2.01116349e-01 -1.98250774e-03 1.55396043e+02] [ 2.02335831e-03 -2.44626956e-06 9.99997953e-01 6.24131050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130281693 meters 0.01426402026379698 Centerline is valid? [True, True] Translation: X:212.86, Y:155.42, Z:0.62 [[-2.03342272e-01 -9.79107532e-01 6.01064617e-04 2.12860427e+02] [ 9.79103120e-01 -2.03343160e-01 -2.93945886e-03 1.55418909e+02] [ 3.00026869e-03 -9.21200184e-06 9.99995499e-01 6.22565719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16028169299994 meters 0.014813412444078567 Centerline is valid? [True, True] Translation: X:212.86, Y:155.44, Z:0.62 [[-2.05458214e-01 -9.78665657e-01 6.74638417e-04 2.12858418e+02] [ 9.78660114e-01 -2.05459321e-01 -3.29360432e-03 1.55442763e+02] [ 3.36194818e-03 -1.64563492e-05 9.99994349e-01 6.22765809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190281693 meters 0.016543757259231077 Centerline is valid? [True, True] Translation: X:212.86, Y:155.47, Z:0.62 [[-2.09048900e-01 -9.77904893e-01 7.59942534e-04 2.12859857e+02] [ 9.77897879e-01 -2.09050279e-01 -3.70389009e-03 1.55466974e+02] [ 3.78091844e-03 -3.11479575e-05 9.99992852e-01 6.21805818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22028169299995 meters 0.017329119098540503 Centerline is valid? [True, True] Translation: X:212.86, Y:155.49, Z:0.62 [[-2.10550562e-01 -9.77582535e-01 9.20975039e-04 2.12856997e+02] [ 9.77572265e-01 -2.10552572e-01 -4.48121407e-03 1.55490853e+02] [ 4.57467028e-03 -4.32024868e-05 9.99989535e-01 6.20601548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250281693 meters 0.018296632953467916 Centerline is valid? [True, True] Translation: X:212.86, Y:155.51, Z:0.62 [[-2.11946396e-01 -9.77280745e-01 1.03440824e-03 2.12855457e+02] [ 9.77267828e-01 -2.11948914e-01 -5.02500323e-03 1.55514059e+02] [ 5.13008060e-03 -5.41374363e-05 9.99986840e-01 6.19664223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28028169299995 meters 0.018489458452629 Centerline is valid? [True, True] Translation: X:212.85, Y:155.54, Z:0.62 [[-2.12485489e-01 -9.77163793e-01 9.15508073e-04 2.12850932e+02] [ 9.77153703e-01 -2.12487455e-01 -4.44092530e-03 1.55537349e+02] [ 4.53404539e-03 -4.90400784e-05 9.99989720e-01 6.21256815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310281693 meters 0.01816524340798028 Centerline is valid? [True, True] Translation: X:212.85, Y:155.56, Z:0.62 [[-2.12475240e-01 -9.77166075e-01 8.57486278e-04 2.12845170e+02] [ 9.77157249e-01 -2.12476965e-01 -4.15335392e-03 1.55560514e+02] [ 4.24071263e-03 -4.45859370e-05 9.99991007e-01 6.22327964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34028169299995 meters 0.01696676074834998 Centerline is valid? [True, True] Translation: X:212.84, Y:155.58, Z:0.62 [[-2.11255195e-01 -9.77430356e-01 1.06888536e-03 2.12838875e+02] [ 9.77416691e-01 -2.11257894e-01 -5.16858207e-03 1.55583952e+02] [ 5.27773949e-03 -4.71434205e-05 9.99986072e-01 6.21138346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370281693 meters 0.016680930526561645 Centerline is valid? [True, True] Translation: X:212.84, Y:155.61, Z:0.62 [[-2.10657720e-01 -9.77559247e-01 1.11573087e-03 2.12835137e+02] [ 9.77544408e-01 -2.10660670e-01 -5.38637291e-03 1.55606883e+02] [ 5.50053926e-03 -4.40045599e-05 9.99984871e-01 6.20365001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40028169299995 meters 0.016332090026687483 Centerline is valid? [True, True] Translation: X:212.83, Y:155.63, Z:0.62 [[-2.10228131e-01 -9.77651849e-01 9.97109077e-04 2.12831415e+02] [ 9.77640035e-01 -2.10230493e-01 -4.80646895e-03 1.55629461e+02] [ 4.90867599e-03 -3.56412325e-05 9.99987952e-01 6.22032825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430281693 meters 0.01583589864096214 Centerline is valid? [True, True] Translation: X:212.83, Y:155.65, Z:0.62 [[-2.09961168e-01 -9.77709224e-01 9.90368444e-04 2.12826042e+02] [ 9.77697605e-01 -2.09963501e-01 -4.76669130e-03 1.55652840e+02] [ 4.86837928e-03 -3.25392153e-05 9.99988149e-01 6.22903125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46028169299996 meters 0.015723877831772603 Centerline is valid? [True, True] Translation: X:212.82, Y:155.68, Z:0.62 [[-2.09478106e-01 -9.77812743e-01 1.07798968e-03 2.12822027e+02] [ 9.77799023e-01 -2.09480878e-01 -5.18010062e-03 1.55675716e+02] [ 5.29098662e-03 -3.10604138e-05 9.99986002e-01 6.21217959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490281693 meters 0.01441036299110906 Centerline is valid? [True, True] Translation: X:212.82, Y:155.70, Z:0.62 [[-2.07083994e-01 -9.78322573e-01 1.07789006e-03 2.12815975e+02] [ 9.78308904e-01 -2.07086798e-01 -5.17164651e-03 1.55698533e+02] [ 5.28275533e-03 -1.64557758e-05 9.99986046e-01 6.22359999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52028169299996 meters 0.013942486482655864 Centerline is valid? [True, True] Translation: X:212.81, Y:155.72, Z:0.62 [[-2.05370002e-01 -9.78683974e-01 9.17816279e-04 2.12808998e+02] [ 9.78674095e-01 -2.05372053e-01 -4.39731110e-03 1.55721475e+02] [ 4.49207171e-03 -4.83277311e-06 9.99989911e-01 6.24087115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550281693 meters 0.013931215851277214 Centerline is valid? [True, True] Translation: X:212.80, Y:155.74, Z:0.63 [[-2.03551991e-01 -9.79063820e-01 7.89235271e-04 2.12802210e+02] [ 9.79056539e-01 -2.03553521e-01 -3.77584084e-03 1.55744036e+02] [ 3.85744078e-03 4.12603120e-06 9.99992560e-01 6.26151360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58028169299996 meters 0.01487689844006128 Centerline is valid? [True, True] Translation: X:212.79, Y:155.77, Z:0.63 [[-2.00901658e-01 -9.79611248e-01 5.71859538e-04 2.12794966e+02] [ 9.79607437e-01 -2.00902472e-01 -2.73242701e-03 1.55765431e+02] [ 2.79160423e-03 1.12487389e-05 9.99996103e-01 6.27227002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.610281693 meters 0.015561619986390723 Centerline is valid? [True, True] Translation: X:212.79, Y:155.79, Z:0.63 [[-2.00166617e-01 -9.79761758e-01 4.73088627e-04 2.12789439e+02] [ 9.79759157e-01 -2.00167175e-01 -2.25744717e-03 1.55787505e+02] [ 2.30645723e-03 1.16473516e-05 9.99997340e-01 6.28250085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64028169299996 meters 0.01576801165854727 Centerline is valid? [True, True] Translation: X:212.78, Y:155.81, Z:0.63 [[-1.99158247e-01 -9.79967273e-01 3.69774602e-04 2.12784068e+02] [ 9.79965688e-01 -1.99158590e-01 -1.76247940e-03 1.55810517e+02] [ 1.80081592e-03 1.13541145e-05 9.99998378e-01 6.29296022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.670281693 meters 0.016135207187190304 Centerline is valid? [True, True] Translation: X:212.78, Y:155.83, Z:0.63 [[-1.98785463e-01 -9.80042958e-01 3.74437019e-04 2.12777669e+02] [ 9.80041338e-01 -1.98785816e-01 -1.78195071e-03 1.55833777e+02] [ 1.82082101e-03 1.27378588e-05 9.99998342e-01 6.29020328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70028169299997 meters 0.016042838247465302 Centerline is valid? [True, True] Translation: X:212.77, Y:155.86, Z:0.63 [[-1.99068217e-01 -9.79985581e-01 3.26011673e-04 2.12771997e+02] [ 9.79984356e-01 -1.99068483e-01 -1.54951117e-03 1.55856392e+02] [ 1.58339725e-03 1.10279155e-05 9.99998746e-01 6.29155766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73028169299994 meters 0.016427608279733535 Centerline is valid? [True, True] Translation: X:212.77, Y:155.88, Z:0.63 [[-2.00032891e-01 -9.79789169e-01 1.61314856e-04 2.12765251e+02] [ 9.79788869e-01 -2.00032956e-01 -7.67122641e-04 1.55878044e+02] [ 7.83886743e-04 4.60474041e-06 9.99999693e-01 6.31172127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76028169299997 meters 0.015705557059222105 Centerline is valid? [True, True] Translation: X:212.76, Y:155.90, Z:0.63 [[-2.00537696e-01 -9.79685966e-01 2.00156607e-04 2.12760880e+02] [ 9.79685506e-01 -2.00537796e-01 -9.49458467e-04 1.55901576e+02] [ 9.70310100e-04 5.68831321e-06 9.99999529e-01 6.30723781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79028169299994 meters 0.015785926651063244 Centerline is valid? [True, True] Translation: X:212.75, Y:155.92, Z:0.63 [[-2.01054443e-01 -9.79579851e-01 6.52826273e-04 2.12753047e+02] [ 9.79574993e-01 -2.01055501e-01 -3.08521458e-03 1.55923127e+02] [ 3.15346835e-03 1.91961943e-05 9.99995028e-01 6.27621730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82028169299997 meters 0.01585151312032595 Centerline is valid? [True, True] Translation: X:212.75, Y:155.95, Z:0.63 [[-2.01172776e-01 -9.79555460e-01 7.83758722e-04 2.12745918e+02] [ 9.79548482e-01 -2.01174301e-01 -3.69769862e-03 1.55945961e+02] [ 3.77977299e-03 2.38533718e-05 9.99992856e-01 6.26488334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85028169299994 meters 0.01636212888963776 Centerline is valid? [True, True] Translation: X:212.74, Y:155.97, Z:0.63 [[-2.00793565e-01 -9.79633205e-01 8.52566215e-04 2.12738013e+02] [ 9.79624974e-01 -2.00795373e-01 -4.01608051e-03 1.55968211e+02] [ 4.10547718e-03 2.87920313e-05 9.99991572e-01 6.25580180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880281693 meters 0.01742011642316808 Centerline is valid? [True, True] Translation: X:212.73, Y:155.99, Z:0.62 [[-1.99466906e-01 -9.79904174e-01 8.73286869e-04 2.12725269e+02] [ 9.79895566e-01 -1.99468815e-01 -4.10754956e-03 1.55990428e+02] [ 4.19919845e-03 3.64097274e-05 9.99991183e-01 6.24889374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91028169299994 meters 0.017566392730108904 Centerline is valid? [True, True] Translation: X:212.72, Y:156.01, Z:0.63 [[-1.99176190e-01 -9.79963375e-01 7.93457266e-04 2.12716817e+02] [ 9.79956289e-01 -1.99177767e-01 -3.72676179e-03 1.56012767e+02] [ 3.81012911e-03 3.52712236e-05 9.99992741e-01 6.26258506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940281693 meters 0.018623523936349244 Centerline is valid? [True, True] Translation: X:212.70, Y:156.03, Z:0.62 [[-1.98726700e-01 -9.80054465e-01 9.72122951e-04 2.12704944e+02] [ 9.80043866e-01 -1.98729072e-01 -4.55820706e-03 1.56033863e+02] [ 4.66048027e-03 4.68856889e-05 9.99989139e-01 6.24093634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97028169299995 meters 0.018623523936349244 Centerline is valid? [True, True] Translation: X:212.70, Y:156.06, Z:0.62 [[-1.99020798e-01 -9.79994783e-01 9.73527215e-04 2.12699660e+02] [ 9.79984184e-01 -1.99023174e-01 -4.55790725e-03 1.56056547e+02] [ 4.66047981e-03 4.69229342e-05 9.99989139e-01 6.24140018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000281693 meters 0.01884927797239946 Centerline is valid? [True, True] Translation: X:212.69, Y:156.08, Z:0.62 [[-1.98984982e-01 -9.80001726e-01 1.26266859e-03 2.12692038e+02] [ 9.79983955e-01 -1.98988978e-01 -5.90202713e-03 1.56079470e+02] [ 6.03525390e-03 6.29801936e-05 9.99981786e-01 6.22413775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03028169299995 meters 0.0193132153835951 Centerline is valid? [True, True] Translation: X:212.68, Y:156.10, Z:0.62 [[-1.99222454e-01 -9.79953221e-01 1.44861251e-03 2.12683229e+02] [ 9.79929904e-01 -1.99227707e-01 -6.76041100e-03 1.56101153e+02] [ 6.91349028e-03 7.27130563e-05 9.99976099e-01 6.20650443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060281693 meters 0.02062703681454484 Centerline is valid? [True, True] Translation: X:212.67, Y:156.12, Z:0.62 [[-1.98686657e-01 -9.80062078e-01 1.39094672e-03 2.12669360e+02] [ 9.80040650e-01 -1.98691512e-01 -6.48134200e-03 1.56120963e+02] [ 6.62848682e-03 7.54281554e-05 9.99978029e-01 6.20878011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09028169299995 meters 0.020139554888103216 Centerline is valid? [True, True] Translation: X:212.66, Y:156.14, Z:0.62 [[-1.99043058e-01 -9.79989863e-01 1.31524763e-03 2.12661614e+02] [ 9.79970757e-01 -1.99047391e-01 -6.11971387e-03 1.56143365e+02] [ 6.25905416e-03 7.08176502e-05 9.99980409e-01 6.21572248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120281693 meters 0.01998223343903989 Centerline is valid? [True, True] Translation: X:212.65, Y:156.16, Z:0.62 [[-1.99581560e-01 -9.79880338e-01 1.31327792e-03 2.12651272e+02] [ 9.79861343e-01 -1.99585869e-01 -6.10156794e-03 1.56164830e+02] [ 6.24091817e-03 6.90698220e-05 9.99980523e-01 6.21804481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15028169299995 meters 0.020052601413269207 Centerline is valid? [True, True] Translation: X:212.64, Y:156.19, Z:0.62 [[-1.99976019e-01 -9.79799905e-01 1.31793410e-03 2.12643103e+02] [ 9.79780831e-01 -1.99980351e-01 -6.11414992e-03 1.56186749e+02] [ 6.25420444e-03 6.86032011e-05 9.99980440e-01 6.21805590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180281693 meters 0.01933981241662501 Centerline is valid? [True, True] Translation: X:212.64, Y:156.21, Z:0.62 [[-2.00266862e-01 -9.79740673e-01 1.18231424e-03 2.12636700e+02] [ 9.79725365e-01 -2.00270343e-01 -5.47719831e-03 1.56210179e+02] [ 5.60301643e-03 6.14419293e-05 9.99984301e-01 6.23241359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21028169299996 meters 0.01848092520197453 Centerline is valid? [True, True] Translation: X:212.63, Y:156.23, Z:0.63 [[-2.01277719e-01 -9.79533827e-01 8.73061231e-04 2.12632059e+02] [ 9.79525498e-01 -2.01279609e-01 -4.03945436e-03 1.56234035e+02] [ 4.13251161e-03 4.21335762e-05 9.99991460e-01 6.25490096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240281693 meters 0.01854034165097302 Centerline is valid? [True, True] Translation: X:212.63, Y:156.26, Z:0.63 [[-2.02881843e-01 -9.79202909e-01 7.88303541e-04 2.12627232e+02] [ 9.79196135e-01 -2.02883372e-01 -3.64223828e-03 1.56256068e+02] [ 3.72642400e-03 3.29597640e-05 9.99993056e-01 6.25885467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27028169299996 meters 0.01600959851853795 Centerline is valid? [True, True] Translation: X:212.63, Y:156.28, Z:0.63 [[-2.06086511e-01 -9.78533432e-01 8.20142615e-04 2.12628528e+02] [ 9.78526117e-01 -2.06088142e-01 -3.78377833e-03 1.56281069e+02] [ 3.87157526e-03 2.27452945e-05 9.99992505e-01 6.26124058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300281693 meters 0.01497701766258111 Centerline is valid? [True, True] Translation: X:212.63, Y:156.31, Z:0.63 [[-2.07594376e-01 -9.78214690e-01 7.71212719e-04 2.12626828e+02] [ 9.78208238e-01 -2.07595807e-01 -3.55310150e-03 1.56305405e+02] [ 3.63579661e-03 1.68027469e-05 9.99993390e-01 6.27064054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33028169299996 meters 0.014843195747857597 Centerline is valid? [True, True] Translation: X:212.62, Y:156.33, Z:0.63 [[-2.08313545e-01 -9.78061877e-01 6.56366501e-04 2.12623163e+02] [ 9.78057216e-01 -2.08314579e-01 -3.01979214e-03 1.56327711e+02] [ 3.09027428e-03 1.29003855e-05 9.99995225e-01 6.28110527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.360281693 meters 0.015523899197226658 Centerline is valid? [True, True] Translation: X:212.62, Y:156.35, Z:0.63 [[-2.07132981e-01 -9.78312590e-01 6.36516328e-04 2.12618054e+02] [ 9.78308220e-01 -2.07133959e-01 -2.92402691e-03 1.56350411e+02] [ 2.99245649e-03 1.70467438e-05 9.99995522e-01 6.28832839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39028169299996 meters 0.0172163934766767 Centerline is valid? [True, True] Translation: X:212.61, Y:156.37, Z:0.63 [[-2.05557376e-01 -9.78644720e-01 8.22719599e-04 2.12609703e+02] [ 9.78637448e-01 -2.05559021e-01 -3.77288817e-03 1.56372419e+02] [ 3.86143452e-03 2.95992152e-05 9.99992544e-01 6.26944696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.420281693 meters 0.020906279673409724 Centerline is valid? [True, True] Translation: X:212.60, Y:156.40, Z:0.62 [[-2.00564158e-01 -9.79679679e-01 1.32100629e-03 2.12597854e+02] [ 9.79661015e-01 -2.00568492e-01 -6.04777683e-03 1.56395090e+02] [ 6.18983630e-03 8.11710926e-05 9.99980840e-01 6.23444248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45028169299997 meters 0.02529678349562745 Centerline is valid? [True, True] Translation: X:212.59, Y:156.42, Z:0.62 [[-1.97834022e-01 -9.80234405e-01 1.48716236e-03 2.12585963e+02] [ 9.80210836e-01 -1.97839579e-01 -6.79838751e-03 1.56416337e+02] [ 6.95823291e-03 1.12780318e-04 9.99975785e-01 6.21694495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48028169299994 meters 0.03261202056125258 Centerline is valid? [True, True] Translation: X:212.57, Y:156.44, Z:0.62 [[-1.93601855e-01 -9.81079259e-01 1.34507409e-03 2.12570350e+02] [ 9.81060052e-01 -1.93606483e-01 -6.14042082e-03 1.56436698e+02] [ 6.28465457e-03 1.30801598e-04 9.99980243e-01 6.21923384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51028169299997 meters 0.029590663439808564 Centerline is valid? [True, True] Translation: X:212.57, Y:156.46, Z:0.63 [[-1.92934822e-01 -9.81211037e-01 1.02751277e-03 2.12568658e+02] [ 9.81199859e-01 -1.92937530e-01 -4.68473436e-03 1.56460451e+02] [ 4.79495883e-03 1.04347000e-04 9.99988499e-01 6.25459734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54028169299994 meters 0.029702795028641944 Centerline is valid? [True, True] Translation: X:212.56, Y:156.48, Z:0.63 [[-1.92796996e-01 -9.81238400e-01 7.21309064e-04 2.12562510e+02] [ 9.81232905e-01 -1.92798331e-01 -3.28475855e-03 1.56483660e+02] [ 3.36219841e-03 7.44806065e-05 9.99994345e-01 6.27408182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57028169299997 meters 0.02938636094425647 Centerline is valid? [True, True] Translation: X:212.56, Y:156.51, Z:0.63 [[-1.94028711e-01 -9.80995643e-01 6.39217878e-04 2.12556467e+02] [ 9.80991337e-01 -1.94029754e-01 -2.90698719e-03 1.56505968e+02] [ 2.97576905e-03 6.30282242e-05 9.99995570e-01 6.27943583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60028169299994 meters 0.02558543152506712 Centerline is valid? [True, True] Translation: X:212.56, Y:156.53, Z:0.63 [[-1.95518542e-01 -9.80699563e-01 9.31344135e-04 2.12555355e+02] [ 9.80690452e-01 -1.95520741e-01 -4.22816394e-03 1.56531333e+02] [ 4.32865563e-03 8.66758513e-05 9.99990628e-01 6.25986723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630281693 meters 0.02542878103825664 Centerline is valid? [True, True] Translation: X:212.55, Y:156.55, Z:0.62 [[-1.97920347e-01 -9.80217152e-01 1.36808810e-03 2.12549974e+02] [ 9.80197542e-01 -1.97925042e-01 -6.20124673e-03 1.56554669e+02] [ 6.34934731e-03 1.13643690e-04 9.99979836e-01 6.22985062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66028169299994 meters 0.025165087852165757 Centerline is valid? [True, True] Translation: X:212.55, Y:156.58, Z:0.62 [[-1.99049654e-01 -9.79988437e-01 1.37805997e-03 2.12545601e+02] [ 9.79968593e-01 -1.99054395e-01 -6.23740987e-03 1.56577456e+02] [ 6.38689844e-03 1.08901210e-04 9.99979598e-01 6.23205735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690281693 meters 0.024109182592072925 Centerline is valid? [True, True] Translation: X:212.54, Y:156.60, Z:0.62 [[-2.01398036e-01 -9.79508694e-01 1.24455836e-03 2.12543188e+02] [ 9.79492545e-01 -2.01401863e-01 -5.62530635e-03 1.56600221e+02] [ 5.76069285e-03 8.61099803e-05 9.99983403e-01 6.24418860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72028169299995 meters 0.021612608701620146 Centerline is valid? [True, True] Translation: X:212.54, Y:156.62, Z:0.62 [[-2.03285282e-01 -9.79118917e-01 1.11377604e-03 2.12542268e+02] [ 9.79106012e-01 -2.03288321e-01 -5.02741333e-03 1.56624811e+02] [ 5.14885316e-03 6.85056776e-05 9.99986742e-01 6.24928495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750281693 meters 0.019428528319500395 Centerline is valid? [True, True] Translation: X:212.54, Y:156.65, Z:0.63 [[-2.05763337e-01 -9.78601294e-01 9.77848835e-04 2.12541401e+02] [ 9.78591368e-01 -2.05765655e-01 -4.40800945e-03 1.56648813e+02] [ 4.51489145e-03 4.99076950e-05 9.99989807e-01 6.25513064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78028169299995 meters 0.01666543126780703 Centerline is valid? [True, True] Translation: X:212.54, Y:156.67, Z:0.63 [[-2.10248792e-01 -9.77647569e-01 8.22873859e-04 2.12544653e+02] [ 9.77640550e-01 -2.10250400e-01 -3.70463979e-03 1.56673642e+02] [ 3.79484164e-03 2.55788131e-05 9.99992799e-01 6.27505608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810281693 meters 0.015469687691500564 Centerline is valid? [True, True] Translation: X:212.54, Y:156.70, Z:0.63 [[-2.12136805e-01 -9.77239693e-01 7.47103824e-04 2.12544398e+02] [ 9.77233920e-01 -2.12138120e-01 -3.35907071e-03 1.56697736e+02] [ 3.44110643e-03 1.75126718e-05 9.99994079e-01 6.29195719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84028169299995 meters 0.014781090977325034 Centerline is valid? [True, True] Translation: X:212.54, Y:156.72, Z:0.63 [[-2.13885242e-01 -9.76858534e-01 7.12800267e-04 2.12542939e+02] [ 9.76853291e-01 -2.13886430e-01 -3.20043208e-03 1.56722213e+02] [ 3.27882769e-03 1.17760968e-05 9.99994625e-01 6.30503808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870281693 meters 0.014415145375206951 Centerline is valid? [True, True] Translation: X:212.54, Y:156.75, Z:0.63 [[-2.15668437e-01 -9.76466373e-01 7.40619835e-04 2.12542116e+02] [ 9.76460727e-01 -2.15669708e-01 -3.32038794e-03 1.56745629e+02] [ 3.40197643e-03 7.08330604e-06 9.99994213e-01 6.29845985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90028169299995 meters 0.014288012866482925 Centerline is valid? [True, True] Translation: X:212.54, Y:156.77, Z:0.63 [[-2.16122427e-01 -9.76365929e-01 8.18044976e-04 2.12538775e+02] [ 9.76359062e-01 -2.16123975e-01 -3.66182427e-03 1.56768857e+02] [ 3.75207959e-03 7.30327728e-06 9.99992961e-01 6.29007872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930281693 meters 0.01506389725880617 Centerline is valid? [True, True] Translation: X:212.53, Y:156.79, Z:0.63 [[-2.14325209e-01 -9.76761888e-01 9.58589275e-04 2.12531640e+02] [ 9.76752493e-01 -2.14327352e-01 -4.28415676e-03 1.56790208e+02] [ 4.39005294e-03 1.81016714e-05 9.99990364e-01 6.28505775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96028169299996 meters 0.01591976629917804 Centerline is valid? [True, True] Translation: X:212.52, Y:156.81, Z:0.63 [[-2.13078369e-01 -9.77034672e-01 9.26627616e-04 2.12522776e+02] [ 9.77025921e-01 -2.13080383e-01 -4.13527793e-03 1.56811297e+02] [ 4.23775608e-03 2.42009221e-05 9.99991020e-01 6.28966219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990281693 meters 0.016899502469052363 Centerline is valid? [True, True] Translation: X:212.51, Y:156.83, Z:0.63 [[-2.11576260e-01 -9.77361080e-01 8.97760282e-04 2.12514351e+02] [ 9.77352892e-01 -2.11578162e-01 -4.00083208e-03 1.56834334e+02] [ 4.10020403e-03 3.09475212e-05 9.99991594e-01 6.29092042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02028169299996 meters 0.01808073498536147 Centerline is valid? [True, True] Translation: X:212.51, Y:156.86, Z:0.63 [[-2.10345392e-01 -9.77626656e-01 9.68614731e-04 2.12506394e+02] [ 9.77617154e-01 -2.10347618e-01 -4.31044040e-03 1.56856693e+02] [ 4.41774724e-03 4.02530996e-05 9.99990241e-01 6.28007041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050281693 meters 0.019854521745252898 Centerline is valid? [True, True] Translation: X:212.50, Y:156.88, Z:0.63 [[-2.08532578e-01 -9.78014880e-01 1.02844388e-03 2.12496196e+02] [ 9.78004203e-01 -2.08535107e-01 -4.57027728e-03 1.56878893e+02] [ 4.68426585e-03 5.27707368e-05 9.99989027e-01 6.26926779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08028169299996 meters 0.020095202252018874 Centerline is valid? [True, True] Translation: X:212.49, Y:156.90, Z:0.62 [[-2.09074819e-01 -9.77898801e-01 1.28620036e-03 2.12486249e+02] [ 9.77882150e-01 -2.09078765e-01 -5.70700083e-03 1.56899980e+02] [ 5.84978646e-03 6.45622085e-05 9.99982888e-01 6.24534607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.110281693 meters 0.019328517878199496 Centerline is valid? [True, True] Translation: X:212.48, Y:156.92, Z:0.62 [[-2.10257726e-01 -9.77644616e-01 1.64106202e-03 2.12480154e+02] [ 9.77617583e-01 -2.10264117e-01 -7.27064623e-03 1.56923365e+02] [ 7.45316460e-03 7.56215361e-05 9.99972222e-01 6.21847943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14028169299996 meters 0.018731400512653734 Centerline is valid? [True, True] Translation: X:212.47, Y:156.95, Z:0.62 [[-2.11735076e-01 -9.77325109e-01 1.97211686e-03 2.12474069e+02] [ 9.77286167e-01 -2.11744245e-01 -8.72482601e-03 1.56946353e+02] [ 8.94457593e-03 7.99708255e-05 9.99959993e-01 6.18890113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.170281693 meters 0.01683751888901986 Centerline is valid? [True, True] Translation: X:212.47, Y:156.97, Z:0.62 [[-2.14848404e-01 -9.76645313e-01 2.02394613e-03 2.12468711e+02] [ 9.76604379e-01 -2.14857930e-01 -8.94190203e-03 1.56970140e+02] [ 9.16792758e-03 5.54412688e-05 9.99957972e-01 6.18758308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20028169299997 meters 0.015481252809526102 Centerline is valid? [True, True] Translation: X:212.46, Y:156.99, Z:0.62 [[-2.17284448e-01 -9.76106778e-01 1.73969553e-03 2.12464482e+02] [ 9.76076598e-01 -2.17291411e-01 -7.67581961e-03 1.56993098e+02] [ 7.87044044e-03 3.02398618e-05 9.99969027e-01 6.21385258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23028169299994 meters 0.014414067652117859 Centerline is valid? [True, True] Translation: X:212.46, Y:157.02, Z:0.63 [[-2.20145276e-01 -9.75466101e-01 1.39425811e-03 2.12461809e+02] [ 9.75446754e-01 -2.20149691e-01 -6.14365325e-03 1.57016787e+02] [ 6.29987097e-03 7.52830344e-06 9.99980156e-01 6.25411766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26028169299997 meters 0.015037538752998451 Centerline is valid? [True, True] Translation: X:212.46, Y:157.04, Z:0.63 [[-2.26249715e-01 -9.74068757e-01 1.05990169e-03 2.12463317e+02] [ 9.74057589e-01 -2.26252196e-01 -4.66445292e-03 1.57042010e+02] [ 4.78330294e-03 -2.29258622e-05 9.99988560e-01 6.28888236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29028169299994 meters 0.016739059339120916 Centerline is valid? [True, True] Translation: X:212.46, Y:157.07, Z:0.63 [[-2.29276244e-01 -9.73360782e-01 1.09191696e-03 2.12462284e+02] [ 9.73348954e-01 -2.29278841e-01 -4.79851503e-03 1.57065255e+02] [ 4.92103980e-03 -3.73692785e-05 9.99987891e-01 6.28538714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32028169299997 meters 0.01987217161776835 Centerline is valid? [True, True] Translation: X:212.46, Y:157.09, Z:0.63 [[-2.34136699e-01 -9.72202665e-01 1.40857084e-03 2.12461188e+02] [ 9.72183020e-01 -2.34140923e-01 -6.18089028e-03 1.57089736e+02] [ 6.33888207e-03 -7.77845982e-05 9.99979906e-01 6.25771995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35028169299994 meters 0.02162803744498147 Centerline is valid? [True, True] Translation: X:212.46, Y:157.11, Z:0.62 [[-2.36199396e-01 -9.71703423e-01 1.51781225e-03 2.12458287e+02] [ 9.71680665e-01 -2.36204254e-01 -6.65095059e-03 1.57113005e+02] [ 6.82126516e-03 -9.61217022e-05 9.99976730e-01 6.24780073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380281693 meters 0.02316732602004118 Centerline is valid? [True, True] Translation: X:212.46, Y:157.14, Z:0.63 [[-2.38022786e-01 -9.71258463e-01 1.46701696e-03 2.12456327e+02] [ 9.71237253e-01 -2.38027284e-01 -6.41960988e-03 1.57136552e+02] [ 6.58429049e-03 -1.03191905e-04 9.99978318e-01 6.25180429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41028169299994 meters 0.025985760007832367 Centerline is valid? [True, True] Translation: X:212.46, Y:157.16, Z:0.63 [[-2.41151040e-01 -9.70487128e-01 9.53931202e-04 2.12459450e+02] [ 9.70478174e-01 -2.41152914e-01 -4.16960028e-03 1.57160875e+02] [ 4.27658669e-03 -7.97340336e-05 9.99990852e-01 6.30142815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440281693 meters 0.02689275788694599 Centerline is valid? [True, True] Translation: X:212.46, Y:157.19, Z:0.63 [[-2.42450473e-01 -9.70163426e-01 8.33934312e-04 2.12457477e+02] [ 9.70156598e-01 -2.42451896e-01 -3.64056049e-03 1.57185257e+02] [ 3.73412759e-03 -7.36087387e-05 9.99993025e-01 6.32147872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47028169299995 meters 0.02833561468012563 Centerline is valid? [True, True] Translation: X:212.46, Y:157.21, Z:0.63 [[-2.43616197e-01 -9.69871239e-01 9.63581209e-04 2.12458835e+02] [ 9.69862147e-01 -2.43618087e-01 -4.20054505e-03 1.57209051e+02] [ 4.30873364e-03 -8.87798713e-05 9.99990713e-01 6.30878869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500281693 meters 0.02914902028087742 Centerline is valid? [True, True] Translation: X:212.46, Y:157.23, Z:0.63 [[-2.44590887e-01 -9.69625754e-01 1.09354330e-03 2.12456550e+02] [ 9.69614073e-01 -2.44593309e-01 -4.76045499e-03 1.57233028e+02] [ 4.88333313e-03 -1.04048932e-04 9.99988071e-01 6.29656806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53028169299995 meters 0.0323606741017887 Centerline is valid? [True, True] Translation: X:212.46, Y:157.26, Z:0.63 [[-2.47394302e-01 -9.68914418e-01 9.53695866e-04 2.12462526e+02] [ 9.68905551e-01 -2.47396119e-01 -4.14643711e-03 1.57257762e+02] [ 4.25348336e-03 -1.01763697e-04 9.99990949e-01 6.31148303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560281693 meters 0.03397020061879912 Centerline is valid? [True, True] Translation: X:212.46, Y:157.28, Z:0.63 [[-2.49159010e-01 -9.68462146e-01 9.27268326e-04 2.12462983e+02] [ 9.68453782e-01 -2.49160713e-01 -4.02629621e-03 1.57282611e+02] [ 4.13035430e-03 -1.05171460e-04 9.99991465e-01 6.32015197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59028169299995 meters 0.03613707778476747 Centerline is valid? [True, True] Translation: X:212.46, Y:157.31, Z:0.63 [[-2.50966343e-01 -9.67995219e-01 1.07284189e-03 2.12464484e+02] [ 9.67984049e-01 -2.50968603e-01 -4.65200262e-03 1.57307118e+02] [ 4.77236592e-03 -1.29002250e-04 9.99988604e-01 6.30686199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620281693 meters 0.035616164302970814 Centerline is valid? [True, True] Translation: X:212.47, Y:157.33, Z:0.63 [[-2.53472634e-01 -9.67340974e-01 1.75060266e-03 2.12467704e+02] [ 9.67311307e-01 -2.53478576e-01 -7.57933685e-03 1.57332784e+02] [ 7.77554336e-03 -2.27776727e-04 9.99969744e-01 6.26618952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65028169299995 meters 0.03411539212448476 Centerline is valid? [True, True] Translation: X:212.47, Y:157.36, Z:0.63 [[-2.54080004e-01 -9.67181404e-01 1.86649382e-03 2.12465007e+02] [ 9.67147768e-01 -2.54086741e-01 -8.06987450e-03 1.57356580e+02] [ 8.27928388e-03 -2.45218409e-04 9.99965696e-01 6.26598120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680281693 meters 0.03974266485856435 Centerline is valid? [True, True] Translation: X:212.47, Y:157.38, Z:0.63 [[-2.54032738e-01 -9.67193997e-01 1.77180853e-03 2.12471930e+02] [ 9.67163773e-01 -2.54038813e-01 -7.64966358e-03 1.57381590e+02] [ 7.84881683e-03 -2.29635968e-04 9.99969171e-01 6.26324371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71028169299996 meters 0.036828443503582796 Centerline is valid? [True, True] Translation: X:212.47, Y:157.40, Z:0.63 [[-2.51595169e-01 -9.67831314e-01 1.55495048e-03 2.12473041e+02] [ 9.67808110e-01 -2.51599908e-01 -6.70440264e-03 1.57404843e+02] [ 6.87995622e-03 -1.81901629e-04 9.99976316e-01 6.29432729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740281693 meters 0.0349999942802553 Centerline is valid? [True, True] Translation: X:212.47, Y:157.43, Z:0.63 [[-2.50073895e-01 -9.68225472e-01 1.57551929e-03 2.12469474e+02] [ 9.68201722e-01 -2.50078800e-01 -6.78380361e-03 1.57427846e+02] [ 6.96225543e-03 -1.71031709e-04 9.99975749e-01 6.29328029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77028169299996 meters 0.028695601734306287 Centerline is valid? [True, True] Translation: X:212.46, Y:157.45, Z:0.63 [[-2.44755740e-01 -9.69583122e-01 1.78802914e-03 2.12464144e+02] [ 9.69552656e-01 -2.44762226e-01 -7.68765445e-03 1.57449018e+02] [ 7.89146199e-03 -1.48009154e-04 9.99968851e-01 6.27498092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800281693 meters 0.024518047873717284 Centerline is valid? [True, True] Translation: X:212.46, Y:157.47, Z:0.63 [[-2.41412773e-01 -9.70420793e-01 1.83222461e-03 2.12456198e+02] [ 9.70388914e-01 -2.41419695e-01 -7.86681819e-03 1.57470820e+02] [ 8.07645906e-03 -1.21179942e-04 9.99967378e-01 6.26977567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83028169299996 meters 0.020504265532303206 Centerline is valid? [True, True] Translation: X:212.45, Y:157.49, Z:0.63 [[-2.37818007e-01 -9.71307984e-01 1.84275289e-03 2.12448138e+02] [ 9.71275850e-01 -2.37825129e-01 -7.90134219e-03 1.57492378e+02] [ 8.11288970e-03 -8.92600761e-05 9.99967086e-01 6.27168430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.860281693 meters 0.014563719513184704 Centerline is valid? [True, True] Translation: X:212.44, Y:157.51, Z:0.63 [[-2.30229748e-01 -9.73134965e-01 1.61334604e-03 2.12435152e+02] [ 9.73110445e-01 -2.30235400e-01 -6.90809441e-03 1.57512085e+02] [ 7.09395758e-03 -2.04849524e-05 9.99974837e-01 6.30041161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89028169299996 meters 0.014563719513184704 Centerline is valid? [True, True] Translation: X:212.43, Y:157.53, Z:0.63 [[-2.30518713e-01 -9.73066551e-01 1.61545277e-03 2.12429539e+02] [ 9.73042034e-01 -2.30524372e-01 -6.90760196e-03 1.57533857e+02] [ 7.09395765e-03 -2.04280614e-05 9.99974837e-01 6.30085877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92028169299994 meters 0.013983730452954441 Centerline is valid? [True, True] Translation: X:212.42, Y:157.56, Z:0.63 [[-2.27844855e-01 -9.73696283e-01 1.50686352e-03 2.12420363e+02] [ 9.73675028e-01 -2.27849838e-01 -6.43355542e-03 1.57555791e+02] [ 6.60766761e-03 1.34287790e-06 9.99978169e-01 6.30584804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95028169299997 meters 0.015762746004706826 Centerline is valid? [True, True] Translation: X:212.41, Y:157.58, Z:0.63 [[-2.23235453e-01 -9.74763730e-01 1.26613497e-03 2.12410981e+02] [ 9.74748782e-01 -2.23239042e-01 -5.39836266e-03 1.57576011e+02] [ 5.54477888e-03 2.90575832e-05 9.99984627e-01 6.32015310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98028169299994 meters 0.01722444225511254 Centerline is valid? [True, True] Translation: X:212.40, Y:157.60, Z:0.63 [[-2.21615725e-01 -9.75133252e-01 1.26968523e-03 2.12403480e+02] [ 9.75118267e-01 -2.21619358e-01 -5.40607905e-03 1.57597615e+02] [ 5.55303427e-03 4.00211384e-05 9.99984581e-01 6.32618747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01028169299997 meters 0.017487445581889808 Centerline is valid? [True, True] Translation: X:212.40, Y:157.62, Z:0.63 [[-2.20091819e-01 -9.75478220e-01 1.35409928e-03 2.12397920e+02] [ 9.75461231e-01 -2.20095978e-01 -5.75737721e-03 1.57620524e+02] [ 5.91422788e-03 5.37197279e-05 9.99982509e-01 6.33162073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04028169299994 meters 0.021128759250282726 Centerline is valid? [True, True] Translation: X:212.39, Y:157.64, Z:0.63 [[-2.18640516e-01 -9.75804368e-01 1.46948680e-03 2.12386298e+02] [ 9.75784424e-01 -2.18645443e-01 -6.23919143e-03 1.57641025e+02] [ 6.40952684e-03 6.97622955e-05 9.99979456e-01 6.30659084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07028169299997 meters 0.024872016946081904 Centerline is valid? [True, True] Translation: X:212.38, Y:157.66, Z:0.63 [[-2.15959058e-01 -9.76401303e-01 1.47642256e-03 2.12375442e+02] [ 9.76381247e-01 -2.15964087e-01 -6.25896824e-03 1.57662462e+02] [ 6.43011899e-03 8.98704164e-05 9.99979323e-01 6.30009907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10028169299994 meters 0.022058228820785303 Centerline is valid? [True, True] Translation: X:212.37, Y:157.69, Z:0.63 [[-2.15148201e-01 -9.76580468e-01 1.35686195e-03 2.12373965e+02] [ 9.76563579e-01 -2.15152461e-01 -5.74411421e-03 1.57686707e+02] [ 5.90152193e-03 8.92261261e-05 9.99982582e-01 6.32701267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130281693 meters 0.028786585523503157 Centerline is valid? [True, True] Translation: X:212.36, Y:157.71, Z:0.63 [[-2.13569558e-01 -9.76926945e-01 1.33713811e-03 2.12358100e+02] [ 9.76910595e-01 -2.13573721e-01 -5.65294732e-03 1.57706630e+02] [ 5.80809412e-03 9.89669228e-05 9.99983128e-01 6.31307790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16028169299994 meters 0.02899023445072841 Centerline is valid? [True, True] Translation: X:212.35, Y:157.73, Z:0.63 [[-2.13793811e-01 -9.76877856e-01 1.36387644e-03 2.12351856e+02] [ 9.76860890e-01 -2.13798137e-01 -5.75829756e-03 1.57728872e+02] [ 5.91674762e-03 1.01229180e-04 9.99982491e-01 6.30937394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190281693 meters 0.024966892263101628 Centerline is valid? [True, True] Translation: X:212.35, Y:157.75, Z:0.63 [[-2.14645853e-01 -9.76690872e-01 1.44894656e-03 2.12352534e+02] [ 9.76671768e-01 -2.14650718e-01 -6.10955882e-03 1.57754021e+02] [ 6.27816775e-03 1.03753735e-04 9.99980287e-01 6.31354679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22028169299995 meters 0.022693637477138012 Centerline is valid? [True, True] Translation: X:212.35, Y:157.78, Z:0.63 [[-2.17416465e-01 -9.76077772e-01 1.50431645e-03 2.12353041e+02] [ 9.76057220e-01 -2.17421650e-01 -6.33471405e-03 1.57777577e+02] [ 6.51024455e-03 9.10277930e-05 9.99978804e-01 6.30308088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250281693 meters 0.021382114880699816 Centerline is valid? [True, True] Translation: X:212.35, Y:157.80, Z:0.63 [[-2.18929892e-01 -9.75739406e-01 1.52118279e-03 2.12350367e+02] [ 9.75718437e-01 -2.18935161e-01 -6.39741458e-03 1.57801490e+02] [ 6.57524990e-03 8.36608093e-05 9.99978379e-01 6.30147815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28028169299995 meters 0.02007454057551022 Centerline is valid? [True, True] Translation: X:212.35, Y:157.83, Z:0.63 [[-2.19591600e-01 -9.75590430e-01 1.68616282e-03 2.12347534e+02] [ 9.75564732e-01 -2.19598055e-01 -7.08155932e-03 1.57825491e+02] [ 7.27897957e-03 8.99100393e-05 9.99973504e-01 6.29650102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310281693 meters 0.02249945460867046 Centerline is valid? [True, True] Translation: X:212.34, Y:157.85, Z:0.63 [[-2.19008280e-01 -9.75721311e-01 1.81578637e-03 2.12338633e+02] [ 9.75691597e-01 -2.19015783e-01 -7.61539180e-03 1.57846603e+02] [ 7.82818594e-03 1.03813640e-04 9.99969354e-01 6.28426903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34028169299995 meters 0.025108374076212265 Centerline is valid? [True, True] Translation: X:212.33, Y:157.87, Z:0.63 [[-2.16831680e-01 -9.76207315e-01 1.81689957e-03 2.12326960e+02] [ 9.76177660e-01 -2.16839257e-01 -7.60999824e-03 1.57867670e+02] [ 7.82291110e-03 1.23528069e-04 9.99969393e-01 6.29869953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370281693 meters 0.024971526467870056 Centerline is valid? [True, True] Translation: X:212.32, Y:157.89, Z:0.63 [[-2.15282336e-01 -9.76550421e-01 1.67047180e-03 2.12319226e+02] [ 9.76525428e-01 -2.15288779e-01 -6.98783381e-03 1.57890519e+02] [ 7.18360588e-03 1.26901001e-04 9.99974190e-01 6.31762903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40028169299995 meters 0.03385862089794529 Centerline is valid? [True, True] Translation: X:212.30, Y:157.91, Z:0.63 [[-2.13756096e-01 -9.76885931e-01 1.48656671e-03 2.12299279e+02] [ 9.76866196e-01 -2.13761229e-01 -6.21061497e-03 1.57909398e+02] [ 6.38483271e-03 1.24619956e-04 9.99979609e-01 6.30601266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430281693 meters 0.028845632280235775 Centerline is valid? [True, True] Translation: X:212.30, Y:157.93, Z:0.63 [[-2.12126787e-01 -9.77241422e-01 1.19606228e-03 2.12297768e+02] [ 9.77228684e-01 -2.12130130e-01 -4.99080372e-03 1.57933409e+02] [ 5.13094097e-03 1.10143214e-04 9.99986831e-01 6.34282413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46028169299996 meters 0.0286278912620412 Centerline is valid? [True, True] Translation: X:212.29, Y:157.96, Z:0.63 [[-2.12530893e-01 -9.77153432e-01 1.33792438e-03 2.12290314e+02] [ 9.77137535e-01 -2.12535069e-01 -5.57503718e-03 1.57956568e+02] [ 5.73202256e-03 1.22468498e-04 9.99983564e-01 6.33437000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490281693 meters 0.028254904435070543 Centerline is valid? [True, True] Translation: X:212.28, Y:157.98, Z:0.63 [[-2.14224111e-01 -9.76783268e-01 1.57396912e-03 2.12281010e+02] [ 9.76761320e-01 -2.14229851e-01 -6.54941926e-03 1.57977517e+02] [ 6.73455432e-03 1.34348632e-04 9.99977314e-01 6.32350995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52028169299996 meters 0.026986237689585947 Centerline is valid? [True, True] Translation: X:212.28, Y:158.00, Z:0.63 [[-2.15787572e-01 -9.76439086e-01 1.56068797e-03 2.12275033e+02] [ 9.76417553e-01 -2.15793180e-01 -6.48581862e-03 1.58001054e+02] [ 6.66979262e-03 1.24324074e-04 9.99977749e-01 6.32401964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550281693 meters 0.024751865690324736 Centerline is valid? [True, True] Translation: X:212.27, Y:158.02, Z:0.63 [[-2.17539706e-01 -9.76050464e-01 1.40302922e-03 2.12271016e+02] [ 9.76033097e-01 -2.17544207e-01 -5.82340519e-03 1.58024958e+02] [ 5.98915822e-03 1.02581101e-04 9.99982060e-01 6.33811324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58028169299996 meters 0.021450353944306087 Centerline is valid? [True, True] Translation: X:212.27, Y:158.05, Z:0.64 [[-2.21272150e-01 -9.75211472e-01 1.10458684e-03 2.12267233e+02] [ 9.75200723e-01 -2.21274897e-01 -4.57929451e-03 1.58047544e+02] [ 4.71019788e-03 6.39235486e-05 9.99988905e-01 6.35186183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.610281693 meters 0.019688567610000113 Centerline is valid? [True, True] Translation: X:212.26, Y:158.07, Z:0.64 [[-2.23936221e-01 -9.74603205e-01 1.07747062e-03 2.12263451e+02] [ 9.74592997e-01 -2.23938807e-01 -4.46109569e-03 1.58070221e+02] [ 4.58908564e-03 5.10944077e-05 9.99989469e-01 6.35341233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64028169299996 meters 0.015193064876851636 Centerline is valid? [True, True] Translation: X:212.27, Y:158.10, Z:0.63 [[-2.29594339e-01 -9.73285645e-01 1.22146878e-03 2.12269084e+02] [ 9.73272542e-01 -2.29597586e-01 -5.05044157e-03 1.58096286e+02] [ 5.19596857e-03 2.92692246e-05 9.99986500e-01 6.34122389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67028169299994 meters 0.014298551308096015 Centerline is valid? [True, True] Translation: X:212.27, Y:158.12, Z:0.63 [[-2.32038362e-01 -9.72705795e-01 1.27850561e-03 2.12268698e+02] [ 9.72691469e-01 -2.32041883e-01 -5.27919813e-03 1.58119564e+02] [ 5.43177346e-03 1.86150184e-05 9.99985248e-01 6.33267178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70028169299997 meters 0.013802149860420035 Centerline is valid? [True, True] Translation: X:212.27, Y:158.14, Z:0.63 [[-2.33914925e-01 -9.72256100e-01 1.37235873e-03 2.12266729e+02] [ 9.72239631e-01 -2.33918950e-01 -5.65901388e-03 1.58142445e+02] [ 5.82303148e-03 1.05337428e-05 9.99983046e-01 6.32845595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73028169299994 meters 0.013667255212857762 Centerline is valid? [True, True] Translation: X:212.26, Y:158.17, Z:0.63 [[-2.35103449e-01 -9.71969184e-01 1.50792737e-03 2.12263314e+02] [ 9.71949348e-01 -2.35108284e-01 -6.20965858e-03 1.58166079e+02] [ 6.39012300e-03 5.71687173e-06 9.99979583e-01 6.33030210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76028169299997 meters 0.014067354521698475 Centerline is valid? [True, True] Translation: X:212.26, Y:158.19, Z:0.63 [[-2.34014914e-01 -9.72231850e-01 1.49966205e-03 2.12255598e+02] [ 9.72212288e-01 -2.34019719e-01 -6.16743759e-03 1.58188100e+02] [ 6.34712975e-03 1.47174959e-05 9.99979857e-01 6.33411429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79028169299994 meters 0.01651057029673006 Centerline is valid? [True, True] Translation: X:212.24, Y:158.21, Z:0.64 [[-2.29180842e-01 -9.73383124e-01 1.19852837e-03 2.12240533e+02] [ 9.73370674e-01 -2.29183973e-01 -4.92319246e-03 1.58209443e+02] [ 5.06683595e-03 3.83109699e-05 9.99987163e-01 6.37374637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82028169299997 meters 0.019309046856175658 Centerline is valid? [True, True] Translation: X:212.23, Y:158.23, Z:0.64 [[-2.26226216e-01 -9.74074083e-01 1.17484742e-03 2.12227209e+02] [ 9.74062159e-01 -2.26229260e-01 -4.81995518e-03 1.58230794e+02] [ 4.96077828e-03 5.39742006e-05 9.99987694e-01 6.37520679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85028169299994 meters 0.023013688038888414 Centerline is valid? [True, True] Translation: X:212.21, Y:158.25, Z:0.64 [[-2.22807868e-01 -9.74861480e-01 1.32224372e-03 2.12212648e+02] [ 9.74846430e-01 -2.22811776e-01 -5.41766073e-03 1.58252354e+02] [ 5.57608024e-03 8.18871356e-05 9.99984450e-01 6.36793762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880281693 meters 0.02779394566633046 Centerline is valid? [True, True] Translation: X:212.19, Y:158.27, Z:0.64 [[-2.16932009e-01 -9.76185823e-01 1.31987498e-03 2.12194243e+02] [ 9.76170887e-01 -2.16935993e-01 -5.40130525e-03 1.58273209e+02] [ 5.55900600e-03 1.16707532e-04 9.99984542e-01 6.36707629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91028169299994 meters 0.032034853276420215 Centerline is valid? [True, True] Translation: X:212.18, Y:158.29, Z:0.64 [[-2.15344364e-01 -9.76537175e-01 1.39680742e-03 2.12180471e+02] [ 9.76520499e-01 -2.15348852e-01 -5.70842921e-03 1.58293264e+02] [ 5.87529421e-03 1.34733020e-04 9.99982731e-01 6.35475436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940281693 meters 0.03336084112499733 Centerline is valid? [True, True] Translation: X:212.17, Y:158.31, Z:0.64 [[-2.14575417e-01 -9.76706320e-01 1.46815110e-03 2.12166680e+02] [ 9.76687950e-01 -2.14580389e-01 -5.99208875e-03 1.58313641e+02] [ 6.16754738e-03 1.48170541e-04 9.99980970e-01 6.35553672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97028169299995 meters 0.03208429342929585 Centerline is valid? [True, True] Translation: X:212.16, Y:158.34, Z:0.64 [[-2.15373588e-01 -9.76530646e-01 1.45430103e-03 2.12158486e+02] [ 9.76512663e-01 -2.15378450e-01 -5.92810685e-03 1.58336469e+02] [ 6.10220311e-03 1.43385732e-04 9.99981371e-01 6.36625637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000281693 meters 0.030525173548881984 Centerline is valid? [True, True] Translation: X:212.15, Y:158.36, Z:0.64 [[-2.16440099e-01 -9.76294994e-01 1.33008396e-03 2.12150699e+02] [ 9.76279984e-01 -2.16444149e-01 -5.41511803e-03 1.58359313e+02] [ 5.57464151e-03 1.26485672e-04 9.99984454e-01 6.37801055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03028169299995 meters 0.029204218843407733 Centerline is valid? [True, True] Translation: X:212.14, Y:158.38, Z:0.64 [[-2.18682635e-01 -9.75795532e-01 9.92869052e-04 2.12140057e+02] [ 9.75787181e-01 -2.18684872e-01 -4.03777321e-03 1.58380497e+02] [ 4.15716650e-03 8.58380076e-05 9.99991355e-01 6.40185824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060281693 meters 0.027284999269218246 Centerline is valid? [True, True] Translation: X:212.13, Y:158.40, Z:0.64 [[-2.20152886e-01 -9.75464987e-01 8.75683960e-04 2.12133429e+02] [ 9.75458504e-01 -2.20154616e-01 -3.55703673e-03 1.58403496e+02] [ 3.66255066e-03 7.11014632e-05 9.99993290e-01 6.40993197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09028169299995 meters 0.02405108207318092 Centerline is valid? [True, True] Translation: X:212.13, Y:158.43, Z:0.64 [[-2.23828524e-01 -9.74627847e-01 1.16233641e-03 2.12126866e+02] [ 9.74616447e-01 -2.23831529e-01 -4.71474519e-03 1.58426177e+02] [ 4.85528950e-03 7.75377264e-05 9.99988210e-01 6.38199979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120281693 meters 0.021546830347908483 Centerline is valid? [True, True] Translation: X:212.12, Y:158.45, Z:0.64 [[-2.26674504e-01 -9.73969726e-01 1.28167876e-03 2.12124020e+02] [ 9.73955889e-01 -2.26678116e-01 -5.19215323e-03 1.58450358e+02] [ 5.34752858e-03 7.13698144e-05 9.99985699e-01 6.37275003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15028169299995 meters 0.018180218611443127 Centerline is valid? [True, True] Translation: X:212.12, Y:158.48, Z:0.64 [[-2.30173307e-01 -9.73148905e-01 1.20763421e-03 2.12124107e+02] [ 9.73136639e-01 -2.30176469e-01 -4.88622319e-03 1.58475177e+02] [ 5.03299172e-03 5.05149420e-05 9.99987333e-01 6.38454266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180281693 meters 0.013589522184288607 Centerline is valid? [True, True] Translation: X:212.13, Y:158.50, Z:0.64 [[-2.38157422e-01 -9.71225921e-01 1.11966398e-03 2.12131377e+02] [ 9.71215380e-01 -2.38160054e-01 -4.52480008e-03 1.58501253e+02] [ 4.66126236e-03 9.82015793e-06 9.99989136e-01 6.39579044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21028169299996 meters 0.013446589651360884 Centerline is valid? [True, True] Translation: X:212.13, Y:158.53, Z:0.64 [[-2.41778283e-01 -9.70330718e-01 1.24878781e-03 2.12131657e+02] [ 9.70317629e-01 -2.41781508e-01 -5.03995547e-03 1.58525412e+02] [ 5.19235741e-03 -6.83095266e-06 9.99986520e-01 6.39195368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240281693 meters 0.014090153293713062 Centerline is valid? [True, True] Translation: X:212.13, Y:158.55, Z:0.64 [[-2.44619156e-01 -9.69618389e-01 1.28408009e-03 2.12131116e+02] [ 9.69604575e-01 -2.44622526e-01 -5.17566571e-03 1.58550183e+02] [ 5.33253557e-03 -2.10170490e-05 9.99985782e-01 6.39153317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27028169299996 meters 0.014537098933463052 Centerline is valid? [True, True] Translation: X:212.13, Y:158.57, Z:0.64 [[-2.46634005e-01 -9.69108057e-01 1.11386300e-03 2.12130719e+02] [ 9.69097684e-01 -2.46636519e-01 -4.48408756e-03 1.58574492e+02] [ 4.62028468e-03 -2.64864197e-05 9.99989326e-01 6.41197493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300281693 meters 0.0142588341609106 Centerline is valid? [True, True] Translation: X:212.12, Y:158.60, Z:0.64 [[-2.45697047e-01 -9.69345873e-01 1.24084442e-03 2.12124326e+02] [ 9.69333038e-01 -2.45700179e-01 -4.98835408e-03 1.58596037e+02] [ 5.14031614e-03 -2.28323714e-05 9.99986788e-01 6.40153722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33028169299996 meters 0.013726378908353218 Centerline is valid? [True, True] Translation: X:212.11, Y:158.62, Z:0.64 [[-2.41432088e-01 -9.70416098e-01 1.77317549e-03 2.12111454e+02] [ 9.70389992e-01 -2.41438599e-01 -7.11798593e-03 1.58616034e+02] [ 7.33552113e-03 2.16154343e-06 9.99973095e-01 6.35548388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.360281693 meters 0.014132501259799228 Centerline is valid? [True, True] Translation: X:212.10, Y:158.64, Z:0.64 [[-2.39588859e-01 -9.70872868e-01 1.74723889e-03 2.12102322e+02] [ 9.70847596e-01 -2.39595229e-01 -7.00517663e-03 1.58638587e+02] [ 7.21976603e-03 1.79403980e-05 9.99973937e-01 6.35009702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39028169299996 meters 0.014261632958524145 Centerline is valid? [True, True] Translation: X:212.09, Y:158.66, Z:0.64 [[-2.38494631e-01 -9.71142690e-01 1.47903446e-03 2.12094954e+02] [ 9.71124629e-01 -2.38499216e-01 -5.92273781e-03 1.58661621e+02] [ 6.10457209e-03 2.37856197e-05 9.99981367e-01 6.37643501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42028169299994 meters 0.014570073226385677 Centerline is valid? [True, True] Translation: X:212.09, Y:158.68, Z:0.64 [[-2.37878480e-01 -9.71294460e-01 9.49337949e-04 2.12087882e+02] [ 9.71287036e-01 -2.37880374e-01 -3.79751949e-03 1.58683637e+02] [ 3.91433851e-03 1.87314788e-05 9.99992339e-01 6.42011473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45028169299997 meters 0.014656973226313182 Centerline is valid? [True, True] Translation: X:212.08, Y:158.71, Z:0.64 [[-2.38065588e-01 -9.71248641e-01 9.23964584e-04 2.12081854e+02] [ 9.71241626e-01 -2.38067381e-01 -3.69133809e-03 1.58706393e+02] [ 3.80517293e-03 1.86122898e-05 9.99992760e-01 6.41894662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48028169299994 meters 0.015037686005963351 Centerline is valid? [True, True] Translation: X:212.08, Y:158.73, Z:0.64 [[-2.37845934e-01 -9.71302212e-01 1.15069406e-03 2.12075663e+02] [ 9.71291364e-01 -2.37848716e-01 -4.59074152e-03 1.58728132e+02] [ 4.73268850e-03 2.57699971e-05 9.99988800e-01 6.39996739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51028169299997 meters 0.0152730920695136 Centerline is valid? [True, True] Translation: X:212.07, Y:158.75, Z:0.64 [[-2.37838777e-01 -9.71303892e-01 1.21067341e-03 2.12069127e+02] [ 9.71291914e-01 -2.37841857e-01 -4.82386307e-03 1.58751062e+02] [ 4.97338579e-03 2.86155982e-05 9.99987632e-01 6.39189095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54028169299994 meters 0.015328428255815318 Centerline is valid? [True, True] Translation: X:212.06, Y:158.77, Z:0.64 [[-2.37900473e-01 -9.71288687e-01 1.28534477e-03 2.12062912e+02] [ 9.71275219e-01 -2.37903943e-01 -5.11489495e-03 1.58773626e+02] [ 5.27382819e-03 3.15875981e-05 9.99986093e-01 6.39392454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57028169299997 meters 0.015364267193453561 Centerline is valid? [True, True] Translation: X:212.06, Y:158.80, Z:0.64 [[-2.38151477e-01 -9.71227309e-01 1.17830393e-03 2.12057188e+02] [ 9.71216018e-01 -2.38154390e-01 -4.68331956e-03 1.58797021e+02] [ 4.82918611e-03 2.90481800e-05 9.99988339e-01 6.39905209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60028169299994 meters 0.015238845545261937 Centerline is valid? [True, True] Translation: X:212.05, Y:158.82, Z:0.64 [[-2.38598722e-01 -9.71117592e-01 1.12762526e-03 2.12051753e+02] [ 9.71107275e-01 -2.38601385e-01 -4.47647161e-03 1.58819950e+02] [ 4.61623328e-03 2.69646910e-05 9.99989345e-01 6.40355260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630281693 meters 0.01483055424110344 Centerline is valid? [True, True] Translation: X:212.05, Y:158.84, Z:0.64 [[-2.39480786e-01 -9.70900505e-01 1.07856529e-03 2.12047157e+02] [ 9.70891086e-01 -2.39483214e-01 -4.27656027e-03 1.58843570e+02] [ 4.41041280e-03 2.30154115e-05 9.99990274e-01 6.40636358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66028169299994 meters 0.013955505631543477 Centerline is valid? [True, True] Translation: X:212.05, Y:158.87, Z:0.64 [[-2.41554396e-01 -9.70386824e-01 9.41112937e-04 2.12045813e+02] [ 9.70379666e-01 -2.41556228e-01 -3.72726078e-03 1.58867679e+02] [ 3.84421644e-03 1.29006333e-05 9.99992611e-01 6.41693057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690281693 meters 0.013464777953342043 Centerline is valid? [True, True] Translation: X:212.04, Y:158.89, Z:0.64 [[-2.42953699e-01 -9.70037439e-01 9.31286094e-04 2.12043579e+02] [ 9.70030445e-01 -2.42955484e-01 -3.68369987e-03 1.58891169e+02] [ 3.79958785e-03 8.40735352e-06 9.99992782e-01 6.41942222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72028169299995 meters 0.01330240898724172 Centerline is valid? [True, True] Translation: X:212.04, Y:158.92, Z:0.64 [[-2.45286346e-01 -9.69449867e-01 1.25073090e-03 2.12044029e+02] [ 9.69437281e-01 -2.45289535e-01 -4.93989302e-03 1.58916018e+02] [ 5.09576983e-03 8.16854779e-07 9.99987017e-01 6.39615146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750281693 meters 0.013671964754243753 Centerline is valid? [True, True] Translation: X:212.04, Y:158.94, Z:0.64 [[-2.46084985e-01 -9.69247108e-01 1.49097931e-03 2.12039749e+02] [ 9.69229271e-01 -2.46089502e-01 -5.88028946e-03 1.58938487e+02] [ 6.06636792e-03 -1.95015079e-06 9.99981599e-01 6.37161935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78028169299995 meters 0.013671964754243753 Centerline is valid? [True, True] Translation: X:212.03, Y:158.96, Z:0.64 [[-2.46379780e-01 -9.69172212e-01 1.49281226e-03 2.12033739e+02] [ 9.69154375e-01 -2.46384302e-01 -5.87982431e-03 1.58960146e+02] [ 6.06636783e-03 -1.90428489e-06 9.99981599e-01 6.37206653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810281693 meters 0.013688824746954839 Centerline is valid? [True, True] Translation: X:212.03, Y:158.98, Z:0.64 [[-2.46879938e-01 -9.69044788e-01 1.57990224e-03 2.12028891e+02] [ 9.69024859e-01 -2.46884993e-01 -6.21476600e-03 1.58982919e+02] [ 6.41244076e-03 -3.33649458e-06 9.99979440e-01 6.36271269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84028169299995 meters 0.013747339488648388 Centerline is valid? [True, True] Translation: X:212.02, Y:159.01, Z:0.64 [[-2.45494128e-01 -9.69396902e-01 1.50999661e-03 2.12021685e+02] [ 9.69378749e-01 -2.45498771e-01 -5.93247952e-03 1.59005632e+02] [ 6.12162958e-03 7.36974393e-06 9.99981263e-01 6.38276894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870281693 meters 0.014617123438833642 Centerline is valid? [True, True] Translation: X:212.01, Y:159.03, Z:0.64 [[-2.42054162e-01 -9.70262324e-01 8.96951658e-04 2.12010215e+02] [ 9.70255937e-01 -2.42055823e-01 -3.52058258e-03 1.59027642e+02] [ 3.63300101e-03 1.81010054e-05 9.99993400e-01 6.43176133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90028169299995 meters 0.015297141372350569 Centerline is valid? [True, True] Translation: X:212.00, Y:159.05, Z:0.64 [[-2.40840049e-01 -9.70564470e-01 8.24744323e-04 2.12001307e+02] [ 9.70559085e-01 -2.40841460e-01 -3.23332432e-03 1.59049934e+02] [ 3.33678233e-03 2.17491077e-05 9.99994433e-01 6.42935214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930281693 meters 0.01633594754408957 Centerline is valid? [True, True] Translation: X:211.99, Y:159.07, Z:0.64 [[-2.39998755e-01 -9.70772658e-01 1.02196543e-03 2.11992996e+02] [ 9.70764415e-01 -2.40000928e-01 -4.00073440e-03 1.59071687e+02] [ 4.12907622e-03 3.19163971e-05 9.99991475e-01 6.40545628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96028169299996 meters 0.01802707664108338 Centerline is valid? [True, True] Translation: X:211.98, Y:159.09, Z:0.64 [[-2.39763838e-01 -9.70830485e-01 1.21313418e-03 2.11984120e+02] [ 9.70818903e-01 -2.39766904e-01 -4.74241451e-03 1.59093215e+02] [ 4.89495000e-03 4.06740855e-05 9.99988019e-01 6.37177858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990281693 meters 0.01652044126825961 Centerline is valid? [True, True] Translation: X:211.98, Y:159.12, Z:0.64 [[-2.40564579e-01 -9.70632180e-01 1.36160140e-03 2.11983002e+02] [ 9.70617626e-01 -2.40568429e-01 -5.31561799e-03 1.59117636e+02] [ 5.48706819e-03 4.28449145e-05 9.99984945e-01 6.36634464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02028169299996 meters 0.016680016448258658 Centerline is valid? [True, True] Translation: X:211.98, Y:159.14, Z:0.64 [[-2.41441306e-01 -9.70414508e-01 1.33360411e-03 2.11976914e+02] [ 9.70400579e-01 -2.41444986e-01 -5.19956463e-03 1.59139943e+02] [ 5.36772498e-03 3.87405222e-05 9.99985593e-01 6.36778351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050281693 meters 0.016336521394728756 Centerline is valid? [True, True] Translation: X:211.97, Y:159.16, Z:0.64 [[-2.42093498e-01 -9.70252342e-01 1.06319789e-03 2.11969688e+02] [ 9.70243508e-01 -2.42095831e-01 -4.14056494e-03 1.59162783e+02] [ 4.27478861e-03 2.91570017e-05 9.99990863e-01 6.40247988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08028169299996 meters 0.016274590005495655 Centerline is valid? [True, True] Translation: X:211.96, Y:159.18, Z:0.64 [[-2.41435875e-01 -9.70416271e-01 9.89660309e-04 2.11961332e+02] [ 9.70408636e-01 -2.41437902e-01 -3.84951747e-03 1.59184784e+02] [ 3.97457589e-03 3.09632913e-05 9.99992101e-01 6.42190258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.110281693 meters 0.017655134774272094 Centerline is valid? [True, True] Translation: X:211.95, Y:159.21, Z:0.64 [[-2.40170918e-01 -9.70730049e-01 1.05006413e-03 2.11950916e+02] [ 9.70721480e-01 -2.40173210e-01 -4.07901157e-03 1.59205532e+02] [ 4.21181638e-03 3.96598540e-05 9.99991130e-01 6.41956356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14028169299996 meters 0.019125462032534044 Centerline is valid? [True, True] Translation: X:211.94, Y:159.23, Z:0.64 [[-2.38106849e-01 -9.71238455e-01 9.95745523e-04 2.11938429e+02] [ 9.71230773e-01 -2.38108926e-01 -3.86317743e-03 1.59227100e+02] [ 3.98916238e-03 4.72496908e-05 9.99992042e-01 6.42134502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17028169299994 meters 0.019829648501061052 Centerline is valid? [True, True] Translation: X:211.93, Y:159.25, Z:0.64 [[-2.37982708e-01 -9.71269039e-01 8.27675551e-04 2.11929200e+02] [ 9.71263744e-01 -2.37984144e-01 -3.20739080e-03 1.59248210e+02] [ 3.31221304e-03 4.05877058e-05 9.99994514e-01 6.43053705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20028169299997 meters 0.019285144801688567 Centerline is valid? [True, True] Translation: X:211.92, Y:159.27, Z:0.64 [[-2.39835013e-01 -9.70813446e-01 6.48109587e-04 2.11921770e+02] [ 9.70810205e-01 -2.39835887e-01 -2.50879896e-03 1.59270457e+02] [ 2.59101570e-03 2.74935703e-05 9.99996643e-01 6.43613923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23028169299994 meters 0.016639763525521215 Centerline is valid? [True, True] Translation: X:211.92, Y:159.29, Z:0.64 [[-2.42362730e-01 -9.70185460e-01 6.92721512e-04 2.11920528e+02] [ 9.70181765e-01 -2.42363719e-01 -2.67797180e-03 1.59294549e+02] [ 2.76601986e-03 2.30252223e-05 9.99996174e-01 6.43203547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26028169299997 meters 0.015126491793965672 Centerline is valid? [True, True] Translation: X:211.92, Y:159.32, Z:0.64 [[-2.45689849e-01 -9.69348207e-01 7.42203301e-04 2.11918555e+02] [ 9.69343972e-01 -2.45690970e-01 -2.86542323e-03 1.59317853e+02] [ 2.95994552e-03 1.54448943e-05 9.99995619e-01 6.42634006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29028169299994 meters 0.013835413508025531 Centerline is valid? [True, True] Translation: X:211.92, Y:159.34, Z:0.64 [[-2.52714688e-01 -9.67540484e-01 8.36027903e-04 2.11923533e+02] [ 9.67535115e-01 -2.52716071e-01 -3.22313966e-03 1.59342433e+02] [ 3.32979579e-03 -5.64838163e-06 9.99994456e-01 6.43400323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32028169299997 meters 0.01468479750995391 Centerline is valid? [True, True] Translation: X:211.92, Y:159.37, Z:0.64 [[-2.55949822e-01 -9.66689744e-01 7.91766821e-04 2.11922701e+02] [ 9.66684937e-01 -2.55951046e-01 -3.04871082e-03 1.59365828e+02] [ 3.14981103e-03 -1.49279312e-05 9.99995039e-01 6.44269453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35028169299994 meters 0.01792095880530275 Centerline is valid? [True, True] Translation: X:211.93, Y:159.39, Z:0.64 [[-2.61395571e-01 -9.65231280e-01 9.65387991e-04 2.11926913e+02] [ 9.65224142e-01 -2.61397351e-01 -3.71212294e-03 1.59391798e+02] [ 3.83540704e-03 -3.85167016e-05 9.99992644e-01 6.43004586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380281693 meters 0.01925528742813237 Centerline is valid? [True, True] Translation: X:211.93, Y:159.42, Z:0.64 [[-2.63472428e-01 -9.64666300e-01 1.09975561e-03 2.11925081e+02] [ 9.64657056e-01 -2.63474718e-01 -4.22341002e-03 1.59415976e+02] [ 4.36393912e-03 -5.18650862e-05 9.99990477e-01 6.41898183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41028169299994 meters 0.02081167344156922 Centerline is valid? [True, True] Translation: X:211.93, Y:159.44, Z:0.64 [[-2.65723189e-01 -9.64048750e-01 1.09308461e-03 2.11925545e+02] [ 9.64039634e-01 -2.65725431e-01 -4.19272363e-03 1.59441355e+02] [ 4.33245036e-03 -6.03270090e-05 9.99990613e-01 6.40740388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440281693 meters 0.022150895462455557 Centerline is valid? [True, True] Translation: X:211.92, Y:159.46, Z:0.64 [[-2.66286118e-01 -9.63893468e-01 1.04212970e-03 2.11923712e+02] [ 9.63885201e-01 -2.66288151e-01 -3.99236554e-03 1.59464050e+02] [ 4.12572186e-03 -5.86181299e-05 9.99991487e-01 6.41562460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47028169299995 meters 0.022100619182429775 Centerline is valid? [True, True] Translation: X:211.92, Y:159.49, Z:0.64 [[-2.66426569e-01 -9.63854728e-01 9.73533167e-04 2.11918985e+02] [ 9.63847531e-01 -2.66428342e-01 -3.72510917e-03 1.59487133e+02] [ 3.84984091e-03 -5.41305144e-05 9.99992588e-01 6.43079193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500281693 meters 0.020561141045982178 Centerline is valid? [True, True] Translation: X:211.91, Y:159.51, Z:0.64 [[-2.65800735e-01 -9.64027618e-01 8.48994005e-04 2.11911727e+02] [ 9.64022158e-01 -2.65802087e-01 -3.24499062e-03 1.59510154e+02] [ 3.35392496e-03 -4.40718580e-05 9.99994375e-01 6.43634190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53028169299995 meters 0.01779676932526315 Centerline is valid? [True, True] Translation: X:211.90, Y:159.53, Z:0.64 [[-2.62580807e-01 -9.64909604e-01 8.80637700e-04 2.11901775e+02] [ 9.64903748e-01 -2.62582282e-01 -3.36184165e-03 1.59531940e+02] [ 3.47511315e-03 -3.30244768e-05 9.99993961e-01 6.44125746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560281693 meters 0.015015002782985966 Centerline is valid? [True, True] Translation: X:211.89, Y:159.55, Z:0.64 [[-2.58192017e-01 -9.66092730e-01 1.31098648e-03 2.11887069e+02] [ 9.66079804e-01 -2.58195345e-01 -4.99758890e-03 1.59551623e+02] [ 5.16662491e-03 -2.38199992e-05 9.99986653e-01 6.41334711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59028169299995 meters 0.014257786640936682 Centerline is valid? [True, True] Translation: X:211.88, Y:159.57, Z:0.64 [[-2.55915599e-01 -9.66698098e-01 1.41192040e-03 2.11876341e+02] [ 9.66683152e-01 -2.55919493e-01 -5.37558640e-03 1.59571946e+02] [ 5.55790710e-03 -1.08167517e-05 9.99984555e-01 6.39962086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620281693 meters 0.014061141181756748 Centerline is valid? [True, True] Translation: X:211.87, Y:159.59, Z:0.64 [[-2.54045263e-01 -9.67191386e-01 1.35191685e-03 2.11865831e+02] [ 9.67177722e-01 -2.54048860e-01 -5.14107801e-03 1.59593624e+02] [ 5.31585930e-03 1.47734502e-06 9.99985871e-01 6.40200235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65028169299995 meters 0.014122661732422152 Centerline is valid? [True, True] Translation: X:211.86, Y:159.62, Z:0.64 [[-2.52658842e-01 -9.67554813e-01 1.09240543e-03 2.11856548e+02] [ 9.67545914e-01 -2.52661204e-01 -4.14975319e-03 1.59616196e+02] [ 4.29112215e-03 8.48056928e-06 9.99990793e-01 6.42130227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680281693 meters 0.014343746520280296 Centerline is valid? [True, True] Translation: X:211.85, Y:159.64, Z:0.65 [[-2.51356018e-01 -9.67894542e-01 5.55031038e-04 2.11847014e+02] [ 9.67892249e-01 -2.51356631e-01 -2.10703417e-03 1.59637829e+02] [ 2.17889760e-03 7.59452179e-06 9.99997626e-01 6.46917326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71028169299996 meters 0.014757686057240971 Centerline is valid? [True, True] Translation: X:211.84, Y:159.66, Z:0.65 [[-2.51117162e-01 -9.67956562e-01 5.15559714e-04 2.11838344e+02] [ 9.67954587e-01 -2.51117691e-01 -1.95492139e-03 1.59659044e+02] [ 2.02174515e-03 8.12407769e-06 9.99997956e-01 6.47290611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740281693 meters 0.015692821915929227 Centerline is valid? [True, True] Translation: X:211.83, Y:159.68, Z:0.65 [[-2.50194534e-01 -9.68195469e-01 4.77777341e-04 2.11828652e+02] [ 9.68193778e-01 -2.50194990e-01 -1.80950846e-03 1.59680449e+02] [ 1.87149539e-03 9.85192310e-06 9.99998249e-01 6.46766096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77028169299996 meters 0.015680202045008595 Centerline is valid? [True, True] Translation: X:211.82, Y:159.70, Z:0.65 [[-2.49743269e-01 -9.68312004e-01 4.03361683e-04 2.11822114e+02] [ 9.68310801e-01 -2.49743595e-01 -1.52618540e-03 1.59703386e+02] [ 1.57856064e-03 9.42494198e-06 9.99998754e-01 6.47065917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800281693 meters 0.01583423067883545 Centerline is valid? [True, True] Translation: X:211.81, Y:159.73, Z:0.65 [[-2.49574900e-01 -9.68355445e-01 3.17880283e-04 2.11813928e+02] [ 9.68354700e-01 -2.49575102e-01 -1.20180431e-03 1.59725988e+02] [ 1.24310875e-03 7.88067608e-06 9.99999227e-01 6.46963658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83028169299996 meters 0.01644777253378802 Centerline is valid? [True, True] Translation: X:211.80, Y:159.75, Z:0.65 [[-2.49408711e-01 -9.68398197e-01 4.77486669e-04 2.11802222e+02] [ 9.68396520e-01 -2.49409168e-01 -1.80181954e-03 1.59746561e+02] [ 1.86396834e-03 1.30069407e-05 9.99998263e-01 6.45683320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.860281693 meters 0.016380996637145075 Centerline is valid? [True, True] Translation: X:211.80, Y:159.77, Z:0.64 [[-2.49928163e-01 -9.68264187e-01 6.13864202e-04 2.11795209e+02] [ 9.68261425e-01 -2.49928917e-01 -2.31283283e-03 1.59769223e+02] [ 2.39285562e-03 1.63389648e-05 9.99997137e-01 6.44381672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89028169299996 meters 0.014879691043416968 Centerline is valid? [True, True] Translation: X:211.79, Y:159.79, Z:0.65 [[-2.52584150e-01 -9.67574795e-01 5.12573041e-04 2.11791953e+02] [ 9.67572872e-01 -2.52584670e-01 -1.92927769e-03 1.59793097e+02] [ 1.99618856e-03 8.64680399e-06 9.99998008e-01 6.45466898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92028169299994 meters 0.014228456207895814 Centerline is valid? [True, True] Translation: X:211.79, Y:159.82, Z:0.65 [[-2.54457863e-01 -9.67083742e-01 4.81480302e-04 2.11787302e+02] [ 9.67082048e-01 -2.54458318e-01 -1.81026158e-03 1.59815925e+02] [ 1.87319121e-03 4.99566305e-06 9.99998246e-01 6.45573839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95028169299997 meters 0.013876098381291472 Centerline is valid? [True, True] Translation: X:211.79, Y:159.84, Z:0.64 [[-2.58117505e-01 -9.66113170e-01 8.35207602e-04 2.11785142e+02] [ 9.66108084e-01 -2.58118856e-01 -3.13465738e-03 1.59840234e+02] [ 3.24401660e-03 -2.20912282e-06 9.99994738e-01 6.41981326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98028169299994 meters 0.014112227774058154 Centerline is valid? [True, True] Translation: X:211.78, Y:159.86, Z:0.64 [[-2.60160157e-01 -9.65564946e-01 1.01355937e-03 2.11781826e+02] [ 9.65557473e-01 -2.60162131e-01 -3.79889222e-03 1.59863392e+02] [ 3.93176693e-03 -9.67057150e-06 9.99992271e-01 6.40688224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01028169299997 meters 0.01467403265854838 Centerline is valid? [True, True] Translation: X:211.78, Y:159.89, Z:0.64 [[-2.62259957e-01 -9.64996577e-01 1.14952156e-03 2.11778512e+02] [ 9.64986984e-01 -2.62262476e-01 -4.30290493e-03 1.59887443e+02] [ 4.45376490e-03 -1.92063206e-05 9.99990082e-01 6.40059003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04028169299994 meters 0.015803370349158585 Centerline is valid? [True, True] Translation: X:211.78, Y:159.91, Z:0.64 [[-2.64382023e-01 -9.64417179e-01 1.28519389e-03 2.11776201e+02] [ 9.64405211e-01 -2.64385145e-01 -4.80463639e-03 1.59910673e+02] [ 4.97346005e-03 -3.08118038e-05 9.99987632e-01 6.39059530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07028169299997 meters 0.016798825344069488 Centerline is valid? [True, True] Translation: X:211.78, Y:159.93, Z:0.64 [[-2.65976955e-01 -9.63978658e-01 1.18572262e-03 2.11775179e+02] [ 9.63968491e-01 -2.65979596e-01 -4.42755853e-03 1.59934065e+02] [ 4.58344996e-03 -3.46292918e-05 9.99989495e-01 6.39410784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10028169299994 meters 0.01562302929635618 Centerline is valid? [True, True] Translation: X:211.77, Y:159.95, Z:0.64 [[-2.64658700e-01 -9.64341620e-01 1.00663105e-03 2.11768667e+02] [ 9.64334311e-01 -2.64660613e-01 -3.75451781e-03 1.59954765e+02] [ 3.88705338e-03 -2.29369432e-05 9.99992445e-01 6.41838525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130281693 meters 0.015025380590276964 Centerline is valid? [True, True] Translation: X:211.76, Y:159.98, Z:0.64 [[-2.63856732e-01 -9.64561334e-01 1.02825493e-03 2.11760332e+02] [ 9.64553729e-01 -2.63858735e-01 -3.83036314e-03 1.59976753e+02] [ 3.96593422e-03 -1.88599716e-05 9.99992136e-01 6.41838994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16028169299994 meters 0.014423612070964256 Centerline is valid? [True, True] Translation: X:211.75, Y:160.00, Z:0.64 [[-2.63384488e-01 -9.64690317e-01 1.09671136e-03 2.11751274e+02] [ 9.64681689e-01 -2.63386771e-01 -4.08022475e-03 1.59998787e+02] [ 4.22501257e-03 -1.66905443e-05 9.99991074e-01 6.41380461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190281693 meters 0.01425118240517719 Centerline is valid? [True, True] Translation: X:211.74, Y:160.02, Z:0.64 [[-2.62412432e-01 -9.64955326e-01 9.66666235e-04 2.11743625e+02] [ 9.64948640e-01 -2.62414212e-01 -3.59219917e-03 1.60020821e+02] [ 3.71997868e-03 -9.85445258e-06 9.99993081e-01 6.40789631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22028169299995 meters 0.01407359658378275 Centerline is valid? [True, True] Translation: X:211.74, Y:160.04, Z:0.64 [[-2.62540889e-01 -9.64920583e-01 7.42264339e-04 2.11736343e+02] [ 9.64916648e-01 -2.62541938e-01 -2.75541431e-03 1.60043266e+02] [ 2.85363150e-03 -7.18570509e-06 9.99995928e-01 6.42437791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250281693 meters 0.013998395135201088 Centerline is valid? [True, True] Translation: X:211.73, Y:160.07, Z:0.64 [[-2.62847446e-01 -9.64837259e-01 5.32817450e-04 2.11731902e+02] [ 9.64835235e-01 -2.62847986e-01 -1.97615633e-03 1.60065701e+02] [ 2.04671925e-03 -5.34659403e-06 9.99997905e-01 6.44903535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28028169299995 meters 0.013937372120710391 Centerline is valid? [True, True] Translation: X:211.73, Y:160.09, Z:0.65 [[-2.63220204e-01 -9.64735650e-01 4.99889538e-04 2.11725841e+02] [ 9.64733873e-01 -2.63220678e-01 -1.85184388e-03 1.60088845e+02] [ 1.91812107e-03 -5.18235234e-06 9.99998160e-01 6.45211571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310281693 meters 0.014015945235198479 Centerline is valid? [True, True] Translation: X:211.72, Y:160.11, Z:0.64 [[-2.63562809e-01 -9.64642046e-01 6.06564246e-04 2.11720363e+02] [ 9.64639437e-01 -2.63563507e-01 -2.24383819e-03 1.60111920e+02] [ 2.32436887e-03 -6.27650546e-06 9.99997299e-01 6.44469243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34028169299995 meters 0.013959521525605822 Centerline is valid? [True, True] Translation: X:211.72, Y:160.13, Z:0.64 [[-2.63243681e-01 -9.64729089e-01 7.41191384e-04 2.11715081e+02] [ 9.64725203e-01 -2.63244725e-01 -2.73802470e-03 1.60133895e+02] [ 2.83656680e-03 -5.72169245e-06 9.99995977e-01 6.42825159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370281693 meters 0.013769576219769389 Centerline is valid? [True, True] Translation: X:211.71, Y:160.16, Z:0.64 [[-2.62535780e-01 -9.64921980e-01 7.33058550e-04 2.11708839e+02] [ 9.64918189e-01 -2.62536803e-01 -2.70466425e-03 1.60155817e+02] [ 2.80224483e-03 -2.72960787e-06 9.99996074e-01 6.42282800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40028169299995 meters 0.013761202775422515 Centerline is valid? [True, True] Translation: X:211.70, Y:160.18, Z:0.64 [[-2.60691029e-01 -9.65421957e-01 7.95760820e-04 2.11702742e+02] [ 9.65417504e-01 -2.60692243e-01 -2.93224779e-03 1.60178669e+02] [ 3.03830507e-03 3.83073183e-06 9.99995384e-01 6.42170497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430281693 meters 0.014112566824399927 Centerline is valid? [True, True] Translation: X:211.70, Y:160.20, Z:0.64 [[-2.60241701e-01 -9.65543114e-01 8.66719828e-04 2.11696421e+02] [ 9.65537846e-01 -2.60243145e-01 -3.18969611e-03 1.60200259e+02] [ 3.30534701e-03 6.75885161e-06 9.99994537e-01 6.41627230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46028169299996 meters 0.014290842002922341 Centerline is valid? [True, True] Translation: X:211.69, Y:160.22, Z:0.64 [[-2.59539225e-01 -9.65732135e-01 9.12958859e-04 2.11690369e+02] [ 9.65726305e-01 -2.59540830e-01 -3.35572484e-03 1.60223161e+02] [ 3.47768142e-03 1.07261603e-05 9.99993953e-01 6.41427594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490281693 meters 0.016005517809176344 Centerline is valid? [True, True] Translation: X:211.68, Y:160.24, Z:0.64 [[-2.56803425e-01 -9.66463197e-01 9.43110441e-04 2.11681638e+02] [ 9.66456995e-01 -2.56805156e-01 -3.46243534e-03 1.60244763e+02] [ 3.58851196e-03 2.23104281e-05 9.99993561e-01 6.41823086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52028169299996 meters 0.017177713826006864 Centerline is valid? [True, True] Translation: X:211.67, Y:160.27, Z:0.64 [[-2.55463966e-01 -9.66818007e-01 1.05051985e-03 2.11673018e+02] [ 9.66810334e-01 -2.55466124e-01 -3.85205805e-03 1.60267265e+02] [ 3.99261132e-03 3.15914183e-05 9.99992029e-01 6.41227264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550281693 meters 0.018501170625077796 Centerline is valid? [True, True] Translation: X:211.66, Y:160.29, Z:0.64 [[-2.52408011e-01 -9.67620581e-01 7.78843416e-04 2.11662258e+02] [ 9.67616376e-01 -2.52409210e-01 -2.85311289e-03 1.60289399e+02] [ 2.95731801e-03 3.34730944e-05 9.99995627e-01 6.42774897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58028169299996 meters 0.021151911903420195 Centerline is valid? [True, True] Translation: X:211.65, Y:160.31, Z:0.64 [[-2.51382569e-01 -9.67887667e-01 5.17620743e-04 2.11649669e+02] [ 9.67885813e-01 -2.51383100e-01 -1.89466092e-03 1.60309612e+02] [ 1.96394004e-03 2.47130459e-05 9.99998071e-01 6.44161272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.610281693 meters 0.022778217003564916 Centerline is valid? [True, True] Translation: X:211.64, Y:160.33, Z:0.65 [[-2.50427109e-01 -9.68135374e-01 4.00212201e-04 2.11638586e+02] [ 9.68134268e-01 -2.50427428e-01 -1.46355813e-03 1.60329965e+02] [ 1.51714651e-03 2.09445162e-05 9.99998849e-01 6.45213070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64028169299996 meters 0.02392255182742633 Centerline is valid? [True, True] Translation: X:211.63, Y:160.35, Z:0.64 [[-2.47690772e-01 -9.68838858e-01 7.40580298e-04 2.11625320e+02] [ 9.68835088e-01 -2.47691875e-01 -2.70322640e-03 1.60351477e+02] [ 2.80242650e-03 4.79359430e-05 9.99996072e-01 6.43132013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67028169299994 meters 0.02520704256980767 Centerline is valid? [True, True] Translation: X:211.61, Y:160.37, Z:0.64 [[-2.47011609e-01 -9.69011952e-01 1.04937113e-03 2.11613976e+02] [ 9.69004407e-01 -2.47013827e-01 -3.82483568e-03 1.60372103e+02] [ 3.96552067e-03 7.20664363e-05 9.99992135e-01 6.41599068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70028169299997 meters 0.02520704256980767 Centerline is valid? [True, True] Translation: X:211.61, Y:160.39, Z:0.64 [[-2.47308617e-01 -9.68936192e-01 1.05055716e-03 2.11607397e+02] [ 9.68928647e-01 -2.47310838e-01 -3.82450999e-03 1.60394464e+02] [ 3.96552032e-03 7.20806467e-05 9.99992135e-01 6.41645454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73028169299994 meters 0.02629314471946934 Centerline is valid? [True, True] Translation: X:211.59, Y:160.41, Z:0.64 [[-2.47998073e-01 -9.68759909e-01 1.09330377e-03 2.11593383e+02] [ 9.68751756e-01 -2.48000472e-01 -3.97518375e-03 1.60413858e+02] [ 4.12213849e-03 7.33020392e-05 9.99991501e-01 6.40416035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76028169299997 meters 0.023586628135575258 Centerline is valid? [True, True] Translation: X:211.59, Y:160.44, Z:0.64 [[-2.49755467e-01 -9.68308593e-01 8.22285907e-04 2.11587595e+02] [ 9.68303987e-01 -2.49756816e-01 -2.98679108e-03 1.60437680e+02] [ 3.09750697e-03 5.02553228e-05 9.99995201e-01 6.42732851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79028169299994 meters 0.021563271899171347 Centerline is valid? [True, True] Translation: X:211.58, Y:160.46, Z:0.64 [[-2.52162203e-01 -9.67684854e-01 4.97567722e-04 2.11581617e+02] [ 9.67683168e-01 -2.52162692e-01 -1.80614132e-03 1.60460892e+02] [ 1.87324362e-03 2.60473360e-05 9.99998245e-01 6.44616429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82028169299997 meters 0.01703247992506187 Centerline is valid? [True, True] Translation: X:211.58, Y:160.49, Z:0.64 [[-2.58225813e-01 -9.66084356e-01 6.68765061e-04 2.11579956e+02] [ 9.66081315e-01 -2.58226679e-01 -2.42400109e-03 1.60485017e+02] [ 2.51448252e-03 2.01417749e-05 9.99996839e-01 6.42495196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85028169299994 meters 0.01511541256953504 Centerline is valid? [True, True] Translation: X:211.58, Y:160.51, Z:0.64 [[-2.61740419e-01 -9.65137805e-01 9.85686792e-04 2.11577274e+02] [ 9.65131211e-01 -2.61742274e-01 -3.56751017e-03 1.60509125e+02] [ 3.70113483e-03 1.75554841e-05 9.99993151e-01 6.39539171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880281693 meters 0.014286815939293148 Centerline is valid? [True, True] Translation: X:211.57, Y:160.53, Z:0.64 [[-2.65063514e-01 -9.64230066e-01 1.30902382e-03 2.11574960e+02] [ 9.64218458e-01 -2.65066746e-01 -4.73128956e-03 1.60532600e+02] [ 4.90903033e-03 8.09269042e-06 9.99987951e-01 6.37243175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91028169299994 meters 0.014615615710380857 Centerline is valid? [True, True] Translation: X:211.58, Y:160.56, Z:0.64 [[-2.70337770e-01 -9.62764875e-01 1.13424918e-03 2.11575335e+02] [ 9.62756166e-01 -2.70340149e-01 -4.09494878e-03 1.60557551e+02] [ 4.24910594e-03 -1.50139300e-05 9.99990972e-01 6.38842695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940281693 meters 0.016345648866972564 Centerline is valid? [True, True] Translation: X:211.57, Y:160.58, Z:0.64 [[-2.73947721e-01 -9.61744181e-01 8.81143311e-04 2.11573784e+02] [ 9.61738931e-01 -2.73949137e-01 -3.17789325e-03 1.60580532e+02] [ 3.29770879e-03 -2.31467850e-05 9.99994562e-01 6.40850144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97028169299995 meters 0.017074423935056753 Centerline is valid? [True, True] Translation: X:211.57, Y:160.60, Z:0.64 [[-2.75649928e-01 -9.61257747e-01 8.12630762e-04 2.11568821e+02] [ 9.61253290e-01 -2.75651124e-01 -2.92752632e-03 1.60604173e+02] [ 3.03810994e-03 -2.58284249e-05 9.99995385e-01 6.40980328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000281693 meters 0.01808895750443242 Centerline is valid? [True, True] Translation: X:211.56, Y:160.63, Z:0.64 [[-2.77445455e-01 -9.60740885e-01 9.85778277e-04 2.11564733e+02] [ 9.60734339e-01 -2.77447204e-01 -3.54668280e-03 1.60627444e+02] [ 3.68094460e-03 -3.69399834e-05 9.99993225e-01 6.39698805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03028169299995 meters 0.02002968158982155 Centerline is valid? [True, True] Translation: X:211.56, Y:160.65, Z:0.64 [[-2.79257847e-01 -9.60215272e-01 1.29825108e-03 2.11562281e+02] [ 9.60203943e-01 -2.79260859e-01 -4.66470230e-03 1.60650327e+02] [ 4.84166910e-03 -5.60689176e-05 9.99988278e-01 6.37166706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060281693 meters 0.02161101434155146 Centerline is valid? [True, True] Translation: X:211.56, Y:160.67, Z:0.64 [[-2.82156273e-01 -9.59367439e-01 1.39830549e-03 2.11559716e+02] [ 9.59354317e-01 -2.82159728e-01 -5.01816680e-03 1.60674239e+02] [ 5.20881133e-03 -7.44368344e-05 9.99986431e-01 6.36908829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09028169299995 meters 0.02295225700200916 Centerline is valid? [True, True] Translation: X:211.56, Y:160.70, Z:0.64 [[-2.83538933e-01 -9.58960019e-01 1.16396054e-03 2.11556839e+02] [ 9.58950944e-01 -2.83541314e-01 -4.17263577e-03 1.60697290e+02] [ 4.33142178e-03 -6.69236378e-05 9.99990617e-01 6.39211544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120281693 meters 0.025215431903491226 Centerline is valid? [True, True] Translation: X:211.56, Y:160.72, Z:0.64 [[-2.85961559e-01 -9.58240816e-01 7.25103350e-04 2.11556274e+02] [ 9.58237297e-01 -2.85962474e-01 -2.59720544e-03 1.60721360e+02] [ 2.69610061e-03 -4.78798419e-05 9.99996364e-01 6.42411490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15028169299995 meters 0.02533686579636495 Centerline is valid? [True, True] Translation: X:211.55, Y:160.74, Z:0.64 [[-2.86766846e-01 -9.58000207e-01 6.15566437e-04 2.11550357e+02] [ 9.57997676e-01 -2.86767504e-01 -2.20267280e-03 1.60744957e+02] [ 2.28668545e-03 -4.19423156e-05 9.99997385e-01 6.43558527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180281693 meters 0.025543989473734142 Centerline is valid? [True, True] Translation: X:211.55, Y:160.77, Z:0.65 [[-2.86558385e-01 -9.58062718e-01 3.45718262e-04 2.11545246e+02] [ 9.58061920e-01 -2.86558593e-01 -1.23666131e-03 1.60767121e+02] [ 1.28386764e-03 -2.31561672e-05 9.99999176e-01 6.45476890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21028169299996 meters 0.022145841533275958 Centerline is valid? [True, True] Translation: X:211.53, Y:160.79, Z:0.65 [[-2.83827115e-01 -9.58875470e-01 5.31786980e-05 2.11534542e+02] [ 9.58875450e-01 -2.83827120e-01 -1.91840064e-04 1.60788379e+02] [ 1.99044288e-04 -3.45766380e-06 9.99999980e-01 6.47630903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240281693 meters 0.017740135409491355 Centerline is valid? [True, True] Translation: X:211.52, Y:160.81, Z:0.65 [[-2.79008677e-01 -9.60288574e-01 1.10569639e-04 2.11517967e+02] [ 9.60288493e-01 -2.79008698e-01 -3.96123163e-04 1.60808832e+02] [ 4.11242439e-04 -4.34304743e-06 9.99999915e-01 6.47840938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27028169299996 meters 0.015349555428790662 Centerline is valid? [True, True] Translation: X:211.50, Y:160.83, Z:0.65 [[-2.76312979e-01 -9.61067679e-01 2.30295480e-04 2.11504593e+02] [ 9.61067328e-01 -2.76313075e-01 -8.21632652e-04 1.60830029e+02] [ 8.53278239e-04 -5.69830394e-06 9.99999636e-01 6.46923952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300281693 meters 0.014256381286010289 Centerline is valid? [True, True] Translation: X:211.49, Y:160.85, Z:0.65 [[-2.74199694e-01 -9.61672669e-01 4.53848226e-04 2.11493260e+02] [ 9.61671312e-01 -2.74200070e-01 -1.61524941e-03 1.60851401e+02] [ 1.67778643e-03 -6.44807620e-06 9.99998593e-01 6.45460548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33028169299996 meters 0.01390642891377344 Centerline is valid? [True, True] Translation: X:211.48, Y:160.87, Z:0.64 [[-2.73242598e-01 -9.61944870e-01 7.41893991e-04 2.11483365e+02] [ 9.61941258e-01 -2.73243605e-01 -2.63596726e-03 1.60873661e+02] [ 2.73837297e-03 -6.60010312e-06 9.99996251e-01 6.43334308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.360281693 meters 0.014270909348990257 Centerline is valid? [True, True] Translation: X:211.48, Y:160.90, Z:0.64 [[-2.74198121e-01 -9.61672782e-01 9.22889881e-04 2.11477516e+02] [ 9.61667207e-01 -2.74199674e-01 -3.27457330e-03 1.60895201e+02] [ 3.40212411e-03 -1.03689107e-05 9.99994213e-01 6.41859056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39028169299996 meters 0.015239455852821736 Centerline is valid? [True, True] Translation: X:211.48, Y:160.92, Z:0.64 [[-2.77072534e-01 -9.60848684e-01 7.86263715e-04 2.11476446e+02] [ 9.60844642e-01 -2.77073649e-01 -2.78682784e-03 1.60919918e+02] [ 2.89557282e-03 -1.66761753e-05 9.99995808e-01 6.42348783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42028169299994 meters 0.015986970006389895 Centerline is valid? [True, True] Translation: X:211.47, Y:160.94, Z:0.64 [[-2.78560651e-01 -9.60418372e-01 7.17537153e-04 2.11473735e+02] [ 9.60415012e-01 -2.78561574e-01 -2.54053288e-03 1.60942685e+02] [ 2.63985273e-03 -1.85590398e-05 9.99996515e-01 6.42720510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45028169299997 meters 0.016044885282202433 Centerline is valid? [True, True] Translation: X:211.47, Y:160.97, Z:0.64 [[-2.79245709e-01 -9.60219399e-01 7.34149922e-04 2.11467705e+02] [ 9.60215890e-01 -2.79246674e-01 -2.59625272e-03 1.60966094e+02] [ 2.69798116e-03 -2.00500124e-05 9.99996360e-01 6.42950615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48028169299994 meters 0.015408504053090669 Centerline is valid? [True, True] Translation: X:211.46, Y:160.99, Z:0.64 [[-2.78107100e-01 -9.60549691e-01 8.56049709e-04 2.11459100e+02] [ 9.60544933e-01 -2.78108416e-01 -3.02347362e-03 1.60987880e+02] [ 3.14227128e-03 -1.85752683e-05 9.99995063e-01 6.42186500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51028169299997 meters 0.01443822762727501 Centerline is valid? [True, True] Translation: X:211.45, Y:161.01, Z:0.64 [[-2.76593189e-01 -9.60986589e-01 9.91528740e-04 2.11448442e+02] [ 9.60980225e-01 -2.76594965e-01 -3.49758582e-03 1.61009590e+02] [ 3.63538493e-03 -1.45689044e-05 9.99993392e-01 6.41426417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54028169299994 meters 0.014123691857837567 Centerline is valid? [True, True] Translation: X:211.43, Y:161.03, Z:0.64 [[-2.72021897e-01 -9.62289660e-01 1.64271200e-03 2.11434736e+02] [ 9.62272263e-01 -2.72026857e-01 -5.78631419e-03 1.61029560e+02] [ 6.01497210e-03 6.73203398e-06 9.99981910e-01 6.37037959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57028169299997 meters 0.014796439891695115 Centerline is valid? [True, True] Translation: X:211.42, Y:161.05, Z:0.64 [[-2.69725658e-01 -9.62935510e-01 1.80932376e-03 2.11424068e+02] [ 9.62914470e-01 -2.69731725e-01 -6.36546587e-03 1.61050190e+02] [ 6.61756514e-03 2.52945570e-05 9.99978103e-01 6.35892892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60028169299994 meters 0.015861080304885374 Centerline is valid? [True, True] Translation: X:211.41, Y:161.07, Z:0.64 [[-2.67504646e-01 -9.63554915e-01 1.78628785e-03 2.11413871e+02] [ 9.63534469e-01 -2.67510607e-01 -6.27720348e-03 1.61072496e+02] [ 6.52628121e-03 4.19688154e-05 9.99978703e-01 6.36769276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630281693 meters 0.018653211700968016 Centerline is valid? [True, True] Translation: X:211.40, Y:161.09, Z:0.64 [[-2.64369242e-01 -9.64420632e-01 1.32201250e-03 2.11399107e+02] [ 9.64409467e-01 -2.64372543e-01 -4.64085173e-03 1.61092002e+02] [ 4.82523697e-03 4.80629188e-05 9.99988357e-01 6.39429089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66028169299994 meters 0.019258423266671248 Centerline is valid? [True, True] Translation: X:211.39, Y:161.11, Z:0.64 [[-2.63313627e-01 -9.64709557e-01 1.18545298e-03 2.11389309e+02] [ 9.64700602e-01 -2.63316291e-01 -4.15691880e-03 1.61114360e+02] [ 4.32236837e-03 4.90338346e-05 9.99990657e-01 6.40797648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690281693 meters 0.022350859270795123 Centerline is valid? [True, True] Translation: X:211.37, Y:161.13, Z:0.64 [[-2.60576862e-01 -9.65452378e-01 1.18541638e-03 2.11373270e+02] [ 9.65443451e-01 -2.60579551e-01 -4.15207878e-03 1.61133617e+02] [ 4.31752960e-03 6.25168267e-05 9.99990677e-01 6.40964194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72028169299995 meters 0.024110146855199195 Centerline is valid? [True, True] Translation: X:211.36, Y:161.15, Z:0.64 [[-2.59218356e-01 -9.65817882e-01 1.28982136e-03 2.11360422e+02] [ 9.65807342e-01 -2.59221554e-01 -4.51256822e-03 1.61154671e+02] [ 4.69266858e-03 7.59784198e-05 9.99988987e-01 6.40673183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750281693 meters 0.026683604570355218 Centerline is valid? [True, True] Translation: X:211.34, Y:161.18, Z:0.64 [[-2.56038469e-01 -9.66665517e-01 1.44221988e-03 2.11342646e+02] [ 9.66652384e-01 -2.56042510e-01 -5.03993680e-03 1.61175084e+02] [ 5.24120272e-03 1.03707583e-04 9.99986259e-01 6.39620812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78028169299995 meters 0.029738512392569222 Centerline is valid? [True, True] Translation: X:211.33, Y:161.20, Z:0.64 [[-2.54920242e-01 -9.66961021e-01 1.43318965e-03 2.11328657e+02] [ 9.66948087e-01 -2.54924246e-01 -5.00265109e-03 1.61195431e+02] [ 5.20272340e-03 1.10542966e-04 9.99986460e-01 6.39161607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810281693 meters 0.030713587775282304 Centerline is valid? [True, True] Translation: X:211.32, Y:161.22, Z:0.64 [[-2.54491984e-01 -9.67074114e-01 1.22000542e-03 2.11318161e+02] [ 9.67064762e-01 -2.54494890e-01 -4.25407302e-03 1.61216940e+02] [ 4.42448904e-03 9.71967677e-05 9.99990207e-01 6.40199008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84028169299995 meters 0.02919675793253889 Centerline is valid? [True, True] Translation: X:211.31, Y:161.24, Z:0.64 [[-2.56138841e-01 -9.66639750e-01 6.98105720e-04 2.11309593e+02] [ 9.66636691e-01 -2.56139787e-01 -2.43249657e-03 1.61239081e+02] [ 2.53016053e-03 5.17577519e-05 9.99996798e-01 6.43501588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870281693 meters 0.027021207411143115 Centerline is valid? [True, True] Translation: X:211.30, Y:161.26, Z:0.64 [[-2.58156160e-01 -9.66102998e-01 6.28234952e-04 2.11303161e+02] [ 9.66100524e-01 -2.58156921e-01 -2.18688394e-03 1.61262182e+02] [ 2.27493833e-03 4.23805557e-05 9.99997411e-01 6.44087457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90028169299995 meters 0.02467827212102703 Centerline is valid? [True, True] Translation: X:211.30, Y:161.29, Z:0.64 [[-2.60090646e-01 -9.65583975e-01 6.65136157e-04 2.11297570e+02] [ 9.65581207e-01 -2.60091494e-01 -2.31271040e-03 1.61285518e+02] [ 2.40611236e-03 4.07286309e-05 9.99997105e-01 6.44231428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930281693 meters 0.022213891654450358 Centerline is valid? [True, True] Translation: X:211.29, Y:161.31, Z:0.64 [[-2.63064241e-01 -9.64778108e-01 6.38747077e-04 2.11290833e+02] [ 9.64775557e-01 -2.63065015e-01 -2.21858752e-03 1.61307241e+02] [ 2.30847668e-03 3.26165240e-05 9.99997335e-01 6.44001044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96028169299996 meters 0.021083969086789413 Centerline is valid? [True, True] Translation: X:211.28, Y:161.33, Z:0.64 [[-2.64352565e-01 -9.64425947e-01 5.61007857e-04 2.11284614e+02] [ 9.64423983e-01 -2.64353159e-01 -1.94665247e-03 1.61330325e+02] [ 2.02570635e-03 2.64468595e-05 9.99997948e-01 6.44198615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990281693 meters 0.020361961983262532 Centerline is valid? [True, True] Translation: X:211.28, Y:161.35, Z:0.64 [[-2.66020488e-01 -9.63967087e-01 7.45216924e-04 2.11278181e+02] [ 9.63963629e-01 -2.66021530e-01 -2.58227862e-03 1.61352007e+02] [ 2.68747535e-03 3.14229896e-05 9.99996388e-01 6.42896292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02028169299996 meters 0.020081215899285423 Centerline is valid? [True, True] Translation: X:211.27, Y:161.37, Z:0.64 [[-2.66967258e-01 -9.63705161e-01 9.19767997e-04 2.11271790e+02] [ 9.63699905e-01 -2.66968840e-01 -3.18304358e-03 1.61373980e+02] [ 3.31306492e-03 3.66119129e-05 9.99994511e-01 6.41516147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050281693 meters 0.018408115413632107 Centerline is valid? [True, True] Translation: X:211.27, Y:161.40, Z:0.64 [[-2.68416639e-01 -9.63302353e-01 1.04172551e-03 2.11267873e+02] [ 9.63295623e-01 -2.68418657e-01 -3.60085075e-03 1.61397711e+02] [ 3.74832656e-03 3.69613667e-05 9.99992974e-01 6.41042228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08028169299996 meters 0.015538158405989419 Centerline is valid? [True, True] Translation: X:211.27, Y:161.42, Z:0.64 [[-2.72502136e-01 -9.62154481e-01 1.15769875e-03 2.11268800e+02] [ 9.62146179e-01 -2.72504594e-01 -3.99709758e-03 1.61421749e+02] [ 4.16130357e-03 2.46577981e-05 9.99991341e-01 6.40699207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.110281693 meters 0.013538979553240087 Centerline is valid? [True, True] Translation: X:211.27, Y:161.45, Z:0.64 [[-2.77597830e-01 -9.60696517e-01 1.28366019e-03 2.11273129e+02] [ 9.60686318e-01 -2.77600798e-01 -4.42663322e-03 1.61446286e+02] [ 4.60899621e-03 4.37100479e-06 9.99989379e-01 6.39078940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14028169299996 meters 0.01358554931116762 Centerline is valid? [True, True] Translation: X:211.27, Y:161.47, Z:0.64 [[-2.80235436e-01 -9.59930404e-01 1.31168363e-03 2.11272105e+02] [ 9.59919772e-01 -2.80238505e-01 -4.51789059e-03 1.61468838e+02] [ 4.70444480e-03 -6.96198700e-06 9.99988934e-01 6.38523059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17028169299994 meters 0.013864125707003157 Centerline is valid? [True, True] Translation: X:211.27, Y:161.49, Z:0.64 [[-2.82464777e-01 -9.59276875e-01 1.23571038e-03 2.11268913e+02] [ 9.59267454e-01 -2.82467479e-01 -4.25137617e-03 1.61492583e+02] [ 4.42729484e-03 -1.54872707e-05 9.99990199e-01 6.40408169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20028169299997 meters 0.014526552538325079 Centerline is valid? [True, True] Translation: X:211.27, Y:161.52, Z:0.64 [[-2.84262614e-01 -9.58745923e-01 1.01044649e-03 2.11266940e+02] [ 9.58739634e-01 -2.84264409e-01 -3.47265988e-03 1.61515655e+02] [ 3.61663248e-03 -1.83922783e-05 9.99993460e-01 6.41766825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23028169299994 meters 0.01680705809638195 Centerline is valid? [True, True] Translation: X:211.27, Y:161.54, Z:0.64 [[-2.87791535e-01 -9.57692527e-01 1.02828241e-03 2.11271765e+02] [ 9.57686022e-01 -2.87793370e-01 -3.52978639e-03 1.61541304e+02] [ 3.67638291e-03 -3.10709502e-05 9.99993242e-01 6.41820835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26028169299997 meters 0.017259535894077346 Centerline is valid? [True, True] Translation: X:211.27, Y:161.56, Z:0.64 [[-2.89424828e-01 -9.57199827e-01 1.32670540e-03 2.11268649e+02] [ 9.57189021e-01 -2.89427865e-01 -4.54849138e-03 1.61564964e+02] [ 4.73780067e-03 -4.65384943e-05 9.99988776e-01 6.40061258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29028169299994 meters 0.01841608315846136 Centerline is valid? [True, True] Translation: X:211.27, Y:161.59, Z:0.64 [[-2.91298826e-01 -9.56631040e-01 1.43066519e-03 2.11269907e+02] [ 9.56618496e-01 -2.91302333e-01 -4.89932690e-03 1.61590488e+02] [ 5.10360430e-03 -5.85673920e-05 9.99986975e-01 6.39751075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32028169299997 meters 0.02048398194661801 Centerline is valid? [True, True] Translation: X:211.27, Y:161.61, Z:0.64 [[-2.91699304e-01 -9.56509439e-01 1.09929946e-03 2.11270027e+02] [ 9.56502047e-01 -2.91701372e-01 -3.76085333e-03 1.61614014e+02] [ 3.91795887e-03 -4.55561141e-05 9.99992324e-01 6.41547580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35028169299994 meters 0.01888298523375093 Centerline is valid? [True, True] Translation: X:211.26, Y:161.64, Z:0.65 [[-2.91871615e-01 -9.56457281e-01 6.55147691e-04 2.11263324e+02] [ 9.56454659e-01 -2.91872349e-01 -2.23970377e-03 1.61637242e+02] [ 2.33340048e-03 -2.70868961e-05 9.99997277e-01 6.45054328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380281693 meters 0.016928897359691202 Centerline is valid? [True, True] Translation: X:211.26, Y:161.66, Z:0.65 [[-2.90922100e-01 -9.56746614e-01 4.99134593e-04 2.11258661e+02] [ 9.56745095e-01 -2.90922527e-01 -1.70498346e-03 1.61661205e+02] [ 1.77644665e-03 -1.84727956e-05 9.99998422e-01 6.45925455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41028169299994 meters 0.01635125351042201 Centerline is valid? [True, True] Translation: X:211.25, Y:161.68, Z:0.64 [[-2.89851605e-01 -9.57071362e-01 6.74878171e-04 2.11253559e+02] [ 9.57068594e-01 -2.89852390e-01 -2.30187701e-03 1.61683917e+02] [ 2.39867561e-03 -2.12980418e-05 9.99997123e-01 6.44682065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440281693 meters 0.013836583642580471 Centerline is valid? [True, True] Translation: X:211.25, Y:161.71, Z:0.64 [[-2.85441673e-01 -9.58395535e-01 1.02493922e-03 2.11245426e+02] [ 9.58389178e-01 -2.85443513e-01 -3.49062423e-03 1.61705240e+02] [ 3.63796092e-03 -1.40789636e-05 9.99993383e-01 6.42723662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47028169299995 meters 0.013193489288779042 Centerline is valid? [True, True] Translation: X:211.24, Y:161.73, Z:0.64 [[-2.82522554e-01 -9.59259984e-01 1.13573936e-03 2.11235789e+02] [ 9.59252204e-01 -2.82524837e-01 -3.86335330e-03 1.61726949e+02] [ 4.02683480e-03 -2.02396047e-06 9.99991892e-01 6.42707812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500281693 meters 0.013824569354148351 Centerline is valid? [True, True] Translation: X:211.22, Y:161.75, Z:0.64 [[-2.79020355e-01 -9.60284522e-01 1.13026632e-03 2.11224828e+02] [ 9.60276843e-01 -2.79022644e-01 -3.84033172e-03 1.61747619e+02] [ 4.00318101e-03 1.38378534e-05 9.99991987e-01 6.42987005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53028169299995 meters 0.019627670960886922 Centerline is valid? [True, True] Translation: X:211.21, Y:161.77, Z:0.64 [[-2.71067839e-01 -9.62559604e-01 1.11155713e-03 2.11206138e+02] [ 9.62552212e-01 -2.71070114e-01 -3.77248163e-03 1.61766430e+02] [ 3.93254834e-03 4.73333302e-05 9.99992266e-01 6.43562192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560281693 meters 0.023051310357834264 Centerline is valid? [True, True] Translation: X:211.19, Y:161.79, Z:0.64 [[-2.67513766e-01 -9.63553443e-01 1.07136825e-03 2.11192438e+02] [ 9.63546599e-01 -2.67515905e-01 -3.63216959e-03 1.61787905e+02] [ 3.78639756e-03 6.06578669e-05 9.99992830e-01 6.43981991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59028169299995 meters 0.023051310357834264 Centerline is valid? [True, True] Translation: X:211.19, Y:161.81, Z:0.64 [[-2.67805763e-01 -9.63472326e-01 1.07244913e-03 2.11185429e+02] [ 9.63465483e-01 -2.67807903e-01 -3.63185050e-03 1.61810137e+02] [ 3.78639780e-03 6.06372218e-05 9.99992830e-01 6.44028373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620281693 meters 0.030685603647545596 Centerline is valid? [True, True] Translation: X:211.16, Y:161.83, Z:0.65 [[-2.61721833e-01 -9.65143006e-01 8.12674646e-04 2.11164453e+02] [ 9.65139092e-01 -2.61723087e-01 -2.74954499e-03 1.61827823e+02] [ 2.86639983e-03 6.47281165e-05 9.99995890e-01 6.45273387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65028169299995 meters 0.0331545743271895 Centerline is valid? [True, True] Translation: X:211.15, Y:161.85, Z:0.65 [[-2.60007647e-01 -9.65606305e-01 6.98109535e-04 2.11152028e+02] [ 9.65603424e-01 -2.60008577e-01 -2.35955456e-03 1.61847828e+02] [ 2.45991522e-03 6.05947289e-05 9.99996973e-01 6.45928002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680281693 meters 0.03391744274025715 Centerline is valid? [True, True] Translation: X:211.14, Y:161.87, Z:0.65 [[-2.57959900e-01 -9.66155414e-01 6.37375900e-04 2.11139396e+02] [ 9.66153019e-01 -2.57960680e-01 -2.15208507e-03 1.61868739e+02] [ 2.24366657e-03 6.06510005e-05 9.99997481e-01 6.45889314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71028169299996 meters 0.036158898588536555 Centerline is valid? [True, True] Translation: X:211.13, Y:161.89, Z:0.65 [[-2.57739892e-01 -9.66214139e-01 6.20544562e-04 2.11126971e+02] [ 9.66211874e-01 -2.57740632e-01 -2.09296771e-03 1.61888558e+02] [ 2.18219454e-03 6.01362527e-05 9.99997617e-01 6.45720394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740281693 meters 0.034306028406961106 Centerline is valid? [True, True] Translation: X:211.12, Y:161.91, Z:0.65 [[-2.58118945e-01 -9.66112867e-01 7.34117066e-04 2.11119712e+02] [ 9.66109705e-01 -2.58119979e-01 -2.47276510e-03 1.61910823e+02] [ 2.57846046e-03 7.09701021e-05 9.99996673e-01 6.45379455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77028169299996 meters 0.03559311403309556 Centerline is valid? [True, True] Translation: X:211.11, Y:161.93, Z:0.64 [[-2.59574951e-01 -9.65722414e-01 1.03130604e-03 2.11105078e+02] [ 9.65716188e-01 -2.59576982e-01 -3.46906490e-03 1.61930504e+02] [ 3.61785704e-03 9.54665862e-05 9.99993451e-01 6.43232928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800281693 meters 0.0318666873391592 Centerline is valid? [True, True] Translation: X:211.10, Y:161.95, Z:0.64 [[-2.60860330e-01 -9.65375975e-01 1.05647490e-03 2.11099662e+02] [ 9.65369453e-01 -2.60862452e-01 -3.54979250e-03 1.61954443e+02] [ 3.70247903e-03 9.38885497e-05 9.99993141e-01 6.43360188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83028169299996 meters 0.028533207679550934 Centerline is valid? [True, True] Translation: X:211.09, Y:161.98, Z:0.64 [[-2.64194673e-01 -9.64468994e-01 8.56529270e-04 2.11092288e+02] [ 9.64464711e-01 -2.64196053e-01 -2.87532490e-03 1.61977763e+02] [ 2.99945337e-03 6.64467334e-05 9.99995499e-01 6.44413429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.860281693 meters 0.026843775515949377 Centerline is valid? [True, True] Translation: X:211.09, Y:162.00, Z:0.64 [[-2.66652226e-01 -9.63792412e-01 8.81838134e-04 2.11086565e+02] [ 9.63787877e-01 -2.66653677e-01 -2.95705004e-03 1.62000270e+02] [ 3.08512777e-03 6.14009294e-05 9.99995239e-01 6.44155787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89028169299996 meters 0.02396623370083661 Centerline is valid? [True, True] Translation: X:211.08, Y:162.02, Z:0.64 [[-2.69473209e-01 -9.63007284e-01 1.07686843e-03 2.11082036e+02] [ 9.63000533e-01 -2.69475353e-01 -3.60652207e-03 1.62024522e+02] [ 3.76329652e-03 6.51637930e-05 9.99992917e-01 6.42795582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92028169299994 meters 0.021131993344936567 Centerline is valid? [True, True] Translation: X:211.08, Y:162.05, Z:0.64 [[-2.73163190e-01 -9.61966651e-01 1.42657872e-03 2.11078942e+02] [ 9.61954818e-01 -2.73166906e-01 -4.77168545e-03 1.62047919e+02] [ 4.97989636e-03 6.88554551e-05 9.99987598e-01 6.40513871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95028169299997 meters 0.020292856851383614 Centerline is valid? [True, True] Translation: X:211.07, Y:162.07, Z:0.64 [[-2.74383919e-01 -9.61619257e-01 1.36717484e-03 2.11072782e+02] [ 9.61608409e-01 -2.74387318e-01 -4.56801024e-03 1.62071054e+02] [ 4.76782205e-03 6.12982691e-05 9.99988632e-01 6.40715001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98028169299994 meters 0.019710147026749593 Centerline is valid? [True, True] Translation: X:211.07, Y:162.09, Z:0.64 [[-2.75669109e-01 -9.61251737e-01 1.28071618e-03 2.11065223e+02] [ 9.61242235e-01 -2.75672079e-01 -4.27448884e-03 1.62092321e+02] [ 4.46191752e-03 5.27339468e-05 9.99990044e-01 6.41540224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01028169299997 meters 0.019923098409758023 Centerline is valid? [True, True] Translation: X:211.06, Y:162.11, Z:0.64 [[-2.75921120e-01 -9.61179413e-01 1.29248670e-03 2.11056778e+02] [ 9.61169757e-01 -2.75924142e-01 -4.30889810e-03 1.62113138e+02] [ 4.49825243e-03 5.33831333e-05 9.99989881e-01 6.41913921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04028169299994 meters 0.020776035353006456 Centerline is valid? [True, True] Translation: X:211.05, Y:162.13, Z:0.64 [[-2.75539327e-01 -9.61288891e-01 1.32161461e-03 2.11047816e+02] [ 9.61278818e-01 -2.75542491e-01 -4.40105408e-03 1.62133883e+02] [ 4.59484538e-03 5.77766463e-05 9.99989442e-01 6.41762491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07028169299997 meters 0.02285186209921516 Centerline is valid? [True, True] Translation: X:211.04, Y:162.15, Z:0.64 [[-2.73983056e-01 -9.61733194e-01 1.59680565e-03 2.11036210e+02] [ 9.61718532e-01 -2.73987697e-01 -5.31099968e-03 1.62154649e+02] [ 5.54526979e-03 8.05536659e-05 9.99984622e-01 6.40631934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10028169299994 meters 0.023511498744815694 Centerline is valid? [True, True] Translation: X:211.03, Y:162.18, Z:0.64 [[-2.73724467e-01 -9.61806705e-01 1.66690526e-03 2.11026390e+02] [ 9.61790765e-01 -2.73729528e-01 -5.53802746e-03 1.62176252e+02] [ 5.78279314e-03 8.73204668e-05 9.99983276e-01 6.39876287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130281693 meters 0.02146653407497061 Centerline is valid? [True, True] Translation: X:211.02, Y:162.20, Z:0.64 [[-2.74703370e-01 -9.61528349e-01 1.13692873e-03 2.11018798e+02] [ 9.61520945e-01 -2.74705717e-01 -3.77385291e-03 1.62199361e+02] [ 3.94098738e-03 5.64906733e-05 9.99992233e-01 6.42990730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16028169299994 meters 0.021709185143251705 Centerline is valid? [True, True] Translation: X:211.01, Y:162.22, Z:0.64 [[-2.76203731e-01 -9.61098752e-01 8.29867813e-04 2.11011426e+02] [ 9.61094812e-01 -2.76204975e-01 -2.75215476e-03 1.62221292e+02] [ 2.87430612e-03 3.74262368e-05 9.99995868e-01 6.44503202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190281693 meters 0.019205290047386085 Centerline is valid? [True, True] Translation: X:211.01, Y:162.25, Z:0.65 [[-2.78585968e-01 -9.60411042e-01 6.99055963e-04 2.11008948e+02] [ 9.60408250e-01 -2.78586844e-01 -2.31611463e-03 1.62245622e+02] [ 2.41916986e-03 2.61420752e-05 9.99997073e-01 6.45169709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22028169299995 meters 0.014148768689160604 Centerline is valid? [True, True] Translation: X:211.02, Y:162.27, Z:0.64 [[-2.85412237e-01 -9.58404483e-01 8.38416221e-04 2.11016028e+02] [ 9.58400467e-01 -2.85413468e-01 -2.77451431e-03 1.62272632e+02] [ 2.89840224e-03 1.16581606e-05 9.99995800e-01 6.43460547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250281693 meters 0.013104747366746997 Centerline is valid? [True, True] Translation: X:211.02, Y:162.30, Z:0.64 [[-2.89309746e-01 -9.57234994e-01 1.01894553e-03 2.11016749e+02] [ 9.57229069e-01 -2.89311540e-01 -3.36784593e-03 1.62297376e+02] [ 3.51861268e-03 1.01363086e-06 9.99993810e-01 6.42337369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28028169299995 meters 0.014459503479464123 Centerline is valid? [True, True] Translation: X:211.02, Y:162.32, Z:0.64 [[-2.95336656e-01 -9.55392544e-01 1.16069770e-03 2.11024101e+02] [ 9.55384860e-01 -2.95338936e-01 -3.83181468e-03 1.62324171e+02] [ 4.00368640e-03 -2.27623207e-05 9.99991985e-01 6.42171467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310281693 meters 0.01540766277556086 Centerline is valid? [True, True] Translation: X:211.02, Y:162.35, Z:0.64 [[-2.97338339e-01 -9.54771566e-01 1.08148108e-03 2.11022782e+02] [ 9.54764905e-01 -2.97340305e-01 -3.56649600e-03 1.62348847e+02] [ 3.72675688e-03 -2.78958204e-05 9.99993055e-01 6.42826760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34028169299995 meters 0.01604572986539851 Centerline is valid? [True, True] Translation: X:211.02, Y:162.37, Z:0.64 [[-2.98321168e-01 -9.54464916e-01 1.09775480e-03 2.11019894e+02] [ 9.54458066e-01 -2.98323186e-01 -3.61610836e-03 1.62372007e+02] [ 3.77893427e-03 -3.10007397e-05 9.99992859e-01 6.43074180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370281693 meters 0.014848414754850327 Centerline is valid? [True, True] Translation: X:211.01, Y:162.40, Z:0.64 [[-2.97517889e-01 -9.54715411e-01 1.26104989e-03 2.11014923e+02] [ 9.54706396e-01 -2.97520560e-01 -4.14894043e-03 1.62395489e+02] [ 4.33624563e-03 -3.04516051e-05 9.99990598e-01 6.41689775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40028169299995 meters 0.014664527612745375 Centerline is valid? [True, True] Translation: X:211.01, Y:162.42, Z:0.64 [[-2.96228328e-01 -9.55116347e-01 1.24136622e-03 2.11009370e+02] [ 9.55107636e-01 -2.96230928e-01 -4.07943839e-03 1.62417725e+02] [ 4.26406936e-03 -2.28068527e-05 9.99990909e-01 6.41902758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430281693 meters 0.013513282564146937 Centerline is valid? [True, True] Translation: X:211.00, Y:162.44, Z:0.64 [[-2.93895097e-01 -9.55836962e-01 1.17242691e-03 2.11002124e+02] [ 9.55829214e-01 -2.93897435e-01 -3.84863091e-03 1.62440902e+02] [ 4.02323694e-03 -1.04538600e-05 9.99991907e-01 6.43288769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46028169299996 meters 0.013415997801017277 Centerline is valid? [True, True] Translation: X:210.99, Y:162.46, Z:0.64 [[-2.93056386e-01 -9.56094230e-01 1.33374104e-03 2.10994791e+02] [ 9.56084228e-01 -2.93059421e-01 -4.37312208e-03 1.62463723e+02] [ 4.57198216e-03 -6.40258041e-06 9.99989548e-01 6.41645281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490281693 meters 0.013582320947781302 Centerline is valid? [True, True] Translation: X:210.99, Y:162.49, Z:0.64 [[-2.92885306e-01 -9.56145933e-01 1.77559886e-03 2.10988304e+02] [ 9.56128251e-01 -2.92890689e-01 -5.81486913e-03 1.62486519e+02] [ 6.07991984e-03 -5.38949541e-06 9.99981517e-01 6.38940646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52028169299996 meters 0.013922021973866506 Centerline is valid? [True, True] Translation: X:210.98, Y:162.51, Z:0.64 [[-2.93597806e-01 -9.55926662e-01 2.13188621e-03 2.10984584e+02] [ 9.55901226e-01 -2.93605546e-01 -6.97340756e-03 1.62508863e+02] [ 7.29199983e-03 -9.50451802e-06 9.99973413e-01 6.35632565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550281693 meters 0.01397393481971446 Centerline is valid? [True, True] Translation: X:210.98, Y:162.53, Z:0.64 [[-2.94568608e-01 -9.55628083e-01 2.07416947e-03 2.10978574e+02] [ 9.55604051e-01 -2.94575910e-01 -6.77723617e-03 1.62531572e+02] [ 7.08751757e-03 -1.42762709e-05 9.99974883e-01 6.36598489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58028169299996 meters 0.014476971464422351 Centerline is valid? [True, True] Translation: X:210.98, Y:162.55, Z:0.64 [[-2.96616230e-01 -9.54995318e-01 1.65971291e-03 2.10975259e+02] [ 9.54979952e-01 -2.96620872e-01 -5.41745059e-03 1.62554073e+02] [ 5.66594544e-03 -2.19112134e-05 9.99983948e-01 6.38321835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.610281693 meters 0.014574895373480543 Centerline is valid? [True, True] Translation: X:210.97, Y:162.58, Z:0.64 [[-2.97811447e-01 -9.54623605e-01 1.45438435e-03 2.10970152e+02] [ 9.54611826e-01 -2.97814997e-01 -4.74226564e-03 1.62577409e+02] [ 4.96021619e-03 -2.39284877e-05 9.99987698e-01 6.39853098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64028169299996 meters 0.014659031884004583 Centerline is valid? [True, True] Translation: X:210.97, Y:162.60, Z:0.64 [[-2.98682569e-01 -9.54351669e-01 1.27102844e-03 2.10965473e+02] [ 9.54342689e-01 -2.98685272e-01 -4.14013951e-03 1.62600629e+02] [ 4.33078653e-03 -2.35908095e-05 9.99990622e-01 6.41108273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67028169299994 meters 0.014819210880921576 Centerline is valid? [True, True] Translation: X:210.96, Y:162.62, Z:0.64 [[-2.99384610e-01 -9.54131997e-01 9.94106868e-04 2.10961677e+02] [ 9.54126513e-01 -2.99386259e-01 -3.23500589e-03 1.62622878e+02] [ 3.38424457e-03 -2.00072569e-05 9.99994273e-01 6.42724733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70028169299997 meters 0.014427291180717202 Centerline is valid? [True, True] Translation: X:210.95, Y:162.65, Z:0.64 [[-2.99480871e-01 -9.54101798e-01 9.83447856e-04 2.10954188e+02] [ 9.54096443e-01 -2.99482485e-01 -3.19674064e-03 1.62645333e+02] [ 3.34454140e-03 -1.90585697e-05 9.99994407e-01 6.43553052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73028169299994 meters 0.013821624097370743 Centerline is valid? [True, True] Translation: X:210.95, Y:162.67, Z:0.64 [[-2.97463591e-01 -9.54732651e-01 9.88645103e-04 2.10945060e+02] [ 9.54727255e-01 -2.97465233e-01 -3.20991514e-03 1.62666747e+02] [ 3.35869833e-03 -1.09464565e-05 9.99994360e-01 6.43949234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76028169299997 meters 0.013488912920228002 Centerline is valid? [True, True] Translation: X:210.93, Y:162.69, Z:0.64 [[-2.96067402e-01 -9.55166335e-01 1.16847565e-03 2.10934603e+02] [ 9.55158820e-01 -2.96069708e-01 -3.78909832e-03 1.62688563e+02] [ 3.96516940e-03 -5.74867157e-06 9.99992139e-01 6.42795170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79028169299994 meters 0.013471110128502625 Centerline is valid? [True, True] Translation: X:210.92, Y:162.71, Z:0.64 [[-2.94204248e-01 -9.55741686e-01 1.29990899e-03 2.10924082e+02] [ 9.55732412e-01 -2.94207119e-01 -4.21050911e-03 1.62709780e+02] [ 4.40660156e-03 3.61548559e-06 9.99990291e-01 6.41958026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82028169299997 meters 0.014877691070584814 Centerline is valid? [True, True] Translation: X:210.91, Y:162.73, Z:0.64 [[-2.90351201e-01 -9.56919499e-01 1.11927911e-03 2.10909434e+02] [ 9.56912645e-01 -2.90353358e-01 -3.62174923e-03 1.62729411e+02] [ 3.79070891e-03 1.94730915e-05 9.99992815e-01 6.43699491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85028169299994 meters 0.015954565063647622 Centerline is valid? [True, True] Translation: X:210.90, Y:162.75, Z:0.64 [[-2.88941365e-01 -9.57346080e-01 1.17124667e-03 2.10898803e+02] [ 9.57338595e-01 -2.88943737e-01 -3.78567855e-03 1.62750276e+02] [ 3.96262891e-03 2.74405111e-05 9.99992148e-01 6.43484308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880281693 meters 0.01784546537354271 Centerline is valid? [True, True] Translation: X:210.89, Y:162.77, Z:0.64 [[-2.86138559e-01 -9.58187200e-01 1.41928222e-03 2.10886953e+02] [ 9.58176246e-01 -2.86142074e-01 -4.58206253e-03 1.62772195e+02] [ 4.79659002e-03 4.88177387e-05 9.99988495e-01 6.42761240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91028169299994 meters 0.018372652778017595 Centerline is valid? [True, True] Translation: X:210.88, Y:162.79, Z:0.64 [[-2.85377996e-01 -9.58414077e-01 1.36242657e-03 2.10877594e+02] [ 9.58404007e-01 -2.85381244e-01 -4.39384891e-03 1.62794855e+02] [ 4.59993764e-03 5.18472831e-05 9.99989419e-01 6.43259057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940281693 meters 0.019282075479614854 Centerline is valid? [True, True] Translation: X:210.87, Y:162.82, Z:0.64 [[-2.85154556e-01 -9.58480844e-01 1.16251839e-03 2.10867401e+02] [ 9.58473528e-01 -2.85156922e-01 -3.74525436e-03 1.62815786e+02] [ 3.92125473e-03 4.62667605e-05 9.99992311e-01 6.44207279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97028169299995 meters 0.019355728640424213 Centerline is valid? [True, True] Translation: X:210.86, Y:162.84, Z:0.65 [[-2.85345702e-01 -9.58424293e-01 8.39659113e-04 2.10858471e+02] [ 9.58420483e-01 -2.85346936e-01 -2.70267515e-03 1.62838367e+02] [ 2.82990368e-03 3.35497527e-05 9.99995995e-01 6.46125069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000281693 meters 0.01913884355037565 Centerline is valid? [True, True] Translation: X:210.85, Y:162.86, Z:0.65 [[-2.86599064e-01 -9.58050262e-01 8.19332124e-04 2.10851546e+02] [ 9.58046641e-01 -2.86600234e-01 -2.63444586e-03 1.62860592e+02] [ 2.75875233e-03 2.99286699e-05 9.99996194e-01 6.46943651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03028169299995 meters 0.018255681574552565 Centerline is valid? [True, True] Translation: X:210.84, Y:162.88, Z:0.65 [[-2.87426946e-01 -9.57802095e-01 9.47865748e-04 2.10844926e+02] [ 9.57797258e-01 -2.87428507e-01 -3.04408314e-03 1.62883817e+02] [ 3.18807285e-03 3.29116940e-05 9.99994918e-01 6.46385039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060281693 meters 0.01755384283872598 Centerline is valid? [True, True] Translation: X:210.84, Y:162.91, Z:0.65 [[-2.87712869e-01 -9.57716072e-01 1.10888608e-03 2.10838382e+02] [ 9.57709468e-01 -2.87715003e-01 -3.55699718e-03 1.62906260e+02] [ 3.72563653e-03 3.85968339e-05 9.99993059e-01 6.45827755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09028169299995 meters 0.01826434398390168 Centerline is valid? [True, True] Translation: X:210.83, Y:162.93, Z:0.64 [[-2.87677839e-01 -9.57726425e-01 1.24756684e-03 2.10829660e+02] [ 9.57718085e-01 -2.87680540e-01 -3.99705241e-03 1.62927777e+02] [ 4.18698341e-03 4.49539267e-05 9.99991234e-01 6.44519060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120281693 meters 0.01961029018208377 Centerline is valid? [True, True] Translation: X:210.82, Y:162.95, Z:0.64 [[-2.86431113e-01 -9.58099982e-01 1.28135700e-03 2.10819692e+02] [ 9.58091208e-01 -2.86433975e-01 -4.10075538e-03 1.62950064e+02] [ 4.29595783e-03 5.30729493e-05 9.99990771e-01 6.44107993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15028169299995 meters 0.021612924922796806 Centerline is valid? [True, True] Translation: X:210.81, Y:162.97, Z:0.65 [[-2.85437734e-01 -9.58396928e-01 7.92820776e-04 2.10808295e+02] [ 9.58393575e-01 -2.85438832e-01 -2.53535305e-03 1.62970453e+02] [ 2.65617641e-03 3.61489099e-05 9.99996472e-01 6.47303412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180281693 meters 0.020558980312636137 Centerline is valid? [True, True] Translation: X:210.80, Y:162.99, Z:0.65 [[-2.85715143e-01 -9.58314386e-01 6.28692929e-04 2.10803400e+02] [ 9.58312281e-01 -2.85715833e-01 -2.00873068e-03 1.62993650e+02] [ 2.10462303e-03 2.85593828e-05 9.99997785e-01 6.48541609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21028169299996 meters 0.02092202588382661 Centerline is valid? [True, True] Translation: X:210.80, Y:163.02, Z:0.65 [[-2.86091867e-01 -9.58201994e-01 6.19126953e-04 2.10797510e+02] [ 9.58199956e-01 -2.86092535e-01 -1.97606877e-03 1.63015483e+02] [ 2.07060064e-03 2.79102151e-05 9.99997856e-01 6.48951645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240281693 meters 0.020697327865085713 Centerline is valid? [True, True] Translation: X:210.79, Y:163.04, Z:0.65 [[-2.87146712e-01 -9.57886351e-01 7.10399912e-04 2.10794569e+02] [ 9.57883674e-01 -2.87147589e-01 -2.26456584e-03 1.63038006e+02] [ 2.37318633e-03 3.02178413e-05 9.99997184e-01 6.47584899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27028169299996 meters 0.01856782260673541 Centerline is valid? [True, True] Translation: X:210.79, Y:163.06, Z:0.65 [[-2.88047596e-01 -9.57615840e-01 6.96813170e-04 2.10791883e+02] [ 9.57613270e-01 -2.88048437e-01 -2.21886904e-03 1.63062132e+02] [ 2.32554009e-03 2.81376453e-05 9.99997296e-01 6.47489874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300281693 meters 0.01889194058588726 Centerline is valid? [True, True] Translation: X:210.79, Y:163.08, Z:0.65 [[-2.88810500e-01 -9.57386089e-01 6.09311666e-04 2.10787129e+02] [ 9.57384127e-01 -2.88811142e-01 -1.93834206e-03 1.63084391e+02] [ 2.03171772e-03 2.35317779e-05 9.99997936e-01 6.48530212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33028169299996 meters 0.018855642228681312 Centerline is valid? [True, True] Translation: X:210.78, Y:163.11, Z:0.65 [[-2.89356387e-01 -9.57221241e-01 6.14145579e-04 2.10780977e+02] [ 9.57219252e-01 -2.89357038e-01 -1.95145868e-03 1.63106673e+02] [ 2.04568505e-03 2.32049375e-05 9.99997907e-01 6.48656487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.360281693 meters 0.01907495309430612 Centerline is valid? [True, True] Translation: X:210.78, Y:163.13, Z:0.65 [[-2.89749302e-01 -9.57102250e-01 7.90865028e-04 2.10775109e+02] [ 9.57098960e-01 -2.89750380e-01 -2.50962718e-03 1.63128392e+02] [ 2.63112326e-03 2.97733731e-05 9.99996538e-01 6.47851497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39028169299996 meters 0.01835408400073611 Centerline is valid? [True, True] Translation: X:210.77, Y:163.15, Z:0.65 [[-2.90358105e-01 -9.56917601e-01 9.36062676e-04 2.10772822e+02] [ 9.56913002e-01 -2.90359612e-01 -2.96679472e-03 1.63152614e+02] [ 3.11077288e-03 3.42976531e-05 9.99995161e-01 6.46030637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42028169299994 meters 0.017287567122334865 Centerline is valid? [True, True] Translation: X:210.77, Y:163.18, Z:0.65 [[-2.92149817e-01 -9.56372268e-01 7.54382883e-04 2.10772158e+02] [ 9.56369285e-01 -2.92150790e-01 -2.38879105e-03 1.63176785e+02] [ 2.50496707e-03 2.35837507e-05 9.99996862e-01 6.46679664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45028169299997 meters 0.01617769337350192 Centerline is valid? [True, True] Translation: X:210.77, Y:163.20, Z:0.65 [[-2.93779042e-01 -9.55873088e-01 7.16742051e-04 2.10769086e+02] [ 9.55870400e-01 -2.93779916e-01 -2.26722527e-03 1.63201113e+02] [ 2.37774404e-03 1.90492431e-05 9.99997173e-01 6.46484957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48028169299994 meters 0.016097960390211784 Centerline is valid? [True, True] Translation: X:210.76, Y:163.22, Z:0.65 [[-2.94957423e-01 -9.55510027e-01 8.40909626e-04 2.10764797e+02] [ 9.55506333e-01 -2.94958621e-01 -2.65678183e-03 1.63223412e+02] [ 2.78661523e-03 1.98569493e-05 9.99996117e-01 6.45707044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51028169299997 meters 0.016097960390211784 Centerline is valid? [True, True] Translation: X:210.76, Y:163.25, Z:0.65 [[-2.95239225e-01 -9.55422991e-01 8.41736927e-04 2.10757332e+02] [ 9.55419298e-01 -2.95240424e-01 -2.65651974e-03 1.63245505e+02] [ 2.78661480e-03 1.99028749e-05 9.99996117e-01 6.45753421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54028169299994 meters 0.016571765696868482 Centerline is valid? [True, True] Translation: X:210.75, Y:163.27, Z:0.64 [[-2.95173784e-01 -9.55442779e-01 1.23852150e-03 2.10754013e+02] [ 9.55434804e-01 -2.95176381e-01 -3.90379098e-03 1.63268323e+02] [ 4.09543119e-03 3.10297880e-05 9.99991613e-01 6.43335725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57028169299997 meters 0.01676470408052337 Centerline is valid? [True, True] Translation: X:210.75, Y:163.29, Z:0.64 [[-2.94485601e-01 -9.55654835e-01 1.43753644e-03 2.10747741e+02] [ 9.55644118e-01 -2.94489107e-01 -4.52601628e-03 1.63291407e+02] [ 4.74864816e-03 4.09266153e-05 9.99988724e-01 6.42550689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60028169299994 meters 0.019273966860886203 Centerline is valid? [True, True] Translation: X:210.74, Y:163.31, Z:0.64 [[-2.92348028e-01 -9.56310650e-01 1.60369831e-03 2.10739096e+02] [ 9.56297351e-01 -2.92352421e-01 -5.04363774e-03 1.63312419e+02] [ 5.29212956e-03 5.91148931e-05 9.99985995e-01 6.40958645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630281693 meters 0.02020991382567314 Centerline is valid? [True, True] Translation: X:210.73, Y:163.34, Z:0.64 [[-2.91110513e-01 -9.56688282e-01 1.48325758e-03 2.10730883e+02] [ 9.56676934e-01 -2.91114285e-01 -4.66017728e-03 1.63335004e+02] [ 4.89013447e-03 6.23717203e-05 9.99988041e-01 6.41687336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66028169299994 meters 0.022468784526970265 Centerline is valid? [True, True] Translation: X:210.72, Y:163.36, Z:0.64 [[-2.89551078e-01 -9.57161629e-01 1.33800107e-03 2.10720844e+02] [ 9.57152417e-01 -2.89554162e-01 -4.19965762e-03 1.63356503e+02] [ 4.40717490e-03 6.46555723e-05 9.99990286e-01 6.42443793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690281693 meters 0.025699996961604753 Centerline is valid? [True, True] Translation: X:210.71, Y:163.38, Z:0.64 [[-2.86463015e-01 -9.58090167e-01 1.47424279e-03 2.10708804e+02] [ 9.58079020e-01 -2.86466795e-01 -4.62231146e-03 1.63377704e+02] [ 4.85091277e-03 8.83198095e-05 9.99988230e-01 6.41855013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72028169299995 meters 0.027917432237789676 Centerline is valid? [True, True] Translation: X:210.70, Y:163.40, Z:0.64 [[-2.85153628e-01 -9.58480474e-01 1.60923048e-03 2.10697676e+02] [ 9.58467228e-01 -2.85158149e-01 -5.04021528e-03 1.63398234e+02] [ 5.28983312e-03 1.05159002e-04 9.99986003e-01 6.41105851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750281693 meters 0.030488744630602842 Centerline is valid? [True, True] Translation: X:210.68, Y:163.42, Z:0.64 [[-2.83471067e-01 -9.58979182e-01 1.75566731e-03 2.10683736e+02] [ 9.58963460e-01 -2.83476475e-01 -5.49280941e-03 1.63417653e+02] [ 5.76518026e-03 1.26568260e-04 9.99983373e-01 6.40621747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78028169299995 meters 0.030957069641065697 Centerline is valid? [True, True] Translation: X:210.67, Y:163.44, Z:0.64 [[-2.83185964e-01 -9.59063587e-01 1.65706445e-03 2.10673616e+02] [ 9.59049611e-01 -2.83190786e-01 -5.17906749e-03 1.63439454e+02] [ 5.43632043e-03 1.22567795e-04 9.99985216e-01 6.41320017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810281693 meters 0.02979831531301691 Centerline is valid? [True, True] Translation: X:210.67, Y:163.46, Z:0.64 [[-2.83630594e-01 -9.58932282e-01 1.60117734e-03 2.10666064e+02] [ 9.58919257e-01 -2.83635090e-01 -4.99937578e-03 1.63461874e+02] [ 5.24821291e-03 1.17423865e-04 9.99986221e-01 6.42451407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84028169299995 meters 0.027067214644829318 Centerline is valid? [True, True] Translation: X:210.66, Y:163.48, Z:0.64 [[-2.86630140e-01 -9.58040471e-01 1.27277014e-03 2.10659477e+02] [ 9.58032247e-01 -2.86632954e-01 -3.97037299e-03 1.63484354e+02] [ 4.16859587e-03 8.13262683e-05 9.99991308e-01 6.44557569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870281693 meters 0.02567852978706275 Centerline is valid? [True, True] Translation: X:210.65, Y:163.51, Z:0.65 [[-2.88359625e-01 -9.57521654e-01 1.00438529e-03 2.10652211e+02] [ 9.57516539e-01 -2.88361369e-01 -3.13040152e-03 1.63506014e+02] [ 3.28705316e-03 5.90341155e-05 9.99994596e-01 6.46453936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90028169299995 meters 0.02548994890089988 Centerline is valid? [True, True] Translation: X:210.64, Y:163.53, Z:0.65 [[-2.89725717e-01 -9.57109338e-01 8.51167711e-04 2.10642410e+02] [ 9.57105669e-01 -2.89726963e-01 -2.65044459e-03 1.63526688e+02] [ 2.78337150e-03 4.67554844e-05 9.99996125e-01 6.47262766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930281693 meters 0.02441492712464599 Centerline is valid? [True, True] Translation: X:210.63, Y:163.55, Z:0.65 [[-2.89154280e-01 -9.57282133e-01 8.48813901e-04 2.10634690e+02] [ 9.57278493e-01 -2.89155521e-01 -2.64041020e-03 1.63549662e+02] [ 2.77305673e-03 4.90653832e-05 9.99996154e-01 6.46902578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96028169299996 meters 0.027246388344336188 Centerline is valid? [True, True] Translation: X:210.62, Y:163.57, Z:0.65 [[-2.87867051e-01 -9.57669930e-01 9.30902138e-04 2.10621044e+02] [ 9.57665563e-01 -2.87868550e-01 -2.89256950e-03 1.63569184e+02] [ 3.03810428e-03 5.88174696e-05 9.99995383e-01 6.47040764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990281693 meters 0.03447130583518581 Centerline is valid? [True, True] Translation: X:210.60, Y:163.59, Z:0.65 [[-2.83548256e-01 -9.58957534e-01 9.13669580e-04 2.10597387e+02] [ 9.58953343e-01 -2.83549719e-01 -2.83601078e-03 1.63585010e+02] [ 2.97868465e-03 7.20205868e-05 9.99995561e-01 6.47313598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02028169299996 meters 0.03873113937558728 Centerline is valid? [True, True] Translation: X:210.58, Y:163.60, Z:0.65 [[-2.80988971e-01 -9.59710473e-01 1.00344020e-03 2.10578562e+02] [ 9.59705434e-01 -2.80990749e-01 -3.11121158e-03 1.63602870e+02] [ 3.26781975e-03 8.87908742e-05 9.99994657e-01 6.46578187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050281693 meters 0.03844282600941302 Centerline is valid? [True, True] Translation: X:210.57, Y:163.62, Z:0.65 [[-2.81606278e-01 -9.59529352e-01 1.15192936e-03 2.10569691e+02] [ 9.59522726e-01 -2.81608616e-01 -3.56733530e-03 1.63624648e+02] [ 3.74735616e-03 1.00718387e-04 9.99992974e-01 6.45677226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08028169299996 meters 0.036349110652782485 Centerline is valid? [True, True] Translation: X:210.56, Y:163.65, Z:0.64 [[-2.83800847e-01 -9.58882359e-01 1.30378525e-03 2.10564360e+02] [ 9.58873885e-01 -2.83803823e-01 -4.03266523e-03 1.63645812e+02] [ 4.23687079e-03 1.05691819e-04 9.99991019e-01 6.44321707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.110281693 meters 0.03189464931582853 Centerline is valid? [True, True] Translation: X:210.56, Y:163.67, Z:0.64 [[-2.87670311e-01 -9.57728584e-01 1.32323745e-03 2.10562246e+02] [ 9.57719862e-01 -2.87673340e-01 -4.08855754e-03 1.63669051e+02] [ 4.29638856e-03 9.11341732e-05 9.99990766e-01 6.43737327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14028169299996 meters 0.01837290177132323 Centerline is valid? [True, True] Translation: X:210.57, Y:163.70, Z:0.65 [[-2.97831067e-01 -9.54618404e-01 5.97805365e-04 2.10574203e+02] [ 9.54616619e-01 -2.97831666e-01 -1.84628141e-03 1.63698118e+02] [ 1.94053958e-03 2.07949748e-05 9.99998117e-01 6.47807880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17028169299994 meters 0.013541671619893302 Centerline is valid? [True, True] Translation: X:210.58, Y:163.72, Z:0.65 [[-3.06251059e-01 -9.51950491e-01 7.43227664e-04 2.10578835e+02] [ 9.51947730e-01 -3.06251960e-01 -2.29268649e-03 1.63723895e+02] [ 2.41013895e-03 5.37622418e-06 9.99997096e-01 6.46518004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20028169299997 meters 0.013234158815330636 Centerline is valid? [True, True] Translation: X:210.57, Y:163.75, Z:0.64 [[-3.08346299e-01 -9.51273334e-01 1.26653872e-03 2.10574353e+02] [ 9.51265333e-01 -3.08348900e-01 -3.90152852e-03 1.63747975e+02] [ 4.10195587e-03 1.79249713e-06 9.99991587e-01 6.43352732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23028169299994 meters 0.013446548295011988 Centerline is valid? [True, True] Translation: X:210.57, Y:163.77, Z:0.64 [[-3.09289576e-01 -9.50966137e-01 1.83415291e-03 2.10568583e+02] [ 9.50949393e-01 -3.09295014e-01 -5.64317254e-03 1.63770353e+02] [ 5.93376034e-03 -1.18785081e-06 9.99982395e-01 6.40235357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26028169299997 meters 0.013743799371946221 Centerline is valid? [True, True] Translation: X:210.56, Y:163.79, Z:0.64 [[-3.08590055e-01 -9.51192460e-01 2.25455018e-03 2.10561464e+02] [ 9.51167223e-01 -3.08598291e-01 -6.92884700e-03 1.63792377e+02] [ 7.28641735e-03 6.28096356e-06 9.99973454e-01 6.38531350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29028169299994 meters 0.01394184290740094 Centerline is valid? [True, True] Translation: X:210.55, Y:163.81, Z:0.64 [[-3.07807734e-01 -9.51445895e-01 2.26020310e-03 2.10552789e+02] [ 9.51420591e-01 -3.07816032e-01 -6.93896946e-03 1.63813835e+02] [ 7.29778075e-03 1.45353044e-05 9.99973371e-01 6.38223048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32028169299997 meters 0.015112288031042238 Centerline is valid? [True, True] Translation: X:210.54, Y:163.83, Z:0.64 [[-3.05327881e-01 -9.52244170e-01 2.43422726e-03 2.10542126e+02] [ 9.52214907e-01 -3.05337582e-01 -7.46535848e-03 1.63834467e+02] [ 7.85210516e-03 3.85254025e-05 9.99969171e-01 6.37328758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35028169299994 meters 0.015713689293747706 Centerline is valid? [True, True] Translation: X:210.53, Y:163.86, Z:0.64 [[-3.04619192e-01 -9.52471061e-01 2.45480023e-03 2.10533291e+02] [ 9.52441369e-01 -3.04629079e-01 -7.52084679e-03 1.63856815e+02] [ 7.91119245e-03 4.70590191e-05 9.99968705e-01 6.37106377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380281693 meters 0.016305408327543368 Centerline is valid? [True, True] Translation: X:210.52, Y:163.88, Z:0.64 [[-3.04001080e-01 -9.52668785e-01 2.35153159e-03 2.10524877e+02] [ 9.52641600e-01 -3.04010170e-01 -7.19716052e-03 1.63877821e+02] [ 7.57139968e-03 5.22222494e-05 9.99971335e-01 6.37593977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41028169299994 meters 0.016992122139956777 Centerline is valid? [True, True] Translation: X:210.52, Y:163.90, Z:0.64 [[-3.02880120e-01 -9.53027094e-01 1.72951828e-03 2.10516211e+02] [ 9.53012421e-01 -3.02885054e-01 -5.28860046e-03 1.63900478e+02] [ 5.56402477e-03 4.64404588e-05 9.99984520e-01 6.42692958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440281693 meters 0.016775604273515713 Centerline is valid? [True, True] Translation: X:210.51, Y:163.92, Z:0.65 [[-3.02572191e-01 -9.53125449e-01 1.39574839e-03 2.10509287e+02] [ 9.53115912e-01 -3.02575408e-01 -4.26398877e-03 1.63923593e+02] [ 4.48643535e-03 4.01455726e-05 9.99989935e-01 6.45015509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47028169299995 meters 0.017054335101174354 Centerline is valid? [True, True] Translation: X:210.50, Y:163.95, Z:0.64 [[-3.02422840e-01 -9.53173001e-01 1.28654154e-03 2.10502368e+02] [ 9.53164915e-01 -3.02425574e-01 -3.92642447e-03 1.63946446e+02] [ 4.13164486e-03 3.88458157e-05 9.99991464e-01 6.44541292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500281693 meters 0.016993979789382083 Centerline is valid? [True, True] Translation: X:210.50, Y:163.97, Z:0.64 [[-3.02945902e-01 -9.53006747e-01 1.38610940e-03 2.10495790e+02] [ 9.52997379e-01 -3.02949070e-01 -4.22566929e-03 1.63968139e+02] [ 4.44701189e-03 4.08094342e-05 9.99990111e-01 6.43596577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53028169299995 meters 0.016819810972879577 Centerline is valid? [True, True] Translation: X:210.49, Y:163.99, Z:0.64 [[-3.03443882e-01 -9.52848316e-01 1.37760699e-03 2.10489075e+02] [ 9.52839080e-01 -3.03447007e-01 -4.19535448e-03 1.63991479e+02] [ 4.41556716e-03 3.95831289e-05 9.99990251e-01 6.43559888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560281693 meters 0.01706692412822969 Centerline is valid? [True, True] Translation: X:210.48, Y:164.01, Z:0.65 [[-3.03508052e-01 -9.52828104e-01 1.21112346e-03 2.10483127e+02] [ 9.52820980e-01 -3.03510466e-01 -3.68473113e-03 1.64013296e+02] [ 3.87850402e-03 3.56382745e-05 9.99992478e-01 6.45812661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59028169299995 meters 0.017951793975729873 Centerline is valid? [True, True] Translation: X:210.48, Y:164.04, Z:0.65 [[-3.02737456e-01 -9.53073203e-01 1.22528955e-03 2.10475191e+02] [ 9.53065929e-01 -3.02739933e-01 -3.72395018e-03 1.64036041e+02] [ 3.92014120e-03 4.04025145e-05 9.99992315e-01 6.46038008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620281693 meters 0.022124948632778422 Centerline is valid? [True, True] Translation: X:210.46, Y:164.06, Z:0.64 [[-2.99337973e-01 -9.54145644e-01 1.69357815e-03 2.10463102e+02] [ 9.54131796e-01 -2.99342754e-01 -5.14122653e-03 1.64056594e+02] [ 5.41243924e-03 7.69324297e-05 9.99985350e-01 6.43355404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65028169299995 meters 0.023446127243110324 Centerline is valid? [True, True] Translation: X:210.45, Y:164.08, Z:0.64 [[-2.97380114e-01 -9.54757175e-01 1.95032324e-03 2.10453139e+02] [ 9.54738862e-01 -2.97386492e-01 -5.91442911e-03 1.64079141e+02] [ 6.22684342e-03 1.03215788e-04 9.99980608e-01 6.42018683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680281693 meters 0.02645190773971306 Centerline is valid? [True, True] Translation: X:210.44, Y:164.10, Z:0.64 [[-2.95358692e-01 -9.55384264e-01 2.03736998e-03 2.10440998e+02] [ 9.55364335e-01 -2.95365693e-01 -6.17209357e-03 1.64099278e+02] [ 6.49849026e-03 1.23449132e-04 9.99978877e-01 6.41329067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71028169299996 meters 0.028325449703230067 Centerline is valid? [True, True] Translation: X:210.43, Y:164.12, Z:0.64 [[-2.93797025e-01 -9.55866046e-01 1.84640775e-03 2.10430239e+02] [ 9.55849719e-01 -2.93802802e-01 -5.58825851e-03 1.64121170e+02] [ 5.88410634e-03 1.23074597e-04 9.99982681e-01 6.42069627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740281693 meters 0.03081788128526456 Centerline is valid? [True, True] Translation: X:210.42, Y:164.14, Z:0.64 [[-2.92058539e-01 -9.56399310e-01 1.47271623e-03 2.10419670e+02] [ 9.56388949e-01 -2.92062232e-01 -4.45324380e-03 1.64141768e+02] [ 4.68920409e-03 1.07881646e-04 9.99989000e-01 6.44494255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77028169299996 meters 0.02966353838139304 Centerline is valid? [True, True] Translation: X:210.41, Y:164.16, Z:0.64 [[-2.92626776e-01 -9.56225397e-01 1.60009557e-03 2.10413256e+02] [ 9.56213188e-01 -2.92631127e-01 -4.83340513e-03 1.64164876e+02] [ 5.09006251e-03 1.15648728e-04 9.99987039e-01 6.43976155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800281693 meters 0.027860247576008537 Centerline is valid? [True, True] Translation: X:210.41, Y:164.19, Z:0.64 [[-2.95730087e-01 -9.55269933e-01 1.75219597e-03 2.10408622e+02] [ 9.55255307e-01 -2.95735257e-01 -5.28739952e-03 1.64187474e+02] [ 5.56907991e-03 1.10151384e-04 9.99984487e-01 6.42473152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83028169299996 meters 0.024145005368437358 Centerline is valid? [True, True] Translation: X:210.41, Y:164.21, Z:0.64 [[-2.97562553e-01 -9.54700748e-01 1.73447987e-03 2.10406411e+02] [ 9.54686435e-01 -2.97567592e-01 -5.22869352e-03 1.64211700e+02] [ 5.50796262e-03 1.00021010e-04 9.99984826e-01 6.43908627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.860281693 meters 0.024622707619499352 Centerline is valid? [True, True] Translation: X:210.40, Y:164.23, Z:0.65 [[-2.99473427e-01 -9.54103556e-01 1.43912717e-03 2.10398425e+02] [ 9.54093714e-01 -2.99476876e-01 -4.33420226e-03 1.64233383e+02] [ 4.56626310e-03 7.50837800e-05 9.99989572e-01 6.46121389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89028169299996 meters 0.024014943936526433 Centerline is valid? [True, True] Translation: X:210.39, Y:164.26, Z:0.65 [[-3.00193557e-01 -9.53877424e-01 1.29900461e-03 2.10391458e+02] [ 9.53869419e-01 -3.00196361e-01 -3.90846236e-03 1.64256158e+02] [ 4.11815047e-03 6.57855554e-05 9.99991518e-01 6.46700273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92028169299994 meters 0.02332638589427937 Centerline is valid? [True, True] Translation: X:210.38, Y:164.28, Z:0.65 [[-3.00756798e-01 -9.53699999e-01 1.28823925e-03 2.10384301e+02] [ 9.53692140e-01 -3.00759551e-01 -3.87229711e-03 1.64278628e+02] [ 4.08046001e-03 6.39639693e-05 9.99991673e-01 6.46717515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95028169299997 meters 0.025043208770455166 Centerline is valid? [True, True] Translation: X:210.37, Y:164.30, Z:0.64 [[-3.00578841e-01 -9.53755641e-01 1.59274416e-03 2.10372314e+02] [ 9.53743655e-01 -3.00583050e-01 -4.78234700e-03 1.64298473e+02] [ 5.03994232e-03 8.15973197e-05 9.99987296e-01 6.44933567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98028169299994 meters 0.02654817913322866 Centerline is valid? [True, True] Translation: X:210.36, Y:164.32, Z:0.64 [[-2.99915772e-01 -9.53964232e-01 1.66570120e-03 2.10362480e+02] [ 9.53951153e-01 -2.99920384e-01 -4.99610063e-03 1.64318510e+02] [ 5.26567904e-03 9.05882043e-05 9.99986132e-01 6.44794605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01028169299997 meters 0.024453529008705222 Centerline is valid? [True, True] Translation: X:210.36, Y:164.34, Z:0.65 [[-2.99192012e-01 -9.54191683e-01 1.54042600e-03 2.10357110e+02] [ 9.54180523e-01 -2.99195964e-01 -4.61574937e-03 1.64341930e+02] [ 4.86519890e-03 8.88491404e-05 9.99988161e-01 6.45583824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04028169299994 meters 0.027018382801670383 Centerline is valid? [True, True] Translation: X:210.35, Y:164.36, Z:0.64 [[-3.00094324e-01 -9.53908250e-01 1.56450755e-03 2.10346418e+02] [ 9.53896759e-01 -3.00098389e-01 -4.68299597e-03 1.64362009e+02] [ 4.93665468e-03 8.70381720e-05 9.99987811e-01 6.44233075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07028169299997 meters 0.025868156265422094 Centerline is valid? [True, True] Translation: X:210.34, Y:164.38, Z:0.64 [[-3.01597537e-01 -9.53433718e-01 1.75267131e-03 2.10341237e+02] [ 9.53419321e-01 -3.01602616e-01 -5.24021083e-03 1.64383218e+02] [ 5.52480394e-03 9.05960114e-05 9.99984734e-01 6.42341630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10028169299994 meters 0.023226707886763003 Centerline is valid? [True, True] Translation: X:210.34, Y:164.41, Z:0.64 [[-3.04656786e-01 -9.52459749e-01 2.16078898e-03 2.10339267e+02] [ 9.52437893e-01 -3.04664435e-01 -6.45309068e-03 1.64405890e+02] [ 6.80462468e-03 9.20394337e-05 9.99976844e-01 6.40061046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130281693 meters 0.01924763206509972 Centerline is valid? [True, True] Translation: X:210.34, Y:164.43, Z:0.64 [[-3.05881917e-01 -9.52067631e-01 1.86544020e-03 2.10337830e+02] [ 9.52051366e-01 -3.05887596e-01 -5.56555561e-03 1.64430258e+02] [ 5.86940036e-03 7.35920741e-05 9.99982772e-01 6.43808855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16028169299994 meters 0.02064960095355691 Centerline is valid? [True, True] Translation: X:210.33, Y:164.45, Z:0.65 [[-3.07317332e-01 -9.51606651e-01 9.16100361e-04 2.10327704e+02] [ 9.51602732e-01 -3.07318696e-01 -2.73133428e-03 1.64451288e+02] [ 2.88069064e-03 3.23772416e-05 9.99995850e-01 6.49166822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190281693 meters 0.018180891703801688 Centerline is valid? [True, True] Translation: X:210.32, Y:164.48, Z:0.65 [[-3.07958647e-01 -9.51399307e-01 9.10842351e-04 2.10324159e+02] [ 9.51395440e-01 -3.07959992e-01 -2.71281317e-03 1.64475466e+02] [ 2.86147157e-03 3.11369865e-05 9.99995906e-01 6.49482799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22028169299995 meters 0.01798580841708254 Centerline is valid? [True, True] Translation: X:210.32, Y:164.50, Z:0.65 [[-3.08642451e-01 -9.51177318e-01 1.24364267e-03 2.10317163e+02] [ 9.51170125e-01 -3.08644954e-01 -3.69951489e-03 1.64498202e+02] [ 3.90273869e-03 4.10884119e-05 9.99992383e-01 6.47654431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250281693 meters 0.019774249410749414 Centerline is valid? [True, True] Translation: X:210.31, Y:164.52, Z:0.64 [[-3.09442341e-01 -9.50917036e-01 1.49261107e-03 2.10307387e+02] [ 9.50906694e-01 -3.09445938e-01 -4.43511013e-03 1.64518970e+02] [ 4.67930421e-03 4.69229917e-05 9.99989051e-01 6.44705289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28028169299995 meters 0.01758030021807222 Centerline is valid? [True, True] Translation: X:210.30, Y:164.54, Z:0.65 [[-3.09850798e-01 -9.50784184e-01 1.38498962e-03 2.10303417e+02] [ 9.50775296e-01 -3.09853891e-01 -4.11121161e-03 1.64542315e+02] [ 4.33801940e-03 4.29517196e-05 9.99990590e-01 6.47239587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310281693 meters 0.01754219504634745 Centerline is valid? [True, True] Translation: X:210.30, Y:164.56, Z:0.65 [[-3.10099907e-01 -9.50703024e-01 1.34436094e-03 2.10296041e+02] [ 9.50694667e-01 -3.10102818e-01 -3.98661728e-03 1.64564647e+02] [ 4.20697922e-03 4.18271319e-05 9.99991150e-01 6.47995284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34028169299995 meters 0.020009858321858028 Centerline is valid? [True, True] Translation: X:210.28, Y:164.58, Z:0.65 [[-3.10403130e-01 -9.50603629e-01 1.62420177e-03 2.10284921e+02] [ 9.50591455e-01 -3.10407376e-01 -4.81109835e-03 1.64584615e+02] [ 5.07761175e-03 5.05723343e-05 9.99987108e-01 6.45361460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370281693 meters 0.01804112686621845 Centerline is valid? [True, True] Translation: X:210.28, Y:164.61, Z:0.65 [[-3.10464366e-01 -9.50583304e-01 1.80537943e-03 2.10280296e+02] [ 9.50568295e-01 -3.10469610e-01 -5.34211105e-03 1.64608176e+02] [ 5.63863702e-03 5.76013269e-05 9.99984101e-01 6.45595808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40028169299995 meters 0.01804112686621845 Centerline is valid? [True, True] Translation: X:210.27, Y:164.63, Z:0.65 [[-3.10754474e-01 -9.50488501e-01 1.80700840e-03 2.10272420e+02] [ 9.50473494e-01 -3.10759723e-01 -5.34156016e-03 1.64630126e+02] [ 5.63863694e-03 5.75998630e-05 9.99984101e-01 6.45642189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430281693 meters 0.018665237556891 Centerline is valid? [True, True] Translation: X:210.26, Y:164.65, Z:0.65 [[-3.10849015e-01 -9.50457706e-01 1.74307486e-03 2.10263178e+02] [ 9.50443770e-01 -3.10853897e-01 -5.14736292e-03 1.64651341e+02] [ 5.43419236e-03 5.66419474e-05 9.99985233e-01 6.45828038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46028169299996 meters 0.01865410124501113 Centerline is valid? [True, True] Translation: X:210.25, Y:164.67, Z:0.65 [[-3.10778925e-01 -9.50481314e-01 1.31595450e-03 2.10252913e+02] [ 9.50473385e-01 -3.10781708e-01 -3.88262470e-03 1.64672721e+02] [ 4.09933681e-03 4.41417971e-05 9.99991597e-01 6.47949858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490281693 meters 0.01798667500612499 Centerline is valid? [True, True] Translation: X:210.25, Y:164.69, Z:0.65 [[-3.12006992e-01 -9.50078925e-01 1.29381865e-03 2.10245016e+02] [ 9.50071272e-01 -3.12009672e-01 -3.81346482e-03 1.64694202e+02] [ 4.02677649e-03 3.93922444e-05 9.99991892e-01 6.47217553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52028169299996 meters 0.017389855677094144 Centerline is valid? [True, True] Translation: X:210.24, Y:164.72, Z:0.65 [[-3.13289199e-01 -9.49656449e-01 1.58325257e-03 2.10238777e+02] [ 9.49645010e-01 -3.13293197e-01 -4.66122706e-03 1.64715902e+02] [ 4.92258660e-03 4.32158112e-05 9.99987883e-01 6.45785622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550281693 meters 0.0160839510270043 Centerline is valid? [True, True] Translation: X:210.23, Y:164.74, Z:0.64 [[-3.14893179e-01 -9.49125183e-01 1.91629458e-03 2.10233894e+02] [ 9.49108453e-01 -3.14899007e-01 -5.63558999e-03 1.64739585e+02] [ 5.95231964e-03 4.41625415e-05 9.99982284e-01 6.44874626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58028169299996 meters 0.015435180543320158 Centerline is valid? [True, True] Translation: X:210.23, Y:164.76, Z:0.64 [[-3.16460645e-01 -9.48602944e-01 2.26158725e-03 2.10228133e+02] [ 9.48579678e-01 -3.16468723e-01 -6.64390645e-03 1.64761997e+02] [ 7.01815085e-03 4.27607855e-05 9.99975372e-01 6.43366245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.610281693 meters 0.01544108314040365 Centerline is valid? [True, True] Translation: X:210.22, Y:164.78, Z:0.64 [[-3.16725749e-01 -9.48514961e-01 2.04146320e-03 2.10219815e+02] [ 9.48496039e-01 -3.16732326e-01 -5.99142883e-03 1.64784323e+02] [ 6.32955727e-03 3.86799760e-05 9.99979967e-01 6.44264560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64028169299996 meters 0.01516917440961097 Centerline is valid? [True, True] Translation: X:210.21, Y:164.81, Z:0.65 [[-3.16399716e-01 -9.48625107e-01 1.27522849e-03 2.10211654e+02] [ 9.48617737e-01 -3.16402284e-01 -3.73956585e-03 1.64806910e+02] [ 3.95093126e-03 2.65067914e-05 9.99992195e-01 6.48510794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67028169299994 meters 0.01551711344352251 Centerline is valid? [True, True] Translation: X:210.20, Y:164.83, Z:0.65 [[-3.16326566e-01 -9.48649550e-01 1.23869933e-03 2.10204162e+02] [ 9.48642611e-01 -3.16328990e-01 -3.62872643e-03 1.64828244e+02] [ 3.83422620e-03 2.72204004e-05 9.99992649e-01 6.49020749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70028169299997 meters 0.01591546670702942 Centerline is valid? [True, True] Translation: X:210.20, Y:164.85, Z:0.65 [[-3.16226322e-01 -9.48682583e-01 1.50706279e-03 2.10196284e+02] [ 9.48672334e-01 -3.16229911e-01 -4.40983065e-03 1.64849464e+02] [ 4.66010786e-03 3.52042518e-05 9.99989141e-01 6.47640368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73028169299994 meters 0.016854597837972666 Centerline is valid? [True, True] Translation: X:210.19, Y:164.87, Z:0.64 [[-3.16378022e-01 -9.48631125e-01 1.98414291e-03 2.10188496e+02] [ 9.48613400e-01 -3.16384240e-01 -5.79919564e-03 1.64871193e+02] [ 6.12904903e-03 4.74465065e-05 9.99981216e-01 6.44082734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76028169299997 meters 0.015634857136679094 Centerline is valid? [True, True] Translation: X:210.18, Y:164.89, Z:0.65 [[-3.17186413e-01 -9.48361570e-01 1.76408417e-03 2.10184169e+02] [ 9.48347582e-01 -3.17191316e-01 -5.15100671e-03 1.64894698e+02] [ 5.44456899e-03 3.91356162e-05 9.99985177e-01 6.45999440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79028169299994 meters 0.015059319332050632 Centerline is valid? [True, True] Translation: X:210.18, Y:164.92, Z:0.65 [[-3.18427182e-01 -9.47946337e-01 1.36840218e-03 2.10179645e+02] [ 9.47937931e-01 -3.18430122e-01 -3.99200053e-03 1.64917518e+02] [ 4.21994275e-03 2.59988522e-05 9.99991096e-01 6.47954115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82028169299997 meters 0.013902464719025917 Centerline is valid? [True, True] Translation: X:210.18, Y:164.94, Z:0.65 [[-3.20584218e-01 -9.47219818e-01 6.12439798e-04 2.10176936e+02] [ 9.47218135e-01 -3.20584803e-01 -1.78588232e-03 1.64940306e+02] [ 1.88796202e-03 7.58839441e-06 9.99998218e-01 6.53042523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85028169299994 meters 0.013700825694693943 Centerline is valid? [True, True] Translation: X:210.17, Y:164.96, Z:0.65 [[-3.21078683e-01 -9.47052388e-01 5.03831696e-04 2.10169559e+02] [ 9.47051250e-01 -3.21079078e-01 -1.46802932e-03 1.64963087e+02] [ 1.55207049e-03 5.80151733e-06 9.99998796e-01 6.53409493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880281693 meters 0.01485296495069421 Centerline is valid? [True, True] Translation: X:210.16, Y:164.98, Z:0.65 [[-3.19636464e-01 -9.47539703e-01 1.02103622e-03 2.10158104e+02] [ 9.47535048e-01 -3.19638094e-01 -2.97008789e-03 1.64983862e+02] [ 3.14063827e-03 1.81192146e-05 9.99995068e-01 6.51119859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91028169299994 meters 0.01574364019450539 Centerline is valid? [True, True] Translation: X:210.15, Y:165.01, Z:0.65 [[-3.18288514e-01 -9.47992986e-01 1.31180359e-03 2.10147915e+02] [ 9.47985324e-01 -3.18291216e-01 -3.81146648e-03 1.65005240e+02] [ 4.03077905e-03 3.04245521e-05 9.99991876e-01 6.49489878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940281693 meters 0.017563016680589374 Centerline is valid? [True, True] Translation: X:210.14, Y:165.03, Z:0.65 [[-3.16721247e-01 -9.48517242e-01 1.64079436e-03 2.10135903e+02] [ 9.48505289e-01 -3.16725494e-01 -4.76208659e-03 1.65025888e+02] [ 5.03660265e-03 4.80481270e-05 9.99987315e-01 6.47717553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97028169299995 meters 0.020897611861562995 Centerline is valid? [True, True] Translation: X:210.12, Y:165.04, Z:0.65 [[-3.13805672e-01 -9.49485844e-01 1.62222241e-03 2.10120553e+02] [ 9.49474196e-01 -3.13809858e-01 -4.70361203e-03 1.65044758e+02] [ 4.97508242e-03 6.42381838e-05 9.99987622e-01 6.46866639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000281693 meters 0.021352172349069668 Centerline is valid? [True, True] Translation: X:210.11, Y:165.07, Z:0.65 [[-3.13284436e-01 -9.49658460e-01 1.29265058e-03 2.10110319e+02] [ 9.49651078e-01 -3.13287098e-01 -3.74479399e-03 1.65066540e+02] [ 3.96124605e-03 5.43813418e-05 9.99992153e-01 6.48571543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03028169299995 meters 0.01999439570589108 Centerline is valid? [True, True] Translation: X:210.10, Y:165.09, Z:0.65 [[-3.14410147e-01 -9.49286738e-01 9.73639358e-04 2.10102106e+02] [ 9.49282555e-01 -3.14411652e-01 -2.81835226e-03 1.65088619e+02] [ 2.98154799e-03 3.81403083e-05 9.99995554e-01 6.50026974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060281693 meters 0.019236401913683095 Centerline is valid? [True, True] Translation: X:210.09, Y:165.11, Z:0.65 [[-3.16423705e-01 -9.48617067e-01 1.30366897e-03 2.10094991e+02] [ 9.48609579e-01 -3.16426388e-01 -3.76935383e-03 1.65110614e+02] [ 3.98818863e-03 4.39599629e-05 9.99992046e-01 6.47855311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09028169299995 meters 0.016906204619763426 Centerline is valid? [True, True] Translation: X:210.09, Y:165.13, Z:0.65 [[-3.18952049e-01 -9.47769278e-01 1.72822247e-03 2.10091445e+02] [ 9.47756135e-01 -3.18956728e-01 -4.99143002e-03 1.65134474e+02] [ 5.28195221e-03 4.59066127e-05 9.99986049e-01 6.45779486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120281693 meters 0.014056039303404754 Centerline is valid? [True, True] Translation: X:210.09, Y:165.16, Z:0.64 [[-3.24453125e-01 -9.45900116e-01 1.77202897e-03 2.10092048e+02] [ 9.45886298e-01 -3.24457964e-01 -5.11291786e-03 1.65159234e+02] [ 5.41125851e-03 1.72357413e-05 9.99985359e-01 6.44389219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15028169299995 meters 0.013301206647172846 Centerline is valid? [True, True] Translation: X:210.09, Y:165.18, Z:0.65 [[-3.27422862e-01 -9.44876650e-01 1.54479287e-03 2.10089393e+02] [ 9.44866156e-01 -3.27426507e-01 -4.45311078e-03 1.65183472e+02] [ 4.71344653e-03 1.57221961e-06 9.99988892e-01 6.46518582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180281693 meters 0.013434597579815381 Centerline is valid? [True, True] Translation: X:210.09, Y:165.21, Z:0.65 [[-3.30083544e-01 -9.43950698e-01 1.39090938e-03 2.10086714e+02] [ 9.43942199e-01 -3.30086474e-01 -4.00568609e-03 1.65206338e+02] [ 4.24029055e-03 -9.27300205e-06 9.99991010e-01 6.47064788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21028169299996 meters 0.01506003800176544 Centerline is valid? [True, True] Translation: X:210.09, Y:165.23, Z:0.65 [[-3.33788434e-01 -9.42646367e-01 1.76300012e-03 2.10088339e+02] [ 9.42632724e-01 -3.33793089e-01 -5.07169370e-03 1.65230853e+02] [ 5.36929090e-03 -3.10111000e-05 9.99985585e-01 6.45561473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240281693 meters 0.015527038039072318 Centerline is valid? [True, True] Translation: X:210.08, Y:165.25, Z:0.64 [[-3.35213720e-01 -9.42140139e-01 1.92886951e-03 2.10083735e+02] [ 9.42123832e-01 -3.35219267e-01 -5.54322726e-03 1.65254145e+02] [ 5.86909113e-03 -4.09318947e-05 9.99982776e-01 6.44849164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27028169299996 meters 0.017190091730515857 Centerline is valid? [True, True] Translation: X:210.09, Y:165.28, Z:0.65 [[-3.37044351e-01 -9.41487400e-01 1.60675759e-03 2.10085823e+02] [ 9.41476098e-01 -3.37048178e-01 -4.61321811e-03 1.65279218e+02] [ 4.88484144e-03 -4.21352384e-05 9.99988068e-01 6.45993154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300281693 meters 0.016836658916109477 Centerline is valid? [True, True] Translation: X:210.08, Y:165.30, Z:0.65 [[-3.38192117e-01 -9.41076275e-01 1.23979548e-03 2.10080939e+02] [ 9.41069555e-01 -3.38194388e-01 -3.55647915e-03 1.65303226e+02] [ 3.76621002e-03 -3.60394271e-05 9.99992907e-01 6.48180254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33028169299996 meters 0.018034185515247273 Centerline is valid? [True, True] Translation: X:210.08, Y:165.33, Z:0.65 [[-3.39108593e-01 -9.40746465e-01 1.20424710e-03 2.10079076e+02] [ 9.40740136e-01 -3.39110729e-01 -3.45108217e-03 1.65326391e+02] [ 3.65496647e-03 -3.74080413e-05 9.99993320e-01 6.48600744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.360281693 meters 0.01781112678270932 Centerline is valid? [True, True] Translation: X:210.08, Y:165.35, Z:0.65 [[-3.39747697e-01 -9.40515564e-01 1.40573523e-03 2.10077413e+02] [ 9.40506956e-01 -3.39750602e-01 -4.02414603e-03 1.65351297e+02] [ 4.26237137e-03 -4.50905793e-05 9.99990915e-01 6.47139836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39028169299996 meters 0.01814699814998283 Centerline is valid? [True, True] Translation: X:210.07, Y:165.37, Z:0.65 [[-3.39603640e-01 -9.40567647e-01 1.36692723e-03 2.10073415e+02] [ 9.40559524e-01 -3.39606389e-01 -3.90919354e-03 1.65374261e+02] [ 4.14107819e-03 -4.18999340e-05 9.99991425e-01 6.46668821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42028169299994 meters 0.015603165208977712 Centerline is valid? [True, True] Translation: X:210.07, Y:165.40, Z:0.65 [[-3.37405902e-01 -9.41358255e-01 1.37570197e-03 2.10066839e+02] [ 9.41350051e-01 -3.37408705e-01 -3.93036822e-03 1.65397450e+02] [ 4.16405839e-03 -3.11123192e-05 9.99991330e-01 6.46525884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45028169299997 meters 0.023129376492494812 Centerline is valid? [True, True] Translation: X:210.06, Y:165.42, Z:0.65 [[-3.35898928e-01 -9.41896771e-01 1.54369438e-03 2.10058362e+02] [ 9.41886467e-01 -3.35902474e-01 -4.40576729e-03 1.65419936e+02] [ 4.66830874e-03 -2.59076674e-05 9.99989103e-01 6.51499083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48028169299994 meters 0.013577805244530826 Centerline is valid? [True, True] Translation: X:210.05, Y:165.44, Z:0.65 [[-3.33816069e-01 -9.42636745e-01 1.67307427e-03 2.10049811e+02] [ 9.42624676e-01 -3.33820261e-01 -4.77005095e-03 1.65441359e+02] [ 5.05493140e-03 -1.52385660e-05 9.99987224e-01 6.46304695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51028169299997 meters 0.013449964181686303 Centerline is valid? [True, True] Translation: X:210.04, Y:165.46, Z:0.65 [[-3.29116569e-01 -9.44287839e-01 1.66171129e-03 2.10039582e+02] [ 9.44275978e-01 -3.29120764e-01 -4.73288037e-03 1.65462313e+02] [ 5.01610507e-03 1.14447030e-05 9.99987419e-01 6.46302178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54028169299994 meters 0.014851461110956242 Centerline is valid? [True, True] Translation: X:210.03, Y:165.48, Z:0.65 [[-3.26534455e-01 -9.45184162e-01 1.46625029e-03 2.10029646e+02] [ 9.45174953e-01 -3.26537746e-01 -4.17223797e-03 1.65483509e+02] [ 4.42231931e-03 2.34835985e-05 9.99990221e-01 6.47206297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57028169299997 meters 0.016709853472516602 Centerline is valid? [True, True] Translation: X:210.02, Y:165.51, Z:0.65 [[-3.23652596e-01 -9.46175171e-01 1.24185831e-03 2.10020313e+02] [ 9.46168585e-01 -3.23654977e-01 -3.53061519e-03 1.65506212e+02] [ 3.74251405e-03 3.23145508e-05 9.99992996e-01 6.49389084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60028169299994 meters 0.022472029223663252 Centerline is valid? [True, True] Translation: X:210.01, Y:165.53, Z:0.65 [[-3.17854834e-01 -9.48138784e-01 1.07291358e-03 2.10006861e+02] [ 9.48133887e-01 -3.17856641e-01 -3.04764983e-03 1.65525742e+02] [ 3.23062771e-03 4.85554967e-05 9.99994780e-01 6.50571319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630281693 meters 0.02548429206874584 Centerline is valid? [True, True] Translation: X:210.00, Y:165.55, Z:0.65 [[-3.15416088e-01 -9.48952761e-01 1.16148424e-03 2.09995710e+02] [ 9.48947039e-01 -3.15418221e-01 -3.29582415e-03 1.65545467e+02] [ 3.49393472e-03 6.26310659e-05 9.99993894e-01 6.49845513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66028169299994 meters 0.029000280187812814 Centerline is valid? [True, True] Translation: X:209.98, Y:165.57, Z:0.65 [[-3.10379925e-01 -9.50611396e-01 1.50844830e-03 2.09984541e+02] [ 9.50601787e-01 -3.10383572e-01 -4.27564370e-03 1.65567220e+02] [ 4.53267320e-03 1.06859685e-04 9.99989722e-01 6.48200267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690281693 meters 0.034899930635649175 Centerline is valid? [True, True] Translation: X:209.97, Y:165.59, Z:0.65 [[-3.07891900e-01 -9.51420362e-01 1.36817006e-03 2.09969911e+02] [ 9.51412480e-01 -3.07894921e-01 -3.87447854e-03 1.65587003e+02] [ 4.10751039e-03 1.08773505e-04 9.99991558e-01 6.48502273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72028169299995 meters 0.03658969198886482 Centerline is valid? [True, True] Translation: X:209.96, Y:165.61, Z:0.65 [[-3.05903444e-01 -9.52061940e-01 1.07041059e-03 2.09959600e+02] [ 9.52057126e-01 -3.05905303e-01 -3.02879836e-03 1.65609034e+02] [ 3.21104792e-03 9.25721778e-05 9.99994840e-01 6.50515763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750281693 meters 0.04007378597766573 Centerline is valid? [True, True] Translation: X:209.95, Y:165.63, Z:0.65 [[-3.04138591e-01 -9.52627541e-01 6.97332181e-04 2.09946601e+02] [ 9.52625502e-01 -3.04139383e-01 -1.97195689e-03 1.65628406e+02] [ 2.09062663e-03 6.45482281e-05 9.99997813e-01 6.52660499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78028169299995 meters 0.04063810197530087 Centerline is valid? [True, True] Translation: X:209.94, Y:165.65, Z:0.65 [[-3.00963736e-01 -9.53635427e-01 5.48681615e-04 2.09935092e+02] [ 9.53634169e-01 -3.00964231e-01 -1.55050222e-03 1.65649494e+02] [ 1.64374739e-03 5.65965927e-05 9.99998647e-01 6.54276125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810281693 meters 0.04390131202953105 Centerline is valid? [True, True] Translation: X:209.92, Y:165.67, Z:0.65 [[-2.99129902e-01 -9.54212022e-01 8.47660320e-04 2.09920473e+02] [ 9.54209028e-01 -2.99131089e-01 -2.39210449e-03 1.65669108e+02] [ 2.53613642e-03 9.32951475e-05 9.99996780e-01 6.52531666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84028169299995 meters 0.049965676597212204 Centerline is valid? [True, True] Translation: X:209.90, Y:165.69, Z:0.65 [[-2.98466613e-01 -9.54419712e-01 8.32601325e-04 2.09903042e+02] [ 9.54416830e-01 -2.98467760e-01 -2.34740916e-03 1.65687559e+02] [ 2.48891822e-03 9.40254562e-05 9.99996898e-01 6.52892869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870281693 meters 0.04203930447143556 Centerline is valid? [True, True] Translation: X:209.90, Y:165.71, Z:0.65 [[-2.98460595e-01 -9.54421786e-01 5.71665044e-04 2.09902085e+02] [ 9.54420429e-01 -2.98461136e-01 -1.61078184e-03 1.65712330e+02] [ 1.70798508e-03 6.48538895e-05 9.99998539e-01 6.53966069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90028169299995 meters 0.04813394489068357 Centerline is valid? [True, True] Translation: X:209.88, Y:165.73, Z:0.66 [[-2.98232769e-01 -9.54493086e-01 4.06320537e-04 2.09883657e+02] [ 9.54492401e-01 -2.98233042e-01 -1.14432375e-03 1.65730742e+02] [ 1.21342732e-03 4.65550245e-05 9.99999263e-01 6.55158764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930281693 meters 0.045787697835251745 Centerline is valid? [True, True] Translation: X:209.87, Y:165.75, Z:0.65 [[-2.98775360e-01 -9.54323359e-01 4.59586828e-04 2.09873278e+02] [ 9.54322485e-01 -2.98775709e-01 -1.29278595e-03 1.65752091e+02] [ 1.37104921e-03 5.23414567e-05 9.99999059e-01 6.54625483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96028169299996 meters 0.04520976878960999 Centerline is valid? [True, True] Translation: X:209.86, Y:165.77, Z:0.65 [[-2.99717425e-01 -9.54027749e-01 7.20594870e-04 2.09863177e+02] [ 9.54025605e-01 -2.99718280e-01 -2.02408227e-03 1.65773474e+02] [ 2.14700611e-03 8.08132297e-05 9.99997692e-01 6.52949528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990281693 meters 0.04379803833044649 Centerline is valid? [True, True] Translation: X:209.85, Y:165.79, Z:0.65 [[-3.02819302e-01 -9.53047179e-01 1.24310871e-03 2.09851540e+02] [ 9.53040808e-01 -3.02821827e-01 -3.48719374e-03 1.65793086e+02] [ 3.69990061e-03 1.28743749e-04 9.99993147e-01 6.49869953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02028169299996 meters 0.03951772814578053 Centerline is valid? [True, True] Translation: X:209.85, Y:165.82, Z:0.65 [[-3.04612677e-01 -9.52475159e-01 1.47917222e-03 2.09845434e+02] [ 9.52466151e-01 -3.04616233e-01 -4.14508043e-03 1.65816116e+02] [ 4.39866602e-03 1.46217423e-04 9.99990315e-01 6.49006550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050281693 meters 0.036659386785253704 Centerline is valid? [True, True] Translation: X:209.84, Y:165.84, Z:0.65 [[-3.06259378e-01 -9.51946645e-01 1.66683056e-03 2.09837843e+02] [ 9.51935221e-01 -3.06263873e-01 -4.66633567e-03 1.65839225e+02] [ 4.95259257e-03 1.57605660e-04 9.99987723e-01 6.48800245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08028169299996 meters 0.03660322799527197 Centerline is valid? [True, True] Translation: X:209.82, Y:165.86, Z:0.65 [[-3.09465627e-01 -9.50909608e-01 1.39433288e-03 2.09823780e+02] [ 9.50901617e-01 -3.09468745e-01 -3.89998823e-03 1.65858472e+02] [ 4.14003873e-03 1.18961086e-04 9.99991423e-01 6.49664264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.110281693 meters 0.03946837061532547 Centerline is valid? [True, True] Translation: X:209.81, Y:165.88, Z:0.65 [[-3.11841389e-01 -9.50133340e-01 1.25831182e-03 2.09809080e+02] [ 9.50126839e-01 -3.11843912e-01 -3.51622938e-03 1.65877282e+02] [ 3.73328365e-03 9.90499750e-05 9.99993026e-01 6.50434934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14028169299996 meters 0.027432829666715883 Centerline is valid? [True, True] Translation: X:209.81, Y:165.90, Z:0.65 [[-3.17043281e-01 -9.48410017e-01 1.41364022e-03 2.09811276e+02] [ 9.48401811e-01 -3.17046420e-01 -3.94626629e-03 1.65904164e+02] [ 4.19086805e-03 8.95617368e-05 9.99991214e-01 6.50828245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17028169299994 meters 0.02523889673324755 Centerline is valid? [True, True] Translation: X:209.80, Y:165.93, Z:0.65 [[-3.19652832e-01 -9.47533350e-01 1.61797286e-03 2.09803936e+02] [ 9.47522610e-01 -3.19656914e-01 -4.51223884e-03 1.65927066e+02] [ 4.79269299e-03 9.07159419e-05 9.99988511e-01 6.49901985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20028169299997 meters 0.02022827211424458 Centerline is valid? [True, True] Translation: X:209.80, Y:165.95, Z:0.65 [[-3.24701424e-01 -9.45815953e-01 1.08103164e-03 2.09799846e+02] [ 9.45811156e-01 -3.24703220e-01 -3.01256188e-03 1.65951330e+02] [ 3.20034354e-03 4.42686507e-05 9.99994878e-01 6.51600841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23028169299994 meters 0.018660469082439707 Centerline is valid? [True, True] Translation: X:209.79, Y:165.97, Z:0.65 [[-3.27200922e-01 -9.44954427e-01 8.28735542e-04 2.09792471e+02] [ 9.44951610e-01 -3.27201970e-01 -2.30769503e-03 1.65973453e+02] [ 2.45183053e-03 2.80350446e-05 9.99996994e-01 6.53145759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26028169299997 meters 0.016321612582216403 Centerline is valid? [True, True] Translation: X:209.79, Y:166.00, Z:0.65 [[-3.29731290e-01 -9.44074565e-01 7.01662409e-04 2.09786357e+02] [ 9.44072546e-01 -3.29732036e-01 -1.95222395e-03 1.65997249e+02] [ 2.07440555e-03 1.87108959e-05 9.99997848e-01 6.53602843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29028169299994 meters 0.014430101630127794 Centerline is valid? [True, True] Translation: X:209.78, Y:166.02, Z:0.65 [[-3.33205249e-01 -9.42853990e-01 7.84482841e-04 2.09780021e+02] [ 9.42851469e-01 -3.33206172e-01 -2.18038530e-03 1.66019042e+02] [ 2.31717950e-03 1.31349740e-05 9.99997315e-01 6.53829457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32028169299997 meters 0.014430101630127794 Centerline is valid? [True, True] Translation: X:209.77, Y:166.04, Z:0.65 [[-3.33496660e-01 -9.42750954e-01 7.85174362e-04 2.09771724e+02] [ 9.42748433e-01 -3.33497584e-01 -2.18013626e-03 1.66040841e+02] [ 2.31717929e-03 1.31537387e-05 9.99997315e-01 6.53875835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35028169299994 meters 0.01383634327140273 Centerline is valid? [True, True] Translation: X:209.76, Y:166.06, Z:0.65 [[-3.34707697e-01 -9.42321701e-01 7.54095093e-04 2.09764207e+02] [ 9.42319379e-01 -3.34708547e-01 -2.09187818e-03 1.66063406e+02] [ 2.22362427e-03 1.04306930e-05 9.99997528e-01 6.54357392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380281693 meters 0.013469142563673745 Centerline is valid? [True, True] Translation: X:209.75, Y:166.08, Z:0.66 [[-3.35913915e-01 -9.41892627e-01 3.46743524e-04 2.09754853e+02] [ 9.41892136e-01 -3.35914094e-01 -9.61951723e-04 1.66084548e+02] [ 1.02253127e-03 3.46202913e-06 9.99999477e-01 6.56295487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41028169299994 meters 0.013265560105760065 Centerline is valid? [True, True] Translation: X:209.75, Y:166.11, Z:0.66 [[-3.36867121e-01 -9.41552159e-01 2.73519056e-04 2.09746183e+02] [ 9.41551853e-01 -3.36867232e-01 -7.58365385e-04 1.66106725e+02] [ 8.06180173e-04 2.06400955e-06 9.99999675e-01 6.56934757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440281693 meters 0.01322504311472395 Centerline is valid? [True, True] Translation: X:209.74, Y:166.13, Z:0.66 [[-3.37455110e-01 -9.41341517e-01 4.43524160e-04 2.09737060e+02] [ 9.41340717e-01 -3.37455401e-01 -1.22743001e-03 1.66127229e+02] [ 1.30510045e-03 3.30482256e-06 9.99999148e-01 6.56011432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47028169299995 meters 0.013314890443252311 Centerline is valid? [True, True] Translation: X:209.73, Y:166.15, Z:0.66 [[-3.37816260e-01 -9.41211863e-01 6.34777110e-04 2.09727428e+02] [ 9.41210229e-01 -3.37816857e-01 -1.75415538e-03 1.66148082e+02] [ 1.86547026e-03 4.87649793e-06 9.99998260e-01 6.55605406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500281693 meters 0.013430820695403396 Centerline is valid? [True, True] Translation: X:209.72, Y:166.17, Z:0.65 [[-3.37481966e-01 -9.41331597e-01 8.64074276e-04 2.09716525e+02] [ 9.41328576e-01 -3.37483072e-01 -2.38480344e-03 1.66169898e+02] [ 2.53650128e-03 8.54965278e-06 9.99996783e-01 6.54338211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53028169299995 meters 0.013799849806242319 Centerline is valid? [True, True] Translation: X:209.71, Y:166.19, Z:0.65 [[-3.37178751e-01 -9.41439963e-01 1.13389408e-03 2.09706278e+02] [ 9.41434774e-01 -3.37180658e-01 -3.12583048e-03 1.66190352e+02] [ 3.32510889e-03 1.35236927e-05 9.99994472e-01 6.53796888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560281693 meters 0.01363845137904827 Centerline is valid? [True, True] Translation: X:209.70, Y:166.21, Z:0.65 [[-3.38002252e-01 -9.41144571e-01 1.17208269e-03 2.09696007e+02] [ 9.41139036e-01 -3.38004284e-01 -3.22780263e-03 1.66210922e+02] [ 3.43399790e-03 1.20882180e-05 9.99994104e-01 6.53203661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59028169299995 meters 0.013239823742133207 Centerline is valid? [True, True] Translation: X:209.69, Y:166.23, Z:0.65 [[-3.39016624e-01 -9.40779890e-01 9.62683197e-04 2.09687242e+02] [ 9.40776161e-01 -3.39017991e-01 -2.64885675e-03 1.66233374e+02] [ 2.81835809e-03 7.66293007e-06 9.99996028e-01 6.54057160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620281693 meters 0.01315147854958837 Centerline is valid? [True, True] Translation: X:209.68, Y:166.26, Z:0.65 [[-3.39566036e-01 -9.40581877e-01 8.00368019e-04 2.09678053e+02] [ 9.40579303e-01 -3.39566979e-01 -2.20043960e-03 1.66255550e+02] [ 2.34147216e-03 5.61504042e-06 9.99997259e-01 6.54938293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65028169299995 meters 0.014172478502837224 Centerline is valid? [True, True] Translation: X:209.67, Y:166.27, Z:0.65 [[-3.38098284e-01 -9.41110367e-01 9.10181882e-04 2.09665509e+02] [ 9.41107047e-01 -3.38099509e-01 -2.49971311e-03 1.66274824e+02] [ 2.66023797e-03 1.14298716e-05 9.99996462e-01 6.53735846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680281693 meters 0.01441167117996979 Centerline is valid? [True, True] Translation: X:209.66, Y:166.30, Z:0.65 [[-3.36986645e-01 -9.41508799e-01 1.08743712e-03 2.09655610e+02] [ 9.41504073e-01 -3.36988399e-01 -2.98323659e-03 1.66297006e+02] [ 3.17519719e-03 1.85155892e-05 9.99994959e-01 6.53082839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71028169299996 meters 0.01720938291427225 Centerline is valid? [True, True] Translation: X:209.64, Y:166.32, Z:0.65 [[-3.34296297e-01 -9.42466446e-01 1.72760474e-03 2.09638945e+02] [ 9.42454559e-01 -3.34300758e-01 -4.73365310e-03 1.66315267e+02] [ 5.03884878e-03 4.57462594e-05 9.99987304e-01 6.49945462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740281693 meters 0.018186727341285184 Centerline is valid? [True, True] Translation: X:209.63, Y:166.34, Z:0.65 [[-3.33623799e-01 -9.42704253e-01 1.96274125e-03 2.09627571e+02] [ 9.42688946e-01 -3.33629568e-01 -5.37245739e-03 1.66335221e+02] [ 5.71946694e-03 5.78748397e-05 9.99983642e-01 6.48244422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77028169299996 meters 0.01901358220311818 Centerline is valid? [True, True] Translation: X:209.62, Y:166.36, Z:0.65 [[-3.32979574e-01 -9.42931793e-01 2.05822067e-03 2.09617319e+02] [ 9.42914997e-01 -3.32985929e-01 -5.62845784e-03 1.66356398e+02] [ 5.99261037e-03 6.65656464e-05 9.99982042e-01 6.47338877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800281693 meters 0.020653165155680015 Centerline is valid? [True, True] Translation: X:209.60, Y:166.38, Z:0.65 [[-3.31569121e-01 -9.43429129e-01 1.84294144e-03 2.09604433e+02] [ 9.43415694e-01 -3.31574236e-01 -5.03529543e-03 1.66376958e+02] [ 5.36151629e-03 6.91113961e-05 9.99985625e-01 6.48075462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83028169299996 meters 0.020872149570593225 Centerline is valid? [True, True] Translation: X:209.59, Y:166.40, Z:0.65 [[-3.30603499e-01 -9.43767993e-01 1.81712890e-03 2.09593723e+02] [ 9.43754961e-01 -3.30608484e-01 -4.96018794e-03 1.66398773e+02] [ 5.28202484e-03 7.50689221e-05 9.99986047e-01 6.49112927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.860281693 meters 0.0234162274137337 Centerline is valid? [True, True] Translation: X:209.58, Y:166.42, Z:0.65 [[-3.28515673e-01 -9.44495306e-01 2.46372170e-03 2.09578347e+02] [ 9.44471420e-01 -3.28524889e-01 -6.71819293e-03 1.66418472e+02] [ 7.15469558e-03 1.19883062e-04 9.99974398e-01 6.45151713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89028169299996 meters 0.02431339624323813 Centerline is valid? [True, True] Translation: X:209.57, Y:166.44, Z:0.64 [[-3.28216188e-01 -9.44598709e-01 2.72259199e-03 2.09567632e+02] [ 9.44569601e-01 -3.28227451e-01 -7.41677046e-03 1.66439302e+02] [ 7.89950124e-03 1.37373504e-04 9.99968789e-01 6.43211583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92028169299994 meters 0.024742846972459615 Centerline is valid? [True, True] Translation: X:209.56, Y:166.46, Z:0.64 [[-3.27952261e-01 -9.44690599e-01 2.64342510e-03 2.09557358e+02] [ 9.44663213e-01 -3.27962885e-01 -7.19437226e-03 1.66460591e+02] [ 7.66340116e-03 1.37735804e-04 9.99970626e-01 6.43700609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95028169299997 meters 0.025689242621244925 Centerline is valid? [True, True] Translation: X:209.55, Y:166.48, Z:0.64 [[-3.27511841e-01 -9.44843733e-01 2.51273884e-03 2.09545831e+02] [ 9.44819039e-01 -3.27521451e-01 -6.83246556e-03 1.66481868e+02] [ 7.27858814e-03 1.36370121e-04 9.99973501e-01 6.44509420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98028169299994 meters 0.02888205803441804 Centerline is valid? [True, True] Translation: X:209.53, Y:166.50, Z:0.65 [[-3.25775368e-01 -9.45445035e-01 2.02347125e-03 2.09529986e+02] [ 9.45429061e-01 -3.25781629e-01 -5.49727577e-03 1.66500716e+02] [ 5.85658184e-03 1.22171490e-04 9.99982843e-01 6.47082207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01028169299997 meters 0.029049989841574475 Centerline is valid? [True, True] Translation: X:209.52, Y:166.52, Z:0.65 [[-3.25008580e-01 -9.45708935e-01 2.00816802e-03 2.09519819e+02] [ 9.45693236e-01 -3.25014759e-01 -5.45072440e-03 1.66522468e+02] [ 5.80748301e-03 1.27578716e-04 9.99983128e-01 6.47909336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04028169299994 meters 0.031891820427488185 Centerline is valid? [True, True] Translation: X:209.51, Y:166.54, Z:0.65 [[-3.23758079e-01 -9.46138199e-01 1.79294992e-03 2.09505216e+02] [ 9.46125713e-01 -3.23763020e-01 -4.86229688e-03 1.66541574e+02] [ 5.18089569e-03 1.22148124e-04 9.99986572e-01 6.48529532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07028169299997 meters 0.030843995480432294 Centerline is valid? [True, True] Translation: X:209.50, Y:166.56, Z:0.65 [[-3.23417054e-01 -9.46255318e-01 1.51084153e-03 2.09496322e+02] [ 9.46246468e-01 -3.23420565e-01 -4.09376009e-03 1.66563935e+02] [ 4.36237948e-03 1.05636637e-04 9.99990479e-01 6.50076627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10028169299994 meters 0.03284050461055159 Centerline is valid? [True, True] Translation: X:209.48, Y:166.58, Z:0.65 [[-3.22809584e-01 -9.46462900e-01 1.39684914e-03 2.09483682e+02] [ 9.46455351e-01 -3.22812591e-01 -3.78152212e-03 1.66584202e+02] [ 4.02999089e-03 1.01343759e-04 9.99991874e-01 6.50456477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130281693 meters 0.039422936616714706 Centerline is valid? [True, True] Translation: X:209.46, Y:166.60, Z:0.65 [[-3.20686887e-01 -9.47184318e-01 1.33700365e-03 2.09463779e+02] [ 9.47177421e-01 -3.20689657e-01 -3.61619144e-03 1.66601301e+02] [ 3.85396306e-03 1.06714497e-04 9.99992568e-01 6.50776815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16028169299994 meters 0.037534462620356784 Centerline is valid? [True, True] Translation: X:209.46, Y:166.62, Z:0.65 [[-3.19885416e-01 -9.47455061e-01 1.49272277e-03 2.09455542e+02] [ 9.47446483e-01 -3.19888875e-01 -4.03351434e-03 1.66623877e+02] [ 4.29907898e-03 1.24012527e-04 9.99990751e-01 6.50709920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190281693 meters 0.03924436941058577 Centerline is valid? [True, True] Translation: X:209.44, Y:166.64, Z:0.65 [[-3.18759049e-01 -9.47834311e-01 1.66973126e-03 2.09440332e+02] [ 9.47823603e-01 -3.18763389e-01 -4.50770292e-03 1.66643902e+02] [ 4.80480469e-03 1.45739599e-04 9.99988446e-01 6.49990032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22028169299995 meters 0.03904218228104554 Centerline is valid? [True, True] Translation: X:209.43, Y:166.67, Z:0.65 [[-3.18722770e-01 -9.47846846e-01 1.46721224e-03 2.09430078e+02] [ 9.47838592e-01 -3.18726121e-01 -3.95766514e-03 1.66665545e+02] [ 4.21889929e-03 1.29282385e-04 9.99991092e-01 6.50312821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250281693 meters 0.040225898389230894 Centerline is valid? [True, True] Translation: X:209.42, Y:166.69, Z:0.65 [[-3.18752108e-01 -9.47837436e-01 1.13500046e-03 2.09419008e+02] [ 9.47832505e-01 -3.18754113e-01 -3.05914514e-03 1.66685589e+02] [ 3.26135835e-03 1.00681363e-04 9.99994677e-01 6.52117508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28028169299995 meters 0.0377008494459607 Centerline is valid? [True, True] Translation: X:209.41, Y:166.71, Z:0.65 [[-3.18403951e-01 -9.47954570e-01 1.02857658e-03 2.09409357e+02] [ 9.47950527e-01 -3.18405599e-01 -2.76989841e-03 1.66707685e+02] [ 2.95324239e-03 9.30931172e-05 9.99995635e-01 6.53614821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310281693 meters 0.04217623131880195 Centerline is valid? [True, True] Translation: X:209.39, Y:166.73, Z:0.65 [[-3.18054374e-01 -9.48071544e-01 1.32728226e-03 2.09392024e+02] [ 9.48064829e-01 -3.18057120e-01 -3.57048084e-03 1.66725673e+02] [ 3.80722286e-03 1.22742575e-04 9.99992745e-01 6.52107539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34028169299995 meters 0.039646303601743926 Centerline is valid? [True, True] Translation: X:209.38, Y:166.75, Z:0.65 [[-3.17384696e-01 -9.48294661e-01 2.04725716e-03 2.09380074e+02] [ 9.48278724e-01 -3.17391238e-01 -5.50125371e-03 1.66747029e+02] [ 5.86659101e-03 1.95356673e-04 9.99982772e-01 6.48590829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370281693 meters 0.040326624240301145 Centerline is valid? [True, True] Translation: X:209.37, Y:166.77, Z:0.65 [[-3.17970092e-01 -9.48098183e-01 2.20362175e-03 2.09369055e+02] [ 9.48079750e-01 -3.17977659e-01 -5.91567738e-03 1.66767005e+02] [ 6.30934546e-03 2.08200676e-04 9.99980074e-01 6.47534039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40028169299995 meters 0.043660147178785476 Centerline is valid? [True, True] Translation: X:209.36, Y:166.79, Z:0.65 [[-3.18759879e-01 -9.47833263e-01 2.06057920e-03 2.09355197e+02] [ 9.47817170e-01 -3.18766481e-01 -5.52654426e-03 1.66786257e+02] [ 5.89508606e-03 1.91411772e-04 9.99982606e-01 6.47325975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430281693 meters 0.03761530792410632 Centerline is valid? [True, True] Translation: X:209.35, Y:166.81, Z:0.65 [[-3.20624624e-01 -9.47204767e-01 1.72605162e-03 2.09350200e+02] [ 9.47193486e-01 -3.20629234e-01 -4.62535869e-03 1.66809825e+02] [ 4.93458441e-03 1.51900956e-04 9.99987813e-01 6.49607048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46028169299996 meters 0.03772281558285142 Centerline is valid? [True, True] Translation: X:209.34, Y:166.83, Z:0.65 [[-3.21880331e-01 -9.46778563e-01 1.84552346e-03 2.09338827e+02] [ 9.46765684e-01 -3.21885583e-01 -4.94081772e-03 1.66830123e+02] [ 5.27190769e-03 1.56926237e-04 9.99986091e-01 6.48514455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490281693 meters 0.037058771107857935 Centerline is valid? [True, True] Translation: X:209.33, Y:166.85, Z:0.65 [[-3.23070660e-01 -9.46373021e-01 1.85857706e-03 2.09328496e+02] [ 9.46359976e-01 -3.23075970e-01 -4.97116036e-03 1.66850968e+02] [ 5.30503363e-03 1.52846878e-04 9.99985917e-01 6.48141351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52028169299996 meters 0.03403196670528776 Centerline is valid? [True, True] Translation: X:209.32, Y:166.87, Z:0.65 [[-3.26379407e-01 -9.45237725e-01 1.45788729e-03 2.09320964e+02] [ 9.45229702e-01 -3.26382646e-01 -3.89614451e-03 1.66872100e+02] [ 4.15861189e-03 1.06417036e-04 9.99991347e-01 6.50783343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550281693 meters 0.03468276726245207 Centerline is valid? [True, True] Translation: X:209.31, Y:166.89, Z:0.65 [[-3.28900762e-01 -9.44363997e-01 9.64630069e-04 2.09310668e+02] [ 9.44360485e-01 -3.28902171e-01 -2.57608080e-03 1.66892718e+02] [ 2.75002688e-03 6.36835810e-05 9.99996217e-01 6.53591112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58028169299996 meters 0.025804063238345207 Centerline is valid? [True, True] Translation: X:209.31, Y:166.92, Z:0.66 [[-3.34405258e-01 -9.42429299e-01 3.75318949e-04 2.09312484e+02] [ 9.42428766e-01 -3.34405468e-01 -1.00241003e-03 1.66918543e+02] [ 1.07020929e-03 1.85001906e-05 9.99999427e-01 6.55895281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.610281693 meters 0.0227264242833384 Centerline is valid? [True, True] Translation: X:209.31, Y:166.94, Z:0.65 [[-3.36890902e-01 -9.41543581e-01 4.53800125e-04 2.09308177e+02] [ 9.41542803e-01 -3.36891207e-01 -1.21053369e-03 1.66942827e+02] [ 1.29265150e-03 1.94544534e-05 9.99999164e-01 6.54749714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64028169299996 meters 0.021325524009913357 Centerline is valid? [True, True] Translation: X:209.30, Y:166.97, Z:0.65 [[-3.39120368e-01 -9.40742855e-01 5.06053549e-04 2.09303037e+02] [ 9.40741889e-01 -3.39120745e-01 -1.34854682e-03 1.66965338e+02] [ 1.44024904e-03 1.87460785e-05 9.99998963e-01 6.53823660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67028169299994 meters 0.017748022935852658 Centerline is valid? [True, True] Translation: X:209.30, Y:166.99, Z:0.65 [[-3.41400151e-01 -9.39917833e-01 6.36301258e-04 2.09302103e+02] [ 9.39916307e-01 -3.41400744e-01 -1.69363766e-03 1.66990629e+02] [ 1.80911396e-03 1.98617766e-05 9.99998363e-01 6.54127222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70028169299997 meters 0.018975989431998342 Centerline is valid? [True, True] Translation: X:209.29, Y:167.01, Z:0.65 [[-3.41862506e-01 -9.39749670e-01 7.65256334e-04 2.09291887e+02] [ 9.39747467e-01 -3.41863362e-01 -2.03458412e-03 1.67011018e+02] [ 2.17361285e-03 2.35996769e-05 9.99997637e-01 6.53802954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73028169299994 meters 0.019349265530519025 Centerline is valid? [True, True] Translation: X:209.28, Y:167.03, Z:0.65 [[-3.41880418e-01 -9.39743033e-01 9.00644774e-04 2.09282638e+02] [ 9.39739990e-01 -3.41881603e-01 -2.39185376e-03 1.67032404e+02] [ 2.55564179e-03 2.86439468e-05 9.99996734e-01 6.53250720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76028169299997 meters 0.020395836667356955 Centerline is valid? [True, True] Translation: X:209.27, Y:167.05, Z:0.65 [[-3.40870081e-01 -9.40109789e-01 1.08305365e-03 2.09273119e+02] [ 9.40105399e-01 -3.40871800e-01 -2.87324512e-03 1.67054234e+02] [ 3.07034831e-03 3.87812880e-05 9.99995286e-01 6.52108532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79028169299994 meters 0.02127236465258233 Centerline is valid? [True, True] Translation: X:209.26, Y:167.08, Z:0.65 [[-3.40314777e-01 -9.40310784e-01 1.21710206e-03 2.09262682e+02] [ 9.40305252e-01 -3.40316950e-01 -3.22579600e-03 1.67075524e+02] [ 3.44745122e-03 4.66614133e-05 9.99994056e-01 6.51463879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82028169299997 meters 0.02516087583576607 Centerline is valid? [True, True] Translation: X:209.25, Y:167.09, Z:0.65 [[-3.37517498e-01 -9.41317936e-01 1.57540537e-03 2.09245973e+02] [ 9.41308697e-01 -3.37521166e-01 -4.17120632e-03 1.67093899e+02] [ 4.45816398e-03 7.50876552e-05 9.99990060e-01 6.49911782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85028169299994 meters 0.026884480390848408 Centerline is valid? [True, True] Translation: X:209.23, Y:167.11, Z:0.65 [[-3.36292685e-01 -9.41756190e-01 1.58401570e-03 2.09232760e+02] [ 9.41746872e-01 -3.36296405e-01 -4.19009806e-03 1.67113870e+02] [ 4.47874956e-03 8.26425020e-05 9.99989967e-01 6.49606116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880281693 meters 0.02845661881381256 Centerline is valid? [True, True] Translation: X:209.22, Y:167.13, Z:0.65 [[-3.35496637e-01 -9.42040206e-01 1.50228086e-03 2.09219424e+02] [ 9.42031845e-01 -3.35499991e-01 -3.96986673e-03 1.67133678e+02] [ 4.24378929e-03 8.33194714e-05 9.99990992e-01 6.50494368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91028169299994 meters 0.02848793396707201 Centerline is valid? [True, True] Translation: X:209.21, Y:167.15, Z:0.65 [[-3.35532622e-01 -9.42028100e-01 9.58082171e-04 2.09205583e+02] [ 9.42024705e-01 -3.35533985e-01 -2.52984183e-03 1.67152793e+02] [ 2.70465122e-03 5.36926130e-05 9.99996341e-01 6.52926664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940281693 meters 0.027392842905709244 Centerline is valid? [True, True] Translation: X:209.20, Y:167.17, Z:0.65 [[-3.37049883e-01 -9.41486369e-01 8.91107089e-04 2.09196832e+02] [ 9.41483435e-01 -3.37051058e-01 -2.35083666e-03 1.67172636e+02] [ 2.51362926e-03 4.66133410e-05 9.99996840e-01 6.53239525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97028169299995 meters 0.021367548459217383 Centerline is valid? [True, True] Translation: X:209.19, Y:167.20, Z:0.65 [[-3.40884786e-01 -9.40104068e-01 1.37986277e-03 2.09192915e+02] [ 9.40097040e-01 -3.40887573e-01 -3.63557333e-03 1.67197318e+02] [ 3.88819535e-03 5.78932656e-05 9.99992439e-01 6.50353556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000281693 meters 0.020491035776247817 Centerline is valid? [True, True] Translation: X:209.18, Y:167.22, Z:0.65 [[-3.42480090e-01 -9.39523540e-01 1.70473484e-03 2.09184249e+02] [ 9.39512828e-01 -3.42484326e-01 -4.48690204e-03 1.67218710e+02] [ 4.79939506e-03 6.49456387e-05 9.99988481e-01 6.48665775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03028169299995 meters 0.02136484515280661 Centerline is valid? [True, True] Translation: X:209.17, Y:167.24, Z:0.65 [[-3.43558013e-01 -9.39129713e-01 1.80937732e-03 2.09172593e+02] [ 9.39117664e-01 -3.43562771e-01 -4.75768433e-03 1.67238528e+02] [ 5.08971741e-03 6.46776291e-05 9.99987045e-01 6.47766905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060281693 meters 0.01908597805339224 Centerline is valid? [True, True] Translation: X:209.16, Y:167.26, Z:0.65 [[-3.44612484e-01 -9.38743296e-01 1.80535634e-03 2.09162580e+02] [ 9.38731318e-01 -3.44617208e-01 -4.74269783e-03 1.67259849e+02] [ 5.07433266e-03 6.03516515e-05 9.99987124e-01 6.49321890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09028169299995 meters 0.01868531255005084 Centerline is valid? [True, True] Translation: X:209.15, Y:167.28, Z:0.65 [[-3.45436179e-01 -9.38440615e-01 1.74873876e-03 2.09151969e+02] [ 9.38429392e-01 -3.45440601e-01 -4.58991661e-03 1.67281790e+02] [ 4.91144953e-03 5.55445943e-05 9.99987937e-01 6.49739984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120281693 meters 0.014906475581977977 Centerline is valid? [True, True] Translation: X:209.15, Y:167.31, Z:0.65 [[-3.50069667e-01 -9.36722277e-01 1.61342764e-03 2.09147207e+02] [ 9.36712722e-01 -3.50073384e-01 -4.23104583e-03 1.67305858e+02] [ 4.52813296e-03 3.01573934e-05 9.99989748e-01 6.49308001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15028169299995 meters 0.01362557182554895 Centerline is valid? [True, True] Translation: X:209.14, Y:167.33, Z:0.65 [[-3.53402599e-01 -9.35469879e-01 1.64557645e-03 2.09142485e+02] [ 9.35459945e-01 -3.53406430e-01 -4.31119930e-03 1.67328462e+02] [ 4.61455439e-03 1.57818231e-05 9.99989353e-01 6.48216210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180281693 meters 0.01361667457809114 Centerline is valid? [True, True] Translation: X:209.14, Y:167.35, Z:0.65 [[-3.60432734e-01 -9.32784131e-01 1.41719115e-03 2.09144241e+02] [ 9.32776755e-01 -3.60435520e-01 -3.70956646e-03 1.67354952e+02] [ 3.97103076e-03 -1.51262186e-05 9.99992115e-01 6.49611459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21028169299996 meters 0.01361667457809114 Centerline is valid? [True, True] Translation: X:209.14, Y:167.38, Z:0.65 [[-3.60722813e-01 -9.32671990e-01 1.41834833e-03 2.09135544e+02] [ 9.32664615e-01 -3.60725601e-01 -3.70912406e-03 1.67376560e+02] [ 3.97103067e-03 -1.51223667e-05 9.99992115e-01 6.49657837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240281693 meters 0.015614033406981094 Centerline is valid? [True, True] Translation: X:209.13, Y:167.40, Z:0.65 [[-3.64427937e-01 -9.31230936e-01 1.10604404e-03 2.09133836e+02] [ 9.31226451e-01 -3.64429614e-01 -2.89009808e-03 1.67400202e+02] [ 3.09442394e-03 -2.32550135e-05 9.99995212e-01 6.51726548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27028169299996 meters 0.0177238907329307 Centerline is valid? [True, True] Translation: X:209.13, Y:167.42, Z:0.65 [[-3.67741313e-01 -9.29927842e-01 7.31459735e-04 2.09130154e+02] [ 9.29925881e-01 -3.67742040e-01 -1.91011024e-03 1.67424667e+02] [ 2.04525319e-03 -2.22231090e-05 9.99997908e-01 6.53867948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300281693 meters 0.019933501351251146 Centerline is valid? [True, True] Translation: X:209.13, Y:167.45, Z:0.65 [[-3.70978203e-01 -9.28641335e-01 6.66147508e-04 2.09125810e+02] [ 9.28639709e-01 -3.70978800e-01 -1.73819513e-03 1.67449226e+02] [ 1.86128645e-03 -2.62214778e-05 9.99998267e-01 6.54673628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33028169299996 meters 0.024806937598146145 Centerline is valid? [True, True] Translation: X:209.13, Y:167.47, Z:0.65 [[-3.75276721e-01 -9.26911288e-01 1.68718397e-03 2.09126559e+02] [ 9.26900868e-01 -3.75280504e-01 -4.39587763e-03 1.67474094e+02] [ 4.70775585e-03 -8.58182585e-05 9.99988915e-01 6.48849523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.360281693 meters 0.024021456913966274 Centerline is valid? [True, True] Translation: X:209.12, Y:167.50, Z:0.65 [[-3.76177237e-01 -9.26545572e-01 1.99734118e-03 2.09119575e+02] [ 9.26530992e-01 -3.76182525e-01 -5.19889782e-03 1.67496752e+02] [ 5.56838060e-03 -1.05108507e-04 9.99984491e-01 6.47829525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39028169299996 meters 0.024485232056765775 Centerline is valid? [True, True] Translation: X:209.11, Y:167.52, Z:0.65 [[-3.76225161e-01 -9.26526770e-01 1.66528079e-03 2.09113138e+02] [ 9.26516652e-01 -3.76228837e-01 -4.33084486e-03 1.67519187e+02] [ 4.63917036e-03 -8.64624216e-05 9.99989235e-01 6.49481791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42028169299994 meters 0.02322315983942571 Centerline is valid? [True, True] Translation: X:209.10, Y:167.54, Z:0.65 [[-3.75960108e-01 -9.26634918e-01 1.31399759e-03 2.09104258e+02] [ 9.26628629e-01 -3.75962399e-01 -3.41446291e-03 1.67541558e+02] [ 3.65797424e-03 -6.61140628e-05 9.99993307e-01 6.51592612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45028169299997 meters 0.023361799195604428 Centerline is valid? [True, True] Translation: X:209.10, Y:167.56, Z:0.65 [[-3.75669471e-01 -9.26752953e-01 1.18874903e-03 2.09097732e+02] [ 9.26747815e-01 -3.75671348e-01 -3.08629519e-03 1.67563002e+02] [ 3.30681213e-03 -5.77563139e-05 9.99994531e-01 6.52363246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48028169299994 meters 0.02323109111331089 Centerline is valid? [True, True] Translation: X:209.09, Y:167.59, Z:0.65 [[-3.76388956e-01 -9.26461048e-01 1.13114990e-03 2.09092233e+02] [ 9.26456404e-01 -3.76390652e-01 -2.93409602e-03 1.67586104e+02] [ 3.14407992e-03 -5.64002662e-05 9.99995056e-01 6.51661417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51028169299997 meters 0.02512625214547402 Centerline is valid? [True, True] Translation: X:209.09, Y:167.61, Z:0.65 [[-3.77171043e-01 -9.26143008e-01 1.06490793e-03 2.09088654e+02] [ 9.26138897e-01 -3.77172542e-01 -2.75983132e-03 1.67608876e+02] [ 2.95765251e-03 -5.46758036e-05 9.99995625e-01 6.52549460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54028169299994 meters 0.023605259532604374 Centerline is valid? [True, True] Translation: X:209.08, Y:167.63, Z:0.65 [[-3.78584374e-01 -9.25566371e-01 8.74463367e-04 2.09082140e+02] [ 9.25563602e-01 -3.78585381e-01 -2.26447215e-03 1.67631929e+02] [ 2.42697832e-03 -4.79223087e-05 9.99997054e-01 6.53816705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57028169299997 meters 0.02733723868994719 Centerline is valid? [True, True] Translation: X:209.08, Y:167.66, Z:0.65 [[-3.78719310e-01 -9.25510974e-01 1.05952346e-03 2.09080670e+02] [ 9.25506917e-01 -3.78720787e-01 -2.74078939e-03 1.67655408e+02] [ 2.93789422e-03 -5.73935787e-05 9.99995683e-01 6.53141204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60028169299994 meters 0.02458160240919608 Centerline is valid? [True, True] Translation: X:209.07, Y:167.68, Z:0.65 [[-3.78900410e-01 -9.25436494e-01 1.33221996e-03 2.09069885e+02] [ 9.25430094e-01 -3.78902745e-01 -3.44250748e-03 1.67676882e+02] [ 3.69060386e-03 -7.14910502e-05 9.99993187e-01 6.52183242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630281693 meters 0.024194745122271367 Centerline is valid? [True, True] Translation: X:209.06, Y:167.70, Z:0.65 [[-3.77988226e-01 -9.25808481e-01 1.88623291e-03 2.09064869e+02] [ 9.25795682e-01 -3.77992920e-01 -4.86894720e-03 1.67699972e+02] [ 5.22069530e-03 -9.41384328e-05 9.99986368e-01 6.49682530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66028169299994 meters 0.02354684351603048 Centerline is valid? [True, True] Translation: X:209.06, Y:167.72, Z:0.65 [[-3.77009231e-01 -9.26207878e-01 1.73422252e-03 2.09057171e+02] [ 9.26197082e-01 -3.77013211e-01 -4.47263354e-03 1.67721574e+02] [ 4.79641322e-03 -7.99922894e-05 9.99988494e-01 6.50208135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690281693 meters 0.019733456291809653 Centerline is valid? [True, True] Translation: X:209.05, Y:167.74, Z:0.65 [[-3.74011045e-01 -9.27423425e-01 1.23680750e-03 2.09045077e+02] [ 9.27417949e-01 -3.74013087e-01 -3.18741132e-03 1.67742546e+02] [ 3.41866211e-03 -4.50895661e-05 9.99994155e-01 6.52432383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72028169299995 meters 0.017979698756370014 Centerline is valid? [True, True] Translation: X:209.03, Y:167.76, Z:0.65 [[-3.72771607e-01 -9.27922405e-01 1.15738697e-03 2.09034279e+02] [ 9.27917620e-01 -3.72773402e-01 -2.98020120e-03 1.67764196e+02] [ 3.19683854e-03 -3.69746276e-05 9.99994889e-01 6.52537259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750281693 meters 0.01768551556413537 Centerline is valid? [True, True] Translation: X:209.03, Y:167.79, Z:0.65 [[-3.71780345e-01 -9.28319376e-01 1.58491224e-03 2.09028749e+02] [ 9.28310425e-01 -3.71783721e-01 -4.07671277e-03 1.67787031e+02] [ 4.37373602e-03 -4.43511216e-05 9.99990434e-01 6.50445496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78028169299995 meters 0.01710436461128695 Centerline is valid? [True, True] Translation: X:209.02, Y:167.81, Z:0.65 [[-3.71980985e-01 -9.28238931e-01 1.62276850e-03 2.09020730e+02] [ 9.28229564e-01 -3.71984522e-01 -4.17024301e-03 1.67809608e+02] [ 4.47462668e-03 -4.49494051e-05 9.99989988e-01 6.50770526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810281693 meters 0.017386641753466523 Centerline is valid? [True, True] Translation: X:209.01, Y:167.83, Z:0.65 [[-3.71919769e-01 -9.28263625e-01 1.52568099e-03 2.09014373e+02] [ 9.28255361e-01 -3.71922896e-01 -3.91727298e-03 1.67831090e+02] [ 4.20369771e-03 -4.06897072e-05 9.99991164e-01 6.51769914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84028169299995 meters 0.015257811579378508 Centerline is valid? [True, True] Translation: X:209.00, Y:167.85, Z:0.65 [[-3.69886182e-01 -9.29076490e-01 1.04332737e-03 2.09004740e+02] [ 9.29072634e-01 -3.69887652e-01 -2.67691117e-03 1.67852770e+02] [ 2.87296915e-03 -2.08255426e-05 9.99995873e-01 6.54150309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870281693 meters 0.014107518724458711 Centerline is valid? [True, True] Translation: X:208.99, Y:167.87, Z:0.65 [[-3.68263248e-01 -9.29720926e-01 1.08670695e-03 2.08994713e+02] [ 9.29716752e-01 -3.68264851e-01 -2.78570721e-03 1.67874562e+02] [ 2.99012626e-03 -1.55439283e-05 9.99995529e-01 6.54172754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90028169299995 meters 0.01317002021085155 Centerline is valid? [True, True] Translation: X:208.98, Y:167.90, Z:0.65 [[-3.65931726e-01 -9.30640780e-01 1.30771095e-03 2.08983680e+02] [ 9.30634755e-01 -3.65934062e-01 -3.34893984e-03 1.67895363e+02] [ 3.59519597e-03 -8.48207705e-06 9.99993537e-01 6.53076524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930281693 meters 0.01441794860784231 Centerline is valid? [True, True] Translation: X:208.97, Y:167.91, Z:0.65 [[-3.59158000e-01 -9.33275168e-01 1.72992341e-03 2.08965632e+02] [ 9.33264674e-01 -3.59162165e-01 -4.42569606e-03 1.67913204e+02] [ 4.75171527e-03 2.49522632e-05 9.99988710e-01 6.51861429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96028169299996 meters 0.017376901543320226 Centerline is valid? [True, True] Translation: X:208.95, Y:167.93, Z:0.65 [[-3.55502827e-01 -9.34673436e-01 1.81902818e-03 2.08950633e+02] [ 9.34661873e-01 -3.55507478e-01 -4.64944241e-03 1.67932642e+02] [ 4.99238843e-03 4.72863589e-05 9.99987537e-01 6.51544294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990281693 meters 0.021039628243054012 Centerline is valid? [True, True] Translation: X:208.94, Y:167.95, Z:0.65 [[-3.51675052e-01 -9.36120333e-01 1.83874542e-03 2.08935769e+02] [ 9.36108558e-01 -3.51679852e-01 -4.69565878e-03 1.67952247e+02] [ 5.04235138e-03 6.99192748e-05 9.99987285e-01 6.51762285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02028169299996 meters 0.02765217609675753 Centerline is valid? [True, True] Translation: X:208.92, Y:167.97, Z:0.65 [[-3.45261749e-01 -9.38504314e-01 1.99446674e-03 2.08916398e+02] [ 9.38490525e-01 -3.45267490e-01 -5.08873834e-03 1.67970640e+02] [ 5.46442741e-03 1.14841435e-04 9.99985063e-01 6.51108804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050281693 meters 0.03093180543070752 Centerline is valid? [True, True] Translation: X:208.90, Y:167.99, Z:0.65 [[-3.43458383e-01 -9.39165507e-01 2.11870453e-03 2.08902574e+02] [ 9.39149988e-01 -3.43464891e-01 -5.40084400e-03 1.67989959e+02] [ 5.79998702e-03 1.34816190e-04 9.99983171e-01 6.50035389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08028169299996 meters 0.03189256638932981 Centerline is valid? [True, True] Translation: X:208.89, Y:168.01, Z:0.65 [[-3.43462661e-01 -9.39164558e-01 1.82571210e-03 2.08891777e+02] [ 9.39153054e-01 -3.43467493e-01 -4.65000428e-03 1.68009812e+02] [ 4.99419197e-03 1.17520247e-04 9.99987522e-01 6.51067484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.110281693 meters 0.029976533930415605 Centerline is valid? [True, True] Translation: X:208.88, Y:168.03, Z:0.65 [[-3.45237705e-01 -9.38513966e-01 1.56932623e-03 2.08884868e+02] [ 9.38505473e-01 -3.45241259e-01 -3.99369648e-03 1.68033040e+02] [ 4.28993608e-03 9.40466482e-05 9.99990794e-01 6.51803070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14028169299996 meters 0.02537543409943352 Centerline is valid? [True, True] Translation: X:208.88, Y:168.06, Z:0.65 [[-3.47572523e-01 -9.37651946e-01 1.47304188e-03 2.08881923e+02] [ 9.37644469e-01 -3.47575635e-01 -3.74545735e-03 1.68057569e+02] [ 4.02392884e-03 7.93715061e-05 9.99991901e-01 6.52646823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17028169299994 meters 0.021654913460446172 Centerline is valid? [True, True] Translation: X:208.88, Y:168.08, Z:0.65 [[-3.51982722e-01 -9.36005146e-01 1.59096207e-03 2.08877707e+02] [ 9.35996422e-01 -3.51986311e-01 -4.04154788e-03 1.68081030e+02] [ 4.34290648e-03 6.65797870e-05 9.99990567e-01 6.52854449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20028169299997 meters 0.02215988013432778 Centerline is valid? [True, True] Translation: X:208.87, Y:168.10, Z:0.65 [[-3.53639097e-01 -9.35380283e-01 1.76515062e-03 2.08867703e+02] [ 9.35369558e-01 -3.53643495e-01 -4.47978547e-03 1.68101345e+02] [ 4.81453704e-03 6.68408694e-05 9.99988408e-01 6.51464940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23028169299994 meters 0.019620342904985384 Centerline is valid? [True, True] Translation: X:208.86, Y:168.12, Z:0.65 [[-3.56414545e-01 -9.34325754e-01 2.01419506e-03 2.08860246e+02] [ 9.34311801e-01 -3.56420231e-01 -5.10662674e-03 1.68123540e+02] [ 5.48915275e-03 6.18101667e-05 9.99984933e-01 6.50310512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26028169299997 meters 0.018760519463481718 Centerline is valid? [True, True] Translation: X:208.85, Y:168.14, Z:0.65 [[-3.57583911e-01 -9.33878838e-01 2.01579336e-03 2.08852339e+02] [ 9.33864881e-01 -3.57589588e-01 -5.10585396e-03 1.68144701e+02] [ 5.48907567e-03 5.67073983e-05 9.99984933e-01 6.50040850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29028169299994 meters 0.018002354446289878 Centerline is valid? [True, True] Translation: X:208.84, Y:168.17, Z:0.65 [[-3.58694970e-01 -9.33452798e-01 1.94716574e-03 2.08844493e+02] [ 9.33439794e-01 -3.58700252e-01 -4.92759721e-03 1.68166477e+02] [ 5.29812824e-03 5.00576474e-05 9.99985964e-01 6.50416178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32028169299997 meters 0.01579533954329277 Centerline is valid? [True, True] Translation: X:208.84, Y:168.19, Z:0.65 [[-3.61096752e-01 -9.32527174e-01 1.48489906e-03 2.08841510e+02] [ 9.32519615e-01 -3.61099804e-01 -3.75483784e-03 1.68191174e+02] [ 4.03768508e-03 2.88377469e-05 9.99991848e-01 6.53085484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35028169299994 meters 0.01400374685755979 Centerline is valid? [True, True] Translation: X:208.84, Y:168.22, Z:0.65 [[-3.63376727e-01 -9.31641506e-01 1.20751065e-03 2.08837935e+02] [ 9.31636510e-01 -3.63378733e-01 -3.05102683e-03 1.68215154e+02] [ 3.28124692e-03 1.62888625e-05 9.99994617e-01 6.54542330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380281693 meters 0.013289901563923453 Centerline is valid? [True, True] Translation: X:208.83, Y:168.24, Z:0.66 [[-3.65939452e-01 -9.30638078e-01 1.04196504e-03 2.08833216e+02] [ 9.30634360e-01 -3.65940936e-01 -2.63056774e-03 1.68237580e+02] [ 2.82940417e-03 7.05994610e-06 9.99995997e-01 6.55003989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41028169299994 meters 0.012760036134447147 Centerline is valid? [True, True] Translation: X:208.83, Y:168.26, Z:0.65 [[-3.69127984e-01 -9.29377734e-01 1.24836968e-03 2.08831844e+02] [ 9.29372401e-01 -3.69130095e-01 -3.14841478e-03 1.68262482e+02] [ 3.38687742e-03 -1.96767330e-06 9.99994265e-01 6.54721433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440281693 meters 0.012845746133321219 Centerline is valid? [True, True] Translation: X:208.82, Y:168.28, Z:0.65 [[-3.69369030e-01 -9.29281644e-01 1.46454058e-03 2.08824079e+02] [ 9.29274319e-01 -3.69371934e-01 -3.68991171e-03 1.68284024e+02] [ 3.96992740e-03 -1.97916118e-06 9.99992120e-01 6.53055512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47028169299995 meters 0.013267344844020406 Centerline is valid? [True, True] Translation: X:208.81, Y:168.30, Z:0.65 [[-3.67974473e-01 -9.29833843e-01 1.95248414e-03 2.08814833e+02] [ 9.29820856e-01 -3.67979653e-01 -4.91430666e-03 1.68304476e+02] [ 5.28796308e-03 7.12106889e-06 9.99986019e-01 6.51220722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500281693 meters 0.013238238354877153 Centerline is valid? [True, True] Translation: X:208.81, Y:168.33, Z:0.65 [[-3.67945779e-01 -9.29845062e-01 2.01617681e-03 2.08806667e+02] [ 9.29831239e-01 -3.67951303e-01 -5.07000641e-03 1.68325987e+02] [ 5.45617531e-03 9.21671975e-06 9.99985115e-01 6.51719083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53028169299995 meters 0.01307449922874733 Centerline is valid? [True, True] Translation: X:208.80, Y:168.35, Z:0.65 [[-3.68413557e-01 -9.29660142e-01 1.86316045e-03 2.08799274e+02] [ 9.29648357e-01 -3.68418268e-01 -4.68112041e-03 1.68348346e+02] [ 5.03827341e-03 7.49582614e-06 9.99987308e-01 6.53187385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560281693 meters 0.012988374191696808 Centerline is valid? [True, True] Translation: X:208.79, Y:168.37, Z:0.65 [[-3.69308463e-01 -9.29305312e-01 1.70188812e-03 2.08793811e+02] [ 9.29295492e-01 -3.69312384e-01 -4.27217722e-03 1.68370815e+02] [ 4.59868535e-03 3.80575492e-06 9.99989426e-01 6.54044927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59028169299995 meters 0.013011748170769067 Centerline is valid? [True, True] Translation: X:208.79, Y:168.39, Z:0.65 [[-3.69422917e-01 -9.29259704e-01 1.76383178e-03 2.08786244e+02] [ 9.29249175e-01 -3.69427128e-01 -4.42363501e-03 1.68393140e+02] [ 4.76231307e-03 4.84708047e-06 9.99988660e-01 6.53553981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620281693 meters 0.012973896688963553 Centerline is valid? [True, True] Translation: X:208.78, Y:168.42, Z:0.65 [[-3.69160078e-01 -9.29364656e-01 1.47411110e-03 2.08780028e+02] [ 9.29357315e-01 -3.69163022e-01 -3.69398336e-03 1.68415517e+02] [ 3.97724488e-03 6.30474658e-06 9.99992091e-01 6.54989401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65028169299995 meters 0.01291539793933001 Centerline is valid? [True, True] Translation: X:208.77, Y:168.44, Z:0.66 [[-3.69348610e-01 -9.29290226e-01 1.13157064e-03 2.08771967e+02] [ 9.29285906e-01 -3.69350343e-01 -2.83341305e-03 1.68438171e+02] [ 3.05100906e-03 5.03547473e-06 9.99995346e-01 6.57208289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680281693 meters 0.013038722280284498 Centerline is valid? [True, True] Translation: X:208.76, Y:168.46, Z:0.66 [[-3.69033609e-01 -9.29415390e-01 1.10828243e-03 2.08762448e+02] [ 9.29411254e-01 -3.69035273e-01 -2.77256405e-03 1.68459186e+02] [ 2.98585901e-03 6.88084518e-06 9.99995542e-01 6.58509593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71028169299996 meters 0.014766152849283704 Centerline is valid? [True, True] Translation: X:208.75, Y:168.48, Z:0.66 [[-3.65629194e-01 -9.30759297e-01 1.55653331e-03 2.08747679e+02] [ 9.30751170e-01 -3.65632506e-01 -3.88970456e-03 1.68479146e+02] [ 4.18949786e-03 2.65556614e-05 9.99991224e-01 6.56414092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740281693 meters 0.01712966987578756 Centerline is valid? [True, True] Translation: X:208.73, Y:168.50, Z:0.66 [[-3.63646565e-01 -9.31535641e-01 1.58932004e-03 2.08734669e+02] [ 9.31527190e-01 -3.63650036e-01 -3.96807770e-03 1.68498526e+02] [ 4.27436209e-03 3.75170006e-05 9.99990864e-01 6.55743721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77028169299996 meters 0.018539160343856016 Centerline is valid? [True, True] Translation: X:208.72, Y:168.52, Z:0.66 [[-3.61324113e-01 -9.32439650e-01 1.08876735e-03 2.08722379e+02] [ 9.32435693e-01 -3.61325752e-01 -2.71644863e-03 1.68519479e+02] [ 2.92632409e-03 3.36871444e-05 9.99995718e-01 6.58463452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800281693 meters 0.01956173562408668 Centerline is valid? [True, True] Translation: X:208.71, Y:168.54, Z:0.66 [[-3.61210750e-01 -9.32483789e-01 8.82240982e-04 2.08710670e+02] [ 9.32481195e-01 -3.61211826e-01 -2.19955737e-03 1.68539361e+02] [ 2.36972747e-03 2.81693574e-05 9.99997192e-01 6.60066594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83028169299996 meters 0.019336122009548776 Centerline is valid? [True, True] Translation: X:208.70, Y:168.56, Z:0.66 [[-3.61019634e-01 -9.32557953e-01 6.98056610e-04 2.08698822e+02] [ 9.32556332e-01 -3.61020308e-01 -1.73911741e-03 1.68559819e+02] [ 1.87384039e-03 2.31215784e-05 9.99998244e-01 6.62060537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.860281693 meters 0.01938690923331866 Centerline is valid? [True, True] Translation: X:208.69, Y:168.58, Z:0.66 [[-3.61159395e-01 -9.32503855e-01 6.72111968e-04 2.08687971e+02] [ 9.32502355e-01 -3.61160020e-01 -1.67306829e-03 1.68580803e+02] [ 1.80288260e-03 2.25016609e-05 9.99998375e-01 6.62331269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89028169299996 meters 0.01964645634723836 Centerline is valid? [True, True] Translation: X:208.68, Y:168.60, Z:0.66 [[-3.61188962e-01 -9.32492459e-01 5.89924422e-04 2.08676909e+02] [ 9.32491304e-01 -3.61189443e-01 -1.46738583e-03 1.68602312e+02] [ 1.58140070e-03 2.00958271e-05 9.99998749e-01 6.61901361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92028169299994 meters 0.020789084413524648 Centerline is valid? [True, True] Translation: X:208.66, Y:168.62, Z:0.66 [[-3.62026953e-01 -9.32167334e-01 7.40135502e-04 2.08664138e+02] [ 9.32165520e-01 -3.62027708e-01 -1.83898810e-03 1.68621411e+02] [ 1.98219419e-03 2.41655386e-05 9.99998035e-01 6.60081183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95028169299997 meters 0.01926028345457267 Centerline is valid? [True, True] Translation: X:208.66, Y:168.64, Z:0.66 [[-3.63103898e-01 -9.31748442e-01 6.32591371e-04 2.08656587e+02] [ 9.31747118e-01 -3.63104448e-01 -1.57062993e-03 1.68643932e+02] [ 1.69312873e-03 1.91133381e-05 9.99998567e-01 6.60919726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98028169299994 meters 0.017479025417396724 Centerline is valid? [True, True] Translation: X:208.65, Y:168.67, Z:0.66 [[-3.64942461e-01 -9.31029654e-01 8.85465330e-04 2.08648991e+02] [ 9.31027064e-01 -3.64943535e-01 -2.19597360e-03 1.68666935e+02] [ 2.36766138e-03 2.29881782e-05 9.99997197e-01 6.60763739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01028169299997 meters 0.017429494542632123 Centerline is valid? [True, True] Translation: X:208.64, Y:168.69, Z:0.66 [[-3.65702322e-01 -9.30730853e-01 1.37493497e-03 2.08640005e+02] [ 9.30724622e-01 -3.65704905e-01 -3.40598032e-03 1.68687604e+02] [ 3.67287143e-03 3.41109138e-05 9.99993254e-01 6.58455756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04028169299994 meters 0.01673410683401044 Centerline is valid? [True, True] Translation: X:208.63, Y:168.71, Z:0.66 [[-3.66329556e-01 -9.30483209e-01 1.91129345e-03 2.08631196e+02] [ 9.30471190e-01 -3.66334540e-01 -4.72972594e-03 1.68709680e+02] [ 5.10110338e-03 4.57650843e-05 9.99986988e-01 6.55940096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07028169299997 meters 0.017159521207647067 Centerline is valid? [True, True] Translation: X:208.62, Y:168.73, Z:0.65 [[-3.66791476e-01 -9.30300640e-01 2.17539041e-03 2.08620497e+02] [ 9.30285095e-01 -3.66797924e-01 -5.37819898e-03 1.68730434e+02] [ 5.80127063e-03 5.10557294e-05 9.99983171e-01 6.54383828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10028169299994 meters 0.017786006042437595 Centerline is valid? [True, True] Translation: X:208.61, Y:168.75, Z:0.66 [[-3.66472058e-01 -9.30427016e-01 1.94891709e-03 2.08608641e+02] [ 9.30414565e-01 -3.66477237e-01 -4.81374704e-03 1.68749360e+02] [ 5.19307405e-03 4.91970669e-05 9.99986515e-01 6.55638971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130281693 meters 0.017786006042437595 Centerline is valid? [True, True] Translation: X:208.60, Y:168.77, Z:0.66 [[-3.66766976e-01 -9.30310798e-01 1.95051492e-03 2.08599750e+02] [ 9.30298349e-01 -3.66772159e-01 -4.81309971e-03 1.68769998e+02] [ 5.19307320e-03 4.92747829e-05 9.99986515e-01 6.55683691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16028169299994 meters 0.01747198798068437 Centerline is valid? [True, True] Translation: X:208.59, Y:168.79, Z:0.66 [[-3.66600355e-01 -9.30376564e-01 1.90519453e-03 2.08589909e+02] [ 9.30364708e-01 -3.66605302e-01 -4.69710288e-03 1.68791639e+02] [ 5.06852885e-03 5.05661685e-05 9.99987154e-01 6.56425334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190281693 meters 0.018105093402592677 Centerline is valid? [True, True] Translation: X:208.58, Y:168.81, Z:0.65 [[-3.66032487e-01 -9.30599318e-01 2.26468912e-03 2.08576640e+02] [ 9.30582601e-01 -3.66039487e-01 -5.57818490e-03 1.68812171e+02] [ 6.02002071e-03 6.56833980e-05 9.99981877e-01 6.54926310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22028169299995 meters 0.018441669330802702 Centerline is valid? [True, True] Translation: X:208.57, Y:168.83, Z:0.65 [[-3.66206232e-01 -9.30530660e-01 2.38476107e-03 2.08565438e+02] [ 9.30512157e-01 -3.66213990e-01 -5.86851593e-03 1.68832116e+02] [ 6.33416686e-03 6.99620632e-05 9.99979937e-01 6.53601826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250281693 meters 0.018082430351839686 Centerline is valid? [True, True] Translation: X:208.55, Y:168.85, Z:0.65 [[-3.66941040e-01 -9.30240514e-01 2.61899693e-03 2.08554899e+02] [ 9.30218232e-01 -3.66950379e-01 -6.43900262e-03 1.68853077e+02] [ 6.95086302e-03 7.35043750e-05 9.99975840e-01 6.52678954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28028169299995 meters 0.02472025025680827 Centerline is valid? [True, True] Translation: X:208.54, Y:168.87, Z:0.66 [[-3.67893599e-01 -9.29863074e-01 2.99383384e-03 2.08542759e+02] [ 9.29833998e-01 -3.67905772e-01 -7.35382211e-03 1.68873867e+02] [ 7.93949638e-03 7.83444071e-05 9.99968479e-01 6.57716910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310281693 meters 0.017975165704478543 Centerline is valid? [True, True] Translation: X:208.53, Y:168.89, Z:0.65 [[-3.68492456e-01 -9.29626851e-01 2.68844821e-03 2.08530778e+02] [ 9.29603440e-01 -3.68502256e-01 -6.59788235e-03 1.68894087e+02] [ 7.12426782e-03 6.79208333e-05 9.99974620e-01 6.52940605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34028169299995 meters 0.018218642529407584 Centerline is valid? [True, True] Translation: X:208.52, Y:168.91, Z:0.66 [[-3.68934947e-01 -9.29452848e-01 2.09958636e-03 2.08515618e+02] [ 9.29438591e-01 -3.68940918e-01 -5.14830130e-03 1.68911588e+02] [ 5.55972663e-03 5.20483239e-05 9.99984543e-01 6.55523582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370281693 meters 0.017052578015676948 Centerline is valid? [True, True] Translation: X:208.51, Y:168.93, Z:0.66 [[-3.69076678e-01 -9.29397164e-01 1.82124708e-03 2.08505089e+02] [ 9.29386454e-01 -3.69081168e-01 -4.46200767e-03 1.68932557e+02] [ 4.81916528e-03 4.58193965e-05 9.99988387e-01 6.57444853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40028169299995 meters 0.016922436700874087 Centerline is valid? [True, True] Translation: X:208.49, Y:168.95, Z:0.66 [[-3.69363536e-01 -9.29283310e-01 1.76316083e-03 2.08491338e+02] [ 9.29273288e-01 -3.69367742e-01 -4.31594748e-03 1.68952687e+02] [ 4.66199269e-03 4.43046354e-05 9.99989132e-01 6.57833562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430281693 meters 0.01707263562840021 Centerline is valid? [True, True] Translation: X:208.48, Y:168.97, Z:0.66 [[-3.69732664e-01 -9.29136422e-01 1.80710462e-03 2.08480180e+02] [ 9.29125913e-01 -3.69737078e-01 -4.41948331e-03 1.68972782e+02] [ 4.77445649e-03 4.50003949e-05 9.99988601e-01 6.57686072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46028169299996 meters 0.016874422504107096 Centerline is valid? [True, True] Translation: X:208.47, Y:168.99, Z:0.66 [[-3.70096959e-01 -9.28991213e-01 1.88881689e-03 2.08468864e+02] [ 9.28979750e-01 -3.70101776e-01 -4.61512429e-03 1.68993382e+02] [ 4.98646440e-03 4.66291798e-05 9.99987566e-01 6.57949289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490281693 meters 0.016591045022945495 Centerline is valid? [True, True] Translation: X:208.46, Y:169.01, Z:0.66 [[-3.70812543e-01 -9.28705831e-01 1.88078877e-03 2.08457511e+02] [ 9.28694482e-01 -3.70817310e-01 -4.59150102e-03 1.69014481e+02] [ 4.96158280e-03 4.40919847e-05 9.99987690e-01 6.57881332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52028169299996 meters 0.016034521030989336 Centerline is valid? [True, True] Translation: X:208.45, Y:169.03, Z:0.66 [[-3.73194418e-01 -9.27751773e-01 1.60439604e-03 2.08445721e+02] [ 9.27743519e-01 -3.73197865e-01 -3.91355088e-03 1.69034387e+02] [ 4.22956094e-03 2.79526912e-05 9.99991055e-01 6.57508088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550281693 meters 0.012936565833369744 Centerline is valid? [True, True] Translation: X:208.44, Y:169.06, Z:0.66 [[-3.78239660e-01 -9.25706988e-01 1.15405635e-03 2.08444393e+02] [ 9.25702714e-01 -3.78241421e-01 -2.81304033e-03 1.69060102e+02] [ 3.04056300e-03 4.30968202e-06 9.99995377e-01 6.59561923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58028169299996 meters 0.012955923552360159 Centerline is valid? [True, True] Translation: X:208.44, Y:169.08, Z:0.66 [[-3.81814730e-01 -9.24238451e-01 8.93326339e-04 2.08440554e+02] [ 9.24235889e-01 -3.81815775e-01 -2.17596867e-03 1.69083242e+02] [ 2.35220000e-03 -5.17262522e-06 9.99997234e-01 6.61022077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.610281693 meters 0.01461954140909733 Centerline is valid? [True, True] Translation: X:208.44, Y:169.11, Z:0.66 [[-3.86062336e-01 -9.22472428e-01 7.01509585e-04 2.08438025e+02] [ 9.22470848e-01 -3.86062973e-01 -1.70754520e-03 1.69106910e+02] [ 1.84599024e-03 -1.20967460e-05 9.99998296e-01 6.62237087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64028169299996 meters 0.018392355574141678 Centerline is valid? [True, True] Translation: X:208.44, Y:169.13, Z:0.66 [[-3.90597394e-01 -9.20561190e-01 8.78504925e-04 2.08437550e+02] [ 9.20558712e-01 -3.90598381e-01 -2.13611343e-03 1.69131170e+02] [ 2.30956572e-03 -2.56449765e-05 9.99997333e-01 6.61562982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67028169299994 meters 0.029263700368187987 Centerline is valid? [True, True] Translation: X:208.45, Y:169.16, Z:0.66 [[-4.00093866e-01 -9.16472423e-01 1.78782090e-03 2.08448420e+02] [ 9.16462145e-01 -4.00097849e-01 -4.34155444e-03 1.69159735e+02] [ 4.69421821e-03 -9.85591297e-05 9.99988977e-01 6.56382872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70028169299997 meters 0.03037718659650416 Centerline is valid? [True, True] Translation: X:208.44, Y:169.18, Z:0.66 [[-4.04617153e-01 -9.14483659e-01 2.14400658e-03 2.08443386e+02] [ 9.14468877e-01 -4.04622807e-01 -5.20155930e-03 1.69183172e+02] [ 5.62425494e-03 -1.44012820e-04 9.99984173e-01 6.55375200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73028169299994 meters 0.0380600131446231 Centerline is valid? [True, True] Translation: X:208.45, Y:169.21, Z:0.66 [[-4.11081744e-01 -9.11595850e-01 2.19237984e-03 2.08449696e+02] [ 9.11580379e-01 -4.11087548e-01 -5.31420453e-03 1.69210595e+02] [ 5.74566684e-03 -1.86042019e-04 9.99983476e-01 6.55500283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76028169299997 meters 0.03833257787240878 Centerline is valid? [True, True] Translation: X:208.44, Y:169.23, Z:0.66 [[-4.13287216e-01 -9.10597852e-01 2.28667161e-03 2.08443748e+02] [ 9.10581036e-01 -4.13293490e-01 -5.53794610e-03 1.69234294e+02] [ 5.98790831e-03 -2.06562525e-04 9.99982051e-01 6.55922296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79028169299994 meters 0.03957221630090371 Centerline is valid? [True, True] Translation: X:208.44, Y:169.26, Z:0.66 [[-4.14388304e-01 -9.10097146e-01 2.34914710e-03 2.08440150e+02] [ 9.10079420e-01 -4.14394906e-01 -5.68429887e-03 1.69258455e+02] [ 6.14673877e-03 -2.17596539e-04 9.99981085e-01 6.56114573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82028169299997 meters 0.038747302852036244 Centerline is valid? [True, True] Translation: X:208.44, Y:169.28, Z:0.65 [[-4.13613722e-01 -9.10448681e-01 2.62446736e-03 2.08437563e+02] [ 9.10426603e-01 -4.13621981e-01 -6.34489177e-03 1.69283122e+02] [ 6.86223573e-03 -2.34949397e-04 9.99976427e-01 6.54997731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85028169299994 meters 0.034368066727509756 Centerline is valid? [True, True] Translation: X:208.43, Y:169.31, Z:0.66 [[-4.09845054e-01 -9.12151286e-01 2.65752901e-03 2.08427315e+02] [ 9.12128721e-01 -4.09853618e-01 -6.41942643e-03 1.69305454e+02] [ 6.94468596e-03 -2.06961634e-04 9.99975864e-01 6.55548002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880281693 meters 0.03396621463685789 Centerline is valid? [True, True] Translation: X:208.42, Y:169.33, Z:0.66 [[-4.07064917e-01 -9.13395504e-01 2.60877326e-03 2.08419819e+02] [ 9.13373821e-01 -4.07073237e-01 -6.29624253e-03 1.69327282e+02] [ 6.81292139e-03 -1.80194245e-04 9.99976776e-01 6.55279002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91028169299994 meters 0.030299826772335964 Centerline is valid? [True, True] Translation: X:208.41, Y:169.35, Z:0.66 [[-4.04218991e-01 -9.14658853e-01 2.48811607e-03 2.08408055e+02] [ 9.14639187e-01 -4.04226621e-01 -5.99980259e-03 1.69347006e+02] [ 6.49353531e-03 -1.49505689e-04 9.99978906e-01 6.55761057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940281693 meters 0.027067553336680965 Centerline is valid? [True, True] Translation: X:208.40, Y:169.37, Z:0.66 [[-4.01306725e-01 -9.15940303e-01 2.50480943e-03 2.08396504e+02] [ 9.15920432e-01 -4.01314521e-01 -6.03469609e-03 1.69366508e+02] [ 6.53263777e-03 -1.27557987e-04 9.99978654e-01 6.56103912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97028169299995 meters 0.020662038158410577 Centerline is valid? [True, True] Translation: X:208.38, Y:169.38, Z:0.66 [[-3.96794342e-01 -9.17903916e-01 2.57886334e-03 2.08378487e+02] [ 9.17882930e-01 -3.96802711e-01 -6.20773722e-03 1.69384826e+02] [ 6.72140627e-03 -9.61003735e-05 9.99977407e-01 6.56275444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000281693 meters 0.018082818034375375 Centerline is valid? [True, True] Translation: X:208.37, Y:169.40, Z:0.66 [[-3.94082648e-01 -9.19072250e-01 2.25081959e-03 2.08365564e+02] [ 9.19056307e-01 -3.94089071e-01 -5.41373838e-03 1.69404828e+02] [ 5.86264012e-03 -6.48304151e-05 9.99982813e-01 6.57746531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03028169299995 meters 0.017369609296433337 Centerline is valid? [True, True] Translation: X:208.36, Y:169.43, Z:0.66 [[-3.93517171e-01 -9.19314940e-01 2.06805529e-03 2.08355848e+02] [ 9.19301507e-01 -3.93522601e-01 -4.97007820e-03 1.69427095e+02] [ 5.38289364e-03 -5.46447652e-05 9.99985511e-01 6.58176886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060281693 meters 0.01702709779272606 Centerline is valid? [True, True] Translation: X:208.35, Y:169.45, Z:0.66 [[-3.93423540e-01 -9.19355512e-01 1.83322223e-03 2.08346635e+02] [ 9.19344973e-01 -3.93427809e-01 -4.40223310e-03 1.69449600e+02] [ 4.76845787e-03 -4.65784912e-05 9.99988630e-01 6.59083132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09028169299995 meters 0.017540226736137365 Centerline is valid? [True, True] Translation: X:208.34, Y:169.47, Z:0.66 [[-3.94263877e-01 -9.18995812e-01 1.64077364e-03 2.08338960e+02] [ 9.18987380e-01 -3.94267289e-01 -3.93698086e-03 1.69472092e+02] [ 4.26497230e-03 -4.43590640e-05 9.99990904e-01 6.60171048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120281693 meters 0.02061964861151681 Centerline is valid? [True, True] Translation: X:208.34, Y:169.50, Z:0.66 [[-3.97713386e-01 -9.17508746e-01 1.32808761e-03 2.08337852e+02] [ 9.17503222e-01 -3.97715600e-01 -3.18431393e-03 1.69496591e+02] [ 3.44983704e-03 -4.79196103e-05 9.99994048e-01 6.61495152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15028169299995 meters 0.024937516002972927 Centerline is valid? [True, True] Translation: X:208.34, Y:169.52, Z:0.66 [[-4.01758034e-01 -9.15744453e-01 1.60599008e-03 2.08340760e+02] [ 9.15736375e-01 -4.01761237e-01 -3.84701748e-03 1.69522829e+02] [ 4.16810947e-03 -7.49066485e-05 9.99991311e-01 6.59240745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180281693 meters 0.026383972466578885 Centerline is valid? [True, True] Translation: X:208.34, Y:169.55, Z:0.66 [[-4.03186842e-01 -9.15115756e-01 1.87698034e-03 2.08336960e+02] [ 9.15104738e-01 -4.03191200e-01 -4.49154241e-03 1.69546343e+02] [ 4.86706318e-03 -9.32971950e-05 9.99988151e-01 6.58437839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21028169299996 meters 0.026578401014238764 Centerline is valid? [True, True] Translation: X:208.33, Y:169.57, Z:0.66 [[-4.03431267e-01 -9.15007411e-01 2.15643308e-03 2.08330941e+02] [ 9.14992895e-01 -4.03437016e-01 -5.15514863e-03 1.69568856e+02] [ 5.58698414e-03 -1.06627193e-04 9.99984387e-01 6.56991043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240281693 meters 0.022911987558398284 Centerline is valid? [True, True] Translation: X:208.32, Y:169.59, Z:0.66 [[-4.00141002e-01 -9.16449580e-01 2.71043698e-03 2.08322139e+02] [ 9.16426724e-01 -4.00150168e-01 -6.47329272e-03 1.69588742e+02] [ 7.01702820e-03 -1.06312957e-04 9.99975375e-01 6.55690803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27028169299996 meters 0.019565945700426527 Centerline is valid? [True, True] Translation: X:208.31, Y:169.61, Z:0.66 [[-3.97392886e-01 -9.17644507e-01 2.72982761e-03 2.08309509e+02] [ 9.17621392e-01 -3.97402253e-01 -6.51378542e-03 1.69608219e+02] [ 7.06217906e-03 -8.35837730e-05 9.99975059e-01 6.56158287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300281693 meters 0.01373440797458552 Centerline is valid? [True, True] Translation: X:208.29, Y:169.62, Z:0.66 [[-3.89763266e-01 -9.20912082e-01 2.35219119e-03 2.08289374e+02] [ 9.20895009e-01 -3.89770363e-01 -5.60767137e-03 1.69623329e+02] [ 6.08098674e-03 -1.95431834e-05 9.99981510e-01 6.58199803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33028169299996 meters 0.013458534433149063 Centerline is valid? [True, True] Translation: X:208.27, Y:169.64, Z:0.66 [[-3.85509795e-01 -9.22700855e-01 2.30858588e-03 2.08272330e+02] [ 9.22684471e-01 -3.85516707e-01 -5.49868716e-03 1.69640064e+02] [ 5.96364177e-03 1.02985812e-05 9.99982217e-01 6.58980723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.360281693 meters 0.01583092008515892 Centerline is valid? [True, True] Translation: X:208.25, Y:169.66, Z:0.66 [[-3.81126027e-01 -9.24520256e-01 2.29097970e-03 2.08253626e+02] [ 9.24504184e-01 -3.81132911e-01 -5.45141820e-03 1.69657460e+02] [ 5.91311431e-03 4.03429544e-05 9.99982517e-01 6.59905022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39028169299996 meters 0.019157534919091505 Centerline is valid? [True, True] Translation: X:208.24, Y:169.68, Z:0.66 [[-3.76590938e-01 -9.26376896e-01 2.26111147e-03 2.08235786e+02] [ 9.26361302e-01 -3.76597719e-01 -5.37554790e-03 1.69676166e+02] [ 5.83131280e-03 7.02235443e-05 9.99982995e-01 6.60816269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42028169299994 meters 0.027361214264993453 Centerline is valid? [True, True] Translation: X:208.21, Y:169.69, Z:0.66 [[-3.69545078e-01 -9.29211215e-01 1.71877859e-03 2.08209686e+02] [ 9.29202248e-01 -3.69549064e-01 -4.08305317e-03 1.69690278e+02] [ 4.42919182e-03 8.82207305e-05 9.99990187e-01 6.62230793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45028169299997 meters 0.034719732702559146 Centerline is valid? [True, True] Translation: X:208.19, Y:169.70, Z:0.66 [[-3.65942019e-01 -9.30636525e-01 1.44841141e-03 2.08185484e+02] [ 9.30630178e-01 -3.65944874e-01 -3.43805542e-03 1.69704871e+02] [ 3.72961868e-03 8.98064224e-05 9.99993041e-01 6.63528421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48028169299994 meters 0.03324222368103869 Centerline is valid? [True, True] Translation: X:208.17, Y:169.73, Z:0.66 [[-3.65482650e-01 -9.30816739e-01 1.62214144e-03 2.08174185e+02] [ 9.30808795e-01 -3.65486235e-01 -3.84704629e-03 1.69726184e+02] [ 4.17376545e-03 1.03874840e-04 9.99991284e-01 6.62615031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51028169299997 meters 0.03649174829104491 Centerline is valid? [True, True] Translation: X:208.16, Y:169.74, Z:0.66 [[-3.65232900e-01 -9.30914483e-01 1.77608817e-03 2.08157526e+02] [ 9.30904978e-01 -3.65237200e-01 -4.20840654e-03 1.69743541e+02] [ 4.56636006e-03 1.16320795e-04 9.99989567e-01 6.61870388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54028169299994 meters 0.03251807632622793 Centerline is valid? [True, True] Translation: X:208.15, Y:169.77, Z:0.66 [[-3.65622508e-01 -9.30761641e-01 1.71755162e-03 2.08149399e+02] [ 9.30752765e-01 -3.65626525e-01 -4.06627466e-03 1.69765882e+02] [ 4.41271490e-03 1.11894384e-04 9.99990258e-01 6.62495212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57028169299997 meters 0.03244846968145055 Centerline is valid? [True, True] Translation: X:208.13, Y:169.78, Z:0.66 [[-3.67557197e-01 -9.29999957e-01 1.33670159e-03 2.08134599e+02] [ 9.29994584e-01 -3.67559618e-01 -3.16226802e-03 1.69784240e+02] [ 3.43222665e-03 8.08108731e-05 9.99994107e-01 6.64164739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60028169299994 meters 0.029262719293027626 Centerline is valid? [True, True] Translation: X:208.13, Y:169.81, Z:0.67 [[-3.69463756e-01 -9.29244548e-01 1.05003910e-03 2.08126990e+02] [ 9.29241234e-01 -3.69465244e-01 -2.48231217e-03 1.69806406e+02] [ 2.69462801e-03 5.86152545e-05 9.99996368e-01 6.65714367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630281693 meters 0.02534537916167795 Centerline is valid? [True, True] Translation: X:208.12, Y:169.83, Z:0.67 [[-3.73441916e-01 -9.27653181e-01 8.43357977e-04 2.08119717e+02] [ 9.27651042e-01 -3.73442867e-01 -1.99234940e-03 1.69827618e+02] [ 2.16315528e-03 3.83151277e-05 9.99997660e-01 6.66450531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66028169299994 meters 0.02360749886460011 Centerline is valid? [True, True] Translation: X:208.11, Y:169.85, Z:0.67 [[-3.75311604e-01 -9.26898220e-01 9.43207539e-04 2.08111354e+02] [ 9.26895548e-01 -3.75312787e-01 -2.22608381e-03 1.69850357e+02] [ 2.41735097e-03 3.87797824e-05 9.99997077e-01 6.65684750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690281693 meters 0.020962863909449722 Centerline is valid? [True, True] Translation: X:208.10, Y:169.87, Z:0.66 [[-3.78398269e-01 -9.25642257e-01 1.07818926e-03 2.08103001e+02] [ 9.25638767e-01 -3.78399803e-01 -2.54214949e-03 1.69871550e+02] [ 2.76110759e-03 3.60688147e-05 9.99996188e-01 6.64699708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72028169299995 meters 0.019744935280323346 Centerline is valid? [True, True] Translation: X:208.09, Y:169.89, Z:0.67 [[-3.79791944e-01 -9.25071456e-01 9.38199509e-04 2.08093694e+02] [ 9.25068816e-01 -3.79793102e-01 -2.21034685e-03 1.69892266e+02] [ 2.40105048e-03 2.84271810e-05 9.99997117e-01 6.65586028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750281693 meters 0.017931084230638345 Centerline is valid? [True, True] Translation: X:208.09, Y:169.91, Z:0.67 [[-3.82122993e-01 -9.24111049e-01 8.87383184e-04 2.08085149e+02] [ 9.24108688e-01 -3.82124023e-01 -2.08886180e-03 1.69912440e+02] [ 2.26943070e-03 2.18363864e-05 9.99997425e-01 6.66135079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78028169299995 meters 0.017531151882278266 Centerline is valid? [True, True] Translation: X:208.08, Y:169.93, Z:0.66 [[-3.83383236e-01 -9.23588754e-01 1.05284172e-03 2.08075947e+02] [ 9.23585436e-01 -3.83384681e-01 -2.47578647e-03 1.69932600e+02] [ 2.69025192e-03 2.32142468e-05 9.99996381e-01 6.64733409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810281693 meters 0.01587256770230006 Centerline is valid? [True, True] Translation: X:208.07, Y:169.95, Z:0.66 [[-3.84533893e-01 -9.23110155e-01 1.15212268e-03 2.08068307e+02] [ 9.23106187e-01 -3.84535618e-01 -2.70670344e-03 1.69954893e+02] [ 2.94161764e-03 2.27123620e-05 9.99995673e-01 6.64425155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84028169299995 meters 0.015681863539327216 Centerline is valid? [True, True] Translation: X:208.06, Y:169.97, Z:0.66 [[-3.86153041e-01 -9.22433594e-01 1.44711140e-03 2.08057802e+02] [ 9.22427341e-01 -3.86155752e-01 -3.39642778e-03 1.69974707e+02] [ 3.69178947e-03 2.33142009e-05 9.99993185e-01 6.62415283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870281693 meters 0.014621525695368362 Centerline is valid? [True, True] Translation: X:208.05, Y:170.00, Z:0.66 [[-3.87305093e-01 -9.21949523e-01 1.96008958e-03 2.08049192e+02] [ 9.21938068e-01 -3.87310052e-01 -4.59592343e-03 1.69997067e+02] [ 4.99637181e-03 2.70566481e-05 9.99987518e-01 6.60505732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90028169299995 meters 0.014335700890708908 Centerline is valid? [True, True] Translation: X:208.04, Y:170.02, Z:0.66 [[-3.89578981e-01 -9.20988841e-01 2.78792296e-03 2.08038231e+02] [ 9.20965686e-01 -3.89588955e-01 -6.53071543e-03 1.70017396e+02] [ 7.10086003e-03 2.33519220e-05 9.99974788e-01 6.55837779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930281693 meters 0.013739406151651893 Centerline is valid? [True, True] Translation: X:208.03, Y:170.04, Z:0.66 [[-3.90638318e-01 -9.20540665e-01 2.56707663e-03 2.08028411e+02] [ 9.20521055e-01 -3.90646752e-01 -6.00850931e-03 1.70039611e+02] [ 6.53389730e-03 1.58941188e-05 9.99978654e-01 6.58402265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96028169299996 meters 0.013486948242559499 Centerline is valid? [True, True] Translation: X:208.02, Y:170.06, Z:0.66 [[-3.91602038e-01 -9.20131964e-01 2.23897060e-03 2.08017621e+02] [ 9.20117064e-01 -3.91608439e-01 -5.23634317e-03 1.70061207e+02] [ 5.69492650e-03 9.55240268e-06 9.99983784e-01 6.60737416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990281693 meters 0.013102162152054382 Centerline is valid? [True, True] Translation: X:208.01, Y:170.08, Z:0.66 [[-3.93704658e-01 -9.19235554e-01 1.62464296e-03 2.08006911e+02] [ 9.19227713e-01 -3.93708010e-01 -3.79674969e-03 1.70081891e+02] [ 4.12974225e-03 -1.38120102e-06 9.99991473e-01 6.62424200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02028169299996 meters 0.013102162152054382 Centerline is valid? [True, True] Translation: X:208.00, Y:170.10, Z:0.66 [[-3.93983829e-01 -9.19115933e-01 1.62581852e-03 2.07997354e+02] [ 9.19108093e-01 -3.93987184e-01 -3.79624634e-03 1.70103140e+02] [ 4.12974216e-03 -1.35671212e-06 9.99991473e-01 6.62470578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050281693 meters 0.013267965912176717 Centerline is valid? [True, True] Translation: X:207.99, Y:170.12, Z:0.66 [[-3.95524745e-01 -9.18453753e-01 1.69715660e-03 2.07988048e+02] [ 9.18445218e-01 -3.95528386e-01 -3.95937020e-03 1.70123817e+02] [ 4.30777203e-03 -7.28352361e-06 9.99990722e-01 6.61728258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08028169299996 meters 0.01465749519224021 Centerline is valid? [True, True] Translation: X:207.98, Y:170.15, Z:0.66 [[-3.98798172e-01 -9.17035932e-01 2.26219716e-03 2.07982434e+02] [ 9.17020775e-01 -3.98804587e-01 -5.27256979e-03 1.70145996e+02] [ 5.73731056e-03 -2.82094000e-05 9.99983541e-01 6.58291187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.110281693 meters 0.01562617832460812 Centerline is valid? [True, True] Translation: X:207.98, Y:170.17, Z:0.66 [[-4.00904408e-01 -9.16116467e-01 2.50491599e-03 2.07975583e+02] [ 9.16097896e-01 -4.00912232e-01 -5.83330006e-03 1.70168737e+02] [ 6.34823370e-03 -4.38474437e-05 9.99979849e-01 6.57785991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14028169299996 meters 0.017767749866251032 Centerline is valid? [True, True] Translation: X:207.97, Y:170.19, Z:0.66 [[-4.03453800e-01 -9.14996103e-01 2.67638151e-03 2.07970380e+02] [ 9.14974916e-01 -4.03462672e-01 -6.22704386e-03 1.70190783e+02] [ 6.77754090e-03 -6.35025576e-05 9.99977030e-01 6.56932482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17028169299994 meters 0.0191974397846285 Centerline is valid? [True, True] Translation: X:207.96, Y:170.21, Z:0.66 [[-4.07265816e-01 -9.13306996e-01 2.21036811e-03 2.07963043e+02] [ 9.13292543e-01 -4.07271808e-01 -5.13865250e-03 1.70214356e+02] [ 5.59338790e-03 -7.40847958e-05 9.99984354e-01 6.60441243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20028169299997 meters 0.02055582648343171 Centerline is valid? [True, True] Translation: X:207.96, Y:170.24, Z:0.66 [[-4.08176088e-01 -9.12901587e-01 1.72465371e-03 2.07955894e+02] [ 9.12892798e-01 -4.08179727e-01 -4.00631983e-03 1.70236497e+02] [ 4.36134441e-03 -6.08600088e-05 9.99990487e-01 6.62912229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23028169299994 meters 0.020255718083561063 Centerline is valid? [True, True] Translation: X:207.95, Y:170.26, Z:0.67 [[-4.08577831e-01 -9.12722826e-01 1.09494350e-03 2.07946390e+02] [ 9.12719287e-01 -4.08579297e-01 -2.54188206e-03 1.70258845e+02] [ 2.76740502e-03 -3.91806045e-05 9.99996170e-01 6.66566128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26028169299997 meters 0.02041178107161001 Centerline is valid? [True, True] Translation: X:207.94, Y:170.28, Z:0.67 [[-4.08511014e-01 -9.12752644e-01 1.16745358e-03 2.07937926e+02] [ 9.12748628e-01 -4.08512680e-01 -2.70780555e-03 1.70279528e+02] [ 2.94847626e-03 -4.05767351e-05 9.99995652e-01 6.65773321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29028169299994 meters 0.020730439297942427 Centerline is valid? [True, True] Translation: X:207.93, Y:170.30, Z:0.66 [[-4.08964926e-01 -9.12549419e-01 1.11678980e-03 2.07929322e+02] [ 9.12545750e-01 -4.08966449e-01 -2.58815142e-03 1.70302062e+02] [ 2.81854563e-03 -3.93413708e-05 9.99996027e-01 6.64626310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32028169299997 meters 0.022731332997423945 Centerline is valid? [True, True] Translation: X:207.93, Y:170.33, Z:0.66 [[-4.10930454e-01 -9.11665702e-01 1.34503590e-03 2.07926144e+02] [ 9.11660385e-01 -4.10932652e-01 -3.11423054e-03 1.70325163e+02] [ 3.39185634e-03 -5.35162204e-05 9.99994246e-01 6.62926233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35028169299994 meters 0.02330786306635951 Centerline is valid? [True, True] Translation: X:207.92, Y:170.35, Z:0.66 [[-4.12561679e-01 -9.10928374e-01 1.53539747e-03 2.07919068e+02] [ 9.10921452e-01 -4.12564531e-01 -3.55183391e-03 1.70347999e+02] [ 3.86891682e-03 -6.67240683e-05 9.99992514e-01 6.62343669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380281693 meters 0.02891243461351717 Centerline is valid? [True, True] Translation: X:207.92, Y:170.37, Z:0.66 [[-4.16634850e-01 -9.09071909e-01 1.91466495e-03 2.07921969e+02] [ 9.09061145e-01 -4.16639237e-01 -4.42512753e-03 1.70374048e+02] [ 4.82048367e-03 -1.03114838e-04 9.99988376e-01 6.61685655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41028169299994 meters 0.029774090182782553 Centerline is valid? [True, True] Translation: X:207.92, Y:170.40, Z:0.66 [[-4.18894303e-01 -9.08032580e-01 2.09696115e-03 2.07915950e+02] [ 9.08019677e-01 -4.18899533e-01 -4.84234099e-03 1.70398202e+02] [ 5.27541943e-03 -1.24347068e-04 9.99986077e-01 6.61426796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440281693 meters 0.0320896343266386 Centerline is valid? [True, True] Translation: X:207.91, Y:170.42, Z:0.66 [[-4.20914269e-01 -9.07097754e-01 2.20065422e-03 2.07913028e+02] [ 9.07083554e-01 -4.20919998e-01 -5.07755677e-03 1.70421605e+02] [ 5.53213971e-03 -1.41038840e-04 9.99984688e-01 6.61017176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47028169299995 meters 0.03723221601659562 Centerline is valid? [True, True] Translation: X:207.92, Y:170.45, Z:0.66 [[-4.24964894e-01 -9.05207076e-01 2.23362681e-03 2.07918722e+02] [ 9.05192446e-01 -4.24970731e-01 -5.14915722e-03 1.70448533e+02] [ 5.61027956e-03 -1.66348933e-04 9.99984248e-01 6.60082762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500281693 meters 0.03730036437418654 Centerline is valid? [True, True] Translation: X:207.91, Y:170.47, Z:0.66 [[-4.27135972e-01 -9.04185056e-01 2.06040458e-03 2.07913793e+02] [ 9.04172615e-01 -4.27140910e-01 -4.74601775e-03 1.70472486e+02] [ 5.17136141e-03 -1.64233512e-04 9.99986615e-01 6.60852792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53028169299995 meters 0.041456823887721345 Centerline is valid? [True, True] Translation: X:207.91, Y:170.50, Z:0.66 [[-4.28629864e-01 -9.03477915e-01 2.02403143e-03 2.07914404e+02] [ 9.03465921e-01 -4.28634610e-01 -4.65846810e-03 1.70498210e+02] [ 5.07639296e-03 -1.68115131e-04 9.99987101e-01 6.61232957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560281693 meters 0.04351814158087826 Centerline is valid? [True, True] Translation: X:207.92, Y:170.53, Z:0.66 [[-4.30726565e-01 -9.02480397e-01 1.93908859e-03 2.07918263e+02] [ 9.02469396e-01 -4.30730896e-01 -4.45921334e-03 1.70525266e+02] [ 4.85957799e-03 -1.70733532e-04 9.99988178e-01 6.62506955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59028169299995 meters 0.043131295170436464 Centerline is valid? [True, True] Translation: X:207.91, Y:170.55, Z:0.66 [[-4.31891534e-01 -9.01923348e-01 1.99448648e-03 2.07913886e+02] [ 9.01911723e-01 -4.31896101e-01 -4.58279285e-03 1.70549632e+02] [ 4.99473880e-03 -1.80418698e-04 9.99987510e-01 6.62673567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620281693 meters 0.044244729731029594 Centerline is valid? [True, True] Translation: X:207.92, Y:170.58, Z:0.66 [[-4.32851870e-01 -9.01462839e-01 2.00239921e-03 2.07916370e+02] [ 9.01451135e-01 -4.32856462e-01 -4.59728333e-03 1.70576625e+02] [ 5.01103152e-03 -1.84877643e-04 9.99987428e-01 6.62383689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65028169299995 meters 0.04520308677130938 Centerline is valid? [True, True] Translation: X:207.91, Y:170.60, Z:0.66 [[-4.32893806e-01 -9.01442780e-01 1.96671564e-03 2.07913063e+02] [ 9.01431507e-01 -4.32898236e-01 -4.51165451e-03 1.70600348e+02] [ 4.91838611e-03 -1.80207848e-04 9.99987888e-01 6.62861451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680281693 meters 0.04249786762279355 Centerline is valid? [True, True] Translation: X:207.91, Y:170.62, Z:0.67 [[-4.30789876e-01 -9.02451011e-01 1.50206157e-03 2.07910428e+02] [ 9.02444451e-01 -4.30792476e-01 -3.44309256e-03 1.70624625e+02] [ 3.75429919e-03 -1.27722289e-04 9.99992944e-01 6.65670341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71028169299996 meters 0.04096484041888808 Centerline is valid? [True, True] Translation: X:207.90, Y:170.65, Z:0.67 [[-4.29101215e-01 -9.03255503e-01 1.28218851e-03 2.07904154e+02] [ 9.03250735e-01 -4.29103118e-01 -2.93668518e-03 1.70645845e+02] [ 3.20276814e-03 -1.01997463e-04 9.99994866e-01 6.66892634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740281693 meters 0.03720668161994916 Centerline is valid? [True, True] Translation: X:207.89, Y:170.67, Z:0.67 [[-4.26869852e-01 -9.04311930e-01 1.43592157e-03 2.07893029e+02] [ 9.04305967e-01 -4.26872255e-01 -3.28560713e-03 1.70666492e+02] [ 3.58416880e-03 -1.04014181e-04 9.99993571e-01 6.66527142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77028169299996 meters 0.03261202396097658 Centerline is valid? [True, True] Translation: X:207.88, Y:170.69, Z:0.67 [[-4.23923655e-01 -9.05696023e-01 1.85690355e-03 2.07879162e+02] [ 9.05686085e-01 -4.23927706e-01 -4.24440591e-03 1.70686000e+02] [ 4.63133441e-03 -1.17532365e-04 9.99989268e-01 6.65047500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800281693 meters 0.02405824393438616 Centerline is valid? [True, True] Translation: X:207.86, Y:170.70, Z:0.66 [[-4.15620536e-01 -9.09534842e-01 2.43737731e-03 2.07859728e+02] [ 9.09517818e-01 -4.15627671e-01 -5.56579113e-03 1.70701821e+02] [ 6.07532241e-03 -9.64190002e-05 9.99981540e-01 6.62102628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83028169299996 meters 0.015198299183211111 Centerline is valid? [True, True] Translation: X:207.83, Y:170.72, Z:0.66 [[-4.06639214e-01 -9.13586442e-01 2.08887619e-03 2.07834972e+02] [ 9.13574011e-01 -4.06644578e-01 -4.76593249e-03 1.70716381e+02] [ 5.20352148e-03 -2.96720417e-05 9.99986461e-01 6.64544140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.860281693 meters 0.013404763143660533 Centerline is valid? [True, True] Translation: X:207.82, Y:170.73, Z:0.67 [[-4.03003389e-01 -9.15196926e-01 1.68986325e-03 2.07817168e+02] [ 9.15188817e-01 -4.03006932e-01 -3.85251363e-03 1.70734554e+02] [ 4.20683523e-03 -6.03210163e-06 9.99991151e-01 6.66708710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89028169299996 meters 0.013509857041127785 Centerline is valid? [True, True] Translation: X:207.80, Y:170.75, Z:0.67 [[-4.00158063e-01 -9.16445012e-01 1.43673085e-03 2.07801198e+02] [ 9.16439168e-01 -4.00160642e-01 -3.27288774e-03 1.70752279e+02] [ 3.57434478e-03 7.00400753e-06 9.99993612e-01 6.68400834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92028169299994 meters 0.01460552841227665 Centerline is valid? [True, True] Translation: X:207.78, Y:170.77, Z:0.67 [[-3.98080953e-01 -9.17349340e-01 1.32027843e-03 2.07784920e+02] [ 9.17344418e-01 -3.98083142e-01 -3.00514389e-03 1.70769932e+02] [ 3.28234735e-03 1.48595003e-05 9.99994613e-01 6.68342423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95028169299997 meters 0.015291883149092675 Centerline is valid? [True, True] Translation: X:207.77, Y:170.79, Z:0.67 [[-3.96524003e-01 -9.18022907e-01 1.63016535e-03 2.07769587e+02] [ 9.18015423e-01 -3.96527354e-01 -3.70701900e-03 1.70789590e+02] [ 4.04953351e-03 2.65949190e-05 9.99991800e-01 6.66654737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98028169299994 meters 0.015790668359062406 Centerline is valid? [True, True] Translation: X:207.76, Y:170.81, Z:0.66 [[-3.97269091e-01 -9.17699900e-01 2.04005087e-03 2.07757361e+02] [ 9.17688197e-01 -3.97274328e-01 -4.63481716e-03 1.70809151e+02] [ 5.06383108e-03 3.08610067e-05 9.99987178e-01 6.64260114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01028169299997 meters 0.014761097452957223 Centerline is valid? [True, True] Translation: X:207.75, Y:170.83, Z:0.66 [[-3.98044180e-01 -9.17364018e-01 2.02245935e-03 2.07748600e+02] [ 9.17352530e-01 -3.98049317e-01 -4.59095839e-03 1.70830984e+02] [ 5.01661859e-03 2.79039376e-05 9.99987416e-01 6.64906389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04028169299994 meters 0.015477958995677854 Centerline is valid? [True, True] Translation: X:207.74, Y:170.85, Z:0.66 [[-3.98299169e-01 -9.17253489e-01 1.95169448e-03 2.07736208e+02] [ 9.17242808e-01 -3.98303950e-01 -4.42656500e-03 1.70850390e+02] [ 4.83764981e-03 2.70805640e-05 9.99988298e-01 6.64392980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07028169299997 meters 0.01587478488302229 Centerline is valid? [True, True] Translation: X:207.72, Y:170.87, Z:0.66 [[-3.98012769e-01 -9.17377970e-01 1.86972900e-03 2.07724305e+02] [ 9.17368185e-01 -3.98017159e-01 -4.23717293e-03 1.70870370e+02] [ 4.63127333e-03 2.87809681e-05 9.99989275e-01 6.64771730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10028169299994 meters 0.01689974522821747 Centerline is valid? [True, True] Translation: X:207.71, Y:170.89, Z:0.66 [[-3.95803811e-01 -9.18332113e-01 2.33957235e-03 2.07711151e+02] [ 9.18316836e-01 -3.95810722e-01 -5.29724133e-03 1.70891293e+02] [ 5.79065464e-03 5.18003771e-05 9.99983233e-01 6.64528183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130281693 meters 0.019533408780444104 Centerline is valid? [True, True] Translation: X:207.69, Y:170.91, Z:0.66 [[-3.93275412e-01 -9.19415864e-01 2.98651561e-03 2.07694987e+02] [ 9.19391045e-01 -3.93286742e-01 -6.75617599e-03 1.70910360e+02] [ 7.38629238e-03 8.87378102e-05 9.99972717e-01 6.62020500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16028169299994 meters 0.021306247761114255 Centerline is valid? [True, True] Translation: X:207.68, Y:170.93, Z:0.66 [[-3.92446502e-01 -9.19770929e-01 2.67975385e-03 2.07681280e+02] [ 9.19750987e-01 -3.92455641e-01 -6.05730413e-03 1.70929710e+02] [ 6.62301677e-03 8.75384325e-05 9.99978064e-01 6.62324065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190281693 meters 0.022404276569744697 Centerline is valid? [True, True] Translation: X:207.67, Y:170.95, Z:0.67 [[-3.91753147e-01 -9.20068132e-01 2.02592954e-03 2.07669572e+02] [ 9.20056756e-01 -3.91758378e-01 -4.57580551e-03 1.70948691e+02] [ 5.00372770e-03 7.13839575e-05 9.99987479e-01 6.65115097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22028169299995 meters 0.022336636608041263 Centerline is valid? [True, True] Translation: X:207.66, Y:170.97, Z:0.67 [[-3.91143920e-01 -9.20329374e-01 5.27245383e-04 2.07659365e+02] [ 9.20328603e-01 -3.91144275e-01 -1.19093850e-03 1.70970218e+02] [ 1.30228469e-03 1.94106544e-05 9.99999152e-01 6.72027722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250281693 meters 0.021533763813929768 Centerline is valid? [True, True] Translation: X:207.65, Y:170.99, Z:0.67 [[-3.91451063e-01 -9.20198867e-01 3.31226875e-04 2.07650263e+02] [ 9.20198563e-01 -3.91451203e-01 -7.48138273e-04 1.70991973e+02] [ 8.18095150e-04 1.19349723e-05 9.99999665e-01 6.73288873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28028169299995 meters 0.021124686385260927 Centerline is valid? [True, True] Translation: X:207.64, Y:171.01, Z:0.67 [[-3.92377562e-01 -9.19804018e-01 6.45640101e-04 2.07640475e+02] [ 9.19802867e-01 -3.92378092e-01 -1.45565457e-03 1.71013359e+02] [ 1.59225195e-03 2.26954253e-05 9.99998732e-01 6.71733345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310281693 meters 0.019309938853714695 Centerline is valid? [True, True] Translation: X:207.63, Y:171.04, Z:0.67 [[-3.94610798e-01 -9.18846595e-01 1.80354941e-03 2.07634132e+02] [ 9.18837626e-01 -3.94614916e-01 -4.06024314e-03 1.71036508e+02] [ 4.44244809e-03 5.49532750e-05 9.99990131e-01 6.66659714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34028169299995 meters 0.018513293735093136 Centerline is valid? [True, True] Translation: X:207.63, Y:171.06, Z:0.67 [[-3.96309515e-01 -9.18114749e-01 2.01875044e-03 2.07626762e+02] [ 9.18103522e-01 -3.96314653e-01 -4.54079413e-03 1.71058891e+02] [ 4.96903044e-03 5.38619680e-05 9.99987653e-01 6.65593082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370281693 meters 0.015894986229168014 Centerline is valid? [True, True] Translation: X:207.62, Y:171.08, Z:0.67 [[-3.99747468e-01 -9.16623385e-01 1.87943642e-03 2.07622894e+02] [ 9.16613653e-01 -3.99751884e-01 -4.22408922e-03 1.71083423e+02] [ 4.62320721e-03 3.41481102e-05 9.99989312e-01 6.66151811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40028169299995 meters 0.015298394530832744 Centerline is valid? [True, True] Translation: X:207.62, Y:171.10, Z:0.67 [[-4.01090879e-01 -9.16036303e-01 1.89674647e-03 2.07615232e+02] [ 9.16026401e-01 -4.01095363e-01 -4.25942365e-03 1.71104937e+02] [ 4.66256291e-03 2.90538656e-05 9.99989130e-01 6.65671334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430281693 meters 0.01503632984968935 Centerline is valid? [True, True] Translation: X:207.61, Y:171.13, Z:0.67 [[-4.02186646e-01 -9.15555488e-01 2.01266801e-03 2.07606985e+02] [ 9.15544351e-01 -4.02191681e-01 -4.51580754e-03 1.71126533e+02] [ 4.94395071e-03 2.64893388e-05 9.99987778e-01 6.65109926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46028169299996 meters 0.01469583199172533 Centerline is valid? [True, True] Translation: X:207.60, Y:171.15, Z:0.67 [[-4.02747398e-01 -9.15309691e-01 1.64418997e-03 2.07600461e+02] [ 9.15302268e-01 -4.02750754e-01 -3.68627872e-03 1.71150009e+02] [ 4.03628539e-03 2.02916461e-05 9.99991854e-01 6.67940634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490281693 meters 0.014648320951254483 Centerline is valid? [True, True] Translation: X:207.59, Y:171.17, Z:0.67 [[-4.02938939e-01 -9.15225802e-01 1.39410275e-03 2.07591022e+02] [ 9.15220473e-01 -4.02941350e-01 -3.12325774e-03 1.71171530e+02] [ 3.42022771e-03 1.74292199e-05 9.99994151e-01 6.69495015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52028169299996 meters 0.014803119729586095 Centerline is valid? [True, True] Translation: X:207.58, Y:171.19, Z:0.67 [[-4.03179277e-01 -9.15119941e-01 1.40120874e-03 2.07580698e+02] [ 9.15114566e-01 -4.03181712e-01 -3.13655764e-03 1.71191746e+02] [ 3.43526818e-03 1.76714853e-05 9.99994099e-01 6.69379487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550281693 meters 0.014773711414302176 Centerline is valid? [True, True] Translation: X:207.57, Y:171.21, Z:0.67 [[-4.03478464e-01 -9.14987931e-01 1.48828007e-03 2.07570989e+02] [ 9.14981877e-01 -4.03481208e-01 -3.32859319e-03 1.71213420e+02] [ 3.64611564e-03 1.87336237e-05 9.99993353e-01 6.68776141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58028169299996 meters 0.014534716589079956 Centerline is valid? [True, True] Translation: X:207.56, Y:171.24, Z:0.67 [[-4.03964253e-01 -9.14773404e-01 1.58158800e-03 2.07561925e+02] [ 9.14766577e-01 -4.03967349e-01 -3.53426576e-03 1.71235375e+02] [ 3.87196223e-03 1.90668136e-05 9.99992504e-01 6.69298652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.610281693 meters 0.014316746819046246 Centerline is valid? [True, True] Translation: X:207.55, Y:171.26, Z:0.67 [[-4.05031944e-01 -9.14301266e-01 1.52309804e-03 2.07551467e+02] [ 9.14294941e-01 -4.05034807e-01 -3.40072493e-03 1.71256213e+02] [ 3.72619482e-03 1.51586027e-05 9.99993058e-01 6.69946012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64028169299996 meters 0.01439413064362245 Centerline is valid? [True, True] Translation: X:207.54, Y:171.28, Z:0.67 [[-4.05523090e-01 -9.14083724e-01 1.40293965e-03 2.07541906e+02] [ 9.14078366e-01 -4.05525517e-01 -3.12982068e-03 1.71276031e+02] [ 3.42984597e-03 1.31822264e-05 9.99994118e-01 6.70215628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67028169299994 meters 0.014638515185242625 Centerline is valid? [True, True] Translation: X:207.53, Y:171.30, Z:0.67 [[-4.05242723e-01 -9.14207894e-01 1.50421905e-03 2.07533003e+02] [ 9.14201746e-01 -4.05245515e-01 -3.35271465e-03 1.71297227e+02] [ 3.67465622e-03 1.64964655e-05 9.99993248e-01 6.70276226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70028169299997 meters 0.014496181938909638 Centerline is valid? [True, True] Translation: X:207.52, Y:171.32, Z:0.67 [[-4.05306205e-01 -9.14179810e-01 1.46809874e-03 2.07523778e+02] [ 9.14173963e-01 -4.05308864e-01 -3.26949896e-03 1.71318703e+02] [ 3.58394337e-03 1.69494226e-05 9.99993578e-01 6.70815099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73028169299994 meters 0.014599048924525654 Centerline is valid? [True, True] Translation: X:207.51, Y:171.34, Z:0.67 [[-4.05457734e-01 -9.14112748e-01 1.38198644e-03 2.07512944e+02] [ 9.14107575e-01 -4.05460089e-01 -3.07530111e-03 1.71340073e+02] [ 3.37151229e-03 1.63796525e-05 9.99994316e-01 6.71624271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76028169299997 meters 0.014795854625339567 Centerline is valid? [True, True] Translation: X:207.50, Y:171.36, Z:0.67 [[-4.05754833e-01 -9.13981082e-01 1.26405186e-03 2.07500949e+02] [ 9.13976760e-01 -4.05756802e-01 -2.81067864e-03 1.71359900e+02] [ 3.08180474e-03 1.48675791e-05 9.99995251e-01 6.72257868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79028169299994 meters 0.014466760397747127 Centerline is valid? [True, True] Translation: X:207.49, Y:171.38, Z:0.67 [[-4.06344269e-01 -9.13719343e-01 1.13909590e-03 2.07491597e+02] [ 9.13715838e-01 -4.06345865e-01 -2.53087869e-03 1.71381687e+02] [ 2.77537972e-03 1.24019112e-05 9.99996149e-01 6.72553066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82028169299997 meters 0.014174482202931354 Centerline is valid? [True, True] Translation: X:207.48, Y:171.40, Z:0.67 [[-4.07713066e-01 -9.13109392e-01 1.13744118e-03 2.07482458e+02] [ 9.13105901e-01 -4.07714652e-01 -2.52512154e-03 1.71402611e+02] [ 2.76946362e-03 9.07920599e-06 9.99996165e-01 6.71673511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85028169299994 meters 0.013712660657574649 Centerline is valid? [True, True] Translation: X:207.47, Y:171.42, Z:0.67 [[-4.08614491e-01 -9.12706157e-01 1.29158206e-03 2.07472715e+02] [ 9.12701662e-01 -4.08616532e-01 -2.86463474e-03 1.71424650e+02] [ 3.14233155e-03 8.29782909e-06 9.99995063e-01 6.71592289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880281693 meters 0.013818266899121178 Centerline is valid? [True, True] Translation: X:207.46, Y:171.45, Z:0.67 [[-4.09261493e-01 -9.12416165e-01 1.33102914e-03 2.07462516e+02] [ 9.12411398e-01 -4.09263657e-01 -2.94953173e-03 1.71445419e+02] [ 3.23594228e-03 7.31640477e-06 9.99994764e-01 6.71408509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91028169299994 meters 0.013636223286086262 Centerline is valid? [True, True] Translation: X:207.45, Y:171.47, Z:0.67 [[-4.10478612e-01 -9.11869335e-01 1.27505351e-03 2.07453486e+02] [ 9.11864965e-01 -4.10480592e-01 -2.82309810e-03 1.71467504e+02] [ 3.09768130e-03 3.85523597e-06 9.99995202e-01 6.72412600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940281693 meters 0.013636223286086262 Centerline is valid? [True, True] Translation: X:207.44, Y:171.49, Z:0.67 [[-4.10771703e-01 -9.11737342e-01 1.27595947e-03 2.07443504e+02] [ 9.11732972e-01 -4.10773684e-01 -2.82268863e-03 1.71488584e+02] [ 3.09768120e-03 3.85370638e-06 9.99995202e-01 6.72458976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97028169299995 meters 0.013559679320939393 Centerline is valid? [True, True] Translation: X:207.43, Y:171.51, Z:0.67 [[-4.11752344e-01 -9.11294625e-01 1.45376016e-03 2.07434556e+02] [ 9.11288961e-01 -4.11754911e-01 -3.21301444e-03 1.71509535e+02] [ 3.52659567e-03 1.82935379e-06 9.99993782e-01 6.72279261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000281693 meters 0.013667855154212588 Centerline is valid? [True, True] Translation: X:207.42, Y:171.53, Z:0.67 [[-4.12460483e-01 -9.10973549e-01 1.88212944e-03 2.07423952e+02] [ 9.10964071e-01 -4.12464777e-01 -4.15567011e-03 1.71530062e+02] [ 4.56201765e-03 5.02600949e-07 9.99989594e-01 6.69990718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03028169299995 meters 0.013690767145629314 Centerline is valid? [True, True] Translation: X:207.41, Y:171.55, Z:0.67 [[-4.12550638e-01 -9.10932617e-01 1.93340576e-03 2.07412551e+02] [ 9.10922631e-01 -4.12555169e-01 -4.26527765e-03 1.71551207e+02] [ 4.68301707e-03 1.54004316e-06 9.99989035e-01 6.69447408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060281693 meters 0.01389035161612662 Centerline is valid? [True, True] Translation: X:207.40, Y:171.57, Z:0.67 [[-4.12206087e-01 -9.11088647e-01 1.90226112e-03 2.07401316e+02] [ 9.11078998e-01 -4.12210477e-01 -4.19311349e-03 1.71570868e+02] [ 4.60443006e-03 4.68325527e-06 9.99989400e-01 6.69216837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09028169299995 meters 0.014386959150614876 Centerline is valid? [True, True] Translation: X:207.39, Y:171.59, Z:0.67 [[-4.10697863e-01 -9.11769195e-01 2.04958910e-03 2.07386961e+02] [ 9.11758021e-01 -4.10702977e-01 -4.51404727e-03 1.71589571e+02] [ 4.95754159e-03 1.48197351e-05 9.99987711e-01 6.68900786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120281693 meters 0.014603621389687278 Centerline is valid? [True, True] Translation: X:207.37, Y:171.61, Z:0.67 [[-4.09898560e-01 -9.12128692e-01 2.10249690e-03 2.07374528e+02] [ 9.12116957e-01 -4.09903952e-01 -4.62677988e-03 1.71610127e+02] [ 5.08204047e-03 2.12126659e-05 9.99987086e-01 6.69568737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15028169299995 meters 0.015542389277786145 Centerline is valid? [True, True] Translation: X:207.36, Y:171.63, Z:0.67 [[-4.08473468e-01 -9.12768067e-01 1.97028485e-03 2.07360350e+02] [ 9.12757785e-01 -4.08478219e-01 -4.33240965e-03 1.71630262e+02] [ 4.75930363e-03 2.87184435e-05 9.99988674e-01 6.69049409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180281693 meters 0.015670168152426434 Centerline is valid? [True, True] Translation: X:207.35, Y:171.65, Z:0.67 [[-4.08509248e-01 -9.12752099e-01 1.94924532e-03 2.07350341e+02] [ 9.12742053e-01 -4.08513898e-01 -4.28262214e-03 1.71650932e+02] [ 4.70526615e-03 2.96674203e-05 9.99988930e-01 6.69152977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21028169299996 meters 0.015552451641398034 Centerline is valid? [True, True] Translation: X:207.34, Y:171.67, Z:0.67 [[-4.09056896e-01 -9.12506742e-01 1.97554837e-03 2.07340435e+02] [ 9.12496437e-01 -4.09061665e-01 -4.33677120e-03 1.71671885e+02] [ 4.76545406e-03 2.86946859e-05 9.99988645e-01 6.69480445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240281693 meters 0.014662576845014727 Centerline is valid? [True, True] Translation: X:207.33, Y:171.69, Z:0.67 [[-4.11170236e-01 -9.11555172e-01 2.49115452e-03 2.07332177e+02] [ 9.11538797e-01 -4.11177782e-01 -5.46374900e-03 1.71694744e+02] [ 6.00481604e-03 2.42530240e-05 9.99981971e-01 6.67758272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27028169299996 meters 0.014470248008551517 Centerline is valid? [True, True] Translation: X:207.32, Y:171.72, Z:0.67 [[-4.12485543e-01 -9.10960582e-01 2.54851919e-03 2.07324239e+02] [ 9.10943462e-01 -4.12493416e-01 -5.58484939e-03 1.71716079e+02] [ 6.13882504e-03 1.78872634e-05 9.99981157e-01 6.66591154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300281693 meters 0.013714016339626146 Centerline is valid? [True, True] Translation: X:207.32, Y:171.74, Z:0.67 [[-4.14473645e-01 -9.10059337e-01 1.89742274e-03 2.07318727e+02] [ 9.10049852e-01 -4.14477988e-01 -4.15497588e-03 1.71739845e+02] [ 4.56771455e-03 4.62128454e-06 9.99989568e-01 6.70262447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33028169299996 meters 0.01371419334207365 Centerline is valid? [True, True] Translation: X:207.31, Y:171.76, Z:0.67 [[-4.14938619e-01 -9.09848191e-01 1.48716546e-03 2.07308963e+02] [ 9.09842372e-01 -4.14941284e-01 -3.25421771e-03 1.71760403e+02] [ 3.57793044e-03 2.78554567e-06 9.99993599e-01 6.72749862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.360281693 meters 0.014148281162395753 Centerline is valid? [True, True] Translation: X:207.29, Y:171.78, Z:0.67 [[-4.13305326e-01 -9.10591150e-01 1.56976278e-03 2.07294866e+02] [ 9.10584684e-01 -4.13308307e-01 -3.43181749e-03 1.71777728e+02] [ 3.77377863e-03 1.10135014e-05 9.99992879e-01 6.72550887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39028169299996 meters 0.014756566471222539 Centerline is valid? [True, True] Translation: X:207.28, Y:171.80, Z:0.67 [[-4.12161422e-01 -9.11108781e-01 1.93697748e-03 2.07282191e+02] [ 9.11098959e-01 -4.12165973e-01 -4.23058360e-03 1.71798604e+02] [ 4.65287807e-03 2.10948159e-05 9.99989175e-01 6.71052659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42028169299994 meters 0.015492285896398695 Centerline is valid? [True, True] Translation: X:207.27, Y:171.82, Z:0.67 [[-4.11082237e-01 -9.11596164e-01 1.95649393e-03 2.07269700e+02] [ 9.11586165e-01 -4.11086892e-01 -4.26978236e-03 1.71818866e+02] [ 4.69660623e-03 2.82811110e-05 9.99988971e-01 6.70233407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45028169299997 meters 0.01644021947022001 Centerline is valid? [True, True] Translation: X:207.26, Y:171.84, Z:0.67 [[-4.10164523e-01 -9.12010068e-01 1.64325097e-03 2.07256712e+02] [ 9.12003028e-01 -4.10167813e-01 -3.58349739e-03 1.71837826e+02] [ 3.94219435e-03 2.88263676e-05 9.99992229e-01 6.71690332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48028169299994 meters 0.016138574548108835 Centerline is valid? [True, True] Translation: X:207.25, Y:171.86, Z:0.67 [[-4.10720618e-01 -9.11760420e-01 1.22925372e-03 2.07246874e+02] [ 9.11756484e-01 -4.10722457e-01 -2.67882541e-03 1.71858383e+02] [ 2.94732909e-03 2.05312230e-05 9.99995656e-01 6.73365633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51028169299997 meters 0.015111853527397278 Centerline is valid? [True, True] Translation: X:207.24, Y:171.88, Z:0.68 [[-4.12141437e-01 -9.11119535e-01 7.93391372e-04 2.07238650e+02] [ 9.11117896e-01 -4.12142201e-01 -1.72805571e-03 1.71880988e+02] [ 1.90145538e-03 1.06697144e-05 9.99998192e-01 6.75926878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54028169299994 meters 0.015336410312785502 Centerline is valid? [True, True] Translation: X:207.23, Y:171.90, Z:0.68 [[-4.12484123e-01 -9.10964359e-01 8.86209750e-04 2.07227670e+02] [ 9.10962318e-01 -4.12485075e-01 -1.92848777e-03 1.71901258e+02] [ 2.12233192e-03 1.18331007e-05 9.99997748e-01 6.75657516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57028169299997 meters 0.01566218229184623 Centerline is valid? [True, True] Translation: X:207.22, Y:171.92, Z:0.68 [[-4.12303546e-01 -9.11045959e-01 1.02305250e-03 2.07216231e+02] [ 9.11043244e-01 -4.12304815e-01 -2.22418261e-03 1.71921040e+02] [ 2.44814204e-03 1.50066886e-05 9.99997003e-01 6.75387435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60028169299994 meters 0.01601037748287565 Centerline is valid? [True, True] Translation: X:207.20, Y:171.94, Z:0.67 [[-4.11832542e-01 -9.11258122e-01 1.61023051e-03 2.07203670e+02] [ 9.11251412e-01 -4.11835689e-01 -3.49700804e-03 1.71941209e+02] [ 3.84982737e-03 2.71431196e-05 9.99992589e-01 6.72348442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630281693 meters 0.01595891546870614 Centerline is valid? [True, True] Translation: X:207.19, Y:171.96, Z:0.67 [[-4.12382210e-01 -9.11008971e-01 1.88899146e-03 2.07193518e+02] [ 9.10999750e-01 -4.12386535e-01 -4.09887542e-03 1.71962418e+02] [ 4.51310692e-03 3.05674464e-05 9.99989815e-01 6.71282180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66028169299994 meters 0.015104230989782969 Centerline is valid? [True, True] Translation: X:207.19, Y:171.98, Z:0.67 [[-4.14888921e-01 -9.09869276e-01 2.25480500e-03 2.07186688e+02] [ 9.09856144e-01 -4.14895048e-01 -4.88846798e-03 1.71984947e+02] [ 5.38337425e-03 2.33769791e-05 9.99985509e-01 6.68576781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690281693 meters 0.01420858713067819 Centerline is valid? [True, True] Translation: X:207.18, Y:172.01, Z:0.67 [[-4.16904829e-01 -9.08946869e-01 2.43972025e-03 2.07181044e+02] [ 9.08931505e-01 -4.16911968e-01 -5.28486889e-03 1.72007790e+02] [ 5.82081360e-03 1.42512401e-05 9.99983059e-01 6.67984194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72028169299995 meters 0.01402381454300757 Centerline is valid? [True, True] Translation: X:207.18, Y:172.03, Z:0.67 [[-4.18603271e-01 -9.08165028e-01 2.75369957e-03 2.07175044e+02] [ 9.08145474e-01 -4.18612328e-01 -5.95964861e-03 1.72029685e+02] [ 6.56507703e-03 6.03140434e-06 9.99978450e-01 6.66408930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750281693 meters 0.013986257974703207 Centerline is valid? [True, True] Translation: X:207.17, Y:172.05, Z:0.67 [[-4.19360214e-01 -9.07814603e-01 3.10782335e-03 2.07169471e+02] [ 9.07789728e-01 -4.19371729e-01 -6.72027449e-03 1.72053818e+02] [ 7.40409657e-03 3.03436898e-06 9.99972589e-01 6.66145441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78028169299995 meters 0.014117290422571448 Centerline is valid? [True, True] Translation: X:207.16, Y:172.07, Z:0.67 [[-4.18532563e-01 -9.08196834e-01 3.00081261e-03 2.07158407e+02] [ 9.08173691e-01 -4.18543320e-01 -6.48353054e-03 1.72073621e+02] [ 7.14429198e-03 1.16904124e-05 9.99974479e-01 6.66836541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810281693 meters 0.015988541377374592 Centerline is valid? [True, True] Translation: X:207.14, Y:172.09, Z:0.67 [[-4.14451644e-01 -9.10068508e-01 2.26850099e-03 2.07139908e+02] [ 9.10055330e-01 -4.14457851e-01 -4.89752825e-03 1.72090006e+02] [ 5.39728427e-03 3.46727819e-05 9.99985434e-01 6.71394734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84028169299995 meters 0.01821015015523503 Centerline is valid? [True, True] Translation: X:207.12, Y:172.11, Z:0.67 [[-4.12018791e-01 -9.11173281e-01 1.94107725e-03 2.07124009e+02] [ 9.11163662e-01 -4.12023361e-01 -4.18704457e-03 1.72107758e+02] [ 4.61489231e-03 4.34980170e-05 9.99989350e-01 6.72596984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870281693 meters 0.019674477403726732 Centerline is valid? [True, True] Translation: X:207.11, Y:172.13, Z:0.67 [[-4.09716301e-01 -9.12211494e-01 1.65630707e-03 2.07109354e+02] [ 9.12204510e-01 -4.09719646e-01 -3.56992545e-03 1.72127510e+02] [ 3.93514858e-03 4.82341300e-05 9.99992256e-01 6.74110908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90028169299995 meters 0.024045827662004384 Centerline is valid? [True, True] Translation: X:207.09, Y:172.14, Z:0.67 [[-4.06905218e-01 -9.13469494e-01 1.27565250e-03 2.07088462e+02] [ 9.13465363e-01 -4.06907215e-01 -2.74765059e-03 1.72143796e+02] [ 3.02896720e-03 4.72310114e-05 9.99995412e-01 6.74617858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930281693 meters 0.02427127479833596 Centerline is valid? [True, True] Translation: X:207.08, Y:172.16, Z:0.67 [[-4.06731376e-01 -9.13546813e-01 1.34475011e-03 2.07076205e+02] [ 9.13542230e-01 -4.06733596e-01 -2.89407104e-03 1.72163460e+02] [ 3.19082442e-03 5.13765182e-05 9.99994908e-01 6.74493047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96028169299996 meters 0.022236617408383706 Centerline is valid? [True, True] Translation: X:207.07, Y:172.19, Z:0.67 [[-4.07922318e-01 -9.13015133e-01 1.65836954e-03 2.07065875e+02] [ 9.13008172e-01 -4.07925684e-01 -3.56580280e-03 1.72185291e+02] [ 3.93212345e-03 5.95343945e-05 9.99992267e-01 6.73730912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990281693 meters 0.021561333648473395 Centerline is valid? [True, True] Translation: X:207.05, Y:172.21, Z:0.67 [[-4.09040928e-01 -9.12514636e-01 1.59916084e-03 2.07054340e+02] [ 9.12508170e-01 -4.09044051e-01 -3.43579531e-03 1.72205639e+02] [ 3.78934074e-03 5.38664235e-05 9.99992819e-01 6.74620846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02028169299996 meters 0.021303916356121538 Centerline is valid? [True, True] Translation: X:207.04, Y:172.22, Z:0.68 [[-4.09845461e-01 -9.12154005e-01 1.33038865e-03 2.07038625e+02] [ 9.12149534e-01 -4.09847618e-01 -2.85625994e-03 1.72222979e+02] [ 3.15060556e-03 4.28882181e-05 9.99995036e-01 6.76231596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050281693 meters 0.02093503583000972 Centerline is valid? [True, True] Translation: X:207.03, Y:172.24, Z:0.68 [[-4.09855132e-01 -9.12149584e-01 1.38067025e-03 2.07025710e+02] [ 9.12144777e-01 -4.09857455e-01 -2.96175807e-03 1.72242897e+02] [ 3.26744439e-03 4.54794165e-05 9.99994661e-01 6.75842858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08028169299996 meters 0.0221863153327625 Centerline is valid? [True, True] Translation: X:207.01, Y:172.26, Z:0.68 [[-4.09831741e-01 -9.12159937e-01 1.48123047e-03 2.07011246e+02] [ 9.12154413e-01 -4.09834415e-01 -3.17478119e-03 1.72261691e+02] [ 3.50296743e-03 4.99848117e-05 9.99993863e-01 6.75260210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.110281693 meters 0.022188728956651253 Centerline is valid? [True, True] Translation: X:207.00, Y:172.28, Z:0.67 [[-4.09481376e-01 -9.12316481e-01 1.90820876e-03 2.06996110e+02] [ 9.12307333e-01 -4.09485816e-01 -4.08622394e-03 1.72280883e+02] [ 4.50931387e-03 6.76402399e-05 9.99989831e-01 6.73910624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14028169299996 meters 0.022299120484425453 Centerline is valid? [True, True] Translation: X:206.98, Y:172.30, Z:0.67 [[-4.09596630e-01 -9.12265041e-01 1.75915666e-03 2.06982286e+02] [ 9.12257278e-01 -4.09600403e-01 -3.76418768e-03 1.72300975e+02] [ 4.15448810e-03 6.30048805e-05 9.99991368e-01 6.74111022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17028169299994 meters 0.020771294803097463 Centerline is valid? [True, True] Translation: X:206.97, Y:172.32, Z:0.68 [[-4.11327546e-01 -9.11486690e-01 1.29008869e-03 2.06967833e+02] [ 9.11482516e-01 -4.11329567e-01 -2.75869471e-03 1.72320911e+02] [ 3.04516513e-03 4.11661566e-05 9.99995363e-01 6.75794456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20028169299997 meters 0.01908426076907535 Centerline is valid? [True, True] Translation: X:206.96, Y:172.34, Z:0.68 [[-4.13041568e-01 -9.10711368e-01 1.21104171e-03 2.06957910e+02] [ 9.10707693e-01 -4.13043342e-01 -2.58771091e-03 1.72342384e+02] [ 2.85687046e-03 3.40728281e-05 9.99995919e-01 6.75760343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23028169299994 meters 0.016988822695714393 Centerline is valid? [True, True] Translation: X:206.95, Y:172.36, Z:0.68 [[-4.15328132e-01 -9.09670755e-01 1.28885583e-03 2.06949739e+02] [ 9.09666593e-01 -4.15330130e-01 -2.75165787e-03 1.72364762e+02] [ 3.03840336e-03 2.95881721e-05 9.99995384e-01 6.75065514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26028169299997 meters 0.01462349109536591 Centerline is valid? [True, True] Translation: X:206.94, Y:172.39, Z:0.68 [[-4.20307899e-01 -9.07380632e-01 1.28780962e-03 2.06942731e+02] [ 9.07376474e-01 -4.20309872e-01 -2.74712014e-03 1.72386581e+02] [ 3.03396271e-03 1.38918572e-05 9.99995397e-01 6.75806119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29028169299994 meters 0.013914645446260431 Centerline is valid? [True, True] Translation: X:206.93, Y:172.41, Z:0.68 [[-4.22734533e-01 -9.06252463e-01 1.40982848e-03 2.06933890e+02] [ 9.06247482e-01 -4.22736884e-01 -3.00475895e-03 1.72408656e+02] [ 3.31905670e-03 7.43813680e-06 9.99994492e-01 6.75659250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32028169299997 meters 0.013761459534882451 Centerline is valid? [True, True] Translation: X:206.93, Y:172.43, Z:0.67 [[-4.26300464e-01 -9.04579519e-01 1.95148104e-03 2.06926502e+02] [ 9.04569975e-01 -4.26304931e-01 -4.15528663e-03 1.72431548e+02] [ 4.59071317e-03 -6.14946869e-06 9.99989463e-01 6.73183620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35028169299994 meters 0.014040156668523925 Centerline is valid? [True, True] Translation: X:206.92, Y:172.45, Z:0.67 [[-4.27755378e-01 -9.03891975e-01 2.15258069e-03 2.06917790e+02] [ 9.03880374e-01 -4.27760794e-01 -4.57963435e-03 1.72453824e+02] [ 5.06028436e-03 -1.32877839e-05 9.99987197e-01 6.71937712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380281693 meters 0.014440197097093575 Centerline is valid? [True, True] Translation: X:206.91, Y:172.48, Z:0.67 [[-4.29261339e-01 -9.03178466e-01 1.83351399e-03 2.06909685e+02] [ 9.03170055e-01 -4.29265255e-01 -3.89782046e-03 1.72475108e+02] [ 4.30749135e-03 -1.72086967e-05 9.99990723e-01 6.73768730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41028169299994 meters 0.014172039799860465 Centerline is valid? [True, True] Translation: X:206.90, Y:172.50, Z:0.68 [[-4.29150489e-01 -9.03231704e-01 1.53169092e-03 2.06898562e+02] [ 9.03225844e-01 -4.29153222e-01 -3.25373667e-03 1.72495391e+02] [ 3.59620821e-03 -1.28798614e-05 9.99993534e-01 6.75719542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440281693 meters 0.013830051985816081 Centerline is valid? [True, True] Translation: X:206.89, Y:172.52, Z:0.68 [[-4.28427078e-01 -9.03575374e-01 1.33526912e-03 2.06885920e+02] [ 9.03570928e-01 -4.28429158e-01 -2.83438729e-03 1.72516196e+02] [ 3.13315078e-03 -7.81790816e-06 9.99995092e-01 6.76635086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47028169299995 meters 0.013569897956574043 Centerline is valid? [True, True] Translation: X:206.87, Y:172.53, Z:0.68 [[-4.25540368e-01 -9.04938143e-01 1.53403263e-03 2.06869521e+02] [ 9.04932294e-01 -4.25543133e-01 -3.25350514e-03 1.72534976e+02] [ 3.59701795e-03 3.69789457e-06 9.99993531e-01 6.76059691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500281693 meters 0.01425677575182552 Centerline is valid? [True, True] Translation: X:206.85, Y:172.55, Z:0.68 [[-4.23724418e-01 -9.05789531e-01 1.71548895e-03 2.06854756e+02] [ 9.05782237e-01 -4.23727890e-01 -3.63520327e-03 1.72552853e+02] [ 4.01962958e-03 1.35350271e-05 9.99991921e-01 6.75309338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53028169299995 meters 0.016213217024763974 Centerline is valid? [True, True] Translation: X:206.84, Y:172.57, Z:0.68 [[-4.19960725e-01 -9.07540565e-01 1.76403439e-03 2.06835315e+02] [ 9.07532880e-01 -4.19964428e-01 -3.73496074e-03 1.72569881e+02] [ 4.13046008e-03 3.23823892e-05 9.99991469e-01 6.75548400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560281693 meters 0.01756238239805843 Centerline is valid? [True, True] Translation: X:206.82, Y:172.59, Z:0.67 [[-4.18818506e-01 -9.08068079e-01 1.84987732e-03 2.06821623e+02] [ 9.08059648e-01 -4.18822590e-01 -3.91338589e-03 1.72588262e+02] [ 4.32839122e-03 4.08005187e-05 9.99990632e-01 6.74877523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59028169299995 meters 0.018275357448886774 Centerline is valid? [True, True] Translation: X:206.81, Y:172.61, Z:0.67 [[-4.18475476e-01 -9.08225929e-01 1.98464508e-03 2.06809082e+02] [ 9.08216242e-01 -4.18480179e-01 -4.19489102e-03 1.72607558e+02] [ 4.64044342e-03 4.70278783e-05 9.99989232e-01 6.73724601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620281693 meters 0.01782071646091024 Centerline is valid? [True, True] Translation: X:206.80, Y:172.63, Z:0.67 [[-4.19268207e-01 -9.07860036e-01 2.07978803e-03 2.06796638e+02] [ 9.07849411e-01 -4.19273363e-01 -4.39240872e-03 1.72627938e+02] [ 4.85969206e-03 4.65370089e-05 9.99988191e-01 6.72874196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65028169299995 meters 0.01721344572144174 Centerline is valid? [True, True] Translation: X:206.79, Y:172.65, Z:0.67 [[-4.20266873e-01 -9.07398350e-01 1.99734993e-03 2.06785839e+02] [ 9.07388561e-01 -4.20271617e-01 -4.21502477e-03 1.72649127e+02] [ 4.66413601e-03 4.09371973e-05 9.99989122e-01 6.73310624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680281693 meters 0.01660672556277183 Centerline is valid? [True, True] Translation: X:206.77, Y:172.67, Z:0.67 [[-4.21149931e-01 -9.06989371e-01 1.73658853e-03 2.06773445e+02] [ 9.06981979e-01 -4.21153510e-01 -3.66201478e-03 1.72669124e+02] [ 4.05277884e-03 3.27972267e-05 9.99991787e-01 6.74882556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71028169299996 meters 0.016518875028611015 Centerline is valid? [True, True] Translation: X:206.76, Y:172.69, Z:0.68 [[-4.21471158e-01 -9.06840145e-01 1.73600855e-03 2.06761095e+02] [ 9.06832769e-01 -4.21474732e-01 -3.65788319e-03 1.72689677e+02] [ 4.04879907e-03 3.25771788e-05 9.99991803e-01 6.75065311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740281693 meters 0.01632302490280375 Centerline is valid? [True, True] Translation: X:206.75, Y:172.71, Z:0.67 [[-4.21855971e-01 -9.06660728e-01 1.96574665e-03 2.06748280e+02] [ 9.06651283e-01 -4.21860550e-01 -4.13844507e-03 1.72710209e+02] [ 4.58143658e-03 3.64189593e-05 9.99989505e-01 6.74328156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77028169299996 meters 0.016852230549576065 Centerline is valid? [True, True] Translation: X:206.73, Y:172.73, Z:0.67 [[-4.22149985e-01 -9.06523631e-01 2.07284354e-03 2.06732025e+02] [ 9.06513145e-01 -4.22155073e-01 -4.36024595e-03 1.72728195e+02] [ 4.82772741e-03 3.83821522e-05 9.99988346e-01 6.73569169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800281693 meters 0.015796741979673314 Centerline is valid? [True, True] Translation: X:206.72, Y:172.75, Z:0.67 [[-4.23760273e-01 -9.05772535e-01 1.82938080e-03 2.06721233e+02] [ 9.05764373e-01 -4.23764221e-01 -3.84521304e-03 1.72749097e+02] [ 4.25811449e-03 2.75394272e-05 9.99990934e-01 6.73954035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83028169299996 meters 0.015796741979673314 Centerline is valid? [True, True] Translation: X:206.71, Y:172.77, Z:0.67 [[-4.24030734e-01 -9.05645949e-01 1.83053193e-03 2.06710831e+02] [ 9.05637789e-01 -4.24034684e-01 -3.84466508e-03 1.72769940e+02] [ 4.25811438e-03 2.75427329e-05 9.99990934e-01 6.74000412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.860281693 meters 0.014726911880755067 Centerline is valid? [True, True] Translation: X:206.70, Y:172.79, Z:0.67 [[-4.25917783e-01 -9.04760229e-01 1.72333514e-03 2.06702033e+02] [ 9.04753000e-01 -4.25921269e-01 -3.61681126e-03 1.72791782e+02] [ 4.00635207e-03 1.87284011e-05 9.99991974e-01 6.74387419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89028169299996 meters 0.01392112321244629 Centerline is valid? [True, True] Translation: X:206.69, Y:172.81, Z:0.67 [[-4.28317242e-01 -9.03626787e-01 1.72310474e-03 2.06694397e+02] [ 9.03619562e-01 -4.28320708e-01 -3.61349039e-03 1.72813319e+02] [ 4.00328816e-03 9.31091633e-06 9.99991987e-01 6.74459692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92028169299994 meters 0.013576212051532822 Centerline is valid? [True, True] Translation: X:206.69, Y:172.84, Z:0.67 [[-4.31119767e-01 -9.02293178e-01 1.66340161e-03 2.06687824e+02] [ 9.02286446e-01 -4.31122976e-01 -3.48561233e-03 1.72836115e+02] [ 3.86217488e-03 -1.85164484e-06 9.99992542e-01 6.74959344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95028169299997 meters 0.015780722377849048 Centerline is valid? [True, True] Translation: X:206.69, Y:172.86, Z:0.67 [[-4.37076100e-01 -8.99422439e-01 1.93865462e-03 2.06688963e+02] [ 8.99413281e-01 -4.37080399e-01 -4.05887337e-03 1.72860617e+02] [ 4.49798972e-03 -3.03848366e-05 9.99989884e-01 6.74147029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98028169299994 meters 0.020125745148804716 Centerline is valid? [True, True] Translation: X:206.69, Y:172.89, Z:0.67 [[-4.42313605e-01 -8.96858321e-01 1.95611182e-03 2.06689334e+02] [ 8.96848988e-01 -4.42317927e-01 -4.09193085e-03 1.72886024e+02] [ 4.53510556e-03 -5.55797761e-05 9.99989715e-01 6.74032362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01028169299997 meters 0.021566813648343678 Centerline is valid? [True, True] Translation: X:206.68, Y:172.91, Z:0.67 [[-4.43981469e-01 -8.96033747e-01 1.99472689e-03 2.06682884e+02] [ 8.96024050e-01 -4.43985945e-01 -4.16918204e-03 1.72907826e+02] [ 4.62135851e-03 -6.37162931e-05 9.99989319e-01 6.74124859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04028169299994 meters 0.022103976801600284 Centerline is valid? [True, True] Translation: X:206.68, Y:172.93, Z:0.67 [[-4.44703194e-01 -8.95675783e-01 1.99035534e-03 2.06675355e+02] [ 8.95666140e-01 -4.44707643e-01 -4.15667736e-03 1.72929163e+02] [ 4.60816149e-03 -6.57938120e-05 9.99989380e-01 6.74641360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07028169299997 meters 0.021570386866720425 Centerline is valid? [True, True] Translation: X:206.67, Y:172.95, Z:0.68 [[-4.44406357e-01 -8.95823063e-01 2.00728153e-03 2.06667672e+02] [ 8.95813273e-01 -4.44410886e-01 -4.18868125e-03 1.72950986e+02] [ 4.64437503e-03 -6.33271405e-05 9.99989213e-01 6.75154243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10028169299994 meters 0.021256224718016345 Centerline is valid? [True, True] Translation: X:206.66, Y:172.97, Z:0.67 [[-4.44331859e-01 -8.95859071e-01 2.39251861e-03 2.06658110e+02] [ 8.95845186e-01 -4.44338294e-01 -4.98834419e-03 1.72971516e+02] [ 5.53194103e-03 -7.31539645e-05 9.99984696e-01 6.74284428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130281693 meters 0.02046792239715019 Centerline is valid? [True, True] Translation: X:206.65, Y:172.99, Z:0.67 [[-4.43504495e-01 -8.96267701e-01 2.82341015e-03 2.06649857e+02] [ 8.96248405e-01 -4.43513475e-01 -5.88173826e-03 1.72991640e+02] [ 6.52383247e-03 -7.81005065e-05 9.99978717e-01 6.72153879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16028169299994 meters 0.019867517539991563 Centerline is valid? [True, True] Translation: X:206.64, Y:173.01, Z:0.67 [[-4.43246909e-01 -8.96396488e-01 2.34827213e-03 2.06640274e+02] [ 8.96383161e-01 -4.43253125e-01 -4.88827417e-03 1.73012903e+02] [ 5.42271076e-03 -6.17608230e-05 9.99985295e-01 6.73529548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190281693 meters 0.0196248277504558 Centerline is valid? [True, True] Translation: X:206.63, Y:173.03, Z:0.68 [[-4.43336853e-01 -8.96352856e-01 1.99802136e-03 2.06631911e+02] [ 8.96343223e-01 -4.43341352e-01 -4.15604980e-03 1.73033448e+02] [ 4.61109260e-03 -5.16171309e-05 9.99989368e-01 6.75584309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22028169299995 meters 0.02056239274863446 Centerline is valid? [True, True] Translation: X:206.63, Y:173.06, Z:0.68 [[-4.44587387e-01 -8.95734367e-01 1.41371592e-03 2.06627134e+02] [ 8.95729547e-01 -4.44589633e-01 -2.93869377e-03 1.73055101e+02] [ 3.26081245e-03 -4.01990592e-05 9.99994683e-01 6.78569502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250281693 meters 0.02138141776739021 Centerline is valid? [True, True] Translation: X:206.62, Y:173.08, Z:0.68 [[-4.45529711e-01 -8.95266122e-01 1.35907470e-03 2.06619751e+02] [ 8.95261672e-01 -4.45531782e-01 -2.82293230e-03 1.73076524e+02] [ 3.13278663e-03 -4.09727233e-05 9.99995092e-01 6.79258515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28028169299995 meters 0.022888528607830125 Centerline is valid? [True, True] Translation: X:206.62, Y:173.10, Z:0.68 [[-4.46882935e-01 -8.94592021e-01 8.71287911e-04 2.06615959e+02] [ 8.94590192e-01 -4.46883783e-01 -1.80885166e-03 1.73098784e+02] [ 2.00754870e-03 -2.88993183e-05 9.99997984e-01 6.81491905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310281693 meters 0.020142329134491987 Centerline is valid? [True, True] Translation: X:206.60, Y:173.12, Z:0.68 [[-4.47872918e-01 -8.94096929e-01 7.29012909e-04 2.06603394e+02] [ 8.94095650e-01 -4.47873510e-01 -1.51251147e-03 1.73118835e+02] [ 1.67883743e-03 -2.56056546e-05 9.99998590e-01 6.82002792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34028169299995 meters 0.024795471048827452 Centerline is valid? [True, True] Translation: X:206.60, Y:173.14, Z:0.68 [[-4.48790695e-01 -8.93636637e-01 6.87208550e-04 2.06601930e+02] [ 8.93635502e-01 -4.48791221e-01 -1.42473274e-03 1.73143573e+02] [ 1.58160654e-03 -2.52928388e-05 9.99998749e-01 6.82091440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370281693 meters 0.0216296512879396 Centerline is valid? [True, True] Translation: X:206.59, Y:173.17, Z:0.68 [[-4.49691231e-01 -8.93183656e-01 8.67946165e-04 2.06591832e+02] [ 8.93181848e-01 -4.49692067e-01 -1.79754907e-03 1.73165550e+02] [ 1.99584996e-03 -3.31082953e-05 9.99998008e-01 6.81008201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40028169299995 meters 0.02609806644804616 Centerline is valid? [True, True] Translation: X:206.59, Y:173.19, Z:0.68 [[-4.50274638e-01 -8.92889386e-01 1.13774908e-03 2.06590710e+02] [ 8.92886284e-01 -4.50276074e-01 -2.35399121e-03 1.73190121e+02] [ 2.61415495e-03 -4.40619870e-05 9.99996582e-01 6.79529737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430281693 meters 0.027397476880230753 Centerline is valid? [True, True] Translation: X:206.59, Y:173.21, Z:0.68 [[-4.51381430e-01 -8.92329880e-01 1.47966573e-03 2.06589218e+02] [ 8.92324641e-01 -4.51383851e-01 -3.05842705e-03 1.73214515e+02] [ 3.39702306e-03 -6.01749860e-05 9.99994228e-01 6.77902134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46028169299996 meters 0.024129667238593725 Centerline is valid? [True, True] Translation: X:206.58, Y:173.24, Z:0.68 [[-4.51948797e-01 -8.92042558e-01 1.53596747e-03 2.06577453e+02] [ 8.92036920e-01 -4.51951403e-01 -3.17218863e-03 1.73235645e+02] [ 3.52390991e-03 -6.35271446e-05 9.99993789e-01 6.78638372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490281693 meters 0.023769750191022457 Centerline is valid? [True, True] Translation: X:206.57, Y:173.26, Z:0.68 [[-4.52052313e-01 -8.91989951e-01 1.62282520e-03 2.06569318e+02] [ 8.91983667e-01 -4.52055221e-01 -3.34889173e-03 1.73258599e+02] [ 3.72078438e-03 -6.63406826e-05 9.99993076e-01 6.78405922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52028169299996 meters 0.022515347773145893 Centerline is valid? [True, True] Translation: X:206.56, Y:173.28, Z:0.68 [[-4.50705937e-01 -8.92669567e-01 2.28082430e-03 2.06562850e+02] [ 8.92657185e-01 -4.50711700e-01 -4.70247200e-03 1.73280695e+02] [ 5.22574785e-03 -8.34378452e-05 9.99986342e-01 6.76056681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550281693 meters 0.020909531139860823 Centerline is valid? [True, True] Translation: X:206.55, Y:173.30, Z:0.67 [[-4.49226868e-01 -8.93413969e-01 2.58864424e-03 2.06551728e+02] [ 8.93398057e-01 -4.49234319e-01 -5.33281361e-03 1.73302269e+02] [ 5.92731800e-03 -8.29534241e-05 9.99982430e-01 6.74848092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58028169299996 meters 0.017409964477876485 Centerline is valid? [True, True] Translation: X:206.54, Y:173.32, Z:0.68 [[-4.45801414e-01 -8.95128770e-01 2.36291397e-03 2.06537685e+02] [ 8.95115557e-01 -4.45807673e-01 -4.86399333e-03 1.73322248e+02] [ 5.40730555e-03 -5.32940524e-05 9.99985379e-01 6.77200286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.610281693 meters 0.016003524741708713 Centerline is valid? [True, True] Translation: X:206.53, Y:173.34, Z:0.68 [[-4.44102430e-01 -8.95973878e-01 1.95989402e-03 2.06525412e+02] [ 8.95964809e-01 -4.44106753e-01 -4.03137074e-03 1.73341658e+02] [ 4.48240505e-03 -3.43454652e-05 9.99989953e-01 6.78657407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64028169299996 meters 0.014814010877885461 Centerline is valid? [True, True] Translation: X:206.51, Y:173.36, Z:0.68 [[-4.42470105e-01 -8.96781484e-01 1.78254358e-03 2.06512780e+02] [ 8.96773999e-01 -4.42473695e-01 -3.66383501e-03 1.73362220e+02] [ 4.07438804e-03 -2.25987206e-05 9.99991699e-01 6.79535384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67028169299994 meters 0.013453910999821406 Centerline is valid? [True, True] Translation: X:206.50, Y:173.38, Z:0.68 [[-4.38868258e-01 -8.98549018e-01 2.07720613e-03 2.06497783e+02] [ 8.98538891e-01 -4.38873174e-01 -4.26596917e-03 1.73381695e+02] [ 4.74481246e-03 -5.74796484e-06 9.99988743e-01 6.78119563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70028169299997 meters 0.013517287766421235 Centerline is valid? [True, True] Translation: X:206.48, Y:173.40, Z:0.68 [[-4.37227309e-01 -8.99348169e-01 2.26986687e-03 2.06483916e+02] [ 8.99336106e-01 -4.37233201e-01 -4.65788859e-03 1.73401398e+02] [ 5.18152472e-03 4.81714058e-06 9.99986576e-01 6.77282564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73028169299994 meters 0.014279716491666268 Centerline is valid? [True, True] Translation: X:206.47, Y:173.42, Z:0.68 [[-4.34943888e-01 -9.00453912e-01 2.56277544e-03 2.06467093e+02] [ 9.00438580e-01 -4.34951437e-01 -5.25466541e-03 1.73419430e+02] [ 5.84626688e-03 2.21372783e-05 9.99982910e-01 6.77163011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76028169299997 meters 0.01475197872294748 Centerline is valid? [True, True] Translation: X:206.45, Y:173.44, Z:0.68 [[-4.34127017e-01 -9.00848703e-01 2.31219194e-03 2.06453847e+02] [ 9.00836248e-01 -4.34133174e-01 -4.73721258e-03 1.73437956e+02] [ 5.27131103e-03 2.63543444e-05 9.99986106e-01 6.77812488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79028169299994 meters 0.014845274767926315 Centerline is valid? [True, True] Translation: X:206.44, Y:173.46, Z:0.68 [[-4.33780628e-01 -9.01016175e-01 2.05382856e-03 2.06441255e+02] [ 9.01006365e-01 -4.33785490e-01 -4.20467995e-03 1.73457790e+02] [ 4.67940567e-03 2.66038913e-05 9.99989051e-01 6.79590613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82028169299997 meters 0.014605125084314765 Centerline is valid? [True, True] Translation: X:206.43, Y:173.48, Z:0.68 [[-4.34689053e-01 -9.00579052e-01 1.67293424e-03 2.06430408e+02] [ 9.00572549e-01 -4.34692271e-01 -3.42241769e-03 1.73478122e+02] [ 3.80936927e-03 1.89111467e-05 9.99992744e-01 6.79835253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85028169299994 meters 0.014265973449814059 Centerline is valid? [True, True] Translation: X:206.42, Y:173.50, Z:0.68 [[-4.36161754e-01 -8.99866175e-01 1.94735511e-03 2.06421910e+02] [ 8.99857372e-01 -4.36166101e-01 -3.98037169e-03 1.73499451e+02] [ 4.43117213e-03 1.62559531e-05 9.99990182e-01 6.77610638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880281693 meters 0.013594564812288813 Centerline is valid? [True, True] Translation: X:206.42, Y:173.53, Z:0.68 [[-4.40195180e-01 -8.97898635e-01 2.49894840e-03 2.06419340e+02] [ 8.97884132e-01 -4.40202273e-01 -5.10341657e-03 1.73525121e+02] [ 5.68239354e-03 -2.73325746e-06 9.99983855e-01 6.75610877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91028169299994 meters 0.0138898289845797 Centerline is valid? [True, True] Translation: X:206.41, Y:173.55, Z:0.68 [[-4.41916266e-01 -8.97052778e-01 2.51546927e-03 2.06412762e+02] [ 8.97038092e-01 -4.41923425e-01 -5.13308200e-03 1.73547528e+02] [ 5.71629026e-03 -1.19206792e-05 9.99983662e-01 6.75659205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940281693 meters 0.014016617449725476 Centerline is valid? [True, True] Translation: X:206.41, Y:173.57, Z:0.68 [[-4.43581093e-01 -8.96231058e-01 2.38850300e-03 2.06406824e+02] [ 8.96217825e-01 -4.43587523e-01 -4.87023903e-03 1.73571123e+02] [ 5.42436961e-03 -1.97269907e-05 9.99985288e-01 6.77168560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97028169299995 meters 0.01388602389078369 Centerline is valid? [True, True] Translation: X:206.40, Y:173.59, Z:0.68 [[-4.43424318e-01 -8.96308617e-01 2.39539419e-03 2.06395786e+02] [ 8.96295329e-01 -4.43430787e-01 -4.88051539e-03 1.73592553e+02] [ 5.43663953e-03 -1.71585849e-05 9.99985221e-01 6.78280038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000281693 meters 0.013491469548241266 Centerline is valid? [True, True] Translation: X:206.38, Y:173.61, Z:0.68 [[-4.40432040e-01 -8.97782864e-01 2.35528198e-03 2.06379607e+02] [ 8.97770060e-01 -4.40438337e-01 -4.79493559e-03 1.73610150e+02] [ 5.34216749e-03 2.65838565e-06 9.99985731e-01 6.78041170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03028169299995 meters 0.014053618549855679 Centerline is valid? [True, True] Translation: X:206.36, Y:173.63, Z:0.68 [[-4.38276339e-01 -8.98836873e-01 2.47500404e-03 2.06363916e+02] [ 8.98822774e-01 -4.38283327e-01 -5.03456712e-03 1.73629305e+02] [ 5.61000757e-03 1.80583508e-05 9.99984264e-01 6.78057485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060281693 meters 0.01537189551768726 Centerline is valid? [True, True] Translation: X:206.35, Y:173.65, Z:0.68 [[-4.35866563e-01 -9.00006993e-01 2.78423011e-03 2.06347554e+02] [ 8.99989202e-01 -4.35875454e-01 -5.65905172e-03 1.73648302e+02] [ 6.30676369e-03 3.91856148e-05 9.99980111e-01 6.77152983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09028169299995 meters 0.01817864909202262 Centerline is valid? [True, True] Translation: X:206.33, Y:173.67, Z:0.68 [[-4.32242338e-01 -9.01753481e-01 2.68733291e-03 2.06327082e+02] [ 9.01736965e-01 -4.32250687e-01 -5.45801420e-03 1.73665143e+02] [ 6.08338480e-03 6.40826042e-05 9.99981494e-01 6.76290349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120281693 meters 0.01910120877241443 Centerline is valid? [True, True] Translation: X:206.31, Y:173.68, Z:0.68 [[-4.31720359e-01 -9.02004375e-01 2.37478349e-03 2.06313178e+02] [ 9.01991501e-01 -4.31726887e-01 -4.81958968e-03 1.73683743e+02] [ 5.37254885e-03 6.13195368e-05 9.99985566e-01 6.77344386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15028169299995 meters 0.017534514101852274 Centerline is valid? [True, True] Translation: X:206.30, Y:173.71, Z:0.68 [[-4.33304671e-01 -9.01245419e-01 1.93848342e-03 2.06301386e+02] [ 9.01236845e-01 -4.33309005e-01 -3.93134032e-03 1.73705101e+02] [ 4.38306478e-03 4.35645569e-05 9.99990393e-01 6.79209081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180281693 meters 0.016205266930776997 Centerline is valid? [True, True] Translation: X:206.29, Y:173.73, Z:0.68 [[-4.35324830e-01 -9.00271275e-01 1.98116751e-03 2.06290516e+02] [ 9.00262323e-01 -4.35329336e-01 -4.01485481e-03 1.73726956e+02] [ 4.47691879e-03 3.58044846e-05 9.99989978e-01 6.78918303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21028169299996 meters 0.01403653602692089 Centerline is valid? [True, True] Translation: X:206.28, Y:173.75, Z:0.68 [[-4.39724753e-01 -8.98130400e-01 1.98131743e-03 2.06281790e+02] [ 8.98121439e-01 -4.39729216e-01 -4.01203213e-03 1.73747864e+02] [ 4.47457119e-03 1.52738295e-05 9.99989989e-01 6.78305140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240281693 meters 0.01361133035487719 Centerline is valid? [True, True] Translation: X:206.27, Y:173.77, Z:0.68 [[-4.41433603e-01 -8.97292298e-01 1.70487710e-03 2.06272217e+02] [ 8.97285666e-01 -4.41436895e-01 -3.44971498e-03 1.73769872e+02] [ 3.84799834e-03 6.94167178e-06 9.99992596e-01 6.79566046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27028169299996 meters 0.013292209176069074 Centerline is valid? [True, True] Translation: X:206.26, Y:173.79, Z:0.68 [[-4.42700669e-01 -8.96668171e-01 1.51962758e-03 2.06263055e+02] [ 8.96662906e-01 -4.42703277e-01 -3.07256772e-03 1.73790490e+02] [ 3.42781779e-03 2.36589966e-06 9.99994125e-01 6.80246365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300281693 meters 0.013517038143572455 Centerline is valid? [True, True] Translation: X:206.25, Y:173.81, Z:0.68 [[-4.43335739e-01 -8.96353899e-01 1.76364658e-03 2.06252236e+02] [ 8.96346818e-01 -4.43339247e-01 -3.56289437e-03 1.73812078e+02] [ 3.97550800e-03 1.28059240e-06 9.99992098e-01 6.80154921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33028169299996 meters 0.01374398147418435 Centerline is valid? [True, True] Translation: X:206.24, Y:173.83, Z:0.68 [[-4.42615298e-01 -8.96709123e-01 2.10892664e-03 2.06239090e+02] [ 8.96699018e-01 -4.42620322e-01 -4.25686584e-03 1.73832280e+02] [ 4.75062423e-03 6.91850459e-06 9.99988716e-01 6.78410478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.360281693 meters 0.014718941498624592 Centerline is valid? [True, True] Translation: X:206.22, Y:173.85, Z:0.68 [[-4.40618703e-01 -8.97689696e-01 2.89287273e-03 2.06223620e+02] [ 8.97670738e-01 -4.40628198e-01 -5.83419593e-03 1.73849860e+02] [ 6.51197887e-03 2.61913519e-05 9.99978797e-01 6.75090101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39028169299996 meters 0.015272046514897733 Centerline is valid? [True, True] Translation: X:206.21, Y:173.87, Z:0.67 [[-4.39811572e-01 -8.98084565e-01 3.14581167e-03 2.06210529e+02] [ 8.98062191e-01 -4.39822820e-01 -6.33933676e-03 1.73869892e+02] [ 7.07686026e-03 3.70208533e-05 9.99974958e-01 6.74630789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42028169299994 meters 0.0160213389104074 Centerline is valid? [True, True] Translation: X:206.20, Y:173.89, Z:0.68 [[-4.38819289e-01 -8.98570789e-01 2.85807193e-03 2.06197419e+02] [ 8.98552360e-01 -4.38828594e-01 -5.75513426e-03 1.73889289e+02] [ 6.42559922e-03 4.26633566e-05 9.99979355e-01 6.75900768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45028169299997 meters 0.015552218894638994 Centerline is valid? [True, True] Translation: X:206.19, Y:173.91, Z:0.68 [[-4.39585526e-01 -8.98197907e-01 2.25505907e-03 2.06186916e+02] [ 8.98186447e-01 -4.39591309e-01 -4.53744967e-03 1.73911181e+02] [ 5.06683217e-03 3.08662913e-05 9.99987163e-01 6.78064454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48028169299994 meters 0.014749920955729072 Centerline is valid? [True, True] Translation: X:206.18, Y:173.93, Z:0.68 [[-4.40870121e-01 -8.97569032e-01 1.83545069e-03 2.06178576e+02] [ 8.97561445e-01 -4.40873942e-01 -3.69045062e-03 1.73933718e+02] [ 4.12163657e-03 2.04203662e-05 9.99991506e-01 6.79821383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51028169299997 meters 0.01365254257682209 Centerline is valid? [True, True] Translation: X:206.18, Y:173.96, Z:0.68 [[-4.44668680e-01 -8.95693592e-01 1.65941964e-03 2.06175523e+02] [ 8.95687387e-01 -4.44671777e-01 -3.33408687e-03 1.73959053e+02] [ 3.72421732e-03 3.75723167e-06 9.99993065e-01 6.80312081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54028169299994 meters 0.013705943926324673 Centerline is valid? [True, True] Translation: X:206.17, Y:173.98, Z:0.68 [[-4.47164583e-01 -8.94449477e-01 1.99238604e-03 2.06169137e+02] [ 8.94440534e-01 -4.47169022e-01 -3.99975006e-03 1.73982899e+02] [ 4.46850767e-03 -6.47573399e-06 9.99990016e-01 6.78785961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57028169299997 meters 0.015221365533772303 Centerline is valid? [True, True] Translation: X:206.17, Y:174.01, Z:0.68 [[-4.51178867e-01 -8.92429399e-01 2.72006326e-03 2.06166627e+02] [ 8.92412722e-01 -4.51187065e-01 -5.45589512e-03 1.74007856e+02] [ 6.09625856e-03 -3.41655172e-05 9.99981417e-01 6.75987260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60028169299994 meters 0.01575155316875342 Centerline is valid? [True, True] Translation: X:206.16, Y:174.03, Z:0.68 [[-4.52588724e-01 -8.91715938e-01 2.47643880e-03 2.06158396e+02] [ 8.91702125e-01 -4.52595497e-01 -4.96353697e-03 1.74030428e+02] [ 5.54689007e-03 -3.81951238e-05 9.99984615e-01 6.77036925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630281693 meters 0.017035374178358157 Centerline is valid? [True, True] Translation: X:206.15, Y:174.05, Z:0.68 [[-4.54406011e-01 -8.90792332e-01 2.04910387e-03 2.06154397e+02] [ 8.90782879e-01 -4.54410629e-01 -4.10406091e-03 1.74053697e+02] [ 4.58700057e-03 -3.96032980e-05 9.99989479e-01 6.78672411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66028169299994 meters 0.01706645761841301 Centerline is valid? [True, True] Translation: X:206.15, Y:174.08, Z:0.68 [[-4.55347744e-01 -8.90311097e-01 2.14085270e-03 2.06145721e+02] [ 8.90300789e-01 -4.55352775e-01 -4.28442152e-03 1.74075778e+02] [ 4.78931123e-03 -4.48988262e-05 9.99988530e-01 6.78204266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690281693 meters 0.018734447289542235 Centerline is valid? [True, True] Translation: X:206.14, Y:174.10, Z:0.68 [[-4.56563717e-01 -8.89687328e-01 2.45577552e-03 2.06140058e+02] [ 8.89673777e-01 -4.56570318e-01 -4.91062879e-03 1.74098150e+02] [ 5.49015842e-03 -5.71758521e-05 9.99984927e-01 6.76303037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72028169299995 meters 0.020001059333687513 Centerline is valid? [True, True] Translation: X:206.13, Y:174.12, Z:0.68 [[-4.59343715e-01 -8.88255192e-01 2.46298313e-03 2.06134372e+02] [ 8.88241562e-01 -4.59350312e-01 -4.92128734e-03 1.74122515e+02] [ 5.50273110e-03 -7.28384227e-05 9.99984857e-01 6.76435870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750281693 meters 0.020001059333687513 Centerline is valid? [True, True] Translation: X:206.12, Y:174.14, Z:0.68 [[-4.59619376e-01 -8.88112580e-01 2.46449089e-03 2.06123558e+02] [ 8.88098952e-01 -4.59625978e-01 -4.92053235e-03 1.74143184e+02] [ 5.50273072e-03 -7.28602379e-05 9.99984857e-01 6.76482251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78028169299995 meters 0.023180058446662263 Centerline is valid? [True, True] Translation: X:206.12, Y:174.17, Z:0.68 [[-4.61465643e-01 -8.87155500e-01 2.13983911e-03 2.06120246e+02] [ 8.87145231e-01 -4.61470598e-01 -4.26920701e-03 1.74166999e+02] [ 4.77492332e-03 -7.17442902e-05 9.99988597e-01 6.77226765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810281693 meters 0.025493690949572958 Centerline is valid? [True, True] Translation: X:206.12, Y:174.19, Z:0.68 [[-4.65505925e-01 -8.85042875e-01 1.82857284e-03 2.06118955e+02] [ 8.85035370e-01 -4.65509510e-01 -3.64559437e-03 1.74192771e+02] [ 4.07772537e-03 -7.86941471e-05 9.99991683e-01 6.79655520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84028169299995 meters 0.02690856648044432 Centerline is valid? [True, True] Translation: X:206.11, Y:174.22, Z:0.68 [[-4.67285314e-01 -8.84105280e-01 1.51335789e-03 2.06112526e+02] [ 8.84100141e-01 -4.67287759e-01 -3.01512580e-03 1.74216965e+02] [ 3.37286225e-03 -7.09640805e-05 9.99994309e-01 6.81672231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870281693 meters 0.028066765842730965 Centerline is valid? [True, True] Translation: X:206.11, Y:174.24, Z:0.68 [[-4.68414615e-01 -8.83507942e-01 1.21038804e-03 2.06105276e+02] [ 8.83504657e-01 -4.68416175e-01 -2.40997780e-03 1.74239810e+02] [ 2.69619986e-03 -5.94853565e-05 9.99996364e-01 6.83281893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90028169299995 meters 0.028301422444871938 Centerline is valid? [True, True] Translation: X:206.10, Y:174.26, Z:0.68 [[-4.68681583e-01 -8.83365851e-01 1.53204656e-03 2.06098277e+02] [ 8.83360597e-01 -4.68684081e-01 -3.04775055e-03 1.74262914e+02] [ 3.41032459e-03 -7.50749923e-05 9.99994182e-01 6.81571627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930281693 meters 0.031007601690383496 Centerline is valid? [True, True] Translation: X:206.09, Y:174.29, Z:0.68 [[-4.68224438e-01 -8.83607300e-01 2.00381892e-03 2.06093156e+02] [ 8.83598329e-01 -4.68228716e-01 -3.98273943e-03 1.74286120e+02] [ 4.45742319e-03 -9.42448777e-05 9.99990061e-01 6.78125633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96028169299996 meters 0.025027117828941157 Centerline is valid? [True, True] Translation: X:206.08, Y:174.31, Z:0.68 [[-4.65684135e-01 -8.84945832e-01 3.02678305e-03 2.06077703e+02] [ 8.84925428e-01 -4.65693956e-01 -6.01045264e-03 1.74305310e+02] [ 6.72847958e-03 -1.20495158e-04 9.99977356e-01 6.75292956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990281693 meters 0.022721259953482682 Centerline is valid? [True, True] Translation: X:206.06, Y:174.33, Z:0.67 [[-4.63519094e-01 -8.86080193e-01 3.45560822e-03 2.06063889e+02] [ 8.86053674e-01 -4.63531960e-01 -6.85631842e-03 1.74325634e+02] [ 7.67703280e-03 -1.16180139e-04 9.99970524e-01 6.74901130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02028169299996 meters 0.01751461895700318 Centerline is valid? [True, True] Translation: X:206.05, Y:174.34, Z:0.67 [[-4.57787124e-01 -8.89054411e-01 3.63366009e-03 2.06046521e+02] [ 8.89025228e-01 -4.57801540e-01 -7.20374434e-03 1.74341873e+02] [ 8.06801587e-03 -6.73659080e-05 9.99967451e-01 6.74607548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050281693 meters 0.01568181991474717 Centerline is valid? [True, True] Translation: X:206.03, Y:174.36, Z:0.68 [[-4.55548425e-01 -8.90205100e-01 3.24227157e-03 2.06032802e+02] [ 8.90181929e-01 -4.55559961e-01 -6.42305174e-03 1.74361368e+02] [ 7.19488253e-03 -3.97995448e-05 9.99974116e-01 6.76579088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08028169299996 meters 0.014396007809193067 Centerline is valid? [True, True] Translation: X:206.02, Y:174.38, Z:0.68 [[-4.53101487e-01 -8.91455633e-01 2.42844623e-03 2.06022439e+02] [ 8.91442671e-01 -4.53107995e-01 -4.80729983e-03 1.74380536e+02] [ 5.38584292e-03 -1.33741090e-05 9.99985496e-01 6.79709900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.110281693 meters 0.014214698838316194 Centerline is valid? [True, True] Translation: X:206.01, Y:174.40, Z:0.68 [[-4.53061004e-01 -8.91476418e-01 2.35001548e-03 2.06013200e+02] [ 8.91464300e-01 -4.53067098e-01 -4.64831434e-03 1.74401931e+02] [ 5.20857731e-03 -1.10150605e-05 9.99986435e-01 6.79482546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14028169299996 meters 0.014370642135597573 Centerline is valid? [True, True] Translation: X:206.01, Y:174.42, Z:0.68 [[-4.53652668e-01 -8.91175298e-01 2.41762574e-03 2.06006073e+02] [ 8.91162489e-01 -4.53659110e-01 -4.77812677e-03 1.74422482e+02] [ 5.35492649e-03 -1.31125845e-05 9.99985662e-01 6.78743857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17028169299994 meters 0.014651616537132506 Centerline is valid? [True, True] Translation: X:206.00, Y:174.45, Z:0.68 [[-4.55479997e-01 -8.90243714e-01 2.02523022e-03 2.06003041e+02] [ 8.90234729e-01 -4.55484499e-01 -3.99968171e-03 1.74447768e+02] [ 4.48315247e-03 -1.88447361e-05 9.99989950e-01 6.80779025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20028169299997 meters 0.01489255558159187 Centerline is valid? [True, True] Translation: X:206.00, Y:174.47, Z:0.68 [[-4.56572227e-01 -8.89684657e-01 1.73558278e-03 2.05996168e+02] [ 8.89678064e-01 -4.56575526e-01 -3.42520426e-03 1.74471412e+02] [ 3.83977630e-03 -1.97432086e-05 9.99992628e-01 6.82279568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23028169299994 meters 0.015082248571436122 Centerline is valid? [True, True] Translation: X:205.99, Y:174.49, Z:0.68 [[-4.57114645e-01 -8.89405683e-01 1.93175883e-03 2.05992427e+02] [ 8.89397526e-01 -4.57118727e-01 -3.80920180e-03 1.74494728e+02] [ 4.27096886e-03 -2.31404039e-05 9.99990879e-01 6.81124808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26028169299997 meters 0.014884616366143199 Centerline is valid? [True, True] Translation: X:205.98, Y:174.52, Z:0.68 [[-4.56778241e-01 -8.89577820e-01 2.22273355e-03 2.05982732e+02] [ 8.89567041e-01 -4.56783648e-01 -4.37935132e-03 1.74516296e+02] [ 4.91108214e-03 -2.31218833e-05 9.99987940e-01 6.80466483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29028169299994 meters 0.01458646577091397 Centerline is valid? [True, True] Translation: X:205.97, Y:174.54, Z:0.68 [[-4.55787853e-01 -8.90085607e-01 2.24618109e-03 2.05972977e+02] [ 8.90074622e-01 -4.55793387e-01 -4.42210155e-03 1.74536977e+02] [ 4.95984343e-03 -1.62713871e-05 9.99987700e-01 6.79560851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32028169299997 meters 0.014141992620368155 Centerline is valid? [True, True] Translation: X:205.96, Y:174.56, Z:0.68 [[-4.51992701e-01 -8.92018890e-01 2.21309545e-03 2.05959925e+02] [ 8.92008266e-01 -4.51998119e-01 -4.35352740e-03 1.74555261e+02] [ 4.88374366e-03 6.33682951e-06 9.99988074e-01 6.79337560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35028169299994 meters 0.014553799859354621 Centerline is valid? [True, True] Translation: X:205.95, Y:174.58, Z:0.68 [[-4.50172192e-01 -8.92938922e-01 2.25375861e-03 2.05948566e+02] [ 8.92927933e-01 -4.50177834e-01 -4.43001919e-03 1.74575915e+02] [ 4.97032872e-03 1.81725676e-05 9.99987648e-01 6.80041308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380281693 meters 0.016026988149795234 Centerline is valid? [True, True] Translation: X:205.94, Y:174.60, Z:0.68 [[-4.47605383e-01 -8.94228095e-01 2.35293690e-03 2.05937358e+02] [ 8.94216154e-01 -4.47611566e-01 -4.62132119e-03 1.74596061e+02] [ 5.18571701e-03 3.55059452e-05 9.99986553e-01 6.79241773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41028169299994 meters 0.016322361062176532 Centerline is valid? [True, True] Translation: X:205.93, Y:174.62, Z:0.68 [[-4.47191888e-01 -8.94434454e-01 2.53420500e-03 2.05926965e+02] [ 8.94420629e-01 -4.47199067e-01 -4.97331853e-03 1.74616954e+02] [ 5.58160156e-03 4.26175226e-05 9.99984422e-01 6.78604478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440281693 meters 0.017058615157104398 Centerline is valid? [True, True] Translation: X:205.92, Y:174.64, Z:0.68 [[-4.46533816e-01 -8.94762955e-01 2.60882871e-03 2.05915685e+02] [ 8.94748331e-01 -4.46541434e-01 -5.11579015e-03 1.74638279e+02] [ 5.74236962e-03 4.98718429e-05 9.99983511e-01 6.78598729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47028169299995 meters 0.018458651841205227 Centerline is valid? [True, True] Translation: X:205.91, Y:174.66, Z:0.68 [[-4.45269889e-01 -8.95393457e-01 2.29865563e-03 2.05906198e+02] [ 8.95382129e-01 -4.45275819e-01 -4.50427297e-03 1.74658881e+02] [ 5.05663231e-03 5.25580509e-05 9.99987214e-01 6.79357392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500281693 meters 0.01918305145851605 Centerline is valid? [True, True] Translation: X:205.90, Y:174.68, Z:0.68 [[-4.44977315e-01 -8.95539699e-01 1.95856731e-03 2.05895593e+02] [ 8.95531489e-01 -4.44981623e-01 -3.83510664e-03 1.74679251e+02] [ 4.30601670e-03 4.74232404e-05 9.99990728e-01 6.80716221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53028169299995 meters 0.020511025141895827 Centerline is valid? [True, True] Translation: X:205.88, Y:174.70, Z:0.68 [[-4.43594314e-01 -8.96225636e-01 1.92185026e-03 2.05884085e+02] [ 8.96217749e-01 -4.43598474e-01 -3.76027654e-03 1.74699624e+02] [ 4.22258608e-03 5.43590169e-05 9.99991083e-01 6.80694259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560281693 meters 0.02155350237351361 Centerline is valid? [True, True] Translation: X:205.87, Y:174.72, Z:0.68 [[-4.42875231e-01 -8.96580354e-01 2.28000204e-03 2.05871943e+02] [ 8.96569277e-01 -4.42881094e-01 -4.45736646e-03 1.74719970e+02] [ 5.00615700e-03 7.01225859e-05 9.99987467e-01 6.79067159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59028169299995 meters 0.024207009540755806 Centerline is valid? [True, True] Translation: X:205.86, Y:174.74, Z:0.68 [[-4.40972501e-01 -8.97515515e-01 3.02567733e-03 2.05858795e+02] [ 8.97496061e-01 -4.40982867e-01 -5.91025523e-03 1.74738568e+02] [ 6.63881763e-03 1.09273454e-04 9.99977957e-01 6.75965210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620281693 meters 0.02543903912910957 Centerline is valid? [True, True] Translation: X:205.85, Y:174.76, Z:0.68 [[-4.40248065e-01 -8.97870894e-01 3.08206628e-03 2.05846744e+02] [ 8.97850752e-01 -4.40258838e-01 -6.01518688e-03 1.74757966e+02] [ 6.75776814e-03 1.19061137e-04 9.99977159e-01 6.75991966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65028169299995 meters 0.028279749959050193 Centerline is valid? [True, True] Translation: X:205.83, Y:174.78, Z:0.68 [[-4.39600060e-01 -8.98188768e-01 2.95367829e-03 2.05832762e+02] [ 8.98170308e-01 -4.39609966e-01 -5.75985639e-03 1.74775126e+02] [ 6.47190473e-03 1.20872927e-04 9.99979050e-01 6.76199092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680281693 meters 0.03037408172730577 Centerline is valid? [True, True] Translation: X:205.82, Y:174.79, Z:0.68 [[-4.38303135e-01 -8.98824552e-01 2.18763461e-03 2.05818709e+02] [ 8.98814449e-01 -4.38308584e-01 -4.26273417e-03 1.74793836e+02] [ 4.79030916e-03 9.79078413e-05 9.99988522e-01 6.79003508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71028169299996 meters 0.029136304154059826 Centerline is valid? [True, True] Translation: X:205.81, Y:174.81, Z:0.68 [[-4.38057028e-01 -8.98945396e-01 1.79307943e-03 2.05809160e+02] [ 8.98938620e-01 -4.38060690e-01 -3.49129228e-03 1.74814925e+02] [ 3.92395873e-03 8.24832270e-05 9.99992298e-01 6.80726797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740281693 meters 0.02897190129331378 Centerline is valid? [True, True] Translation: X:205.80, Y:174.83, Z:0.68 [[-4.39161434e-01 -8.98406135e-01 1.91101445e-03 2.05798641e+02] [ 8.98398446e-01 -4.39165584e-01 -3.71791577e-03 1.74834426e+02] [ 4.17945011e-03 8.40871922e-05 9.99991263e-01 6.80420221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77028169299996 meters 0.02765485079193005 Centerline is valid? [True, True] Translation: X:205.79, Y:174.86, Z:0.68 [[-4.40438549e-01 -8.97780127e-01 2.17448770e-03 2.05788988e+02] [ 8.97770180e-01 -4.40443908e-01 -4.22703463e-03 1.74855705e+02] [ 4.75268755e-03 9.04412166e-05 9.99988702e-01 6.79296370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800281693 meters 0.02649523046118565 Centerline is valid? [True, True] Translation: X:205.78, Y:174.88, Z:0.68 [[-4.41811795e-01 -8.97104595e-01 2.38400962e-03 2.05779881e+02] [ 8.97092649e-01 -4.41818217e-01 -4.63067768e-03 1.74876495e+02] [ 5.20750110e-03 9.27894935e-05 9.99986437e-01 6.78833361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83028169299996 meters 0.024827569608891646 Centerline is valid? [True, True] Translation: X:205.77, Y:174.90, Z:0.68 [[-4.43783643e-01 -8.96131764e-01 1.98498431e-03 2.05772599e+02] [ 8.96123484e-01 -4.43788077e-01 -3.85286433e-03 1.74897160e+02] [ 4.33358648e-03 6.89528880e-05 9.99990608e-01 6.80656550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.860281693 meters 0.024459319217148785 Centerline is valid? [True, True] Translation: X:205.76, Y:174.92, Z:0.68 [[-4.44344679e-01 -8.95854188e-01 1.75482080e-03 2.05762969e+02] [ 8.95847725e-01 -4.44348140e-01 -3.40365878e-03 1.74918109e+02] [ 3.82893334e-03 5.96545542e-05 9.99992668e-01 6.81785109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89028169299996 meters 0.024263610286834852 Centerline is valid? [True, True] Translation: X:205.75, Y:174.94, Z:0.68 [[-4.44822593e-01 -8.95617589e-01 1.41283441e-03 2.05753189e+02] [ 8.95613403e-01 -4.44824834e-01 -2.73851414e-03 1.74938335e+02] [ 3.08112526e-03 4.72004788e-05 9.99995252e-01 6.83006252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92028169299994 meters 0.02424778473607905 Centerline is valid? [True, True] Translation: X:205.74, Y:174.96, Z:0.68 [[-4.44872364e-01 -8.95593644e-01 7.77680592e-04 2.05742390e+02] [ 8.95592377e-01 -4.44873043e-01 -1.50683004e-03 1.74958626e+02] [ 1.69547654e-03 2.61377662e-05 9.99998562e-01 6.84835359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95028169299997 meters 0.02433097961694086 Centerline is valid? [True, True] Translation: X:205.73, Y:174.98, Z:0.68 [[-4.45211709e-01 -8.95424721e-01 1.05078479e-03 2.05731693e+02] [ 8.95422411e-01 -4.45212947e-01 -2.03398584e-03 1.74978055e+02] [ 2.28910420e-03 3.53419446e-05 9.99997379e-01 6.83932980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98028169299994 meters 0.02390742620805488 Centerline is valid? [True, True] Translation: X:205.72, Y:175.00, Z:0.68 [[-4.46252896e-01 -8.94904561e-01 2.04447748e-03 2.05723168e+02] [ 8.94895832e-01 -4.46257575e-01 -3.95309034e-03 1.74998257e+02] [ 4.45000213e-03 6.55163597e-05 9.99990097e-01 6.79118258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01028169299997 meters 0.02360646214760763 Centerline is valid? [True, True] Translation: X:205.71, Y:175.02, Z:0.68 [[-4.46784733e-01 -8.94638401e-01 2.35242728e-03 2.05713616e+02] [ 8.94626860e-01 -4.46790920e-01 -4.54488393e-03 1.75018662e+02] [ 5.11707084e-03 7.39598778e-05 9.99986905e-01 6.78034625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04028169299994 meters 0.021645805049095374 Centerline is valid? [True, True] Translation: X:205.71, Y:175.04, Z:0.68 [[-4.47418208e-01 -8.94322896e-01 1.87204842e-03 2.05707285e+02] [ 8.94315595e-01 -4.47422120e-01 -3.61428859e-03 1.75040907e+02] [ 4.06993691e-03 5.71035798e-05 9.99991716e-01 6.80070919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07028169299997 meters 0.023825686013766178 Centerline is valid? [True, True] Translation: X:205.70, Y:175.06, Z:0.68 [[-4.47595229e-01 -8.94234726e-01 1.66309836e-03 2.05695054e+02] [ 8.94228972e-01 -4.47598316e-01 -3.20842923e-03 1.75058786e+02] [ 3.61348886e-03 5.11131194e-05 9.99993470e-01 6.81171027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10028169299994 meters 0.02414945519983396 Centerline is valid? [True, True] Translation: X:205.68, Y:175.08, Z:0.68 [[-4.47466890e-01 -8.94299096e-01 1.58395672e-03 2.05684293e+02] [ 8.94293885e-01 -4.47469691e-01 -3.05339955e-03 1.75079392e+02] [ 3.43942508e-03 5.02276126e-05 9.99994084e-01 6.81878268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130281693 meters 0.02360375025877776 Centerline is valid? [True, True] Translation: X:205.68, Y:175.10, Z:0.68 [[-4.46109604e-01 -8.94976281e-01 1.91770931e-03 2.05675760e+02] [ 8.94968661e-01 -4.46113720e-01 -3.69374890e-03 1.75101238e+02] [ 4.16133409e-03 6.84728735e-05 9.99991339e-01 6.81429396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16028169299994 meters 0.02793485172447752 Centerline is valid? [True, True] Translation: X:205.66, Y:175.12, Z:0.68 [[-4.45404846e-01 -8.95327651e-01 1.70876789e-03 2.05659723e+02] [ 8.95321613e-01 -4.45408119e-01 -3.28886298e-03 1.75117830e+02] [ 3.70570905e-03 6.50213109e-05 9.99993132e-01 6.81766631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190281693 meters 0.02942848630559767 Centerline is valid? [True, True] Translation: X:205.65, Y:175.14, Z:0.68 [[-4.44518985e-01 -8.95768345e-01 1.39413867e-03 2.05647285e+02] [ 8.95764334e-01 -4.44521168e-01 -2.68135072e-03 1.75137170e+02] [ 3.02159325e-03 5.69083978e-05 9.99995433e-01 6.83274435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22028169299995 meters 0.0334761393605038 Centerline is valid? [True, True] Translation: X:205.63, Y:175.15, Z:0.68 [[-4.42125904e-01 -8.96952276e-01 1.13979495e-03 2.05630642e+02] [ 8.96949603e-01 -4.42127370e-01 -2.19061769e-03 1.75153644e+02] [ 2.46881407e-03 5.38098040e-05 9.99996951e-01 6.84299302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250281693 meters 0.03114054374797457 Centerline is valid? [True, True] Translation: X:205.62, Y:175.17, Z:0.68 [[-4.41187959e-01 -8.97413525e-01 1.46656216e-03 2.05621775e+02] [ 8.97409110e-01 -4.41190390e-01 -2.81599558e-03 1.75174891e+02] [ 3.17414565e-03 7.37229059e-05 9.99994960e-01 6.83214940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28028169299995 meters 0.03360463132239907 Centerline is valid? [True, True] Translation: X:205.61, Y:175.19, Z:0.68 [[-4.39523196e-01 -8.98229930e-01 1.53413916e-03 2.05606941e+02] [ 8.98225112e-01 -4.39525865e-01 -2.94330705e-03 1.75191854e+02] [ 3.31806033e-03 8.43506017e-05 9.99994492e-01 6.83439224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310281693 meters 0.03946807847773555 Centerline is valid? [True, True] Translation: X:205.59, Y:175.21, Z:0.68 [[-4.39392008e-01 -8.98294602e-01 1.21271335e-03 2.05588242e+02] [ 8.98291596e-01 -4.39393677e-01 -2.32505555e-03 1.75207094e+02] [ 2.62144343e-03 6.77593865e-05 9.99996562e-01 6.84975272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34028169299995 meters 0.03987368465990455 Centerline is valid? [True, True] Translation: X:205.58, Y:175.23, Z:0.69 [[-4.39680089e-01 -8.98154202e-01 6.70431312e-04 2.05575206e+02] [ 8.98153283e-01 -4.39680599e-01 -1.28488215e-03 1.75226047e+02] [ 1.44879794e-03 3.72129866e-05 9.99998950e-01 6.87369595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370281693 meters 0.04044095111637002 Centerline is valid? [True, True] Translation: X:205.56, Y:175.24, Z:0.69 [[-4.39836369e-01 -8.98077927e-01 -7.62714718e-05 2.05560201e+02] [ 8.98077915e-01 -4.39836376e-01 1.44691520e-04 1.75244072e+02] [-1.63491228e-04 -4.85713138e-06 9.99999987e-01 6.90023546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40028169299995 meters 0.03522889384048074 Centerline is valid? [True, True] Translation: X:205.55, Y:175.27, Z:0.69 [[-4.40222622e-01 -8.97888630e-01 2.25356670e-04 2.05553943e+02] [ 8.97888526e-01 -4.40222679e-01 -4.32170867e-04 1.75266415e+02] [ 4.87248425e-04 1.20937760e-05 9.99999881e-01 6.88715412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430281693 meters 0.040308450543019514 Centerline is valid? [True, True] Translation: X:205.53, Y:175.28, Z:0.69 [[-4.40584163e-01 -8.97710522e-01 1.18911515e-03 2.05532377e+02] [ 8.97707647e-01 -4.40585763e-01 -2.27304812e-03 1.75279966e+02] [ 2.56444642e-03 6.60087623e-05 9.99996710e-01 6.85537817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46028169299996 meters 0.0359911422256002 Centerline is valid? [True, True] Translation: X:205.52, Y:175.30, Z:0.69 [[-4.40655616e-01 -8.97675095e-01 1.43268302e-03 2.05523254e+02] [ 8.97670928e-01 -4.40657938e-01 -2.73628605e-03 1.75301619e+02] [ 3.08761898e-03 8.03180816e-05 9.99995230e-01 6.85351063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490281693 meters 0.036429521448878746 Centerline is valid? [True, True] Translation: X:205.51, Y:175.32, Z:0.69 [[-4.40570296e-01 -8.97717162e-01 1.30822465e-03 2.05508406e+02] [ 8.97713693e-01 -4.40572232e-01 -2.49685059e-03 1.75319726e+02] [ 2.81783308e-03 7.43729741e-05 9.99996027e-01 6.86590791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52028169299996 meters 0.0374065870442026 Centerline is valid? [True, True] Translation: X:205.49, Y:175.34, Z:0.69 [[-4.40604759e-01 -8.97700911e-01 7.22249824e-04 2.05489228e+02] [ 8.97699854e-01 -4.40605349e-01 -1.37809695e-03 1.75335142e+02] [ 1.55534603e-03 4.11674858e-05 9.99998790e-01 6.88543694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550281693 meters 0.03678260334739904 Centerline is valid? [True, True] Translation: X:205.48, Y:175.35, Z:0.69 [[-4.41484405e-01 -8.97268648e-01 7.02473392e-04 2.05475940e+02] [ 8.97267650e-01 -4.41484962e-01 -1.33913592e-03 1.75353522e+02] [ 1.51169611e-03 3.90990255e-05 9.99998857e-01 6.87996614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58028169299996 meters 0.034701811054068964 Centerline is valid? [True, True] Translation: X:205.46, Y:175.37, Z:0.68 [[-4.43704974e-01 -8.96171810e-01 1.40790213e-03 2.05462037e+02] [ 8.96167804e-01 -4.43707202e-01 -2.68065212e-03 1.75371708e+02] [ 3.02702118e-03 7.22978780e-05 9.99995416e-01 6.84841972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.610281693 meters 0.033813161146351696 Centerline is valid? [True, True] Translation: X:205.45, Y:175.39, Z:0.68 [[-4.44623965e-01 -8.95715581e-01 1.76838405e-03 2.05448870e+02] [ 8.95709268e-01 -4.44627473e-01 -3.36424173e-03 1.75390283e+02] [ 3.79967586e-03 8.81354808e-05 9.99992777e-01 6.83562107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64028169299996 meters 0.033813161146351696 Centerline is valid? [True, True] Translation: X:205.44, Y:175.41, Z:0.68 [[-4.44890966e-01 -8.95582993e-01 1.76938810e-03 2.05437964e+02] [ 8.95576681e-01 -4.44894476e-01 -3.36371366e-03 1.75409960e+02] [ 3.79967574e-03 8.81369029e-05 9.99992777e-01 6.83606833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67028169299994 meters 0.03394503334837263 Centerline is valid? [True, True] Translation: X:205.42, Y:175.43, Z:0.68 [[-4.45209466e-01 -8.95424286e-01 1.96977274e-03 2.05422656e+02] [ 8.95416473e-01 -4.45213813e-01 -3.74180922e-03 1.75428168e+02] [ 4.22747687e-03 9.78780737e-05 9.99991059e-01 6.82966937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70028169299997 meters 0.04023194414813049 Centerline is valid? [True, True] Translation: X:205.40, Y:175.44, Z:0.68 [[-4.44743280e-01 -8.95655223e-01 2.26658937e-03 2.05395950e+02] [ 8.95644897e-01 -4.44749040e-01 -4.30223016e-03 1.75438330e+02] [ 4.86137836e-03 1.16671256e-04 9.99988177e-01 6.81453912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73028169299994 meters 0.03599379869658377 Centerline is valid? [True, True] Translation: X:205.39, Y:175.46, Z:0.68 [[-4.44695760e-01 -8.95678548e-01 2.37062613e-03 2.05386246e+02] [ 8.95667271e-01 -4.44702061e-01 -4.49632838e-03 1.75458676e+02] [ 5.08148720e-03 1.23794073e-04 9.99987082e-01 6.81833500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76028169299997 meters 0.0362999895626012 Centerline is valid? [True, True] Translation: X:205.37, Y:175.47, Z:0.68 [[-4.45357266e-01 -8.95348735e-01 2.74724203e-03 2.05368849e+02] [ 8.95333607e-01 -4.45365717e-01 -5.20664663e-03 1.75474256e+02] [ 5.88529189e-03 1.40880210e-04 9.99982672e-01 6.79670762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79028169299994 meters 0.03156212392988726 Centerline is valid? [True, True] Translation: X:205.36, Y:175.50, Z:0.68 [[-4.46903935e-01 -8.94576983e-01 2.98235240e-03 2.05360739e+02] [ 8.94559165e-01 -4.46913863e-01 -5.64789288e-03 1.75495861e+02] [ 6.38532960e-03 1.43825121e-04 9.99979603e-01 6.78984258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82028169299997 meters 0.026102839021753078 Centerline is valid? [True, True] Translation: X:205.35, Y:175.52, Z:0.68 [[-4.51651933e-01 -8.92189523e-01 2.89587458e-03 2.05351191e+02] [ 8.92172702e-01 -4.51661203e-01 -5.47969737e-03 1.75517345e+02] [ 6.19688278e-03 1.08704342e-04 9.99980793e-01 6.78993118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85028169299994 meters 0.02437617697407344 Centerline is valid? [True, True] Translation: X:205.34, Y:175.54, Z:0.68 [[-4.55165426e-01 -8.90402930e-01 2.65658090e-03 2.05340750e+02] [ 8.90388765e-01 -4.55173171e-01 -5.02300625e-03 1.75536837e+02] [ 5.68170384e-03 7.90910114e-05 9.99983856e-01 6.78915162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880281693 meters 0.01880798964793492 Centerline is valid? [True, True] Translation: X:205.34, Y:175.56, Z:0.68 [[-4.59000406e-01 -8.88432629e-01 2.46782983e-03 2.05336704e+02] [ 8.88420395e-01 -4.59007038e-01 -4.66269313e-03 1.75560511e+02] [ 5.27523997e-03 5.22923105e-05 9.99986084e-01 6.80505085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91028169299994 meters 0.014022344703974756 Centerline is valid? [True, True] Translation: X:205.34, Y:175.59, Z:0.68 [[-4.65812435e-01 -8.84880605e-01 2.25631749e-03 2.05336058e+02] [ 8.84870352e-01 -4.65817899e-01 -4.25965148e-03 1.75586339e+02] [ 4.82031605e-03 1.23498273e-05 9.99988382e-01 6.81825845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940281693 meters 0.01357528737115819 Centerline is valid? [True, True] Translation: X:205.33, Y:175.61, Z:0.68 [[-4.68528077e-01 -8.83445374e-01 2.39005755e-03 2.05329183e+02] [ 8.83433870e-01 -4.68534174e-01 -4.50836956e-03 1.75607776e+02] [ 5.10272187e-03 -8.39928047e-07 9.99986981e-01 6.81956542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97028169299995 meters 0.014417743437312568 Centerline is valid? [True, True] Translation: X:205.32, Y:175.63, Z:0.68 [[-4.71997216e-01 -8.81596665e-01 2.43899719e-03 2.05321560e+02] [ 8.81584679e-01 -4.72003517e-01 -4.59719923e-03 1.75629631e+02] [ 5.20409076e-03 -1.96826855e-05 9.99986458e-01 6.82622889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000281693 meters 0.014689150391801947 Centerline is valid? [True, True] Translation: X:205.31, Y:175.65, Z:0.68 [[-4.72934704e-01 -8.81094722e-01 2.20382969e-03 2.05311154e+02] [ 8.81084945e-01 -4.72939838e-01 -4.15093500e-03 1.75649299e+02] [ 4.69964577e-03 -2.13600521e-05 9.99988956e-01 6.83528375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03028169299995 meters 0.015089890129334396 Centerline is valid? [True, True] Translation: X:205.30, Y:175.67, Z:0.68 [[-4.73783929e-01 -8.80638562e-01 2.12410627e-03 2.05300848e+02] [ 8.80629488e-01 -4.73788690e-01 -3.99785361e-03 1.75670116e+02] [ 4.52704158e-03 -2.35681714e-05 9.99989753e-01 6.84039969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060281693 meters 0.01628031615606106 Centerline is valid? [True, True] Translation: X:205.29, Y:175.69, Z:0.68 [[-4.75501123e-01 -8.79712106e-01 2.30041060e-03 2.05293207e+02] [ 8.79701468e-01 -4.75506687e-01 -4.32643825e-03 1.75692023e+02] [ 4.89988073e-03 -3.35516698e-05 9.99987995e-01 6.82152843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09028169299995 meters 0.017329521165259775 Centerline is valid? [True, True] Translation: X:205.28, Y:175.71, Z:0.68 [[-4.76801497e-01 -8.79007734e-01 2.39518701e-03 2.05283994e+02] [ 8.78996209e-01 -4.76807511e-01 -4.50138895e-03 1.75713624e+02] [ 5.09879886e-03 -4.09086836e-05 9.99987000e-01 6.81726923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120281693 meters 0.01741090485066909 Centerline is valid? [True, True] Translation: X:205.27, Y:175.73, Z:0.68 [[-4.78214330e-01 -8.78239733e-01 2.45471775e-03 2.05272987e+02] [ 8.78227639e-01 -4.78220628e-01 -4.60926671e-03 1.75733536e+02] [ 5.22193782e-03 -4.84164158e-05 9.99986364e-01 6.82853688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15028169299995 meters 0.018091831154953754 Centerline is valid? [True, True] Translation: X:205.26, Y:175.76, Z:0.68 [[-4.80050020e-01 -8.77237693e-01 2.45109762e-03 2.05263965e+02] [ 8.77225641e-01 -4.80056274e-01 -4.59872489e-03 1.75755559e+02] [ 5.21083961e-03 -5.74522886e-05 9.99986422e-01 6.83851352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180281693 meters 0.018899009964224098 Centerline is valid? [True, True] Translation: X:205.26, Y:175.78, Z:0.68 [[-4.80946852e-01 -8.76746107e-01 2.52792208e-03 2.05255727e+02] [ 8.76733300e-01 -4.80953491e-01 -4.73924061e-03 1.75776661e+02] [ 5.37092370e-03 -6.30093848e-05 9.99985575e-01 6.83171934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21028169299996 meters 0.01901019761434675 Centerline is valid? [True, True] Translation: X:205.25, Y:175.80, Z:0.68 [[-4.81570175e-01 -8.76404613e-01 2.26293674e-03 2.05246134e+02] [ 8.76394361e-01 -4.81575488e-01 -4.23940799e-03 1.75798365e+02] [ 4.80521158e-03 -5.83474493e-05 9.99988453e-01 6.84037698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240281693 meters 0.019151745827408976 Centerline is valid? [True, True] Translation: X:205.24, Y:175.82, Z:0.68 [[-4.81853581e-01 -8.76249147e-01 2.13516691e-03 2.05236512e+02] [ 8.76240032e-01 -4.81858308e-01 -3.99710275e-03 1.75819131e+02] [ 4.53130578e-03 -5.50995535e-05 9.99989732e-01 6.83781426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27028169299996 meters 0.01906499442317978 Centerline is valid? [True, True] Translation: X:205.23, Y:175.84, Z:0.68 [[-4.81947082e-01 -8.76197298e-01 2.30326312e-03 2.05226709e+02] [ 8.76186708e-01 -4.81952582e-01 -4.30832229e-03 1.75840094e+02] [ 4.88500396e-03 -5.82948285e-05 9.99988067e-01 6.82980893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300281693 meters 0.018913936717967234 Centerline is valid? [True, True] Translation: X:205.22, Y:175.86, Z:0.68 [[-4.81968843e-01 -8.76184380e-01 2.63964139e-03 2.05217074e+02] [ 8.76170492e-01 -4.81976067e-01 -4.93361562e-03 1.75861460e+02] [ 5.59500091e-03 -6.50731154e-05 9.99984346e-01 6.81592278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33028169299996 meters 0.019683440058357746 Centerline is valid? [True, True] Translation: X:205.21, Y:175.88, Z:0.68 [[-4.82153590e-01 -8.76081806e-01 2.93005148e-03 2.05211424e+02] [ 8.76064719e-01 -4.82162487e-01 -5.47216771e-03 1.75883801e+02] [ 6.20682748e-03 -7.15105848e-05 9.99980735e-01 6.80072425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.360281693 meters 0.01942528108621812 Centerline is valid? [True, True] Translation: X:205.20, Y:175.90, Z:0.68 [[-4.82595949e-01 -8.75839038e-01 2.67022475e-03 2.05202184e+02] [ 8.75824864e-01 -4.82603331e-01 -4.98321823e-03 1.75904392e+02] [ 5.65315642e-03 -6.62316989e-05 9.99984019e-01 6.81282166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39028169299996 meters 0.019313449445605663 Centerline is valid? [True, True] Translation: X:205.19, Y:175.92, Z:0.68 [[-4.82705138e-01 -8.75779595e-01 2.41866590e-03 2.05193149e+02] [ 8.75767983e-01 -4.82711194e-01 -4.51034386e-03 1.75924425e+02] [ 5.11758422e-03 -5.89760029e-05 9.99986903e-01 6.82534349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42028169299994 meters 0.017430840243888506 Centerline is valid? [True, True] Translation: X:205.18, Y:175.95, Z:0.68 [[-4.82044083e-01 -8.76144135e-01 2.22654177e-03 2.05183905e+02] [ 8.76134312e-01 -4.82049222e-01 -4.14898468e-03 1.75946638e+02] [ 4.70841132e-03 -4.92438736e-05 9.99988914e-01 6.82672674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45028169299997 meters 0.017811054988609062 Centerline is valid? [True, True] Translation: X:205.18, Y:175.97, Z:0.68 [[-4.81696207e-01 -8.76334542e-01 2.55643588e-03 2.05176306e+02] [ 8.76321617e-01 -4.81702988e-01 -4.75984627e-03 1.75968540e+02] [ 5.40266050e-03 -5.25398753e-05 9.99985404e-01 6.81648063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48028169299994 meters 0.016696552942827857 Centerline is valid? [True, True] Translation: X:205.17, Y:175.99, Z:0.68 [[-4.80089383e-01 -8.77215130e-01 2.79298385e-03 2.05168530e+02] [ 8.77199742e-01 -4.80097505e-01 -5.19604341e-03 1.75989672e+02] [ 5.89895247e-03 -4.45605599e-05 9.99982600e-01 6.80835242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51028169299997 meters 0.015056737095728674 Centerline is valid? [True, True] Translation: X:205.16, Y:176.01, Z:0.68 [[-4.78729760e-01 -8.77958383e-01 2.62584567e-03 2.05155347e+02] [ 8.77944816e-01 -4.78736960e-01 -4.88085855e-03 1.76009164e+02] [ 5.54228005e-03 -3.12646478e-05 9.99984641e-01 6.82767081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54028169299994 meters 0.013762475276863789 Centerline is valid? [True, True] Translation: X:205.14, Y:176.03, Z:0.68 [[-4.76743638e-01 -8.79039746e-01 2.15123831e-03 2.05141671e+02] [ 8.79030666e-01 -4.76748491e-01 -3.99558099e-03 1.76027707e+02] [ 4.53787412e-03 -1.38633755e-05 9.99989704e-01 6.84529206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57028169299997 meters 0.013857386129028829 Centerline is valid? [True, True] Translation: X:205.12, Y:176.04, Z:0.69 [[-4.71154916e-01 -8.82049289e-01 1.44819866e-03 2.05122669e+02] [ 8.82045192e-01 -4.71157142e-01 -2.68819031e-03 1.76044907e+02] [ 3.05344549e-03 1.08225810e-05 9.99995338e-01 6.88297730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60028169299994 meters 0.015386286252018043 Centerline is valid? [True, True] Translation: X:205.11, Y:176.06, Z:0.69 [[-4.68398692e-01 -8.83515987e-01 1.47181242e-03 2.05106973e+02] [ 8.83511769e-01 -4.68401004e-01 -2.73000757e-03 1.76063596e+02] [ 3.10140374e-03 2.16316173e-05 9.99995190e-01 6.88166819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630281693 meters 0.017817747840814257 Centerline is valid? [True, True] Translation: X:205.09, Y:176.08, Z:0.69 [[-4.65925885e-01 -8.84822463e-01 1.50968857e-03 2.05091276e+02] [ 8.84818039e-01 -4.65928330e-01 -2.79814773e-03 1.76081020e+02] [ 3.17927064e-03 3.20702203e-05 9.99994946e-01 6.87258978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66028169299994 meters 0.01957850760275164 Centerline is valid? [True, True] Translation: X:205.08, Y:176.10, Z:0.69 [[-4.64031308e-01 -8.85817705e-01 1.39264442e-03 2.05076087e+02] [ 8.85813950e-01 -4.64033396e-01 -2.57935093e-03 1.76100514e+02] [ 2.93106824e-03 3.67242676e-05 9.99995704e-01 6.86970754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690281693 meters 0.022287882610898063 Centerline is valid? [True, True] Translation: X:205.06, Y:176.12, Z:0.69 [[-4.61694340e-01 -8.87038184e-01 1.26339388e-03 2.05059700e+02] [ 8.87035103e-01 -4.61696067e-01 -2.33843020e-03 1.76119401e+02] [ 2.65758086e-03 4.10347369e-05 9.99996468e-01 6.86681961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72028169299995 meters 0.02309061130892888 Centerline is valid? [True, True] Translation: X:205.05, Y:176.14, Z:0.69 [[-4.61466264e-01 -8.87156609e-01 1.42742597e-03 2.05046553e+02] [ 8.87152683e-01 -4.61468469e-01 -2.63999462e-03 1.76138497e+02] [ 3.00080076e-03 4.80763210e-05 9.99995496e-01 6.86070017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750281693 meters 0.02330193085762378 Centerline is valid? [True, True] Translation: X:205.03, Y:176.16, Z:0.68 [[-4.61544071e-01 -8.87115317e-01 1.86661727e-03 2.05033539e+02] [ 8.87108614e-01 -4.61547841e-01 -3.44934200e-03 1.76158985e+02] [ 3.92149729e-03 6.38689080e-05 9.99992309e-01 6.84673223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78028169299995 meters 0.023976658027165768 Centerline is valid? [True, True] Translation: X:205.02, Y:176.18, Z:0.68 [[-4.61802695e-01 -8.86979710e-01 2.29427948e-03 2.05020238e+02] [ 8.86969598e-01 -4.61808388e-01 -4.23610518e-03 1.76177164e+02] [ 4.81685685e-03 7.87113610e-05 9.99988396e-01 6.82903851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810281693 meters 0.024076264250467248 Centerline is valid? [True, True] Translation: X:205.01, Y:176.20, Z:0.68 [[-4.62099021e-01 -8.86824859e-01 2.48261650e-03 2.05005882e+02] [ 8.86813036e-01 -4.62105682e-01 -4.58020736e-03 1.76196095e+02] [ 5.20907294e-03 8.51073336e-05 9.99986429e-01 6.83378259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84028169299995 meters 0.024284315794341847 Centerline is valid? [True, True] Translation: X:204.99, Y:176.22, Z:0.68 [[-4.62327949e-01 -8.86705960e-01 2.32558147e-03 2.04993322e+02] [ 8.86695598e-01 -4.62333792e-01 -4.28735127e-03 1.76215389e+02] [ 4.87681483e-03 7.99205319e-05 9.99988105e-01 6.84659089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870281693 meters 0.024081338131492262 Centerline is valid? [True, True] Translation: X:204.98, Y:176.24, Z:0.69 [[-4.62790080e-01 -8.86465150e-01 2.20917996e-03 2.04980632e+02] [ 8.86455811e-01 -4.62795347e-01 -4.06977161e-03 1.76235114e+02] [ 4.63010891e-03 7.48904887e-05 9.99989278e-01 6.85065749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90028169299995 meters 0.023380628958848116 Centerline is valid? [True, True] Translation: X:204.97, Y:176.25, Z:0.69 [[-4.63502489e-01 -8.86094024e-01 1.68064823e-03 2.04967682e+02] [ 8.86088623e-01 -4.63505532e-01 -3.09409421e-03 1.76254110e+02] [ 3.52064814e-03 5.50829070e-05 9.99993801e-01 6.86723349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930281693 meters 0.023855147740462185 Centerline is valid? [True, True] Translation: X:204.95, Y:176.27, Z:0.69 [[-4.63424647e-01 -8.86135208e-01 1.41079259e-03 2.04954322e+02] [ 8.86131408e-01 -4.63426792e-01 -2.59554456e-03 1.76272740e+02] [ 2.95380250e-03 4.73083002e-05 9.99995636e-01 6.88110054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96028169299996 meters 0.02603711901052342 Centerline is valid? [True, True] Translation: X:204.94, Y:176.29, Z:0.69 [[-4.62159748e-01 -8.86794913e-01 1.77444236e-03 2.04936588e+02] [ 8.86788917e-01 -4.62163150e-01 -3.26175739e-03 1.76287959e+02] [ 3.71259173e-03 6.61028478e-05 9.99993106e-01 6.87190363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990281693 meters 0.028099487846832503 Centerline is valid? [True, True] Translation: X:204.92, Y:176.30, Z:0.69 [[-4.61422836e-01 -8.87177638e-01 2.19199496e-03 2.04919592e+02] [ 8.87168508e-01 -4.61428035e-01 -4.02587629e-03 1.76304229e+02] [ 4.58311535e-03 8.70376443e-05 9.99989494e-01 6.85298501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02028169299996 meters 0.029032409358257887 Centerline is valid? [True, True] Translation: X:204.90, Y:176.32, Z:0.68 [[-4.60560691e-01 -8.87624049e-01 2.71963916e-03 2.04903722e+02] [ 8.87610027e-01 -4.60568707e-01 -4.99062378e-03 1.76321598e+02] [ 5.68237838e-03 1.15493849e-04 9.99983849e-01 6.83709617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050281693 meters 0.027343457789536747 Centerline is valid? [True, True] Translation: X:204.89, Y:176.34, Z:0.68 [[-4.59985356e-01 -8.87920932e-01 3.14491099e-03 2.04887820e+02] [ 8.87902218e-01 -4.59996085e-01 -5.76648330e-03 1.76340353e+02] [ 6.56682798e-03 1.39875571e-04 9.99978428e-01 6.82450485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08028169299996 meters 0.030327174725211754 Centerline is valid? [True, True] Translation: X:204.87, Y:176.36, Z:0.68 [[-4.60571052e-01 -8.87618221e-01 2.86359720e-03 2.04870339e+02] [ 8.87602722e-01 -4.60579937e-01 -5.24688611e-03 1.76357113e+02] [ 5.97614713e-03 1.25172815e-04 9.99982135e-01 6.82893697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.110281693 meters 0.029644987071866365 Centerline is valid? [True, True] Translation: X:204.86, Y:176.38, Z:0.69 [[-4.61843208e-01 -8.86958669e-01 2.27386373e-03 2.04857952e+02] [ 8.86948902e-01 -4.61848796e-01 -4.16346769e-03 1.76375044e+02] [ 4.74300499e-03 9.39316602e-05 9.99988748e-01 6.85622614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14028169299996 meters 0.02599801763482598 Centerline is valid? [True, True] Translation: X:204.85, Y:176.40, Z:0.69 [[-4.64695642e-01 -8.85468890e-01 1.67450910e-03 2.04846695e+02] [ 8.85463591e-01 -4.64698656e-01 -3.06412328e-03 1.76395201e+02] [ 3.49132797e-03 5.88321005e-05 9.99993904e-01 6.87467339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17028169299994 meters 0.022586566796292302 Centerline is valid? [True, True] Translation: X:204.84, Y:176.42, Z:0.69 [[-4.66031536e-01 -8.84766361e-01 1.75914398e-03 2.04837326e+02] [ 8.84760516e-01 -4.66034852e-01 -3.21660885e-03 1.76417463e+02] [ 3.66576971e-03 5.73799704e-05 9.99993279e-01 6.87447041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20028169299997 meters 0.023748464767197993 Centerline is valid? [True, True] Translation: X:204.82, Y:176.44, Z:0.69 [[-4.67217201e-01 -8.84140473e-01 1.92662046e-03 2.04822302e+02] [ 8.84133467e-01 -4.67221169e-01 -3.52014769e-03 1.76435350e+02] [ 4.01246291e-03 5.87160810e-05 9.99991948e-01 6.86269217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23028169299994 meters 0.02073403463244909 Centerline is valid? [True, True] Translation: X:204.81, Y:176.46, Z:0.69 [[-4.68189298e-01 -8.83625350e-01 2.24083853e-03 2.04811003e+02] [ 8.83615882e-01 -4.68194657e-01 -4.09103490e-03 1.76456072e+02] [ 4.66409077e-03 6.46617528e-05 9.99989121e-01 6.86804008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26028169299997 meters 0.021193510948539857 Centerline is valid? [True, True] Translation: X:204.80, Y:176.47, Z:0.69 [[-4.68275849e-01 -8.83579276e-01 2.32198651e-03 2.04797267e+02] [ 8.83569125e-01 -4.68281601e-01 -4.23597441e-03 1.76474625e+02] [ 4.83016276e-03 6.80310755e-05 9.99988332e-01 6.86287593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29028169299994 meters 0.021400834569308885 Centerline is valid? [True, True] Translation: X:204.78, Y:176.49, Z:0.69 [[-4.68357970e-01 -8.83535773e-01 2.31301796e-03 2.04783103e+02] [ 8.83525714e-01 -4.68363676e-01 -4.21650927e-03 1.76494461e+02] [ 4.80877037e-03 6.87751229e-05 9.99988435e-01 6.86324146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32028169299997 meters 0.022187001410186567 Centerline is valid? [True, True] Translation: X:204.77, Y:176.51, Z:0.69 [[-4.67915255e-01 -8.83769711e-01 2.53245024e-03 2.04766109e+02] [ 8.83757674e-01 -4.67922101e-01 -4.61310570e-03 1.76512808e+02] [ 5.26191253e-03 7.95298088e-05 9.99986153e-01 6.85762885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35028169299994 meters 0.02220585151196156 Centerline is valid? [True, True] Translation: X:204.75, Y:176.53, Z:0.68 [[-4.68182972e-01 -8.83627462e-01 2.68579777e-03 2.04752617e+02] [ 8.83613941e-01 -4.68190668e-01 -4.88885664e-03 1.76532438e+02] [ 5.57739344e-03 8.43289251e-05 9.99984443e-01 6.84981409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380281693 meters 0.024550803909229566 Centerline is valid? [True, True] Translation: X:204.74, Y:176.55, Z:0.68 [[-4.68793344e-01 -8.83303109e-01 2.90140380e-03 2.04736576e+02] [ 8.83287349e-01 -4.68802314e-01 -5.27731036e-03 1.76549582e+02] [ 6.02164946e-03 8.88053029e-05 9.99981866e-01 6.83102358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41028169299994 meters 0.02056700932635321 Centerline is valid? [True, True] Translation: X:204.73, Y:176.57, Z:0.68 [[-4.70559393e-01 -8.82363206e-01 3.00503447e-03 2.04727526e+02] [ 8.82346306e-01 -4.70568981e-01 -5.46177333e-03 1.76572131e+02] [ 6.23334383e-03 8.13923191e-05 9.99980569e-01 6.83784849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440281693 meters 0.019705192209988603 Centerline is valid? [True, True] Translation: X:204.72, Y:176.59, Z:0.68 [[-4.71304631e-01 -8.81966063e-01 2.79445466e-03 2.04715272e+02] [ 8.81951462e-01 -4.71312910e-01 -5.07543055e-03 1.76592954e+02] [ 5.79342005e-03 7.24994532e-05 9.99983215e-01 6.84963443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47028169299995 meters 0.02067416589860711 Centerline is valid? [True, True] Translation: X:204.70, Y:176.61, Z:0.69 [[-4.71369584e-01 -8.81931700e-01 2.68187697e-03 2.04700676e+02] [ 8.81918271e-01 -4.71377208e-01 -4.86736900e-03 1.76610906e+02] [ 5.55686269e-03 7.08666014e-05 9.99984558e-01 6.85108550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500281693 meters 0.02166130778860405 Centerline is valid? [True, True] Translation: X:204.68, Y:176.63, Z:0.69 [[-4.69851957e-01 -8.82741133e-01 2.68906645e-03 2.04683587e+02] [ 8.82727666e-01 -4.69859644e-01 -4.87679020e-03 1.76628533e+02] [ 5.56842711e-03 8.23439325e-05 9.99984493e-01 6.85653830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53028169299995 meters 0.023735277151452627 Centerline is valid? [True, True] Translation: X:204.67, Y:176.65, Z:0.69 [[-4.69380372e-01 -8.82991887e-01 2.71922594e-03 2.04666939e+02] [ 8.82978141e-01 -4.69388240e-01 -4.92782356e-03 1.76646099e+02] [ 5.62760090e-03 8.79934092e-05 9.99984161e-01 6.85396044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560281693 meters 0.023735277151452627 Centerline is valid? [True, True] Translation: X:204.66, Y:176.67, Z:0.69 [[-4.69658985e-01 -8.82843721e-01 2.72077882e-03 2.04655654e+02] [ 8.82829977e-01 -4.69666858e-01 -4.92696623e-03 1.76665535e+02] [ 5.62760083e-03 8.79911396e-05 9.99984161e-01 6.85440764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59028169299995 meters 0.027933270904627893 Centerline is valid? [True, True] Translation: X:204.64, Y:176.68, Z:0.68 [[-4.69445040e-01 -8.82957571e-01 2.69854836e-03 2.04637678e+02] [ 8.82944073e-01 -4.69452787e-01 -4.88300762e-03 1.76680317e+02] [ 5.57832960e-03 9.03635758e-05 9.99984437e-01 6.84828251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620281693 meters 0.022454467200005122 Centerline is valid? [True, True] Translation: X:204.63, Y:176.70, Z:0.69 [[-4.70175030e-01 -8.82569932e-01 2.39938687e-03 2.04630611e+02] [ 8.82559271e-01 -4.70181146e-01 -4.33859740e-03 1.76703884e+02] [ 4.95726208e-03 7.77009616e-05 9.99987710e-01 6.86613356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65028169299995 meters 0.02139924819859595 Centerline is valid? [True, True] Translation: X:204.62, Y:176.73, Z:0.69 [[-4.71411133e-01 -8.81910580e-01 2.29614098e-03 2.04619990e+02] [ 8.81900824e-01 -4.71416719e-01 -4.14897119e-03 1.76725444e+02] [ 4.74146084e-03 6.90974163e-05 9.99988757e-01 6.86803556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680281693 meters 0.020954884014884916 Centerline is valid? [True, True] Translation: X:204.61, Y:176.75, Z:0.69 [[-4.73336497e-01 -8.80878677e-01 2.30582557e-03 2.04610149e+02] [ 8.80868840e-01 -4.73342109e-01 -4.16343643e-03 1.76745873e+02] [ 4.75892672e-03 6.04234754e-05 9.99988674e-01 6.86311384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71028169299996 meters 0.016126579235840356 Centerline is valid? [True, True] Translation: X:204.61, Y:176.77, Z:0.69 [[-4.78186968e-01 -8.78254252e-01 2.58697469e-03 2.04608632e+02] [ 8.78241850e-01 -4.78193964e-01 -4.66740295e-03 1.76772678e+02] [ 5.33624216e-03 4.00981689e-05 9.99985761e-01 6.85276420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740281693 meters 0.014475618383260334 Centerline is valid? [True, True] Translation: X:204.60, Y:176.80, Z:0.69 [[-4.80951744e-01 -8.76743264e-01 2.58226453e-03 2.04602414e+02] [ 8.76730905e-01 -4.80958676e-01 -4.65546200e-03 1.76796039e+02] [ 5.32360748e-03 2.48985480e-05 9.99985829e-01 6.85253794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77028169299996 meters 0.013224612488886974 Centerline is valid? [True, True] Translation: X:204.60, Y:176.82, Z:0.69 [[-4.85370523e-01 -8.74306203e-01 2.02960837e-03 2.04600612e+02] [ 8.74298556e-01 -4.85374766e-01 -3.65673561e-03 1.76821716e+02] [ 4.18222732e-03 -3.88006820e-07 9.99991254e-01 6.87637162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800281693 meters 0.013281228045591516 Centerline is valid? [True, True] Translation: X:204.59, Y:176.84, Z:0.69 [[-4.86824784e-01 -8.73497862e-01 1.76515264e-03 2.04593119e+02] [ 8.73492081e-01 -4.86827984e-01 -3.17794878e-03 1.76842997e+02] [ 3.63525716e-03 -5.25737819e-06 9.99993392e-01 6.89092760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83028169299996 meters 0.013331443944481408 Centerline is valid? [True, True] Translation: X:204.58, Y:176.87, Z:0.69 [[-4.87653079e-01 -8.73036102e-01 1.56173057e-03 2.04583975e+02] [ 8.73031581e-01 -4.87655579e-01 -2.80962081e-03 1.76865313e+02] [ 3.21448703e-03 -6.68012357e-06 9.99994834e-01 6.90317418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.860281693 meters 0.0132847388530168 Centerline is valid? [True, True] Translation: X:204.57, Y:176.89, Z:0.69 [[-4.87941069e-01 -8.72875484e-01 1.37903453e-03 2.04574117e+02] [ 8.72871963e-01 -4.87943018e-01 -2.47930640e-03 1.76886899e+02] [ 2.83701604e-03 -6.03483379e-06 9.99995976e-01 6.91387188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89028169299996 meters 0.013152239258533501 Centerline is valid? [True, True] Translation: X:204.56, Y:176.91, Z:0.69 [[-4.87034304e-01 -8.73381816e-01 1.33801284e-03 2.04564355e+02] [ 8.73378508e-01 -4.87036141e-01 -2.40387100e-03 1.76908201e+02] [ 2.75115783e-03 -2.17598581e-06 9.99996216e-01 6.91129560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92028169299994 meters 0.01314626595243248 Centerline is valid? [True, True] Translation: X:204.55, Y:176.93, Z:0.69 [[-4.86584132e-01 -8.73632880e-01 1.21366466e-03 2.04553245e+02] [ 8.73630163e-01 -4.86585646e-01 -2.17901283e-03 1.76928030e+02] [ 2.49420906e-03 2.09842848e-08 9.99996889e-01 6.90964311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95028169299997 meters 0.013110249428630963 Centerline is valid? [True, True] Translation: X:204.54, Y:176.95, Z:0.69 [[-4.86739238e-01 -8.73546655e-01 1.07523920e-03 2.04541742e+02] [ 8.73544525e-01 -4.86740425e-01 -1.92921160e-03 1.76949402e+02] [ 2.20861873e-03 2.46333069e-07 9.99997561e-01 6.90858949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98028169299994 meters 0.013216869934660898 Centerline is valid? [True, True] Translation: X:204.53, Y:176.97, Z:0.69 [[-4.86806077e-01 -8.73508561e-01 1.62376750e-03 2.04532007e+02] [ 8.73503712e-01 -4.86808785e-01 -2.91064988e-03 1.76970069e+02] [ 3.33294187e-03 1.44488179e-06 9.99994446e-01 6.88524583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01028169299997 meters 0.013313418872250987 Centerline is valid? [True, True] Translation: X:204.52, Y:176.99, Z:0.69 [[-4.86795739e-01 -8.73513042e-01 2.20761920e-03 2.04521198e+02] [ 8.73504094e-01 -4.86800745e-01 -3.95380228e-03 1.76990041e+02] [ 4.52836853e-03 3.67029934e-06 9.99989747e-01 6.86773746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04028169299994 meters 0.013938016039890169 Centerline is valid? [True, True] Translation: X:204.51, Y:177.01, Z:0.69 [[-4.85317601e-01 -8.74333848e-01 2.67384149e-03 2.04506914e+02] [ 8.74320755e-01 -4.85324966e-01 -4.78491961e-03 1.77008835e+02] [ 5.48129921e-03 1.55893991e-05 9.99984977e-01 6.85666057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07028169299997 meters 0.014641980861297999 Centerline is valid? [True, True] Translation: X:204.49, Y:177.03, Z:0.69 [[-4.84062212e-01 -8.75029552e-01 2.65666979e-03 2.04492784e+02] [ 8.75016657e-01 -4.84069501e-01 -4.75056367e-03 1.77025595e+02] [ 5.44289642e-03 2.50619616e-05 9.99985187e-01 6.85640121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10028169299994 meters 0.015271657705808074 Centerline is valid? [True, True] Translation: X:204.48, Y:177.04, Z:0.69 [[-4.82752852e-01 -8.75752880e-01 2.56468229e-03 2.04477852e+02] [ 8.75740890e-01 -4.82759663e-01 -4.58273776e-03 1.77044906e+02] [ 5.25147095e-03 3.36674293e-05 9.99986210e-01 6.86175249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130281693 meters 0.017697131843648364 Centerline is valid? [True, True] Translation: X:204.46, Y:177.06, Z:0.69 [[-4.79194692e-01 -8.77704496e-01 2.69513616e-03 2.04458596e+02] [ 8.77691306e-01 -4.79202268e-01 -4.81223015e-03 1.77061373e+02] [ 5.51523140e-03 5.95024250e-05 9.99984789e-01 6.86586674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16028169299994 meters 0.021225350522409283 Centerline is valid? [True, True] Translation: X:204.44, Y:177.08, Z:0.69 [[-4.77663457e-01 -8.78538576e-01 2.75537858e-03 2.04439127e+02] [ 8.78524825e-01 -4.77671398e-01 -4.91607609e-03 1.77076960e+02] [ 5.63512803e-03 7.24385884e-05 9.99984120e-01 6.85434202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190281693 meters 0.02214364237737191 Centerline is valid? [True, True] Translation: X:204.42, Y:177.09, Z:0.69 [[-4.76549158e-01 -8.79143355e-01 2.80394647e-03 2.04423768e+02] [ 8.79129148e-01 -4.76557400e-01 -4.99864500e-03 1.77094072e+02] [ 5.73076697e-03 8.29310023e-05 9.99983576e-01 6.85075889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22028169299995 meters 0.024275967396664166 Centerline is valid? [True, True] Translation: X:204.40, Y:177.11, Z:0.68 [[-4.75626751e-01 -8.79641174e-01 3.25564845e-03 2.04404984e+02] [ 8.79622065e-01 -4.75637881e-01 -5.79904749e-03 1.77109137e+02] [ 6.64959067e-03 1.05558094e-04 9.99977886e-01 6.83463732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250281693 meters 0.024334406402130228 Centerline is valid? [True, True] Translation: X:204.39, Y:177.13, Z:0.68 [[-4.76462373e-01 -8.79188910e-01 3.23549477e-03 2.04392010e+02] [ 8.79170055e-01 -4.76473348e-01 -5.75874732e-03 1.77127013e+02] [ 6.60465380e-03 1.00723701e-04 9.99978184e-01 6.83168901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28028169299995 meters 0.019829835114220838 Centerline is valid? [True, True] Translation: X:204.38, Y:177.15, Z:0.68 [[-4.79027781e-01 -8.77793331e-01 3.35468159e-03 2.04381665e+02] [ 8.77773057e-01 -4.79039519e-01 -5.96652011e-03 1.77148848e+02] [ 6.84439662e-03 8.65202245e-05 9.99976573e-01 6.84545934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310281693 meters 0.019711231946938315 Centerline is valid? [True, True] Translation: X:204.37, Y:177.17, Z:0.68 [[-4.80499612e-01 -8.76988241e-01 3.42769027e-03 2.04368135e+02] [ 8.76967085e-01 -4.80511831e-01 -6.09202412e-03 1.77168113e+02] [ 6.98967924e-03 7.87563148e-05 9.99975569e-01 6.83108057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34028169299995 meters 0.018573171524807076 Centerline is valid? [True, True] Translation: X:204.36, Y:177.19, Z:0.68 [[-4.82351160e-01 -8.75971326e-01 3.40510735e-03 2.04356835e+02] [ 8.75950454e-01 -4.82363175e-01 -6.04736374e-03 1.77187034e+02] [ 6.93981562e-03 6.57524039e-05 9.99975917e-01 6.83121065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370281693 meters 0.016492895264650646 Centerline is valid? [True, True] Translation: X:204.35, Y:177.21, Z:0.68 [[-4.84229949e-01 -8.74935051e-01 3.16444245e-03 2.04346972e+02] [ 8.74917029e-01 -4.84240286e-01 -5.61581667e-03 1.77207658e+02] [ 6.44582537e-03 4.92779707e-05 9.99979224e-01 6.84591928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40028169299995 meters 0.01482127848898948 Centerline is valid? [True, True] Translation: X:204.34, Y:177.23, Z:0.69 [[-4.87128473e-01 -8.73326236e-01 2.67139996e-03 2.04336296e+02] [ 8.73313387e-01 -4.87135797e-01 -4.73743219e-03 1.77226752e+02] [ 5.43865837e-03 2.52312391e-05 9.99985210e-01 6.85965787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430281693 meters 0.014249718247543093 Centerline is valid? [True, True] Translation: X:204.33, Y:177.25, Z:0.69 [[-4.88022090e-01 -8.72827057e-01 2.71442148e-03 2.04325385e+02] [ 8.72813804e-01 -4.88029638e-01 -4.81003423e-03 1.77247253e+02] [ 5.52304615e-03 2.17815863e-05 9.99984748e-01 6.87194019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46028169299996 meters 0.01417753504806175 Centerline is valid? [True, True] Translation: X:204.31, Y:177.27, Z:0.69 [[-4.88465300e-01 -8.72578927e-01 2.76904356e-03 2.04313616e+02] [ 8.72565152e-01 -4.88473148e-01 -4.90299333e-03 1.77266330e+02] [ 5.63085208e-03 2.12288060e-05 9.99984146e-01 6.87344470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490281693 meters 0.014107184124499253 Centerline is valid? [True, True] Translation: X:204.30, Y:177.29, Z:0.69 [[-4.88489150e-01 -8.72566415e-01 2.49025485e-03 2.04299752e+02] [ 8.72555291e-01 -4.88495497e-01 -4.40612188e-03 1.77285246e+02] [ 5.06111225e-03 2.05423135e-05 9.99987192e-01 6.89699193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52028169299996 meters 0.014177436383042717 Centerline is valid? [True, True] Translation: X:204.29, Y:177.30, Z:0.69 [[-4.88527226e-01 -8.72546041e-01 2.13432600e-03 2.04286586e+02] [ 8.72537881e-01 -4.88531888e-01 -3.77366420e-03 1.77303201e+02] [ 4.33538207e-03 1.87425835e-05 9.99990602e-01 6.91172023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550281693 meters 0.014351639654722977 Centerline is valid? [True, True] Translation: X:204.27, Y:177.32, Z:0.69 [[-4.88249285e-01 -8.72703310e-01 1.25234499e-03 2.04272210e+02] [ 8.72700504e-01 -4.88250891e-01 -2.21310847e-03 1.77321854e+02] [ 2.54284564e-03 1.23734725e-05 9.99996767e-01 6.93807159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58028169299996 meters 0.014913037273367874 Centerline is valid? [True, True] Translation: X:204.26, Y:177.34, Z:0.70 [[-4.88401604e-01 -8.72618489e-01 9.19786292e-04 2.04259291e+02] [ 8.72616976e-01 -4.88402471e-01 -1.62456412e-03 1.77339881e+02] [ 1.86685058e-03 9.18141016e-06 9.99998257e-01 6.95053898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.610281693 meters 0.014176574080342681 Centerline is valid? [True, True] Translation: X:204.25, Y:177.36, Z:0.70 [[-4.88962368e-01 -8.72304639e-01 6.47806526e-04 2.04248623e+02] [ 8.72303889e-01 -4.88962797e-01 -1.14368864e-03 1.77360578e+02] [ 1.31439820e-03 5.86344612e-06 9.99999136e-01 6.95963839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64028169299996 meters 0.01300316528144132 Centerline is valid? [True, True] Translation: X:204.24, Y:177.38, Z:0.69 [[-4.91895795e-01 -8.70653249e-01 1.20273100e-03 2.04241075e+02] [ 8.70650666e-01 -4.91897265e-01 -2.12072330e-03 1.77381886e+02] [ 2.43803472e-03 3.98367539e-06 9.99997028e-01 6.94307425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67028169299994 meters 0.012942505566859571 Centerline is valid? [True, True] Translation: X:204.23, Y:177.40, Z:0.69 [[-4.93891172e-01 -8.69521811e-01 1.82509079e-03 2.04232430e+02] [ 8.69515867e-01 -4.93894544e-01 -3.21489854e-03 1.77403341e+02] [ 3.69682678e-03 -8.64612767e-07 9.99993167e-01 6.92076852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70028169299997 meters 0.013388786012142728 Centerline is valid? [True, True] Translation: X:204.22, Y:177.42, Z:0.69 [[-4.95852898e-01 -8.68403059e-01 2.45570543e-03 2.04224026e+02] [ 8.68392303e-01 -4.95858979e-01 -4.32216757e-03 1.77424502e+02] [ 4.97106713e-03 -1.06436203e-05 9.99987644e-01 6.90029470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73028169299994 meters 0.01404027055418594 Centerline is valid? [True, True] Translation: X:204.22, Y:177.45, Z:0.69 [[-4.97606713e-01 -8.67398606e-01 2.68673910e-03 2.04215839e+02] [ 8.67385737e-01 -4.97613965e-01 -4.72498822e-03 1.77445050e+02] [ 5.43540710e-03 -2.07466798e-05 9.99985228e-01 6.88886915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76028169299997 meters 0.0160045047618079 Centerline is valid? [True, True] Translation: X:204.21, Y:177.47, Z:0.69 [[-5.00847453e-01 -8.65532160e-01 2.43093384e-03 2.04211201e+02] [ 8.65521619e-01 -5.00853351e-01 -4.27181647e-03 1.77468766e+02] [ 4.91493589e-03 -3.55026078e-05 9.99987921e-01 6.89404548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79028169299994 meters 0.017494751874446043 Centerline is valid? [True, True] Translation: X:204.20, Y:177.49, Z:0.69 [[-5.02653410e-01 -8.64484480e-01 2.47637466e-03 2.04204373e+02] [ 8.64473546e-01 -5.02659508e-01 -4.34832927e-03 1.77490212e+02] [ 5.00383644e-03 -4.49421577e-05 9.99987480e-01 6.89192910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82028169299997 meters 0.01958610513851919 Centerline is valid? [True, True] Translation: X:204.20, Y:177.51, Z:0.69 [[-5.06101454e-01 -8.62469091e-01 2.89555879e-03 2.04198430e+02] [ 8.62454131e-01 -5.06109732e-01 -5.08053292e-03 1.77514370e+02] [ 5.84727310e-03 -7.39784604e-05 9.99982902e-01 6.88905523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85028169299994 meters 0.020514548824842136 Centerline is valid? [True, True] Translation: X:204.19, Y:177.54, Z:0.69 [[-5.07727251e-01 -8.61513268e-01 2.81544339e-03 2.04188571e+02] [ 8.61499129e-01 -5.07735051e-01 -4.93655399e-03 1.77536183e+02] [ 5.68240605e-03 -8.09209589e-05 9.99983852e-01 6.89276000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880281693 meters 0.02146837231402723 Centerline is valid? [True, True] Translation: X:204.18, Y:177.56, Z:0.69 [[-5.08900721e-01 -8.60820387e-01 2.88399228e-03 2.04178757e+02] [ 8.60805560e-01 -5.08908885e-01 -5.05320958e-03 1.77558045e+02] [ 5.81759512e-03 -8.90254062e-05 9.99983074e-01 6.89519818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91028169299994 meters 0.026544030461950197 Centerline is valid? [True, True] Translation: X:204.18, Y:177.58, Z:0.69 [[-5.10952454e-01 -8.59603716e-01 3.00670382e-03 2.04177161e+02] [ 8.59587603e-01 -5.10961290e-01 -5.26426965e-03 1.77583859e+02] [ 6.06149501e-03 -1.05266166e-04 9.99981623e-01 6.86819731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940281693 meters 0.02443077168035438 Centerline is valid? [True, True] Translation: X:204.16, Y:177.60, Z:0.69 [[-5.12749660e-01 -8.58533027e-01 2.97115037e-03 2.04164964e+02] [ 8.58517297e-01 -5.12758256e-01 -5.19820357e-03 1.77604089e+02] [ 5.98631133e-03 -1.14593125e-04 9.99982075e-01 6.88823682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97028169299995 meters 0.026589361024647647 Centerline is valid? [True, True] Translation: X:204.16, Y:177.63, Z:0.69 [[-5.15508316e-01 -8.56881456e-01 2.31234437e-03 2.04160594e+02] [ 8.56871924e-01 -5.15513492e-01 -4.04298063e-03 1.77629232e+02] [ 4.65639984e-03 -1.02807168e-04 9.99989154e-01 6.92651821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000281693 meters 0.026685818873109182 Centerline is valid? [True, True] Translation: X:204.15, Y:177.65, Z:0.69 [[-5.16309503e-01 -8.56399823e-01 1.95967109e-03 2.04151305e+02] [ 8.56392983e-01 -5.16313214e-01 -3.42409903e-03 1.77651522e+02] [ 3.94420188e-03 -8.96462980e-05 9.99992218e-01 6.94358899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03028169299995 meters 0.02815351367961046 Centerline is valid? [True, True] Translation: X:204.14, Y:177.67, Z:0.69 [[-5.16799967e-01 -8.56104277e-01 1.80551474e-03 2.04144101e+02] [ 8.56098477e-01 -5.16803115e-01 -3.15252184e-03 1.77674110e+02] [ 3.63198307e-03 -8.35247670e-05 9.99993401e-01 6.94916934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060281693 meters 0.028841915806219903 Centerline is valid? [True, True] Translation: X:204.14, Y:177.70, Z:0.69 [[-5.17076364e-01 -8.55937716e-01 1.63080423e-03 2.04136099e+02] [ 8.55932990e-01 -5.17078931e-01 -2.84547375e-03 1.77696180e+02] [ 3.27880281e-03 -7.54680869e-05 9.99994622e-01 6.94651258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09028169299995 meters 0.028073392423624458 Centerline is valid? [True, True] Translation: X:204.13, Y:177.72, Z:0.69 [[-5.16630666e-01 -8.56207234e-01 1.38859164e-03 2.04128986e+02] [ 8.56203812e-01 -5.16632528e-01 -2.42128760e-03 1.77719445e+02] [ 2.79051556e-03 -6.19939697e-05 9.99996105e-01 6.94751431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120281693 meters 0.02954937676189501 Centerline is valid? [True, True] Translation: X:204.12, Y:177.74, Z:0.69 [[-5.16352395e-01 -8.56375071e-01 1.39400839e-03 2.04122982e+02] [ 8.56371628e-01 -5.16354273e-01 -2.42896731e-03 1.77741407e+02] [ 2.79990924e-03 -6.04138490e-05 9.99996078e-01 6.94269002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15028169299995 meters 0.026608258607623822 Centerline is valid? [True, True] Translation: X:204.11, Y:177.76, Z:0.69 [[-5.16319616e-01 -8.56394606e-01 1.52724455e-03 2.04111000e+02] [ 8.56390481e-01 -5.16321871e-01 -2.65898425e-03 1.77762325e+02] [ 3.06568954e-03 -6.49680296e-05 9.99995299e-01 6.93905963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180281693 meters 0.026590537491839154 Centerline is valid? [True, True] Translation: X:204.10, Y:177.79, Z:0.69 [[-5.16361906e-01 -8.56368580e-01 1.79943492e-03 2.04102964e+02] [ 8.56362862e-01 -5.16365035e-01 -3.13043687e-03 1.77785203e+02] [ 3.60997305e-03 -7.54691083e-05 9.99993481e-01 6.93007144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21028169299996 meters 0.026360109182431667 Centerline is valid? [True, True] Translation: X:204.10, Y:177.81, Z:0.69 [[-5.16226994e-01 -8.56446286e-01 3.07402231e-03 2.04097428e+02] [ 8.56429628e-01 -5.16236131e-01 -5.34316168e-03 1.77809804e+02] [ 6.16305236e-03 -1.25600511e-04 9.99981000e-01 6.89241843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240281693 meters 0.026341084921218078 Centerline is valid? [True, True] Translation: X:204.09, Y:177.83, Z:0.69 [[-5.15750714e-01 -8.56731844e-01 3.42761611e-03 2.04088856e+02] [ 8.56711171e-01 -5.15762086e-01 -5.95320678e-03 1.77830683e+02] [ 6.86813626e-03 -1.33893639e-04 9.99976405e-01 6.87955981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27028169299996 meters 0.02310631323782411 Centerline is valid? [True, True] Translation: X:204.08, Y:177.85, Z:0.69 [[-5.13190696e-01 -8.58270293e-01 2.72271006e-03 2.04078134e+02] [ 8.58257290e-01 -5.13197911e-01 -4.72529020e-03 1.77851585e+02] [ 5.45286532e-03 -8.81892066e-05 9.99985129e-01 6.90481417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300281693 meters 0.019920658185393892 Centerline is valid? [True, True] Translation: X:204.06, Y:177.87, Z:0.69 [[-5.11259863e-01 -8.59423469e-01 2.15719898e-03 2.04063512e+02] [ 8.59415328e-01 -5.11264410e-01 -3.74123794e-03 1.77870843e+02] [ 4.31820675e-03 -5.88149283e-05 9.99990675e-01 6.92785361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33028169299996 meters 0.018113549496032857 Centerline is valid? [True, True] Translation: X:204.05, Y:177.89, Z:0.69 [[-5.09113450e-01 -8.60696979e-01 2.05058292e-03 2.04050706e+02] [ 8.60689644e-01 -5.09117578e-01 -3.55379762e-03 1.77889411e+02] [ 4.10273068e-03 -4.43706860e-05 9.99991583e-01 6.93103418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.360281693 meters 0.014133084720085357 Centerline is valid? [True, True] Translation: X:204.03, Y:177.90, Z:0.69 [[-5.04043860e-01 -8.63672975e-01 2.96295223e-03 2.04033004e+02] [ 8.63657737e-01 -5.04052568e-01 -5.13052673e-03 1.77904757e+02] [ 5.92458096e-03 -2.70338738e-05 9.99982449e-01 6.89687955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39028169299996 meters 0.013241269415859569 Centerline is valid? [True, True] Translation: X:204.02, Y:177.92, Z:0.69 [[-5.01755276e-01 -8.65002346e-01 3.54749563e-03 2.04018085e+02] [ 8.64980569e-01 -5.01767817e-01 -6.13788832e-03 1.77922196e+02] [ 7.08930693e-03 -1.12030599e-05 9.99974871e-01 6.87051976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42028169299994 meters 0.013206881036428213 Centerline is valid? [True, True] Translation: X:204.00, Y:177.94, Z:0.69 [[-4.99916876e-01 -8.66065786e-01 3.62924839e-03 2.04003548e+02] [ 8.66043055e-01 -4.99930050e-01 -6.27471142e-03 1.77940412e+02] [ 7.24868320e-03 6.25122917e-06 9.99973728e-01 6.86601693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45028169299997 meters 0.013206881036428213 Centerline is valid? [True, True] Translation: X:203.99, Y:177.96, Z:0.69 [[-5.00190436e-01 -8.65907814e-01 3.63123281e-03 2.03991857e+02] [ 8.65885088e-01 -5.00203616e-01 -6.27356311e-03 1.77959636e+02] [ 7.24868310e-03 6.25407867e-06 9.99973728e-01 6.86646408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48028169299994 meters 0.013469558704530473 Centerline is valid? [True, True] Translation: X:203.98, Y:177.98, Z:0.69 [[-4.98967678e-01 -8.66613766e-01 3.44044749e-03 2.03978179e+02] [ 8.66593412e-01 -4.98979539e-01 -5.93956925e-03 1.77978388e+02] [ 6.86402538e-03 1.78160495e-05 9.99976442e-01 6.88008861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51028169299997 meters 0.013710219251740053 Centerline is valid? [True, True] Translation: X:203.96, Y:178.00, Z:0.69 [[-4.98206599e-01 -8.67053507e-01 2.89837038e-03 2.03964260e+02] [ 8.67039090e-01 -4.98215029e-01 -5.00015510e-03 1.77996625e+02] [ 5.77941370e-03 2.18901572e-05 9.99983299e-01 6.90304920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54028169299994 meters 0.013676278751547163 Centerline is valid? [True, True] Translation: X:203.95, Y:178.02, Z:0.69 [[-4.98376000e-01 -8.66955800e-01 3.00066444e-03 2.03951565e+02] [ 8.66940368e-01 -4.98385033e-01 -5.17280827e-03 1.78017320e+02] [ 5.98008238e-03 2.33936347e-05 9.99982119e-01 6.90436271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57028169299997 meters 0.013540184698515157 Centerline is valid? [True, True] Translation: X:203.94, Y:178.04, Z:0.69 [[-4.98523286e-01 -8.66871313e-01 2.94269238e-03 2.03939148e+02] [ 8.66856492e-01 -4.98531970e-01 -5.06917797e-03 1.78037981e+02] [ 5.86135119e-03 2.37887352e-05 9.99982822e-01 6.91021951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60028169299994 meters 0.013928124103291844 Centerline is valid? [True, True] Translation: X:203.92, Y:178.06, Z:0.69 [[-4.97657440e-01 -8.67370297e-01 2.41671791e-03 2.03924444e+02] [ 8.67360320e-01 -4.97663307e-01 -4.16027303e-03 1.78056978e+02] [ 4.81120908e-03 2.57743991e-05 9.99988426e-01 6.93153099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630281693 meters 0.015193386587662852 Centerline is valid? [True, True] Translation: X:203.91, Y:178.07, Z:0.69 [[-4.96878823e-01 -8.67817596e-01 2.01380753e-03 2.03908854e+02] [ 8.67810682e-01 -4.96882903e-01 -3.46430024e-03 1.78074060e+02] [ 4.00700724e-03 2.62662605e-05 9.99991972e-01 6.94239081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66028169299994 meters 0.018156175739003896 Centerline is valid? [True, True] Translation: X:203.89, Y:178.09, Z:0.70 [[-4.94313094e-01 -8.69282650e-01 1.49651630e-03 2.03890259e+02] [ 8.69278843e-01 -4.94315358e-01 -2.57280595e-03 1.78088470e+02] [ 2.97624656e-03 2.91182888e-05 9.99995571e-01 6.97047081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690281693 meters 0.020027911685877357 Centerline is valid? [True, True] Translation: X:203.87, Y:178.11, Z:0.70 [[-4.93057395e-01 -8.69995936e-01 1.21513994e-03 2.03874530e+02] [ 8.69993431e-01 -4.93058892e-01 -2.08772228e-03 1.78106258e+02] [ 2.41544545e-03 2.77968617e-05 9.99997082e-01 6.97585681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72028169299995 meters 0.022066951062098522 Centerline is valid? [True, True] Translation: X:203.86, Y:178.12, Z:0.70 [[-4.91751135e-01 -8.70735183e-01 1.03070717e-03 2.03859214e+02] [ 8.70733385e-01 -4.91752214e-01 -1.76964772e-03 1.78122893e+02] [ 2.04774706e-03 2.72448693e-05 9.99997903e-01 6.98291392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750281693 meters 0.02182515506300693 Centerline is valid? [True, True] Translation: X:203.85, Y:178.14, Z:0.70 [[-4.89762324e-01 -8.71855071e-01 1.26517787e-03 2.03845398e+02] [ 8.71852371e-01 -4.89763957e-01 -2.17024264e-03 1.78142410e+02] [ 2.51177557e-03 4.01452483e-05 9.99996845e-01 6.97022043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78028169299995 meters 0.022855151337855588 Centerline is valid? [True, True] Translation: X:203.83, Y:178.16, Z:0.70 [[-4.89257345e-01 -8.72137905e-01 1.65076493e-03 2.03830641e+02] [ 8.72133317e-01 -4.89260127e-01 -2.82936148e-03 1.78162122e+02] [ 3.27524685e-03 5.54012089e-05 9.99994635e-01 6.95288862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810281693 meters 0.02307223066760909 Centerline is valid? [True, True] Translation: X:203.82, Y:178.18, Z:0.69 [[-4.89327981e-01 -8.72097079e-01 2.19337561e-03 2.03816832e+02] [ 8.72088993e-01 -4.89332891e-01 -3.75636272e-03 1.78181774e+02] [ 4.34920379e-03 7.47253435e-05 9.99990539e-01 6.93575154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84028169299995 meters 0.022986272553143165 Centerline is valid? [True, True] Translation: X:203.80, Y:178.20, Z:0.69 [[-4.89525304e-01 -8.71984844e-01 2.72183004e-03 2.03802602e+02] [ 8.71972409e-01 -4.89532862e-01 -4.65778842e-03 1.78201379e+02] [ 5.39394616e-03 9.32554044e-05 9.99985448e-01 6.91894668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870281693 meters 0.02311536447696451 Centerline is valid? [True, True] Translation: X:203.79, Y:178.22, Z:0.69 [[-4.90247795e-01 -8.71579192e-01 2.60992210e-03 2.03789288e+02] [ 8.71567769e-01 -4.90254735e-01 -4.46309904e-03 1.78220546e+02] [ 5.16947092e-03 8.66995149e-05 9.99986634e-01 6.92642388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90028169299995 meters 0.022545045464532017 Centerline is valid? [True, True] Translation: X:203.78, Y:178.24, Z:0.69 [[-4.90880992e-01 -8.71223426e-01 2.36508814e-03 2.03776597e+02] [ 8.71214055e-01 -4.90886684e-01 -4.04164760e-03 1.78240766e+02] [ 4.68216834e-03 7.65300480e-05 9.99989036e-01 6.94023731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930281693 meters 0.02236258076369876 Centerline is valid? [True, True] Translation: X:203.76, Y:178.26, Z:0.69 [[-4.91676466e-01 -8.70774503e-01 2.45313324e-03 2.03762354e+02] [ 8.70764430e-01 -4.91682580e-01 -4.18906439e-03 1.78258851e+02] [ 4.85389334e-03 7.64367887e-05 9.99988217e-01 6.93576839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96028169299996 meters 0.02251541082034953 Centerline is valid? [True, True] Translation: X:203.75, Y:178.28, Z:0.69 [[-4.91789999e-01 -8.70709960e-01 2.60070662e-03 2.03747954e+02] [ 8.70698654e-01 -4.91796868e-01 -4.43785579e-03 1.78278497e+02] [ 5.14310460e-03 8.19386636e-05 9.99986771e-01 6.92430820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990281693 meters 0.02703490713185962 Centerline is valid? [True, True] Translation: X:203.73, Y:178.29, Z:0.69 [[-4.91449828e-01 -8.70902317e-01 2.49407969e-03 2.03728332e+02] [ 8.70891937e-01 -4.91456150e-01 -4.25294020e-03 1.78293947e+02] [ 4.92962628e-03 8.19671643e-05 9.99987846e-01 6.91615675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02028169299996 meters 0.024738328273189857 Centerline is valid? [True, True] Translation: X:203.71, Y:178.31, Z:0.69 [[-4.90261829e-01 -8.71572160e-01 2.30405831e-03 2.03714535e+02] [ 8.71563321e-01 -4.90267236e-01 -3.92623904e-03 1.78313218e+02] [ 4.55160494e-03 8.32475761e-05 9.99989638e-01 6.93922168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050281693 meters 0.02668577318894106 Centerline is valid? [True, True] Translation: X:203.70, Y:178.33, Z:0.69 [[-4.89574757e-01 -8.71957138e-01 2.70299513e-03 2.03697434e+02] [ 8.71944998e-01 -4.89582208e-01 -4.60249307e-03 1.78330005e+02] [ 5.33651501e-03 1.03598655e-04 9.99985755e-01 6.93324011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08028169299996 meters 0.027259060375404147 Centerline is valid? [True, True] Translation: X:203.68, Y:178.35, Z:0.69 [[-4.88855821e-01 -8.72358671e-01 3.21489309e-03 2.03681582e+02] [ 8.72341531e-01 -4.88866375e-01 -5.47000578e-03 1.78347880e+02] [ 6.34346011e-03 1.30440595e-04 9.99979872e-01 6.91666022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.110281693 meters 0.030125634107084125 Centerline is valid? [True, True] Translation: X:203.66, Y:178.36, Z:0.69 [[-4.87614106e-01 -8.73051833e-01 3.60282606e-03 2.03660674e+02] [ 8.73030358e-01 -4.87627390e-01 -6.12557840e-03 1.78362325e+02] [ 7.10478412e-03 1.58458093e-04 9.99974748e-01 6.89589275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14028169299996 meters 0.030504647959715525 Centerline is valid? [True, True] Translation: X:203.65, Y:178.38, Z:0.69 [[-4.87932520e-01 -8.72875038e-01 3.32020100e-03 2.03645929e+02] [ 8.72856822e-01 -4.87943795e-01 -5.64098288e-03 1.78379298e+02] [ 6.54394462e-03 1.45641098e-04 9.99978578e-01 6.89995684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17028169299994 meters 0.028925059078406916 Centerline is valid? [True, True] Translation: X:203.63, Y:178.40, Z:0.69 [[-4.89040552e-01 -8.72255847e-01 3.01244277e-03 2.03632272e+02] [ 8.72240862e-01 -4.89049814e-01 -5.11446840e-03 1.78398278e+02] [ 5.93435954e-03 1.26393227e-04 9.99982384e-01 6.91579391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20028169299997 meters 0.025094139245286605 Centerline is valid? [True, True] Translation: X:203.62, Y:178.42, Z:0.69 [[-4.92325346e-01 -8.70407873e-01 2.42661279e-03 2.03618985e+02] [ 8.70398140e-01 -4.92331319e-01 -4.11709848e-03 1.78416914e+02] [ 4.77825241e-03 8.51673223e-05 9.99988580e-01 6.94635226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23028169299994 meters 0.023182969102257783 Centerline is valid? [True, True] Translation: X:203.61, Y:178.44, Z:0.69 [[-4.94607644e-01 -8.69112990e-01 2.42685079e-03 2.03608109e+02] [ 8.69103254e-01 -4.94613593e-01 -4.11444147e-03 1.78435550e+02] [ 4.77626791e-03 7.41497163e-05 9.99988591e-01 6.94461663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26028169299997 meters 0.020446475176617122 Centerline is valid? [True, True] Translation: X:203.60, Y:178.46, Z:0.69 [[-4.97269713e-01 -8.67592198e-01 2.57111325e-03 2.03597851e+02] [ 8.67581268e-01 -4.97276355e-01 -4.35536085e-03 1.78456605e+02] [ 5.05723092e-03 6.48606594e-05 9.99987210e-01 6.94033510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29028169299994 meters 0.01838515513296739 Centerline is valid? [True, True] Translation: X:203.59, Y:178.48, Z:0.69 [[-4.99603081e-01 -8.66250124e-01 2.73567854e-03 2.03588054e+02] [ 8.66237751e-01 -4.99610567e-01 -4.63037127e-03 1.78476687e+02] [ 5.37783360e-03 5.64002735e-05 9.99985538e-01 6.92935001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32028169299997 meters 0.014789058490364576 Centerline is valid? [True, True] Translation: X:203.58, Y:178.50, Z:0.69 [[-5.04055897e-01 -8.63666312e-01 2.85540389e-03 2.03580175e+02] [ 8.63652812e-01 -5.04063984e-01 -4.82922200e-03 1.78497227e+02] [ 5.61014261e-03 3.18797674e-05 9.99984263e-01 6.92138909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35028169299994 meters 0.013215218755878869 Centerline is valid? [True, True] Translation: X:203.57, Y:178.52, Z:0.69 [[-5.06416147e-01 -8.62285786e-01 2.43094827e-03 2.03571423e+02] [ 8.62275998e-01 -5.06421982e-01 -4.10847974e-03 1.78518827e+02] [ 4.77376932e-03 1.55478681e-05 9.99988605e-01 6.94074169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380281693 meters 0.012242843977385266 Centerline is valid? [True, True] Translation: X:203.57, Y:178.54, Z:0.70 [[-5.10744861e-01 -8.59731207e-01 1.39213375e-03 2.03567384e+02] [ 8.59727991e-01 -5.10746758e-01 -2.35164306e-03 1.78542925e+02] [ 2.73280873e-03 -4.23325705e-06 9.99996266e-01 6.98519972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41028169299994 meters 0.012825398515342154 Centerline is valid? [True, True] Translation: X:203.56, Y:178.56, Z:0.70 [[-5.12697844e-01 -8.58567938e-01 1.41983643e-03 2.03558679e+02] [ 8.58564593e-01 -5.12699810e-01 -2.39670139e-03 1.78564701e+02] [ 2.78568084e-03 -9.76235103e-06 9.99996120e-01 6.98087704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440281693 meters 0.013622134341473857 Centerline is valid? [True, True] Translation: X:203.55, Y:178.59, Z:0.70 [[-5.14124880e-01 -8.57713484e-01 1.78513893e-03 2.03549889e+02] [ 8.57708200e-01 -5.14127979e-01 -3.01076232e-03 1.78585511e+02] [ 3.50016130e-03 -1.67795176e-05 9.99993874e-01 6.96559505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47028169299995 meters 0.013906901140701417 Centerline is valid? [True, True] Translation: X:203.54, Y:178.61, Z:0.69 [[-5.15158666e-01 -8.57091282e-01 2.46649002e-03 2.03540534e+02] [ 8.57081205e-01 -5.15164570e-01 -4.15631691e-03 1.78607319e+02] [ 4.83299126e-03 -2.71804338e-05 9.99988321e-01 6.93957742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500281693 meters 0.013621773526019003 Centerline is valid? [True, True] Translation: X:203.53, Y:178.63, Z:0.69 [[-5.14932311e-01 -8.57226501e-01 2.72771235e-03 2.03528181e+02] [ 8.57214196e-01 -5.14939535e-01 -4.59318978e-03 1.78628054e+02] [ 5.34201094e-03 -2.69480792e-05 9.99985731e-01 6.93146956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53028169299995 meters 0.013226236825335877 Centerline is valid? [True, True] Translation: X:203.52, Y:178.65, Z:0.69 [[-5.14333793e-01 -8.57584561e-01 3.07739564e-03 2.03515076e+02] [ 8.57568927e-01 -5.14342999e-01 -5.17828046e-03 1.78648259e+02] [ 6.02365028e-03 -2.42857479e-05 9.99981857e-01 6.92126071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560281693 meters 0.01272697175272807 Centerline is valid? [True, True] Translation: X:203.50, Y:178.66, Z:0.69 [[-5.12025962e-01 -8.58962459e-01 3.59278688e-03 2.03499806e+02] [ 8.58941217e-01 -5.12038567e-01 -6.04080513e-03 1.78664583e+02] [ 7.02847027e-03 -7.05631844e-06 9.99975300e-01 6.90844285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59028169299995 meters 0.012674216161588054 Centerline is valid? [True, True] Translation: X:203.48, Y:178.68, Z:0.69 [[-5.10763110e-01 -8.59713497e-01 3.70794276e-03 2.03484809e+02] [ 8.59690924e-01 -5.10776569e-01 -6.22990859e-03 1.78683284e+02] [ 7.24986679e-03 5.67725344e-06 9.99973719e-01 6.90873497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620281693 meters 0.01320078871063893 Centerline is valid? [True, True] Translation: X:203.47, Y:178.70, Z:0.69 [[-5.09893315e-01 -8.60229452e-01 3.75460209e-03 2.03470759e+02] [ 8.60206355e-01 -5.09907139e-01 -6.30377512e-03 1.78701036e+02] [ 7.33719142e-03 1.54797835e-05 9.99973082e-01 6.89819548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65028169299995 meters 0.013372305705462178 Centerline is valid? [True, True] Translation: X:203.46, Y:178.72, Z:0.69 [[-5.09390982e-01 -8.60528435e-01 3.41177337e-03 2.03457467e+02] [ 8.60509398e-01 -5.09402407e-01 -5.72395936e-03 1.78718433e+02] [ 6.66359536e-03 2.01297713e-05 9.99977798e-01 6.90320696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680281693 meters 0.013545482418507617 Centerline is valid? [True, True] Translation: X:203.44, Y:178.74, Z:0.69 [[-5.08551836e-01 -8.61026332e-01 2.94724114e-03 2.03442880e+02] [ 8.61012155e-01 -5.08560375e-01 -4.94109704e-03 1.78736924e+02] [ 5.75326472e-03 2.48064702e-05 9.99983450e-01 6.92640411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71028169299996 meters 0.014038933476872474 Centerline is valid? [True, True] Translation: X:203.43, Y:178.75, Z:0.69 [[-5.08128776e-01 -8.61276651e-01 2.77093324e-03 2.03429204e+02] [ 8.61264141e-01 -5.08136330e-01 -4.64212477e-03 1.78754298e+02] [ 5.40616552e-03 2.77082568e-05 9.99985386e-01 6.92837528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740281693 meters 0.015127390741813476 Centerline is valid? [True, True] Translation: X:203.41, Y:178.77, Z:0.69 [[-5.07188845e-01 -8.61831335e-01 2.49530408e-03 2.03412504e+02] [ 8.61821211e-01 -5.07194982e-01 -4.17736449e-03 1.78769561e+02] [ 4.86578933e-03 3.17933140e-05 9.99988162e-01 6.93760707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77028169299996 meters 0.015550653576886356 Centerline is valid? [True, True] Translation: X:203.40, Y:178.79, Z:0.69 [[-5.07084223e-01 -8.61892475e-01 2.63672653e-03 2.03398848e+02] [ 8.61881189e-01 -5.07091077e-01 -4.41088017e-03 1.78787699e+02] [ 5.13876492e-03 3.58572561e-05 9.99986796e-01 6.93563922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800281693 meters 0.014871837338577937 Centerline is valid? [True, True] Translation: X:203.39, Y:178.81, Z:0.69 [[-5.07443690e-01 -8.61678490e-01 3.32889580e-03 2.03385837e+02] [ 8.61660523e-01 -5.07454607e-01 -5.56457411e-03 1.78808207e+02] [ 6.48413732e-03 4.46700750e-05 9.99978977e-01 6.92236760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83028169299996 meters 0.014893920773167263 Centerline is valid? [True, True] Translation: X:203.37, Y:178.83, Z:0.69 [[-5.07740434e-01 -8.61502445e-01 3.63184315e-03 2.03372739e+02] [ 8.61481085e-01 -5.07753420e-01 -6.06662961e-03 1.78827679e+02] [ 7.07049702e-03 4.84910310e-05 9.99975003e-01 6.91022432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.860281693 meters 0.01472388364158426 Centerline is valid? [True, True] Translation: X:203.36, Y:178.85, Z:0.69 [[-5.08316166e-01 -8.61162774e-01 3.65400708e-03 2.03359788e+02] [ 8.61141175e-01 -5.08329297e-01 -6.09937296e-03 1.78847686e+02] [ 7.10999179e-03 4.62060735e-05 9.99974723e-01 6.90882272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89028169299996 meters 0.014224465888879368 Centerline is valid? [True, True] Translation: X:203.35, Y:178.87, Z:0.69 [[-5.09247527e-01 -8.60613525e-01 3.36423023e-03 2.03347593e+02] [ 8.60595229e-01 -5.09258638e-01 -5.61182966e-03 1.78867633e+02] [ 6.54287981e-03 3.74301133e-05 9.99978594e-01 6.92034039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92028169299994 meters 0.013111980147699183 Centerline is valid? [True, True] Translation: X:203.34, Y:178.89, Z:0.69 [[-5.11287141e-01 -8.59406380e-01 2.47657361e-03 2.03337360e+02] [ 8.59396464e-01 -5.11293139e-01 -4.12850116e-03 1.78888562e+02] [ 4.81431533e-03 1.75090475e-05 9.99988411e-01 6.94645421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95028169299997 meters 0.012731385088137403 Centerline is valid? [True, True] Translation: X:203.33, Y:178.91, Z:0.70 [[-5.12054517e-01 -8.58950058e-01 2.22936750e-03 2.03325800e+02] [ 8.58942029e-01 -5.12059370e-01 -3.71390014e-03 1.78909343e+02] [ 4.33162326e-03 1.31781002e-05 9.99990618e-01 6.95423750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98028169299994 meters 0.012666369197039316 Centerline is valid? [True, True] Translation: X:203.31, Y:178.93, Z:0.70 [[-5.12602377e-01 -8.58623146e-01 2.25735605e-03 2.03314577e+02] [ 8.58614924e-01 -5.12607347e-01 -3.75762991e-03 1.78928025e+02] [ 4.38352531e-03 1.20295671e-05 9.99990392e-01 6.95830537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01028169299997 meters 0.01315810271901062 Centerline is valid? [True, True] Translation: X:203.30, Y:178.95, Z:0.69 [[-5.12049509e-01 -8.58951667e-01 2.70807263e-03 2.03301378e+02] [ 8.58939859e-01 -5.12056670e-01 -4.50407078e-03 1.78945711e+02] [ 5.25546576e-03 1.97642865e-05 9.99986190e-01 6.93938663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04028169299994 meters 0.01338385163451365 Centerline is valid? [True, True] Translation: X:203.29, Y:178.96, Z:0.69 [[-5.12069972e-01 -8.58938332e-01 3.04726266e-03 2.03288921e+02] [ 8.58923403e-01 -5.12079038e-01 -5.06428873e-03 1.78964558e+02] [ 5.91035105e-03 2.40950247e-05 9.99982533e-01 6.92415963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07028169299997 meters 0.012958177450874289 Centerline is valid? [True, True] Translation: X:203.28, Y:178.98, Z:0.69 [[-5.13271915e-01 -8.58221040e-01 2.93040467e-03 2.03278658e+02] [ 8.58207243e-01 -5.13280280e-01 -4.86649367e-03 1.78984196e+02] [ 5.68064619e-03 1.70599911e-05 9.99983865e-01 6.92886298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10028169299994 meters 0.012503276370606596 Centerline is valid? [True, True] Translation: X:203.27, Y:179.00, Z:0.69 [[-5.14776074e-01 -8.57320502e-01 2.67419327e-03 2.03269080e+02] [ 8.57309016e-01 -5.14783020e-01 -4.43779278e-03 1.79004446e+02] [ 5.18124002e-03 8.14045223e-06 9.99986577e-01 6.93222643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130281693 meters 0.012265783499823527 Centerline is valid? [True, True] Translation: X:203.26, Y:179.03, Z:0.69 [[-5.16578128e-01 -8.56236129e-01 2.59389315e-03 2.03260373e+02] [ 8.56225325e-01 -5.16584640e-01 -4.30144096e-03 1.79025642e+02] [ 5.02301452e-03 -1.07331207e-06 9.99987385e-01 6.93411742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16028169299994 meters 0.01263941316771431 Centerline is valid? [True, True] Translation: X:203.25, Y:179.05, Z:0.69 [[-5.18687954e-01 -8.54959964e-01 2.50335942e-03 2.03252102e+02] [ 8.54949900e-01 -5.18693995e-01 -4.14838531e-03 1.79048049e+02] [ 4.84518085e-03 -1.14706035e-05 9.99988262e-01 6.93099605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190281693 meters 0.015244902923849427 Centerline is valid? [True, True] Translation: X:203.25, Y:179.07, Z:0.69 [[-5.23050513e-01 -8.52297065e-01 2.80618219e-03 2.03251052e+02] [ 8.52284399e-01 -5.23058039e-01 -4.64659538e-03 1.79072557e+02] [ 5.42807576e-03 -3.87387929e-05 9.99985267e-01 6.91896157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22028169299995 meters 0.017329871632782365 Centerline is valid? [True, True] Translation: X:203.24, Y:179.10, Z:0.69 [[-5.25476301e-01 -8.50803519e-01 2.83370536e-03 2.03244117e+02] [ 8.50790602e-01 -5.25483939e-01 -4.68842534e-03 1.79095614e+02] [ 5.47799543e-03 -5.27665168e-05 9.99984994e-01 6.91519304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250281693 meters 0.021738454346881514 Centerline is valid? [True, True] Translation: X:203.24, Y:179.12, Z:0.69 [[-5.29461478e-01 -8.48328918e-01 2.93095365e-03 2.03243454e+02] [ 8.48315084e-01 -5.29469584e-01 -4.84546058e-03 1.79120860e+02] [ 5.66239514e-03 -7.91125235e-05 9.99983965e-01 6.90934307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28028169299995 meters 0.022819992419705774 Centerline is valid? [True, True] Translation: X:203.23, Y:179.14, Z:0.69 [[-5.30676261e-01 -8.47569263e-01 3.00833074e-03 2.03234708e+02] [ 8.47554699e-01 -5.30684781e-01 -4.96949996e-03 1.79142814e+02] [ 5.80847076e-03 -8.74707992e-05 9.99983127e-01 6.91120573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310281693 meters 0.023771473298331968 Centerline is valid? [True, True] Translation: X:203.23, Y:179.16, Z:0.69 [[-5.31677676e-01 -8.46941593e-01 2.96436957e-03 2.03225644e+02] [ 8.46927462e-01 -5.31685932e-01 -4.89327829e-03 1.79163853e+02] [ 5.72043450e-03 -9.10408315e-05 9.99983634e-01 6.91572714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34028169299995 meters 0.02457480278789789 Centerline is valid? [True, True] Translation: X:203.22, Y:179.19, Z:0.69 [[-5.32292870e-01 -8.46556212e-01 2.62311420e-03 2.03219536e+02] [ 8.46545157e-01 -5.32299327e-01 -4.32699713e-03 1.79185968e+02] [ 5.05932823e-03 -8.26450998e-05 9.99987198e-01 6.93157513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370281693 meters 0.02457480278789789 Centerline is valid? [True, True] Translation: X:203.21, Y:179.20, Z:0.69 [[-5.32550223e-01 -8.46394336e-01 2.62445377e-03 2.03207447e+02] [ 8.46383284e-01 -5.32556683e-01 -4.32618467e-03 1.79204944e+02] [ 5.05932859e-03 -8.26168070e-05 9.99987198e-01 6.93202232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40028169299995 meters 0.02213741691650122 Centerline is valid? [True, True] Translation: X:203.19, Y:179.22, Z:0.69 [[-5.32597039e-01 -8.46365177e-01 2.52601330e-03 2.03194644e+02] [ 8.46354953e-01 -5.32603023e-01 -4.16099151e-03 1.79224333e+02] [ 4.86708063e-03 -7.82278908e-05 9.99988153e-01 6.94131954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430281693 meters 0.023927889370410724 Centerline is valid? [True, True] Translation: X:203.19, Y:179.25, Z:0.69 [[-5.32578091e-01 -8.46376744e-01 2.64278190e-03 2.03187839e+02] [ 8.46365570e-01 -5.32584642e-01 -4.34988633e-03 1.79246371e+02] [ 5.08914769e-03 -7.98945499e-05 9.99987047e-01 6.93269148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46028169299996 meters 0.02382038949126529 Centerline is valid? [True, True] Translation: X:203.18, Y:179.27, Z:0.69 [[-5.32457081e-01 -8.46452251e-01 2.83613834e-03 2.03181001e+02] [ 8.46439403e-01 -5.32464628e-01 -4.66439102e-03 1.79267712e+02] [ 5.45832763e-03 -8.29687841e-05 9.99985100e-01 6.91690325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490281693 meters 0.023275981348497822 Centerline is valid? [True, True] Translation: X:203.17, Y:179.29, Z:0.69 [[-5.32327422e-01 -8.46533202e-01 3.00888366e-03 2.03170396e+02] [ 8.46518764e-01 -5.32335919e-01 -4.94492379e-03 1.79288335e+02] [ 5.78777902e-03 -8.52420591e-05 9.99983247e-01 6.91585866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52028169299996 meters 0.02305423457149425 Centerline is valid? [True, True] Translation: X:203.16, Y:179.31, Z:0.69 [[-5.32438162e-01 -8.46464448e-01 2.74628118e-03 2.03160315e+02] [ 8.46452434e-01 -5.32445239e-01 -4.51040971e-03 1.79308655e+02] [ 5.28014580e-03 -7.69178679e-05 9.99986057e-01 6.92622259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550281693 meters 0.022839988333852635 Centerline is valid? [True, True] Translation: X:203.15, Y:179.33, Z:0.69 [[-5.32454846e-01 -8.46454936e-01 2.42472107e-03 2.03150895e+02] [ 8.46445583e-01 -5.32460363e-01 -3.97969123e-03 1.79328445e+02] [ 4.65969714e-03 -6.66114481e-05 9.99989141e-01 6.94650877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58028169299996 meters 0.019834295500301916 Centerline is valid? [True, True] Translation: X:203.14, Y:179.35, Z:0.70 [[-5.31811040e-01 -8.46860935e-01 1.89063656e-03 2.03138926e+02] [ 8.46855259e-01 -5.31814398e-01 -3.10095618e-03 1.79348610e+02] [ 3.63154640e-03 -4.80272204e-05 9.99993405e-01 6.97153379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.610281693 meters 0.01885209521987942 Centerline is valid? [True, True] Translation: X:203.13, Y:179.37, Z:0.70 [[-5.31244013e-01 -8.47216341e-01 2.06658733e-03 2.03127286e+02] [ 8.47209573e-01 -5.31248030e-01 -3.38671102e-03 1.79368557e+02] [ 3.96714737e-03 -4.83373815e-05 9.99992130e-01 6.96279795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64028169299996 meters 0.017279849298574335 Centerline is valid? [True, True] Translation: X:203.11, Y:179.39, Z:0.70 [[-5.30471199e-01 -8.47699830e-01 2.30336414e-03 2.03114539e+02] [ 8.47691439e-01 -5.30476198e-01 -3.77194788e-03 1.79389177e+02] [ 4.41935943e-03 -4.83676538e-05 9.99990233e-01 6.95028038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67028169299994 meters 0.01715511050404389 Centerline is valid? [True, True] Translation: X:203.11, Y:179.41, Z:0.69 [[-5.29593612e-01 -8.48245532e-01 3.18159254e-03 2.03108293e+02] [ 8.48229561e-01 -5.29603166e-01 -5.20561418e-03 1.79411356e+02] [ 6.10062045e-03 -5.81391757e-05 9.99981389e-01 6.91494472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70028169299997 meters 0.016230260324340506 Centerline is valid? [True, True] Translation: X:203.10, Y:179.43, Z:0.69 [[-5.29495534e-01 -8.48306474e-01 3.25652051e-03 2.03096544e+02] [ 8.48289767e-01 -5.29505546e-01 -5.32428547e-03 1.79432279e+02] [ 6.24097151e-03 -5.67123554e-05 9.99980523e-01 6.91523483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73028169299994 meters 0.01636378831770669 Centerline is valid? [True, True] Translation: X:203.09, Y:179.45, Z:0.69 [[-5.29714862e-01 -8.48169677e-01 3.21942688e-03 2.03089577e+02] [ 8.48153369e-01 -5.29724642e-01 -5.25986487e-03 1.79454336e+02] [ 6.16666764e-03 -5.56608386e-05 9.99980984e-01 6.91433131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76028169299997 meters 0.016319813659500807 Centerline is valid? [True, True] Translation: X:203.08, Y:179.47, Z:0.69 [[-5.29905198e-01 -8.48050757e-01 3.22415486e-03 2.03080366e+02] [ 8.48034424e-01 -5.29915003e-01 -5.26362987e-03 1.79474137e+02] [ 6.17235333e-03 -5.50305164e-05 9.99980949e-01 6.91087051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79028169299994 meters 0.016151821513080828 Centerline is valid? [True, True] Translation: X:203.07, Y:179.49, Z:0.69 [[-5.29986965e-01 -8.47999542e-01 3.25480748e-03 2.03070617e+02] [ 8.47982920e-01 -5.29996957e-01 -5.30975593e-03 1.79494640e+02] [ 6.22770866e-03 -5.40802770e-05 9.99980606e-01 6.90966732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82028169299997 meters 0.014921752642509025 Centerline is valid? [True, True] Translation: X:203.06, Y:179.52, Z:0.69 [[-5.28829129e-01 -8.48723140e-01 2.96369135e-03 2.03062574e+02] [ 8.48709389e-01 -5.28837432e-01 -4.83146672e-03 1.79516108e+02] [ 5.66788853e-03 -3.97076613e-05 9.99983937e-01 6.91929031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85028169299994 meters 0.014139813495521647 Centerline is valid? [True, True] Translation: X:203.05, Y:179.54, Z:0.69 [[-5.28088923e-01 -8.49184733e-01 2.71646539e-03 2.03051584e+02] [ 8.49173202e-01 -5.28095909e-01 -4.42536171e-03 1.79536764e+02] [ 5.19250386e-03 -3.02348862e-05 9.99986518e-01 6.93396317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880281693 meters 0.013045102042993946 Centerline is valid? [True, True] Translation: X:203.04, Y:179.56, Z:0.70 [[-5.27244954e-01 -8.49710416e-01 2.22889964e-03 2.03039080e+02] [ 8.49702668e-01 -5.27249665e-01 -3.62872363e-03 1.79557515e+02] [ 4.25855085e-03 -1.93242566e-05 9.99990932e-01 6.95662668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91028169299994 meters 0.012035836356441596 Centerline is valid? [True, True] Translation: X:203.03, Y:179.58, Z:0.70 [[-5.25148480e-01 -8.51009386e-01 1.44869374e-03 2.03027145e+02] [ 8.51006122e-01 -5.25150478e-01 -2.35727301e-03 1.79577197e+02] [ 2.76684366e-03 -5.07109703e-06 9.99996172e-01 6.98345429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940281693 meters 0.01199062681476545 Centerline is valid? [True, True] Translation: X:203.02, Y:179.60, Z:0.70 [[-5.24539785e-01 -8.51384577e-01 1.52174387e-03 2.03015019e+02] [ 8.51380982e-01 -5.24541992e-01 -2.47430107e-03 1.79597164e+02] [ 2.90480033e-03 -2.28556209e-06 9.99995781e-01 6.97953103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97028169299995 meters 0.012004678656792032 Centerline is valid? [True, True] Translation: X:203.00, Y:179.62, Z:0.70 [[-5.24181862e-01 -8.51604205e-01 1.91152345e-03 2.03004509e+02] [ 8.51598543e-01 -5.24185347e-01 -3.10552141e-03 1.79616586e+02] [ 3.64666768e-03 -7.40708293e-09 9.99993351e-01 6.96148891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000281693 meters 0.012361813833155155 Centerline is valid? [True, True] Translation: X:203.00, Y:179.64, Z:0.69 [[-5.23478496e-01 -8.52033773e-01 2.95210976e-03 2.02996357e+02] [ 8.52020297e-01 -5.23486820e-01 -4.79191521e-03 1.79637762e+02] [ 5.62826415e-03 6.79286945e-06 9.99984161e-01 6.92194741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03028169299995 meters 0.0125152087989097 Centerline is valid? [True, True] Translation: X:202.98, Y:179.66, Z:0.69 [[-5.23170789e-01 -8.52221215e-01 3.36552289e-03 2.02984732e+02] [ 8.52203731e-01 -5.23181614e-01 -5.45896353e-03 1.79659078e+02] [ 6.41302423e-03 1.21409072e-05 9.99979436e-01 6.91570197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060281693 meters 0.013506726526333506 Centerline is valid? [True, True] Translation: X:202.97, Y:179.68, Z:0.69 [[-5.20900096e-01 -8.53612409e-01 2.99097628e-03 2.02970265e+02] [ 8.53598641e-01 -5.20908682e-01 -4.84823295e-03 1.79678414e+02] [ 5.69653732e-03 2.76482763e-05 9.99983774e-01 6.92686644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09028169299995 meters 0.01484115599780225 Centerline is valid? [True, True] Translation: X:202.96, Y:179.70, Z:0.70 [[-5.19050707e-01 -8.54740174e-01 2.36610700e-03 2.02955348e+02] [ 8.54731581e-01 -5.19056099e-01 -3.83291641e-03 1.79695892e+02] [ 4.50428991e-03 3.29084030e-05 9.99989855e-01 6.95059196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120281693 meters 0.016942427537777395 Centerline is valid? [True, True] Translation: X:202.94, Y:179.71, Z:0.70 [[-5.16438609e-01 -8.56322110e-01 1.89921747e-03 2.02938753e+02] [ 8.56316591e-01 -5.16442100e-01 -3.07470283e-03 1.79714278e+02] [ 3.61377188e-03 3.84361781e-05 9.99993470e-01 6.97370250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15028169299995 meters 0.01964767150492358 Centerline is valid? [True, True] Translation: X:202.92, Y:179.73, Z:0.70 [[-5.13841786e-01 -8.57883459e-01 1.60946460e-03 2.02921079e+02] [ 8.57879507e-01 -5.13844305e-01 -2.60404545e-03 1.79731599e+02] [ 3.06098174e-03 4.26593312e-05 9.99995314e-01 6.99321742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180281693 meters 0.029156485214702686 Centerline is valid? [True, True] Translation: X:202.89, Y:179.74, Z:0.70 [[-5.08633007e-01 -8.60982641e-01 1.16454319e-03 2.02894521e+02] [ 8.60980582e-01 -5.08634339e-01 -1.88323488e-03 1.79742128e+02] [ 2.21375919e-03 4.47736493e-05 9.99997549e-01 6.99622683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21028169299996 meters 0.027488996421866745 Centerline is valid? [True, True] Translation: X:202.88, Y:179.76, Z:0.70 [[-5.07158018e-01 -8.61852294e-01 1.16968062e-03 2.02882608e+02] [ 8.61850222e-01 -5.07159365e-01 -1.89022581e-03 1.79763227e+02] [ 2.22230993e-03 4.94463236e-05 9.99997529e-01 6.99342214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240281693 meters 0.030036715383419836 Centerline is valid? [True, True] Translation: X:202.87, Y:179.78, Z:0.70 [[-5.05920569e-01 -8.62578906e-01 1.41707440e-03 2.02865931e+02] [ 8.62575874e-01 -5.05922549e-01 -2.28825280e-03 1.79780226e+02] [ 2.69072849e-03 6.46600323e-05 9.99996378e-01 6.98916717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27028169299996 meters 0.029114440077584788 Centerline is valid? [True, True] Translation: X:202.85, Y:179.80, Z:0.70 [[-5.06586289e-01 -8.62188083e-01 1.42904585e-03 2.02852874e+02] [ 8.62185001e-01 -5.06588301e-01 -2.30599100e-03 1.79800443e+02] [ 2.71213587e-03 6.39184707e-05 9.99996320e-01 6.98948632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300281693 meters 0.02911854433470045 Centerline is valid? [True, True] Translation: X:202.84, Y:179.82, Z:0.70 [[-5.07379077e-01 -8.61721728e-01 1.46175568e-03 2.02838970e+02] [ 8.61718506e-01 -5.07381178e-01 -2.35712060e-03 1.79818680e+02] [ 2.77284936e-03 6.36682520e-05 9.99996154e-01 6.98767557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33028169299996 meters 0.02913074885143076 Centerline is valid? [True, True] Translation: X:202.82, Y:179.84, Z:0.70 [[-5.08123213e-01 -8.61282190e-01 1.94680981e-03 2.02824941e+02] [ 8.61276482e-01 -5.08126935e-01 -3.13661090e-03 1.79836415e+02] [ 3.69073361e-03 8.29567007e-05 9.99993186e-01 6.97659623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.360281693 meters 0.028223390695556537 Centerline is valid? [True, True] Translation: X:202.81, Y:179.86, Z:0.70 [[-5.08804863e-01 -8.60878796e-01 2.30440234e-03 2.02812692e+02] [ 8.60870807e-01 -5.08810073e-01 -3.70985221e-03 1.79856346e+02] [ 4.36623622e-03 9.62018517e-05 9.99990463e-01 6.96801911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39028169299996 meters 0.030530009357526956 Centerline is valid? [True, True] Translation: X:202.80, Y:179.87, Z:0.70 [[-5.09257393e-01 -8.60611453e-01 2.19865638e-03 2.02796740e+02] [ 8.60604189e-01 -5.09262131e-01 -3.53708220e-03 1.79872872e+02] [ 4.16374588e-03 9.08876317e-05 9.99991327e-01 6.96909240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42028169299994 meters 0.029215483597321578 Centerline is valid? [True, True] Translation: X:202.78, Y:179.89, Z:0.70 [[-5.08312419e-01 -8.61171699e-01 1.33792546e-03 2.02782312e+02] [ 8.61169014e-01 -5.08314177e-01 -2.15129868e-03 1.79891327e+02] [ 2.53272401e-03 5.86481133e-05 9.99996791e-01 7.01457102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45028169299997 meters 0.03613330545050296 Centerline is valid? [True, True] Translation: X:202.76, Y:179.90, Z:0.70 [[-5.07724145e-01 -8.61519164e-01 9.60614361e-04 2.02761363e+02] [ 8.61517782e-01 -5.07725052e-01 -1.54386809e-03 1.79903705e+02] [ 1.81779992e-03 4.37272483e-05 9.99998347e-01 7.02588041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48028169299994 meters 0.03200009910083069 Centerline is valid? [True, True] Translation: X:202.75, Y:179.93, Z:0.70 [[-5.07565598e-01 -8.61612704e-01 8.44562449e-04 2.02752622e+02] [ 8.61611637e-01 -5.07566299e-01 -1.35648889e-03 1.79925642e+02] [ 1.59743950e-03 3.91777393e-05 9.99998723e-01 7.03145579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51028169299997 meters 0.028451973383357698 Centerline is valid? [True, True] Translation: X:202.74, Y:179.95, Z:0.70 [[-5.08842467e-01 -8.60858776e-01 1.22918425e-03 2.02741952e+02] [ 8.60856519e-01 -5.08843949e-01 -1.97228144e-03 1.79947534e+02] [ 2.32331876e-03 5.45707165e-05 9.99997300e-01 7.01127232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54028169299994 meters 0.030100598016967448 Centerline is valid? [True, True] Translation: X:202.73, Y:179.97, Z:0.70 [[-5.10037578e-01 -8.60150819e-01 1.49552931e-03 2.02727439e+02] [ 8.60147480e-01 -5.10039767e-01 -2.39777286e-03 1.79965452e+02] [ 2.82522571e-03 6.34215072e-05 9.99996007e-01 6.99679706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57028169299997 meters 0.02651966249022836 Centerline is valid? [True, True] Translation: X:202.72, Y:179.99, Z:0.70 [[-5.12866068e-01 -8.58467882e-01 1.13666178e-03 2.02718930e+02] [ 8.58465950e-01 -5.12867326e-01 -1.82140171e-03 1.79987987e+02] [ 2.14657155e-03 4.16503009e-05 9.99997695e-01 7.02330512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60028169299994 meters 0.02575618762607674 Centerline is valid? [True, True] Translation: X:202.71, Y:180.01, Z:0.70 [[-5.14237261e-01 -8.57647580e-01 8.17485941e-04 2.02706356e+02] [ 8.57646581e-01 -5.14237910e-01 -1.30925393e-03 1.80006473e+02] [ 1.54326073e-03 2.78468684e-05 9.99998809e-01 7.04012958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630281693 meters 0.024242275542557108 Centerline is valid? [True, True] Translation: X:202.69, Y:180.03, Z:0.70 [[-5.14807733e-01 -8.57305203e-01 8.86966345e-04 2.02693763e+02] [ 8.57304029e-01 -5.14808496e-01 -1.41929821e-03 1.80025867e+02] [ 1.67338955e-03 2.97341249e-05 9.99998599e-01 7.04111656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66028169299994 meters 0.026597216549436663 Centerline is valid? [True, True] Translation: X:202.68, Y:180.04, Z:0.70 [[-5.14285419e-01 -8.57618139e-01 1.27868283e-03 2.02676252e+02] [ 8.57615705e-01 -5.14287006e-01 -2.04409914e-03 1.80040803e+02] [ 2.41066647e-03 4.53680948e-05 9.99997093e-01 7.02602575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690281693 meters 0.027695225272656485 Centerline is valid? [True, True] Translation: X:202.66, Y:180.06, Z:0.70 [[-5.13868369e-01 -8.57867662e-01 1.54053509e-03 2.02660925e+02] [ 8.57864135e-01 -5.13870675e-01 -2.46060759e-03 1.80058656e+02] [ 2.90251149e-03 5.71413867e-05 9.99995786e-01 7.01602015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72028169299995 meters 0.028477264325251155 Centerline is valid? [True, True] Translation: X:202.64, Y:180.08, Z:0.70 [[-5.13543606e-01 -8.58061781e-01 1.71584461e-03 2.02644691e+02] [ 8.58057414e-01 -5.13546469e-01 -2.73841764e-03 1.80076118e+02] [ 3.23089746e-03 6.59963173e-05 9.99994778e-01 7.01748819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750281693 meters 0.028818814731192275 Centerline is valid? [True, True] Translation: X:202.63, Y:180.09, Z:0.70 [[-5.13571828e-01 -8.58044909e-01 1.70633441e-03 2.02628484e+02] [ 8.58040596e-01 -5.13574659e-01 -2.72128728e-03 1.80092957e+02] [ 3.21131681e-03 6.65277078e-05 9.99994842e-01 7.01489325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78028169299995 meters 0.026881725508089097 Centerline is valid? [True, True] Translation: X:202.61, Y:180.11, Z:0.70 [[-5.14368182e-01 -8.57567960e-01 1.60239382e-03 2.02613200e+02] [ 8.57564160e-01 -5.14370674e-01 -2.55381376e-03 1.80110690e+02] [ 3.01429324e-03 6.05549717e-05 9.99995455e-01 7.01813925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810281693 meters 0.025585113782399867 Centerline is valid? [True, True] Translation: X:202.60, Y:180.13, Z:0.70 [[-5.15350029e-01 -8.56978037e-01 1.72991403e-03 2.02600066e+02] [ 8.56973610e-01 -5.15352928e-01 -2.75504134e-03 1.80130256e+02] [ 3.25252618e-03 6.26800400e-05 9.99994709e-01 7.00990498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84028169299995 meters 0.02313550295690568 Centerline is valid? [True, True] Translation: X:202.59, Y:180.15, Z:0.70 [[-5.17985140e-01 -8.55386351e-01 2.36311953e-03 2.02586115e+02] [ 8.55378089e-01 -5.17990525e-01 -3.76045019e-03 1.80148800e+02] [ 4.44071130e-03 7.35033437e-05 9.99990137e-01 6.99281624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870281693 meters 0.02152545571180085 Centerline is valid? [True, True] Translation: X:202.57, Y:180.17, Z:0.70 [[-5.19761517e-01 -8.54307545e-01 2.56582203e-03 2.02573195e+02] [ 8.54297806e-01 -5.19767846e-01 -4.07997787e-03 1.80168236e+02] [ 4.81918766e-03 7.13606386e-05 9.99988385e-01 6.98563080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90028169299995 meters 0.019630670509937356 Centerline is valid? [True, True] Translation: X:202.56, Y:180.19, Z:0.70 [[-5.21616508e-01 -8.53175905e-01 2.66331555e-03 2.02561386e+02] [ 8.53165412e-01 -5.21623303e-01 -4.23191104e-03 1.80187608e+02] [ 4.99981199e-03 6.48140545e-05 9.99987499e-01 6.98441299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930281693 meters 0.016971972679260552 Centerline is valid? [True, True] Translation: X:202.55, Y:180.21, Z:0.70 [[-5.24846432e-01 -8.51193149e-01 2.53904480e-03 2.02550320e+02] [ 8.51183602e-01 -5.24852571e-01 -4.03160779e-03 1.80207275e+02] [ 4.76430112e-03 4.52183323e-05 9.99988650e-01 6.98428302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96028169299996 meters 0.01621518235296547 Centerline is valid? [True, True] Translation: X:202.54, Y:180.23, Z:0.70 [[-5.26312975e-01 -8.50287258e-01 2.49628588e-03 2.02538333e+02] [ 8.50278033e-01 -5.26318894e-01 -3.96083851e-03 1.80225825e+02] [ 4.68169294e-03 3.78963455e-05 9.99989040e-01 6.98456229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990281693 meters 0.014860816029073198 Centerline is valid? [True, True] Translation: X:202.53, Y:180.25, Z:0.70 [[-5.27717596e-01 -8.49416546e-01 2.38139012e-03 2.02526958e+02] [ 8.49408154e-01 -5.27722968e-01 -3.77579733e-03 1.80247383e+02] [ 4.46393899e-03 3.02174936e-05 9.99990036e-01 6.99054306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02028169299996 meters 0.01365046674902393 Centerline is valid? [True, True] Translation: X:202.52, Y:180.27, Z:0.70 [[-5.29758929e-01 -8.48145140e-01 2.30187644e-03 2.02516339e+02] [ 8.48137298e-01 -5.29763930e-01 -3.64718600e-03 1.80268295e+02] [ 4.31279419e-03 2.01779177e-05 9.99990700e-01 6.99453037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050281693 meters 0.013321291311920763 Centerline is valid? [True, True] Translation: X:202.50, Y:180.29, Z:0.70 [[-5.30579291e-01 -8.47632255e-01 2.27512508e-03 2.02503845e+02] [ 8.47624600e-01 -5.30584169e-01 -3.60235203e-03 1.80288515e+02] [ 4.26061513e-03 1.71185967e-05 9.99990923e-01 7.00055179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08028169299996 meters 0.013358931288110318 Centerline is valid? [True, True] Translation: X:202.49, Y:180.31, Z:0.70 [[-5.31047508e-01 -8.47339530e-01 2.06509656e-03 2.02490912e+02] [ 8.47333230e-01 -5.31051524e-01 -3.26763172e-03 1.80307404e+02] [ 3.86546620e-03 1.45572550e-05 9.99992529e-01 6.99815683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.110281693 meters 0.013362419518196472 Centerline is valid? [True, True] Translation: X:202.48, Y:180.33, Z:0.70 [[-5.30990225e-01 -8.47374965e-01 2.24730793e-03 2.02475712e+02] [ 8.47367514e-01 -5.30994980e-01 -3.55338541e-03 1.80326224e+02] [ 4.20435906e-03 1.74828153e-05 9.99991162e-01 6.99547476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14028169299996 meters 0.013559871606692244 Centerline is valid? [True, True] Translation: X:202.46, Y:180.35, Z:0.70 [[-5.30838113e-01 -8.47470452e-01 2.17495295e-03 2.02461951e+02] [ 8.47463484e-01 -5.30842568e-01 -3.43667109e-03 1.80345275e+02] [ 4.06703481e-03 1.88772055e-05 9.99991729e-01 6.99338857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17028169299994 meters 0.013959967387105181 Centerline is valid? [True, True] Translation: X:202.45, Y:180.36, Z:0.70 [[-5.30540317e-01 -8.47658338e-01 1.52134864e-03 2.02448016e+02] [ 8.47654933e-01 -5.30542498e-01 -2.40258239e-03 1.80363160e+02] [ 2.84370910e-03 1.49118594e-05 9.99995957e-01 7.01200487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20028169299997 meters 0.01387628588680258 Centerline is valid? [True, True] Translation: X:202.43, Y:180.38, Z:0.70 [[-5.30701684e-01 -8.47557847e-01 1.19130540e-03 2.02434847e+02] [ 8.47555761e-01 -5.30703021e-01 -1.88029421e-03 1.80383141e+02] [ 2.22588748e-03 1.18224515e-05 9.99997523e-01 7.02389694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23028169299994 meters 0.013886391520247137 Centerline is valid? [True, True] Translation: X:202.42, Y:180.40, Z:0.70 [[-5.31038662e-01 -8.47346460e-01 1.38424116e-03 2.02422907e+02] [ 8.47343648e-01 -5.31040466e-01 -2.18313652e-03 1.80402004e+02] [ 2.58496107e-03 1.35980563e-05 9.99996659e-01 7.02764783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26028169299997 meters 0.013886391520247137 Centerline is valid? [True, True] Translation: X:202.41, Y:180.42, Z:0.70 [[-5.31315317e-01 -8.47173014e-01 1.38493798e-03 2.02410459e+02] [ 8.47170202e-01 -5.31317122e-01 -2.18269442e-03 1.80420740e+02] [ 2.58496107e-03 1.35792061e-05 9.99996659e-01 7.02809498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29028169299994 meters 0.013770983679977975 Centerline is valid? [True, True] Translation: X:202.40, Y:180.44, Z:0.70 [[-5.32129510e-01 -8.46659471e-01 2.43388468e-03 2.02399777e+02] [ 8.46650799e-01 -5.32135076e-01 -3.83216740e-03 1.80440921e+02] [ 4.53969624e-03 2.14410435e-05 9.99989695e-01 6.99257465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32028169299997 meters 0.013498905472037765 Centerline is valid? [True, True] Translation: X:202.39, Y:180.46, Z:0.70 [[-5.32699511e-01 -8.46300244e-01 2.66997768e-03 2.02387728e+02] [ 8.46289818e-01 -5.32706202e-01 -4.20084597e-03 1.80461158e+02] [ 4.97749064e-03 2.17863291e-05 9.99987612e-01 6.97659819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35028169299994 meters 0.013738782492021331 Centerline is valid? [True, True] Translation: X:202.38, Y:180.48, Z:0.70 [[-5.32807175e-01 -8.46232443e-01 2.67689198e-03 2.02375447e+02] [ 8.46221977e-01 -5.32813899e-01 -4.20880093e-03 1.80480087e+02] [ 4.98790915e-03 2.27654897e-05 9.99987560e-01 6.97809983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380281693 meters 0.014495470463206374 Centerline is valid? [True, True] Translation: X:202.36, Y:180.50, Z:0.70 [[-5.32021687e-01 -8.46727094e-01 2.48063400e-03 2.02362758e+02] [ 8.46718124e-01 -5.32027470e-01 -3.89747862e-03 1.80498588e+02] [ 4.61986617e-03 2.68546177e-05 9.99989328e-01 6.97913667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41028169299994 meters 0.014898547432894866 Centerline is valid? [True, True] Translation: X:202.35, Y:180.52, Z:0.70 [[-5.31682561e-01 -8.46939400e-01 2.70331306e-03 2.02350513e+02] [ 8.46928766e-01 -5.31689432e-01 -4.24414076e-03 1.80517797e+02] [ 5.03185301e-03 3.29779663e-05 9.99987340e-01 6.97298830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440281693 meters 0.015721396022386352 Centerline is valid? [True, True] Translation: X:202.34, Y:180.54, Z:0.70 [[-5.31099280e-01 -8.47304334e-01 2.98673857e-03 2.02337614e+02] [ 8.47291379e-01 -5.31107677e-01 -4.68556790e-03 1.80535820e+02] [ 5.55638177e-03 4.21361056e-05 9.99984562e-01 6.96410683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47028169299995 meters 0.01814282209654901 Centerline is valid? [True, True] Translation: X:202.32, Y:180.55, Z:0.70 [[-5.29043827e-01 -8.48590871e-01 2.48243456e-03 2.02322548e+02] [ 8.48581948e-01 -5.29049649e-01 -3.89178725e-03 1.80552261e+02] [ 4.61586627e-03 4.76231337e-05 9.99989346e-01 6.98652965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500281693 meters 0.01966337155950268 Centerline is valid? [True, True] Translation: X:202.31, Y:180.57, Z:0.70 [[-5.27836076e-01 -8.49343649e-01 2.10795618e-03 2.02307486e+02] [ 8.49337230e-01 -5.27840283e-01 -3.30240313e-03 1.80570050e+02] [ 3.91753931e-03 4.72381531e-05 9.99992325e-01 7.00138554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53028169299995 meters 0.020838101362187385 Centerline is valid? [True, True] Translation: X:202.29, Y:180.59, Z:0.70 [[-5.26677095e-01 -8.50062776e-01 2.12479999e-03 2.02293325e+02] [ 8.50056270e-01 -5.26681378e-01 -3.32611480e-03 1.80588204e+02] [ 3.94649897e-03 5.44110740e-05 9.99992211e-01 7.00949228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560281693 meters 0.02627043590985413 Centerline is valid? [True, True] Translation: X:202.27, Y:180.60, Z:0.70 [[-5.24025060e-01 -8.51698279e-01 2.78891182e-03 2.02274739e+02] [ 8.51687114e-01 -5.24032473e-01 -4.36204563e-03 1.80602921e+02] [ 5.17662711e-03 8.94590400e-05 9.99986597e-01 6.97724634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59028169299995 meters 0.02286705348081927 Centerline is valid? [True, True] Translation: X:202.27, Y:180.63, Z:0.70 [[-5.23441336e-01 -8.52056179e-01 3.07187836e-03 2.02266148e+02] [ 8.52042658e-01 -5.23450339e-01 -4.80120123e-03 1.80626254e+02] [ 5.69886894e-03 1.04224214e-04 9.99983756e-01 6.98151077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620281693 meters 0.027467205299028113 Centerline is valid? [True, True] Translation: X:202.25, Y:180.64, Z:0.70 [[-5.22596256e-01 -8.52576499e-01 2.54283630e-03 2.02248784e+02] [ 8.52567253e-01 -5.22602435e-01 -3.97174306e-03 1.80643000e+02] [ 4.71510723e-03 9.23209100e-05 9.99988880e-01 6.98025327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65028169299995 meters 0.027837339746811705 Centerline is valid? [True, True] Translation: X:202.24, Y:180.66, Z:0.70 [[-5.22719916e-01 -8.52501457e-01 2.27072120e-03 2.02236596e+02] [ 8.52494093e-01 -5.22724841e-01 -3.54432168e-03 1.80661895e+02] [ 4.20850177e-03 8.30888761e-05 9.99991141e-01 6.99252299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680281693 meters 0.024872035223544506 Centerline is valid? [True, True] Translation: X:202.23, Y:180.68, Z:0.70 [[-5.23126590e-01 -8.52252816e-01 1.92582055e-03 2.02228590e+02] [ 8.52247524e-01 -5.23130130e-01 -3.00404869e-03 1.80684944e+02] [ 3.56766371e-03 6.97780470e-05 9.99993633e-01 7.00523350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71028169299996 meters 0.024161981924925344 Centerline is valid? [True, True] Translation: X:202.22, Y:180.71, Z:0.70 [[-5.24358024e-01 -8.51494344e-01 2.45850464e-03 2.02219486e+02] [ 8.51485725e-01 -5.24363781e-01 -3.83205056e-03 1.80706965e+02] [ 4.55212017e-03 8.40151495e-05 9.99989636e-01 6.99424177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740281693 meters 0.024026015581180966 Centerline is valid? [True, True] Translation: X:202.21, Y:180.73, Z:0.70 [[-5.25324736e-01 -8.50898137e-01 2.50633447e-03 2.02208326e+02] [ 8.50889186e-01 -5.25330709e-01 -3.90390324e-03 1.80726786e+02] [ 4.63847846e-03 8.17959550e-05 9.99989239e-01 6.98873574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77028169299996 meters 0.02349690332150809 Centerline is valid? [True, True] Translation: X:202.20, Y:180.75, Z:0.70 [[-5.26185038e-01 -8.50367415e-01 2.13657222e-03 2.02198578e+02] [ 8.50360915e-01 -5.26189371e-01 -3.32573901e-03 1.80746397e+02] [ 3.95234168e-03 6.69034009e-05 9.99992187e-01 6.99938619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800281693 meters 0.022786608205321513 Centerline is valid? [True, True] Translation: X:202.19, Y:180.77, Z:0.71 [[-5.26742392e-01 -8.50024834e-01 4.84155147e-04 2.02190402e+02] [ 8.50024500e-01 -5.26742614e-01 -7.53956229e-04 1.80769921e+02] [ 8.95906666e-04 1.44030288e-05 9.99999599e-01 7.05256745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83028169299996 meters 0.02357510486981499 Centerline is valid? [True, True] Translation: X:202.18, Y:180.79, Z:0.71 [[-5.26573478e-01 -8.50129598e-01 -1.96539663e-04 2.02178922e+02] [ 8.50129544e-01 -5.26573515e-01 3.04150303e-04 1.80788547e+02] [-3.62059756e-04 -6.92669109e-06 9.99999934e-01 7.08062719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.860281693 meters 0.026237110377989724 Centerline is valid? [True, True] Translation: X:202.16, Y:180.81, Z:0.71 [[-5.24618588e-01 -8.51337336e-01 2.76839099e-04 2.02163151e+02] [ 8.51337227e-01 -5.24618661e-01 -4.30972131e-04 1.80806968e+02] [ 5.12137624e-04 9.58743961e-06 9.99999869e-01 7.06729402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89028169299996 meters 0.028482119087867287 Centerline is valid? [True, True] Translation: X:202.15, Y:180.82, Z:0.70 [[-5.23147333e-01 -8.52241591e-01 1.06675308e-03 2.02148093e+02] [ 8.52239983e-01 -5.23148419e-01 -1.65645766e-03 1.80823568e+02] [ 1.96977230e-03 4.25582221e-05 9.99998059e-01 7.04002861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92028169299994 meters 0.029791504557158715 Centerline is valid? [True, True] Translation: X:202.13, Y:180.84, Z:0.70 [[-5.21668575e-01 -8.53146249e-01 1.83742088e-03 2.02133705e+02] [ 8.53141491e-01 -5.21671805e-01 -2.85027302e-03 1.80842714e+02] [ 3.39023040e-03 8.06821185e-05 9.99994250e-01 7.01557702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95028169299997 meters 0.0329287503084918 Centerline is valid? [True, True] Translation: X:202.12, Y:180.86, Z:0.70 [[-5.20006163e-01 -8.54158866e-01 2.49429554e-03 2.02119077e+02] [ 8.54150125e-01 -5.20012131e-01 -3.86611691e-03 1.80860046e+02] [ 4.59934198e-03 1.20098224e-04 9.99989416e-01 6.98531268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98028169299994 meters 0.032203694165319895 Centerline is valid? [True, True] Translation: X:202.11, Y:180.88, Z:0.70 [[-5.20686108e-01 -8.53744582e-01 2.48300185e-03 2.02107747e+02] [ 8.53735928e-01 -5.20692015e-01 -3.84595336e-03 1.80881358e+02] [ 4.57634108e-03 1.17293397e-04 9.99989522e-01 6.98160263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01028169299997 meters 0.029904170480344616 Centerline is valid? [True, True] Translation: X:202.10, Y:180.90, Z:0.70 [[-5.21852263e-01 -8.53032993e-01 2.22027739e-03 2.02098075e+02] [ 8.53026075e-01 -5.21856976e-01 -3.43681675e-03 1.80904285e+02] [ 4.09038533e-03 1.00443912e-04 9.99991629e-01 6.98840280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04028169299994 meters 0.0301874734300487 Centerline is valid? [True, True] Translation: X:202.09, Y:180.93, Z:0.70 [[-5.23224004e-01 -8.52193625e-01 1.63303949e-03 2.02087551e+02] [ 8.52189883e-01 -5.23226548e-01 -2.52638654e-03 1.80925047e+02] [ 3.00742012e-03 6.97936541e-05 9.99995475e-01 7.01444777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07028169299997 meters 0.02916850071808419 Centerline is valid? [True, True] Translation: X:202.08, Y:180.95, Z:0.70 [[-5.23347841e-01 -8.52117804e-01 1.51167470e-03 2.02075556e+02] [ 8.52114602e-01 -5.23350020e-01 -2.33712629e-03 1.80945743e+02] [ 2.78264190e-03 6.49900850e-05 9.99996126e-01 7.02774938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10028169299994 meters 0.03397502782106463 Centerline is valid? [True, True] Translation: X:202.06, Y:180.96, Z:0.71 [[-5.21531783e-01 -8.53231407e-01 8.75042385e-04 2.02055651e+02] [ 8.53230336e-01 -5.21532515e-01 -1.35242702e-03 1.80960749e+02] [ 1.61029627e-03 4.12790316e-05 9.99998703e-01 7.05041113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130281693 meters 0.035694863007800295 Centerline is valid? [True, True] Translation: X:202.04, Y:180.98, Z:0.71 [[-5.20427556e-01 -8.53905460e-01 7.90059069e-04 2.02039802e+02] [ 8.53904589e-01 -5.20428154e-01 -1.22040393e-03 1.80977721e+02] [ 1.45327856e-03 3.95032322e-05 9.99998943e-01 7.05544712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16028169299994 meters 0.03801087793340851 Centerline is valid? [True, True] Translation: X:202.02, Y:180.99, Z:0.71 [[-5.19204270e-01 -8.54649606e-01 9.88269695e-04 2.02023326e+02] [ 8.54648247e-01 -5.19205208e-01 -1.52519350e-03 1.80994117e+02] [ 1.81662080e-03 5.27359841e-05 9.99998349e-01 7.05125776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190281693 meters 0.04033541199007211 Centerline is valid? [True, True] Translation: X:202.00, Y:181.01, Z:0.70 [[-5.15972601e-01 -8.56603231e-01 1.78312305e-03 2.02004844e+02] [ 8.56598827e-01 -5.15975671e-01 -2.74898055e-03 1.81009781e+02] [ 3.27483374e-03 1.09022466e-04 9.99994632e-01 7.02456903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22028169299995 meters 0.04351951602479383 Centerline is valid? [True, True] Translation: X:201.99, Y:181.03, Z:0.70 [[-5.14774584e-01 -8.57322496e-01 2.29469708e-03 2.01987119e+02] [ 8.57315221e-01 -5.14779678e-01 -3.53486282e-03 1.81025277e+02] [ 4.21178083e-03 1.47621194e-04 9.99991120e-01 7.00823485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250281693 meters 0.043740207454232766 Centerline is valid? [True, True] Translation: X:201.97, Y:181.04, Z:0.70 [[-5.14028242e-01 -8.57768434e-01 2.87752091e-03 2.01972157e+02] [ 8.57757019e-01 -5.14036261e-01 -4.42938724e-03 1.81043623e+02] [ 5.27853865e-03 1.91383620e-04 9.99986050e-01 6.98882121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28028169299995 meters 0.04713483180525441 Centerline is valid? [True, True] Translation: X:201.95, Y:181.06, Z:0.70 [[-5.13802976e-01 -8.57902459e-01 3.14207905e-03 2.01954367e+02] [ 8.57888871e-01 -5.13812540e-01 -4.83315495e-03 1.81058655e+02] [ 5.76081513e-03 2.12265254e-04 9.99983384e-01 6.97833348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310281693 meters 0.04382851533436563 Centerline is valid? [True, True] Translation: X:201.94, Y:181.08, Z:0.70 [[-5.14085557e-01 -8.57735577e-01 2.39181480e-03 2.01940952e+02] [ 8.57727711e-01 -5.14091096e-01 -3.67686299e-03 1.81078043e+02] [ 4.38338689e-03 1.61303681e-04 9.99990380e-01 7.00302713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34028169299995 meters 0.04276616040890951 Centerline is valid? [True, True] Translation: X:201.93, Y:181.10, Z:0.70 [[-5.15049051e-01 -8.57158881e-01 1.76848594e-03 2.01926940e+02] [ 8.57154583e-01 -5.15052074e-01 -2.71713959e-03 1.81096948e+02] [ 3.23988268e-03 1.16405659e-04 9.99994745e-01 7.02436230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370281693 meters 0.0410538196906998 Centerline is valid? [True, True] Translation: X:201.91, Y:181.12, Z:0.70 [[-5.16246699e-01 -8.56439088e-01 1.19779035e-03 2.01913830e+02] [ 8.56437116e-01 -5.16248083e-01 -1.83945364e-03 1.81117235e+02] [ 2.19373696e-03 7.62202421e-05 9.99997591e-01 7.04061610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40028169299995 meters 0.035689283570426465 Centerline is valid? [True, True] Translation: X:201.90, Y:181.14, Z:0.70 [[-5.19932682e-01 -8.54206944e-01 7.09442193e-04 2.01904144e+02] [ 8.54206250e-01 -5.19933165e-01 -1.08922849e-03 1.81139752e+02] [ 1.29928907e-03 3.96844627e-05 9.99999155e-01 7.04781528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430281693 meters 0.035151404995355844 Centerline is valid? [True, True] Translation: X:201.89, Y:181.16, Z:0.70 [[-5.21965819e-01 -8.52965976e-01 8.52838690e-04 2.01891110e+02] [ 8.52964974e-01 -5.21966514e-01 -1.30829102e-03 1.81159097e+02] [ 1.56108096e-03 4.45583396e-05 9.99998781e-01 7.04122890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46028169299996 meters 0.03328095977669056 Centerline is valid? [True, True] Translation: X:201.88, Y:181.18, Z:0.70 [[-5.25689500e-01 -8.50675924e-01 1.01137884e-03 2.01881201e+02] [ 8.50674512e-01 -5.25690471e-01 -1.55023921e-03 1.81178615e+02] [ 1.85042339e-03 4.54097228e-05 9.99998287e-01 7.03017993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490281693 meters 0.030546832591208235 Centerline is valid? [True, True] Translation: X:201.87, Y:181.20, Z:0.70 [[-5.27572117e-01 -8.49509535e-01 1.10104984e-03 2.01871655e+02] [ 8.49507862e-01 -5.27573264e-01 -1.68628571e-03 1.81199561e+02] [ 2.01340024e-03 4.57131728e-05 9.99997972e-01 7.02928626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52028169299996 meters 0.028989362026267108 Centerline is valid? [True, True] Translation: X:201.86, Y:181.22, Z:0.70 [[-5.29217693e-01 -8.48484896e-01 1.41946687e-03 2.01861199e+02] [ 8.48482118e-01 -5.29219593e-01 -2.17211910e-03 1.81219629e+02] [ 2.59421993e-03 5.48683981e-05 9.99996634e-01 7.02283145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550281693 meters 0.02594035553057437 Centerline is valid? [True, True] Translation: X:201.85, Y:181.24, Z:0.70 [[-5.30852534e-01 -8.47462627e-01 1.63793357e-03 2.01851936e+02] [ 8.47458928e-01 -5.30855058e-01 -2.50455047e-03 1.81241607e+02] [ 2.99201824e-03 5.85344609e-05 9.99995522e-01 7.02106865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58028169299996 meters 0.02373053673866416 Centerline is valid? [True, True] Translation: X:201.84, Y:181.26, Z:0.70 [[-5.33128959e-01 -8.46032942e-01 1.33184539e-03 2.01842408e+02] [ 8.46030495e-01 -5.33130621e-01 -2.03537101e-03 1.81263472e+02] [ 2.43203848e-03 4.16665805e-05 9.99997042e-01 7.02159709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.610281693 meters 0.02438127460674639 Centerline is valid? [True, True] Translation: X:201.83, Y:181.28, Z:0.70 [[-5.34008808e-01 -8.45477833e-01 1.35207770e-03 2.01830220e+02] [ 8.45475312e-01 -5.34010518e-01 -2.06487276e-03 1.81281248e+02] [ 2.46782786e-03 4.04880767e-05 9.99996954e-01 7.02339274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64028169299996 meters 0.024527974732735616 Centerline is valid? [True, True] Translation: X:201.82, Y:181.30, Z:0.70 [[-5.34427609e-01 -8.45213166e-01 1.35481890e-03 2.01819145e+02] [ 8.45210638e-01 -5.34429325e-01 -2.06755250e-03 1.81299708e+02] [ 2.47157755e-03 4.01502090e-05 9.99996945e-01 7.03026099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67028169299994 meters 0.02490761863646215 Centerline is valid? [True, True] Translation: X:201.81, Y:181.32, Z:0.70 [[-5.34340563e-01 -8.45268357e-01 1.25199308e-03 2.01805310e+02] [ 8.45266201e-01 -5.34342028e-01 -1.90938587e-03 1.81318303e+02] [ 2.28293598e-03 3.80051162e-05 9.99997393e-01 7.03482472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70028169299997 meters 0.025547641316652388 Centerline is valid? [True, True] Translation: X:201.79, Y:181.34, Z:0.70 [[-5.34192766e-01 -8.45362128e-01 9.80286488e-04 2.01790882e+02] [ 8.45360808e-01 -5.34193665e-01 -1.49424626e-03 1.81336095e+02] [ 1.78684203e-03 3.04802354e-05 9.99998403e-01 7.04215054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73028169299994 meters 0.025945138632188176 Centerline is valid? [True, True] Translation: X:201.78, Y:181.35, Z:0.70 [[-5.33723404e-01 -8.45658721e-01 8.09899504e-04 2.01776162e+02] [ 8.45657821e-01 -5.33724018e-01 -1.23392730e-03 1.81354374e+02] [ 1.47574420e-03 2.63219725e-05 9.99998911e-01 7.04220080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76028169299997 meters 0.02666320268693374 Centerline is valid? [True, True] Translation: X:201.76, Y:181.37, Z:0.70 [[-5.33252697e-01 -8.45955363e-01 1.04174663e-03 2.01761460e+02] [ 8.45953878e-01 -5.33253713e-01 -1.58560501e-03 1.81372524e+02] [ 1.89686632e-03 3.57414573e-05 9.99998200e-01 7.04051399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79028169299994 meters 0.030121733763400087 Centerline is valid? [True, True] Translation: X:201.74, Y:181.39, Z:0.70 [[-5.31269209e-01 -8.47201067e-01 1.83857813e-03 2.01742215e+02] [ 8.47196458e-01 -5.31272385e-01 -2.79543961e-03 1.81386303e+02] [ 3.34508520e-03 7.25058887e-05 9.99994403e-01 7.01900612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82028169299997 meters 0.02678803419215542 Centerline is valid? [True, True] Translation: X:201.73, Y:181.41, Z:0.70 [[-5.30512985e-01 -8.47674544e-01 1.95968832e-03 2.01730843e+02] [ 8.47669319e-01 -5.30516598e-01 -2.97746645e-03 1.81407745e+02] [ 3.56356969e-03 8.15830526e-05 9.99993647e-01 7.01802839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85028169299994 meters 0.03267988252458293 Centerline is valid? [True, True] Translation: X:201.71, Y:181.42, Z:0.70 [[-5.30524408e-01 -8.47667590e-01 1.87347988e-03 2.01708869e+02] [ 8.47662821e-01 -5.30527710e-01 -2.84454732e-03 1.81421055e+02] [ 3.40516356e-03 7.89774576e-05 9.99994199e-01 7.00599721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880281693 meters 0.02824416462476683 Centerline is valid? [True, True] Translation: X:201.70, Y:181.44, Z:0.70 [[-5.32080096e-01 -8.46692555e-01 1.57742261e-03 2.01699746e+02] [ 8.46689174e-01 -5.32082431e-01 -2.39354065e-03 1.81443940e+02] [ 2.86591190e-03 6.20313120e-05 9.99995891e-01 7.01451384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91028169299994 meters 0.028012658435825084 Centerline is valid? [True, True] Translation: X:201.69, Y:181.46, Z:0.70 [[-5.33890887e-01 -8.45552137e-01 1.45072396e-03 2.01686736e+02] [ 8.45549276e-01 -5.33892856e-01 -2.19988896e-03 1.81461578e+02] [ 2.63465196e-03 5.21579227e-05 9.99996528e-01 7.01575310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940281693 meters 0.02557115092307383 Centerline is valid? [True, True] Translation: X:201.68, Y:181.48, Z:0.70 [[-5.35766456e-01 -8.44365104e-01 1.36951599e-03 2.01675903e+02] [ 8.44362555e-01 -5.35768205e-01 -2.07531044e-03 1.81482139e+02] [ 2.48606284e-03 4.44863020e-05 9.99996909e-01 7.02208279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97028169299995 meters 0.021758446762429218 Centerline is valid? [True, True] Translation: X:201.67, Y:181.50, Z:0.70 [[-5.39700484e-01 -8.41855338e-01 1.72546948e-03 2.01667028e+02] [ 8.41851285e-01 -5.39703241e-01 -2.61261737e-03 1.81503409e+02] [ 3.13068735e-03 4.25578358e-05 9.99995099e-01 7.01261563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000281693 meters 0.020059392921083847 Centerline is valid? [True, True] Translation: X:201.66, Y:181.52, Z:0.70 [[-5.41217972e-01 -8.40879383e-01 2.22932544e-03 2.01656028e+02] [ 8.40872620e-01 -5.41222561e-01 -3.37288874e-03 1.81523236e+02] [ 4.04275383e-03 4.91107185e-05 9.99991827e-01 6.99800557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03028169299995 meters 0.01880687251737518 Centerline is valid? [True, True] Translation: X:201.64, Y:181.54, Z:0.70 [[-5.42791796e-01 -8.39864528e-01 2.15419884e-03 2.01642804e+02] [ 8.39858214e-01 -5.42796069e-01 -3.25700124e-03 1.81540648e+02] [ 3.90473047e-03 4.13480341e-05 9.99992376e-01 7.00076915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060281693 meters 0.017840218959528437 Centerline is valid? [True, True] Translation: X:201.63, Y:181.56, Z:0.70 [[-5.43108633e-01 -8.39660316e-01 1.88831167e-03 2.01630147e+02] [ 8.39655469e-01 -5.43111915e-01 -2.85317632e-03 1.81560414e+02] [ 3.42126349e-03 3.59465330e-05 9.99994147e-01 7.01628194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09028169299995 meters 0.017868297811611873 Centerline is valid? [True, True] Translation: X:201.62, Y:181.58, Z:0.70 [[-5.43286045e-01 -8.39546212e-01 1.55921724e-03 2.01616460e+02] [ 8.39542911e-01 -5.43288282e-01 -2.35454704e-03 1.81579469e+02] [ 2.82385550e-03 2.98372362e-05 9.99996012e-01 7.02450978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120281693 meters 0.017610501659353017 Centerline is valid? [True, True] Translation: X:201.60, Y:181.60, Z:0.70 [[-5.44004012e-01 -8.39080656e-01 1.81298705e-03 2.01602813e+02] [ 8.39076197e-01 -5.44007032e-01 -2.73566920e-03 1.81599602e+02] [ 3.28172482e-03 3.30192603e-05 9.99994615e-01 7.01539675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15028169299995 meters 0.01681096996017912 Centerline is valid? [True, True] Translation: X:201.59, Y:181.62, Z:0.70 [[-5.45330881e-01 -8.38218701e-01 1.90791967e-03 2.01590999e+02] [ 8.38213765e-01 -5.45334218e-01 -2.87678006e-03 1.81619489e+02] [ 3.45182473e-03 3.04475210e-05 9.99994042e-01 7.00795101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180281693 meters 0.01681096996017912 Centerline is valid? [True, True] Translation: X:201.58, Y:181.64, Z:0.70 [[-5.45605649e-01 -8.38039875e-01 1.90884442e-03 2.01578173e+02] [ 8.38034940e-01 -5.45608987e-01 -2.87616642e-03 1.81637966e+02] [ 3.45182482e-03 3.04256754e-05 9.99994042e-01 7.00839819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21028169299996 meters 0.01447292304926898 Centerline is valid? [True, True] Translation: X:201.57, Y:181.66, Z:0.70 [[-5.49348900e-01 -8.35592401e-01 1.06068819e-03 2.01571347e+02] [ 8.35590874e-01 -5.49349924e-01 -1.59758898e-03 1.81659481e+02] [ 1.91762219e-03 8.66762461e-06 9.99998161e-01 7.03161058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240281693 meters 0.01335629823096087 Centerline is valid? [True, True] Translation: X:201.56, Y:181.68, Z:0.71 [[-5.51517089e-01 -8.34163460e-01 4.71659466e-04 2.01562230e+02] [ 8.34163157e-01 -5.51517291e-01 -7.10502244e-04 1.81682208e+02] [ 8.52803362e-04 1.58681999e-06 9.99999636e-01 7.05007853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27028169299996 meters 0.013053399394311256 Centerline is valid? [True, True] Translation: X:201.55, Y:181.70, Z:0.71 [[-5.52925598e-01 -8.33230546e-01 3.72925581e-04 2.01552454e+02] [ 8.33230357e-01 -5.52925724e-01 -5.61650031e-04 1.81702632e+02] [ 6.74184109e-04 1.82235560e-07 9.99999773e-01 7.05969384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300281693 meters 0.013172809454444745 Centerline is valid? [True, True] Translation: X:201.54, Y:181.72, Z:0.70 [[-5.53679129e-01 -8.32729554e-01 9.54982456e-04 2.01543226e+02] [ 8.32728317e-01 -5.53679953e-01 -1.43547363e-03 1.81723590e+02] [ 1.72411596e-03 4.49141206e-07 9.99998514e-01 7.04317429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33028169299996 meters 0.013251768683136569 Centerline is valid? [True, True] Translation: X:201.53, Y:181.74, Z:0.70 [[-5.53375270e-01 -8.32931102e-01 1.26079271e-03 2.01531251e+02] [ 8.32928950e-01 -5.53376706e-01 -1.89344632e-03 1.81742041e+02] [ 2.27480365e-03 2.36437598e-06 9.99997413e-01 7.03256444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.360281693 meters 0.014237912352340888 Centerline is valid? [True, True] Translation: X:201.52, Y:181.76, Z:0.70 [[-5.50869178e-01 -8.34590511e-01 1.35156041e-03 2.01517180e+02] [ 8.34588047e-01 -5.50870836e-01 -2.02818914e-03 1.81758645e+02] [ 2.43724263e-03 1.07292776e-05 9.99997030e-01 7.03268719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39028169299996 meters 0.015735697463526408 Centerline is valid? [True, True] Translation: X:201.50, Y:181.78, Z:0.70 [[-5.49248937e-01 -8.35657353e-01 1.54725258e-03 2.01502495e+02] [ 8.35654133e-01 -5.49251116e-01 -2.31986536e-03 1.81775188e+02] [ 2.78844275e-03 1.87844326e-05 9.99996112e-01 7.02815183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42028169299994 meters 0.017553720410214604 Centerline is valid? [True, True] Translation: X:201.49, Y:181.79, Z:0.70 [[-5.47539995e-01 -8.36777864e-01 1.66146800e-03 2.01487322e+02] [ 8.36774162e-01 -5.47542515e-01 -2.48909316e-03 1.81792523e+02] [ 2.99254243e-03 2.73954333e-05 9.99995522e-01 7.02734242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45028169299997 meters 0.024910703358583083 Centerline is valid? [True, True] Translation: X:201.47, Y:181.80, Z:0.70 [[-5.43062434e-01 -8.39690558e-01 1.72049210e-03 2.01465209e+02] [ 8.39686609e-01 -5.43065157e-01 -2.57551855e-03 1.81804065e+02] [ 3.09697792e-03 4.60068042e-05 9.99995203e-01 7.02773595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48028169299994 meters 0.02647220820336502 Centerline is valid? [True, True] Translation: X:201.45, Y:181.82, Z:0.70 [[-5.40706891e-01 -8.41209775e-01 1.47409393e-03 2.01449676e+02] [ 8.41206886e-01 -5.40708898e-01 -2.20523817e-03 1.81820821e+02] [ 2.65212360e-03 4.76304889e-05 9.99996482e-01 7.03619134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51028169299997 meters 0.03155435370283501 Centerline is valid? [True, True] Translation: X:201.43, Y:181.83, Z:0.70 [[-5.36833758e-01 -8.43686579e-01 1.57244951e-03 2.01426726e+02] [ 8.43683307e-01 -5.36836057e-01 -2.35052793e-03 1.81833694e+02] [ 2.82725646e-03 6.48066640e-05 9.99996001e-01 7.02533883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54028169299994 meters 0.030846404985864415 Centerline is valid? [True, True] Translation: X:201.41, Y:181.85, Z:0.70 [[-5.36148594e-01 -8.44121427e-01 1.92390212e-03 2.01412505e+02] [ 8.44116540e-01 -5.36152039e-01 -2.87351564e-03 1.81852438e+02] [ 3.45710016e-03 8.33662331e-05 9.99994021e-01 7.01512974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57028169299997 meters 0.031171161009073516 Centerline is valid? [True, True] Translation: X:201.40, Y:181.87, Z:0.70 [[-5.36134335e-01 -8.44129893e-01 2.16774096e-03 2.01397534e+02] [ 8.44123697e-01 -5.36138709e-01 -3.23546020e-03 1.81870535e+02] [ 3.89335851e-03 9.52002093e-05 9.99992416e-01 7.00767261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60028169299994 meters 0.03442096588476012 Centerline is valid? [True, True] Translation: X:201.38, Y:181.89, Z:0.70 [[-5.36599544e-01 -8.43832821e-01 2.66463024e-03 2.01380054e+02] [ 8.43823471e-01 -5.36606147e-01 -3.97408011e-03 1.81885481e+02] [ 4.78331619e-03 1.15987962e-04 9.99988553e-01 6.99298501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630281693 meters 0.028863972953662193 Centerline is valid? [True, True] Translation: X:201.37, Y:181.91, Z:0.70 [[-5.39123125e-01 -8.42222147e-01 2.84817611e-03 2.01371360e+02] [ 8.42211457e-01 -5.39130637e-01 -4.24474378e-03 1.81907030e+02] [ 5.11055622e-03 1.10327024e-04 9.99986935e-01 6.98942952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66028169299994 meters 0.027134025067378133 Centerline is valid? [True, True] Translation: X:201.36, Y:181.93, Z:0.70 [[-5.41053522e-01 -8.40984746e-01 2.39649211e-03 2.01359516e+02] [ 8.40977176e-01 -5.41058823e-01 -3.56929527e-03 1.81926398e+02] [ 4.29836608e-03 8.42153857e-05 9.99990758e-01 7.00315486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690281693 meters 0.02319622821063439 Centerline is valid? [True, True] Translation: X:201.35, Y:181.95, Z:0.70 [[-5.43573964e-01 -8.39360038e-01 1.43978141e-03 2.01349014e+02] [ 8.39357302e-01 -5.43575869e-01 -2.14337148e-03 1.81948285e+02] [ 2.58169080e-03 4.34101078e-05 9.99996667e-01 7.03820602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72028169299995 meters 0.023201537813933613 Centerline is valid? [True, True] Translation: X:201.33, Y:181.97, Z:0.70 [[-5.44295740e-01 -8.38892816e-01 9.95577353e-04 2.01334863e+02] [ 8.38891508e-01 -5.44296650e-01 -1.48144758e-03 1.81965897e+02] [ 1.78466515e-03 2.88357786e-05 9.99998407e-01 7.04769440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750281693 meters 0.02464750868318389 Centerline is valid? [True, True] Translation: X:201.32, Y:181.98, Z:0.71 [[-5.44410910e-01 -8.38818146e-01 9.37534478e-04 2.01319152e+02] [ 8.38816988e-01 -5.44411717e-01 -1.39416015e-03 1.81981807e+02] [ 1.67985159e-03 2.74238490e-05 9.99998589e-01 7.05430478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78028169299995 meters 0.023318961330916967 Centerline is valid? [True, True] Translation: X:201.31, Y:182.00, Z:0.71 [[-5.44334517e-01 -8.38867277e-01 1.27464829e-03 2.01306024e+02] [ 8.38865141e-01 -5.44336008e-01 -1.89367887e-03 1.82001563e+02] [ 2.28238220e-03 3.84632492e-05 9.99997395e-01 7.05582900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810281693 meters 0.02660259777250718 Centerline is valid? [True, True] Translation: X:201.29, Y:182.02, Z:0.70 [[-5.43324047e-01 -8.39520335e-01 2.14164168e-03 2.01287110e+02] [ 8.39514320e-01 -5.43328264e-01 -3.17886403e-03 1.82017039e+02] [ 3.83233545e-03 7.07855876e-05 9.99992654e-01 7.02609364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84028169299995 meters 0.026222418499234592 Centerline is valid? [True, True] Translation: X:201.27, Y:182.04, Z:0.70 [[-5.43206606e-01 -8.39595650e-01 2.39321386e-03 2.01274079e+02] [ 8.39588150e-01 -5.43211871e-01 -3.54972367e-03 1.82035846e+02] [ 4.28035473e-03 8.10806556e-05 9.99990836e-01 7.01601013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870281693 meters 0.0249826200270059 Centerline is valid? [True, True] Translation: X:201.26, Y:182.05, Z:0.70 [[-5.44701750e-01 -8.38627840e-01 1.83007937e-03 2.01261286e+02] [ 8.38623454e-01 -5.44704822e-01 -2.71281458e-03 1.82053809e+02] [ 3.27189489e-03 5.70726359e-05 9.99994646e-01 7.02860336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90028169299995 meters 0.02282668057921627 Centerline is valid? [True, True] Translation: X:201.25, Y:182.08, Z:0.70 [[-5.46057311e-01 -8.37746603e-01 1.42898819e-03 2.01249720e+02] [ 8.37743929e-01 -5.46059179e-01 -2.11702374e-03 1.82075152e+02] [ 2.55384157e-03 4.11098887e-05 9.99996738e-01 7.04044978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930281693 meters 0.02177225634800351 Centerline is valid? [True, True] Translation: X:201.24, Y:182.10, Z:0.70 [[-5.48467050e-01 -8.36170568e-01 1.63572700e-03 2.01237622e+02] [ 8.36167063e-01 -5.48469488e-01 -2.42154956e-03 1.82095004e+02] [ 2.92197482e-03 3.96008955e-05 9.99995730e-01 7.04009661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96028169299996 meters 0.021338017595664244 Centerline is valid? [True, True] Translation: X:201.22, Y:182.11, Z:0.70 [[-5.49062004e-01 -8.35778409e-01 2.31661973e-03 2.01224122e+02] [ 8.35771386e-01 -5.49066889e-01 -3.42680577e-03 1.82114115e+02] [ 4.13602946e-03 5.46356361e-05 9.99991445e-01 7.02257829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990281693 meters 0.02003652273012017 Centerline is valid? [True, True] Translation: X:201.21, Y:182.13, Z:0.70 [[-5.49047552e-01 -8.35786071e-01 2.90326107e-03 2.01211540e+02] [ 8.35775057e-01 -5.49055223e-01 -4.29137887e-03 1.82133956e+02] [ 5.18072534e-03 7.03021212e-05 9.99986578e-01 7.00736986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02028169299996 meters 0.021514989984828096 Centerline is valid? [True, True] Translation: X:201.19, Y:182.15, Z:0.70 [[-5.48778178e-01 -8.35960721e-01 3.49055660e-03 2.01194238e+02] [ 8.35944827e-01 -5.48789272e-01 -5.15571029e-03 1.82149334e+02] [ 6.22555131e-03 8.85714317e-05 9.99980617e-01 6.98266505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050281693 meters 0.02252149718178508 Centerline is valid? [True, True] Translation: X:201.18, Y:182.17, Z:0.70 [[-5.49270540e-01 -8.35638618e-01 3.15818468e-03 2.01179655e+02] [ 8.35625619e-01 -5.49279614e-01 -4.66155619e-03 1.82166293e+02] [ 5.63010283e-03 7.86045450e-05 9.99984148e-01 6.98784551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08028169299996 meters 0.0192654827930528 Centerline is valid? [True, True] Translation: X:201.17, Y:182.19, Z:0.70 [[-5.51256069e-01 -8.34334153e-01 1.80778136e-03 2.01169282e+02] [ 8.34329891e-01 -5.51259032e-01 -2.66696400e-03 1.82188480e+02] [ 3.22169495e-03 3.81059307e-05 9.99994810e-01 7.04014756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.110281693 meters 0.018260283693025497 Centerline is valid? [True, True] Translation: X:201.16, Y:182.21, Z:0.71 [[-5.52528400e-01 -8.33493135e-01 1.24961939e-03 2.01156193e+02] [ 8.33491098e-01 -5.52529813e-01 -1.84263860e-03 1.82208875e+02] [ 2.22627858e-03 2.34364805e-05 9.99997522e-01 7.06246348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14028169299996 meters 0.017421890352964084 Centerline is valid? [True, True] Translation: X:201.14, Y:182.23, Z:0.71 [[-5.53734348e-01 -8.32692384e-01 1.29079279e-03 2.01143540e+02] [ 8.32690212e-01 -5.53735852e-01 -1.90204577e-03 1.82228687e+02] [ 2.29857727e-03 2.16024514e-05 9.99997358e-01 7.06129783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17028169299994 meters 0.01618722727068878 Centerline is valid? [True, True] Translation: X:201.13, Y:182.25, Z:0.70 [[-5.55533128e-01 -8.31491778e-01 2.08972894e-03 2.01130695e+02] [ 8.31486086e-01 -5.55537058e-01 -3.07658475e-03 1.82248913e+02] [ 3.71907679e-03 2.84357852e-05 9.99993084e-01 7.03706496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20028169299997 meters 0.016303244814288236 Centerline is valid? [True, True] Translation: X:201.12, Y:182.27, Z:0.70 [[-5.56127415e-01 -8.31094116e-01 2.20657319e-03 2.01116346e+02] [ 8.31087776e-01 -5.56131792e-01 -3.24633390e-03 1.82266565e+02] [ 3.92515450e-03 2.84807266e-05 9.99992296e-01 7.03245168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23028169299994 meters 0.016273060096070605 Centerline is valid? [True, True] Translation: X:201.10, Y:182.28, Z:0.70 [[-5.56971577e-01 -8.30529111e-01 2.01470526e-03 2.01101868e+02] [ 8.30523829e-01 -5.56975220e-01 -2.96205353e-03 1.82283287e+02] [ 3.58221260e-03 2.34811024e-05 9.99993584e-01 7.03855319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26028169299997 meters 0.01573760917412615 Centerline is valid? [True, True] Translation: X:201.09, Y:182.30, Z:0.70 [[-5.57770098e-01 -8.29993033e-01 2.02058150e-03 2.01089033e+02] [ 8.29987724e-01 -5.57773758e-01 -2.96858868e-03 1.82302076e+02] [ 3.59093526e-03 2.12678359e-05 9.99993552e-01 7.03613246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29028169299994 meters 0.01522978585401056 Centerline is valid? [True, True] Translation: X:201.08, Y:182.32, Z:0.70 [[-5.58815478e-01 -8.29288930e-01 2.26528755e-03 2.01076322e+02] [ 8.29282262e-01 -5.58820069e-01 -3.32568201e-03 1.82321758e+02] [ 4.02383942e-03 2.01202035e-05 9.99991904e-01 7.02944787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32028169299997 meters 0.014099312363040326 Centerline is valid? [True, True] Translation: X:201.06, Y:182.34, Z:0.70 [[-5.61309312e-01 -8.27602944e-01 2.28536610e-03 2.01064909e+02] [ 8.27596152e-01 -5.61313965e-01 -3.35287114e-03 1.82343175e+02] [ 4.05765393e-03 9.36239896e-06 9.99991768e-01 7.02697993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35028169299994 meters 0.014016657269198145 Centerline is valid? [True, True] Translation: X:201.05, Y:182.36, Z:0.70 [[-5.62432482e-01 -8.26840695e-01 2.04169521e-03 2.01052373e+02] [ 8.26835276e-01 -5.62436188e-01 -2.99346472e-03 1.82361869e+02] [ 3.62344172e-03 4.52383107e-06 9.99993435e-01 7.03700223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380281693 meters 0.013735285439080107 Centerline is valid? [True, True] Translation: X:201.04, Y:182.38, Z:0.71 [[-5.63439598e-01 -8.26155728e-01 1.59158460e-03 2.01039680e+02] [ 8.26152436e-01 -5.63441846e-01 -2.33215331e-03 1.82381564e+02] [ 2.82348718e-03 8.63969555e-07 9.99996014e-01 7.05938747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41028169299994 meters 0.013684202539435114 Centerline is valid? [True, True] Translation: X:201.03, Y:182.40, Z:0.71 [[-5.64733372e-01 -8.25273383e-01 2.48999967e-04 2.01028665e+02] [ 8.25273302e-01 -5.64733427e-01 -3.65611506e-04 1.82400223e+02] [ 4.42348049e-04 -9.79993752e-07 9.99999902e-01 7.10079274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440281693 meters 0.013719479467057254 Centerline is valid? [True, True] Translation: X:201.02, Y:182.42, Z:0.71 [[-5.65376822e-01 -8.24832728e-01 1.42530930e-04 2.01015466e+02] [ 8.24832701e-01 -5.65376840e-01 -2.09570338e-04 1.82419589e+02] [ 2.53444160e-04 -9.22039722e-07 9.99999968e-01 7.10526117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47028169299995 meters 0.01413004910078624 Centerline is valid? [True, True] Translation: X:201.00, Y:182.44, Z:0.71 [[-5.66902724e-01 -8.23784220e-01 9.27758674e-04 2.01003921e+02] [ 8.23783102e-01 -5.66903483e-01 -1.35704605e-03 1.82439978e+02] [ 1.64386275e-03 -5.04118418e-06 9.99998649e-01 7.06949193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500281693 meters 0.01462596361940452 Centerline is valid? [True, True] Translation: X:200.99, Y:182.46, Z:0.70 [[-5.68281308e-01 -8.22832485e-01 1.74839488e-03 2.00992149e+02] [ 8.22828519e-01 -5.68283998e-01 -2.55464226e-03 1.82460192e+02] [ 3.09562747e-03 -1.31262739e-05 9.99995208e-01 7.04825869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53028169299995 meters 0.015509426184826071 Centerline is valid? [True, True] Translation: X:200.98, Y:182.48, Z:0.70 [[-5.70013741e-01 -8.21632076e-01 2.25100950e-03 2.00982149e+02] [ 8.21625503e-01 -5.70018186e-01 -3.28635467e-03 1.82479954e+02] [ 3.98329076e-03 -2.37805048e-05 9.99992066e-01 7.03435077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560281693 meters 0.018430650681380834 Centerline is valid? [True, True] Translation: X:200.98, Y:182.50, Z:0.70 [[-5.73327084e-01 -8.19323085e-01 2.39518592e-03 2.00976571e+02] [ 8.19315635e-01 -5.73332085e-01 -3.49424860e-03 1.82503310e+02] [ 4.23615548e-03 -4.09340864e-05 9.99991027e-01 7.02715261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59028169299995 meters 0.019320594571822794 Centerline is valid? [True, True] Translation: X:200.97, Y:182.52, Z:0.70 [[-5.75048362e-01 -8.18116257e-01 2.27396233e-03 2.00965866e+02] [ 8.18109542e-01 -5.75052856e-01 -3.31499500e-03 1.82524280e+02] [ 4.01969983e-03 -4.59321655e-05 9.99991920e-01 7.03792218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620281693 meters 0.020989702247746593 Centerline is valid? [True, True] Translation: X:200.96, Y:182.54, Z:0.70 [[-5.76728584e-01 -8.16933361e-01 2.00624941e-03 2.00956567e+02] [ 8.16928134e-01 -5.76732072e-01 -2.92269684e-03 1.82544564e+02] [ 3.54471693e-03 -4.66412248e-05 9.99993716e-01 7.04451522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65028169299995 meters 0.023131078423140695 Centerline is valid? [True, True] Translation: X:200.95, Y:182.57, Z:0.71 [[-5.78908754e-01 -8.15391692e-01 1.02155542e-03 2.00947924e+02] [ 8.15390335e-01 -5.78909655e-01 -1.48771547e-03 1.82566314e+02] [ 1.80445913e-03 -2.82850916e-05 9.99998372e-01 7.08376355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680281693 meters 0.024170711875010784 Centerline is valid? [True, True] Translation: X:200.94, Y:182.59, Z:0.71 [[-5.79984763e-01 -8.14626939e-01 7.90388525e-04 2.00937326e+02] [ 8.14626127e-01 -5.79985301e-01 -1.15047762e-03 1.82585612e+02] [ 1.39562379e-03 -2.33883484e-05 9.99999026e-01 7.08846847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71028169299996 meters 0.025731758986788415 Centerline is valid? [True, True] Translation: X:200.93, Y:182.61, Z:0.70 [[-5.81336011e-01 -8.13660757e-01 2.14815264e-03 2.00928839e+02] [ 8.13654769e-01 -5.81339976e-01 -3.12252318e-03 1.82608084e+02] [ 3.78948158e-03 -6.73805331e-05 9.99992818e-01 7.03726005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740281693 meters 0.02596941601007507 Centerline is valid? [True, True] Translation: X:200.92, Y:182.63, Z:0.70 [[-5.81550509e-01 -8.13504364e-01 3.10724622e-03 2.00918284e+02] [ 8.13491853e-01 -5.81558802e-01 -4.51278955e-03 1.82627190e+02] [ 5.47822038e-03 -9.66955732e-05 9.99984990e-01 7.00484994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77028169299996 meters 0.025988575006935032 Centerline is valid? [True, True] Translation: X:200.91, Y:182.65, Z:0.70 [[-5.81528179e-01 -8.13518206e-01 3.62029413e-03 2.00907143e+02] [ 8.13501248e-01 -5.81539437e-01 -5.25386717e-03 1.82646325e+02] [ 6.37946040e-03 -1.10158018e-04 9.99979645e-01 6.98635759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800281693 meters 0.024755297850936653 Centerline is valid? [True, True] Translation: X:200.89, Y:182.67, Z:0.70 [[-5.80783896e-01 -8.14049180e-01 3.74137125e-03 2.00893662e+02] [ 8.14031105e-01 -5.80795937e-01 -5.42578773e-03 1.82665084e+02] [ 6.58983128e-03 -1.05617566e-04 9.99978281e-01 6.98453305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83028169299996 meters 0.021334443077457906 Centerline is valid? [True, True] Translation: X:200.88, Y:182.68, Z:0.70 [[-5.78359347e-01 -8.15775988e-01 3.16279296e-03 2.00877932e+02] [ 8.15763113e-01 -5.78367991e-01 -4.58383357e-03 1.82682056e+02] [ 5.56863957e-03 -7.10131568e-05 9.99984493e-01 7.00775660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.860281693 meters 0.01971261697875345 Centerline is valid? [True, True] Translation: X:200.86, Y:182.70, Z:0.70 [[-5.77054692e-01 -8.16701076e-01 2.68969191e-03 2.00863553e+02] [ 8.16691787e-01 -5.77060958e-01 -3.89567505e-03 1.82698765e+02] [ 4.73371820e-03 -5.13682747e-05 9.99988795e-01 7.02008927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89028169299996 meters 0.017225473174645515 Centerline is valid? [True, True] Translation: X:200.85, Y:182.71, Z:0.70 [[-5.75623535e-01 -8.17711780e-01 2.23393674e-03 2.00846965e+02] [ 8.17705388e-01 -5.75627869e-01 -3.23352155e-03 1.82714768e+02] [ 3.93000491e-03 -3.45889929e-05 9.99992277e-01 7.04334744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92028169299994 meters 0.014965896429040514 Centerline is valid? [True, True] Translation: X:200.83, Y:182.73, Z:0.71 [[-5.72330561e-01 -8.20021199e-01 1.72088907e-03 2.00830485e+02] [ 8.20017421e-01 -5.72333148e-01 -2.48937635e-03 1.82729922e+02] [ 3.02626324e-03 -1.35871510e-05 9.99995421e-01 7.05918583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95028169299997 meters 0.014220602190588714 Centerline is valid? [True, True] Translation: X:200.82, Y:182.75, Z:0.71 [[-5.71038202e-01 -8.20921930e-01 1.59913578e-03 2.00815481e+02] [ 8.20918675e-01 -5.71040441e-01 -2.31162703e-03 1.82746189e+02] [ 2.81083652e-03 -7.26691172e-06 9.99996050e-01 7.06284821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98028169299994 meters 0.01378592535968436 Centerline is valid? [True, True] Translation: X:200.80, Y:182.76, Z:0.71 [[-5.68962429e-01 -8.22361665e-01 1.74557349e-03 2.00797822e+02] [ 8.22357799e-01 -5.68965107e-01 -2.52152781e-03 1.82761926e+02] [ 3.06677822e-03 8.31383918e-07 9.99995297e-01 7.05146607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01028169299997 meters 0.013896090037124604 Centerline is valid? [True, True] Translation: X:200.78, Y:182.78, Z:0.70 [[-5.68644107e-01 -8.22581082e-01 2.06010240e-03 2.00782519e+02] [ 8.22575706e-01 -5.68647838e-01 -2.97373480e-03 1.82780526e+02] [ 3.61761077e-03 3.59341907e-06 9.99993456e-01 7.03772553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04028169299994 meters 0.014136883887083429 Centerline is valid? [True, True] Translation: X:200.77, Y:182.80, Z:0.70 [[-5.68659366e-01 -8.22569846e-01 2.31815699e-03 2.00767700e+02] [ 8.22563050e-01 -5.68664091e-01 -3.34383367e-03 1.82798555e+02] [ 4.06878939e-03 5.32794708e-06 9.99991722e-01 7.02547518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07028169299997 meters 0.014136883887083429 Centerline is valid? [True, True] Translation: X:200.75, Y:182.82, Z:0.70 [[-5.68904497e-01 -8.22400325e-01 2.31919350e-03 2.00754461e+02] [ 8.22393530e-01 -5.68909225e-01 -3.34311474e-03 1.82816741e+02] [ 4.06878923e-03 5.37671629e-06 9.99991722e-01 7.02592230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10028169299994 meters 0.013980364104991466 Centerline is valid? [True, True] Translation: X:200.74, Y:182.84, Z:0.70 [[-5.70193212e-01 -8.21507411e-01 2.29660064e-03 2.00742829e+02] [ 8.21500749e-01 -5.70197837e-01 -3.30844992e-03 1.82837216e+02] [ 4.02743285e-03 2.03459541e-07 9.99991890e-01 7.03594698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130281693 meters 0.014005667399221409 Centerline is valid? [True, True] Translation: X:200.73, Y:182.86, Z:0.70 [[-5.71470756e-01 -8.20619589e-01 2.15995083e-03 2.00731611e+02] [ 8.20613697e-01 -5.71474837e-01 -3.10967171e-03 1.82857021e+02] [ 3.78621508e-03 -4.60120436e-06 9.99992832e-01 7.04386566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16028169299994 meters 0.014248615382391406 Centerline is valid? [True, True] Translation: X:200.72, Y:182.88, Z:0.70 [[-5.72714236e-01 -8.19751312e-01 2.48813990e-03 2.00719952e+02] [ 8.19743496e-01 -5.72719640e-01 -3.57965124e-03 1.82876437e+02] [ 4.35943038e-03 -1.04807245e-05 9.99990498e-01 7.04220885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190281693 meters 0.014511188866433895 Centerline is valid? [True, True] Translation: X:200.71, Y:182.90, Z:0.70 [[-5.73797637e-01 -8.18992402e-01 2.77789482e-03 2.00706942e+02] [ 8.18982665e-01 -5.73804361e-01 -3.99362362e-03 1.82895156e+02] [ 4.86471556e-03 -1.64840912e-05 9.99988167e-01 7.02965087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22028169299995 meters 0.014377916612346879 Centerline is valid? [True, True] Translation: X:200.69, Y:182.91, Z:0.70 [[-5.73909446e-01 -8.18914152e-01 2.74946169e-03 2.00692273e+02] [ 8.18904625e-01 -5.73916032e-01 -3.95007474e-03 1.82913507e+02] [ 4.81273225e-03 -1.54383090e-05 9.99988419e-01 7.02804244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250281693 meters 0.014289965160991902 Centerline is valid? [True, True] Translation: X:200.68, Y:182.93, Z:0.70 [[-5.74089135e-01 -8.18789110e-01 2.46166060e-03 2.00676397e+02] [ 8.18781481e-01 -5.74094412e-01 -3.53437314e-03 1.82931584e+02] [ 4.30713184e-03 -1.34831028e-05 9.99990724e-01 7.03551787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28028169299995 meters 0.01442013062736976 Centerline is valid? [True, True] Translation: X:200.66, Y:182.95, Z:0.70 [[-5.74538485e-01 -8.18474227e-01 2.33887611e-03 2.00662625e+02] [ 8.18467347e-01 -5.74543245e-01 -3.35587772e-03 1.82949276e+02] [ 4.09048489e-03 -1.37871721e-05 9.99991634e-01 7.04645130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310281693 meters 0.014507961291421526 Centerline is valid? [True, True] Translation: X:200.65, Y:182.97, Z:0.70 [[-5.75201939e-01 -8.18007903e-01 2.40828565e-03 2.00648933e+02] [ 8.18000615e-01 -5.75206980e-01 -3.45303617e-03 1.82967974e+02] [ 4.20987359e-03 -1.62139515e-05 9.99991138e-01 7.04348604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34028169299995 meters 0.015969843780882398 Centerline is valid? [True, True] Translation: X:200.64, Y:182.99, Z:0.70 [[-5.77654755e-01 -8.16272738e-01 3.71499498e-03 2.00638964e+02] [ 8.16255387e-01 -5.77666699e-01 -5.32244453e-03 1.82989806e+02] [ 6.49059526e-03 -4.21507254e-05 9.99978935e-01 7.00184572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370281693 meters 0.0171378491718168 Centerline is valid? [True, True] Translation: X:200.63, Y:183.01, Z:0.70 [[-5.79890905e-01 -8.14684135e-01 4.03722076e-03 2.00628097e+02] [ 8.14663632e-01 -5.79904955e-01 -5.78012952e-03 1.83011083e+02] [ 7.05018414e-03 -6.28676111e-05 9.99975145e-01 6.99585681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40028169299995 meters 0.019799834598122637 Centerline is valid? [True, True] Translation: X:200.62, Y:183.03, Z:0.70 [[-5.82266365e-01 -8.12988740e-01 3.89735238e-03 2.00619756e+02] [ 8.12969620e-01 -5.82279403e-01 -5.57614822e-03 1.83033292e+02] [ 6.80269372e-03 -7.83744692e-05 9.99976858e-01 6.99654972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430281693 meters 0.023170218726326408 Centerline is valid? [True, True] Translation: X:200.61, Y:183.06, Z:0.71 [[-5.86310138e-01 -8.10083448e-01 2.28678161e-03 2.00614728e+02] [ 8.10076851e-01 -5.86314594e-01 -3.26999725e-03 1.83057135e+02] [ 3.98974408e-03 -6.47636968e-05 9.99992039e-01 7.05527577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46028169299996 meters 0.025829819775839986 Centerline is valid? [True, True] Translation: X:200.61, Y:183.08, Z:0.71 [[-5.88330799e-01 -8.08618859e-01 1.55299696e-03 2.00607883e+02] [ 8.08615815e-01 -5.88332847e-01 -2.21950348e-03 1.83079313e+02] [ 2.70841150e-03 -5.00243510e-05 9.99996331e-01 7.07750253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490281693 meters 0.02866703492929438 Centerline is valid? [True, True] Translation: X:200.60, Y:183.10, Z:0.71 [[-5.90412359e-01 -8.07100797e-01 1.24529750e-03 2.00601699e+02] [ 8.07098838e-01 -5.90413670e-01 -1.77870566e-03 1.83101916e+02] [ 2.17083542e-03 -4.50916423e-05 9.99997643e-01 7.08696920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52028169299996 meters 0.031130797539200797 Centerline is valid? [True, True] Translation: X:200.60, Y:183.13, Z:0.70 [[-5.94136161e-01 -8.04359831e-01 2.73581872e-03 2.00596618e+02] [ 8.04350369e-01 -5.94142448e-01 -3.90331548e-03 1.83127334e+02] [ 4.76513621e-03 -1.18544078e-04 9.99988640e-01 7.03437246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550281693 meters 0.0349854895136351 Centerline is valid? [True, True] Translation: X:200.59, Y:183.15, Z:0.70 [[-5.95575557e-01 -8.03290228e-01 3.81651275e-03 2.00590478e+02] [ 8.03271820e-01 -5.95587760e-01 -5.44094805e-03 1.83151116e+02] [ 6.64372868e-03 -1.74798521e-04 9.99977915e-01 6.98774372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58028169299996 meters 0.03242789507374721 Centerline is valid? [True, True] Translation: X:200.58, Y:183.17, Z:0.70 [[-5.96555598e-01 -8.02558197e-01 4.66458030e-03 2.00576768e+02] [ 8.02530714e-01 -5.96573794e-01 -6.64538642e-03 1.83171047e+02] [ 8.11607571e-03 -2.20873513e-04 9.99967040e-01 6.96820203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.610281693 meters 0.03269309197096221 Centerline is valid? [True, True] Translation: X:200.57, Y:183.20, Z:0.70 [[-5.96170415e-01 -8.02842401e-01 4.99153071e-03 2.00571322e+02] [ 8.02810983e-01 -5.96191267e-01 -7.10630385e-03 1.83195589e+02] [ 8.68114907e-03 -2.29312446e-04 9.99962292e-01 6.97308623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64028169299996 meters 0.0350273743618705 Centerline is valid? [True, True] Translation: X:200.56, Y:183.22, Z:0.70 [[-5.94915179e-01 -8.03775166e-01 4.62745541e-03 2.00564601e+02] [ 8.03748226e-01 -5.94933143e-01 -6.58368781e-03 1.83218326e+02] [ 8.04483135e-03 -1.97426729e-04 9.99967620e-01 6.97759471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67028169299994 meters 0.02745346770721128 Centerline is valid? [True, True] Translation: X:200.55, Y:183.23, Z:0.70 [[-5.90884774e-01 -8.06744321e-01 4.33421248e-03 2.00546731e+02] [ 8.06720799e-01 -5.90900652e-01 -6.16219723e-03 1.83234289e+02] [ 7.53240660e-03 -1.44649161e-04 9.99971621e-01 6.99722653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70028169299997 meters 0.02298930862688057 Centerline is valid? [True, True] Translation: X:200.53, Y:183.25, Z:0.70 [[-5.88469363e-01 -8.08508796e-01 4.16352753e-03 2.00528796e+02] [ 8.08487168e-01 -5.88484080e-01 -5.91487784e-03 1.83250231e+02] [ 7.23240043e-03 -1.14565813e-04 9.99973839e-01 6.99641335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73028169299994 meters 0.016854958253480136 Centerline is valid? [True, True] Translation: X:200.51, Y:183.26, Z:0.70 [[-5.82718499e-01 -8.12663167e-01 4.21043386e-03 2.00508649e+02] [ 8.12641188e-01 -5.82733707e-01 -5.97709987e-03 1.83264398e+02] [ 7.31093064e-03 -6.13946950e-05 9.99973273e-01 6.99142074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76028169299997 meters 0.015163645184028277 Centerline is valid? [True, True] Translation: X:200.49, Y:183.28, Z:0.70 [[-5.79705487e-01 -8.14814784e-01 4.29139948e-03 2.00492328e+02] [ 8.14792044e-01 -5.79721370e-01 -6.08763134e-03 1.83280127e+02] [ 7.44810800e-03 -3.24351387e-05 9.99972262e-01 6.97826761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79028169299994 meters 0.013811872309579396 Centerline is valid? [True, True] Translation: X:200.47, Y:183.30, Z:0.70 [[-5.76796091e-01 -8.16876509e-01 4.36332128e-03 2.00472640e+02] [ 8.16853090e-01 -5.76812595e-01 -6.18545510e-03 1.83295806e+02] [ 7.56957163e-03 -3.55385103e-06 9.99971350e-01 7.00442626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82028169299997 meters 0.014234669898592471 Centerline is valid? [True, True] Translation: X:200.45, Y:183.31, Z:0.70 [[-5.74202792e-01 -8.18702607e-01 4.14666785e-03 2.00454433e+02] [ 8.18681532e-01 -5.74217764e-01 -5.87442532e-03 1.83310597e+02] [ 7.19049767e-03 2.16889646e-05 9.99974148e-01 7.01065168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85028169299994 meters 0.01659985659529657 Centerline is valid? [True, True] Translation: X:200.43, Y:183.32, Z:0.70 [[-5.70384301e-01 -8.21367954e-01 4.05370232e-03 2.00432585e+02] [ 8.21347911e-01 -5.70398703e-01 -5.73831878e-03 1.83323619e+02] [ 7.02549771e-03 5.64529845e-05 9.99975319e-01 7.01505689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880281693 meters 0.01747620436017129 Centerline is valid? [True, True] Translation: X:200.42, Y:183.34, Z:0.70 [[-5.69608850e-01 -8.21906699e-01 3.89047755e-03 2.00416522e+02] [ 8.21888277e-01 -5.69622132e-01 -5.50333229e-03 1.83340134e+02] [ 6.73932779e-03 6.27911175e-05 9.99977289e-01 7.02299134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91028169299994 meters 0.017966654562599233 Centerline is valid? [True, True] Translation: X:200.40, Y:183.36, Z:0.70 [[-5.69035095e-01 -8.22305750e-01 3.50930194e-03 2.00399628e+02] [ 8.22290788e-01 -5.69045912e-01 -4.96080099e-03 1.83356837e+02] [ 6.07624910e-03 6.27967965e-05 9.99981537e-01 7.03877021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940281693 meters 0.017679894460411173 Centerline is valid? [True, True] Translation: X:200.38, Y:183.38, Z:0.70 [[-5.69392636e-01 -8.22058634e-01 3.41002991e-03 2.00384582e+02] [ 8.22044521e-01 -5.69402844e-01 -4.81728749e-03 1.83375123e+02] [ 5.90177350e-03 6.02683766e-05 9.99982583e-01 7.04776540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97028169299995 meters 0.01809056124501901 Centerline is valid? [True, True] Translation: X:200.37, Y:183.39, Z:0.71 [[-5.69589816e-01 -8.21922952e-01 3.17853257e-03 2.00368887e+02] [ 8.21910705e-01 -5.69598682e-01 -4.48727275e-03 1.83392145e+02] [ 5.49868043e-03 5.65650815e-05 9.99984881e-01 7.05767982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000281693 meters 0.017836432152566407 Centerline is valid? [True, True] Translation: X:200.35, Y:183.41, Z:0.71 [[-5.70482443e-01 -8.21307009e-01 2.13981410e-03 2.00353796e+02] [ 8.21301461e-01 -5.70486455e-01 -3.01911963e-03 1.83408491e+02] [ 3.70035907e-03 3.50777012e-05 9.99993153e-01 7.09186777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03028169299995 meters 0.01690904352542402 Centerline is valid? [True, True] Translation: X:200.34, Y:183.43, Z:0.71 [[-5.71530755e-01 -8.20578555e-01 1.85239860e-03 2.00340730e+02] [ 8.20574398e-01 -5.71533757e-01 -2.61194704e-03 1.83427575e+02] [ 3.20201606e-03 2.72228007e-05 9.99994873e-01 7.10152282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060281693 meters 0.015581733023580482 Centerline is valid? [True, True] Translation: X:200.33, Y:183.45, Z:0.71 [[-5.72535624e-01 -8.19877649e-01 1.89746641e-03 2.00328182e+02] [ 8.19873290e-01 -5.72538768e-01 -2.67370117e-03 1.83448467e+02] [ 3.27848091e-03 2.48928608e-05 9.99994625e-01 7.10346667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09028169299995 meters 0.016023660409957854 Centerline is valid? [True, True] Translation: X:200.31, Y:183.47, Z:0.71 [[-5.73139366e-01 -8.19454738e-01 2.28005774e-03 2.00312253e+02] [ 8.19448450e-01 -5.73143901e-01 -3.21045402e-03 1.83465300e+02] [ 3.93762295e-03 2.83521948e-05 9.99992247e-01 7.09040284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120281693 meters 0.015737569560851723 Centerline is valid? [True, True] Translation: X:200.30, Y:183.48, Z:0.71 [[-5.73235255e-01 -8.19386266e-01 2.73664210e-03 2.00298385e+02] [ 8.19377220e-01 -5.73241786e-01 -3.85048684e-03 1.83483175e+02] [ 4.72379365e-03 3.51073902e-05 9.99988842e-01 7.08520805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15028169299995 meters 0.016772743239397293 Centerline is valid? [True, True] Translation: X:200.28, Y:183.50, Z:0.70 [[-5.72938212e-01 -8.19588785e-01 4.00353503e-03 2.00282020e+02] [ 8.19569462e-01 -5.72952197e-01 -5.62826891e-03 1.83498971e+02] [ 6.90670028e-03 5.65247268e-05 9.99976147e-01 7.04977190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180281693 meters 0.0169549967677518 Centerline is valid? [True, True] Translation: X:200.27, Y:183.52, Z:0.70 [[-5.73093447e-01 -8.19478571e-01 4.33273538e-03 2.00268182e+02] [ 8.19455969e-01 -5.73109822e-01 -6.08659526e-03 1.83515669e+02] [ 7.47096758e-03 6.22980085e-05 9.99972090e-01 7.04339373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21028169299996 meters 0.016656316911078203 Centerline is valid? [True, True] Translation: X:200.25, Y:183.53, Z:0.70 [[-5.73375982e-01 -8.19281385e-01 4.24205587e-03 2.00254627e+02] [ 8.19259744e-01 -5.73391671e-01 -5.95511085e-03 1.83533909e+02] [ 7.31127096e-03 6.08280749e-05 9.99973270e-01 7.04575730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240281693 meters 0.01575451672421578 Centerline is valid? [True, True] Translation: X:200.24, Y:183.55, Z:0.71 [[-5.74359443e-01 -8.18593449e-01 3.99939855e-03 2.00241865e+02] [ 8.18574222e-01 -5.74373365e-01 -5.61079318e-03 1.83554398e+02] [ 6.89010655e-03 5.11925153e-05 9.99976262e-01 7.05685301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27028169299996 meters 0.015504508803545765 Centerline is valid? [True, True] Translation: X:200.23, Y:183.57, Z:0.71 [[-5.75156542e-01 -8.18034293e-01 3.85322397e-03 2.00229813e+02] [ 8.18016460e-01 -5.75169447e-01 -5.40174198e-03 1.83572569e+02] [ 6.63506688e-03 4.51534001e-05 9.99977987e-01 7.05587146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300281693 meters 0.015241991486326562 Centerline is valid? [True, True] Translation: X:200.22, Y:183.59, Z:0.71 [[-5.76142405e-01 -8.17339895e-01 3.92749152e-03 2.00217741e+02] [ 8.17321379e-01 -5.76155790e-01 -5.50179158e-03 1.83591004e+02] [ 6.75968073e-03 4.02073540e-05 9.99977152e-01 7.05383394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33028169299996 meters 0.014560368779399207 Centerline is valid? [True, True] Translation: X:200.21, Y:183.61, Z:0.71 [[-5.76949332e-01 -8.16770668e-01 3.89156625e-03 2.00205632e+02] [ 8.16752501e-01 -5.76962456e-01 -5.44767295e-03 1.83610172e+02] [ 6.69478709e-03 3.54151916e-05 9.99977589e-01 7.06608544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.360281693 meters 0.014287171171913977 Centerline is valid? [True, True] Translation: X:200.19, Y:183.63, Z:0.71 [[-5.77607380e-01 -8.16307506e-01 3.43071806e-03 2.00192355e+02] [ 8.16293398e-01 -5.77617568e-01 -4.79929434e-03 1.83627371e+02] [ 5.89934301e-03 2.83646679e-05 9.99982598e-01 7.08570009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39028169299996 meters 0.014800150121167066 Centerline is valid? [True, True] Translation: X:200.18, Y:183.64, Z:0.71 [[-5.77185217e-01 -8.16605048e-01 3.66347054e-03 2.00176736e+02] [ 8.16588990e-01 -5.77196843e-01 -5.12125309e-03 1.83644999e+02] [ 6.29658475e-03 3.56381315e-05 9.99980176e-01 7.08488230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42028169299994 meters 0.01570301865482685 Centerline is valid? [True, True] Translation: X:200.16, Y:183.66, Z:0.71 [[-5.76120951e-01 -8.17352422e-01 4.43475568e-03 2.00160106e+02] [ 8.17328946e-01 -5.76138017e-01 -6.19517237e-03 1.83662902e+02] [ 7.61867049e-03 5.54855844e-05 9.99970976e-01 7.05888864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45028169299997 meters 0.015983950925384037 Centerline is valid? [True, True] Translation: X:200.15, Y:183.68, Z:0.70 [[-5.76401856e-01 -8.17153799e-01 4.53543303e-03 2.00146360e+02] [ 8.17129271e-01 -5.76419696e-01 -6.33156378e-03 1.83681198e+02] [ 7.78817432e-03 5.65099785e-05 9.99969670e-01 7.04813923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48028169299994 meters 0.015465045324836462 Centerline is valid? [True, True] Translation: X:200.13, Y:183.70, Z:0.71 [[-5.77426243e-01 -8.16431460e-01 4.31329903e-03 2.00134299e+02] [ 8.16409287e-01 -5.77442351e-01 -6.01729322e-03 1.83699615e+02] [ 7.40338902e-03 4.68743703e-05 9.99972593e-01 7.05218563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51028169299997 meters 0.013877270077154384 Centerline is valid? [True, True] Translation: X:200.13, Y:183.72, Z:0.71 [[-5.80320303e-01 -8.14377228e-01 4.25165047e-03 2.00125312e+02] [ 8.14355659e-01 -5.80335876e-01 -5.92722094e-03 1.83721741e+02] [ 7.29437907e-03 2.26689730e-05 9.99973395e-01 7.06374274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54028169299994 meters 0.013593619225387411 Centerline is valid? [True, True] Translation: X:200.11, Y:183.74, Z:0.71 [[-5.81466334e-01 -8.13558260e-01 4.45643770e-03 2.00113232e+02] [ 8.13534571e-01 -5.81483411e-01 -6.20842196e-03 1.83741895e+02] [ 7.64225756e-03 1.54777724e-05 9.99970797e-01 7.06128516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57028169299997 meters 0.013444967888399464 Centerline is valid? [True, True] Translation: X:200.10, Y:183.76, Z:0.71 [[-5.82940260e-01 -8.12501514e-01 4.68442709e-03 2.00102566e+02] [ 8.12475340e-01 -5.82959081e-01 -6.52165250e-03 1.83763783e+02] [ 8.02968183e-03 4.24769106e-06 9.99967762e-01 7.06239498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60028169299994 meters 0.013560007267756746 Centerline is valid? [True, True] Translation: X:200.09, Y:183.78, Z:0.71 [[-5.83469071e-01 -8.12120914e-01 4.84396141e-03 2.00089869e+02] [ 8.12092952e-01 -5.83489178e-01 -6.73918632e-03 1.83782270e+02] [ 8.29943322e-03 1.64013747e-06 9.99965559e-01 7.05428063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630281693 meters 0.013668272736825271 Centerline is valid? [True, True] Translation: X:200.08, Y:183.80, Z:0.71 [[-5.82879432e-01 -8.12545603e-01 4.60558792e-03 2.00075548e+02] [ 8.12520372e-01 -5.82897627e-01 -6.40332304e-03 1.83799918e+02] [ 7.88757824e-03 9.76871431e-06 9.99968893e-01 7.06042602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66028169299994 meters 0.013722255538700198 Centerline is valid? [True, True] Translation: X:200.06, Y:183.82, Z:0.71 [[-5.82158158e-01 -8.13063065e-01 4.50901049e-03 2.00061160e+02] [ 8.13038929e-01 -5.82175619e-01 -6.26492157e-03 1.83817419e+02] [ 7.71881231e-03 1.88258618e-05 9.99970209e-01 7.06216643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690281693 meters 0.014932393394190724 Centerline is valid? [True, True] Translation: X:200.05, Y:183.83, Z:0.70 [[-5.81253278e-01 -8.13709699e-01 4.59918703e-03 2.00045874e+02] [ 8.13684644e-01 -5.81271473e-01 -6.38558143e-03 1.83833724e+02] [ 7.86938577e-03 3.06477205e-05 9.99969035e-01 7.04459963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72028169299995 meters 0.015823839989839154 Centerline is valid? [True, True] Translation: X:200.03, Y:183.85, Z:0.71 [[-5.79159032e-01 -8.15204721e-01 4.00974363e-03 2.00030698e+02] [ 8.15185737e-01 -5.79172911e-01 -5.56355745e-03 1.83850645e+02] [ 6.85777318e-03 4.65012650e-05 9.99976484e-01 7.07686076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750281693 meters 0.01669416042364916 Centerline is valid? [True, True] Translation: X:200.02, Y:183.87, Z:0.71 [[-5.78568234e-01 -8.15625851e-01 3.64262026e-03 2.00016203e+02] [ 8.15610213e-01 -5.78579699e-01 -5.05089522e-03 1.83867770e+02] [ 6.22718685e-03 4.86707554e-05 9.99980610e-01 7.08962490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78028169299995 meters 0.017173429080078063 Centerline is valid? [True, True] Translation: X:200.00, Y:183.89, Z:0.71 [[-5.77264393e-01 -8.16551027e-01 3.20030210e-03 2.00003352e+02] [ 8.16538987e-01 -5.77273261e-01 -4.43452228e-03 1.83887176e+02] [ 5.46846255e-03 5.32796261e-05 9.99985046e-01 7.11654369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810281693 meters 0.018529079747738413 Centerline is valid? [True, True] Translation: X:199.99, Y:183.90, Z:0.71 [[-5.76731890e-01 -8.16928087e-01 2.97136781e-03 1.99988963e+02] [ 8.16917728e-01 -5.76739541e-01 -4.11427000e-03 1.83904001e+02] [ 5.07476803e-03 5.45323301e-05 9.99987122e-01 7.12732832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84028169299995 meters 0.0190745313042294 Centerline is valid? [True, True] Translation: X:199.97, Y:183.92, Z:0.71 [[-5.75967723e-01 -8.17467667e-01 2.79224655e-03 1.99974928e+02] [ 8.17458539e-01 -5.75974488e-01 -3.86346427e-03 1.83922152e+02] [ 4.76651990e-03 5.73150698e-05 9.99988638e-01 7.13837514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870281693 meters 0.02128030793085599 Centerline is valid? [True, True] Translation: X:199.96, Y:183.94, Z:0.71 [[-5.75071307e-01 -8.18097966e-01 2.95130066e-03 1.99958785e+02] [ 8.18087792e-01 -5.75078876e-01 -4.08056961e-03 1.83937314e+02] [ 5.03553637e-03 6.78045401e-05 9.99987319e-01 7.13241550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90028169299995 meters 0.02557878048354038 Centerline is valid? [True, True] Translation: X:199.94, Y:183.95, Z:0.71 [[-5.72182124e-01 -8.20117130e-01 3.93836438e-03 1.99939879e+02] [ 8.20099089e-01 -5.72195666e-01 -5.44102465e-03 1.83951330e+02] [ 6.71579254e-03 1.16591997e-04 9.99977442e-01 7.10733165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930281693 meters 0.026851553735980117 Centerline is valid? [True, True] Translation: X:199.92, Y:183.97, Z:0.71 [[-5.70892694e-01 -8.21013080e-01 4.36514746e-03 1.99924702e+02] [ 8.20990977e-01 -5.70909364e-01 -6.02607367e-03 1.83968072e+02] [ 7.43958886e-03 1.43505248e-04 9.99972316e-01 7.09215787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96028169299996 meters 0.029024880463317144 Centerline is valid? [True, True] Translation: X:199.91, Y:183.98, Z:0.71 [[-5.69502000e-01 -8.21977768e-01 4.47445945e-03 1.99907940e+02] [ 8.21954607e-01 -5.69519554e-01 -6.17262222e-03 1.83984390e+02] [ 7.62205039e-03 1.62481864e-04 9.99970939e-01 7.09196687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990281693 meters 0.029024880463317144 Centerline is valid? [True, True] Translation: X:199.89, Y:184.00, Z:0.71 [[-5.69762978e-01 -8.21796879e-01 4.47643310e-03 1.99894345e+02] [ 8.21773724e-01 -5.69780539e-01 -6.17119094e-03 1.84002325e+02] [ 7.62204992e-03 1.62498971e-04 9.99970939e-01 7.09241410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02028169299996 meters 0.030767610401906377 Centerline is valid? [True, True] Translation: X:199.88, Y:184.02, Z:0.71 [[-5.67072157e-01 -8.23661308e-01 3.34928401e-03 1.99877103e+02] [ 8.23648394e-01 -5.67082030e-01 -4.61447915e-03 1.84018921e+02] [ 5.70008671e-03 1.41889746e-04 9.99983744e-01 7.13262494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050281693 meters 0.03460274688378315 Centerline is valid? [True, True] Translation: X:199.86, Y:184.03, Z:0.71 [[-5.66344054e-01 -8.24163938e-01 2.86627894e-03 1.99858541e+02] [ 8.24154499e-01 -5.66351293e-01 -3.94648080e-03 1.84033901e+02] [ 4.87586794e-03 1.27190745e-04 9.99988105e-01 7.14264530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08028169299996 meters 0.03747407823663255 Centerline is valid? [True, True] Translation: X:199.84, Y:184.05, Z:0.71 [[-5.64844300e-01 -8.25190979e-01 3.28095420e-03 1.99841385e+02] [ 8.25178646e-01 -5.64853807e-01 -4.51421627e-03 1.84048698e+02] [ 5.57835001e-03 1.57544015e-04 9.99984429e-01 7.13158963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.110281693 meters 0.03873117967652535 Centerline is valid? [True, True] Translation: X:199.83, Y:184.07, Z:0.71 [[-5.64342016e-01 -8.25531881e-01 3.89902721e-03 1.99825613e+02] [ 8.25514500e-01 -5.64355452e-01 -5.36038792e-03 1.84065627e+02] [ 6.62560839e-03 1.93611376e-04 9.99978032e-01 7.11310326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14028169299996 meters 0.03943757426240377 Centerline is valid? [True, True] Translation: X:199.81, Y:184.08, Z:0.71 [[-5.64023890e-01 -8.25748551e-01 4.04745489e-03 1.99810250e+02] [ 8.25729857e-01 -5.64038374e-01 -5.56015159e-03 1.84083406e+02] [ 6.87420700e-03 2.06046015e-04 9.99976351e-01 7.10055721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17028169299994 meters 0.03778076498938687 Centerline is valid? [True, True] Translation: X:199.80, Y:184.10, Z:0.71 [[-5.63342579e-01 -8.26217052e-01 3.24385605e-03 1.99797962e+02] [ 8.26205067e-01 -5.63351892e-01 -4.45337915e-03 1.84103276e+02] [ 5.50689023e-03 1.71312218e-04 9.99984822e-01 7.13763577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20028169299997 meters 0.0371114381990551 Centerline is valid? [True, True] Translation: X:199.78, Y:184.12, Z:0.71 [[-5.63075440e-01 -8.26399760e-01 3.07976701e-03 1.99784331e+02] [ 8.26388974e-01 -5.63083838e-01 -4.22546665e-03 1.84123231e+02] [ 5.22609165e-03 1.65829005e-04 9.99986330e-01 7.14678490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23028169299994 meters 0.038202372995659296 Centerline is valid? [True, True] Translation: X:199.77, Y:184.14, Z:0.71 [[-5.61636055e-01 -8.27377097e-01 3.47589186e-03 1.99768406e+02] [ 8.27363394e-01 -5.61646776e-01 -4.76583582e-03 1.84141657e+02] [ 5.89536686e-03 1.99160464e-04 9.99982602e-01 7.13813295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26028169299997 meters 0.048813554870641096 Centerline is valid? [True, True] Translation: X:199.74, Y:184.15, Z:0.71 [[-5.60775780e-01 -8.27960890e-01 3.35979983e-03 1.99742123e+02] [ 8.27948115e-01 -5.60785809e-01 -4.60374419e-03 1.84151297e+02] [ 5.69584820e-03 2.00071696e-04 9.99983759e-01 7.12222270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29028169299994 meters 0.04940525905846891 Centerline is valid? [True, True] Translation: X:199.73, Y:184.17, Z:0.71 [[-5.59830284e-01 -8.28601747e-01 3.03279652e-03 1.99726179e+02] [ 8.28591362e-01 -5.59838467e-01 -4.15271773e-03 1.84168041e+02] [ 5.13882532e-03 1.88131851e-04 9.99986778e-01 7.13420475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32028169299997 meters 0.04559081112513025 Centerline is valid? [True, True] Translation: X:199.71, Y:184.19, Z:0.72 [[-5.57778299e-01 -8.29985831e-01 2.62491252e-03 1.99713145e+02] [ 8.29978078e-01 -5.57784448e-01 -3.59176855e-03 1.84187362e+02] [ 4.44525238e-03 1.75209301e-04 9.99990104e-01 7.15263601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35028169299994 meters 0.046216175941468436 Centerline is valid? [True, True] Translation: X:199.70, Y:184.20, Z:0.72 [[-5.57231928e-01 -8.30352441e-01 2.72071262e-03 1.99695610e+02] [ 8.30344127e-01 -5.57238539e-01 -3.72042703e-03 1.84204425e+02] [ 4.60535160e-03 1.85987020e-04 9.99989378e-01 7.15510363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380281693 meters 0.04607736042165613 Centerline is valid? [True, True] Translation: X:199.68, Y:184.22, Z:0.71 [[-5.56962492e-01 -8.30533072e-01 2.75666914e-03 1.99678501e+02] [ 8.30524550e-01 -5.56969281e-01 -3.76725071e-03 1.84222061e+02] [ 4.66420633e-03 1.91264054e-04 9.99989104e-01 7.14952223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41028169299994 meters 0.050277723033826625 Centerline is valid? [True, True] Translation: X:199.65, Y:184.23, Z:0.71 [[-5.57301993e-01 -8.30304256e-01 3.05478290e-03 1.99653981e+02] [ 8.30293802e-01 -5.57310325e-01 -4.17184933e-03 1.84232354e+02] [ 5.16636631e-03 2.11387366e-04 9.99986632e-01 7.13918246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440281693 meters 0.0488430971306293 Centerline is valid? [True, True] Translation: X:199.64, Y:184.25, Z:0.71 [[-5.58126951e-01 -8.29750690e-01 2.84575998e-03 1.99638373e+02] [ 8.29741623e-01 -5.58134172e-01 -3.88389564e-03 1.84249790e+02] [ 4.81098098e-03 1.93538668e-04 9.99988408e-01 7.14166555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47028169299995 meters 0.04463775011089361 Centerline is valid? [True, True] Translation: X:199.63, Y:184.27, Z:0.71 [[-5.59414365e-01 -8.28883663e-01 2.72785173e-03 1.99625430e+02] [ 8.28875333e-01 -5.59420987e-01 -3.72050737e-03 1.84270318e+02] [ 4.60988528e-03 1.79743745e-04 9.99989358e-01 7.14790957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500281693 meters 0.04225495573843624 Centerline is valid? [True, True] Translation: X:199.61, Y:184.29, Z:0.72 [[-5.62737123e-01 -8.26631706e-01 2.63691524e-03 1.99608378e+02] [ 8.26623908e-01 -5.62743279e-01 -3.59411575e-03 1.84286245e+02] [ 4.45491637e-03 1.57194824e-04 9.99990064e-01 7.15306583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53028169299995 meters 0.042632359728871 Centerline is valid? [True, True] Translation: X:199.59, Y:184.30, Z:0.71 [[-5.64635325e-01 -8.25335430e-01 2.89431874e-03 1.99591523e+02] [ 8.25326031e-01 -5.64642720e-01 -3.94224458e-03 1.84301597e+02] [ 4.88793013e-03 1.62826052e-04 9.99988041e-01 7.14431190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560281693 meters 0.03896771135026671 Centerline is valid? [True, True] Translation: X:199.58, Y:184.32, Z:0.71 [[-5.67774344e-01 -8.23177772e-01 3.26346974e-03 1.99577118e+02] [ 8.23165805e-01 -5.67783699e-01 -4.44180154e-03 1.84320102e+02] [ 5.50933721e-03 1.64435743e-04 9.99984810e-01 7.13581385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59028169299995 meters 0.034206078594002924 Centerline is valid? [True, True] Translation: X:199.57, Y:184.34, Z:0.71 [[-5.69032587e-01 -8.22309274e-01 3.06168875e-03 1.99565970e+02] [ 8.22298743e-01 -5.69040804e-01 -4.16430573e-03 1.84342101e+02] [ 5.16657305e-03 1.47997150e-04 9.99986642e-01 7.14693724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620281693 meters 0.03712416136558818 Centerline is valid? [True, True] Translation: X:199.55, Y:184.36, Z:0.71 [[-5.70156159e-01 -8.21530882e-01 2.99407350e-03 1.99546549e+02] [ 8.21520814e-01 -5.70164003e-01 -4.06961705e-03 1.84355849e+02] [ 5.05042901e-03 1.39376474e-04 9.99987237e-01 7.14054221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65028169299995 meters 0.03289475422724919 Centerline is valid? [True, True] Translation: X:199.53, Y:184.37, Z:0.71 [[-5.71102054e-01 -8.20873159e-01 3.11459482e-03 1.99531908e+02] [ 8.20862269e-01 -5.71110530e-01 -4.23065216e-03 1.84374280e+02] [ 5.25160670e-03 1.40519230e-04 9.99986200e-01 7.14141875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680281693 meters 0.03235479567309212 Centerline is valid? [True, True] Translation: X:199.52, Y:184.39, Z:0.71 [[-5.71649008e-01 -8.20492096e-01 3.18305272e-03 1.99516240e+02] [ 8.20480731e-01 -5.71657852e-01 -4.32085598e-03 1.84392340e+02] [ 5.36484526e-03 1.41620384e-04 9.99985599e-01 7.14307500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71028169299996 meters 0.031217287615486474 Centerline is valid? [True, True] Translation: X:199.50, Y:184.41, Z:0.71 [[-5.72511715e-01 -8.19889761e-01 3.33408556e-03 1.99499749e+02] [ 8.19877298e-01 -5.72521405e-01 -4.52294096e-03 1.84410070e+02] [ 5.61714833e-03 1.44104375e-04 9.99984213e-01 7.14021138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740281693 meters 0.031453976368958206 Centerline is valid? [True, True] Translation: X:199.48, Y:184.43, Z:0.71 [[-5.73153214e-01 -8.19442566e-01 3.04543947e-03 1.99483599e+02] [ 8.19432174e-01 -5.73161290e-01 -4.12881576e-03 1.84427101e+02] [ 5.12885539e-03 1.29087065e-04 9.99986839e-01 7.14551168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77028169299996 meters 0.03097943884568332 Centerline is valid? [True, True] Translation: X:199.47, Y:184.45, Z:0.72 [[-5.73866660e-01 -8.18944120e-01 2.75400975e-03 1.99468284e+02] [ 8.18935627e-01 -5.73873257e-01 -3.73143048e-03 1.84445196e+02] [ 4.63628560e-03 1.14013157e-04 9.99989246e-01 7.15333066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800281693 meters 0.029739942245225935 Centerline is valid? [True, True] Translation: X:199.45, Y:184.46, Z:0.72 [[-5.74910390e-01 -8.18213732e-01 2.08144065e-03 1.99453946e+02] [ 8.18208881e-01 -5.74914152e-01 -2.81861303e-03 1.84464575e+02] [ 3.50287757e-03 8.26033123e-05 9.99993862e-01 7.16703290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83028169299996 meters 0.02676388977187637 Centerline is valid? [True, True] Translation: X:199.44, Y:184.48, Z:0.72 [[-5.77747375e-01 -8.16214695e-01 1.24182972e-03 1.99441536e+02] [ 8.16212965e-01 -5.77748708e-01 -1.68097526e-03 1.84483721e+02] [ 2.08950222e-03 4.24184741e-05 9.99997816e-01 7.19665631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.860281693 meters 0.025387357262129654 Centerline is valid? [True, True] Translation: X:199.43, Y:184.50, Z:0.72 [[-5.79121561e-01 -8.15240555e-01 1.02684938e-03 1.99427853e+02] [ 8.15239372e-01 -5.79122470e-01 -1.38920706e-03 1.84502083e+02] [ 1.72720948e-03 3.26082830e-05 9.99998508e-01 7.20087387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89028169299996 meters 0.023302867311616356 Centerline is valid? [True, True] Translation: X:199.41, Y:184.52, Z:0.72 [[-5.81528482e-01 -8.13525468e-01 9.67901056e-04 1.99414213e+02] [ 8.13524416e-01 -5.81529287e-01 -1.30861891e-03 1.84519792e+02] [ 1.62745762e-03 2.64119752e-05 9.99998675e-01 7.19768304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92028169299994 meters 0.021696983733970217 Centerline is valid? [True, True] Translation: X:199.40, Y:184.54, Z:0.72 [[-5.83184023e-01 -8.12338970e-01 1.33935907e-03 1.99401281e+02] [ 8.12336956e-01 -5.83185560e-01 -1.80915364e-03 1.84539492e+02] [ 2.25074088e-03 3.29413758e-05 9.99997467e-01 7.18695163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95028169299997 meters 0.020049060894820156 Centerline is valid? [True, True] Translation: X:199.39, Y:184.56, Z:0.72 [[-5.84974919e-01 -8.11050218e-01 1.37395734e-03 1.99388954e+02] [ 8.11048099e-01 -5.84976532e-01 -1.85436652e-03 1.84559289e+02] [ 2.30771717e-03 2.95875860e-05 9.99997337e-01 7.17722287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98028169299994 meters 0.016197197766949584 Centerline is valid? [True, True] Translation: X:199.38, Y:184.58, Z:0.72 [[-5.89255784e-01 -8.07946002e-01 9.37223828e-04 1.99381229e+02] [ 8.07945013e-01 -5.89256530e-01 -1.26442071e-03 1.84580599e+02] [ 1.57384892e-03 1.21580991e-05 9.99998761e-01 7.18770321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01028169299997 meters 0.014386866750857317 Centerline is valid? [True, True] Translation: X:199.37, Y:184.60, Z:0.72 [[-5.91585123e-01 -8.06242152e-01 7.97375824e-04 1.99370215e+02] [ 8.06241435e-01 -5.91585660e-01 -1.07515000e-03 1.84601079e+02] [ 1.33854735e-03 6.83468503e-06 9.99999104e-01 7.19133653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04028169299994 meters 0.012879484086495401 Centerline is valid? [True, True] Translation: X:199.36, Y:184.62, Z:0.72 [[-5.95271131e-01 -8.03523869e-01 1.29337118e-03 1.99362258e+02] [ 8.03521980e-01 -5.95272537e-01 -1.74209774e-03 1.84622994e+02] [ 2.16972546e-03 2.23168210e-06 9.99997646e-01 7.16665620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07028169299997 meters 0.012909524680979962 Centerline is valid? [True, True] Translation: X:199.35, Y:184.64, Z:0.71 [[-5.96741760e-01 -8.02431027e-01 1.92840814e-03 1.99349724e+02] [ 8.02426830e-01 -5.96744876e-01 -2.59514239e-03 1.84643660e+02] [ 3.23319045e-03 -1.22340360e-06 9.99994773e-01 7.14943198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10028169299994 meters 0.013075724259387552 Centerline is valid? [True, True] Translation: X:199.34, Y:184.66, Z:0.71 [[-5.97916317e-01 -8.01553928e-01 2.71624489e-03 1.99337990e+02] [ 8.01545607e-01 -5.97922487e-01 -3.65241974e-03 1.84663124e+02] [ 4.55171529e-03 -6.64720317e-06 9.99989641e-01 7.12306656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130281693 meters 0.0136900836414046 Centerline is valid? [True, True] Translation: X:199.33, Y:184.68, Z:0.71 [[-5.99464426e-01 -8.00395396e-01 3.10028065e-03 1.99328776e+02] [ 8.00384556e-01 -5.99472443e-01 -4.16573489e-03 1.84683705e+02] [ 5.19276785e-03 -1.57931225e-05 9.99986517e-01 7.11091382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16028169299994 meters 0.013779379378841208 Centerline is valid? [True, True] Translation: X:199.32, Y:184.70, Z:0.71 [[-6.00280804e-01 -7.99785488e-01 2.47568897e-03 1.99316291e+02] [ 7.99778579e-01 -6.00285909e-01 -3.32442340e-03 1.84702966e+02] [ 4.14494680e-03 -1.55845507e-05 9.99991410e-01 7.12427216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190281693 meters 0.013904131852423576 Centerline is valid? [True, True] Translation: X:199.30, Y:184.72, Z:0.71 [[-6.01043944e-01 -7.99213855e-01 1.84167579e-03 1.99303658e+02] [ 7.99210033e-01 -6.01046765e-01 -2.47168325e-03 1.84722742e+02] [ 3.08233677e-03 -1.37044809e-05 9.99995250e-01 7.14395720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22028169299995 meters 0.01418926003739818 Centerline is valid? [True, True] Translation: X:199.29, Y:184.74, Z:0.71 [[-6.01855208e-01 -7.98602751e-01 1.98845495e-03 1.99292768e+02] [ 7.98598299e-01 -6.01858493e-01 -2.66686494e-03 1.84743877e+02] [ 3.32653418e-03 -1.70898130e-05 9.99994467e-01 7.13562271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250281693 meters 0.014604596527306378 Centerline is valid? [True, True] Translation: X:199.28, Y:184.76, Z:0.71 [[-6.02393563e-01 -7.98195857e-01 2.31712355e-03 1.99281481e+02] [ 7.98189816e-01 -6.02398019e-01 -3.10538695e-03 1.84763302e+02] [ 3.87453764e-03 -2.11606856e-05 9.99992494e-01 7.11923006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28028169299995 meters 0.01482134662741382 Centerline is valid? [True, True] Translation: X:199.27, Y:184.78, Z:0.71 [[-6.02738056e-01 -7.97934125e-01 2.82268932e-03 1.99269226e+02] [ 7.97925172e-01 -6.02744665e-01 -3.78011780e-03 1.84782827e+02] [ 4.71764592e-03 -2.61259910e-05 9.99988872e-01 7.10968878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310281693 meters 0.014751623688277423 Centerline is valid? [True, True] Translation: X:199.26, Y:184.80, Z:0.71 [[-6.02999369e-01 -7.97737317e-01 2.63325186e-03 1.99256013e+02] [ 7.97729534e-01 -6.03005118e-01 -3.52400324e-03 1.84800446e+02] [ 4.39909324e-03 -2.43489550e-05 9.99990324e-01 7.11421206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34028169299995 meters 0.014742057628146003 Centerline is valid? [True, True] Translation: X:199.24, Y:184.82, Z:0.71 [[-6.03230495e-01 -7.97563093e-01 2.46621703e-03 1.99242597e+02] [ 7.97556274e-01 -6.03235536e-01 -3.29823415e-03 1.84819389e+02] [ 4.11825958e-03 -2.26485561e-05 9.99991520e-01 7.11797598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370281693 meters 0.014428075739758602 Centerline is valid? [True, True] Translation: X:199.23, Y:184.84, Z:0.71 [[-6.03354771e-01 -7.97469166e-01 2.43934571e-03 1.99230332e+02] [ 7.97462502e-01 -6.03359702e-01 -3.26011306e-03 1.84839374e+02] [ 4.07164254e-03 -2.17180316e-05 9.99991711e-01 7.11407483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40028169299995 meters 0.014543802078931078 Centerline is valid? [True, True] Translation: X:199.22, Y:184.86, Z:0.71 [[-6.03502002e-01 -7.97358293e-01 2.25515020e-03 1.99218952e+02] [ 7.97352605e-01 -6.03506215e-01 -3.01192167e-03 1.84857960e+02] [ 3.76257788e-03 -1.95508690e-05 9.99992921e-01 7.11951795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430281693 meters 0.014406790573024719 Centerline is valid? [True, True] Translation: X:199.21, Y:184.88, Z:0.71 [[-6.03484587e-01 -7.97372470e-01 1.87033973e-03 1.99205564e+02] [ 7.97368562e-01 -6.03487485e-01 -2.49645994e-03 1.84876568e+02] [ 3.11933504e-03 -1.52249941e-05 9.99995135e-01 7.13121540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46028169299996 meters 0.013902891918548672 Centerline is valid? [True, True] Translation: X:199.19, Y:184.90, Z:0.71 [[-6.03013680e-01 -7.97729738e-01 1.32904839e-03 1.99191964e+02] [ 7.97727767e-01 -6.03015145e-01 -1.77311787e-03 1.84895117e+02] [ 2.21590516e-03 -8.99552903e-06 9.99997545e-01 7.14991334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490281693 meters 0.013408840964367952 Centerline is valid? [True, True] Translation: X:199.18, Y:184.91, Z:0.72 [[-6.02859100e-01 -7.97846740e-01 1.21866771e-03 1.99177686e+02] [ 7.97845086e-01 -6.02860332e-01 -1.62489627e-03 1.84913608e+02] [ 2.03110461e-03 -7.27546414e-06 9.99997937e-01 7.15046189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52028169299996 meters 0.013158722278671884 Centerline is valid? [True, True] Translation: X:199.16, Y:184.93, Z:0.71 [[-6.02265940e-01 -7.98294271e-01 1.41237333e-03 1.99163748e+02] [ 7.98292053e-01 -6.02267596e-01 -1.88179612e-03 1.84933508e+02] [ 2.35285375e-03 -5.85530471e-06 9.99997232e-01 7.14267128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550281693 meters 0.013109571247604233 Centerline is valid? [True, True] Translation: X:199.15, Y:184.95, Z:0.71 [[-6.02336962e-01 -7.98240215e-01 1.65658379e-03 1.99149275e+02] [ 7.98237168e-01 -6.02339240e-01 -2.20556798e-03 1.84952577e+02] [ 2.75839848e-03 -6.14836426e-06 9.99996196e-01 7.12886195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58028169299996 meters 0.013344077201832286 Centerline is valid? [True, True] Translation: X:199.14, Y:184.97, Z:0.71 [[-6.02868785e-01 -7.97837265e-01 2.21973077e-03 1.99136644e+02] [ 7.97831800e-01 -6.02872871e-01 -2.95301495e-03 1.84971990e+02] [ 3.69424083e-03 -9.30873574e-06 9.99993176e-01 7.11048701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.610281693 meters 0.014363810547752879 Centerline is valid? [True, True] Translation: X:199.13, Y:184.99, Z:0.71 [[-6.05111095e-01 -7.96138690e-01 1.93617736e-03 1.99127403e+02] [ 7.96134528e-01 -6.05114193e-01 -2.57419639e-03 1.84994205e+02] [ 3.22102574e-03 -1.62171504e-05 9.99994812e-01 7.11773017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64028169299996 meters 0.014508921019031359 Centerline is valid? [True, True] Translation: X:199.12, Y:185.01, Z:0.71 [[-6.06241780e-01 -7.95279679e-01 1.06608649e-03 1.99115698e+02] [ 7.95278417e-01 -6.06242717e-01 -1.41692071e-03 1.85014991e+02] [ 1.77315542e-03 -1.11609529e-05 9.99998428e-01 7.14261948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67028169299994 meters 0.01492568263228995 Centerline is valid? [True, True] Translation: X:199.11, Y:185.04, Z:0.72 [[-6.07048564e-01 -7.94664573e-01 -5.07978312e-04 1.99106444e+02] [ 7.94664288e-01 -6.07048776e-01 6.73138884e-04 1.85037190e+02] [-8.43287237e-04 4.95576912e-06 9.99999644e-01 7.18664935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70028169299997 meters 0.014454160672165752 Centerline is valid? [True, True] Translation: X:199.09, Y:185.06, Z:0.72 [[-6.07275418e-01 -7.94491118e-01 -6.56748455e-04 1.99091958e+02] [ 7.94490641e-01 -6.07275773e-01 8.70004707e-04 1.85056020e+02] [-1.09003844e-03 6.55197104e-06 9.99999406e-01 7.18235629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73028169299994 meters 0.01426104018446981 Centerline is valid? [True, True] Translation: X:199.08, Y:185.07, Z:0.71 [[-6.06603709e-01 -7.95004228e-01 4.66164588e-04 1.99078240e+02] [ 7.95003987e-01 -6.06603889e-01 -6.18964494e-04 1.85073865e+02] [ 7.74856642e-04 -4.86345211e-06 9.99999700e-01 7.14690412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76028169299997 meters 0.013749961241129871 Centerline is valid? [True, True] Translation: X:199.06, Y:185.09, Z:0.71 [[-6.05371516e-01 -7.95942180e-01 1.17184257e-03 1.99063508e+02] [ 7.95940665e-01 -6.05372650e-01 -1.55320476e-03 1.85091525e+02] [ 1.94566263e-03 -7.54876978e-06 9.99998107e-01 7.13095643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79028169299994 meters 0.012913718840277649 Centerline is valid? [True, True] Translation: X:199.05, Y:185.11, Z:0.71 [[-6.03566089e-01 -7.97311854e-01 1.33565927e-03 1.99046032e+02] [ 7.97309892e-01 -6.03567567e-01 -1.76899173e-03 1.85107739e+02] [ 2.21659869e-03 -2.76907286e-06 9.99997543e-01 7.12949874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82028169299997 meters 0.013326193573780185 Centerline is valid? [True, True] Translation: X:199.03, Y:185.12, Z:0.71 [[-6.00975840e-01 -7.99266354e-01 1.15601919e-03 1.99028519e+02] [ 7.99264889e-01 -6.00976952e-01 -1.53018964e-03 1.85122593e+02] [ 1.91776999e-03 4.35854592e-06 9.99998161e-01 7.13265019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85028169299994 meters 0.016626087406705917 Centerline is valid? [True, True] Translation: X:199.01, Y:185.13, Z:0.72 [[-5.96312459e-01 -8.02752111e-01 7.07114644e-04 1.99005015e+02] [ 8.02751565e-01 -5.96312878e-01 -9.35769037e-04 1.85132797e+02] [ 1.17285214e-03 9.62665202e-06 9.99999312e-01 7.15441684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880281693 meters 0.016626087406705917 Centerline is valid? [True, True] Translation: X:198.99, Y:185.15, Z:0.72 [[-5.96570628e-01 -8.02560269e-01 7.07435685e-04 1.98991061e+02] [ 8.02559724e-01 -5.96571047e-01 -9.35526208e-04 1.85150443e+02] [ 1.17285181e-03 9.65193117e-06 9.99999312e-01 7.15486399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91028169299994 meters 0.018636292700017393 Centerline is valid? [True, True] Translation: X:198.97, Y:185.16, Z:0.72 [[-5.94915241e-01 -8.03788249e-01 5.54546398e-04 1.98972432e+02] [ 8.03787914e-01 -5.94915499e-01 -7.33103900e-04 1.85164564e+02] [ 9.19168547e-04 9.60300946e-06 9.99999578e-01 7.15931669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940281693 meters 0.02138322093566831 Centerline is valid? [True, True] Translation: X:198.95, Y:185.18, Z:0.72 [[-5.92098763e-01 -8.05865403e-01 -8.30223667e-05 1.98949528e+02] [ 8.05865396e-01 -5.92098769e-01 1.08508931e-04 1.85176816e+02] [-1.36601035e-04 -2.65684829e-06 9.99999991e-01 7.17563804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97028169299995 meters 0.022547755223704335 Centerline is valid? [True, True] Translation: X:198.93, Y:185.19, Z:0.72 [[-5.90756311e-01 -8.06849908e-01 -4.54832730e-04 1.98930853e+02] [ 8.06849686e-01 -5.90756486e-01 5.98628530e-04 1.85192560e+02] [-7.51698760e-04 -1.33380632e-05 9.99999717e-01 7.18283307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000281693 meters 0.02542341760887722 Centerline is valid? [True, True] Translation: X:198.91, Y:185.21, Z:0.72 [[-5.89358371e-01 -8.07871315e-01 -8.05443809e-04 1.98910182e+02] [ 8.07870620e-01 -5.89358921e-01 1.06014288e-03 1.85205850e+02] [-1.33115451e-03 -2.58903112e-05 9.99999114e-01 7.19074416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03028169299995 meters 0.02639667008637634 Centerline is valid? [True, True] Translation: X:198.89, Y:185.22, Z:0.72 [[-5.88086338e-01 -8.08797707e-01 -8.53401698e-04 1.98891159e+02] [ 8.08796929e-01 -5.88086956e-01 1.12267000e-03 1.85221627e+02] [-1.40988733e-03 -3.00017826e-05 9.99999006e-01 7.18692488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060281693 meters 0.028053582435393826 Centerline is valid? [True, True] Translation: X:198.87, Y:185.23, Z:0.72 [[-5.87411273e-01 -8.09288009e-01 -9.56517774e-04 1.98868704e+02] [ 8.09287033e-01 -5.87412051e-01 1.25754722e-03 1.85233072e+02] [-1.57958796e-03 -3.54000153e-05 9.99998752e-01 7.18547571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09028169299995 meters 0.028053315735714814 Centerline is valid? [True, True] Translation: X:198.85, Y:185.25, Z:0.72 [[-5.87847617e-01 -8.08971196e-01 -8.85039586e-04 1.98851611e+02] [ 8.08970361e-01 -5.87848283e-01 1.16267122e-03 1.85249272e+02] [-1.46083653e-03 -3.24972880e-05 9.99998932e-01 7.18326441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120281693 meters 0.028888553656245052 Centerline is valid? [True, True] Translation: X:198.83, Y:185.26, Z:0.72 [[-5.88710565e-01 -8.08343747e-01 -5.07554492e-04 1.98831254e+02] [ 8.08343473e-01 -5.88710783e-01 6.65695005e-04 1.85261879e+02] [-8.36913198e-04 -1.83766789e-05 9.99999650e-01 7.16381362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15028169299995 meters 0.027304732374287453 Centerline is valid? [True, True] Translation: X:198.82, Y:185.28, Z:0.71 [[-5.89319835e-01 -8.07899816e-01 -1.36622985e-04 1.98816339e+02] [ 8.07899797e-01 -5.89319851e-01 1.78321552e-04 1.85279205e+02] [-2.24580586e-04 -5.28925369e-06 9.99999975e-01 7.14786199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180281693 meters 0.026396610898996576 Centerline is valid? [True, True] Translation: X:198.80, Y:185.30, Z:0.72 [[-5.89932307e-01 -8.07452678e-01 -2.13493340e-04 1.98800295e+02] [ 8.07452630e-01 -5.89932346e-01 2.79051439e-04 1.85296150e+02] [-3.51267458e-04 -7.76429948e-06 9.99999938e-01 7.15172998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21028169299996 meters 0.026148118364326567 Centerline is valid? [True, True] Translation: X:198.78, Y:185.31, Z:0.72 [[-5.91200972e-01 -8.06522750e-01 -1.56981385e-03 1.98782439e+02] [ 8.06520128e-01 -5.91203054e-01 2.05725953e-03 1.85309960e+02] [-2.58730535e-03 -4.98326312e-05 9.99996652e-01 7.19117702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240281693 meters 0.025786841719726904 Centerline is valid? [True, True] Translation: X:198.77, Y:185.33, Z:0.72 [[-5.91934757e-01 -8.05983668e-01 -1.88943314e-03 1.98767669e+02] [ 8.05979871e-01 -5.91937770e-01 2.47467414e-03 1.85325862e+02] [-3.11297378e-03 -5.79994447e-05 9.99995153e-01 7.19962029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27028169299996 meters 0.025419265781757076 Centerline is valid? [True, True] Translation: X:198.75, Y:185.34, Z:0.72 [[-5.92567309e-01 -8.05519452e-01 -1.54808875e-03 1.98752455e+02] [ 8.05516906e-01 -5.92569329e-01 2.02610464e-03 1.85343451e+02] [-2.54941661e-03 -4.64082855e-05 9.99996749e-01 7.18974936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300281693 meters 0.024692188013290428 Centerline is valid? [True, True] Translation: X:198.74, Y:185.36, Z:0.72 [[-5.93609584e-01 -8.04752623e-01 -9.36741319e-04 1.98736506e+02] [ 8.04751691e-01 -5.93610323e-01 1.22477350e-03 1.85359532e+02] [-1.54169900e-03 -2.68068737e-05 9.99998811e-01 7.15957245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33028169299996 meters 0.022551994771229465 Centerline is valid? [True, True] Translation: X:198.72, Y:185.38, Z:0.71 [[-5.94407218e-01 -8.04163547e-01 -1.02370361e-03 1.98723137e+02] [ 8.04162435e-01 -5.94408099e-01 1.33774272e-03 1.85379551e+02] [-1.68426165e-03 -2.80600614e-05 9.99998581e-01 7.14702592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.360281693 meters 0.020848387113474948 Centerline is valid? [True, True] Translation: X:198.71, Y:185.40, Z:0.72 [[-5.97239596e-01 -8.02062073e-01 -1.13805342e-03 1.98709499e+02] [ 8.02060696e-01 -5.97240680e-01 1.48632330e-03 1.85398233e+02] [-1.87181534e-03 -2.50967879e-05 9.99998248e-01 7.15593925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39028169299996 meters 0.018400996174318743 Centerline is valid? [True, True] Translation: X:198.70, Y:185.42, Z:0.72 [[-5.99752639e-01 -8.00184564e-01 -1.19777131e-03 1.98698346e+02] [ 8.00183037e-01 -5.99753835e-01 1.56332535e-03 1.85417889e+02] [-1.96931675e-03 -2.08277781e-05 9.99998061e-01 7.15276185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42028169299994 meters 0.01366824865171853 Centerline is valid? [True, True] Translation: X:198.69, Y:185.44, Z:0.71 [[-6.05908921e-01 -7.95533330e-01 -1.04933273e-03 1.98693200e+02] [ 7.95532153e-01 -6.05909829e-01 1.36819019e-03 1.85443344e+02] [-1.72424191e-03 -5.77928374e-06 9.99998514e-01 7.14715029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45028169299997 meters 0.013272850646622928 Centerline is valid? [True, True] Translation: X:198.68, Y:185.47, Z:0.71 [[-6.09383944e-01 -7.92874374e-01 -1.19812422e-03 1.98684551e+02] [ 7.92872837e-01 -6.09385122e-01 1.56146473e-03 1.85465718e+02] [-1.96816444e-03 1.57138545e-06 9.99998063e-01 7.14184472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48028169299994 meters 0.01497670146321007 Centerline is valid? [True, True] Translation: X:198.68, Y:185.49, Z:0.71 [[-6.13319852e-01 -7.89833669e-01 -1.23885477e-03 1.98677554e+02] [ 7.89832021e-01 -6.13321103e-01 1.61341425e-03 1.85487876e+02] [-2.03414468e-03 1.10518201e-05 9.99997931e-01 7.14957524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51028169299997 meters 0.021226767934220243 Centerline is valid? [True, True] Translation: X:198.68, Y:185.52, Z:0.72 [[-6.20647532e-01 -7.84086748e-01 -2.14771773e-03 1.98675252e+02] [ 7.84081764e-01 -6.20651246e-01 2.79607260e-03 1.85515402e+02] [-3.52534716e-03 5.13892530e-05 9.99993785e-01 7.17337428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54028169299994 meters 0.027016987523505703 Centerline is valid? [True, True] Translation: X:198.67, Y:185.54, Z:0.72 [[-6.24192053e-01 -7.81265618e-01 -2.88343816e-03 1.98670177e+02] [ 7.81256615e-01 -6.24198707e-01 3.75167273e-03 1.85539715e+02] [-4.73089129e-03 8.90591662e-05 9.99988805e-01 7.20353001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57028169299997 meters 0.03595941387536415 Centerline is valid? [True, True] Translation: X:198.67, Y:185.57, Z:0.72 [[-6.30079556e-01 -7.76523090e-01 -3.41233460e-03 1.98670924e+02] [ 7.76510427e-01 -6.30088779e-01 4.43708036e-03 1.85568278e+02] [-5.59556909e-03 1.46000223e-04 9.99984334e-01 7.22233119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60028169299994 meters 0.03369337049146293 Centerline is valid? [True, True] Translation: X:198.66, Y:185.59, Z:0.72 [[-6.32238774e-01 -7.74766538e-01 -3.30827969e-03 1.98656846e+02] [ 7.74754626e-01 -6.32247410e-01 4.29908190e-03 1.85587624e+02] [-5.42243607e-03 1.54941278e-04 9.99985287e-01 7.19373591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630281693 meters 0.0415612162304296 Centerline is valid? [True, True] Translation: X:198.65, Y:185.62, Z:0.72 [[-6.33944995e-01 -7.73373975e-01 -2.53735388e-03 1.98654302e+02] [ 7.73366967e-01 -6.33950060e-01 3.29496326e-03 1.85615386e+02] [-4.15679448e-03 1.26519793e-04 9.99991353e-01 7.19376887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66028169299994 meters 0.039651957875414125 Centerline is valid? [True, True] Translation: X:198.64, Y:185.63, Z:0.72 [[-6.35219523e-01 -7.72328830e-01 -2.08212210e-03 1.98641885e+02] [ 7.72324112e-01 -6.35222926e-01 2.70172482e-03 1.85634117e+02] [-3.40923166e-03 1.08115249e-04 9.99994183e-01 7.16540823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690281693 meters 0.03794506011684664 Centerline is valid? [True, True] Translation: X:198.63, Y:185.66, Z:0.71 [[-6.35844917e-01 -7.71815442e-01 -1.47145395e-03 1.98632279e+02] [ 7.71813088e-01 -6.35846615e-01 1.90790297e-03 1.85656258e+02] [-2.40816799e-03 7.74429917e-05 9.99997097e-01 7.14605920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72028169299995 meters 0.034822545406986954 Centerline is valid? [True, True] Translation: X:198.62, Y:185.67, Z:0.72 [[-6.35610693e-01 -7.72007489e-01 -1.86659750e-03 1.98617066e+02] [ 7.72003705e-01 -6.35613427e-01 2.41892420e-03 1.85674290e+02] [-3.05386203e-03 9.64739013e-05 9.99995332e-01 7.15175119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750281693 meters 0.036799024802638226 Centerline is valid? [True, True] Translation: X:198.61, Y:185.70, Z:0.72 [[-6.33075503e-01 -7.74086757e-01 -2.25846014e-03 1.98611241e+02] [ 7.74081237e-01 -6.33079523e-01 2.92499990e-03 1.85698716e+02] [-3.69398856e-03 1.03514164e-04 9.99993172e-01 7.17982971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78028169299995 meters 0.03411191591540233 Centerline is valid? [True, True] Translation: X:198.60, Y:185.72, Z:0.72 [[-6.31535925e-01 -7.75343063e-01 -2.34736250e-03 1.98596668e+02] [ 7.75337117e-01 -6.31540279e-01 3.03823496e-03 1.85716373e+02] [-3.83812837e-03 9.87572485e-05 9.99992630e-01 7.18176378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810281693 meters 0.03191239514392813 Centerline is valid? [True, True] Translation: X:198.58, Y:185.73, Z:0.72 [[-6.29960812e-01 -7.76623458e-01 -2.31954774e-03 1.98582718e+02] [ 7.76617668e-01 -6.29965076e-01 3.00028310e-03 1.85733879e+02] [-3.79132430e-03 8.86590190e-05 9.99992809e-01 7.17358370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84028169299995 meters 0.0254280957877696 Centerline is valid? [True, True] Translation: X:198.57, Y:185.75, Z:0.71 [[-6.26964381e-01 -7.79046306e-01 -1.58699351e-03 1.98566100e+02] [ 7.79043608e-01 -6.26966387e-01 2.05078834e-03 1.85750882e+02] [-2.59265066e-03 4.94340925e-05 9.99996638e-01 7.13222878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870281693 meters 0.023000319433169592 Centerline is valid? [True, True] Translation: X:198.55, Y:185.77, Z:0.71 [[-6.25422843e-01 -7.80284992e-01 -1.26440253e-03 1.98550663e+02] [ 7.80283285e-01 -6.25424120e-01 1.63266020e-03 1.85769666e+02] [-2.06472809e-03 3.45108206e-05 9.99997868e-01 7.12413608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90028169299995 meters 0.018013335360946063 Centerline is valid? [True, True] Translation: X:198.53, Y:185.78, Z:0.72 [[-6.19971584e-01 -7.84622442e-01 -1.69079456e-03 1.98533065e+02] [ 7.84619408e-01 -6.19973889e-01 2.18211584e-03 1.85784697e+02] [-2.76038554e-03 2.62195895e-05 9.99996190e-01 7.15236398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930281693 meters 0.014603253089571127 Centerline is valid? [True, True] Translation: X:198.51, Y:185.80, Z:0.72 [[-6.16823379e-01 -7.87099594e-01 -1.77429306e-03 1.98512987e+02] [ 7.87096268e-01 -6.16825931e-01 2.28846827e-03 1.85797922e+02] [-2.89568242e-03 1.50412907e-05 9.99995807e-01 7.15790753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96028169299996 meters 0.013762083108558133 Centerline is valid? [True, True] Translation: X:198.49, Y:185.81, Z:0.72 [[-6.09979935e-01 -7.92414031e-01 -2.11732023e-03 1.98487343e+02] [ 7.92409331e-01 -6.09983610e-01 2.72923425e-03 1.85807092e+02] [-3.45421415e-03 -1.30061695e-05 9.99994034e-01 7.15595821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990281693 meters 0.016006523870702546 Centerline is valid? [True, True] Translation: X:198.47, Y:185.82, Z:0.72 [[-6.06877147e-01 -7.94792248e-01 -2.32610394e-03 1.98467311e+02] [ 7.94786602e-01 -6.06881604e-01 2.99584945e-03 1.85821127e+02] [-3.79274761e-03 -3.06436754e-05 9.99992807e-01 7.15958246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02028169299996 meters 0.01900898998074228 Centerline is valid? [True, True] Translation: X:198.45, Y:185.83, Z:0.72 [[-6.04297139e-01 -7.96753450e-01 -2.98464169e-03 1.98448250e+02] [ 7.96744189e-01 -6.04304507e-01 3.84184294e-03 1.85833897e+02] [-4.86463404e-03 -5.63812277e-05 9.99988166e-01 7.17571269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050281693 meters 0.021240635369581935 Centerline is valid? [True, True] Translation: X:198.43, Y:185.85, Z:0.72 [[-6.02047525e-01 -7.98453517e-01 -3.28000955e-03 1.98429759e+02] [ 7.98442373e-01 -6.02056454e-01 4.21927562e-03 1.85849147e+02] [-5.34364638e-03 -7.86941654e-05 9.99985720e-01 7.18216306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08028169299996 meters 0.02465177072977978 Centerline is valid? [True, True] Translation: X:198.41, Y:185.86, Z:0.72 [[-5.99230782e-01 -8.00568098e-01 -3.63169983e-03 1.98408950e+02] [ 8.00554492e-01 -5.99241777e-01 4.66887862e-03 1.85863416e+02] [-5.91402154e-03 -1.09637819e-04 9.99982506e-01 7.18084624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.110281693 meters 0.025678912333427735 Centerline is valid? [True, True] Translation: X:198.39, Y:185.88, Z:0.72 [[-5.98826733e-01 -8.00871693e-01 -3.32792631e-03 1.98393095e+02] [ 8.00860289e-01 -5.98835971e-01 4.27520413e-03 1.85878493e+02] [-5.41677196e-03 -1.05097507e-04 9.99985324e-01 7.17731858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14028169299996 meters 0.025736825469007307 Centerline is valid? [True, True] Translation: X:198.38, Y:185.89, Z:0.72 [[-5.99343583e-01 -8.00486119e-01 -3.04030308e-03 1.98375682e+02] [ 8.00476611e-01 -5.99351286e-01 3.90263573e-03 1.85893201e+02] [-4.94621529e-03 -9.46718251e-05 9.99987763e-01 7.16734130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17028169299994 meters 0.025466405243564777 Centerline is valid? [True, True] Translation: X:198.36, Y:185.91, Z:0.72 [[-5.99983641e-01 -8.00006116e-01 -3.13776124e-03 1.98360019e+02] [ 7.99995995e-01 -5.99991838e-01 4.02522548e-03 1.85910500e+02] [-5.10283613e-03 -9.51269881e-05 9.99986976e-01 7.16065275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20028169299997 meters 0.024741819225569072 Centerline is valid? [True, True] Translation: X:198.35, Y:185.93, Z:0.72 [[-6.00704765e-01 -7.99464807e-01 -3.13179380e-03 1.98346102e+02] [ 7.99454731e-01 -6.00712921e-01 4.01488153e-03 1.85928354e+02] [-5.09106549e-03 -9.19689031e-05 9.99987036e-01 7.15704313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23028169299994 meters 0.02252789468077837 Centerline is valid? [True, True] Translation: X:198.34, Y:185.95, Z:0.72 [[-6.03243745e-01 -7.97549385e-01 -3.45874851e-03 1.98335064e+02] [ 7.97537080e-01 -6.03253654e-01 4.43106021e-03 1.85948064e+02] [-5.62049203e-03 -8.54708336e-05 9.99984201e-01 7.16976532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26028169299997 meters 0.021045748202757075 Centerline is valid? [True, True] Translation: X:198.32, Y:185.97, Z:0.72 [[-6.04954495e-01 -7.96250775e-01 -3.84216147e-03 1.98323084e+02] [ 7.96235585e-01 -6.04966691e-01 4.91903620e-03 1.85967121e+02] [-6.24116610e-03 -8.34726282e-05 9.99980520e-01 7.18343950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29028169299994 meters 0.018236839292047644 Centerline is valid? [True, True] Translation: X:198.31, Y:185.99, Z:0.72 [[-6.07087077e-01 -7.94624533e-01 -4.13909216e-03 1.98312082e+02] [ 7.94606888e-01 -6.07101183e-01 5.29596353e-03 1.85988855e+02] [-6.72115029e-03 -7.38401237e-05 9.99977410e-01 7.17884771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32028169299997 meters 0.015301054566372561 Centerline is valid? [True, True] Translation: X:198.31, Y:186.01, Z:0.72 [[-6.11015974e-01 -7.91607444e-01 -4.13929624e-03 1.98305132e+02] [ 7.91589752e-01 -6.11029993e-01 5.29256174e-03 1.86012461e+02] [-6.71886542e-03 -4.27847172e-05 9.99977427e-01 7.17196819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35028169299994 meters 0.014581025592450095 Centerline is valid? [True, True] Translation: X:198.29, Y:186.03, Z:0.72 [[-6.12535110e-01 -7.90433324e-01 -3.98739098e-03 1.98293975e+02] [ 7.90416903e-01 -6.12548087e-01 5.09513581e-03 1.86033935e+02] [-6.46983386e-03 -3.07516568e-05 9.99979070e-01 7.16836234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380281693 meters 0.01382787067932489 Centerline is valid? [True, True] Translation: X:198.29, Y:186.06, Z:0.72 [[-6.14622884e-01 -7.88811777e-01 -3.83289471e-03 1.98285311e+02] [ 7.88796591e-01 -6.14634835e-01 4.89458226e-03 1.86057182e+02] [-6.21673474e-03 -1.50520220e-05 9.99980676e-01 7.16165486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41028169299994 meters 0.01361520967283078 Centerline is valid? [True, True] Translation: X:198.27, Y:186.08, Z:0.72 [[-6.15639356e-01 -7.88019434e-01 -3.68176432e-03 1.98273746e+02] [ 7.88005426e-01 -6.15650365e-01 4.69856094e-03 1.86078572e+02] [-5.96923687e-03 -8.63122707e-06 9.99982184e-01 7.15357356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440281693 meters 0.013451549258073897 Centerline is valid? [True, True] Translation: X:198.26, Y:186.10, Z:0.71 [[-6.16832492e-01 -7.87086854e-01 -3.45846528e-03 1.98264281e+02] [ 7.87074498e-01 -6.16842187e-01 4.41031173e-03 1.86099029e+02] [-5.60462567e-03 -1.64625015e-06 9.99984294e-01 7.14777676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47028169299995 meters 0.013484131566298624 Centerline is valid? [True, True] Translation: X:198.26, Y:186.12, Z:0.71 [[-6.18011930e-01 -7.86161643e-01 -3.33552000e-03 1.98255286e+02] [ 7.86150152e-01 -6.18020931e-01 4.25053928e-03 1.86119344e+02] [-5.40303212e-03 4.66442714e-06 9.99985404e-01 7.13822930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500281693 meters 0.013644410582597992 Centerline is valid? [True, True] Translation: X:198.25, Y:186.14, Z:0.71 [[-6.19450586e-01 -7.85030258e-01 -2.90971413e-03 1.98249118e+02] [ 7.85021514e-01 -6.19457420e-01 3.70522532e-03 1.86142357e+02] [-4.71115800e-03 1.10158025e-05 9.99988902e-01 7.12156681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53028169299995 meters 0.013653397379509468 Centerline is valid? [True, True] Translation: X:198.24, Y:186.16, Z:0.71 [[-6.19537008e-01 -7.84963175e-01 -2.59018144e-03 1.98237753e+02] [ 7.84956257e-01 -6.19542423e-01 3.29567362e-03 1.86161809e+02] [-4.19170972e-03 8.61264307e-06 9.99991215e-01 7.10761658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560281693 meters 0.013350886418308672 Centerline is valid? [True, True] Translation: X:198.23, Y:186.18, Z:0.71 [[-6.19020082e-01 -7.85370996e-01 -2.55658504e-03 1.98228711e+02] [ 7.85364268e-01 -6.19025361e-01 3.25084055e-03 1.86184089e+02] [-4.13570686e-03 4.48504216e-06 9.99991448e-01 7.10271455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59028169299995 meters 0.013214336599655575 Centerline is valid? [True, True] Translation: X:198.22, Y:186.20, Z:0.71 [[-6.19108592e-01 -7.85300942e-01 -2.64226916e-03 1.98216806e+02] [ 7.85293764e-01 -6.19114230e-01 3.35759099e-03 1.86204127e+02] [-4.27258581e-03 3.75593459e-06 9.99990872e-01 7.10739883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620281693 meters 0.013322476368209239 Centerline is valid? [True, True] Translation: X:198.21, Y:186.22, Z:0.71 [[-6.18273038e-01 -7.85959241e-01 -2.55392210e-03 1.98206016e+02] [ 7.85952550e-01 -6.18278313e-01 3.24302435e-03 1.86223627e+02] [-4.12791960e-03 -2.18707445e-06 9.99991480e-01 7.10417463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65028169299995 meters 0.013775349304565919 Centerline is valid? [True, True] Translation: X:198.19, Y:186.24, Z:0.71 [[-6.16750449e-01 -7.87154462e-01 -2.59565379e-03 1.98191441e+02] [ 7.87147570e-01 -6.16755911e-01 3.29396129e-03 1.86240981e+02] [-4.19374115e-03 -1.16104703e-05 9.99991206e-01 7.10031345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680281693 meters 0.01479594476852004 Centerline is valid? [True, True] Translation: X:198.18, Y:186.26, Z:0.71 [[-6.15026962e-01 -7.88501520e-01 -2.68121541e-03 1.98176356e+02] [ 7.88494189e-01 -6.15032806e-01 3.40031986e-03 1.86257808e+02] [-4.33019282e-03 -2.28343708e-05 9.99990624e-01 7.09794327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71028169299996 meters 0.016179365448351624 Centerline is valid? [True, True] Translation: X:198.16, Y:186.27, Z:0.71 [[-6.13547984e-01 -7.89653052e-01 -2.63227295e-03 1.98160508e+02] [ 7.89646006e-01 -6.13553629e-01 3.33595186e-03 1.86273335e+02] [-4.24928519e-03 -3.17972818e-05 9.99990971e-01 7.09690772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740281693 meters 0.019141416312170773 Centerline is valid? [True, True] Translation: X:198.14, Y:186.29, Z:0.71 [[-6.11216212e-01 -7.91458802e-01 -2.77608541e-03 1.98141778e+02] [ 7.91450994e-01 -6.11222514e-01 3.51594409e-03 1.86286597e+02] [-4.47953080e-03 -4.81335301e-05 9.99989966e-01 7.10193850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77028169299996 meters 0.02129780551657195 Centerline is valid? [True, True] Translation: X:198.12, Y:186.30, Z:0.71 [[-6.09625075e-01 -7.92686069e-01 -2.46270471e-03 1.98123273e+02] [ 7.92679944e-01 -6.09630047e-01 3.11647122e-03 1.86301193e+02] [-3.97172211e-03 -5.22576382e-05 9.99992111e-01 7.08795135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800281693 meters 0.02129780551657195 Centerline is valid? [True, True] Translation: X:198.11, Y:186.32, Z:0.71 [[-6.09868422e-01 -7.92498857e-01 -2.46357400e-03 1.98108943e+02] [ 7.92492734e-01 -6.09873395e-01 3.11578419e-03 1.86318554e+02] [-3.97172365e-03 -5.21461076e-05 9.99992111e-01 7.08839844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83028169299996 meters 0.021855379665611487 Centerline is valid? [True, True] Translation: X:198.09, Y:186.33, Z:0.71 [[-6.09469687e-01 -7.92806168e-01 -2.25393140e-03 1.98093166e+02] [ 7.92801053e-01 -6.09473853e-01 2.84836449e-03 1.86334781e+02] [-3.63191319e-03 -5.09273695e-05 9.99993403e-01 7.07848721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.860281693 meters 0.02316101225534903 Centerline is valid? [True, True] Translation: X:198.08, Y:186.35, Z:0.71 [[-6.08785734e-01 -7.93332138e-01 -2.01219218e-03 1.98076047e+02] [ 7.93328070e-01 -6.08789058e-01 2.54107697e-03 1.86350255e+02] [-3.24091861e-03 -4.93571293e-05 9.99994747e-01 7.07335788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89028169299996 meters 0.024162792741700773 Centerline is valid? [True, True] Translation: X:198.06, Y:186.37, Z:0.71 [[-6.08353838e-01 -7.93663204e-01 -2.07995550e-03 1.98058760e+02] [ 7.93658865e-01 -6.08357392e-01 2.62493850e-03 1.86365990e+02] [-3.34867340e-03 -5.38837151e-05 9.99994392e-01 7.07318352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92028169299994 meters 0.02397272578950664 Centerline is valid? [True, True] Translation: X:198.04, Y:186.38, Z:0.71 [[-6.09123025e-01 -7.93070620e-01 -2.85187754e-03 1.98041491e+02] [ 7.93062465e-01 -6.09129697e-01 3.59718466e-03 1.86380822e+02] [-4.58998477e-03 -7.05890295e-05 9.99989464e-01 7.09177408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95028169299997 meters 0.022765265717998265 Centerline is valid? [True, True] Translation: X:198.03, Y:186.40, Z:0.71 [[-6.10281438e-01 -7.92176384e-01 -3.62527879e-03 1.98026894e+02] [ 7.92163206e-01 -6.10292200e-01 4.57015505e-03 1.86398358e+02] [-5.83284827e-03 -8.27316779e-05 9.99982985e-01 7.12009356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98028169299994 meters 0.021427534384374572 Centerline is valid? [True, True] Translation: X:198.01, Y:186.41, Z:0.72 [[-6.12261360e-01 -7.90641252e-01 -4.73695684e-03 1.98011718e+02] [ 7.90618733e-01 -6.12279677e-01 5.96798970e-03 1.86414899e+02] [-7.61888125e-03 -9.11573231e-05 9.99970972e-01 7.16058282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01028169299997 meters 0.019383365697529423 Centerline is valid? [True, True] Translation: X:198.00, Y:186.43, Z:0.71 [[-6.12633334e-01 -7.90353236e-01 -4.70743589e-03 1.97998631e+02] [ 7.90331019e-01 -6.12651413e-01 5.92677663e-03 1.86434392e+02] [-7.56826433e-03 -8.94916766e-05 9.99971356e-01 7.14353412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04028169299994 meters 0.021162738964213702 Centerline is valid? [True, True] Translation: X:197.98, Y:186.45, Z:0.72 [[-6.13017213e-01 -7.90054666e-01 -4.84999286e-03 1.97981751e+02] [ 7.90031106e-01 -6.13036391e-01 6.10204204e-03 1.86448967e+02] [-7.79416890e-03 -9.09884228e-05 9.99969621e-01 7.16987260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07028169299997 meters 0.018625801065568957 Centerline is valid? [True, True] Translation: X:197.97, Y:186.47, Z:0.71 [[-6.13431554e-01 -7.89733179e-01 -4.82027256e-03 1.97967450e+02] [ 7.89709926e-01 -6.13450486e-01 6.06086052e-03 1.86467955e+02] [-7.74346119e-03 -8.86940012e-05 9.99970015e-01 7.13266647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10028169299994 meters 0.019160948118459555 Centerline is valid? [True, True] Translation: X:197.95, Y:186.48, Z:0.71 [[-6.13776288e-01 -7.89466730e-01 -4.57714735e-03 1.97950892e+02] [ 7.89445785e-01 -6.13793349e-01 5.75128596e-03 1.86483411e+02] [-7.34987152e-03 -8.34067345e-05 9.99972986e-01 7.13311362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130281693 meters 0.018750110635750317 Centerline is valid? [True, True] Translation: X:197.94, Y:186.50, Z:0.71 [[-6.14373359e-01 -7.89002044e-01 -4.59898487e-03 1.97935073e+02] [ 7.88980914e-01 -6.14390567e-01 5.77487949e-03 1.86500110e+02] [-7.38196464e-03 -8.05791771e-05 9.99972750e-01 7.12957948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16028169299994 meters 0.018667734658270638 Centerline is valid? [True, True] Translation: X:197.92, Y:186.52, Z:0.71 [[-6.14679251e-01 -7.88764225e-01 -4.51829805e-03 1.97917773e+02] [ 7.88743855e-01 -6.14695852e-01 5.66921693e-03 1.86516368e+02] [-7.24905457e-03 -7.90298091e-05 9.99973722e-01 7.12589955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190281693 meters 0.01925768750774068 Centerline is valid? [True, True] Translation: X:197.90, Y:186.53, Z:0.71 [[-6.14858260e-01 -7.88627926e-01 -3.91344459e-03 1.97901748e+02] [ 7.88612664e-01 -6.14870710e-01 4.90681777e-03 1.86532245e+02] [-6.27591597e-03 -6.91945241e-05 9.99980304e-01 7.11240432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22028169299995 meters 0.01824385496040385 Centerline is valid? [True, True] Translation: X:197.89, Y:186.55, Z:0.70 [[-6.15322904e-01 -7.88272250e-01 -2.14092104e-03 1.97885565e+02] [ 7.88267688e-01 -6.15326627e-01 2.68210462e-03 1.86549065e+02] [-3.43159436e-03 -3.72584764e-05 9.99994111e-01 7.04364903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250281693 meters 0.0203342851014224 Centerline is valid? [True, True] Translation: X:197.87, Y:186.56, Z:0.70 [[-6.15748893e-01 -7.87940436e-01 -1.78060767e-03 1.97867049e+02] [ 7.87937284e-01 -6.15751467e-01 2.22895909e-03 1.86562022e+02] [-2.85269879e-03 -3.05280786e-05 9.99995931e-01 7.04464080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28028169299995 meters 0.018272420929104572 Centerline is valid? [True, True] Translation: X:197.85, Y:186.58, Z:0.70 [[-6.16159790e-01 -7.87618525e-01 -2.04234395e-03 1.97853150e+02] [ 7.87614382e-01 -6.16163174e-01 2.55508208e-03 1.86580974e+02] [-3.27084711e-03 -3.42406265e-05 9.99994650e-01 7.03790913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310281693 meters 0.018303434785361665 Centerline is valid? [True, True] Translation: X:197.84, Y:186.60, Z:0.70 [[-6.16251447e-01 -7.87546056e-01 -2.31605465e-03 1.97835315e+02] [ 7.87540733e-01 -6.16255798e-01 2.89569238e-03 1.86596003e+02] [-3.70777322e-03 -3.95127572e-05 9.99993125e-01 7.04193172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34028169299995 meters 0.018036889854488196 Centerline is valid? [True, True] Translation: X:197.82, Y:186.61, Z:0.70 [[-6.16571368e-01 -7.87296844e-01 -1.85157248e-03 1.97819474e+02] [ 7.87293446e-01 -6.16574147e-01 2.31336662e-03 1.86613500e+02] [-2.96293796e-03 -3.13752599e-05 9.99995610e-01 7.02423916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370281693 meters 0.016710570556982603 Centerline is valid? [True, True] Translation: X:197.80, Y:186.63, Z:0.70 [[-6.18430651e-01 -7.85838877e-01 -8.88543136e-04 1.97803123e+02] [ 7.85838095e-01 -6.18431289e-01 1.10894624e-03 1.86631333e+02] [-1.42095594e-03 -1.24447024e-05 9.99998990e-01 6.99018222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40028169299995 meters 0.016005958796349338 Centerline is valid? [True, True] Translation: X:197.79, Y:186.65, Z:0.70 [[-6.19985946e-01 -7.84612663e-01 -6.29350624e-04 1.97788434e+02] [ 7.84612271e-01 -6.19986265e-01 7.84513167e-04 1.86647963e+02] [-1.00572771e-03 -7.40908395e-06 9.99999494e-01 6.98620329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430281693 meters 0.014343018095492443 Centerline is valid? [True, True] Translation: X:197.77, Y:186.67, Z:0.70 [[-6.22949693e-01 -7.82261558e-01 -7.30707039e-04 1.97774893e+02] [ 7.82261029e-01 -6.22950122e-01 9.10306769e-04 1.86667044e+02] [-1.16729203e-03 -4.52831717e-06 9.99999319e-01 6.98758315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46028169299996 meters 0.01391684729111825 Centerline is valid? [True, True] Translation: X:197.76, Y:186.69, Z:0.70 [[-6.24623758e-01 -7.80925233e-01 -9.70016453e-04 1.97761371e+02] [ 7.80924299e-01 -6.24624512e-01 1.20808497e-03 1.86685419e+02] [-1.54932009e-03 -2.91084091e-06 9.99998800e-01 6.99169809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490281693 meters 0.013688037581430276 Centerline is valid? [True, True] Translation: X:197.75, Y:186.70, Z:0.70 [[-6.26331267e-01 -7.79556450e-01 -9.40952976e-04 1.97747882e+02] [ 7.79555571e-01 -6.26331973e-01 1.17101441e-03 1.86702627e+02] [-1.50222077e-03 -8.21978118e-08 9.99998872e-01 6.99724983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52028169299996 meters 0.013836223091795781 Centerline is valid? [True, True] Translation: X:197.73, Y:186.72, Z:0.70 [[-6.27609828e-01 -7.78527358e-01 -1.02788575e-03 1.97732786e+02] [ 7.78526308e-01 -6.27610670e-01 1.27847464e-03 1.86720616e+02] [-1.64043955e-03 2.14715038e-06 9.99998655e-01 6.99818656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550281693 meters 0.014651491064688865 Centerline is valid? [True, True] Translation: X:197.72, Y:186.74, Z:0.70 [[-6.29686173e-01 -7.76847835e-01 -1.66294071e-03 1.97719394e+02] [ 7.76845084e-01 -6.29688369e-01 2.06753549e-03 1.86737724e+02] [-2.65329489e-03 1.00512000e-05 9.99996480e-01 7.01184708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58028169299996 meters 0.01534368958494 Centerline is valid? [True, True] Translation: X:197.71, Y:186.76, Z:0.70 [[-6.31119149e-01 -7.75681795e-01 -2.52443978e-03 1.97706092e+02] [ 7.75675452e-01 -6.31124197e-01 3.13695899e-03 1.86756278e+02] [-4.02651701e-03 2.16489198e-05 9.99991893e-01 7.03599103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.610281693 meters 0.017498191665792768 Centerline is valid? [True, True] Translation: X:197.69, Y:186.77, Z:0.71 [[-6.34238193e-01 -7.73130954e-01 -3.23163251e-03 1.97693540e+02] [ 7.73120540e-01 -6.34246424e-01 4.01299804e-03 1.86774987e+02] [-5.15222437e-03 4.67551506e-05 9.99986726e-01 7.05765477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64028169299996 meters 0.018641307003482602 Centerline is valid? [True, True] Translation: X:197.68, Y:186.79, Z:0.71 [[-6.35127476e-01 -7.72400869e-01 -3.16020458e-03 1.97680062e+02] [ 7.72390917e-01 -6.35135336e-01 3.92137291e-03 1.86792036e+02] [-5.03602944e-03 4.96583676e-05 9.99987318e-01 7.05930835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67028169299994 meters 0.018774474567225394 Centerline is valid? [True, True] Translation: X:197.66, Y:186.81, Z:0.70 [[-6.35523350e-01 -7.72076744e-01 -2.75179326e-03 1.97664004e+02] [ 7.72069205e-01 -6.35529306e-01 3.41240728e-03 1.86809208e+02] [-4.38348556e-03 4.40896683e-05 9.99990392e-01 7.04972346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70028169299997 meters 0.018789809514550837 Centerline is valid? [True, True] Translation: X:197.65, Y:186.83, Z:0.70 [[-6.35830846e-01 -7.71825155e-01 -2.25067512e-03 1.97648463e+02] [ 7.71820117e-01 -6.35834828e-01 2.78901030e-03 1.86826080e+02] [-3.58368594e-03 3.62224406e-05 9.99993578e-01 7.02432014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73028169299994 meters 0.019200921223256215 Centerline is valid? [True, True] Translation: X:197.63, Y:186.84, Z:0.70 [[-6.36259286e-01 -7.71473669e-01 -1.58078364e-03 1.97632608e+02] [ 7.71471187e-01 -6.36261249e-01 1.95726752e-03 1.86841614e+02] [-2.51577173e-03 2.58006024e-05 9.99996835e-01 7.00209319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76028169299997 meters 0.018561631400601068 Centerline is valid? [True, True] Translation: X:197.61, Y:186.86, Z:0.70 [[-6.36602337e-01 -7.71189487e-01 -2.05875288e-03 1.97613880e+02] [ 7.71185280e-01 -6.36605665e-01 2.54767173e-03 1.86855539e+02] [-3.27535141e-03 3.41738647e-05 9.99994635e-01 7.00863794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79028169299994 meters 0.018516891517383074 Centerline is valid? [True, True] Translation: X:197.60, Y:186.87, Z:0.70 [[-6.36427742e-01 -7.71333550e-01 -2.06981063e-03 1.97597758e+02] [ 7.71329304e-01 -6.36431107e-01 2.55957200e-03 1.86871243e+02] [-3.29157563e-03 3.24770372e-05 9.99994582e-01 7.01337164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82028169299997 meters 0.018063096968922755 Centerline is valid? [True, True] Translation: X:197.58, Y:186.89, Z:0.70 [[-6.36169040e-01 -7.71547576e-01 -1.81400420e-03 1.97581029e+02] [ 7.71544320e-01 -6.36171626e-01 2.24171804e-03 1.86887460e+02] [-2.88361012e-03 2.65269794e-05 9.99995842e-01 7.00413436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85028169299994 meters 0.01731903091091481 Centerline is valid? [True, True] Translation: X:197.56, Y:186.90, Z:0.70 [[-6.35783862e-01 -7.71866010e-01 -1.32025173e-03 1.97563169e+02] [ 7.71864289e-01 -6.35785233e-01 1.63020477e-03 1.86902534e+02] [-2.09769620e-03 1.74027228e-05 9.99997800e-01 6.98040719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880281693 meters 0.017997350104268603 Centerline is valid? [True, True] Translation: X:197.55, Y:186.92, Z:0.70 [[-6.36003744e-01 -7.71684501e-01 -1.50644709e-03 1.97548659e+02] [ 7.71682262e-01 -6.36005527e-01 1.85897630e-03 1.86919361e+02] [-2.39265187e-03 1.98173860e-05 9.99997137e-01 6.99500896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91028169299994 meters 0.01820257363415991 Centerline is valid? [True, True] Translation: X:197.53, Y:186.94, Z:0.70 [[-6.36401228e-01 -7.71355857e-01 -1.90231438e-03 1.97532746e+02] [ 7.71352289e-01 -6.36404071e-01 2.34638030e-03 1.86936571e+02] [-3.02053481e-03 2.58847532e-05 9.99995438e-01 7.00837873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940281693 meters 0.018268886481873733 Centerline is valid? [True, True] Translation: X:197.52, Y:186.95, Z:0.70 [[-6.37209600e-01 -7.70683834e-01 -3.21787918e-03 1.97516463e+02] [ 7.70673627e-01 -6.37217723e-01 3.96663730e-03 1.86953472e+02] [-5.10751288e-03 4.76447481e-05 9.99986955e-01 7.04729873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97028169299995 meters 0.018676249725204708 Centerline is valid? [True, True] Translation: X:197.50, Y:186.97, Z:0.71 [[-6.37582914e-01 -7.70374018e-01 -3.44985970e-03 1.97502393e+02] [ 7.70362296e-01 -6.37592245e-01 4.24994344e-03 1.86970656e+02] [-5.47364979e-03 5.20494795e-05 9.99985018e-01 7.05519032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000281693 meters 0.01731624437447039 Centerline is valid? [True, True] Translation: X:197.49, Y:186.99, Z:0.70 [[-6.37400898e-01 -7.70527225e-01 -2.80902814e-03 1.97485604e+02] [ 7.70519467e-01 -6.37407087e-01 3.45797380e-03 1.86987096e+02] [-4.45495740e-03 3.97047372e-05 9.99990076e-01 7.02076460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03028169299995 meters 0.017514380349117658 Centerline is valid? [True, True] Translation: X:197.47, Y:187.00, Z:0.70 [[-6.37372643e-01 -7.70551408e-01 -2.57721539e-03 1.97471652e+02] [ 7.70544887e-01 -6.37377853e-01 3.17029185e-03 1.87004560e+02] [-4.08553286e-03 3.47971530e-05 9.99991654e-01 7.01218169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060281693 meters 0.016736809816742023 Centerline is valid? [True, True] Translation: X:197.46, Y:187.02, Z:0.70 [[-6.37305720e-01 -7.70607206e-01 -2.43973178e-03 1.97455786e+02] [ 7.70601371e-01 -6.37310390e-01 2.99911960e-03 1.87021719e+02] [-3.86600959e-03 3.12954177e-05 9.99992526e-01 7.00202935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09028169299995 meters 0.016645166107255593 Centerline is valid? [True, True] Translation: X:197.44, Y:187.04, Z:0.70 [[-6.37510797e-01 -7.70439834e-01 -1.56379389e-03 1.97442279e+02] [ 7.70437440e-01 -6.37512715e-01 1.92067994e-03 1.87040051e+02] [-2.47670682e-03 1.96488388e-05 9.99996933e-01 6.97509673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120281693 meters 0.01739803445390355 Centerline is valid? [True, True] Translation: X:197.43, Y:187.06, Z:0.70 [[-6.37979296e-01 -7.70053185e-01 -7.14859937e-04 1.97430482e+02] [ 7.70052685e-01 -6.37979696e-01 8.76801463e-04 1.87058379e+02] [-1.13124988e-03 8.90136599e-06 9.99999360e-01 6.95208765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15028169299995 meters 0.018360299436710543 Centerline is valid? [True, True] Translation: X:197.42, Y:187.08, Z:0.69 [[-6.39692452e-01 -7.68630872e-01 3.87849612e-04 1.97420005e+02] [ 7.68630724e-01 -6.39692569e-01 -4.77025729e-04 1.87078889e+02] [ 6.14761217e-04 -7.03662986e-06 9.99999811e-01 6.90880531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180281693 meters 0.021213036736902342 Centerline is valid? [True, True] Translation: X:197.41, Y:187.10, Z:0.69 [[-6.41092320e-01 -7.67463763e-01 9.88739965e-05 1.97410748e+02] [ 7.67463754e-01 -6.41092327e-01 -1.22308016e-04 1.87099578e+02] [ 1.57254331e-04 -2.52852120e-06 9.99999988e-01 6.92288423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21028169299996 meters 0.01969085862518291 Centerline is valid? [True, True] Translation: X:197.39, Y:187.12, Z:0.69 [[-6.42311313e-01 -7.66443585e-01 -6.39738818e-04 1.97393821e+02] [ 7.66443185e-01 -6.42311631e-01 7.83089146e-04 1.87117414e+02] [-1.01110534e-03 1.26635605e-05 9.99999489e-01 6.93539522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240281693 meters 0.02126842603194305 Centerline is valid? [True, True] Translation: X:197.38, Y:187.14, Z:0.70 [[-6.43692119e-01 -7.65282136e-01 -1.92537915e-03 1.97383236e+02] [ 7.65278507e-01 -6.43694997e-01 2.35721540e-03 1.87138724e+02] [-3.04329177e-03 4.38696918e-05 9.99995368e-01 6.97627876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27028169299996 meters 0.021859263495998014 Centerline is valid? [True, True] Translation: X:197.37, Y:187.16, Z:0.70 [[-6.43925763e-01 -7.65085814e-01 -1.81928461e-03 1.97370281e+02] [ 7.65082577e-01 -6.43928331e-01 2.22570452e-03 1.87158049e+02] [-2.87434385e-03 4.12855228e-05 9.99995868e-01 6.97666292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300281693 meters 0.02168896799985025 Centerline is valid? [True, True] Translation: X:197.36, Y:187.18, Z:0.70 [[-6.43691613e-01 -7.65284107e-01 -1.15913282e-03 1.97358158e+02] [ 7.65282796e-01 -6.43692656e-01 1.41672269e-03 1.87176952e+02] [-1.83032064e-03 2.48681066e-05 9.99998325e-01 6.96469927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33028169299996 meters 0.02057738625218925 Centerline is valid? [True, True] Translation: X:197.34, Y:187.19, Z:0.70 [[-6.43473446e-01 -7.65467181e-01 -1.38542031e-03 1.97343151e+02] [ 7.65465311e-01 -6.43474937e-01 1.69239885e-03 1.87194590e+02] [-2.18695902e-03 2.85225296e-05 9.99997608e-01 6.96293066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.360281693 meters 0.020078966240707104 Centerline is valid? [True, True] Translation: X:197.33, Y:187.21, Z:0.70 [[-6.43588477e-01 -7.65370256e-01 -1.49763759e-03 1.97328730e+02] [ 7.65368073e-01 -6.43590219e-01 1.82846643e-03 1.87213300e+02] [-2.36331873e-03 3.05359282e-05 9.99997207e-01 6.95951512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39028169299996 meters 0.021847142252377324 Centerline is valid? [True, True] Translation: X:197.32, Y:187.23, Z:0.69 [[-6.44086755e-01 -7.64952047e-01 -7.86633523e-04 1.97318544e+02] [ 7.64951445e-01 -6.44087235e-01 9.59280564e-04 1.87234373e+02] [-1.24046424e-03 1.61234555e-05 9.99999231e-01 6.93936303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42028169299994 meters 0.02028816065842804 Centerline is valid? [True, True] Translation: X:197.30, Y:187.25, Z:0.69 [[-6.44111892e-01 -7.64931255e-01 -2.15097651e-04 1.97302266e+02] [ 7.64931210e-01 -6.44111928e-01 2.61448724e-04 1.87251336e+02] [-3.38537263e-04 3.86732517e-06 9.99999943e-01 6.91795845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45028169299997 meters 0.01872560731464117 Centerline is valid? [True, True] Translation: X:197.29, Y:187.27, Z:0.69 [[-6.42906545e-01 -7.65944555e-01 3.35309734e-04 1.97288155e+02] [ 7.65944446e-01 -6.42906633e-01 -4.09785866e-04 1.87270634e+02] [ 5.29446105e-04 -6.62538673e-06 9.99999860e-01 6.89971602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48028169299994 meters 0.01830007480101558 Centerline is valid? [True, True] Translation: X:197.27, Y:187.29, Z:0.69 [[-6.42249626e-01 -7.66495484e-01 3.02026421e-04 1.97274825e+02] [ 7.66495395e-01 -6.42249697e-01 -3.68997243e-04 1.87288994e+02] [ 4.76811097e-04 -5.48648041e-06 9.99999886e-01 6.90605753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51028169299997 meters 0.01689710212392961 Centerline is valid? [True, True] Translation: X:197.26, Y:187.31, Z:0.69 [[-6.41377463e-01 -7.67225482e-01 -9.90419706e-05 1.97259391e+02] [ 7.67225473e-01 -6.41377470e-01 1.19564987e-04 1.87306049e+02] [-1.55256593e-04 6.98765285e-07 9.99999988e-01 6.90932722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54028169299994 meters 0.014637961163680427 Centerline is valid? [True, True] Translation: X:197.24, Y:187.32, Z:0.69 [[-6.38353750e-01 -7.69742918e-01 -5.75003227e-04 1.97241995e+02] [ 7.69742601e-01 -6.38354009e-01 6.98626067e-04 1.87321276e+02] [-9.04818083e-04 3.36609042e-06 9.99999591e-01 6.92277530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57028169299997 meters 0.013823337684785428 Centerline is valid? [True, True] Translation: X:197.22, Y:187.34, Z:0.69 [[-6.36353605e-01 -7.71397328e-01 -5.02543018e-04 1.97224831e+02] [ 7.71397087e-01 -6.36353803e-01 6.10043475e-04 1.87336346e+02] [-7.90381067e-04 5.43144779e-07 9.99999688e-01 6.91995486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60028169299994 meters 0.014670915696318775 Centerline is valid? [True, True] Translation: X:197.20, Y:187.35, Z:0.69 [[-6.32111043e-01 -7.74877556e-01 6.34501535e-04 1.97204797e+02] [ 7.74877171e-01 -6.32111362e-01 -7.72064562e-04 1.87348093e+02] [ 9.99331130e-04 3.63021924e-06 9.99999501e-01 6.88433856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630281693 meters 0.015978988353848915 Centerline is valid? [True, True] Translation: X:197.19, Y:187.36, Z:0.69 [[-6.30844521e-01 -7.75908622e-01 1.00021159e-03 1.97186921e+02] [ 7.75907670e-01 -6.30845314e-01 -1.21562155e-03 1.87362422e+02] [ 1.57419004e-03 9.20364611e-06 9.99998761e-01 6.86648704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66028169299994 meters 0.016553330396042853 Centerline is valid? [True, True] Translation: X:197.17, Y:187.38, Z:0.69 [[-6.29580426e-01 -7.76934940e-01 7.65156639e-04 1.97170155e+02] [ 7.76934384e-01 -6.29580891e-01 -9.29458219e-04 1.87379644e+02] [ 1.20385656e-03 9.30780025e-06 9.99999275e-01 6.87476131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690281693 meters 0.016553330396042853 Centerline is valid? [True, True] Translation: X:197.16, Y:187.40, Z:0.69 [[-6.29823752e-01 -7.76737701e-01 7.65439322e-04 1.97155000e+02] [ 7.76737145e-01 -6.29824217e-01 -9.29225315e-04 1.87397384e+02] [ 1.20385656e-03 9.29697902e-06 9.99999275e-01 6.87522508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72028169299995 meters 0.018274242240608397 Centerline is valid? [True, True] Translation: X:197.14, Y:187.41, Z:0.69 [[-6.28376100e-01 -7.77909118e-01 -9.39348593e-04 1.97136858e+02] [ 7.77908286e-01 -6.28376801e-01 1.13743619e-03 1.87412115e+02] [-1.47508685e-03 -1.59893367e-05 9.99998912e-01 6.91401884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750281693 meters 0.01919487934597212 Centerline is valid? [True, True] Translation: X:197.12, Y:187.43, Z:0.69 [[-6.28171582e-01 -7.78073837e-01 -1.25191183e-03 1.97121578e+02] [ 7.78072362e-01 -6.28172829e-01 1.51511789e-03 1.87427826e+02] [-1.96529058e-03 -2.23239900e-05 9.99998069e-01 6.92591411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78028169299995 meters 0.01865528811307772 Centerline is valid? [True, True] Translation: X:197.11, Y:187.45, Z:0.69 [[-6.28359843e-01 -7.77921664e-01 -1.33896830e-03 1.97107878e+02] [ 7.77919978e-01 -6.28361269e-01 1.61963685e-03 1.87447771e+02] [-2.10130641e-03 -2.38954319e-05 9.99997792e-01 6.92515825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810281693 meters 0.018376326878895767 Centerline is valid? [True, True] Translation: X:197.09, Y:187.47, Z:0.69 [[-6.28834488e-01 -7.77537834e-01 -1.45039088e-03 1.97093094e+02] [ 7.77535857e-01 -6.28836160e-01 1.75339431e-03 1.87466325e+02] [-2.27538864e-03 -2.51361092e-05 9.99997411e-01 6.92469127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84028169299995 meters 0.018789124131676806 Centerline is valid? [True, True] Translation: X:197.08, Y:187.48, Z:0.70 [[-6.28841472e-01 -7.77529447e-01 -2.52227246e-03 1.97078043e+02] [ 7.77523476e-01 -6.28846529e-01 3.04757579e-03 1.87481794e+02] [-3.95570220e-03 -4.46840058e-05 9.99992175e-01 6.95705225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870281693 meters 0.019383025779415256 Centerline is valid? [True, True] Translation: X:197.06, Y:187.50, Z:0.70 [[-6.28524126e-01 -7.77784559e-01 -2.93309683e-03 1.97061306e+02] [ 7.77776496e-01 -6.28530967e-01 3.54207451e-03 1.87498976e+02] [-4.59851304e-03 -5.50144899e-05 9.99989425e-01 6.96997496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90028169299995 meters 0.020270079372626097 Centerline is valid? [True, True] Translation: X:197.04, Y:187.52, Z:0.70 [[-6.27680473e-01 -7.78465875e-01 -2.84710932e-03 1.97044136e+02] [ 7.78458294e-01 -6.27686927e-01 3.43598422e-03 1.87515430e+02] [-4.46188976e-03 -5.96556679e-05 9.99990044e-01 6.97005997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930281693 meters 0.022956427882055538 Centerline is valid? [True, True] Translation: X:197.02, Y:187.53, Z:0.69 [[-6.24817384e-01 -7.80769470e-01 -1.50683657e-03 1.97023970e+02] [ 7.80767357e-01 -6.24819200e-01 1.81694774e-03 1.87530174e+02] [-2.36011774e-03 -4.12282691e-05 9.99997214e-01 6.92977206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96028169299996 meters 0.025376500754724293 Centerline is valid? [True, True] Translation: X:197.01, Y:187.55, Z:0.69 [[-6.23570064e-01 -7.81766963e-01 -8.89605001e-04 1.97005645e+02] [ 7.81766229e-01 -6.23570698e-01 1.07156891e-03 1.87545293e+02] [-1.39244879e-03 -2.72648500e-05 9.99999030e-01 6.91008112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990281693 meters 0.026766764502595193 Centerline is valid? [True, True] Translation: X:196.99, Y:187.56, Z:0.69 [[-6.22735984e-01 -7.82431938e-01 -3.95365971e-04 1.96988158e+02] [ 7.82431794e-01 -6.22736109e-01 4.75412941e-04 1.87561605e+02] [-6.18186935e-04 -1.32901602e-05 9.99999809e-01 6.90106034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02028169299996 meters 0.0284792727041018 Centerline is valid? [True, True] Translation: X:196.97, Y:187.58, Z:0.69 [[-6.22591852e-01 -7.82546677e-01 -2.91839097e-04 1.96969329e+02] [ 7.82546598e-01 -6.22591920e-01 3.50423945e-04 1.87576102e+02] [-4.55919758e-04 -1.02065994e-05 9.99999896e-01 6.90073432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050281693 meters 0.027481616683626555 Centerline is valid? [True, True] Translation: X:196.95, Y:187.59, Z:0.69 [[-6.23294555e-01 -7.81987122e-01 -1.95531633e-04 1.96954097e+02] [ 7.81987087e-01 -6.23294586e-01 2.34028764e-04 1.87593967e+02] [-3.04881288e-04 -7.03435789e-06 9.99999954e-01 6.89339560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08028169299996 meters 0.025885331509254532 Centerline is valid? [True, True] Translation: X:196.94, Y:187.61, Z:0.69 [[-6.25404632e-01 -7.80300612e-01 -3.84683344e-05 1.96939573e+02] [ 7.80300610e-01 -6.25404634e-01 4.52128028e-05 1.87610585e+02] [-5.93378522e-05 -1.74056854e-06 9.99999998e-01 6.88731485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.110281693 meters 0.023953624365491748 Centerline is valid? [True, True] Translation: X:196.93, Y:187.63, Z:0.69 [[-6.26425357e-01 -7.79481403e-01 -1.23044871e-04 1.96925933e+02] [ 7.79481389e-01 -6.26425369e-01 1.46820941e-04 1.87629421e+02] [-1.91522622e-04 -3.93882604e-06 9.99999982e-01 6.88176332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14028169299996 meters 0.023074227538224853 Centerline is valid? [True, True] Translation: X:196.91, Y:187.65, Z:0.69 [[-6.27461560e-01 -7.78647517e-01 1.86912144e-04 1.96910371e+02] [ 7.78647484e-01 -6.27461588e-01 -2.25390467e-04 1.87647043e+02] [ 2.92779918e-04 4.11481694e-06 9.99999957e-01 6.87783627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17028169299994 meters 0.022161082392414985 Centerline is valid? [True, True] Translation: X:196.89, Y:187.66, Z:0.69 [[-6.28783229e-01 -7.77580065e-01 9.45478277e-04 1.96894036e+02] [ 7.77579236e-01 -6.28783939e-01 -1.13559207e-03 1.87662541e+02] [ 1.47751531e-03 2.11430305e-05 9.99998908e-01 6.85044535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20028169299997 meters 0.021570753356712467 Centerline is valid? [True, True] Translation: X:196.88, Y:187.68, Z:0.68 [[-6.29630397e-01 -7.76894130e-01 1.03624441e-03 1.96878353e+02] [ 7.76893135e-01 -6.29631249e-01 -1.24364521e-03 1.87679173e+02] [ 1.61863253e-03 2.20143387e-05 9.99998690e-01 6.84292154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23028169299994 meters 0.020439159763962378 Centerline is valid? [True, True] Translation: X:196.86, Y:187.70, Z:0.68 [[-6.31027046e-01 -7.75760121e-01 1.04988039e-03 1.96861761e+02] [ 7.75759099e-01 -6.31027919e-01 -1.25916071e-03 1.87695719e+02] [ 1.63931050e-03 1.98898073e-05 9.99998656e-01 6.83740548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26028169299997 meters 0.01971890813615561 Centerline is valid? [True, True] Translation: X:196.85, Y:187.71, Z:0.68 [[-6.32048654e-01 -7.74928232e-01 8.56527518e-04 1.96846445e+02] [ 7.74927552e-01 -6.32049235e-01 -1.02676991e-03 1.87712741e+02] [ 1.33704055e-03 1.47782348e-05 9.99999106e-01 6.84870043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29028169299994 meters 0.018832458471892174 Centerline is valid? [True, True] Translation: X:196.83, Y:187.73, Z:0.69 [[-6.33229248e-01 -7.73964062e-01 5.92169617e-04 1.96831609e+02] [ 7.73963736e-01 -6.33229525e-01 -7.09709131e-04 1.87730585e+02] [ 9.24268647e-04 8.90923029e-06 9.99999573e-01 6.85488810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32028169299997 meters 0.017354632480742142 Centerline is valid? [True, True] Translation: X:196.82, Y:187.75, Z:0.69 [[-6.35386174e-01 -7.72194265e-01 6.53254392e-04 1.96819808e+02] [ 7.72193869e-01 -6.35386510e-01 -7.82312909e-04 1.87749734e+02] [ 1.01916657e-03 7.36823049e-06 9.99999481e-01 6.85102699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35028169299994 meters 0.016708506761027298 Centerline is valid? [True, True] Translation: X:196.81, Y:187.77, Z:0.68 [[-6.36346307e-01 -7.71403233e-01 6.55058657e-04 1.96806113e+02] [ 7.71402835e-01 -6.36346644e-01 -7.83969265e-04 1.87768914e+02] [ 1.02160080e-03 6.43815816e-06 9.99999478e-01 6.84673934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380281693 meters 0.016674651938461432 Centerline is valid? [True, True] Translation: X:196.79, Y:187.79, Z:0.69 [[-6.36795292e-01 -7.71032859e-01 2.94372331e-04 1.96790297e+02] [ 7.71032778e-01 -6.36795360e-01 -3.52568783e-04 1.87786008e+02] [ 4.59297051e-04 2.45657462e-06 9.99999895e-01 6.85098479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41028169299994 meters 0.017296169546650874 Centerline is valid? [True, True] Translation: X:196.77, Y:187.80, Z:0.69 [[-6.36314128e-01 -7.71430029e-01 2.01507244e-04 1.96773332e+02] [ 7.71429991e-01 -6.36314160e-01 -2.41607629e-04 1.87801113e+02] [ 3.14605293e-04 1.71038344e-06 9.99999951e-01 6.85470831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440281693 meters 0.01842169740665178 Centerline is valid? [True, True] Translation: X:196.76, Y:187.82, Z:0.68 [[-6.35343921e-01 -7.72229109e-01 5.52169155e-04 1.96755249e+02] [ 7.72228827e-01 -6.35344161e-01 -6.59573245e-04 1.87815949e+02] [ 8.60159109e-04 7.34508704e-06 9.99999630e-01 6.84535251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47028169299995 meters 0.021779351665097233 Centerline is valid? [True, True] Translation: X:196.73, Y:187.83, Z:0.68 [[-6.32780030e-01 -7.74327085e-01 2.64552907e-03 1.96734499e+02] [ 7.74320663e-01 -6.32785558e-01 -3.15409431e-03 1.87827503e+02] [ 4.11635324e-03 5.26399293e-05 9.99991526e-01 6.78216002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500281693 meters 0.023280696789287497 Centerline is valid? [True, True] Translation: X:196.72, Y:187.84, Z:0.68 [[-6.31993384e-01 -7.74968258e-01 2.92608435e-03 1.96717403e+02] [ 7.74960419e-01 -6.32000155e-01 -3.48605835e-03 1.87841846e+02] [ 4.55087033e-03 6.44337417e-05 9.99989643e-01 6.77234067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53028169299995 meters 0.025154936084663675 Centerline is valid? [True, True] Translation: X:196.70, Y:187.85, Z:0.68 [[-6.30759164e-01 -7.75976918e-01 1.64284054e-03 1.96698198e+02] [ 7.75974453e-01 -6.30761302e-01 -1.95638657e-03 1.87854196e+02] [ 2.55435106e-03 4.07935342e-05 9.99996737e-01 6.80683246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560281693 meters 0.02572900770740864 Centerline is valid? [True, True] Translation: X:196.68, Y:187.87, Z:0.68 [[-6.30722174e-01 -7.76007950e-01 1.09580356e-03 1.96680646e+02] [ 7.76006854e-01 -6.30723126e-01 -1.30441516e-03 1.87869884e+02] [ 1.70338518e-03 2.76275074e-05 9.99998549e-01 6.82008489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59028169299995 meters 0.025428984049958928 Centerline is valid? [True, True] Translation: X:196.66, Y:187.89, Z:0.68 [[-6.30991142e-01 -7.75789414e-01 9.81488875e-04 1.96664360e+02] [ 7.75788536e-01 -6.30991905e-01 -1.16770699e-03 1.87886345e+02] [ 1.52520625e-03 2.46150513e-05 9.99998837e-01 6.82536956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620281693 meters 0.024927298932049 Centerline is valid? [True, True] Translation: X:196.65, Y:187.90, Z:0.68 [[-6.32138561e-01 -7.74854064e-01 1.42092889e-03 1.96647630e+02] [ 7.74852224e-01 -6.32140157e-01 -1.68900328e-03 1.87901521e+02] [ 2.20695727e-03 3.33258092e-05 9.99997564e-01 6.80459715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65028169299995 meters 0.023430503485221407 Centerline is valid? [True, True] Translation: X:196.63, Y:187.92, Z:0.68 [[-6.33234514e-01 -7.73958070e-01 1.71912194e-03 1.96633538e+02] [ 7.73955378e-01 -6.33236847e-01 -2.04181183e-03 1.87919704e+02] [ 2.66888810e-03 3.75779510e-05 9.99996438e-01 6.79394134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680281693 meters 0.02173874254386857 Centerline is valid? [True, True] Translation: X:196.62, Y:187.94, Z:0.68 [[-6.35164909e-01 -7.72375305e-01 1.38799535e-03 1.96618826e+02] [ 7.72373548e-01 -6.35166425e-01 -1.64767925e-03 1.87936594e+02] [ 2.15423481e-03 2.55028505e-05 9.99997679e-01 6.80825534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71028169299996 meters 0.021208974607866374 Centerline is valid? [True, True] Translation: X:196.60, Y:187.95, Z:0.68 [[-6.35956932e-01 -7.71723356e-01 1.35751865e-03 1.96603963e+02] [ 7.71721675e-01 -6.35958381e-01 -1.61051596e-03 1.87953436e+02] [ 2.10619815e-03 2.34077754e-05 9.99997782e-01 6.80908876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740281693 meters 0.018899139896360374 Centerline is valid? [True, True] Translation: X:196.59, Y:187.97, Z:0.68 [[-6.36745817e-01 -7.71071853e-01 1.72074997e-03 1.96591213e+02] [ 7.71069155e-01 -6.36748142e-01 -2.03993478e-03 1.87973711e+02] [ 2.66862063e-03 2.78972859e-05 9.99996439e-01 6.80342426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77028169299996 meters 0.018378505650692215 Centerline is valid? [True, True] Translation: X:196.58, Y:187.99, Z:0.68 [[-6.38011710e-01 -7.70021976e-01 2.68597749e-03 1.96575471e+02] [ 7.70015404e-01 -6.38017363e-01 -3.18146449e-03 1.87988922e+02] [ 4.16349784e-03 3.84324425e-05 9.99991332e-01 6.77004531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800281693 meters 0.018684587531782672 Centerline is valid? [True, True] Translation: X:196.56, Y:188.00, Z:0.67 [[-6.39416244e-01 -7.68853722e-01 3.28943611e-03 1.96555878e+02] [ 7.68843866e-01 -6.39424704e-01 -3.89327044e-03 1.88001790e+02] [ 5.09670218e-03 3.96424131e-05 9.99987011e-01 6.73400235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83028169299996 meters 0.017380239916616396 Centerline is valid? [True, True] Translation: X:196.54, Y:188.02, Z:0.67 [[-6.40028707e-01 -7.68343981e-01 3.28357560e-03 1.96540157e+02] [ 7.68334166e-01 -6.40037129e-01 -3.88375641e-03 1.88019181e+02] [ 5.08567116e-03 3.71677300e-05 9.99987067e-01 6.74485344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.860281693 meters 0.016896770310913918 Centerline is valid? [True, True] Translation: X:196.52, Y:188.04, Z:0.68 [[-6.40822965e-01 -7.67682926e-01 2.97549480e-03 1.96523462e+02] [ 7.67674869e-01 -6.40829872e-01 -3.51712414e-03 1.88035402e+02] [ 4.60682210e-03 3.03586634e-05 9.99989388e-01 6.75482993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89028169299996 meters 0.016263129789981883 Centerline is valid? [True, True] Translation: X:196.51, Y:188.05, Z:0.68 [[-6.41837811e-01 -7.66835957e-01 2.61516775e-03 1.96507541e+02] [ 7.66829735e-01 -6.41843138e-01 -3.08928124e-03 1.88051727e+02] [ 4.04749941e-03 2.25708887e-05 9.99991809e-01 6.77279796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92028169299994 meters 0.015167794362202548 Centerline is valid? [True, True] Translation: X:196.49, Y:188.07, Z:0.68 [[-6.44899283e-01 -7.64262647e-01 2.74231891e-03 1.96493172e+02] [ 7.64255791e-01 -6.44905114e-01 -3.23725821e-03 1.88068303e+02] [ 4.24265102e-03 8.12761416e-06 9.99991000e-01 6.75678630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95028169299997 meters 0.015958449495859287 Centerline is valid? [True, True] Translation: X:196.48, Y:188.09, Z:0.68 [[-6.50081784e-01 -7.59860213e-01 2.47589436e-03 1.96482256e+02] [ 7.59854600e-01 -6.50086499e-01 -2.92092137e-03 1.88089673e+02] [ 3.82903743e-03 -1.75180584e-05 9.99992669e-01 6.76413514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98028169299994 meters 0.017522463820095844 Centerline is valid? [True, True] Translation: X:196.47, Y:188.11, Z:0.68 [[-6.52916972e-01 -7.57427423e-01 1.76827748e-03 1.96469485e+02] [ 7.57424553e-01 -6.52919366e-01 -2.08500934e-03 1.88109236e+02] [ 2.73378587e-03 -2.20012017e-05 9.99996263e-01 6.78325682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01028169299997 meters 0.02007709579369513 Centerline is valid? [True, True] Translation: X:196.46, Y:188.13, Z:0.68 [[-6.55714533e-01 -7.55007870e-01 1.25184970e-03 1.96458424e+02] [ 7.55006429e-01 -6.55715728e-01 -1.47532442e-03 1.88128259e+02] [ 1.93473909e-03 -2.22370906e-05 9.99998128e-01 6.80820778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04028169299994 meters 0.023043524038375774 Centerline is valid? [True, True] Translation: X:196.45, Y:188.15, Z:0.68 [[-6.58608853e-01 -7.52484546e-01 1.17764802e-03 1.96446885e+02] [ 7.52483268e-01 -6.58609905e-01 -1.38694326e-03 1.88148740e+02] [ 1.81926402e-03 -2.72926720e-05 9.99998345e-01 6.80967933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07028169299997 meters 0.02993884987187544 Centerline is valid? [True, True] Translation: X:196.44, Y:188.17, Z:0.68 [[-6.63907894e-01 -7.47811341e-01 2.12295500e-03 1.96439869e+02] [ 7.47807174e-01 -6.63911285e-01 -2.49736063e-03 1.88173408e+02] [ 3.27700839e-03 -7.04564601e-05 9.99994628e-01 6.77267654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10028169299994 meters 0.03515471826186783 Centerline is valid? [True, True] Translation: X:196.43, Y:188.20, Z:0.68 [[-6.67538219e-01 -7.44571632e-01 2.41046759e-03 1.96432926e+02] [ 7.44566247e-01 -6.67542565e-01 -2.83343029e-03 1.88195919e+02] [ 3.71878153e-03 -9.66702074e-05 9.99993081e-01 6.76084684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130281693 meters 0.043532884674189885 Centerline is valid? [True, True] Translation: X:196.43, Y:188.22, Z:0.68 [[-6.69025847e-01 -7.43235376e-01 2.36452234e-03 1.96428691e+02] [ 7.43230193e-01 -6.69030018e-01 -2.77760066e-03 1.88220572e+02] [ 3.64634750e-03 -1.00902237e-04 9.99993347e-01 6.75827028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16028169299994 meters 0.03979828778418341 Centerline is valid? [True, True] Translation: X:196.41, Y:188.24, Z:0.68 [[-6.70707332e-01 -7.41717886e-01 2.50034724e-03 1.96411082e+02] [ 7.41712088e-01 -6.70711983e-01 -2.93497211e-03 1.88236032e+02] [ 3.85393417e-03 -1.13969545e-04 9.99992567e-01 6.76001423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190281693 meters 0.04167132347276321 Centerline is valid? [True, True] Translation: X:196.40, Y:188.26, Z:0.68 [[-6.72479811e-01 -7.40111158e-01 2.52537782e-03 1.96400021e+02] [ 7.40105241e-01 -6.72484541e-01 -2.96214873e-03 1.88256405e+02] [ 3.89059687e-03 -1.22939857e-04 9.99992424e-01 6.76313687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22028169299995 meters 0.042227920457872284 Centerline is valid? [True, True] Translation: X:196.39, Y:188.28, Z:0.68 [[-6.75497452e-01 -7.37356811e-01 2.85059981e-03 1.96389130e+02] [ 7.37349257e-01 -6.75503449e-01 -3.34120042e-03 1.88278094e+02] [ 4.38924689e-03 -1.55084719e-04 9.99990355e-01 6.75908397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250281693 meters 0.046977879549590526 Centerline is valid? [True, True] Translation: X:196.38, Y:188.30, Z:0.67 [[-6.75190225e-01 -7.37635324e-01 3.50542687e-03 1.96383019e+02] [ 7.37623922e-01 -6.75199299e-01 -4.10573038e-03 1.88302130e+02] [ 5.39539352e-03 -1.86462301e-04 9.99985427e-01 6.73596057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28028169299995 meters 0.04526493416471559 Centerline is valid? [True, True] Translation: X:196.37, Y:188.32, Z:0.67 [[-6.74007876e-01 -7.38713351e-01 3.99605925e-03 1.96367779e+02] [ 7.38698570e-01 -6.74019692e-01 -4.67730836e-03 1.88318989e+02] [ 6.14861276e-03 -2.00659421e-04 9.99981077e-01 6.72505889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310281693 meters 0.04227256538914047 Centerline is valid? [True, True] Translation: X:196.35, Y:188.33, Z:0.67 [[-6.72386699e-01 -7.40185712e-01 4.60852276e-03 1.96351076e+02] [ 7.40166115e-01 -6.72402459e-01 -5.39028059e-03 1.88333909e+02] [ 7.08859071e-03 -2.13280581e-04 9.99974853e-01 6.71163921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34028169299995 meters 0.035603117630503105 Centerline is valid? [True, True] Translation: X:196.33, Y:188.35, Z:0.67 [[-6.67944601e-01 -7.44190833e-01 5.47858769e-03 1.96330914e+02] [ 7.44163310e-01 -6.67967039e-01 -6.40335098e-03 1.88345200e+02] [ 8.42483109e-03 -2.00119763e-04 9.99964490e-01 6.67818638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370281693 meters 0.031952353098860915 Centerline is valid? [True, True] Translation: X:196.31, Y:188.36, Z:0.67 [[-6.65886247e-01 -7.46034746e-01 5.25966545e-03 1.96313016e+02] [ 7.46009473e-01 -6.65906998e-01 -6.14294016e-03 1.88358723e+02] [ 8.08529483e-03 -1.66739114e-04 9.99967300e-01 6.68878752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40028169299995 meters 0.025064841479936806 Centerline is valid? [True, True] Translation: X:196.29, Y:188.37, Z:0.67 [[-6.61774414e-01 -7.49692443e-01 3.98320177e-03 1.96291315e+02] [ 7.49678034e-01 -6.61786395e-01 -4.64895398e-03 1.88369304e+02] [ 6.12131441e-03 -9.04399200e-05 9.99981261e-01 6.73007178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430281693 meters 0.02312759657176418 Centerline is valid? [True, True] Translation: X:196.27, Y:188.38, Z:0.67 [[-6.60570126e-01 -7.50755540e-01 3.63704344e-03 1.96274588e+02] [ 7.50743559e-01 -6.60580135e-01 -4.24192457e-03 1.88383275e+02] [ 5.58720702e-03 -7.16017060e-05 9.99984389e-01 6.73411325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46028169299996 meters 0.020516456860349384 Centerline is valid? [True, True] Translation: X:196.26, Y:188.40, Z:0.67 [[-6.59677102e-01 -7.51540029e-01 3.70219386e-03 1.96255945e+02] [ 7.51527644e-01 -6.59687487e-01 -4.31499122e-03 1.88397344e+02] [ 5.68517960e-03 -6.41998703e-05 9.99983837e-01 6.73098718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490281693 meters 0.019618892324339225 Centerline is valid? [True, True] Translation: X:196.24, Y:188.41, Z:0.67 [[-6.57939940e-01 -7.53054786e-01 4.85016158e-03 1.96239387e+02] [ 7.53033603e-01 -6.57957814e-01 -5.64875333e-03 1.88412687e+02] [ 7.44502244e-03 -6.42057836e-05 9.99972283e-01 6.68245460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52028169299996 meters 0.01837881405574179 Centerline is valid? [True, True] Translation: X:196.22, Y:188.43, Z:0.67 [[-6.57277441e-01 -7.53626635e-01 5.76730915e-03 1.96222183e+02] [ 7.53596744e-01 -6.57302740e-01 -6.71236458e-03 1.88427959e+02] [ 8.84948483e-03 -6.56604126e-05 9.99960840e-01 6.65543014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550281693 meters 0.018193685616061477 Centerline is valid? [True, True] Translation: X:196.21, Y:188.44, Z:0.67 [[-6.57277575e-01 -7.53625165e-01 5.94133210e-03 1.96206833e+02] [ 7.53593484e-01 -6.57304424e-01 -6.91044442e-03 1.88444350e+02] [ 9.11314869e-03 -6.47309923e-05 9.99958472e-01 6.65164804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58028169299996 meters 0.0185709073314061 Centerline is valid? [True, True] Translation: X:196.19, Y:188.46, Z:0.66 [[-6.57678249e-01 -7.53274029e-01 6.12845222e-03 1.96191897e+02] [ 7.53240348e-01 -6.57706798e-01 -7.12359969e-03 1.88461657e+02] [ 9.39674732e-03 -6.88390837e-05 9.99955847e-01 6.64614602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.610281693 meters 0.0185709073314061 Centerline is valid? [True, True] Translation: X:196.18, Y:188.48, Z:0.66 [[-6.57909724e-01 -7.53071850e-01 6.13064014e-03 1.96176852e+02] [ 7.53038177e-01 -6.57938283e-01 -7.12171670e-03 1.88478378e+02] [ 9.39674722e-03 -6.88405897e-05 9.99955847e-01 6.64659318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64028169299996 meters 0.020249209480857813 Centerline is valid? [True, True] Translation: X:196.17, Y:188.50, Z:0.66 [[-6.59016693e-01 -7.52101699e-01 6.32711826e-03 1.96165739e+02] [ 7.52065838e-01 -6.59047060e-01 -7.34490600e-03 1.88497316e+02] [ 9.69398497e-03 -8.20061664e-05 9.99953009e-01 6.62719795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67028169299994 meters 0.020702362984040573 Centerline is valid? [True, True] Translation: X:196.15, Y:188.51, Z:0.66 [[-6.59703945e-01 -7.51499927e-01 6.20997924e-03 1.96153461e+02] [ 7.51465413e-01 -6.59733167e-01 -7.20282771e-03 1.88514809e+02] [ 9.50985377e-03 -8.51492343e-05 9.99954777e-01 6.63197374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70028169299997 meters 0.020858281236048628 Centerline is valid? [True, True] Translation: X:196.14, Y:188.53, Z:0.67 [[-6.60257194e-01 -7.51016482e-01 5.88910658e-03 1.96140875e+02] [ 7.50985478e-01 -6.60283452e-01 -6.82466205e-03 1.88531970e+02] [ 9.01391331e-03 -8.33986901e-05 9.99959370e-01 6.65053632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73028169299994 meters 0.018332563023946424 Centerline is valid? [True, True] Translation: X:196.12, Y:188.55, Z:0.67 [[-6.60349430e-01 -7.50941528e-01 5.04503023e-03 1.96123972e+02] [ 7.50918801e-01 -6.60368698e-01 -5.84265354e-03 1.88548472e+02] [ 7.71907122e-03 -6.97848880e-05 9.99970205e-01 6.70378429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76028169299997 meters 0.018848754113336755 Centerline is valid? [True, True] Translation: X:196.11, Y:188.57, Z:0.67 [[-6.60387694e-01 -7.50908866e-01 4.89582245e-03 1.96111341e+02] [ 7.50887491e-01 -6.60405838e-01 -5.66606522e-03 1.88566079e+02] [ 7.48792834e-03 -6.55879115e-05 9.99971963e-01 6.69940017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79028169299994 meters 0.018265419387612218 Centerline is valid? [True, True] Translation: X:196.10, Y:188.58, Z:0.67 [[-6.59714390e-01 -7.51500835e-01 4.83922493e-03 1.96098429e+02] [ 7.51479996e-01 -6.59732136e-01 -5.59686417e-03 1.88583548e+02] [ 7.39864030e-03 -5.57511060e-05 9.99972628e-01 6.69428631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82028169299997 meters 0.017959967582218888 Centerline is valid? [True, True] Translation: X:196.08, Y:188.60, Z:0.67 [[-6.59339858e-01 -7.51829237e-01 4.87341103e-03 1.96083028e+02] [ 7.51808137e-01 -6.59357867e-01 -5.63281249e-03 1.88599475e+02] [ 7.44823502e-03 -5.00677208e-05 9.99972260e-01 6.68558808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85028169299994 meters 0.016649607520012977 Centerline is valid? [True, True] Translation: X:196.07, Y:188.62, Z:0.67 [[-6.59059309e-01 -7.52075141e-01 4.87951294e-03 1.96065200e+02] [ 7.52054022e-01 -6.59077371e-01 -5.63629614e-03 1.88615052e+02] [ 7.45489477e-03 -4.49961121e-05 9.99972211e-01 6.69570461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880281693 meters 0.016409311588748518 Centerline is valid? [True, True] Translation: X:196.05, Y:188.63, Z:0.67 [[-6.58542664e-01 -7.52526083e-01 5.10439437e-03 1.96051132e+02] [ 7.52503017e-01 -6.58562445e-01 -5.89206821e-03 1.88632857e+02] [ 7.79549744e-03 -3.91061360e-05 9.99969614e-01 6.67991567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91028169299994 meters 0.01741357073084702 Centerline is valid? [True, True] Translation: X:196.04, Y:188.65, Z:0.66 [[-6.58920041e-01 -7.52191489e-01 5.68715803e-03 1.96039288e+02] [ 7.52162886e-01 -6.58944582e-01 -6.55979174e-03 1.88652278e+02] [ 8.68174148e-03 -4.47090414e-05 9.99962312e-01 6.64598631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.940281693 meters 0.016586181663608673 Centerline is valid? [True, True] Translation: X:196.02, Y:188.67, Z:0.67 [[-6.59298700e-01 -7.51855725e-01 6.18008774e-03 1.96023057e+02] [ 7.51821980e-01 -6.59327663e-01 -7.12348920e-03 1.88669640e+02] [ 9.43053894e-03 -5.01813674e-05 9.99955530e-01 6.66998232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97028169299995 meters 0.016501152424821666 Centerline is valid? [True, True] Translation: X:196.01, Y:188.69, Z:0.67 [[-6.58907622e-01 -7.52198268e-01 6.20583835e-03 1.96008140e+02] [ 7.52164301e-01 -6.58936844e-01 -7.14842001e-03 1.88686902e+02] [ 9.46628469e-03 -4.23383619e-05 9.99955193e-01 6.67278240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.000281693 meters 0.016649669167699496 Centerline is valid? [True, True] Translation: X:195.99, Y:188.70, Z:0.67 [[-6.58505454e-01 -7.52554782e-01 5.64509917e-03 1.95993481e+02] [ 7.52526727e-01 -6.58529649e-01 -6.49816728e-03 1.88703675e+02] [ 8.60769204e-03 -3.09905940e-05 9.99962953e-01 6.65843624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03028169299995 meters 0.015655226921716517 Centerline is valid? [True, True] Translation: X:195.98, Y:188.72, Z:0.67 [[-6.57237334e-01 -7.53662936e-01 5.59157161e-03 1.95976177e+02] [ 7.53635487e-01 -6.57261119e-01 -6.43226537e-03 1.88719433e+02] [ 8.52288262e-03 -1.35181552e-05 9.99963680e-01 6.67852144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.060281693 meters 0.01565967891550878 Centerline is valid? [True, True] Translation: X:195.96, Y:188.74, Z:0.67 [[-6.57176631e-01 -7.53711566e-01 6.14420761e-03 1.95960678e+02] [ 7.53678470e-01 -6.57205353e-01 -7.06310156e-03 1.88736955e+02] [ 9.36154747e-03 -1.09482925e-05 9.99956180e-01 6.65858194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09028169299995 meters 0.015973049848340234 Centerline is valid? [True, True] Translation: X:195.95, Y:188.76, Z:0.66 [[-6.57532993e-01 -7.53394103e-01 6.90571181e-03 1.95945045e+02] [ 7.53352333e-01 -6.57569256e-01 -7.93329292e-03 1.88755482e+02] [ 1.05178799e-02 -1.39677451e-05 9.99944686e-01 6.63909187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.120281693 meters 0.016524978801756175 Centerline is valid? [True, True] Translation: X:195.93, Y:188.77, Z:0.66 [[-6.58735204e-01 -7.52336515e-01 7.59600867e-03 1.95931606e+02] [ 7.52285973e-01 -6.58778997e-01 -8.72054336e-03 1.88774496e+02] [ 1.15648742e-02 -3.01581306e-05 9.99933124e-01 6.61715145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15028169299995 meters 0.017057056426800023 Centerline is valid? [True, True] Translation: X:195.92, Y:188.79, Z:0.66 [[-6.59210410e-01 -7.51923079e-01 7.30198792e-03 1.95918533e+02] [ 7.51876410e-01 -6.59250850e-01 -8.37737724e-03 1.88792750e+02] [ 1.11129850e-02 -3.22618216e-05 9.99938248e-01 6.58902533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.180281693 meters 0.016115143656344113 Centerline is valid? [True, True] Translation: X:195.90, Y:188.81, Z:0.66 [[-6.59322436e-01 -7.51835306e-01 6.13169875e-03 1.95904775e+02] [ 7.51802436e-01 -6.59350948e-01 -7.03029847e-03 1.88810890e+02] [ 9.32856798e-03 -2.54074596e-05 9.99956488e-01 6.64592541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21028169299996 meters 0.016603952534954697 Centerline is valid? [True, True] Translation: X:195.89, Y:188.83, Z:0.66 [[-6.59523049e-01 -7.51658616e-01 6.21874133e-03 1.95891004e+02] [ 7.51624843e-01 -6.59552367e-01 -7.12536530e-03 1.88828534e+02] [ 9.45742778e-03 -2.51821742e-05 9.99955277e-01 6.61807695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.240281693 meters 0.01676343557012364 Centerline is valid? [True, True] Translation: X:195.88, Y:188.84, Z:0.66 [[-6.59960136e-01 -7.51274128e-01 6.30898719e-03 1.95876668e+02] [ 7.51239409e-01 -6.59990291e-01 -7.22265877e-03 1.88844699e+02] [ 9.59006696e-03 -2.71070637e-05 9.99954014e-01 6.60693345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27028169299996 meters 0.016461695137502914 Centerline is valid? [True, True] Translation: X:195.86, Y:188.86, Z:0.66 [[-6.60824535e-01 -7.50508778e-01 6.89258950e-03 1.95861377e+02] [ 7.50467354e-01 -6.60860479e-01 -7.88531937e-03 1.88862771e+02] [ 1.04730414e-02 -3.81491038e-05 9.99945156e-01 6.63269752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.300281693 meters 0.01668988256218738 Centerline is valid? [True, True] Translation: X:195.85, Y:188.88, Z:0.66 [[-6.61547545e-01 -7.49869610e-01 7.10025974e-03 1.95846472e+02] [ 7.49825670e-01 -6.61585646e-01 -8.11777388e-03 1.88881761e+02] [ 1.07847019e-02 -4.63363690e-05 9.99941842e-01 6.62912136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33028169299996 meters 0.018339256093740215 Centerline is valid? [True, True] Translation: X:195.84, Y:188.90, Z:0.66 [[-6.62408325e-01 -7.49113116e-01 6.68964035e-03 1.95836173e+02] [ 7.49074125e-01 -6.62442101e-01 -7.64313894e-03 1.88901345e+02] [ 1.01570750e-02 -5.18423668e-05 9.99948414e-01 6.59437377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.360281693 meters 0.017078785729223094 Centerline is valid? [True, True] Translation: X:195.82, Y:188.92, Z:0.66 [[-6.62850197e-01 -7.48722818e-01 6.61491481e-03 1.95819491e+02] [ 7.48684726e-01 -6.62883201e-01 -7.55266028e-03 1.88917745e+02] [ 1.00397650e-02 -5.37966732e-05 9.99949599e-01 6.64336124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39028169299996 meters 0.01748997979873791 Centerline is valid? [True, True] Translation: X:195.81, Y:188.94, Z:0.66 [[-6.63492856e-01 -7.48149114e-01 7.08046450e-03 1.95808499e+02] [ 7.48105499e-01 -6.63530632e-01 -8.07856567e-03 1.88937432e+02] [ 1.07420768e-02 -6.31361821e-05 9.99942300e-01 6.62026328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42028169299994 meters 0.017526827330339414 Centerline is valid? [True, True] Translation: X:195.79, Y:188.96, Z:0.66 [[-6.63831494e-01 -7.47846606e-01 7.29399001e-03 1.95794774e+02] [ 7.47800365e-01 -6.63871561e-01 -8.31654048e-03 1.88956008e+02] [ 1.10617691e-02 -6.63331016e-05 9.99938815e-01 6.61313033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45028169299997 meters 0.017634740931239127 Centerline is valid? [True, True] Translation: X:195.78, Y:188.97, Z:0.66 [[-6.64444004e-01 -7.47302232e-01 7.31713728e-03 1.95780832e+02] [ 7.47255725e-01 -6.64484289e-01 -8.33741628e-03 1.88974824e+02] [ 1.10926926e-02 -7.19735295e-05 9.99938472e-01 6.61222300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48028169299994 meters 0.01777712044110087 Centerline is valid? [True, True] Translation: X:195.77, Y:188.99, Z:0.66 [[-6.64467454e-01 -7.47277515e-01 7.70179498e-03 1.95768199e+02] [ 7.47226056e-01 -6.64512084e-01 -8.76990223e-03 1.88993885e+02] [ 1.16714866e-02 -7.23327194e-05 9.99931883e-01 6.61103771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51028169299997 meters 0.01724382325599818 Centerline is valid? [True, True] Translation: X:195.75, Y:189.01, Z:0.66 [[-6.63394549e-01 -7.48227521e-01 7.95301002e-03 1.95753156e+02] [ 7.48172792e-01 -6.63442216e-01 -9.04975668e-03 1.89009464e+02] [ 1.20476396e-02 -5.33335330e-05 9.99927423e-01 6.60534237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54028169299994 meters 0.016256257141614196 Centerline is valid? [True, True] Translation: X:195.73, Y:189.02, Z:0.66 [[-6.59602838e-01 -7.51573961e-01 7.78952369e-03 1.95734191e+02] [ 7.51521762e-01 -6.59648831e-01 -8.85778443e-03 1.89023368e+02] [ 1.17956303e-02 1.13768276e-05 9.99930429e-01 6.61431508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57028169299997 meters 0.01666754092669892 Centerline is valid? [True, True] Translation: X:195.72, Y:189.04, Z:0.66 [[-6.58167209e-01 -7.52831426e-01 7.79539140e-03 1.95717466e+02] [ 7.52779308e-01 -6.58213371e-01 -8.85837377e-03 1.89038097e+02] [ 1.17998930e-02 3.79181994e-05 9.99930378e-01 6.61435834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60028169299994 meters 0.01763805768777199 Centerline is valid? [True, True] Translation: X:195.70, Y:189.05, Z:0.66 [[-6.56533554e-01 -7.54258799e-01 7.57338980e-03 1.95701012e+02] [ 7.54209769e-01 -6.56577230e-01 -8.60028198e-03 1.89052580e+02] [ 1.14593537e-02 6.55508789e-05 9.99934337e-01 6.61504736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.630281693 meters 0.0205020899769655 Centerline is valid? [True, True] Translation: X:195.68, Y:189.07, Z:0.66 [[-6.53064064e-01 -7.57271385e-01 6.88310029e-03 1.95682995e+02] [ 7.57231106e-01 -6.53100327e-01 -7.81121069e-03 1.89066309e+02] [ 1.04105614e-02 1.10876650e-04 9.99945803e-01 6.62838106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66028169299994 meters 0.02210753593251721 Centerline is valid? [True, True] Translation: X:195.67, Y:189.08, Z:0.66 [[-6.51618048e-01 -7.58517456e-01 6.72232524e-03 1.95666115e+02] [ 7.58479160e-01 -6.51652708e-01 -7.62308778e-03 1.89081655e+02] [ 1.01628666e-02 1.31402027e-04 9.99948348e-01 6.63626072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.690281693 meters 0.0269753224062646 Centerline is valid? [True, True] Translation: X:195.64, Y:189.09, Z:0.66 [[-6.48086493e-01 -7.61532972e-01 7.17147550e-03 1.95644200e+02] [ 7.61489632e-01 -6.48126141e-01 -8.12688048e-03 1.89092186e+02] [ 1.08369082e-02 1.94082767e-04 9.99941260e-01 6.62586769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72028169299995 meters 0.0287041913054856 Centerline is valid? [True, True] Translation: X:195.63, Y:189.11, Z:0.66 [[-6.46397686e-01 -7.62962583e-01 7.62422581e-03 1.95625464e+02] [ 7.62913766e-01 -6.46442605e-01 -8.63393758e-03 1.89106299e+02] [ 1.15159957e-02 2.35669555e-04 9.99933661e-01 6.62621960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.750281693 meters 0.029397406441507526 Centerline is valid? [True, True] Translation: X:195.61, Y:189.12, Z:0.66 [[-6.44982697e-01 -7.64154587e-01 8.06773726e-03 1.95606871e+02] [ 7.64100087e-01 -6.45033093e-01 -9.13046872e-03 1.89122149e+02] [ 1.21810471e-02 2.75564411e-04 9.99925770e-01 6.62139821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78028169299995 meters 0.03444188986840501 Centerline is valid? [True, True] Translation: X:195.58, Y:189.13, Z:0.66 [[-6.42358853e-01 -7.66359900e-01 8.22236619e-03 1.95582698e+02] [ 7.66303545e-01 -6.42411392e-01 -9.29945271e-03 1.89131337e+02] [ 1.24088694e-02 3.27242588e-04 9.99922954e-01 6.61704039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.810281693 meters 0.03798287136942317 Centerline is valid? [True, True] Translation: X:195.56, Y:189.14, Z:0.66 [[-6.41752083e-01 -7.66872419e-01 7.80753351e-03 1.95561778e+02] [ 7.66821714e-01 -6.41799493e-01 -8.82442032e-03 1.89142493e+02] [ 1.17780756e-02 3.23896106e-04 9.99930584e-01 6.61295368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84028169299995 meters 0.037801076072514914 Centerline is valid? [True, True] Translation: X:195.54, Y:189.16, Z:0.66 [[-6.41122709e-01 -7.67404013e-01 7.26311431e-03 1.95542207e+02] [ 7.67360234e-01 -6.41163771e-01 -8.20305785e-03 1.89155401e+02] [ 1.09519053e-02 3.14258428e-04 9.99939977e-01 6.63765656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.870281693 meters 0.03837114335998958 Centerline is valid? [True, True] Translation: X:195.52, Y:189.17, Z:0.66 [[-6.41422728e-01 -7.67146605e-01 7.93534538e-03 1.95524231e+02] [ 7.67094400e-01 -6.41471721e-01 -8.95612035e-03 1.89169396e+02] [ 1.19609570e-02 3.42499855e-04 9.99928407e-01 6.62022492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90028169299995 meters 0.03603382612951883 Centerline is valid? [True, True] Translation: X:195.51, Y:189.19, Z:0.66 [[-6.42183137e-01 -7.66504661e-01 8.45122604e-03 1.95508106e+02] [ 7.66445487e-01 -6.42238645e-01 -9.53089301e-03 1.89186442e+02] [ 1.27331779e-02 3.56825283e-04 9.99918866e-01 6.61331806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.930281693 meters 0.03589306573121214 Centerline is valid? [True, True] Translation: X:195.49, Y:189.20, Z:0.66 [[-6.43595073e-01 -7.65325323e-01 7.90770716e-03 1.95485909e+02] [ 7.65273500e-01 -6.43643573e-01 -8.91182133e-03 1.89196541e+02] [ 1.19101874e-02 3.15954439e-04 9.99929021e-01 6.62079543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96028169299996 meters 0.03385532359149157 Centerline is valid? [True, True] Translation: X:195.47, Y:189.21, Z:0.66 [[-6.44403414e-01 -7.64651368e-01 7.24742538e-03 1.95468650e+02] [ 7.64607853e-01 -6.44444106e-01 -8.16241738e-03 1.89211917e+02] [ 1.09119642e-02 2.81548733e-04 9.99940423e-01 6.64417897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.990281693 meters 0.03316746490440381 Centerline is valid? [True, True] Translation: X:195.45, Y:189.22, Z:0.67 [[-6.45034967e-01 -7.64129529e-01 5.99621868e-03 1.95447694e+02] [ 7.64099758e-01 -6.45062796e-01 -6.74900438e-03 1.89223631e+02] [ 9.02505113e-03 2.28365416e-04 9.99959247e-01 6.67754725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02028169299996 meters 0.03449408019766068 Centerline is valid? [True, True] Translation: X:195.43, Y:189.24, Z:0.67 [[-6.45557553e-01 -7.63688155e-01 5.98731034e-03 1.95428493e+02] [ 7.63658494e-01 -6.45585279e-01 -6.73447328e-03 1.89235809e+02] [ 9.00835689e-03 2.24770307e-04 9.99959399e-01 6.67463948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.050281693 meters 0.03184746163916569 Centerline is valid? [True, True] Translation: X:195.41, Y:189.25, Z:0.67 [[-6.46308604e-01 -7.63052486e-01 6.00776308e-03 1.95412493e+02] [ 7.63022635e-01 -6.46336488e-01 -6.75299982e-03 1.89252380e+02] [ 9.03592979e-03 2.19537333e-04 9.99959151e-01 6.68567539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08028169299996 meters 0.030200643382838278 Centerline is valid? [True, True] Translation: X:195.39, Y:189.27, Z:0.67 [[-6.49268884e-01 -7.60532224e-01 6.37599154e-03 1.95392948e+02] [ 7.60498525e-01 -6.49300160e-01 -7.16213061e-03 1.89265245e+02] [ 9.58696345e-03 1.98783618e-04 9.99954024e-01 6.66541245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.110281693 meters 0.02581745669334869 Centerline is valid? [True, True] Translation: X:195.38, Y:189.28, Z:0.67 [[-6.51809578e-01 -7.58354568e-01 6.52863776e-03 1.95379719e+02] [ 7.58319175e-01 -6.51842250e-01 -7.32870924e-03 1.89284498e+02] [ 9.81340206e-03 1.73868320e-04 9.99951832e-01 6.66739164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14028169299996 meters 0.023144492450009855 Centerline is valid? [True, True] Translation: X:195.37, Y:189.30, Z:0.67 [[-6.54839849e-01 -7.55737428e-01 6.76112743e-03 1.95366042e+02] [ 7.55699382e-01 -6.54874736e-01 -7.58446817e-03 1.89301518e+02] [ 1.01595580e-02 1.42767829e-04 9.99948380e-01 6.65616357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17028169299994 meters 0.01734830645200317 Centerline is valid? [True, True] Translation: X:195.36, Y:189.33, Z:0.67 [[-6.61428608e-01 -7.49974972e-01 7.05247121e-03 1.95357453e+02] [ 7.49933309e-01 -6.61466203e-01 -7.90530664e-03 1.89325295e+02] [ 1.05937535e-02 6.00871028e-05 9.99943883e-01 6.65265041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20028169299997 meters 0.01635946680588381 Centerline is valid? [True, True] Translation: X:195.35, Y:189.34, Z:0.66 [[-6.64392235e-01 -7.47345773e-01 7.56668630e-03 1.95346507e+02] [ 7.47297710e-01 -6.64435321e-01 -8.47569636e-03 1.89344671e+02] [ 1.13618495e-02 2.33805048e-05 9.99935452e-01 6.64366969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23028169299994 meters 0.01707515083081904 Centerline is valid? [True, True] Translation: X:195.34, Y:189.37, Z:0.66 [[-6.68260773e-01 -7.43870237e-01 9.19834090e-03 1.95337115e+02] [ 7.43798991e-01 -6.68324074e-01 -1.02952558e-02 1.89367164e+02] [ 1.38058071e-02 -3.81989373e-05 9.99904695e-01 6.59959940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26028169299997 meters 0.01745541585686778 Centerline is valid? [True, True] Translation: X:195.32, Y:189.38, Z:0.66 [[-6.68903404e-01 -7.43285049e-01 9.77604016e-03 1.95323329e+02] [ 7.43204621e-01 -6.68974837e-01 -1.09342544e-02 1.89384182e+02] [ 1.46671927e-02 -4.83617991e-05 9.99892430e-01 6.57895341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29028169299994 meters 0.017497497163203375 Centerline is valid? [True, True] Translation: X:195.31, Y:189.40, Z:0.66 [[-6.68555394e-01 -7.43596300e-01 9.91100324e-03 1.95307547e+02] [ 7.43513780e-01 -6.68628852e-01 -1.10777779e-02 1.89400171e+02] [ 1.48641774e-02 -3.71406894e-05 9.99889521e-01 6.57267070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32028169299997 meters 0.016905064102319477 Centerline is valid? [True, True] Translation: X:195.29, Y:189.41, Z:0.66 [[-6.65371206e-01 -7.46460156e-01 8.85395961e-03 1.95286448e+02] [ 7.46394637e-01 -6.65430112e-01 -9.88999431e-03 1.89412271e+02] [ 1.32741780e-02 2.80305168e-05 9.99911894e-01 6.61648204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35028169299994 meters 0.017905212207246484 Centerline is valid? [True, True] Translation: X:195.27, Y:189.42, Z:0.66 [[-6.63079902e-01 -7.48500688e-01 8.47127990e-03 1.95267534e+02] [ 7.48440955e-01 -6.63134010e-01 -9.45630638e-03 1.89424586e+02] [ 1.26956456e-02 6.99661101e-05 9.99919405e-01 6.62979051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.380281693 meters 0.02367518394010855 Centerline is valid? [True, True] Translation: X:195.24, Y:189.43, Z:0.66 [[-6.57429972e-01 -7.53454347e-01 9.61141536e-03 1.95243213e+02] [ 7.53378079e-01 -6.57500198e-01 -1.07218869e-02 1.89433192e+02] [ 1.43979598e-02 1.92139866e-04 9.99896326e-01 6.60140738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41028169299994 meters 0.028774245077969607 Centerline is valid? [True, True] Translation: X:195.22, Y:189.44, Z:0.66 [[-6.54545924e-01 -7.55945935e-01 1.07413969e-02 1.95221608e+02] [ 7.55851139e-01 -6.54633993e-01 -1.19745778e-02 1.89443655e+02] [ 1.60838169e-02 2.80985982e-04 9.99870608e-01 6.55908063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.440281693 meters 0.03281066688041208 Centerline is valid? [True, True] Translation: X:195.20, Y:189.46, Z:0.66 [[-6.51448613e-01 -7.58608314e-01 1.13194890e-02 1.95200923e+02] [ 7.58503592e-01 -6.51546843e-01 -1.26100433e-02 1.89455027e+02] [ 1.69412610e-02 3.71077884e-04 9.99856418e-01 6.55157073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47028169299995 meters 0.03769670081281785 Centerline is valid? [True, True] Translation: X:195.18, Y:189.47, Z:0.65 [[-6.48443789e-01 -7.61175216e-01 1.15301054e-02 1.95178759e+02] [ 7.61067126e-01 -6.48546132e-01 -1.28352666e-02 1.89466534e+02] [ 1.72476921e-02 4.52235293e-04 9.99851145e-01 6.54720569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.500281693 meters 0.03769670081281785 Centerline is valid? [True, True] Translation: X:195.16, Y:189.48, Z:0.65 [[-6.48682881e-01 -7.60971407e-01 1.15342117e-02 1.95163372e+02] [ 7.60863350e-01 -6.48785260e-01 -1.28315765e-02 1.89482924e+02] [ 1.72476894e-02 4.52334906e-04 9.99851145e-01 6.54765307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53028169299995 meters 0.03852915697988865 Centerline is valid? [True, True] Translation: X:195.14, Y:189.50, Z:0.66 [[-6.44411771e-01 -7.64599304e-01 1.10169777e-02 1.95143012e+02] [ 7.64501375e-01 -6.44505721e-01 -1.22483941e-02 1.89496638e+02] [ 1.64656188e-02 5.29485309e-04 9.99864292e-01 6.59200014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.560281693 meters 0.04161316074834889 Centerline is valid? [True, True] Translation: X:195.12, Y:189.51, Z:0.66 [[-6.41770068e-01 -7.66829701e-01 1.01680691e-02 1.95117440e+02] [ 7.66746666e-01 -6.41850382e-01 -1.12977150e-02 1.89506074e+02] [ 1.51898024e-02 5.45797744e-04 9.99884479e-01 6.61827177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59028169299995 meters 0.04563355936643225 Centerline is valid? [True, True] Translation: X:195.09, Y:189.52, Z:0.66 [[-6.40944524e-01 -7.67530620e-01 9.32008967e-03 1.95094395e+02] [ 7.67461022e-01 -6.41012072e-01 -1.03490572e-02 1.89516706e+02] [ 1.39175083e-02 5.19634015e-04 9.99903012e-01 6.62172895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.620281693 meters 0.046989091935112914 Centerline is valid? [True, True] Translation: X:195.07, Y:189.53, Z:0.66 [[-6.40474284e-01 -7.67933556e-01 8.41094499e-03 1.95074371e+02] [ 7.67876994e-01 -6.40529329e-01 -9.33278050e-03 1.89529933e+02] [ 1.25544123e-02 4.81165241e-04 9.99921075e-01 6.64976813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65028169299995 meters 0.04374600665658773 Centerline is valid? [True, True] Translation: X:195.06, Y:189.55, Z:0.67 [[-6.40630423e-01 -7.67810832e-01 7.69333421e-03 1.95056513e+02] [ 7.67763564e-01 -6.40676464e-01 -8.53103471e-03 1.89545332e+02] [ 1.14791590e-02 4.41421315e-04 9.99934015e-01 6.68100277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.680281693 meters 0.043238037349521787 Centerline is valid? [True, True] Translation: X:195.04, Y:189.56, Z:0.67 [[-6.42105078e-01 -7.66576456e-01 7.84897284e-03 1.95038570e+02] [ 7.66527229e-01 -6.42152903e-01 -8.69804057e-03 1.89560298e+02] [ 1.17079538e-02 4.31395383e-04 9.99931367e-01 6.66929872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71028169299996 meters 0.04575846862119457 Centerline is valid? [True, True] Translation: X:195.02, Y:189.57, Z:0.66 [[-6.44271052e-01 -7.64751758e-01 8.34025301e-03 1.95018523e+02] [ 7.64696099e-01 -6.44324892e-01 -9.23632682e-03 1.89572373e+02] [ 1.24373298e-02 4.27060940e-04 9.99922562e-01 6.63299602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.740281693 meters 0.03547310870473347 Centerline is valid? [True, True] Translation: X:195.01, Y:189.60, Z:0.66 [[-6.49576115e-01 -7.60241809e-01 9.12489728e-03 1.95009512e+02] [ 7.60174829e-01 -6.49640093e-01 -1.00984420e-02 1.89595398e+02] [ 1.36051570e-02 3.76810496e-04 9.99907375e-01 6.62470432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77028169299996 meters 0.03610820992882385 Centerline is valid? [True, True] Translation: X:194.99, Y:189.61, Z:0.66 [[-6.52513607e-01 -7.57716715e-01 9.55895352e-03 1.94992353e+02] [ 7.57643040e-01 -6.52583529e-01 -1.05717548e-02 1.89610352e+02] [ 1.42484109e-02 3.44060755e-04 9.99898427e-01 6.58565350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.800281693 meters 0.024783395049905836 Centerline is valid? [True, True] Translation: X:194.99, Y:189.64, Z:0.66 [[-6.58998989e-01 -7.52070949e-01 1.04699959e-02 1.94985820e+02] [ 7.51981959e-01 -6.59082109e-01 -1.15718163e-02 1.89636774e+02] [ 1.56034139e-02 2.47432807e-04 9.99878229e-01 6.59958303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83028169299996 meters 0.022041309427195142 Centerline is valid? [True, True] Translation: X:194.97, Y:189.66, Z:0.66 [[-6.62054037e-01 -7.49380496e-01 1.06454327e-02 1.94971886e+02] [ 7.49288273e-01 -6.62139589e-01 -1.17578791e-02 1.89656947e+02] [ 1.58598878e-02 1.92146552e-04 9.99874206e-01 6.59310220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.860281693 meters 0.020173026624946657 Centerline is valid? [True, True] Translation: X:194.96, Y:189.68, Z:0.66 [[-6.64819653e-01 -7.46933338e-01 1.02672831e-02 1.94959389e+02] [ 7.46847385e-01 -6.64898917e-01 -1.13319503e-02 1.89675005e+02] [ 1.52909169e-02 1.34390282e-04 9.99883078e-01 6.59518975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89028169299996 meters 0.017077339433009747 Centerline is valid? [True, True] Translation: X:194.95, Y:189.70, Z:0.66 [[-6.69489639e-01 -7.42763663e-01 9.26091831e-03 1.94949764e+02] [ 7.42693441e-01 -6.69553687e-01 -1.02133680e-02 1.89697867e+02] [ 1.37868006e-02 4.02792697e-05 9.99904957e-01 6.62773958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92028169299994 meters 0.01670267273632204 Centerline is valid? [True, True] Translation: X:194.94, Y:189.72, Z:0.66 [[-6.71413266e-01 -7.41026570e-01 9.15689957e-03 1.94936437e+02] [ 7.40957848e-01 -6.71475705e-01 -1.00918461e-02 1.89716605e+02] [ 1.36269617e-02 9.07728301e-06 9.99907149e-01 6.64129610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95028169299997 meters 0.01701505464276612 Centerline is valid? [True, True] Translation: X:194.93, Y:189.74, Z:0.67 [[-6.74437847e-01 -7.38274211e-01 9.20758924e-03 1.94925537e+02] [ 7.38204561e-01 -6.74500695e-01 -1.01409627e-02 1.89737287e+02] [ 1.36973366e-02 -4.23646716e-05 9.99906186e-01 6.65183051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98028169299994 meters 0.017416526477990354 Centerline is valid? [True, True] Translation: X:194.91, Y:189.75, Z:0.66 [[-6.75396697e-01 -7.37394719e-01 9.39840213e-03 1.94912152e+02] [ 7.37322166e-01 -6.75462083e-01 -1.03440300e-02 1.89754922e+02] [ 1.39758974e-02 -5.66734895e-05 9.99902331e-01 6.64489964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01028169299997 meters 0.017596153698406846 Centerline is valid? [True, True] Translation: X:194.90, Y:189.77, Z:0.66 [[-6.76096047e-01 -7.36755101e-01 9.27665382e-03 1.94898269e+02] [ 7.36684450e-01 -6.76159683e-01 -1.02031183e-02 1.89771901e+02] [ 1.37896988e-02 -6.43213505e-05 9.99904916e-01 6.64060168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04028169299994 meters 0.01729016695305158 Centerline is valid? [True, True] Translation: X:194.88, Y:189.79, Z:0.67 [[-6.76189912e-01 -7.36669914e-01 9.19998568e-03 1.94882903e+02] [ 7.36600511e-01 -6.76252493e-01 -1.01120736e-02 1.89789220e+02] [ 1.36707737e-02 -6.09680311e-05 9.99906549e-01 6.65429432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07028169299997 meters 0.016817511934844834 Centerline is valid? [True, True] Translation: X:194.87, Y:189.81, Z:0.67 [[-6.76003267e-01 -7.36840890e-01 9.22416849e-03 1.94866628e+02] [ 7.36771227e-01 -6.76066195e-01 -1.01321194e-02 1.89806935e+02] [ 1.37019084e-02 -5.32438951e-05 9.99906123e-01 6.66579353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10028169299994 meters 0.01703180465943678 Centerline is valid? [True, True] Translation: X:194.85, Y:189.82, Z:0.67 [[-6.76003835e-01 -7.36848059e-01 8.58797099e-03 1.94851732e+02] [ 7.36787753e-01 -6.76058382e-01 -9.42713686e-03 1.89823861e+02] [ 1.27523373e-02 -4.52688153e-05 9.99918685e-01 6.66106247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.130281693 meters 0.016592095539620447 Centerline is valid? [True, True] Translation: X:194.83, Y:189.84, Z:0.67 [[-6.75971426e-01 -7.36883689e-01 8.06594829e-03 1.94834454e+02] [ 7.36830563e-01 -6.76019547e-01 -8.84835848e-03 1.89838929e+02] [ 1.19729497e-02 -3.80002799e-05 9.99928321e-01 6.68594821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16028169299994 meters 0.016606353075731474 Centerline is valid? [True, True] Translation: X:194.82, Y:189.85, Z:0.67 [[-6.75663182e-01 -7.37165498e-01 8.14202920e-03 1.94818243e+02] [ 7.37111459e-01 -6.75712237e-01 -8.92581396e-03 1.89853652e+02] [ 1.20814709e-02 -2.92608403e-05 9.99927016e-01 6.67809369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.190281693 meters 0.01630881888854641 Centerline is valid? [True, True] Translation: X:194.80, Y:189.87, Z:0.67 [[-6.74535424e-01 -7.38188882e-01 8.89585191e-03 1.94799785e+02] [ 7.38124548e-01 -6.74594081e-01 -9.74559005e-03 1.89868027e+02] [ 1.31951753e-02 -7.49904947e-06 9.99912940e-01 6.67616467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22028169299995 meters 0.01632349310750111 Centerline is valid? [True, True] Translation: X:194.78, Y:189.88, Z:0.67 [[-6.73804299e-01 -7.38856672e-01 8.86481731e-03 1.94783296e+02] [ 7.38792928e-01 -6.73862611e-01 -9.70515868e-03 1.89882097e+02] [ 1.31443902e-02 9.88669490e-06 9.99913609e-01 6.66918054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.250281693 meters 0.017290359276127598 Centerline is valid? [True, True] Translation: X:194.76, Y:189.89, Z:0.66 [[-6.72324093e-01 -7.40199583e-01 9.21361046e-03 1.94763464e+02] [ 7.40130945e-01 -6.72387221e-01 -1.00801092e-02 1.89893884e+02] [ 1.36564066e-02 4.21779532e-05 9.99906746e-01 6.64573946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28028169299995 meters 0.017594227234464313 Centerline is valid? [True, True] Translation: X:194.75, Y:189.91, Z:0.66 [[-6.71877215e-01 -7.40594173e-01 1.00636989e-02 1.94745196e+02] [ 7.40512445e-01 -6.71952578e-01 -1.10023596e-02 1.89909310e+02] [ 1.49106118e-02 6.00595223e-05 9.99888829e-01 6.64800539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.310281693 meters 0.017563255672219443 Centerline is valid? [True, True] Translation: X:194.73, Y:189.93, Z:0.66 [[-6.71928764e-01 -7.40540678e-01 1.05470864e-02 1.94727444e+02] [ 7.40451019e-01 -6.72011533e-01 -1.15233713e-02 1.89925712e+02] [ 1.56212888e-02 6.67162298e-05 9.99877978e-01 6.64635726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34028169299995 meters 0.017990611830976812 Centerline is valid? [True, True] Translation: X:194.71, Y:189.94, Z:0.66 [[-6.72726528e-01 -7.39814766e-01 1.06362790e-02 1.94711323e+02] [ 7.39723614e-01 -6.72810604e-01 -1.16131787e-02 1.89941213e+02] [ 1.57478024e-02 5.54133126e-05 9.99875994e-01 6.61246441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.370281693 meters 0.017271260036632364 Centerline is valid? [True, True] Translation: X:194.70, Y:189.96, Z:0.66 [[-6.73527271e-01 -7.39091290e-01 1.02508420e-02 1.94696242e+02] [ 7.39006653e-01 -6.73605272e-01 -1.11849775e-02 1.89959131e+02] [ 1.51717406e-02 4.20530606e-05 9.99884902e-01 6.63669839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40028169299995 meters 0.01674736593441693 Centerline is valid? [True, True] Translation: X:194.68, Y:189.98, Z:0.67 [[-6.75800697e-01 -7.37017705e-01 9.91565891e-03 1.94683491e+02] [ 7.36938394e-01 -6.75873437e-01 -1.08121034e-02 1.89978857e+02] [ 1.46704421e-02 4.02739023e-07 9.99892383e-01 6.65615062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.430281693 meters 0.016931012038380943 Centerline is valid? [True, True] Translation: X:194.67, Y:190.00, Z:0.67 [[-6.77169542e-01 -7.35760088e-01 9.92494274e-03 1.94669320e+02] [ 7.35680598e-01 -6.77242270e-01 -1.08150766e-02 1.89997284e+02] [ 1.46788925e-02 -2.20526581e-05 9.99892259e-01 6.65904344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46028169299996 meters 0.016880879448690735 Centerline is valid? [True, True] Translation: X:194.65, Y:190.02, Z:0.67 [[-6.78386525e-01 -7.34641548e-01 9.67051724e-03 1.94654039e+02] [ 7.34566062e-01 -6.78455447e-01 -1.05311991e-02 1.90015940e+02] [ 1.42976715e-02 -4.05897982e-05 9.99897782e-01 6.67574741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.490281693 meters 0.016649826223240256 Centerline is valid? [True, True] Translation: X:194.64, Y:190.03, Z:0.67 [[-6.78414211e-01 -7.34621831e-01 9.21537435e-03 1.94637455e+02] [ 7.34553369e-01 -6.78476797e-01 -1.00291168e-02 1.90031932e+02] [ 1.36200258e-02 -3.47110967e-05 9.99907243e-01 6.69308293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52028169299996 meters 0.016551353687894746 Centerline is valid? [True, True] Translation: X:194.62, Y:190.05, Z:0.67 [[-6.77485582e-01 -7.35476545e-01 9.35615163e-03 1.94619527e+02] [ 7.35406151e-01 -6.77550184e-01 -1.01755517e-02 1.90045995e+02] [ 1.38231419e-02 -1.32180911e-05 9.99904456e-01 6.69220033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.550281693 meters 0.016708342224403663 Centerline is valid? [True, True] Translation: X:194.60, Y:190.06, Z:0.67 [[-6.76367266e-01 -7.36499898e-01 9.75816388e-03 1.94601488e+02] [ 7.36423536e-01 -6.76437654e-01 -1.06054159e-02 1.90059930e+02] [ 1.44116772e-02 1.29854186e-05 9.99896146e-01 6.68707388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58028169299996 meters 0.017860637957459187 Centerline is valid? [True, True] Translation: X:194.58, Y:190.07, Z:0.67 [[-6.73757295e-01 -7.38876207e-01 1.06328730e-02 1.94580590e+02] [ 7.38785952e-01 -6.73841187e-01 -1.15486483e-02 1.90073555e+02] [ 1.56978892e-02 7.44311103e-05 9.99876778e-01 6.66788169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.610281693 meters 0.018452300013088892 Centerline is valid? [True, True] Translation: X:194.56, Y:190.09, Z:0.67 [[-6.73011621e-01 -7.39562224e-01 1.01525530e-02 1.94563642e+02] [ 7.39480131e-01 -6.73088188e-01 -1.10194178e-02 1.90087571e+02] [ 1.49831086e-02 9.14149698e-05 9.99887743e-01 6.67203638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64028169299996 meters 0.018124164933662146 Centerline is valid? [True, True] Translation: X:194.55, Y:190.10, Z:0.67 [[-6.72477519e-01 -7.40072183e-01 8.19460728e-03 1.94545314e+02] [ 7.40018808e-01 -6.72527440e-01 -8.88853874e-03 1.90102141e+02] [ 1.20892585e-02 8.68210360e-05 9.99926919e-01 6.72704344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67028169299994 meters 0.017733325352440123 Centerline is valid? [True, True] Translation: X:194.53, Y:190.12, Z:0.68 [[-6.72897217e-01 -7.39697669e-01 7.52946423e-03 1.94528643e+02] [ 7.39652645e-01 -6.72939337e-01 -8.16168341e-03 1.90118589e+02] [ 1.11040509e-02 7.72140756e-05 9.99938345e-01 6.75130117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70028169299997 meters 0.017511724421242124 Centerline is valid? [True, True] Translation: X:194.51, Y:190.14, Z:0.68 [[-6.73339605e-01 -7.39301576e-01 6.85247763e-03 1.94512432e+02] [ 7.39264322e-01 -6.73374469e-01 -7.42212411e-03 1.90135555e+02] [ 1.01014715e-02 6.81821172e-05 9.99948977e-01 6.76710612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73028169299994 meters 0.016710678861614533 Centerline is valid? [True, True] Translation: X:194.50, Y:190.15, Z:0.68 [[-6.74827591e-01 -7.37946216e-01 6.56541385e-03 1.94498741e+02] [ 7.37912002e-01 -6.74859526e-01 -7.10618147e-03 1.90152341e+02] [ 9.67471180e-03 4.92503560e-05 9.99953198e-01 6.77082337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76028169299997 meters 0.016410666408471837 Centerline is valid? [True, True] Translation: X:194.48, Y:190.17, Z:0.68 [[-6.75683155e-01 -7.37161684e-01 6.70271182e-03 1.94483456e+02] [ 7.37126032e-01 -6.75716398e-01 -7.24996154e-03 1.90169304e+02] [ 9.87352614e-03 4.20664843e-05 9.99951255e-01 6.76664971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79028169299994 meters 0.016010565277977486 Centerline is valid? [True, True] Translation: X:194.47, Y:190.19, Z:0.68 [[-6.77544283e-01 -7.35444372e-01 7.43770911e-03 1.94470302e+02] [ 7.35400429e-01 -6.77585105e-01 -8.03960105e-03 1.90187872e+02] [ 1.09523603e-02 2.25087373e-05 9.99940021e-01 6.75487123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82028169299997 meters 0.01591353941553743 Centerline is valid? [True, True] Translation: X:194.46, Y:190.21, Z:0.67 [[-6.78884923e-01 -7.34200810e-01 8.02690309e-03 1.94456891e+02] [ 7.34149609e-01 -6.78932375e-01 -8.67073280e-03 1.90206387e+02] [ 1.18157834e-02 6.51799164e-06 9.99930191e-01 6.74382381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85028169299994 meters 0.016390523436107165 Centerline is valid? [True, True] Translation: X:194.44, Y:190.22, Z:0.67 [[-6.80342084e-01 -7.32841213e-01 8.85468228e-03 1.94444071e+02] [ 7.32778876e-01 -6.80399703e-01 -9.55841329e-03 1.90224359e+02] [ 1.30295224e-02 -1.44666927e-05 9.99915112e-01 6.72080015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.880281693 meters 0.01708616541880262 Centerline is valid? [True, True] Translation: X:194.43, Y:190.25, Z:0.67 [[-6.82870615e-01 -7.30486239e-01 8.80778534e-03 1.94433735e+02] [ 7.30424443e-01 -6.82927413e-01 -9.50166675e-03 1.90245847e+02] [ 1.29559149e-02 -5.49873160e-05 9.99916067e-01 6.71910332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91028169299994 meters 0.01725045630864382 Centerline is valid? [True, True] Translation: X:194.42, Y:190.27, Z:0.67 [[-6.83934348e-01 -7.29497055e-01 8.23738075e-03 1.94420176e+02] [ 7.29443002e-01 -6.83983949e-01 -8.88056852e-03 1.90265136e+02] [ 1.21125848e-02 -6.50261010e-05 9.99926638e-01 6.74760350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.940281693 meters 0.017573024832750122 Centerline is valid? [True, True] Translation: X:194.41, Y:190.28, Z:0.68 [[-6.84648579e-01 -7.28830295e-01 7.91985795e-03 1.94407843e+02] [ 7.28780350e-01 -6.84694382e-01 -8.53255343e-03 1.90283604e+02] [ 1.16414657e-02 -6.99637263e-05 9.99932233e-01 6.75380103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97028169299995 meters 0.018000517921641358 Centerline is valid? [True, True] Translation: X:194.39, Y:190.30, Z:0.67 [[-6.84876863e-01 -7.28597665e-01 9.44062955e-03 1.94392416e+02] [ 7.28526781e-01 -6.84941922e-01 -1.01633065e-02 1.90300879e+02] [ 1.38712444e-02 -8.28620493e-05 9.99903786e-01 6.73003573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.000281693 meters 0.01835226697474487 Centerline is valid? [True, True] Translation: X:194.38, Y:190.32, Z:0.67 [[-6.84354483e-01 -7.29067914e-01 1.09049886e-02 1.94375334e+02] [ 7.28973522e-01 -6.84441357e-01 -1.17317178e-02 1.90315446e+02] [ 1.60170442e-02 -7.92056797e-05 9.99871716e-01 6.68768088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03028169299995 meters 0.017679675602743066 Centerline is valid? [True, True] Translation: X:194.35, Y:190.33, Z:0.67 [[-6.81750205e-01 -7.31495051e-01 1.14738200e-02 1.94354036e+02] [ 7.31391033e-01 -6.81846750e-01 -1.23355625e-02 1.90327412e+02] [ 1.68467898e-02 -1.79232323e-05 9.99858083e-01 6.67738351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.060281693 meters 0.016725959023788515 Centerline is valid? [True, True] Translation: X:194.34, Y:190.34, Z:0.67 [[-6.80325286e-01 -7.32836471e-01 1.04025226e-02 1.94335394e+02] [ 7.32751235e-01 -6.80404811e-01 -1.11768264e-02 1.90342437e+02] [ 1.52687124e-02 1.85836978e-05 9.99883426e-01 6.73163652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09028169299995 meters 0.01687487842254484 Centerline is valid? [True, True] Translation: X:194.32, Y:190.36, Z:0.67 [[-6.79373968e-01 -7.33734705e-01 9.18664242e-03 1.94317026e+02] [ 7.33668398e-01 -6.79436076e-01 -9.86413305e-03 1.90356717e+02] [ 1.34793930e-02 3.85140152e-05 9.99909148e-01 6.74980133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.120281693 meters 0.017846759358746404 Centerline is valid? [True, True] Translation: X:194.30, Y:190.37, Z:0.67 [[-6.78589481e-01 -7.34455546e-01 9.55860173e-03 1.94296157e+02] [ 7.34383928e-01 -6.78656796e-01 -1.02566653e-02 1.90367825e+02] [ 1.40200747e-02 5.96183354e-05 9.99901712e-01 6.72817457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15028169299995 meters 0.017744790048574603 Centerline is valid? [True, True] Translation: X:194.28, Y:190.38, Z:0.67 [[-6.78307221e-01 -7.34707114e-01 1.02357329e-02 1.94278338e+02] [ 7.34625123e-01 -6.78384442e-01 -1.09762541e-02 1.90384040e+02] [ 1.50080939e-02 7.41540643e-05 9.99887369e-01 6.73668379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.180281693 meters 0.0188678672342295 Centerline is valid? [True, True] Translation: X:194.26, Y:190.40, Z:0.67 [[-6.77583841e-01 -7.35373391e-01 1.03011528e-02 1.94260191e+02] [ 7.35290540e-01 -6.77662133e-01 -1.10388376e-02 1.90397017e+02] [ 1.50983686e-02 9.46022374e-05 9.99886009e-01 6.71788847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21028169299996 meters 0.018542589477022843 Centerline is valid? [True, True] Translation: X:194.24, Y:190.41, Z:0.67 [[-6.77430990e-01 -7.35519459e-01 9.91869462e-03 1.94241848e+02] [ 7.35442763e-01 -6.77503591e-01 -1.06219782e-02 1.90411869e+02] [ 1.45326228e-02 9.89750002e-05 9.99894391e-01 6.74879504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.240281693 meters 0.019172492979537836 Centerline is valid? [True, True] Translation: X:194.22, Y:190.42, Z:0.68 [[-6.77200751e-01 -7.35736480e-01 9.53804092e-03 1.94222349e+02] [ 7.35665673e-01 -6.77267909e-01 -1.02076585e-02 1.90424384e+02] [ 1.39699558e-02 1.04175264e-04 9.99902410e-01 6.75504300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27028169299996 meters 0.02021396805833654 Centerline is valid? [True, True] Translation: X:194.20, Y:190.44, Z:0.67 [[-6.75894645e-01 -7.36919361e-01 1.07834811e-02 1.94201219e+02] [ 7.36829121e-01 -6.75980645e-01 -1.15331979e-02 1.90436745e+02] [ 1.57884614e-02 1.50356164e-04 9.99875343e-01 6.73771325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.300281693 meters 0.022343321266401237 Centerline is valid? [True, True] Translation: X:194.18, Y:190.45, Z:0.67 [[-6.75204398e-01 -7.37551446e-01 1.08113600e-02 1.94182374e+02] [ 7.37460943e-01 -6.75290927e-01 -1.15551431e-02 1.90449808e+02] [ 1.58233258e-02 1.70872286e-04 9.99874789e-01 6.71607889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33028169299996 meters 0.024605361437672748 Centerline is valid? [True, True] Translation: X:194.16, Y:190.46, Z:0.68 [[-6.73319126e-01 -7.39289900e-01 9.58111713e-03 1.94159729e+02] [ 7.39219090e-01 -6.73387264e-01 -1.02337501e-02 1.90460168e+02] [ 1.40175103e-02 1.91965021e-04 9.99901731e-01 6.75808361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.360281693 meters 0.022526674140812424 Centerline is valid? [True, True] Translation: X:194.14, Y:190.48, Z:0.68 [[-6.72381561e-01 -7.40158304e-01 8.28989147e-03 1.94143479e+02] [ 7.40105431e-01 -6.72432637e-01 -8.84875265e-03 1.90476833e+02] [ 1.21238713e-02 1.85655577e-04 9.99926486e-01 6.82875589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39028169299996 meters 0.024919667677869177 Centerline is valid? [True, True] Translation: X:194.12, Y:190.49, Z:0.68 [[-6.71851335e-01 -7.40647170e-01 7.58632958e-03 1.94122985e+02] [ 7.40602982e-01 -6.71894140e-01 -8.09239400e-03 1.90488700e+02] [ 1.10908191e-02 1.81572599e-04 9.99938479e-01 6.83225232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42028169299994 meters 0.024919667677869177 Centerline is valid? [True, True] Translation: X:194.11, Y:190.50, Z:0.68 [[-6.72095354e-01 -7.40425717e-01 7.58900442e-03 1.94107278e+02] [ 7.40381543e-01 -6.72138174e-01 -8.08988545e-03 1.90504747e+02] [ 1.10908188e-02 1.81584380e-04 9.99938479e-01 6.83269954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45028169299997 meters 0.025004004020389613 Centerline is valid? [True, True] Translation: X:194.09, Y:190.52, Z:0.68 [[-6.72430742e-01 -7.40117448e-01 7.94103142e-03 1.94089373e+02] [ 7.40069126e-01 -6.72477604e-01 -8.45937342e-03 1.90518360e+02] [ 1.16010957e-02 1.88569439e-04 9.99932687e-01 6.81791834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48028169299994 meters 0.02447487818353762 Centerline is valid? [True, True] Translation: X:194.07, Y:190.53, Z:0.68 [[-6.73245825e-01 -7.39372144e-01 8.30004836e-03 1.94072923e+02] [ 7.39319369e-01 -6.73296960e-01 -8.83596779e-03 1.90533896e+02] [ 1.21214658e-02 1.87608080e-04 9.99926515e-01 6.80597021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51028169299997 meters 0.02181938485652647 Centerline is valid? [True, True] Translation: X:194.06, Y:190.55, Z:0.68 [[-6.75664012e-01 -7.37153807e-01 9.07786872e-03 1.94057978e+02] [ 7.37090576e-01 -6.75724972e-01 -9.65637103e-03 1.90551983e+02] [ 1.32523732e-02 1.66749080e-04 9.99912170e-01 6.79619377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54028169299994 meters 0.02064747560911611 Centerline is valid? [True, True] Translation: X:194.04, Y:190.57, Z:0.68 [[-6.77146696e-01 -7.35787531e-01 9.43728084e-03 1.94043127e+02] [ 7.35719156e-01 -6.77212439e-01 -1.00317497e-02 1.90568977e+02] [ 1.37722803e-02 1.50222099e-04 9.99905146e-01 6.79446190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57028169299997 meters 0.01981828940457797 Centerline is valid? [True, True] Translation: X:194.03, Y:190.59, Z:0.68 [[-6.78221549e-01 -7.34794701e-01 9.60609979e-03 1.94027189e+02] [ 7.34723855e-01 -6.78289561e-01 -1.02043638e-02 1.90585914e+02] [ 1.40138297e-02 1.37011225e-04 9.99901792e-01 6.78971180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60028169299994 meters 0.019471889498552854 Centerline is valid? [True, True] Translation: X:194.01, Y:190.60, Z:0.68 [[-6.79549774e-01 -7.33575873e-01 8.86241398e-03 1.94010771e+02] [ 7.33515556e-01 -6.79607553e-01 -9.40761602e-03 1.90601013e+02] [ 1.29241636e-02 1.07775167e-04 9.99916474e-01 6.79003359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.630281693 meters 0.018146119189777554 Centerline is valid? [True, True] Translation: X:194.00, Y:190.62, Z:0.68 [[-6.80256171e-01 -7.32929250e-01 8.13986838e-03 1.93995995e+02] [ 7.32878388e-01 -6.80304863e-01 -8.63488038e-03 1.90618699e+02] [ 1.18663484e-02 9.16029574e-05 9.99929588e-01 6.82790040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66028169299994 meters 0.017532029693930855 Centerline is valid? [True, True] Translation: X:193.98, Y:190.63, Z:0.69 [[-6.80866568e-01 -7.32371487e-01 7.26089735e-03 1.93978314e+02] [ 7.32331039e-01 -6.80905279e-01 -7.69746957e-03 1.90633866e+02] [ 1.05813906e-02 7.64308053e-05 9.99944013e-01 6.87488418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.690281693 meters 0.01742811777011735 Centerline is valid? [True, True] Translation: X:193.96, Y:190.65, Z:0.69 [[-6.81132401e-01 -7.32124215e-01 7.26542630e-03 1.93960410e+02] [ 7.32083756e-01 -6.81171145e-01 -7.69716873e-03 1.90648794e+02] [ 1.05842824e-02 7.61095474e-05 9.99943982e-01 6.87723836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72028169299995 meters 0.017504250742075664 Centerline is valid? [True, True] Translation: X:193.94, Y:190.66, Z:0.68 [[-6.81880449e-01 -7.31419919e-01 7.99719154e-03 1.93944644e+02] [ 7.31370919e-01 -6.81927340e-01 -8.46657878e-03 1.90663635e+02] [ 1.16461279e-02 7.57187749e-05 9.99932179e-01 6.84662209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.750281693 meters 0.016662933195105208 Centerline is valid? [True, True] Translation: X:193.93, Y:190.68, Z:0.68 [[-6.83341555e-01 -7.30050510e-01 8.40068429e-03 1.93930898e+02] [ 7.29996410e-01 -6.83393188e-01 -8.88775718e-03 1.90682250e+02] [ 1.22294821e-02 5.90955617e-05 9.99925215e-01 6.83972461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78028169299995 meters 0.016217117532281174 Centerline is valid? [True, True] Translation: X:193.92, Y:190.70, Z:0.68 [[-6.85342562e-01 -7.28165959e-01 8.93924762e-03 1.93919054e+02] [ 7.28104629e-01 -6.85400858e-01 -9.45056111e-03 1.90700668e+02] [ 1.30085449e-02 3.18358099e-05 9.99915385e-01 6.81895357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.810281693 meters 0.016288813927543708 Centerline is valid? [True, True] Translation: X:193.91, Y:190.72, Z:0.68 [[-6.87704173e-01 -7.25925234e-01 9.77372073e-03 1.93906636e+02] [ 7.25851792e-01 -6.87773622e-01 -1.03257475e-02 1.90720289e+02] [ 1.42178280e-02 -6.78694688e-06 9.99898922e-01 6.80209265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84028169299995 meters 0.018249857527549783 Centerline is valid? [True, True] Translation: X:193.90, Y:190.74, Z:0.68 [[-6.91802078e-01 -7.22003248e-01 1.10088051e-02 1.93897743e+02] [ 7.21909709e-01 -6.91889659e-01 -1.16219900e-02 1.90741555e+02] [ 1.60079929e-02 -9.27535036e-05 9.99871860e-01 6.77212601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.870281693 meters 0.01910406650172477 Centerline is valid? [True, True] Translation: X:193.88, Y:190.76, Z:0.68 [[-6.93648615e-01 -7.20224238e-01 1.13422114e-02 1.93883734e+02] [ 7.20124855e-01 -6.93741327e-01 -1.19651387e-02 1.90759215e+02] [ 1.64861437e-02 -1.31793577e-04 9.99864086e-01 6.78350803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90028169299995 meters 0.020700477543101673 Centerline is valid? [True, True] Translation: X:193.87, Y:190.78, Z:0.68 [[-6.95879144e-01 -7.18069167e-01 1.13529173e-02 1.93869332e+02] [ 7.17969432e-01 -6.95971723e-01 -1.19689099e-02 1.90778256e+02] [ 1.64958146e-02 -1.77867195e-04 9.99863919e-01 6.78880624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.930281693 meters 0.021621303007470595 Centerline is valid? [True, True] Translation: X:193.86, Y:190.79, Z:0.68 [[-6.96717721e-01 -7.17259518e-01 1.10995631e-02 1.93855093e+02] [ 7.17164209e-01 -6.96806105e-01 -1.16939498e-02 1.90794865e+02] [ 1.61218401e-02 -1.87172730e-04 9.99870017e-01 6.78328360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96028169299996 meters 0.021890639575205532 Centerline is valid? [True, True] Translation: X:193.84, Y:190.81, Z:0.68 [[-6.97643462e-01 -7.16366891e-01 1.05866472e-02 1.93839407e+02] [ 7.16280196e-01 -6.97723757e-01 -1.11463234e-02 1.90811699e+02] [ 1.53714123e-02 -1.93153912e-04 9.99881834e-01 6.79966288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.990281693 meters 0.02255661624726201 Centerline is valid? [True, True] Translation: X:193.83, Y:190.83, Z:0.69 [[-6.99246980e-01 -7.14820858e-01 9.20880537e-03 1.93825797e+02] [ 7.14755212e-01 -6.99307589e-01 -9.68937729e-03 1.90830733e+02] [ 1.33659565e-02 -1.93226171e-04 9.99910653e-01 6.85093301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02028169299996 meters 0.023222978912229967 Centerline is valid? [True, True] Translation: X:193.81, Y:190.85, Z:0.69 [[-7.00002998e-01 -7.14082824e-01 9.02903526e-03 1.93811860e+02] [ 7.14019735e-01 -7.00061198e-01 -9.49401127e-03 1.90848785e+02] [ 1.31003876e-02 -1.98926991e-04 9.99914166e-01 6.85524467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.050281693 meters 0.0246600441500389 Centerline is valid? [True, True] Translation: X:193.80, Y:190.87, Z:0.69 [[-7.00658287e-01 -7.13441047e-01 8.93523455e-03 1.93798419e+02] [ 7.13379298e-01 -7.00715228e-01 -9.38863106e-03 1.90866710e+02] [ 1.29592897e-02 -2.04010807e-04 9.99916004e-01 6.85944732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08028169299996 meters 0.024878987491758264 Centerline is valid? [True, True] Translation: X:193.78, Y:190.88, Z:0.69 [[-7.00739665e-01 -7.13362494e-01 8.82459356e-03 1.93783113e+02] [ 7.13302334e-01 -7.00795200e-01 -9.26644257e-03 1.90882441e+02] [ 1.27945654e-02 -1.98760674e-04 9.99918126e-01 6.85756754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.110281693 meters 0.02312550979460331 Centerline is valid? [True, True] Translation: X:193.77, Y:190.90, Z:0.69 [[-7.00530734e-01 -7.13568941e-01 8.72112360e-03 1.93765012e+02] [ 7.13510274e-01 -7.00584992e-01 -9.15189212e-03 1.90897503e+02] [ 1.26403943e-02 -1.88570411e-04 9.99920089e-01 6.87535643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14028169299996 meters 0.021485243028975712 Centerline is valid? [True, True] Translation: X:193.75, Y:190.91, Z:0.69 [[-6.99273334e-01 -7.14806750e-01 8.25320426e-03 1.93748131e+02] [ 7.14754364e-01 -6.99322020e-01 -8.65515909e-03 1.90911575e+02] [ 1.19584136e-02 -1.53308186e-04 9.99928484e-01 6.88806662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17028169299994 meters 0.02020396079886755 Centerline is valid? [True, True] Translation: X:193.73, Y:190.93, Z:0.69 [[-6.98588681e-01 -7.15478221e-01 8.04803049e-03 1.93729847e+02] [ 7.15428516e-01 -6.98635025e-01 -8.43451277e-03 1.90925513e+02] [ 1.16573462e-02 -1.34464637e-04 9.99932042e-01 6.89688629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20028169299997 meters 0.01938882351057085 Centerline is valid? [True, True] Translation: X:193.71, Y:190.94, Z:0.69 [[-6.97707595e-01 -7.16335804e-01 8.19319891e-03 1.93712455e+02] [ 7.16284417e-01 -6.97755689e-01 -8.58091406e-03 1.90938906e+02] [ 1.18636671e-02 -1.18308211e-04 9.99929617e-01 6.89221601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23028169299994 meters 0.017836718237328412 Centerline is valid? [True, True] Translation: X:193.69, Y:190.95, Z:0.69 [[-6.96099323e-01 -7.17900772e-01 8.01334077e-03 1.93692839e+02] [ 7.17851783e-01 -6.96145440e-01 -8.38715693e-03 1.90951703e+02] [ 1.15995971e-02 -8.59033025e-05 9.99932719e-01 6.88580155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26028169299997 meters 0.017348071902241264 Centerline is valid? [True, True] Translation: X:193.68, Y:190.97, Z:0.69 [[-6.96277385e-01 -7.17730610e-01 7.78291171e-03 1.93675720e+02] [ 7.17684447e-01 -6.96320877e-01 -8.14066096e-03 1.90967407e+02] [ 1.12622055e-02 -8.24834428e-05 9.99936576e-01 6.90155198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29028169299994 meters 0.018323214350413043 Centerline is valid? [True, True] Translation: X:193.66, Y:190.98, Z:0.69 [[-6.97903719e-01 -7.16155670e-01 7.17329246e-03 1.93659952e+02] [ 7.16116422e-01 -6.97940576e-01 -7.49817021e-03 1.90984615e+02] [ 1.03763890e-02 -9.60883429e-05 9.99946159e-01 6.91810135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32028169299997 meters 0.019463935375113543 Centerline is valid? [True, True] Translation: X:193.65, Y:191.00, Z:0.69 [[-6.99285090e-01 -7.14803782e-01 7.47771136e-03 1.93645612e+02] [ 7.14761112e-01 -6.99325060e-01 -7.81107530e-03 1.91001317e+02] [ 1.08127371e-02 -1.17391204e-04 9.99941534e-01 6.91775749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35028169299994 meters 0.020073244290375273 Centerline is valid? [True, True] Translation: X:193.63, Y:191.02, Z:0.69 [[-7.00712683e-01 -7.13397730e-01 8.08790416e-03 1.93629300e+02] [ 7.13347781e-01 -7.00759343e-01 -8.44316180e-03 1.91019401e+02] [ 1.16910069e-02 -1.46742071e-04 9.99931647e-01 6.92200760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.380281693 meters 0.023178817537013324 Centerline is valid? [True, True] Translation: X:193.62, Y:191.04, Z:0.69 [[-7.03140131e-01 -7.10997321e-01 8.76162606e-03 1.93617420e+02] [ 7.10938590e-01 -7.03194689e-01 -9.14062675e-03 1.91039365e+02] [ 1.26600900e-02 -1.98163416e-04 9.99919838e-01 6.90015953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41028169299994 meters 0.023526447854588697 Centerline is valid? [True, True] Translation: X:193.60, Y:191.06, Z:0.69 [[-7.03480009e-01 -7.10666929e-01 8.26999102e-03 1.93601869e+02] [ 7.10614650e-01 -7.03528593e-01 -8.62200815e-03 1.91055453e+02] [ 1.19455512e-02 -1.88633606e-04 9.99928632e-01 6.90695920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.440281693 meters 0.020539372277985884 Centerline is valid? [True, True] Translation: X:193.58, Y:191.07, Z:0.69 [[-7.01969158e-01 -7.12167594e-01 7.52458278e-03 1.93581792e+02] [ 7.12124457e-01 -7.02009471e-01 -7.83965409e-03 1.91069900e+02] [ 1.08654760e-02 -1.44755950e-04 9.99940959e-01 6.93324178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47028169299995 meters 0.02094824577088259 Centerline is valid? [True, True] Translation: X:193.57, Y:191.09, Z:0.69 [[-7.00943937e-01 -7.13175475e-01 7.63803328e-03 1.93566939e+02] [ 7.13131144e-01 -7.00985539e-01 -7.95270719e-03 1.91087880e+02] [ 1.10258266e-02 -1.27482479e-04 9.99939206e-01 6.91127397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.500281693 meters 0.018856428319082272 Centerline is valid? [True, True] Translation: X:193.55, Y:191.10, Z:0.69 [[-6.99984979e-01 -7.14111666e-01 8.09678799e-03 1.93548869e+02] [ 7.14061977e-01 -7.00031796e-01 -8.42481073e-03 1.91102899e+02] [ 1.16842647e-02 -1.15632518e-04 9.99931730e-01 6.91222138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53028169299995 meters 0.016758110050126607 Centerline is valid? [True, True] Translation: X:193.53, Y:191.12, Z:0.69 [[-6.97799142e-01 -7.16244526e-01 8.37472717e-03 1.93529426e+02] [ 7.16191587e-01 -6.97849391e-01 -8.70849092e-03 1.91117940e+02] [ 1.20817072e-02 -7.88683416e-05 9.99927010e-01 6.91989824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.560281693 meters 0.016434405410458625 Centerline is valid? [True, True] Translation: X:193.51, Y:191.13, Z:0.69 [[-6.96521043e-01 -7.17486878e-01 8.42715157e-03 1.93512674e+02] [ 7.17433434e-01 -6.96572019e-01 -8.75730643e-03 1.91133451e+02] [ 1.21533704e-02 -5.37279192e-05 9.99926144e-01 6.90178649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59028169299995 meters 0.015885192440796447 Centerline is valid? [True, True] Translation: X:193.50, Y:191.15, Z:0.69 [[-6.95217563e-01 -7.18746863e-01 8.68835746e-03 1.93495193e+02] [ 7.18690227e-01 -6.95271851e-01 -9.02283882e-03 1.91148485e+02] [ 1.25259075e-02 -2.85984211e-05 9.99921547e-01 6.89649762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.620281693 meters 0.01593006116789203 Centerline is valid? [True, True] Translation: X:193.48, Y:191.16, Z:0.69 [[-6.92271865e-01 -7.21584979e-01 8.64766883e-03 1.93475491e+02] [ 7.21529166e-01 -6.92325875e-01 -8.97474768e-03 1.91161779e+02] [ 1.24630480e-02 2.65799586e-05 9.99922333e-01 6.90321215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65028169299995 meters 0.016471319398526987 Centerline is valid? [True, True] Translation: X:193.46, Y:191.18, Z:0.69 [[-6.90924194e-01 -7.22878066e-01 8.42970003e-03 1.93456258e+02] [ 7.22825196e-01 -6.90975614e-01 -8.74286009e-03 1.91175272e+02] [ 1.21447389e-02 5.25460070e-05 9.99926249e-01 6.91449508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.680281693 meters 0.018076867012620124 Centerline is valid? [True, True] Translation: X:193.44, Y:191.19, Z:0.69 [[-6.88743542e-01 -7.24961379e-01 7.95816993e-03 1.93435823e+02] [ 7.24914460e-01 -6.88789511e-01 -8.24831407e-03 1.91187641e+02] [ 1.14612131e-02 8.80194116e-05 9.99934314e-01 6.92392049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71028169299996 meters 0.018480700429718333 Centerline is valid? [True, True] Translation: X:193.42, Y:191.20, Z:0.69 [[-6.88550998e-01 -7.25149033e-01 7.51015056e-03 1.93419533e+02] [ 7.25107316e-01 -6.88591948e-01 -7.77877618e-03 1.91202817e+02] [ 1.08122012e-02 8.95810103e-05 9.99941542e-01 6.92967262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.740281693 meters 0.01790893824635192 Centerline is valid? [True, True] Translation: X:193.40, Y:191.22, Z:0.69 [[-6.89104703e-01 -7.24629046e-01 6.88865171e-03 1.93403499e+02] [ 7.24593971e-01 -6.89139129e-01 -7.13010100e-03 1.91219919e+02] [ 9.91391772e-03 7.80893618e-05 9.99950853e-01 6.94816703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77028169299996 meters 0.016491638159896203 Centerline is valid? [True, True] Translation: X:193.39, Y:191.24, Z:0.70 [[-6.90481989e-01 -7.23326491e-01 5.78027533e-03 1.93389120e+02] [ 7.23301781e-01 -6.90506181e-01 -5.97900606e-03 1.91237545e+02] [ 8.31608931e-03 5.24874407e-05 9.99965419e-01 6.99171227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.800281693 meters 0.016271656004428564 Centerline is valid? [True, True] Translation: X:193.37, Y:191.25, Z:0.70 [[-6.91115165e-01 -7.22723488e-01 5.53068130e-03 1.93373344e+02] [ 7.22700877e-01 -6.91137293e-01 -5.71709329e-03 1.91254108e+02] [ 7.95433770e-03 4.58583583e-05 9.99968363e-01 6.99588679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83028169299996 meters 0.015605906482036204 Centerline is valid? [True, True] Translation: X:193.36, Y:191.27, Z:0.70 [[-6.92444193e-01 -7.21450734e-01 5.46607096e-03 1.93357980e+02] [ 7.21428642e-01 -6.92465766e-01 -5.64597223e-03 1.91271864e+02] [ 7.85835782e-03 3.38594693e-05 9.99969122e-01 7.00362831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.860281693 meters 0.015107319166777098 Centerline is valid? [True, True] Translation: X:193.34, Y:191.29, Z:0.70 [[-6.93547332e-01 -7.20392031e-01 5.23646381e-03 1.93342696e+02] [ 7.20371754e-01 -6.93567100e-01 -5.40499932e-03 1.91287922e+02] [ 7.52555745e-03 2.35777685e-05 9.99971682e-01 7.01358543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89028169299996 meters 0.014712779055717749 Centerline is valid? [True, True] Translation: X:193.33, Y:191.31, Z:0.70 [[-6.94830479e-01 -7.19157020e-01 4.87709800e-03 1.93327174e+02] [ 7.19139423e-01 -6.94847595e-01 -5.03082884e-03 1.91305095e+02] [ 7.00679569e-03 1.17402230e-05 9.99975452e-01 7.02083164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92028169299994 meters 0.014887226157477187 Centerline is valid? [True, True] Translation: X:193.32, Y:191.32, Z:0.70 [[-6.97435287e-01 -7.16629306e-01 5.14374586e-03 1.93315681e+02] [ 7.16609690e-01 -6.97454255e-01 -5.30231681e-03 1.91324912e+02] [ 7.38732305e-03 -1.19647255e-05 9.99972713e-01 7.00834964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95028169299997 meters 0.015230865709471516 Centerline is valid? [True, True] Translation: X:193.30, Y:191.34, Z:0.70 [[-6.98776932e-01 -7.15317659e-01 5.60762061e-03 1.93301677e+02] [ 7.15294334e-01 -6.98799432e-01 -5.77665571e-03 1.91343838e+02] [ 8.05074594e-03 -2.54945080e-05 9.99967592e-01 6.99655089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98028169299994 meters 0.015571783595857258 Centerline is valid? [True, True] Translation: X:193.29, Y:191.36, Z:0.70 [[-6.99960565e-01 -7.14155678e-01 6.07254128e-03 1.93286594e+02] [ 7.14128316e-01 -6.99986904e-01 -6.25160510e-03 1.91362423e+02] [ 8.71531865e-03 -3.93033621e-05 9.99962020e-01 6.99386941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01028169299997 meters 0.015891289981514938 Centerline is valid? [True, True] Translation: X:193.27, Y:191.38, Z:0.70 [[-7.00262381e-01 -7.13858751e-01 6.18724898e-03 1.93272140e+02] [ 7.13830370e-01 -7.00289713e-01 -6.36561037e-03 1.91380158e+02] [ 8.87701348e-03 -4.09512511e-05 9.99960598e-01 6.99548699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04028169299994 meters 0.0151112070342623 Centerline is valid? [True, True] Translation: X:193.25, Y:191.40, Z:0.70 [[-7.00021573e-01 -7.14101119e-01 5.42115248e-03 1.93254695e+02] [ 7.14079365e-01 -7.00042564e-01 -5.57398893e-03 1.91395953e+02] [ 7.77542922e-03 -3.07793762e-05 9.99969770e-01 7.02623633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07028169299997 meters 0.01473638230934954 Centerline is valid? [True, True] Translation: X:193.24, Y:191.41, Z:0.70 [[-6.98420858e-01 -7.15665510e-01 5.58418545e-03 1.93237319e+02] [ 7.15642507e-01 -6.98443182e-01 -5.73787399e-03 1.91410960e+02] [ 8.00663477e-03 -1.11703977e-05 9.99967946e-01 7.02589718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10028169299994 meters 0.015169037768904074 Centerline is valid? [True, True] Translation: X:193.22, Y:191.42, Z:0.70 [[-6.97039571e-01 -7.17000782e-01 6.76131758e-03 1.93219910e+02] [ 7.16967170e-01 -6.97072362e-01 -6.94250480e-03 1.91424486e+02] [ 9.69090899e-03 8.44216732e-06 9.99953042e-01 6.98247529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.130281693 meters 0.01619500571141173 Centerline is valid? [True, True] Translation: X:193.20, Y:191.44, Z:0.69 [[-6.95456982e-01 -7.18522077e-01 8.10005821e-03 1.93201340e+02] [ 7.18474012e-01 -6.95504150e-01 -8.31088116e-03 1.91438050e+02] [ 1.16051757e-02 3.98209922e-05 9.99932657e-01 6.94601147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16028169299994 meters 0.017992187034291434 Centerline is valid? [True, True] Translation: X:193.18, Y:191.45, Z:0.69 [[-6.93506481e-01 -7.20399196e-01 8.58833222e-03 1.93183084e+02] [ 7.20345378e-01 -6.93559653e-01 -8.80589324e-03 1.91450576e+02] [ 1.23002791e-02 7.96213860e-05 9.99924346e-01 6.92414346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.190281693 meters 0.02096740545780188 Centerline is valid? [True, True] Translation: X:193.16, Y:191.46, Z:0.70 [[-6.89401783e-01 -7.24349826e-01 6.52013468e-03 1.93160411e+02] [ 7.24319025e-01 -6.89432605e-01 -6.68081714e-03 1.91460706e+02] [ 9.33444216e-03 1.16890347e-04 9.99956426e-01 7.00040298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22028169299995 meters 0.02538244934370201 Centerline is valid? [True, True] Translation: X:193.14, Y:191.47, Z:0.70 [[-6.87292372e-01 -7.26361392e-01 5.32200062e-03 1.93138551e+02] [ 7.26340959e-01 -6.87312966e-01 -5.44956794e-03 1.91470072e+02] [ 7.61623578e-03 1.20140560e-04 9.99970989e-01 7.02957399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.250281693 meters 0.028532635342433416 Centerline is valid? [True, True] Translation: X:193.12, Y:191.48, Z:0.70 [[-6.83611468e-01 -7.29823396e-01 5.75949396e-03 1.93117792e+02] [ 7.29799622e-01 -6.83635708e-01 -5.89333667e-03 1.91482865e+02] [ 8.23849071e-03 1.74523978e-04 9.99966048e-01 7.02971949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28028169299995 meters 0.031142253231672447 Centerline is valid? [True, True] Translation: X:193.10, Y:191.50, Z:0.70 [[-6.82743342e-01 -7.30629073e-01 6.53351932e-03 1.93099793e+02] [ 7.30598560e-01 -6.82774570e-01 -6.68060312e-03 1.91495619e+02] [ 9.34196370e-03 2.12242501e-04 9.99956340e-01 7.00227942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.310281693 meters 0.031142253231672447 Centerline is valid? [True, True] Translation: X:193.08, Y:191.51, Z:0.70 [[-6.82981432e-01 -7.30406495e-01 6.53572023e-03 1.93083749e+02] [ 7.30375993e-01 -6.83012670e-01 -6.67844980e-03 1.91511328e+02] [ 9.34196284e-03 2.12275945e-04 9.99956340e-01 7.00272673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34028169299995 meters 0.03142180325177352 Centerline is valid? [True, True] Translation: X:193.07, Y:191.53, Z:0.70 [[-6.82806909e-01 -7.30567626e-01 6.75788375e-03 1.93066459e+02] [ 7.30535070e-01 -6.82840313e-01 -6.90060096e-03 1.91526976e+02] [ 9.65591112e-03 2.25093077e-04 9.99953355e-01 7.00108149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.370281693 meters 0.03115099732501098 Centerline is valid? [True, True] Translation: X:193.05, Y:191.54, Z:0.70 [[-6.83028892e-01 -7.30371570e-01 5.37616027e-03 1.93047919e+02] [ 7.30350991e-01 -6.83050026e-01 -5.48564130e-03 1.91541625e+02] [ 7.67874286e-03 1.79632483e-04 9.99970502e-01 7.03860169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40028169299995 meters 0.03244306197040242 Centerline is valid? [True, True] Translation: X:193.03, Y:191.55, Z:0.71 [[-6.83041702e-01 -7.30366306e-01 4.36942001e-03 1.93030438e+02] [ 7.30352731e-01 -6.83055662e-01 -4.45543115e-03 1.91554882e+02] [ 6.23865387e-03 1.47972563e-04 9.99980528e-01 7.06018111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.430281693 meters 0.03278813785769876 Centerline is valid? [True, True] Translation: X:193.01, Y:191.57, Z:0.71 [[-6.82614314e-01 -7.30769871e-01 3.61861456e-03 1.93013438e+02] [ 7.30760578e-01 -6.82623894e-01 -3.68738351e-03 1.91570323e+02] [ 5.16478154e-03 1.27280101e-04 9.99986654e-01 7.08083736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46028169299996 meters 0.0353999228069941 Centerline is valid? [True, True] Translation: X:192.99, Y:191.58, Z:0.71 [[-6.81073393e-01 -7.32201904e-01 4.40505802e-03 1.92992161e+02] [ 7.32188184e-01 -6.81087617e-01 -4.48562623e-03 1.91583004e+02] [ 6.28461454e-03 1.70290760e-04 9.99980237e-01 7.06254943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.490281693 meters 0.03777322377540087 Centerline is valid? [True, True] Translation: X:192.97, Y:191.59, Z:0.70 [[-6.79912777e-01 -7.33275319e-01 5.09137506e-03 1.92970098e+02] [ 7.33257045e-01 -6.79931807e-01 -5.18108530e-03 1.91594138e+02] [ 7.26094982e-03 2.10600544e-04 9.99973617e-01 7.04875944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52028169299996 meters 0.03850325097888184 Centerline is valid? [True, True] Translation: X:192.95, Y:191.61, Z:0.71 [[-6.79827556e-01 -7.33355608e-01 4.90366560e-03 1.92952463e+02] [ 7.33338681e-01 -6.79845210e-01 -4.98689125e-03 1.91608773e+02] [ 6.99089824e-03 2.05821568e-04 9.99975542e-01 7.05350656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.550281693 meters 0.03610013629724017 Centerline is valid? [True, True] Translation: X:192.94, Y:191.63, Z:0.71 [[-6.80096684e-01 -7.33107074e-01 4.74526216e-03 1.92937740e+02] [ 7.33091238e-01 -6.80113210e-01 -4.82279272e-03 1.91626936e+02] [ 6.76293894e-03 1.98744776e-04 9.99977111e-01 7.06179013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58028169299996 meters 0.03803652276309905 Centerline is valid? [True, True] Translation: X:192.92, Y:191.64, Z:0.70 [[-6.81386581e-01 -7.31905196e-01 5.20687061e-03 1.92918694e+02] [ 7.31886120e-01 -6.81406443e-01 -5.28829664e-03 1.91639413e+02] [ 7.41852697e-03 2.07461959e-04 9.99972461e-01 7.04048062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.610281693 meters 0.03444529301292459 Centerline is valid? [True, True] Translation: X:192.90, Y:191.66, Z:0.70 [[-6.82311289e-01 -7.31042629e-01 5.28962450e-03 1.92904713e+02] [ 7.31022943e-01 -6.82331762e-01 -5.36872829e-03 1.91658236e+02] [ 7.53404805e-03 2.03692952e-04 9.99971598e-01 7.04612029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64028169299996 meters 0.030812631561462012 Centerline is valid? [True, True] Translation: X:192.89, Y:191.68, Z:0.71 [[-6.84457051e-01 -7.29039665e-01 4.43983082e-03 1.92888906e+02] [ 7.29025772e-01 -6.84471433e-01 -4.50343755e-03 1.91676294e+02] [ 6.32212197e-03 1.54341501e-04 9.99980003e-01 7.07733780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67028169299994 meters 0.033101497745775504 Centerline is valid? [True, True] Translation: X:192.87, Y:191.69, Z:0.71 [[-6.85509995e-01 -7.28051739e-01 4.08813810e-03 1.92868703e+02] [ 7.28039957e-01 -6.85522171e-01 -4.14408759e-03 1.91688784e+02] [ 5.81961948e-03 1.35514429e-04 9.99983057e-01 7.08526257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70028169299997 meters 0.0318860593606042 Centerline is valid? [True, True] Translation: X:192.85, Y:191.70, Z:0.71 [[-6.86517279e-01 -7.27104385e-01 3.63846326e-03 1.92852045e+02] [ 7.27095051e-01 -6.86526911e-01 -3.68601228e-03 1.91704444e+02] [ 5.17801863e-03 1.14997509e-04 9.99986587e-01 7.09894422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73028169299994 meters 0.028756169350124094 Centerline is valid? [True, True] Translation: X:192.84, Y:191.72, Z:0.71 [[-6.89002444e-01 -7.24752194e-01 3.14481433e-03 1.92837899e+02] [ 7.24745205e-01 -6.89009615e-01 -3.18400087e-03 1.91721033e+02] [ 4.47441893e-03 8.54047210e-05 9.99989986e-01 7.11024022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76028169299997 meters 0.024762024003131784 Centerline is valid? [True, True] Translation: X:192.83, Y:191.74, Z:0.71 [[-6.90765236e-01 -7.23072545e-01 3.07962915e-03 1.92825345e+02] [ 7.23065835e-01 -6.90772097e-01 -3.11589177e-03 1.91741411e+02] [ 4.38033768e-03 7.44249096e-05 9.99990404e-01 7.11448062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79028169299994 meters 0.02246292323319889 Centerline is valid? [True, True] Translation: X:192.81, Y:191.76, Z:0.71 [[-6.92086699e-01 -7.21806751e-01 3.31902300e-03 1.92810970e+02] [ 7.21798954e-01 -6.92094654e-01 -3.35579379e-03 1.91760325e+02] [ 4.71931269e-03 7.31670834e-05 9.99988861e-01 7.11291328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82028169299997 meters 0.02049380039514539 Centerline is valid? [True, True] Translation: X:192.80, Y:191.78, Z:0.71 [[-6.94881430e-01 -7.19107928e-01 4.85669481e-03 1.92796923e+02] [ 7.19091191e-01 -6.94898397e-01 -4.90692937e-03 1.91778865e+02] [ 6.90352125e-03 8.26723610e-05 9.99976167e-01 7.06337212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85028169299994 meters 0.019556636792716003 Centerline is valid? [True, True] Translation: X:192.78, Y:191.80, Z:0.70 [[-6.97028333e-01 -7.17023070e-01 5.42402433e-03 1.92782622e+02] [ 7.17002160e-01 -6.97049433e-01 -5.47637243e-03 1.91795083e+02] [ 7.70749845e-03 7.18504186e-05 9.99970294e-01 7.03575725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.880281693 meters 0.016078026427807215 Centerline is valid? [True, True] Translation: X:192.77, Y:191.82, Z:0.70 [[-7.00947374e-01 -7.13191182e-01 5.57834900e-03 1.92773424e+02] [ 7.13168972e-01 -7.00969569e-01 -5.62856989e-03 1.91816498e+02] [ 7.92449931e-03 3.29741426e-05 9.99968600e-01 7.02941363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91028169299994 meters 0.015350635121130659 Centerline is valid? [True, True] Translation: X:192.76, Y:191.84, Z:0.70 [[-7.02401894e-01 -7.11757014e-01 5.79076289e-03 1.92760533e+02] [ 7.11733062e-01 -7.02425764e-01 -5.83910320e-03 1.91836434e+02] [ 8.22360370e-03 2.00802606e-05 9.99966185e-01 7.03771351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.940281693 meters 0.015334521712092677 Centerline is valid? [True, True] Translation: X:192.75, Y:191.85, Z:0.70 [[-7.03405931e-01 -7.10761665e-01 6.16054515e-03 1.92748162e+02] [ 7.10734555e-01 -7.03432908e-01 -6.20777536e-03 1.91854395e+02] [ 8.74577894e-03 1.19263104e-05 9.99961755e-01 7.02004865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97028169299995 meters 0.01769131451375182 Centerline is valid? [True, True] Translation: X:192.73, Y:191.87, Z:0.71 [[-7.03915831e-01 -7.10257234e-01 6.09631963e-03 1.92734202e+02] [ 7.10230703e-01 -7.03942229e-01 -6.13895197e-03 1.91873513e+02] [ 8.65169188e-03 8.48789727e-06 9.99962573e-01 7.08201766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.000281693 meters 0.014785929694864195 Centerline is valid? [True, True] Translation: X:192.72, Y:191.89, Z:0.71 [[-7.03571766e-01 -7.10608091e-01 4.78654132e-03 1.92719572e+02] [ 7.10591765e-01 -7.03588048e-01 -4.81692761e-03 1.91890415e+02] [ 6.79070100e-03 1.22225805e-05 9.99976943e-01 7.09052976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03028169299995 meters 0.014896089363662936 Centerline is valid? [True, True] Translation: X:192.70, Y:191.91, Z:0.71 [[-7.03150778e-01 -7.11026695e-01 4.47452302e-03 1.92703947e+02] [ 7.11012456e-01 -7.03165015e-01 -4.49997874e-03 1.91906775e+02] [ 6.34593305e-03 1.72780458e-05 9.99979864e-01 7.09467924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.060281693 meters 0.015734785879067455 Centerline is valid? [True, True] Translation: X:192.69, Y:191.92, Z:0.71 [[-7.02056381e-01 -7.12104830e-01 4.85269614e-03 1.92690057e+02] [ 7.12088132e-01 -7.02073151e-01 -4.87667777e-03 1.91923203e+02] [ 6.87965346e-03 3.18445854e-05 9.99976334e-01 7.07236019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09028169299995 meters 0.016511398047492173 Centerline is valid? [True, True] Translation: X:192.67, Y:191.94, Z:0.71 [[-7.01028030e-01 -7.13116624e-01 4.93771343e-03 1.92673208e+02] [ 7.13099385e-01 -7.01045418e-01 -4.95869635e-03 1.91938620e+02] [ 6.99769018e-03 4.48952733e-05 9.99975515e-01 7.06903224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.120281693 meters 0.018124964863684985 Centerline is valid? [True, True] Translation: X:192.66, Y:191.95, Z:0.71 [[-6.99862518e-01 -7.14259809e-01 5.03793352e-03 1.92655167e+02] [ 7.14241917e-01 -6.99880648e-01 -5.05593120e-03 1.91951517e+02] [ 7.13720063e-03 5.98465513e-05 9.99974528e-01 7.06818359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15028169299995 meters 0.020900907102577044 Centerline is valid? [True, True] Translation: X:192.64, Y:191.97, Z:0.71 [[-6.96902459e-01 -7.17143910e-01 5.61924750e-03 1.92635789e+02] [ 7.17121773e-01 -6.96925105e-01 -5.63564607e-03 1.91965900e+02] [ 7.95776391e-03 1.02189126e-04 9.99968331e-01 7.06579587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.180281693 meters 0.02177819296485925 Centerline is valid? [True, True] Translation: X:192.62, Y:191.98, Z:0.71 [[-6.96049838e-01 -7.17965186e-01 6.37296312e-03 1.92619093e+02] [ 7.17936784e-01 -6.96079000e-01 -6.38751605e-03 1.91982928e+02] [ 9.02209995e-03 1.29355132e-04 9.99959292e-01 7.05254193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21028169299996 meters 0.023896760159091656 Centerline is valid? [True, True] Translation: X:192.60, Y:192.00, Z:0.70 [[-6.95908849e-01 -7.18100153e-01 6.56081335e-03 1.92601029e+02] [ 7.18070097e-01 -6.95939761e-01 -6.57154807e-03 1.91997754e+02] [ 9.28496055e-03 1.37925429e-04 9.99956884e-01 7.04007776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.240281693 meters 0.022251503896345847 Centerline is valid? [True, True] Translation: X:192.59, Y:192.01, Z:0.71 [[-6.96645553e-01 -7.17396523e-01 5.21557848e-03 1.92585436e+02] [ 7.17377533e-01 -6.96665068e-01 -5.22086747e-03 1.92014937e+02] [ 7.37894351e-03 1.04444725e-04 9.99972770e-01 7.07511531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27028169299996 meters 0.021763803012404978 Centerline is valid? [True, True] Translation: X:192.57, Y:192.03, Z:0.71 [[-6.97214303e-01 -7.16847597e-01 4.66238683e-03 1.92568678e+02] [ 7.16832432e-01 -6.97229886e-01 -4.66366728e-03 1.92031299e+02] [ 6.59389412e-03 9.05745547e-05 9.99978256e-01 7.09481935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.300281693 meters 0.021421499107600012 Centerline is valid? [True, True] Translation: X:192.55, Y:192.05, Z:0.71 [[-6.97860574e-01 -7.16221525e-01 4.16489661e-03 1.92552184e+02] [ 7.16209430e-01 -6.97872998e-01 -4.16316044e-03 1.92046041e+02] [ 5.88831400e-03 7.76326982e-05 9.99982661e-01 7.10383038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33028169299996 meters 0.020287502420201758 Centerline is valid? [True, True] Translation: X:192.65, Y:192.23, Z:1.65 [[-7.64265540e-01 6.44900472e-01 1.25163247e-03 1.92653564e+02] [ 6.44899863e-01 7.64266554e-01 -8.94515657e-04 1.92231946e+02] [-1.53345440e-03 1.23530115e-04 -9.99998817e-01 1.64585742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.360281693 meters 0.01933408073921383 Centerline is valid? [True, True] Translation: X:192.64, Y:192.28, Z:1.64 [[-8.08024849e-01 5.89147545e-01 1.00716813e-03 1.92640911e+02] [ 5.89147280e-01 8.08025466e-01 -5.73403568e-04 1.92275976e+02] [-1.15163680e-03 1.30046030e-04 -9.99999328e-01 1.64494092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39028169299996 meters 0.01833795226956952 Centerline is valid? [True, True] Translation: X:192.62, Y:192.33, Z:1.64 [[-8.47180751e-01 5.31304673e-01 3.46176097e-04 1.92618642e+02] [ 5.31304689e-01 8.47180810e-01 -5.30085904e-05 1.92326241e+02] [-3.21437458e-04 1.39017126e-04 -9.99999939e-01 1.64271787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42028169299994 meters 0.017791942253841585 Centerline is valid? [True, True] Translation: X:192.60, Y:192.37, Z:1.64 [[-8.82858178e-01 4.69639685e-01 6.30231041e-05 1.92598757e+02] [ 4.69639689e-01 8.82858169e-01 1.27359796e-04 1.92371101e+02] [ 4.17275199e-06 1.42038788e-04 -9.99999990e-01 1.64244861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45028169299997 meters 0.01718261377042158 Centerline is valid? [True, True] Translation: X:192.57, Y:192.42, Z:1.64 [[-9.13722366e-01 4.06338774e-01 4.88485835e-04 1.92572397e+02] [ 4.06338792e-01 9.13722486e-01 -6.70171638e-05 1.92416163e+02] [-4.73572164e-04 1.37255663e-04 -9.99999878e-01 1.64414538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48028169299994 meters 0.016395808940665807 Centerline is valid? [True, True] Translation: X:192.54, Y:192.46, Z:1.64 [[-9.40181164e-01 3.40673333e-01 1.02898012e-03 1.92542751e+02] [ 3.40673281e-01 9.40181718e-01 -2.31363496e-04 1.92456829e+02] [-1.04624767e-03 1.33022431e-04 -9.99999444e-01 1.64435125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51028169299997 meters 0.01619178780395101 Centerline is valid? [True, True] Translation: X:192.52, Y:192.49, Z:1.64 [[-9.61930063e-01 2.73293328e-01 1.14508439e-03 1.92521600e+02] [ 2.73293296e-01 9.61930735e-01 -1.87107597e-04 1.92493274e+02] [-1.15262713e-03 1.32959466e-04 -9.99999327e-01 1.64494120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54028169299994 meters 0.015433356596660163 Centerline is valid? [True, True] Translation: X:192.44, Y:192.30, Z:0.71 [[-9.37625752e-01 -3.47621585e-01 4.14535805e-03 1.92436683e+02] [ 3.47618646e-01 -9.37634910e-01 -1.43269341e-03 1.92301679e+02] [ 4.38486758e-03 9.76735129e-05 9.99990382e-01 7.14611764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57028169299997 meters 0.015185398506942931 Centerline is valid? [True, True] Translation: X:192.39, Y:192.29, Z:0.71 [[-9.12294381e-01 -4.09509958e-01 4.53388133e-03 1.92392654e+02] [ 4.09505630e-01 -9.12305638e-01 -1.88743075e-03 1.92287440e+02] [ 4.90920719e-03 1.34757461e-04 9.99987941e-01 7.14230712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60028169299994 meters 0.015946058734484465 Centerline is valid? [True, True] Translation: X:192.36, Y:192.27, Z:0.71 [[-8.82093425e-01 -4.71037125e-01 5.93439524e-03 1.92361970e+02] [ 4.71028397e-01 -8.82113350e-01 -2.87881454e-03 1.92266464e+02] [ 6.59083778e-03 2.55885301e-04 9.99978247e-01 7.12228302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.630281693 meters 0.016529366837333012 Centerline is valid? [True, True] Translation: X:192.42, Y:192.47, Z:1.65 [[-9.18202280e-01 3.96096712e-01 3.45951316e-03 1.92423418e+02] [ 3.96094370e-01 9.18208790e-01 -1.36697233e-03 1.92470906e+02] [-3.71800863e-03 1.15136577e-04 -9.99993082e-01 1.64746740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66028169299994 meters 0.017275183338886238 Centerline is valid? [True, True] Translation: X:192.29, Y:192.29, Z:0.71 [[-8.83056587e-01 -4.69205219e-01 7.58466684e-03 1.92293526e+02] [ 4.69190189e-01 -8.83089127e-01 -3.76298064e-03 1.92294017e+02] [ 8.46354698e-03 2.35726427e-04 9.99964156e-01 7.09428664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.690281693 meters 0.01767705927738826 Centerline is valid? [True, True] Translation: X:192.36, Y:192.50, Z:1.65 [[-9.20806545e-01 3.89997618e-01 4.14304279e-03 1.92357061e+02] [ 3.89994154e-01 9.20815860e-01 -1.64681853e-03 1.92501463e+02] [-4.45723482e-03 9.93611912e-05 -9.99990062e-01 1.64862825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72028169299995 meters 0.01829486455152919 Centerline is valid? [True, True] Translation: X:192.33, Y:192.54, Z:1.65 [[-9.46670468e-01 3.22191258e-01 2.79614993e-03 1.92331845e+02] [ 3.22190190e-01 9.46674591e-01 -8.36409901e-04 1.92542479e+02] [-2.91652805e-03 1.09087527e-04 -9.99995741e-01 1.64597964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.750281693 meters 0.019444641159360912 Centerline is valid? [True, True] Translation: X:192.22, Y:192.35, Z:0.72 [[-9.14317995e-01 -4.04967220e-01 4.91473201e-03 1.92217179e+02] [ 4.04961842e-01 -9.14331200e-01 -2.08868394e-03 1.92348500e+02] [ 5.33954134e-03 8.05576178e-05 9.99985741e-01 7.16548341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78028169299995 meters 0.022999972931907135 Centerline is valid? [True, True] Translation: X:192.26, Y:192.58, Z:1.64 [[-9.50013815e-01 3.12205347e-01 1.25405711e-03 1.92256738e+02] [ 3.12205234e-01 9.50014635e-01 -2.89917866e-04 1.92578385e+02] [-1.28188652e-03 1.16097217e-04 -9.99999172e-01 1.64161448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.810281693 meters 0.026219222151495577 Centerline is valid? [True, True] Translation: X:192.24, Y:192.62, Z:1.64 [[-9.70358808e-01 2.41660036e-01 2.05214120e-03 1.92236282e+02] [ 2.41659713e-01 9.70360972e-01 -4.07930318e-04 1.92619374e+02] [-2.08989818e-03 1.00081075e-04 -9.99997811e-01 1.64434146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84028169299995 meters 0.026767003115034844 Centerline is valid? [True, True] Translation: X:192.12, Y:192.39, Z:0.72 [[-9.39454301e-01 -3.42630851e-01 5.45128520e-03 1.92116512e+02] [ 3.42626396e-01 -9.39470092e-01 -1.76017417e-03 1.92391237e+02] [ 5.72440939e-03 2.14151006e-04 9.99983593e-01 7.15100884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.870281693 meters 0.02828058364445057 Centerline is valid? [True, True] Translation: X:192.16, Y:192.65, Z:1.64 [[-9.72019826e-01 2.34894727e-01 1.38730202e-03 1.92160104e+02] [ 2.34894643e-01 9.72020810e-01 -2.25153090e-04 1.92647110e+02] [-1.40137371e-03 1.07016546e-04 -9.99999012e-01 1.64342453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90028169299995 meters 0.02786896711550622 Centerline is valid? [True, True] Translation: X:192.11, Y:192.68, Z:1.64 [[-9.86157008e-01 1.65812595e-01 7.33524885e-04 1.92114940e+02] [ 1.65812640e-01 9.86157274e-01 -4.70818693e-07 1.92684970e+02] [-7.23448968e-04 1.21163396e-04 -9.99999731e-01 1.64158109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.930281693 meters 0.025620812292855493 Centerline is valid? [True, True] Translation: X:192.10, Y:192.71, Z:1.64 [[-9.95285116e-01 9.69800030e-02 1.55486320e-03 1.92096463e+02] [ 9.69800534e-02 9.95286324e-01 -4.31321531e-05 1.92711546e+02] [-1.55171703e-03 1.07861926e-04 -9.99998790e-01 1.64301428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96028169299996 meters 0.023172537327545106 Centerline is valid? [True, True] Translation: X:192.03, Y:192.47, Z:0.72 [[-9.80403449e-01 -1.96910312e-01 5.95023991e-03 1.92033364e+02] [ 1.96908276e-01 -9.80421472e-01 -9.31984867e-04 1.92465366e+02] [ 6.01726040e-03 2.57930302e-04 9.99981863e-01 7.15759353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.990281693 meters 0.020079398625045874 Centerline is valid? [True, True] Translation: X:192.06, Y:192.71, Z:1.65 [[-9.94996340e-01 9.98848612e-02 2.30185914e-03 1.92063264e+02] [ 9.98848492e-02 9.94998996e-01 -1.20480660e-04 1.92705978e+02] [-2.30238173e-03 1.10043038e-04 -9.99997343e-01 1.64515762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02028169299996 meters 0.018383304725407588 Centerline is valid? [True, True] Translation: X:192.00, Y:192.48, Z:0.72 [[-9.82429335e-01 -1.86549801e-01 5.63679777e-03 1.91999496e+02] [ 1.86547585e-01 -9.82445495e-01 -9.21104986e-04 1.92475106e+02] [ 5.70967853e-03 1.46610453e-04 9.99983689e-01 7.15749369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.050281693 meters 0.01677034831330806 Centerline is valid? [True, True] Translation: X:191.98, Y:192.45, Z:0.72 [[-9.67956889e-01 -2.51067967e-01 4.93329345e-03 1.91976344e+02] [ 2.51065225e-01 -9.67969455e-01 -1.17745414e-03 1.92453421e+02] [ 5.07089839e-03 9.88535825e-05 9.99987138e-01 7.18968002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08028169299996 meters 0.017290886078741567 Centerline is valid? [True, True] Translation: X:191.99, Y:192.68, Z:1.64 [[-9.86159038e-01 1.65797703e-01 1.21351895e-03 1.91994395e+02] [ 1.65797731e-01 9.86159777e-01 -7.77140733e-05 1.92681132e+02] [-1.20960839e-03 1.24560253e-04 -9.99999261e-01 1.64200964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.110281693 meters 0.01717608824120244 Centerline is valid? [True, True] Translation: X:191.93, Y:192.46, Z:0.72 [[-9.68930265e-01 -2.47285769e-01 4.88774019e-03 1.91928374e+02] [ 2.47283445e-01 -9.68942580e-01 -1.08374777e-03 1.92458035e+02] [ 5.00393499e-03 1.58581219e-04 9.99987468e-01 7.18572718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14028169299996 meters 0.01840485707410858 Centerline is valid? [True, True] Translation: X:191.95, Y:192.69, Z:1.64 [[-9.86942880e-01 1.61055180e-01 2.23178551e-03 1.91947675e+02] [ 1.61055028e-01 9.86945397e-01 -2.48790309e-04 1.92694732e+02] [-2.24271940e-03 1.13898453e-04 -9.99997479e-01 1.64404279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17028169299994 meters 0.01771998534039323 Centerline is valid? [True, True] Translation: X:191.90, Y:192.73, Z:1.65 [[-9.95882031e-01 9.06109451e-02 2.93881915e-03 1.91903849e+02] [ 9.06108696e-02 9.95886362e-01 -1.59082715e-04 1.92728731e+02] [-2.94114454e-03 1.07861342e-04 -9.99995669e-01 1.64504789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20028169299997 meters 0.017455319330401554 Centerline is valid? [True, True] Translation: X:191.86, Y:192.49, Z:0.71 [[-9.84728414e-01 -1.73936442e-01 7.48771924e-03 1.91856005e+02] [ 1.73933238e-01 -9.84756852e-01 -1.08187425e-03 1.92489069e+02] [ 7.56176018e-03 2.37010944e-04 9.99971381e-01 7.14606919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23028169299994 meters 0.017455319330401554 Centerline is valid? [True, True] Translation: X:191.82, Y:192.47, Z:0.71 [[-9.70771074e-01 -2.39893529e-01 7.39030270e-03 1.91822918e+02] [ 2.39888425e-01 -9.70799175e-01 -1.58266310e-03 1.92465094e+02] [ 7.55417041e-03 2.36444521e-04 9.99971439e-01 7.14648051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26028169299997 meters 0.017240656516603555 Centerline is valid? [True, True] Translation: X:191.84, Y:192.71, Z:1.65 [[-9.88021021e-01 1.54275150e-01 3.69334781e-03 1.91841229e+02] [ 1.54274458e-01 9.88027919e-01 -4.73123589e-04 1.92709161e+02] [-3.72212196e-03 1.02333182e-04 -9.99993068e-01 1.64618393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29028169299994 meters 0.016644589950912152 Centerline is valid? [True, True] Translation: X:191.80, Y:192.74, Z:1.65 [[-9.96452611e-01 8.40990661e-02 3.08875517e-03 1.91799017e+02] [ 8.40989974e-02 9.96457393e-01 -1.52356594e-04 1.92742034e+02] [-3.09062597e-03 1.07945087e-04 -9.99995218e-01 1.64531182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32028169299997 meters 0.016326762145350917 Centerline is valid? [True, True] Translation: X:191.78, Y:192.77, Z:1.64 [[-9.99899731e-01 1.38728620e-02 2.84100347e-03 1.91780309e+02] [ 1.38731265e-02 9.99903761e-01 7.34066426e-05 1.92771495e+02] [-2.83971169e-03 1.12812883e-04 -9.99995962e-01 1.64493471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35028169299994 meters 0.015347258272647839 Centerline is valid? [True, True] Translation: X:191.72, Y:192.80, Z:1.64 [[-9.98476946e-01 -5.51244544e-02 2.25471335e-03 1.91722069e+02] [-5.51240410e-02 9.98479484e-01 2.45156575e-04 1.92797304e+02] [-2.26479914e-03 1.20494278e-04 -9.99997428e-01 1.64393441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.380281693 meters 0.014641645467153028 Centerline is valid? [True, True] Translation: X:191.74, Y:192.56, Z:0.72 [[-9.99808247e-01 -1.91755392e-02 3.97086000e-03 1.91735396e+02] [ 1.91753783e-02 -9.99816132e-01 -7.85839088e-05 1.92555850e+02] [ 3.97163677e-03 -2.42609752e-06 9.99992113e-01 7.21625366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41028169299994 meters 0.014732570593782902 Centerline is valid? [True, True] Translation: X:191.70, Y:192.79, Z:1.64 [[-9.98336763e-01 -5.76496359e-02 4.77192829e-04 1.91702714e+02] [-5.76495671e-02 9.98336868e-01 1.56848351e-04 1.92793488e+02] [-4.85441445e-04 1.29077515e-04 -9.99999874e-01 1.63908685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.440281693 meters 0.015175077433651969 Centerline is valid? [True, True] Translation: X:191.65, Y:192.55, Z:0.72 [[-9.99844507e-01 -1.68038208e-02 5.34731404e-03 1.91651713e+02] [ 1.68046756e-02 -9.99858785e-01 1.14962008e-04 1.92548142e+02] [ 5.34462712e-03 2.04804010e-04 9.99985696e-01 7.19874563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47028169299995 meters 0.016058080956713017 Centerline is valid? [True, True] Translation: X:191.63, Y:192.80, Z:1.64 [[-9.97952177e-01 -6.38948680e-02 2.98288757e-03 1.91628763e+02] [-6.38942427e-02 9.97956629e-01 3.04551064e-04 1.92795507e+02] [-2.99625167e-03 1.13338056e-04 -9.99995505e-01 1.64467399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.500281693 meters 0.016922032536776703 Centerline is valid? [True, True] Translation: X:191.63, Y:192.54, Z:0.72 [[-9.99849292e-01 -1.60137738e-02 6.70469304e-03 1.91627380e+02] [ 1.60144748e-02 -9.99871759e-01 5.08731168e-05 1.92538521e+02] [ 6.70301855e-03 1.58237587e-04 9.99977522e-01 7.16722190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53028169299995 meters 0.016611031863637715 Centerline is valid? [True, True] Translation: X:191.60, Y:192.51, Z:0.72 [[-9.96518598e-01 -8.31815552e-02 5.61364525e-03 1.91595813e+02] [ 8.31806866e-02 -9.96534406e-01 -3.88422253e-04 1.92510116e+02] [ 5.62650020e-03 7.98768677e-05 9.99984168e-01 7.18934937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.560281693 meters 0.015246844306384573 Centerline is valid? [True, True] Translation: X:191.57, Y:192.49, Z:0.72 [[-9.89047858e-01 -1.47517724e-01 4.78075998e-03 1.91568681e+02] [ 1.47516117e-01 -9.89059412e-01 -6.89083652e-04 1.92489268e+02] [ 4.83010771e-03 2.37024373e-05 9.99988335e-01 7.20995976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59028169299995 meters 0.01476443638377313 Centerline is valid? [True, True] Translation: X:191.52, Y:192.47, Z:0.72 [[-9.77296369e-01 -2.11816584e-01 5.05382662e-03 1.91524677e+02] [ 2.11813997e-01 -9.77309435e-01 -1.04798692e-03 1.92472296e+02] [ 5.16113345e-03 4.62773978e-05 9.99986680e-01 7.19503956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.620281693 meters 0.014552609977366323 Centerline is valid? [True, True] Translation: X:191.54, Y:192.70, Z:1.64 [[-9.90277311e-01 1.39090190e-01 2.18333510e-03 1.91543418e+02] [ 1.39090138e-01 9.90279709e-01 -1.76140733e-04 1.92698123e+02] [-2.18661189e-03 1.29252208e-04 -9.99997601e-01 1.64305468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65028169299995 meters 0.01499679303251195 Centerline is valid? [True, True] Translation: X:191.52, Y:192.72, Z:1.64 [[-9.97493511e-01 7.06861948e-02 3.18705345e-03 1.91517789e+02] [ 7.06862709e-02 9.97498593e-01 -8.89038566e-05 1.92722573e+02] [-3.18536561e-03 1.36599904e-04 -9.99994917e-01 1.64427286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.680281693 meters 0.015314947825745932 Centerline is valid? [True, True] Translation: X:191.46, Y:192.75, Z:1.65 [[-9.99992606e-01 5.18786652e-04 3.81041078e-03 1.91457764e+02] [ 5.19319217e-04 9.99999856e-01 1.38778662e-04 1.92749080e+02] [-3.81033823e-03 1.40756455e-04 -9.99992731e-01 1.64542297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71028169299996 meters 0.01582123831697036 Centerline is valid? [True, True] Translation: X:191.45, Y:192.77, Z:1.65 [[-9.97583037e-01 -6.93862164e-02 3.69297144e-03 1.91447850e+02] [-6.93851997e-02 9.97589862e-01 4.02854987e-04 1.92768227e+02] [-3.71202345e-03 1.45643740e-04 -9.99993100e-01 1.64591168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.740281693 meters 0.0161065225773126 Centerline is valid? [True, True] Translation: X:191.43, Y:192.59, Z:0.72 [[-9.99903454e-01 1.24577326e-02 6.15522848e-03 1.91430369e+02] [-1.24574956e-02 -9.99922399e-01 7.68501695e-05 1.92585869e+02] [ 6.15570821e-03 1.64018410e-07 9.99981053e-01 7.19363484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77028169299996 meters 0.01694424725192335 Centerline is valid? [True, True] Translation: X:191.40, Y:192.75, Z:1.64 [[-9.97524702e-01 -7.03015113e-02 1.47173981e-03 1.91398387e+02] [-7.03012285e-02 9.97525778e-01 2.43025027e-04 1.92754121e+02] [-1.48518343e-03 1.38958351e-04 -9.99998887e-01 1.64165161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.800281693 meters 0.018605055745516345 Centerline is valid? [True, True] Translation: X:191.38, Y:192.77, Z:1.64 [[-9.90316090e-01 -1.38822438e-01 1.54012012e-03 1.91375783e+02] [-1.38822044e-01 9.90317278e-01 3.60505642e-04 1.92771811e+02] [-1.57525383e-03 1.43211915e-04 -9.99998749e-01 1.64115612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83028169299996 meters 0.019368087086078793 Centerline is valid? [True, True] Translation: X:191.37, Y:192.62, Z:0.72 [[-9.95761837e-01 9.17661806e-02 6.11006606e-03 1.91373421e+02] [-9.17637793e-02 -9.95780576e-01 6.72789294e-04 1.92624049e+02] [ 6.14602441e-03 1.09255150e-04 9.99981107e-01 7.20140124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.860281693 meters 0.019818366992521447 Centerline is valid? [True, True] Translation: X:191.31, Y:192.75, Z:1.64 [[-9.89937941e-01 -1.41463925e-01 3.29102965e-03 1.91312473e+02] [-1.41462594e-01 9.89943398e-01 6.34850071e-04 1.92753204e+02] [-3.34774146e-03 1.62904581e-04 -9.99994383e-01 1.64350912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89028169299996 meters 0.018782486739182595 Centerline is valid? [True, True] Translation: X:191.30, Y:192.62, Z:0.72 [[-9.95423793e-01 9.53564972e-02 6.21377809e-03 1.91299835e+02] [-9.53546612e-02 -9.95443187e-01 5.91731533e-04 1.92618025e+02] [ 6.24188851e-03 -3.48905710e-06 9.99980519e-01 7.21423898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92028169299994 meters 0.01786228318082999 Centerline is valid? [True, True] Translation: X:191.29, Y:192.59, Z:0.72 [[-9.99605152e-01 2.75305264e-02 5.62229660e-03 1.91291584e+02] [-2.75303068e-02 -9.99620963e-01 1.16458729e-04 1.92588105e+02] [ 5.62337170e-03 -3.83708049e-05 9.99984188e-01 7.22372490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95028169299997 meters 0.017648831328129496 Centerline is valid? [True, True] Translation: X:191.24, Y:192.57, Z:0.72 [[-9.99126643e-01 -4.14422236e-02 5.33789806e-03 1.91238019e+02] [ 4.14413425e-02 -9.99140901e-01 -2.75618592e-04 1.92566556e+02] [ 5.34473452e-03 -5.41682168e-05 9.99985715e-01 7.21634547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98028169299994 meters 0.01683017091763498 Centerline is valid? [True, True] Translation: X:191.22, Y:192.54, Z:0.72 [[-9.94012575e-01 -1.09124357e-01 5.55656052e-03 1.91220372e+02] [ 1.09122429e-01 -9.94028105e-01 -6.49838762e-04 1.92538868e+02] [ 5.59429056e-03 -3.96025192e-05 9.99984351e-01 7.22589471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01028169299997 meters 0.016152564859413143 Centerline is valid? [True, True] Translation: X:191.20, Y:192.52, Z:0.72 [[-9.84068611e-01 -1.77670365e-01 6.49697691e-03 1.91195378e+02] [ 1.77666632e-01 -9.84090057e-01 -1.15183765e-03 1.92515528e+02] [ 6.59825780e-03 2.08087340e-05 9.99978231e-01 7.20839801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04028169299994 meters 0.015974525971708002 Centerline is valid? [True, True] Translation: X:191.15, Y:192.50, Z:0.72 [[-9.69596192e-01 -2.44617008e-01 6.76342099e-03 1.91150125e+02] [ 2.44611367e-01 -9.69619780e-01 -1.66186466e-03 1.92497094e+02] [ 6.96446713e-03 4.30720018e-05 9.99975747e-01 7.19230594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07028169299997 meters 0.015610370748660453 Centerline is valid? [True, True] Translation: X:191.14, Y:192.60, Z:1.64 [[-9.83059210e-01 1.83250944e-01 3.69869322e-03 1.91144822e+02] [ 1.83250186e-01 9.83066158e-01 -5.45744818e-04 1.92595121e+02] [-3.73606839e-03 1.41286749e-04 -9.99993011e-01 1.64402336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10028169299994 meters 0.014954088934925046 Centerline is valid? [True, True] Translation: X:191.11, Y:192.63, Z:1.64 [[-9.93974051e-01 1.09561962e-01 3.42964716e-03 1.91108210e+02] [ 1.09561755e-01 9.93979960e-01 -2.48876877e-04 1.92629312e+02] [-3.43626799e-03 1.28381004e-04 -9.99994088e-01 1.64256206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.130281693 meters 0.015072423676555811 Centerline is valid? [True, True] Translation: X:191.08, Y:192.66, Z:1.64 [[-9.99323239e-01 3.66451681e-02 3.19320566e-03 1.91077502e+02] [ 3.66453704e-02 9.99328333e-01 4.86203972e-06 1.92659961e+02] [-3.19088272e-03 1.21874954e-04 -9.99994902e-01 1.64207029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16028169299994 meters 0.015383108241246167 Centerline is valid? [True, True] Translation: X:191.02, Y:192.69, Z:1.64 [[-9.99336565e-01 -3.63007588e-02 2.94702685e-03 1.91024231e+02] [-3.63002567e-02 9.99340904e-01 2.23692160e-04 1.92687472e+02] [-2.95320467e-03 1.16565924e-04 -9.99995633e-01 1.64179873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.190281693 meters 0.01558443828920914 Centerline is valid? [True, True] Translation: X:191.01, Y:192.59, Z:0.72 [[-9.99237751e-01 -3.85559062e-02 6.11221849e-03 1.91010231e+02] [ 3.85558273e-02 -9.99256439e-01 -1.30777084e-04 1.92593243e+02] [ 6.11271591e-03 1.04984242e-04 9.99981312e-01 7.22292605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22028169299995 meters 0.015172717646059309 Centerline is valid? [True, True] Translation: X:190.99, Y:192.67, Z:1.64 [[-9.99212443e-01 -3.95741328e-02 2.89518919e-03 1.90991983e+02] [-3.95736246e-02 9.99216630e-01 2.32641617e-04 1.92674095e+02] [-2.90212777e-03 1.17885269e-04 -9.99995782e-01 1.64205823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.250281693 meters 0.015215141555326233 Centerline is valid? [True, True] Translation: X:190.96, Y:192.70, Z:1.64 [[-9.93927255e-01 -1.09993101e-01 3.18269722e-03 1.90959741e+02] [-1.09992154e-01 9.93932344e-01 4.71651408e-04 1.92695077e+02] [-3.21526411e-03 1.18715466e-04 -9.99994824e-01 1.64259945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28028169299995 meters 0.015201836202787016 Centerline is valid? [True, True] Translation: X:190.93, Y:192.72, Z:1.64 [[-9.83614207e-01 -1.80253967e-01 3.40584213e-03 1.90925477e+02] [-1.80252468e-01 9.83620096e-01 7.44566624e-04 1.92715069e+02] [-3.48426585e-03 1.18454861e-04 -9.99993923e-01 1.64278529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.310281693 meters 0.01515376802622836 Centerline is valid? [True, True] Translation: X:190.88, Y:192.73, Z:1.64 [[-9.68301117e-01 -2.49763878e-01 3.30935441e-03 1.90883992e+02] [-2.49762001e-01 9.68306765e-01 9.75395487e-04 1.92733532e+02] [-3.44808882e-03 1.17925561e-04 -9.99994048e-01 1.64183003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34028169299995 meters 0.015170846780676902 Centerline is valid? [True, True] Translation: X:190.85, Y:192.75, Z:1.64 [[-9.47867681e-01 -3.18654978e-01 2.42149634e-03 1.90849801e+02] [-3.18653619e-01 9.47870767e-01 9.37800455e-04 1.92751950e+02] [-2.59410038e-03 1.17292170e-04 -9.99996628e-01 1.63954257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.370281693 meters 0.015234062055801783 Centerline is valid? [True, True] Translation: X:190.81, Y:192.76, Z:1.64 [[-9.22612807e-01 -3.85725909e-01 1.06418287e-03 1.90806070e+02] [-3.85725498e-01 9.22613413e-01 5.75436570e-04 1.92764770e+02] [-1.20379018e-03 1.20422682e-04 -9.99999268e-01 1.63779632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40028169299995 meters 0.014600643680020686 Centerline is valid? [True, True] Translation: X:190.78, Y:192.78, Z:1.63 [[-8.93057568e-01 -4.49940910e-01 -1.16564812e-03 1.90778553e+02] [-4.49940709e-01 8.93058319e-01 -4.44136919e-04 1.92779397e+02] [ 1.24082712e-03 1.27832703e-04 -9.99999222e-01 1.63196905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.430281693 meters 0.014389620521305829 Centerline is valid? [True, True] Translation: X:190.79, Y:192.73, Z:0.73 [[-9.22936764e-01 3.84947499e-01 1.77564662e-03 1.90787078e+02] [-3.84946603e-01 -9.22938468e-01 8.35159150e-04 1.92725333e+02] [ 1.96030500e-03 8.72699494e-05 9.99998075e-01 7.33358232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46028169299996 meters 0.014431062863722845 Centerline is valid? [True, True] Translation: X:190.73, Y:192.75, Z:1.63 [[-8.92846238e-01 -4.50361133e-01 -6.66895577e-04 1.90731826e+02] [-4.50361106e-01 8.92846479e-01 -1.98213097e-04 1.92749017e+02] [ 6.84702842e-04 1.23370012e-04 -9.99999758e-01 1.63324473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.490281693 meters 0.01646523318719082 Centerline is valid? [True, True] Translation: X:190.70, Y:192.75, Z:1.64 [[-8.61544085e-01 -5.07681841e-01 9.68220555e-04 1.90702905e+02] [-5.07681344e-01 8.61544619e-01 7.22781895e-04 1.92747971e+02] [-1.20110845e-03 1.31160954e-04 -9.99999270e-01 1.63802306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52028169299996 meters 0.019844220676908487 Centerline is valid? [True, True] Translation: X:190.69, Y:192.76, Z:1.64 [[-8.26353208e-01 -5.63151177e-01 1.06168488e-03 1.90685051e+02] [-5.63150486e-01 8.26353878e-01 8.93244715e-04 1.92755306e+02] [-1.38035923e-03 1.40247279e-04 -9.99999038e-01 1.63778024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.550281693 meters 0.021510545786870935 Centerline is valid? [True, True] Translation: X:190.66, Y:192.76, Z:1.64 [[-7.85207935e-01 -6.19230423e-01 1.47715278e-03 1.90655493e+02] [-6.19228959e-01 7.85209310e-01 1.35498510e-03 1.92762938e+02] [-1.99892211e-03 1.49249273e-04 -9.99997991e-01 1.63874146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58028169299996 meters 0.021816898633769406 Centerline is valid? [True, True] Translation: X:190.63, Y:192.77, Z:0.73 [[-8.09144295e-01 5.87589141e-01 4.95083819e-03 1.90634124e+02] [-5.87577618e-01 -8.09159438e-01 3.68052620e-03 1.92770039e+02] [ 6.16865467e-03 6.90750662e-05 9.99980971e-01 7.25490726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.610281693 meters 0.021360771526444708 Centerline is valid? [True, True] Translation: X:190.61, Y:192.73, Z:1.64 [[-7.83211250e-01 -6.21750863e-01 2.45009087e-03 1.90614349e+02] [-6.21747135e-01 7.83215064e-01 2.15948976e-03 1.92725051e+02] [-3.26161270e-03 1.67999691e-04 -9.99994667e-01 1.63995350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64028169299996 meters 0.020825712294755855 Centerline is valid? [True, True] Translation: X:190.56, Y:192.71, Z:1.64 [[-7.36187535e-01 -6.76774411e-01 2.07584618e-03 1.90561452e+02] [-6.76771092e-01 7.36190445e-01 2.12574422e-03 1.92710868e+02] [-2.96686741e-03 1.60073715e-04 -9.99995586e-01 1.63955447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67028169299994 meters 0.024423811027509654 Centerline is valid? [True, True] Translation: X:190.52, Y:192.71, Z:1.63 [[-6.84887806e-01 -7.28646486e-01 1.72965132e-03 1.90521643e+02] [-7.28643584e-01 6.84889973e-01 2.06214086e-03 1.92707168e+02] [-2.68719254e-03 1.52035796e-04 -9.99996378e-01 1.63346410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70028169299997 meters 0.019562527303341452 Centerline is valid? [True, True] Translation: X:190.48, Y:192.71, Z:0.73 [[-7.16977633e-01 6.97084603e-01 4.01613286e-03 1.90476285e+02] [-6.97073588e-01 -7.16988881e-01 3.91881096e-03 1.92713774e+02] [ 5.61126539e-03 1.01596678e-05 9.99984257e-01 7.26130887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73028169299994 meters 0.019908988778253582 Centerline is valid? [True, True] Translation: X:190.49, Y:192.66, Z:1.64 [[-6.81967026e-01 -7.31381514e-01 1.43419217e-03 1.90491695e+02] [-7.31379426e-01 6.81968518e-01 1.75407245e-03 1.92663445e+02] [-2.26097007e-03 1.47280923e-04 -9.99997433e-01 1.63985966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76028169299997 meters 0.020658299456867733 Centerline is valid? [True, True] Translation: X:190.45, Y:192.65, Z:1.64 [[-6.28924332e-01 -7.77464172e-01 1.90948242e-03 1.90453680e+02] [-7.77459782e-01 6.28927210e-01 2.61777393e-03 1.92650636e+02] [-3.23615089e-03 1.61835933e-04 -9.99994751e-01 1.64107770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79028169299994 meters 0.021050225731420638 Centerline is valid? [True, True] Translation: X:190.39, Y:192.68, Z:0.72 [[-6.61603768e-01 7.49840682e-01 4.40526567e-03 1.90394807e+02] [-7.49823796e-01 -6.61618433e-01 5.03227285e-03 1.92680030e+02] [ 6.68800787e-03 2.61976496e-05 9.99977635e-01 7.24226780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82028169299997 meters 0.018777150953933845 Centerline is valid? [True, True] Translation: X:190.42, Y:192.60, Z:1.64 [[-6.24109014e-01 -7.81335485e-01 1.67288395e-03 1.90419837e+02] [-7.81332013e-01 6.24111238e-01 2.33405671e-03 1.92600720e+02] [-2.86774700e-03 1.49628053e-04 -9.99995877e-01 1.64051924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85028169299994 meters 0.017840739590227268 Centerline is valid? [True, True] Translation: X:190.38, Y:192.59, Z:1.64 [[-5.65642449e-01 -8.24649538e-01 1.32636295e-03 1.90380193e+02] [-8.24646650e-01 5.65643986e-01 2.18712254e-03 1.92590276e+02] [-2.55385882e-03 1.43348586e-04 -9.99996729e-01 1.64024810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.880281693 meters 0.01778326885899784 Centerline is valid? [True, True] Translation: X:190.34, Y:192.56, Z:1.64 [[-5.04676451e-01 -8.63307693e-01 1.22750821e-03 1.90335976e+02] [-8.63304422e-01 5.04677923e-01 2.38105942e-03 1.92563953e+02] [-2.67508321e-03 1.41951352e-04 -9.99996412e-01 1.64105178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91028169299994 meters 0.01652279876952998 Centerline is valid? [True, True] Translation: X:190.30, Y:192.55, Z:1.64 [[-4.39451080e-01 -8.98265513e-01 1.34795943e-03 1.90301166e+02] [-8.98260254e-01 4.39453124e-01 3.07703244e-03 1.92549381e+02] [-3.35635710e-03 1.41386852e-04 -9.99994357e-01 1.64256979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.940281693 meters 0.015421746279381567 Centerline is valid? [True, True] Translation: X:190.25, Y:192.51, Z:1.64 [[-3.72426726e-01 -9.28060940e-01 1.10655012e-03 1.90254424e+02] [-9.28055716e-01 3.72428346e-01 3.11681352e-03 1.92511845e+02] [-3.30470352e-03 1.33844495e-04 -9.99994531e-01 1.64141510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97028169299995 meters 0.014554953913126079 Centerline is valid? [True, True] Translation: X:190.21, Y:192.48, Z:1.64 [[-2.99939234e-01 -9.53958123e-01 5.95470365e-04 1.90211923e+02] [-9.53955394e-01 2.99939802e-01 2.28516453e-03 1.92476419e+02] [-2.35855653e-03 1.17358334e-04 -9.99997212e-01 1.64092599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.000281693 meters 0.015263634867064068 Centerline is valid? [True, True] Translation: X:190.18, Y:192.46, Z:1.64 [[-2.27713532e-01 -9.73728129e-01 2.78743868e-04 1.90178858e+02] [-9.73726669e-01 2.27713675e-01 1.69029619e-03 1.92461025e+02] [-1.70936274e-03 1.13482979e-04 -9.99998533e-01 1.64002972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03028169299995 meters 0.01590259349596955 Centerline is valid? [True, True] Translation: X:190.14, Y:192.43, Z:1.64 [[-1.54706919e-01 -9.87960402e-01 1.18936457e-04 1.90144825e+02] [-9.87959310e-01 1.54706926e-01 1.47249827e-03 1.92431416e+02] [-1.47317028e-03 1.10301291e-04 -9.99998909e-01 1.63876727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.060281693 meters 0.0212110416931216 Centerline is valid? [True, True] Translation: X:190.11, Y:192.42, Z:1.64 [[-7.70890570e-02 -9.97024205e-01 1.13071545e-04 1.90106080e+02] [-9.97020837e-01 7.70890906e-02 2.59287709e-03 1.92418955e+02] [-2.59387780e-03 8.71477632e-05 -9.99996632e-01 1.64204024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09028169299995 meters 0.022455046159892876 Centerline is valid? [True, True] Translation: X:190.08, Y:192.38, Z:1.64 [[-1.60084650e-03 -9.99998717e-01 -6.61733659e-05 1.90075161e+02] [-9.99994344e-01 1.60064377e-03 2.95798749e-03 1.92382786e+02] [-2.95787777e-03 7.09082756e-05 -9.99995623e-01 1.64161858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.120281693 meters 0.022455046159892876 Centerline is valid? [True, True] Translation: X:190.01, Y:192.35, Z:0.73 [[-1.01134798e-01 9.94872638e-01 4.31096978e-04 1.90012828e+02] [-9.94853136e-01 -1.01135517e-01 6.23254707e-03 1.92353303e+02] [ 6.24418976e-03 2.01449210e-04 9.99980485e-01 7.25667064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15028169299995 meters 0.0307997567891734 Centerline is valid? [True, True] Translation: X:190.06, Y:192.33, Z:1.64 [[ 1.05209542e-02 -9.99944650e-01 -7.54243060e-05 1.90063186e+02] [-9.99939464e-01 -1.05211425e-02 3.22094043e-03 1.92334381e+02] [-3.22155570e-03 4.15323735e-05 -9.99994810e-01 1.64268796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.180281693 meters 0.034809214549954295 Centerline is valid? [True, True] Translation: X:190.03, Y:192.30, Z:1.64 [[ 8.44177298e-02 -9.96430408e-01 -2.98753008e-04 1.90028636e+02] [-9.96425529e-01 -8.44182514e-02 3.11837274e-03 1.92301486e+02] [-3.13246163e-03 3.44391762e-05 -9.99995093e-01 1.64260312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21028169299996 meters 0.03730924290275998 Centerline is valid? [True, True] Translation: X:190.00, Y:192.26, Z:1.64 [[ 1.58609108e-01 -9.87341385e-01 -3.75108997e-04 1.89995646e+02] [-9.87339406e-01 -1.58609541e-01 1.97756897e-03 1.92263541e+02] [-2.01203155e-03 5.66994454e-05 -9.99997974e-01 1.64099887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.240281693 meters 0.038156476280183795 Centerline is valid? [True, True] Translation: X:189.97, Y:192.24, Z:1.64 [[ 2.29834265e-01 -9.73229689e-01 -4.27293448e-04 1.89967402e+02] [-9.73228513e-01 -2.29834653e-01 1.51484360e-03 1.92235405e+02] [-1.57249761e-03 6.76912000e-05 -9.99998761e-01 1.64011379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27028169299996 meters 0.03874239915382034 Centerline is valid? [True, True] Translation: X:189.94, Y:192.19, Z:1.64 [[ 2.99557853e-01 -9.54078003e-01 -5.06380543e-04 1.89944442e+02] [-9.54077005e-01 -2.99558273e-01 1.38223397e-03 1.92190584e+02] [-1.47044951e-03 6.90669917e-05 -9.99998917e-01 1.63917172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.300281693 meters 0.042243205919152996 Centerline is valid? [True, True] Translation: X:189.91, Y:192.15, Z:1.64 [[ 3.68010397e-01 -9.29821422e-01 -6.86479100e-04 1.89913192e+02] [-9.29820088e-01 -3.68011033e-01 1.57608785e-03 1.92151309e+02] [-1.71811212e-03 5.82853430e-05 -9.99998522e-01 1.63959884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33028169299996 meters 0.04170481684684369 Centerline is valid? [True, True] Translation: X:189.89, Y:192.12, Z:1.64 [[ 4.33069677e-01 -9.01360130e-01 -7.55783643e-04 1.89891062e+02] [-9.01358997e-01 -4.33070332e-01 1.43015887e-03 1.92118867e+02] [-1.61639565e-03 6.18739484e-05 -9.99998692e-01 1.63955368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.360281693 meters 0.039438676276695304 Centerline is valid? [True, True] Translation: X:189.89, Y:192.05, Z:1.64 [[ 4.93743985e-01 -8.69606796e-01 -9.47212722e-04 1.89886572e+02] [-8.69605422e-01 -4.93744890e-01 1.54729105e-03 1.92050882e+02] [-1.81321626e-03 5.97356683e-05 -9.99998354e-01 1.64067729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39028169299996 meters 0.037166589643295916 Centerline is valid? [True, True] Translation: X:189.88, Y:192.01, Z:1.64 [[ 5.52640519e-01 -8.33419022e-01 -1.09166640e-03 1.89876157e+02] [-8.33417611e-01 -5.52641593e-01 1.53475504e-03 1.92010606e+02] [-1.88239430e-03 6.16461847e-05 -9.99998226e-01 1.64129771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42028169299994 meters 0.035170384849201625 Centerline is valid? [True, True] Translation: X:189.87, Y:191.96, Z:1.64 [[ 6.08909629e-01 -7.93238602e-01 -1.25891911e-03 1.89871399e+02] [-7.93237114e-01 -6.08910927e-01 1.53762332e-03 1.91964420e+02] [-1.98627177e-03 6.23477116e-05 -9.99998025e-01 1.64203295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45028169299997 meters 0.029390862098830094 Centerline is valid? [True, True] Translation: X:189.88, Y:191.91, Z:1.64 [[ 6.60170894e-01 -7.51113516e-01 -1.69651480e-03 1.89878231e+02] [-7.51111269e-01 -6.60173071e-01 1.83803912e-03 1.91910628e+02] [-2.50056941e-03 6.08514600e-05 -9.99996872e-01 1.64315765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48028169299994 meters 0.025661473967452057 Centerline is valid? [True, True] Translation: X:189.89, Y:191.86, Z:1.64 [[ 7.10011598e-01 -7.04186813e-01 -2.11252131e-03 1.89892201e+02] [-7.04183946e-01 -7.10014738e-01 2.01056077e-03 1.91857419e+02] [-2.91573165e-03 6.00821203e-05 -9.99995747e-01 1.64316544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51028169299997 meters 0.022089699280872135 Centerline is valid? [True, True] Translation: X:189.91, Y:191.80, Z:1.64 [[ 7.55127087e-01 -6.55574861e-01 -2.16425068e-03 1.89908325e+02] [-6.55572453e-01 -7.55130185e-01 1.77868860e-03 1.91802690e+02] [-2.80035455e-03 7.56871814e-05 -9.99996076e-01 1.64166221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54028169299994 meters 0.020512297248573206 Centerline is valid? [True, True] Translation: X:189.96, Y:191.82, Z:1.64 [[ 8.03048714e-01 -5.95910609e-01 -1.81873889e-03 1.89959640e+02] [-5.95909355e-01 -8.03050768e-01 1.22677950e-03 1.91821394e+02] [-2.19159058e-03 9.86398191e-05 -9.99997594e-01 1.64020608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57028169299997 meters 0.018931644479738795 Centerline is valid? [True, True] Translation: X:190.00, Y:191.82, Z:0.73 [[ 7.89872696e-01 6.13260355e-01 -3.58617557e-03 1.89997125e+02] [-6.13254296e-01 7.89880836e-01 2.72649383e-03 1.91821058e+02] [ 4.50470193e-03 4.56545401e-05 9.99989853e-01 7.30188423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60028169299994 meters 0.017503384970013858 Centerline is valid? [True, True] Translation: X:190.02, Y:191.80, Z:0.73 [[ 7.90892762e-01 6.11947632e-01 -2.95536841e-03 1.90019704e+02] [-6.11943511e-01 7.90898283e-01 2.24622174e-03 1.91803441e+02] [ 3.71196587e-03 3.19980048e-05 9.99993110e-01 7.31250695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.630281693 meters 0.014875155963131248 Centerline is valid? [True, True] Translation: X:190.04, Y:191.78, Z:0.73 [[ 7.93675607e-01 6.08333429e-01 -3.07735851e-03 1.90038639e+02] [-6.08328935e-01 7.93681573e-01 2.33844942e-03 1.91782683e+02] [ 3.86499970e-03 1.60759640e-05 9.99992531e-01 7.29365267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66028169299994 meters 0.013953602278381225 Centerline is valid? [True, True] Translation: X:190.06, Y:191.76, Z:0.73 [[ 7.95671527e-01 6.05717873e-01 -3.56077227e-03 1.90057432e+02] [-6.05711833e-01 7.95679494e-01 2.70501113e-03 1.91761323e+02] [ 4.47170707e-03 4.50156544e-06 9.99990002e-01 7.27992167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.690281693 meters 0.016570795020227437 Centerline is valid? [True, True] Translation: X:190.07, Y:191.73, Z:0.73 [[ 8.00730542e-01 5.99005773e-01 -4.76268870e-03 1.90071207e+02] [-5.98994856e-01 8.00744705e-01 3.61670677e-03 1.91731501e+02] [ 5.98012599e-03 -4.31815448e-05 9.99982118e-01 7.25065880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72028169299995 meters 0.019614234304809384 Centerline is valid? [True, True] Translation: X:190.09, Y:191.71, Z:0.72 [[ 8.03330163e-01 5.95512898e-01 -5.00373138e-03 1.90088615e+02] [-5.95500788e-01 8.03345743e-01 3.79846700e-03 1.91707341e+02] [ 6.28176239e-03 -7.16971372e-05 9.99980267e-01 7.24408640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.750281693 meters 0.025896992410747936 Centerline is valid? [True, True] Translation: X:190.10, Y:191.68, Z:0.73 [[ 8.07189122e-01 5.90276779e-01 -4.36417113e-03 1.90101788e+02] [-5.90267492e-01 8.07200914e-01 3.31244135e-03 1.91677279e+02] [ 5.47802013e-03 -9.77382741e-05 9.99984991e-01 7.26311872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78028169299995 meters 0.02754805574153702 Centerline is valid? [True, True] Translation: X:190.12, Y:191.66, Z:0.73 [[ 8.08293375e-01 5.88766768e-01 -3.93865357e-03 1.90121331e+02] [-5.88759190e-01 8.08302966e-01 2.98871614e-03 1.91655629e+02] [ 4.94328210e-03 -9.68409736e-05 9.99987777e-01 7.27936284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.810281693 meters 0.028586794880401594 Centerline is valid? [True, True] Translation: X:190.14, Y:191.63, Z:0.73 [[ 8.09106426e-01 5.87650615e-01 -3.68042297e-03 1.90141442e+02] [-5.87643991e-01 8.09114791e-01 2.79187140e-03 1.91634468e+02] [ 4.61852961e-03 -9.61426466e-05 9.99989330e-01 7.28661168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84028169299995 meters 0.02982374592552099 Centerline is valid? [True, True] Translation: X:190.16, Y:191.61, Z:0.73 [[ 8.10027605e-01 5.86380112e-01 -3.69370495e-03 1.90158799e+02] [-5.86373431e-01 8.10036020e-01 2.80102238e-03 1.91609968e+02] [ 4.63449787e-03 -1.03015007e-04 9.99989255e-01 7.27855429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.870281693 meters 0.03087430673602294 Centerline is valid? [True, True] Translation: X:190.18, Y:191.59, Z:0.73 [[ 8.10492355e-01 5.85738423e-01 -3.55550314e-03 1.90177708e+02] [-5.85732229e-01 8.10500148e-01 2.69561110e-03 1.91589236e+02] [ 4.46065881e-03 -1.02199415e-04 9.99990046e-01 7.27637772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90028169299995 meters 0.028418202551570067 Centerline is valid? [True, True] Translation: X:190.20, Y:191.57, Z:0.73 [[ 8.10534942e-01 5.85679100e-01 -3.61921670e-03 1.90198200e+02] [-5.85672686e-01 8.10543016e-01 2.74304202e-03 1.91569462e+02] [ 4.54007320e-03 -1.03655045e-04 9.99989688e-01 7.27967577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.930281693 meters 0.030361590064371842 Centerline is valid? [True, True] Translation: X:190.22, Y:191.55, Z:0.73 [[ 8.09968144e-01 5.86460168e-01 -4.00962662e-03 1.90216282e+02] [-5.86452308e-01 8.09978061e-01 3.03826648e-03 1.91547841e+02] [ 5.02953187e-03 -1.09444278e-04 9.99987346e-01 7.26486864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96028169299996 meters 0.030247341060053584 Centerline is valid? [True, True] Translation: X:190.24, Y:191.53, Z:0.72 [[ 8.09437486e-01 5.87187963e-01 -4.61004268e-03 1.90236578e+02] [-5.87177587e-01 8.09450605e-01 3.49266112e-03 1.91529114e+02] [ 5.78245040e-03 -1.20177094e-04 9.99983274e-01 7.24494194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.990281693 meters 0.02809220637211754 Centerline is valid? [True, True] Translation: X:190.26, Y:191.51, Z:0.72 [[ 8.08494938e-01 5.88473091e-01 -5.94615248e-03 1.90258709e+02] [-5.88455875e-01 8.08516791e-01 4.50357291e-03 1.91510318e+02] [ 7.45779559e-03 -1.42067537e-04 9.99972180e-01 7.20657462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02028169299996 meters 0.02740494033562702 Centerline is valid? [True, True] Translation: X:190.28, Y:191.49, Z:0.72 [[ 8.08215932e-01 5.88853992e-01 -6.16306656e-03 1.90281238e+02] [-5.88835520e-01 8.08239417e-01 4.66635014e-03 1.91492151e+02] [ 7.72903224e-03 -1.42386024e-04 9.99970120e-01 7.20284866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.050281693 meters 0.02563346888200057 Centerline is valid? [True, True] Translation: X:190.30, Y:191.47, Z:0.72 [[ 8.07937515e-01 5.89242454e-01 -5.50463535e-03 1.90303585e+02] [-5.89227737e-01 8.07956258e-01 4.16648632e-03 1.91474505e+02] [ 6.90257521e-03 -1.22776779e-04 9.99976169e-01 7.22492355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08028169299996 meters 0.024629017989967982 Centerline is valid? [True, True] Translation: X:190.33, Y:191.46, Z:0.72 [[ 8.07971578e-01 5.89199351e-01 -5.10437686e-03 1.90326191e+02] [-5.89186704e-01 8.07987693e-01 3.86211432e-03 1.91457984e+02] [ 6.39982894e-03 -1.13047627e-04 9.99979515e-01 7.24025652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.110281693 meters 0.02696859068594828 Centerline is valid? [True, True] Translation: X:190.35, Y:191.44, Z:0.72 [[ 8.07868489e-01 5.89342591e-01 -4.88002862e-03 1.90345827e+02] [-5.89331038e-01 8.07883221e-01 3.69168527e-03 1.91438038e+02] [ 6.11816060e-03 -1.06443873e-04 9.99981278e-01 7.23908199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14028169299996 meters 0.023990339406234244 Centerline is valid? [True, True] Translation: X:190.37, Y:191.42, Z:0.73 [[ 8.07646190e-01 5.89651016e-01 -4.39430841e-03 1.90370326e+02] [-5.89641658e-01 8.07658139e-01 3.32334282e-03 1.91422253e+02] [ 5.50871143e-03 -9.30178746e-05 9.99984823e-01 7.26520539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17028169299994 meters 0.02686296380817325 Centerline is valid? [True, True] Translation: X:190.39, Y:191.40, Z:0.73 [[ 8.07893918e-01 5.89312129e-01 -4.31637458e-03 1.90389458e+02] [-5.89303099e-01 8.07905444e-01 3.26366990e-03 1.91401514e+02] [ 5.41054278e-03 -9.30461482e-05 9.99985359e-01 7.25945553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20028169299997 meters 0.025795456497610097 Centerline is valid? [True, True] Translation: X:190.41, Y:191.38, Z:0.73 [[ 8.08660570e-01 5.88260705e-01 -4.17435064e-03 1.90412877e+02] [-5.88252250e-01 8.08671339e-01 3.15538531e-03 1.91384703e+02] [ 5.23186690e-03 -9.60645276e-05 9.99986309e-01 7.26341902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23028169299994 meters 0.02645306356264623 Centerline is valid? [True, True] Translation: X:190.43, Y:191.37, Z:0.73 [[ 8.08871924e-01 5.87969486e-01 -4.25377374e-03 1.90434181e+02] [-5.87960706e-01 8.08883103e-01 3.21469607e-03 1.91367134e+02] [ 5.33094889e-03 -9.92255854e-05 9.99985786e-01 7.26568873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26028169299997 meters 0.02602902097394607 Centerline is valid? [True, True] Translation: X:190.46, Y:191.35, Z:0.73 [[ 8.08813995e-01 5.88050876e-01 -4.01107854e-03 1.90457181e+02] [-5.88043076e-01 8.08823935e-01 3.03034003e-03 1.91351194e+02] [ 5.02625044e-03 -9.22944660e-05 9.99987364e-01 7.26979087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29028169299994 meters 0.02488322279881023 Centerline is valid? [True, True] Translation: X:190.48, Y:191.34, Z:0.73 [[ 8.08112179e-01 5.89010977e-01 -4.55804925e-03 1.90482178e+02] [-5.89000925e-01 8.08125028e-01 3.44234371e-03 1.91337201e+02] [ 5.71105190e-03 -9.71046481e-05 9.99983687e-01 7.26908293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32028169299997 meters 0.024449975211986958 Centerline is valid? [True, True] Translation: X:190.51, Y:191.32, Z:0.73 [[ 8.07889668e-01 5.89314994e-01 -4.70349758e-03 1.90506327e+02] [-5.89304303e-01 8.07903354e-01 3.55101072e-03 1.91321968e+02] [ 5.89263533e-03 -9.70335101e-05 9.99982634e-01 7.26408089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35028169299994 meters 0.022993917983053506 Centerline is valid? [True, True] Translation: X:190.53, Y:191.31, Z:0.73 [[ 8.06901564e-01 5.90672564e-01 -3.97339107e-03 1.90531375e+02] [-5.90664954e-01 8.06911344e-01 2.99929583e-03 1.91308916e+02] [ 4.97777609e-03 -7.31936455e-05 9.99987608e-01 7.26954981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.380281693 meters 0.022041426784558116 Centerline is valid? [True, True] Translation: X:190.56, Y:191.29, Z:0.73 [[ 8.06373871e-01 5.91393960e-01 -3.78997442e-03 1.90555920e+02] [-5.91387047e-01 8.06382775e-01 2.86012239e-03 1.91294029e+02] [ 4.74762919e-03 -6.49861831e-05 9.99988728e-01 7.27370243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41028169299994 meters 0.02132406150133004 Centerline is valid? [True, True] Translation: X:190.58, Y:191.28, Z:0.73 [[ 8.06011232e-01 5.91886985e-01 -3.96120050e-03 1.90580066e+02] [-5.91879445e-01 8.06020963e-01 2.98835826e-03 1.91278734e+02] [ 4.96158100e-03 -6.40971708e-05 9.99987689e-01 7.27109778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.440281693 meters 0.021350768201006776 Centerline is valid? [True, True] Translation: X:190.60, Y:191.26, Z:0.72 [[ 8.05926302e-01 5.91996882e-01 -4.74205388e-03 1.90602999e+02] [-5.91986083e-01 8.05940250e-01 3.57640696e-03 1.91264960e+02] [ 5.93903386e-03 -7.50905361e-05 9.99982361e-01 7.24401623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47028169299995 meters 0.021828996921713466 Centerline is valid? [True, True] Translation: X:190.63, Y:191.25, Z:0.72 [[ 8.06294298e-01 5.91496659e-01 -4.60528525e-03 1.90626278e+02] [-5.91486472e-01 8.06307446e-01 3.47221677e-03 1.91248106e+02] [ 5.76708040e-03 -7.56646560e-05 9.99983367e-01 7.23957676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.500281693 meters 0.02366763111632303 Centerline is valid? [True, True] Translation: X:190.65, Y:191.23, Z:0.72 [[ 8.07304585e-01 5.90120579e-01 -4.12417504e-03 1.90647040e+02] [-5.90112395e-01 8.07315116e-01 3.10895870e-03 1.91229104e+02] [ 5.16416936e-03 -7.61498069e-05 9.99986663e-01 7.24634775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53028169299995 meters 0.02485259335414339 Centerline is valid? [True, True] Translation: X:190.67, Y:191.21, Z:0.73 [[ 8.07960212e-01 5.89224056e-01 -3.91250858e-03 1.90668500e+02] [-5.89216683e-01 8.07969681e-01 2.94866353e-03 1.91209888e+02] [ 4.89861179e-03 -7.70874786e-05 9.99987999e-01 7.25288502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.560281693 meters 0.02618123152411732 Centerline is valid? [True, True] Translation: X:190.69, Y:191.19, Z:0.73 [[ 8.08764048e-01 5.88122013e-01 -3.63496902e-03 1.90689463e+02] [-5.88115642e-01 8.08772213e-01 2.73865207e-03 1.91190447e+02] [ 4.55052351e-03 -7.71411977e-05 9.99989643e-01 7.26029764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59028169299995 meters 0.02935639320330666 Centerline is valid? [True, True] Translation: X:190.71, Y:191.17, Z:0.73 [[ 8.10423186e-01 5.85839067e-01 -2.61673148e-03 1.90707046e+02] [-5.85835754e-01 8.10427408e-01 1.97110462e-03 1.91167366e+02] [ 3.27542100e-03 -6.44540281e-05 9.99994634e-01 7.28075208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.620281693 meters 0.03076622651481449 Centerline is valid? [True, True] Translation: X:190.73, Y:191.15, Z:0.73 [[ 8.11181576e-01 5.84787814e-01 -2.76846981e-03 1.90727641e+02] [-5.84784102e-01 8.11186297e-01 2.08488061e-03 1.91147168e+02] [ 3.46495755e-03 -7.22596130e-05 9.99993994e-01 7.27504489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65028169299995 meters 0.03279987532063716 Centerline is valid? [True, True] Translation: X:190.75, Y:191.13, Z:0.72 [[ 8.11965017e-01 5.83689355e-01 -4.42135064e-03 1.90745414e+02] [-5.83679876e-01 8.11977045e-01 3.32884167e-03 1.91125459e+02] [ 5.53304467e-03 -1.22249591e-04 9.99984685e-01 7.24447072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.680281693 meters 0.03282549923309696 Centerline is valid? [True, True] Translation: X:190.77, Y:191.11, Z:0.72 [[ 8.11878915e-01 5.83808574e-01 -4.49171826e-03 1.90766837e+02] [-5.83798794e-01 8.11891331e-01 3.38142492e-03 1.91107089e+02] [ 5.62089198e-03 -1.23047893e-04 9.99984195e-01 7.24831189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71028169299996 meters 0.025503815463474206 Centerline is valid? [True, True] Translation: X:190.79, Y:191.10, Z:0.73 [[ 8.11285269e-01 5.84635028e-01 -4.25394318e-03 1.90794156e+02] [-5.84626272e-01 8.11296415e-01 3.20152708e-03 1.91095135e+02] [ 5.32293372e-03 -1.10384813e-04 9.99985827e-01 7.26547770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.740281693 meters 0.02693762747476939 Centerline is valid? [True, True] Translation: X:190.81, Y:191.08, Z:0.72 [[ 8.11268540e-01 5.84655212e-01 -4.65190155e-03 1.90813622e+02] [-5.84644748e-01 8.11281868e-01 3.49995776e-03 1.91075992e+02] [ 5.82027192e-03 -1.19695814e-04 9.99983055e-01 7.24283279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77028169299996 meters 0.025998990936168035 Centerline is valid? [True, True] Translation: X:190.84, Y:191.06, Z:0.72 [[ 8.11415127e-01 5.84447897e-01 -5.11357180e-03 1.90835985e+02] [-5.84435257e-01 8.11431229e-01 3.84591982e-03 1.91058461e+02] [ 6.39705160e-03 -1.32085868e-04 9.99979530e-01 7.23622354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.800281693 meters 0.029293697696443625 Centerline is valid? [True, True] Translation: X:190.85, Y:191.03, Z:0.72 [[ 8.12814236e-01 5.82499085e-01 -5.27577938e-03 1.90851465e+02] [-5.82485595e-01 8.12831344e-01 3.96716360e-03 1.91032271e+02] [ 6.59918801e-03 -1.51501557e-04 9.99978214e-01 7.22212030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83028169299996 meters 0.030973457079436554 Centerline is valid? [True, True] Translation: X:190.87, Y:191.01, Z:0.72 [[ 8.13947219e-01 5.80921822e-01 -4.44531560e-03 1.90870111e+02] [-5.80912227e-01 8.13959346e-01 3.34176945e-03 1.91009391e+02] [ 5.55961298e-03 -1.37685762e-04 9.99984536e-01 7.23981793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.860281693 meters 0.04135070138447216 Centerline is valid? [True, True] Translation: X:190.88, Y:190.97, Z:0.73 [[ 8.15430899e-01 5.78845315e-01 -3.24821413e-03 1.90879672e+02] [-5.78840176e-01 8.15437361e-01 2.44150039e-03 1.90974453e+02] [ 4.06196622e-03 -1.10678019e-04 9.99991744e-01 7.25954880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89028169299996 meters 0.04177035129739393 Centerline is valid? [True, True] Translation: X:190.90, Y:190.95, Z:0.73 [[ 8.15648063e-01 5.78537834e-01 -3.49472913e-03 1.90900798e+02] [-5.78531885e-01 8.15655540e-01 2.62620984e-03 1.90954407e+02] [ 4.36985693e-03 -1.20250740e-04 9.99990445e-01 7.25331248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92028169299994 meters 0.034368676762620134 Centerline is valid? [True, True] Translation: X:190.93, Y:190.94, Z:0.72 [[ 8.15030156e-01 5.79401873e-01 -4.39493550e-03 1.90926831e+02] [-5.79392484e-01 8.15041992e-01 3.30155421e-03 1.90940452e+02] [ 5.49498368e-03 -1.44473642e-04 9.99984892e-01 7.24554747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95028169299997 meters 0.03281414881816607 Centerline is valid? [True, True] Translation: X:190.95, Y:190.92, Z:0.72 [[ 8.13671310e-01 5.81308559e-01 -4.39985513e-03 1.90949681e+02] [-5.81299180e-01 8.13683195e-01 3.30471338e-03 1.90923457e+02] [ 5.50114635e-03 -1.31318290e-04 9.99984860e-01 7.24947545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98028169299994 meters 0.027371456685334347 Centerline is valid? [True, True] Translation: X:190.98, Y:190.91, Z:0.73 [[ 8.12113737e-01 5.83486414e-01 -3.85780856e-03 1.90976805e+02] [-5.83479230e-01 8.12122893e-01 2.89731558e-03 1.90911453e+02] [ 4.82355893e-03 -1.01998617e-04 9.99988361e-01 7.26725714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01028169299997 meters 0.022003410284053126 Centerline is valid? [True, True] Translation: X:191.00, Y:190.90, Z:0.73 [[ 8.08594735e-01 5.88361146e-01 -2.39106991e-03 1.91003416e+02] [-5.88358408e-01 8.08598269e-01 1.79563181e-03 1.90899574e+02] [ 2.98989498e-03 -4.51323384e-05 9.99995529e-01 7.29536359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04028169299994 meters 0.022003410284053126 Centerline is valid? [True, True] Translation: X:191.03, Y:190.88, Z:0.73 [[ 8.08704902e-01 5.88209710e-01 -2.39126407e-03 1.91025532e+02] [-5.88206972e-01 8.08708437e-01 1.79537321e-03 1.90883212e+02] [ 2.98989138e-03 -4.53689188e-05 9.99995529e-01 7.29579959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07028169299997 meters 0.02013540508134392 Centerline is valid? [True, True] Translation: X:191.05, Y:190.87, Z:0.73 [[ 8.07483564e-01 5.89885657e-01 -2.28159843e-03 1.91049893e+02] [-5.89883173e-01 8.07486786e-01 1.71242303e-03 1.90867015e+02] [ 2.85249437e-03 -3.68769266e-05 9.99995931e-01 7.29558344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10028169299994 meters 0.01859723324041199 Centerline is valid? [True, True] Translation: X:191.07, Y:190.85, Z:0.73 [[ 8.06349514e-01 5.91431879e-01 -2.96547169e-03 1.91072409e+02] [-5.91427695e-01 8.06354966e-01 2.22484289e-03 1.90849274e+02] [ 3.70706583e-03 -4.01389028e-05 9.99993128e-01 7.27660239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.130281693 meters 0.01900612598735101 Centerline is valid? [True, True] Translation: X:191.09, Y:190.83, Z:0.73 [[ 8.06342965e-01 5.91440351e-01 -3.05514054e-03 1.91093347e+02] [-5.91435915e-01 8.06348752e-01 2.29126628e-03 1.90831346e+02] [ 3.81865609e-03 -4.06266030e-05 9.99992708e-01 7.26595445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16028169299994 meters 0.0189104970523243 Centerline is valid? [True, True] Translation: X:191.12, Y:190.81, Z:0.73 [[ 8.06529382e-01 5.91184655e-01 -3.32562266e-03 1.91115393e+02] [-5.91179399e-01 8.06536237e-01 2.49313005e-03 1.90814857e+02] [ 4.15613541e-03 -4.47430259e-05 9.99991362e-01 7.25776378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.190281693 meters 0.01999520843534679 Centerline is valid? [True, True] Translation: X:191.14, Y:190.80, Z:0.72 [[ 8.07322420e-01 5.90096973e-01 -4.00907336e-03 1.91136552e+02] [-5.90089328e-01 8.07332372e-01 3.00436727e-03 1.90795604e+02] [ 5.00952274e-03 -5.97816511e-05 9.99987451e-01 7.23552691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22028169299995 meters 0.02075335493683169 Centerline is valid? [True, True] Translation: X:191.16, Y:190.78, Z:0.72 [[ 8.07922320e-01 5.89272670e-01 -4.38697522e-03 1.91158633e+02] [-5.89263510e-01 8.07934227e-01 3.28642866e-03 1.90776433e+02] [ 5.48099003e-03 -7.00946496e-05 9.99984977e-01 7.22543993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.250281693 meters 0.022238057425468024 Centerline is valid? [True, True] Translation: X:191.18, Y:190.76, Z:0.72 [[ 8.08774871e-01 5.88101178e-01 -4.49585298e-03 1.91178452e+02] [-5.88091543e-01 8.08787363e-01 3.36737692e-03 1.90755706e+02] [ 5.61654740e-03 -7.94767225e-05 9.99984224e-01 7.21839189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28028169299995 meters 0.023752203604094507 Centerline is valid? [True, True] Translation: X:191.20, Y:190.74, Z:0.72 [[ 8.09128231e-01 5.87618704e-01 -3.97045688e-03 1.91198117e+02] [-5.87611185e-01 8.09137969e-01 2.97351777e-03 1.90735456e+02] [ 4.95994207e-03 -7.28722947e-05 9.99987697e-01 7.22878349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.310281693 meters 0.023696487342934447 Centerline is valid? [True, True] Translation: X:191.22, Y:190.72, Z:0.72 [[ 8.09496129e-01 5.87113553e-01 -3.70029530e-03 1.91219575e+02] [-5.87107021e-01 8.09504584e-01 2.77049123e-03 1.90716524e+02] [ 4.62199896e-03 -7.02325761e-05 9.99989316e-01 7.23548045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34028169299995 meters 0.024074208303405863 Centerline is valid? [True, True] Translation: X:191.24, Y:190.70, Z:0.72 [[ 8.09534682e-01 5.87054370e-01 -4.55687027e-03 1.91238188e+02] [-5.87044466e-01 8.09547503e-01 3.41103446e-03 1.90695614e+02] [ 5.69146564e-03 -8.62652244e-05 9.99983800e-01 7.21509649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.370281693 meters 0.02262641210462489 Centerline is valid? [True, True] Translation: X:191.26, Y:190.68, Z:0.72 [[ 8.08498634e-01 5.88467325e-01 -6.01390624e-03 1.91260061e+02] [-5.88450119e-01 8.08520994e-01 4.50107468e-03 1.90678847e+02] [ 7.51110483e-03 -1.00228884e-04 9.99971786e-01 7.17947489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40028169299995 meters 0.020087083584845407 Centerline is valid? [True, True] Translation: X:191.29, Y:190.66, Z:0.72 [[ 8.07617578e-01 5.89676612e-01 -5.94479705e-03 1.91285007e+02] [-5.89659841e-01 8.07639453e-01 4.44813939e-03 1.90664242e+02] [ 7.42421640e-03 -8.69874780e-05 9.99972436e-01 7.18378263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.430281693 meters 0.018980444475950695 Centerline is valid? [True, True] Translation: X:191.31, Y:190.65, Z:0.72 [[ 8.06312018e-01 5.91464117e-01 -5.57919156e-03 1.91307630e+02] [-5.91449393e-01 8.06331318e-01 4.17390735e-03 1.90648318e+02] [ 6.96739330e-03 -6.56622008e-05 9.99975725e-01 7.18530831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46028169299996 meters 0.01683096182020301 Centerline is valid? [True, True] Translation: X:191.33, Y:190.63, Z:0.72 [[ 8.04760783e-01 5.93580758e-01 -4.68675303e-03 1.91331770e+02] [-5.93570406e-01 8.04774429e-01 3.50586567e-03 1.90634322e+02] [ 5.85279340e-03 -3.94652963e-05 9.99982872e-01 7.21043980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.490281693 meters 0.013926807082904943 Centerline is valid? [True, True] Translation: X:191.36, Y:190.62, Z:0.73 [[ 8.01533613e-01 5.97945964e-01 -2.11930084e-03 1.91360296e+02] [-5.97943863e-01 8.01536415e-01 1.58504486e-03 1.90623766e+02] [ 2.64646797e-03 -3.24380481e-06 9.99996498e-01 7.28412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52028169299996 meters 0.014367995528750007 Centerline is valid? [True, True] Translation: X:191.39, Y:190.61, Z:0.73 [[ 7.99089814e-01 6.01211116e-01 -8.14861299e-04 1.91386856e+02] [-6.01210807e-01 7.99090229e-01 6.09356940e-04 1.90613347e+02] [ 1.01749987e-03 2.97249626e-06 9.99999482e-01 7.30788236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.550281693 meters 0.014639705680849765 Centerline is valid? [True, True] Translation: X:191.41, Y:190.60, Z:0.73 [[ 7.98692962e-01 6.01738224e-01 -8.14315193e-04 1.91409734e+02] [-6.01737916e-01 7.98693377e-01 6.08962019e-04 1.90597695e+02] [ 1.01682387e-03 3.63064902e-06 9.99999483e-01 7.31018705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58028169299996 meters 0.01464305321906375 Centerline is valid? [True, True] Translation: X:191.43, Y:190.58, Z:0.73 [[ 7.98681137e-01 6.01753688e-01 -9.70106978e-04 1.91432506e+02] [-6.01753251e-01 7.98681726e-01 7.25121549e-04 1.90581579e+02] [ 1.21115128e-03 4.62412440e-06 9.99999267e-01 7.31363006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.610281693 meters 0.014490282104826736 Centerline is valid? [True, True] Translation: X:191.46, Y:190.57, Z:0.73 [[ 7.99392770e-01 6.00808355e-01 -7.21361129e-04 1.91456591e+02] [-6.00808113e-01 7.99393096e-01 5.38964572e-04 1.90566974e+02] [ 9.00465523e-04 2.55523618e-06 9.99999595e-01 7.32685266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64028169299996 meters 0.014021283273041567 Centerline is valid? [True, True] Translation: X:191.48, Y:190.55, Z:0.73 [[ 8.00072960e-01 5.99902591e-01 -3.74159726e-04 1.91479151e+02] [-5.99902526e-01 8.00073048e-01 2.79753085e-04 1.90550601e+02] [ 4.67179712e-04 6.36485940e-07 9.99999891e-01 7.32892751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67028169299994 meters 0.013899687622151678 Centerline is valid? [True, True] Translation: X:191.50, Y:190.54, Z:0.73 [[ 8.00716388e-01 5.99042799e-01 -9.95525556e-04 1.91501928e+02] [-5.99042338e-01 8.00717007e-01 7.43392637e-04 1.90536026e+02] [ 1.24245825e-03 1.11528886e-06 9.99999228e-01 7.31073857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70028169299997 meters 0.013878233308995512 Centerline is valid? [True, True] Translation: X:191.53, Y:190.52, Z:0.73 [[ 8.00982545e-01 5.98686355e-01 -1.26941753e-03 1.91525230e+02] [-5.98685605e-01 8.00983551e-01 9.47713106e-04 1.90520582e+02] [ 1.58416547e-03 8.80347812e-07 9.99998745e-01 7.30238531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73028169299994 meters 0.013896941725139198 Centerline is valid? [True, True] Translation: X:191.55, Y:190.51, Z:0.73 [[ 8.01116305e-01 5.98507158e-01 -1.35927678e-03 1.91548666e+02] [-5.98506299e-01 8.01117458e-01 1.01439259e-03 1.90505738e+02] [ 1.69606158e-03 8.89275573e-07 9.99998562e-01 7.29609899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76028169299997 meters 0.013981119836152425 Centerline is valid? [True, True] Translation: X:191.57, Y:190.49, Z:0.73 [[ 8.01254662e-01 5.98322046e-01 -1.30223664e-03 1.91573489e+02] [-5.98321257e-01 8.01255720e-01 9.71471769e-04 1.90492238e+02] [ 1.62467754e-03 7.59580528e-07 9.99998680e-01 7.29188134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79028169299994 meters 0.013994909063424082 Centerline is valid? [True, True] Translation: X:191.60, Y:190.48, Z:0.73 [[ 8.01325730e-01 5.98225658e-01 -1.77110447e-03 1.91596578e+02] [-5.98224200e-01 8.01327687e-01 1.32061792e-03 1.90476491e+02] [ 2.20926257e-03 1.27243938e-06 9.99997560e-01 7.28183480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82028169299997 meters 0.01408333906535194 Centerline is valid? [True, True] Translation: X:191.62, Y:190.46, Z:0.72 [[ 8.01490144e-01 5.97999004e-01 -3.27726888e-03 1.91619089e+02] [-5.97994014e-01 8.01496844e-01 2.44284418e-03 1.90460686e+02] [ 4.08753905e-03 1.87163734e-06 9.99991646e-01 7.24580888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85028169299994 meters 0.014062536660903955 Centerline is valid? [True, True] Translation: X:191.64, Y:190.44, Z:0.72 [[ 8.01812894e-01 5.97564227e-01 -3.61638559e-03 1.91641078e+02] [-5.97558149e-01 8.01821049e-01 2.69520947e-03 1.90444395e+02] [ 4.51025485e-03 -5.30296193e-08 9.99989829e-01 7.23413984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.880281693 meters 0.014164627896230922 Centerline is valid? [True, True] Translation: X:191.66, Y:190.43, Z:0.72 [[ 8.02445419e-01 5.96714838e-01 -3.57092663e-03 1.91662493e+02] [-5.96708907e-01 8.02453365e-01 2.66054070e-03 1.90427033e+02] [ 4.45308620e-03 -4.13497675e-06 9.99990085e-01 7.23791101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91028169299994 meters 0.014120701905451553 Centerline is valid? [True, True] Translation: X:191.68, Y:190.41, Z:0.72 [[ 8.02371166e-01 5.96815436e-01 -3.44202903e-03 1.91684434e+02] [-5.96809928e-01 8.02378549e-01 2.56390405e-03 1.90410816e+02] [ 4.29198777e-03 -2.96557977e-06 9.99990789e-01 7.24695643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.940281693 meters 0.014088142198664616 Centerline is valid? [True, True] Translation: X:191.71, Y:190.40, Z:0.72 [[ 8.02125754e-01 5.97145463e-01 -3.40146468e-03 1.91707837e+02] [-5.97140091e-01 8.02132966e-01 2.53294993e-03 1.90395496e+02] [ 4.24096652e-03 -5.93444653e-07 9.99991007e-01 7.24934975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97028169299995 meters 0.015220378347225666 Centerline is valid? [True, True] Translation: X:191.74, Y:190.39, Z:0.72 [[ 7.99857383e-01 6.00169939e-01 -4.92052417e-03 1.91736035e+02] [-6.00158759e-01 7.99872517e-01 3.66332063e-03 1.90386540e+02] [ 6.13440697e-03 2.29616300e-05 9.99981184e-01 7.21202552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.000281693 meters 0.01684777751372763 Centerline is valid? [True, True] Translation: X:191.76, Y:190.37, Z:0.72 [[ 7.98208421e-01 6.02352935e-01 -5.85303731e-03 1.91763292e+02] [-6.02337184e-01 7.98229879e-01 4.35634816e-03 1.90374741e+02] [ 7.29612836e-03 4.82282283e-05 9.99973382e-01 7.18622973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03028169299995 meters 0.02051813438771373 Centerline is valid? [True, True] Translation: X:191.79, Y:190.37, Z:0.72 [[ 7.95225248e-01 6.06280902e-01 -6.34612009e-03 1.91793238e+02] [-6.06262522e-01 7.95250564e-01 4.72177476e-03 1.90366160e+02] [ 7.90947744e-03 9.25402676e-05 9.99968715e-01 7.17774474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.060281693 meters 0.021947996643936103 Centerline is valid? [True, True] Translation: X:191.82, Y:190.35, Z:0.72 [[ 7.94370106e-01 6.07406272e-01 -5.80988055e-03 1.91818969e+02] [-6.07390907e-01 7.94391347e-01 4.32140202e-03 1.90352358e+02] [ 7.24016553e-03 9.60760379e-05 9.99973785e-01 7.18640128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09028169299995 meters 0.02321344784799871 Centerline is valid? [True, True] Translation: X:191.84, Y:190.34, Z:0.72 [[ 7.94130451e-01 6.07728872e-01 -4.73764454e-03 1.91842728e+02] [-6.07718665e-01 7.94144579e-01 3.52319880e-03 1.90339470e+02] [ 5.90352435e-03 8.12755634e-05 9.99982571e-01 7.20608802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.120281693 meters 0.022423596959170903 Centerline is valid? [True, True] Translation: X:191.87, Y:190.32, Z:0.72 [[ 7.94543601e-01 6.07197445e-01 -3.42463481e-03 1.91865623e+02] [-6.07192108e-01 7.94550980e-01 2.54647460e-03 1.90323555e+02] [ 4.26725981e-03 5.61261333e-05 9.99990894e-01 7.24267961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15028169299995 meters 0.02178207244175671 Centerline is valid? [True, True] Translation: X:191.89, Y:190.31, Z:0.72 [[ 7.95073224e-01 6.06502911e-01 -3.57598330e-03 1.91887847e+02] [-6.06497086e-01 7.95081264e-01 2.65871228e-03 1.90306569e+02] [ 4.45571406e-03 5.49525071e-05 9.99990072e-01 7.24043029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.180281693 meters 0.020882775289981507 Centerline is valid? [True, True] Translation: X:191.91, Y:190.29, Z:0.72 [[ 7.95830677e-01 6.05503542e-01 -4.35821083e-03 1.91912130e+02] [-6.05494880e-01 7.95842608e-01 3.23945045e-03 1.90290243e+02] [ 5.42994860e-03 6.08203002e-05 9.99985256e-01 7.21557084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21028169299996 meters 0.01926416927617546 Centerline is valid? [True, True] Translation: X:191.93, Y:190.27, Z:0.72 [[ 7.95924193e-01 6.05379879e-01 -4.45876404e-03 1.91934573e+02] [-6.05370817e-01 7.95936680e-01 3.31296592e-03 1.90272927e+02] [ 5.55449675e-03 6.23359012e-05 9.99984572e-01 7.22355935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.240281693 meters 0.01946101936218772 Centerline is valid? [True, True] Translation: X:191.96, Y:190.26, Z:0.72 [[ 7.96383023e-01 6.04775198e-01 -4.58699944e-03 1.91958538e+02] [-6.04765601e-01 7.96396231e-01 3.40757001e-03 1.90258099e+02] [ 5.71388289e-03 6.03285619e-05 9.99983674e-01 7.20788011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27028169299996 meters 0.016751561337821238 Centerline is valid? [True, True] Translation: X:191.98, Y:190.24, Z:0.72 [[ 7.98484902e-01 6.01999095e-01 -4.35318045e-03 1.91979297e+02] [-6.01990415e-01 7.98496768e-01 3.23306043e-03 1.90236851e+02] [ 5.42229997e-03 3.90229609e-05 9.99985298e-01 7.22286716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.300281693 meters 0.014181882519832989 Centerline is valid? [True, True] Translation: X:192.00, Y:190.21, Z:0.73 [[ 8.01740224e-01 5.97664557e-01 -3.11299428e-03 1.91996385e+02] [-5.97660088e-01 8.01746267e-01 2.31131676e-03 1.90211810e+02] [ 3.87722365e-03 7.43681669e-06 9.99992484e-01 7.25372566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33028169299996 meters 0.013983126277121206 Centerline is valid? [True, True] Translation: X:192.01, Y:190.19, Z:0.73 [[ 8.03556710e-01 5.95222678e-01 -2.56440418e-03 1.92014767e+02] [-5.95219635e-01 8.03560802e-01 1.90357713e-03 1.90191163e+02] [ 3.19370696e-03 -3.24846048e-06 9.99994900e-01 7.26243910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.360281693 meters 0.014498973856332092 Centerline is valid? [True, True] Translation: X:192.04, Y:190.17, Z:0.73 [[ 8.05300097e-01 5.92864127e-01 -1.96966623e-03 1.92035045e+02] [-5.92862325e-01 8.05302506e-01 1.46179792e-03 1.90169412e+02] [ 2.45282470e-03 -9.44510469e-06 9.99996992e-01 7.27790262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39028169299996 meters 0.015811287530990585 Centerline is valid? [True, True] Translation: X:192.05, Y:190.15, Z:0.73 [[ 8.06851590e-01 5.90753024e-01 -1.17302409e-03 1.92053392e+02] [-5.90752383e-01 8.06852443e-01 8.70381289e-04 1.90147968e+02] [ 1.46063773e-03 -9.30174902e-06 9.99998933e-01 7.30081153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42028169299994 meters 0.01825778153668994 Centerline is valid? [True, True] Translation: X:192.07, Y:190.12, Z:0.73 [[ 8.09063098e-01 5.87720960e-01 -9.88695007e-04 1.92070107e+02] [-5.87720502e-01 8.09063702e-01 7.33582160e-04 1.90122240e+02] [ 1.23105885e-03 -1.24379291e-05 9.99999242e-01 7.30788377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45028169299997 meters 0.01877832634858856 Centerline is valid? [True, True] Translation: X:192.09, Y:190.10, Z:0.73 [[ 8.09202550e-01 5.87524725e-01 -2.43532752e-03 1.92088593e+02] [-5.87521950e-01 8.09206214e-01 1.80606552e-03 1.90100806e+02] [ 3.03179031e-03 -3.06644579e-05 9.99995404e-01 7.26242930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48028169299994 meters 0.018360600322218125 Centerline is valid? [True, True] Translation: X:192.11, Y:190.08, Z:0.72 [[ 8.08871729e-01 5.87973838e-01 -3.64573530e-03 1.92110259e+02] [-5.87967627e-01 8.08879944e-01 2.70289046e-03 1.90083368e+02] [ 4.53819104e-03 -4.27173468e-05 9.99989701e-01 7.23931634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51028169299997 meters 0.016809690339104993 Centerline is valid? [True, True] Translation: X:192.13, Y:190.07, Z:0.72 [[ 8.08159765e-01 5.88948393e-01 -4.19346496e-03 1.92134198e+02] [-5.88940195e-01 8.08170643e-01 3.10781347e-03 1.90067404e+02] [ 5.21937702e-03 -4.19097333e-05 9.99986378e-01 7.23351470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54028169299994 meters 0.01548795465108371 Centerline is valid? [True, True] Translation: X:192.16, Y:190.05, Z:0.72 [[ 8.06600383e-01 5.91078304e-01 -4.71821979e-03 1.92157090e+02] [-5.91067966e-01 8.06614182e-01 3.49588000e-03 1.90051893e+02] [ 5.87212182e-03 -3.09895681e-05 9.99982758e-01 7.23701230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57028169299997 meters 0.015000346157074114 Centerline is valid? [True, True] Translation: X:192.18, Y:190.04, Z:0.72 [[ 8.05974513e-01 5.91931395e-01 -4.72322593e-03 1.92179652e+02] [-5.91921053e-01 8.05988352e-01 3.49910653e-03 1.90035761e+02] [ 5.87809610e-03 -2.44138165e-05 9.99982724e-01 7.23868372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60028169299994 meters 0.014257033424444347 Centerline is valid? [True, True] Translation: X:192.20, Y:190.02, Z:0.72 [[ 8.04572030e-01 5.93840504e-01 -4.15985306e-03 1.92202505e+02] [-5.93832509e-01 8.04582784e-01 3.08138567e-03 1.90019425e+02] [ 5.17679777e-03 -8.94075055e-06 9.99986600e-01 7.24751193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.630281693 meters 0.014047554430568288 Centerline is valid? [True, True] Translation: X:192.23, Y:190.00, Z:0.73 [[ 8.04067728e-01 5.94529038e-01 -3.21115551e-03 1.92225960e+02] [-5.94524282e-01 8.04074140e-01 2.37798484e-03 1.90004103e+02] [ 3.99578815e-03 -2.95094110e-06 9.99992017e-01 7.27293284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66028169299994 meters 0.013976386880114766 Centerline is valid? [True, True] Translation: X:192.25, Y:189.99, Z:0.73 [[ 8.03185397e-01 5.95724323e-01 -2.39779622e-03 1.92248931e+02] [-5.95721678e-01 8.03188976e-01 1.77523660e-03 1.89990476e+02] [ 2.98343511e-03 2.57508089e-06 9.99995550e-01 7.28554828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.690281693 meters 0.015143895858207164 Centerline is valid? [True, True] Translation: X:192.28, Y:189.98, Z:0.73 [[ 8.00666251e-01 5.99107565e-01 -1.91831159e-03 1.92276533e+02] [-5.99105883e-01 8.00668549e-01 1.41994959e-03 1.89978959e+02] [ 2.38663430e-03 1.23660452e-05 9.99997152e-01 7.29476151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72028169299995 meters 0.016797683599286073 Centerline is valid? [True, True] Translation: X:192.30, Y:189.97, Z:0.73 [[ 7.98987585e-01 6.01344815e-01 -1.80325669e-03 1.92301382e+02] [-6.01343335e-01 7.98989620e-01 1.33443110e-03 1.89965541e+02] [ 2.24323660e-03 1.81825044e-05 9.99997484e-01 7.29807839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.750281693 meters 0.020886154842362555 Centerline is valid? [True, True] Translation: X:192.33, Y:189.96, Z:0.73 [[ 7.96195799e-01 6.05036566e-01 -1.73293678e-03 1.92328570e+02] [-6.05035208e-01 7.96197685e-01 1.28224175e-03 1.89955912e+02] [ 2.15556340e-03 2.75722720e-05 9.99997676e-01 7.30029304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78028169299995 meters 0.02133121842456373 Centerline is valid? [True, True] Translation: X:192.35, Y:189.94, Z:0.73 [[ 7.95363131e-01 6.06129491e-01 -2.12828865e-03 1.92352813e+02] [-6.06127447e-01 7.95365978e-01 1.57441654e-03 1.89940145e+02] [ 2.64706868e-03 3.77812988e-05 9.99996496e-01 7.28931441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.810281693 meters 0.023174579930708854 Centerline is valid? [True, True] Translation: X:192.38, Y:189.93, Z:0.73 [[ 7.94567365e-01 6.07170212e-01 -2.65258819e-03 1.92377687e+02] [-6.07167045e-01 7.94571791e-01 1.96168486e-03 1.89926476e+02] [ 3.29874837e-03 5.18733606e-05 9.99994558e-01 7.28415578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84028169299995 meters 0.02494327731176151 Centerline is valid? [True, True] Translation: X:192.40, Y:189.91, Z:0.73 [[ 7.93597004e-01 6.08435748e-01 -3.12024826e-03 1.92403338e+02] [-6.08431377e-01 7.93603135e-01 2.30717269e-03 1.89913801e+02] [ 3.88000514e-03 6.74916135e-05 9.99992471e-01 7.27910679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.870281693 meters 0.023396110124348255 Centerline is valid? [True, True] Translation: X:192.43, Y:189.90, Z:0.73 [[ 7.93568572e-01 6.08473724e-01 -2.94080409e-03 1.92425653e+02] [-6.08469844e-01 7.93574018e-01 2.17388604e-03 1.89897058e+02] [ 3.65649825e-03 6.42629716e-05 9.99993313e-01 7.28484352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90028169299995 meters 0.025842431670982036 Centerline is valid? [True, True] Translation: X:192.45, Y:189.89, Z:0.73 [[ 7.93385105e-01 6.08713052e-01 -2.91480596e-03 1.92453229e+02] [-6.08709243e-01 7.93390457e-01 2.15413935e-03 1.89887966e+02] [ 3.62383197e-03 6.52072561e-05 9.99993432e-01 7.28333009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.930281693 meters 0.025842431670982036 Centerline is valid? [True, True] Translation: X:192.48, Y:189.87, Z:0.73 [[ 7.93494564e-01 6.08570356e-01 -2.91508041e-03 1.92475464e+02] [-6.08566549e-01 7.93499916e-01 2.15376791e-03 1.89871780e+02] [ 3.62383537e-03 6.50172914e-05 9.99993432e-01 7.28376598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96028169299996 meters 0.025824988120117052 Centerline is valid? [True, True] Translation: X:192.50, Y:189.86, Z:0.73 [[ 7.93244587e-01 6.08895328e-01 -3.08287714e-03 1.92499985e+02] [-6.08891075e-01 7.93250575e-01 2.27691937e-03 1.89855662e+02] [ 3.83189963e-03 7.09824114e-05 9.99992656e-01 7.28150991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.990281693 meters 0.029390716834830993 Centerline is valid? [True, True] Translation: X:192.53, Y:189.85, Z:0.73 [[ 7.91932378e-01 6.10598145e-01 -3.60756912e-03 1.92527333e+02] [-6.10592341e-01 7.91940589e-01 2.66386525e-03 1.89845854e+02] [ 4.48353160e-03 9.31529332e-05 9.99989945e-01 7.27140447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02028169299996 meters 0.031046665600275608 Centerline is valid? [True, True] Translation: X:192.55, Y:189.83, Z:0.73 [[ 7.91083807e-01 6.11694513e-01 -4.02901218e-03 1.92553673e+02] [-6.11687292e-01 7.91094059e-01 2.97427597e-03 1.89832737e+02] [ 5.00667589e-03 1.11593994e-04 9.99987460e-01 7.26520677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.050281693 meters 0.033129533600971754 Centerline is valid? [True, True] Translation: X:192.58, Y:189.82, Z:0.73 [[ 7.90080629e-01 6.12988482e-01 -4.20954347e-03 1.92580216e+02] [-6.12980621e-01 7.90091833e-01 3.10697694e-03 1.89820928e+02] [ 5.23046700e-03 1.25606275e-04 9.99986313e-01 7.26151707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08028169299996 meters 0.03655608745098795 Centerline is valid? [True, True] Translation: X:192.61, Y:189.81, Z:0.73 [[ 7.88036406e-01 6.15612968e-01 -4.39281318e-03 1.92611050e+02] [-6.15604449e-01 7.88048636e-01 3.24197089e-03 1.89813504e+02] [ 5.45754976e-03 1.49444248e-04 9.99985096e-01 7.26135765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.110281693 meters 0.037003008542161916 Centerline is valid? [True, True] Translation: X:192.64, Y:189.80, Z:0.73 [[ 7.87182043e-01 6.16705611e-01 -4.31514201e-03 1.92637090e+02] [-6.16697409e-01 7.87193855e-01 3.18431781e-03 1.89801044e+02] [ 5.36063994e-03 1.54499097e-04 9.99985620e-01 7.26448762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14028169299996 meters 0.03588051991057472 Centerline is valid? [True, True] Translation: X:192.67, Y:189.79, Z:0.73 [[ 7.86784312e-01 6.17218440e-01 -3.44145516e-03 1.92665118e+02] [-6.17213230e-01 7.86791829e-01 2.53895005e-03 1.89790510e+02] [ 4.27479559e-03 1.26505583e-04 9.99990855e-01 7.26807776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17028169299994 meters 0.036527533372284614 Centerline is valid? [True, True] Translation: X:192.69, Y:189.78, Z:0.73 [[ 7.87307243e-01 6.16554607e-01 -2.77884384e-03 1.92690516e+02] [-6.16551207e-01 7.87312141e-01 2.04970877e-03 1.89778245e+02] [ 3.45157488e-03 9.95489637e-05 9.99994038e-01 7.27689824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20028169299997 meters 0.030923699074133722 Centerline is valid? [True, True] Translation: X:192.71, Y:189.76, Z:0.73 [[ 7.90406101e-01 6.12581448e-01 -1.47133068e-03 1.92713227e+02] [-6.12580489e-01 7.90407469e-01 1.08519801e-03 1.89760304e+02] [ 1.82772293e-03 4.35613381e-05 9.99998329e-01 7.30059218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23028169299994 meters 0.027512629169773577 Centerline is valid? [True, True] Translation: X:192.74, Y:189.74, Z:0.73 [[ 7.92452623e-01 6.09929273e-01 -2.26340299e-03 1.92735512e+02] [-6.09926992e-01 7.92455853e-01 1.66920407e-03 1.89741619e+02] [ 2.81174337e-03 5.77454317e-05 9.99996045e-01 7.29358363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26028169299997 meters 0.02501659701601399 Centerline is valid? [True, True] Translation: X:192.76, Y:189.72, Z:0.73 [[ 7.94585429e-01 6.07142699e-01 -3.42624808e-03 1.92757180e+02] [-6.07137447e-01 7.94592813e-01 2.52644382e-03 1.89724475e+02] [ 4.25638402e-03 7.27280624e-05 9.99990939e-01 7.26998371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29028169299994 meters 0.02058944614897531 Centerline is valid? [True, True] Translation: X:192.78, Y:189.71, Z:0.72 [[ 7.98475033e-01 6.02001929e-01 -5.59456292e-03 1.92778113e+02] [-6.01987802e-01 7.98494628e-01 4.12483457e-03 1.89706054e+02] [ 6.95038681e-03 7.42812209e-05 9.99975843e-01 7.21584697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32028169299997 meters 0.017386654241500363 Centerline is valid? [True, True] Translation: X:192.80, Y:189.69, Z:0.72 [[ 8.00222748e-01 5.99676377e-01 -5.63885287e-03 1.92798830e+02] [-5.99661976e-01 8.00242613e-01 4.15631048e-03 1.89686017e+02] [ 7.00489157e-03 5.54314618e-05 9.99975464e-01 7.22173703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35028169299994 meters 0.014998603591912914 Centerline is valid? [True, True] Translation: X:192.82, Y:189.67, Z:0.73 [[ 8.02510694e-01 5.96628315e-01 -3.35259682e-03 1.92819336e+02] [-5.96623199e-01 8.02517697e-01 2.47077280e-03 1.89667092e+02] [ 4.16465129e-03 1.74154450e-05 9.99991328e-01 7.27219687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.380281693 meters 0.014344115467922176 Centerline is valid? [True, True] Translation: X:192.84, Y:189.65, Z:0.73 [[ 8.03511010e-01 5.95284478e-01 -2.53923932e-03 1.92841305e+02] [-5.95281538e-01 8.03515022e-01 1.87095303e-03 1.89648544e+02] [ 3.15406623e-03 8.23092934e-06 9.99995026e-01 7.29222852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41028169299994 meters 0.013891079056292893 Centerline is valid? [True, True] Translation: X:192.86, Y:189.63, Z:0.73 [[ 8.04636491e-01 5.93763507e-01 -2.23948930e-03 1.92862089e+02] [-5.93761215e-01 8.04639607e-01 1.64973013e-03 1.89629731e+02] [ 2.78153134e-03 2.28882954e-06 9.99996132e-01 7.29916609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.440281693 meters 0.015138739005321549 Centerline is valid? [True, True] Translation: X:192.88, Y:189.60, Z:0.73 [[ 8.08160522e-01 5.88957800e-01 -2.29797505e-03 1.92879255e+02] [-5.88955368e-01 8.08163789e-01 1.69244992e-03 1.89604612e+02] [ 2.85392181e-03 -1.43664716e-05 9.99995927e-01 7.30403505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47028169299995 meters 0.017143897532380586 Centerline is valid? [True, True] Translation: X:192.90, Y:189.58, Z:0.73 [[ 8.10097570e-01 5.86290194e-01 -2.39517943e-03 1.92899102e+02] [-5.86287542e-01 8.10101110e-01 1.76344383e-03 1.89582419e+02] [ 2.97422734e-03 -2.42977056e-05 9.99995577e-01 7.30264001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.500281693 meters 0.021186020342166708 Centerline is valid? [True, True] Translation: X:192.91, Y:189.56, Z:0.73 [[ 8.12949477e-01 5.82327066e-01 -2.88735314e-03 1.92914998e+02] [-5.82323189e-01 8.12954603e-01 2.12521968e-03 1.89556673e+02] [ 3.58485997e-03 -4.63235406e-05 9.99993573e-01 7.29081815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53028169299995 meters 0.02218285190156145 Centerline is valid? [True, True] Translation: X:192.94, Y:189.54, Z:0.73 [[ 8.13606062e-01 5.81408937e-01 -2.97053044e-03 1.92936462e+02] [-5.81404830e-01 8.13611483e-01 2.18586282e-03 1.89536818e+02] [ 3.68773786e-03 -5.13504989e-05 9.99993199e-01 7.29354629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.560281693 meters 0.022054687146505117 Centerline is valid? [True, True] Translation: X:192.96, Y:189.52, Z:0.73 [[ 8.13468129e-01 5.81603290e-01 -2.68614023e-03 1.92958192e+02] [-5.81599935e-01 8.13472563e-01 1.97619674e-03 1.89519471e+02] [ 3.33446390e-03 -4.53140793e-05 9.99994440e-01 7.30489748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59028169299995 meters 0.018052611712555237 Centerline is valid? [True, True] Translation: X:192.98, Y:189.51, Z:0.74 [[ 8.11743807e-01 5.84012849e-01 -9.91731585e-04 1.92984848e+02] [-5.84012393e-01 8.11744413e-01 7.29650560e-04 1.89506507e+02] [ 1.23115788e-03 -1.31057875e-05 9.99999242e-01 7.35229950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.620281693 meters 0.014809857359285665 Centerline is valid? [True, True] Translation: X:193.01, Y:189.50, Z:0.73 [[ 8.07944693e-01 5.89254803e-01 -2.03696369e-03 1.93011837e+02] [-5.89252899e-01 8.07947261e-01 1.49792643e-03 1.89496319e+02] [ 2.52841958e-03 -9.95495296e-06 9.99996804e-01 7.32386079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65028169299995 meters 0.014064225211973841 Centerline is valid? [True, True] Translation: X:193.04, Y:189.49, Z:0.73 [[ 8.05721932e-01 5.92281803e-01 -3.79925219e-03 1.93038817e+02] [-5.92275217e-01 8.05730890e-01 2.79296990e-03 1.89485921e+02] [ 4.71540009e-03 -1.54190483e-07 9.99988882e-01 7.27497156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.680281693 meters 0.015371340962679593 Centerline is valid? [True, True] Translation: X:193.07, Y:189.48, Z:0.72 [[ 8.03397782e-01 5.95416009e-01 -5.63731807e-03 1.93066903e+02] [-5.95401598e-01 8.03417560e-01 4.14266495e-03 1.89475181e+02] [ 6.99572935e-03 2.82603548e-05 9.99975529e-01 7.23536435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71028169299996 meters 0.01864961094042419 Centerline is valid? [True, True] Translation: X:193.10, Y:189.47, Z:0.72 [[ 7.99576325e-01 6.00536193e-01 -5.82941697e-03 1.93095946e+02] [-6.00520929e-01 7.99597571e-01 4.28235022e-03 1.89466591e+02] [ 7.23289395e-03 7.66210453e-05 9.99973839e-01 7.24456994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.740281693 meters 0.02213185167687075 Centerline is valid? [True, True] Translation: X:193.12, Y:189.46, Z:0.72 [[ 7.98439650e-01 6.02054325e-01 -4.97134881e-03 1.93122242e+02] [-6.02043259e-01 7.98455123e-01 3.65113510e-03 1.89456168e+02] [ 6.16758060e-03 7.77560063e-05 9.99980977e-01 7.24802991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77028169299996 meters 0.021149870002609653 Centerline is valid? [True, True] Translation: X:193.15, Y:189.44, Z:0.73 [[ 7.97232086e-01 6.03669159e-01 -2.13234064e-03 1.93145319e+02] [-6.03667130e-01 7.97234937e-01 1.56575733e-03 1.89439350e+02] [ 2.64517586e-03 3.89519702e-05 9.99996501e-01 7.31559094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.800281693 meters 0.023070746315170237 Centerline is valid? [True, True] Translation: X:193.17, Y:189.43, Z:0.73 [[ 7.96874224e-01 6.04143960e-01 -1.24401262e-03 1.93169670e+02] [-6.04143270e-01 7.96875194e-01 9.13276102e-04 1.89425569e+02] [ 1.54307304e-03 2.37956686e-05 9.99998809e-01 7.33594802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83028169299996 meters 0.021551501784439493 Centerline is valid? [True, True] Translation: X:193.19, Y:189.41, Z:0.73 [[ 7.97065107e-01 6.03891358e-01 -1.56312007e-03 1.93191094e+02] [-6.03890268e-01 7.97066639e-01 1.14731246e-03 1.89407446e+02] [ 1.93876294e-03 2.94702731e-05 9.99998120e-01 7.33303598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.860281693 meters 0.0226277931926793 Centerline is valid? [True, True] Translation: X:193.21, Y:189.39, Z:0.73 [[ 7.97605945e-01 6.03167994e-01 -3.62311579e-03 1.93214049e+02] [-6.03162140e-01 7.97614172e-01 2.65823283e-03 1.89391234e+02] [ 4.49320947e-03 6.51039619e-05 9.99989903e-01 7.28558372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89028169299996 meters 0.021972020947194273 Centerline is valid? [True, True] Translation: X:193.24, Y:189.37, Z:0.73 [[ 7.97725774e-01 6.03005168e-01 -4.28443494e-03 1.93235776e+02] [-6.02996985e-01 7.97737276e-01 3.14244095e-03 1.89374164e+02] [ 5.31276159e-03 7.66952153e-05 9.99985884e-01 7.27065505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92028169299994 meters 0.023345794493229145 Centerline is valid? [True, True] Translation: X:193.26, Y:189.36, Z:0.73 [[ 7.97549371e-01 6.03233006e-01 -4.99418581e-03 1.93259622e+02] [-6.03221897e-01 7.97565002e-01 3.66201177e-03 1.89360432e+02] [ 6.19223418e-03 9.19670574e-05 9.99980824e-01 7.25429881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95028169299997 meters 0.02343637845898431 Centerline is valid? [True, True] Translation: X:193.28, Y:189.34, Z:0.73 [[ 7.97597681e-01 6.03171387e-01 -4.71338634e-03 1.93282188e+02] [-6.03161499e-01 7.97611603e-01 3.45498636e-03 1.89343635e+02] [ 5.84340055e-03 8.72440556e-05 9.99982923e-01 7.25818793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98028169299994 meters 0.02177789260588712 Centerline is valid? [True, True] Translation: X:193.30, Y:189.32, Z:0.73 [[ 7.97915612e-01 6.02754462e-01 -4.21132150e-03 1.93302746e+02] [-6.02746567e-01 7.97926722e-01 3.08591596e-03 1.89323620e+02] [ 5.22037557e-03 7.60590504e-05 9.99986371e-01 7.27985629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01028169299997 meters 0.021526167968763114 Centerline is valid? [True, True] Translation: X:193.32, Y:189.30, Z:0.73 [[ 7.98309860e-01 6.02232681e-01 -4.14306390e-03 1.93324131e+02] [-6.02225039e-01 7.98320607e-01 3.03476320e-03 1.89304647e+02] [ 5.13512687e-03 7.23754331e-05 9.99986813e-01 7.28376442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04028169299994 meters 0.02146220051215992 Centerline is valid? [True, True] Translation: X:193.35, Y:189.29, Z:0.73 [[ 7.98404975e-01 6.02105402e-01 -4.31054755e-03 1.93346092e+02] [-6.02097135e-01 7.98416607e-01 3.15619099e-03 1.89287733e+02] [ 5.34197240e-03 7.54497482e-05 9.99985729e-01 7.27792411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07028169299997 meters 0.022772646088627 Centerline is valid? [True, True] Translation: X:193.37, Y:189.27, Z:0.73 [[ 7.97717776e-01 6.03016635e-01 -4.15788673e-03 1.93369229e+02] [-6.03008958e-01 7.97728608e-01 3.04380094e-03 1.89271927e+02] [ 5.15232779e-03 7.91488317e-05 9.99986724e-01 7.28389746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10028169299994 meters 0.024213378789881293 Centerline is valid? [True, True] Translation: X:193.39, Y:189.26, Z:0.73 [[ 7.96986912e-01 6.03981548e-01 -4.26037615e-03 1.93392748e+02] [-6.03973504e-01 7.96998295e-01 3.11844938e-03 1.89257359e+02] [ 5.27899841e-03 8.77909667e-05 9.99986062e-01 7.28887340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.130281693 meters 0.025596034619856524 Centerline is valid? [True, True] Translation: X:193.42, Y:189.24, Z:0.73 [[ 7.96366694e-01 6.04799569e-01 -4.19171555e-03 1.93416599e+02] [-6.04791796e-01 7.96377720e-01 3.06782756e-03 1.89243477e+02] [ 5.19360966e-03 9.19994835e-05 9.99986509e-01 7.28353110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16028169299994 meters 0.026367179883868823 Centerline is valid? [True, True] Translation: X:193.44, Y:189.23, Z:0.73 [[ 7.96046525e-01 6.05227081e-01 -3.17959669e-03 1.93441027e+02] [-6.05222614e-01 7.96052872e-01 2.32653478e-03 1.89228208e+02] [ 3.93920893e-03 7.23338929e-05 9.99992239e-01 7.30590402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.190281693 meters 0.02392903682441062 Centerline is valid? [True, True] Translation: X:193.46, Y:189.21, Z:0.73 [[ 7.96572464e-01 6.04538126e-01 -2.44216584e-03 1.93462023e+02] [-6.04535489e-01 7.96576206e-01 1.78641738e-03 1.89207725e+02] [ 3.02532861e-03 5.33650260e-05 9.99995422e-01 7.32831447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22028169299995 meters 0.02147039481917017 Centerline is valid? [True, True] Translation: X:193.48, Y:189.19, Z:0.73 [[ 7.98450377e-01 6.02057232e-01 -2.02107053e-03 1.93479751e+02] [-6.02055418e-01 7.98452935e-01 1.47805451e-03 1.89185143e+02] [ 2.50360310e-03 3.66432820e-05 9.99996865e-01 7.33318897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.250281693 meters 0.020031827765010425 Centerline is valid? [True, True] Translation: X:193.50, Y:189.16, Z:0.73 [[ 7.99447621e-01 6.00728733e-01 -2.91387312e-03 1.93500382e+02] [-6.00724957e-01 7.99452930e-01 2.13040136e-03 1.89164938e+02] [ 3.60929771e-03 4.72920077e-05 9.99993485e-01 7.31303247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28028169299995 meters 0.019499407107152655 Centerline is valid? [True, True] Translation: X:193.52, Y:189.15, Z:0.73 [[ 8.00159098e-01 5.99770170e-01 -4.60000634e-03 1.93521113e+02] [-5.99760749e-01 8.00172318e-01 3.36236302e-03 1.89145343e+02] [ 5.69744278e-03 6.84778887e-05 9.99983767e-01 7.26539082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.310281693 meters 0.01975158430134126 Centerline is valid? [True, True] Translation: X:193.54, Y:189.13, Z:0.73 [[ 8.00150654e-01 5.99778298e-01 -4.99243377e-03 1.93542807e+02] [-5.99767204e-01 8.00166225e-01 3.64875172e-03 1.89128512e+02] [ 6.18321898e-03 7.47469650e-05 9.99980881e-01 7.26126354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34028169299995 meters 0.019926757210890322 Centerline is valid? [True, True] Translation: X:193.56, Y:189.11, Z:0.73 [[ 8.00126522e-01 5.99809056e-01 -5.16197342e-03 1.93564451e+02] [-5.99797204e-01 8.00143169e-01 3.77144376e-03 1.89111412e+02] [ 6.39246389e-03 7.85050406e-05 9.99979565e-01 7.25855047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.370281693 meters 0.020618846528951094 Centerline is valid? [True, True] Translation: X:193.59, Y:189.10, Z:0.73 [[ 7.99800609e-01 6.00241471e-01 -5.40026664e-03 1.93587100e+02] [-6.00228514e-01 7.99818836e-01 3.94480428e-03 1.89095749e+02] [ 6.68707010e-03 8.63371551e-05 9.99977638e-01 7.25339459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40028169299995 meters 0.0219397758463542 Centerline is valid? [True, True] Translation: X:193.61, Y:189.08, Z:0.72 [[ 7.99040008e-01 6.01250161e-01 -5.77145162e-03 1.93610631e+02] [-6.01235392e-01 7.99060845e-01 4.21543543e-03 1.89079879e+02] [ 7.14627223e-03 1.01699415e-04 9.99974460e-01 7.24554457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.430281693 meters 0.024158446529124505 Centerline is valid? [True, True] Translation: X:193.63, Y:189.06, Z:0.73 [[ 7.97311508e-01 6.03547374e-01 -4.99261695e-03 1.93634661e+02] [-6.03536374e-01 7.97327132e-01 3.64555634e-03 1.89063971e+02] [ 6.18101492e-03 1.06581906e-04 9.99980892e-01 7.26346496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46028169299996 meters 0.02630285662944886 Centerline is valid? [True, True] Translation: X:193.66, Y:189.05, Z:0.73 [[ 7.96487364e-01 6.04639958e-01 -4.28953728e-03 1.93659272e+02] [-6.04631856e-01 7.96498909e-01 3.13163509e-03 1.89049953e+02] [ 5.31012347e-03 9.92831084e-05 9.99985896e-01 7.27975875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.490281693 meters 0.027906165517537482 Centerline is valid? [True, True] Translation: X:193.69, Y:189.04, Z:0.73 [[ 7.95162274e-01 6.06384948e-01 -3.77520695e-03 1.93685242e+02] [-6.06378696e-01 7.95171230e-01 2.75542521e-03 1.89037048e+02] [ 4.67278433e-03 9.81948898e-05 9.99989078e-01 7.29329677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52028169299996 meters 0.02931764802523237 Centerline is valid? [True, True] Translation: X:193.71, Y:189.02, Z:0.73 [[ 7.94758829e-01 6.06911567e-01 -4.09315068e-03 1.93710347e+02] [-6.06904227e-01 7.94769361e-01 2.98689377e-03 1.89024743e+02] [ 5.06589113e-03 1.10290254e-04 9.99987162e-01 7.28224433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.550281693 meters 0.029531723651315043 Centerline is valid? [True, True] Translation: X:193.74, Y:189.01, Z:0.73 [[ 7.94424595e-01 6.07347819e-01 -4.26496542e-03 1.93735246e+02] [-6.07339860e-01 7.94436035e-01 3.11142041e-03 1.89010014e+02] [ 5.27795662e-03 1.18494601e-04 9.99986065e-01 7.27727434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58028169299996 meters 0.031850905170244206 Centerline is valid? [True, True] Translation: X:193.76, Y:189.00, Z:0.73 [[ 7.94072374e-01 6.07801679e-01 -5.11695910e-03 1.93761461e+02] [-6.07790237e-01 7.94088848e-01 3.73226131e-03 1.88998328e+02] [ 6.33179484e-03 1.46352180e-04 9.99979943e-01 7.25237619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.610281693 meters 0.030222272171527956 Centerline is valid? [True, True] Translation: X:193.78, Y:188.98, Z:0.73 [[ 7.94628398e-01 6.07069675e-01 -5.66732489e-03 1.93784248e+02] [-6.07055629e-01 7.94648592e-01 4.13257854e-03 1.88979765e+02] [ 7.01229486e-03 1.56517210e-04 9.99975401e-01 7.25049420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64028169299996 meters 0.0284380378900917 Centerline is valid? [True, True] Translation: X:193.81, Y:188.96, Z:0.72 [[ 7.96250594e-01 6.04937230e-01 -5.99495280e-03 1.93806875e+02] [-6.04921457e-01 7.96273148e-01 4.37083764e-03 1.88962643e+02] [ 7.41770236e-03 1.46193511e-04 9.99972478e-01 7.24710010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67028169299994 meters 0.02549870967778058 Centerline is valid? [True, True] Translation: X:193.83, Y:188.94, Z:0.73 [[ 7.97305726e-01 6.03549777e-01 -5.58993126e-03 1.93827934e+02] [-6.03536037e-01 7.97325311e-01 4.07440061e-03 1.88942959e+02] [ 6.91609726e-03 1.25182024e-04 9.99976076e-01 7.26234234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70028169299997 meters 0.02275056723324915 Centerline is valid? [True, True] Translation: X:193.85, Y:188.92, Z:0.73 [[ 7.99040680e-01 6.01263633e-01 -4.00442274e-03 1.93848875e+02] [-6.01256555e-01 7.99050711e-01 2.91833793e-03 1.88923793e+02] [ 4.95442730e-03 7.58147011e-05 9.99987724e-01 7.30461554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73028169299994 meters 0.022130671608081555 Centerline is valid? [True, True] Translation: X:193.87, Y:188.91, Z:0.73 [[ 7.99497697e-01 6.00659236e-01 -3.45183832e-03 1.93872463e+02] [-6.00653974e-01 7.99505146e-01 2.51502116e-03 1.88906862e+02] [ 4.27043318e-03 6.26067789e-05 9.99990880e-01 7.32000922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76028169299997 meters 0.02203139238220888 Centerline is valid? [True, True] Translation: X:193.90, Y:188.89, Z:0.73 [[ 7.99852728e-01 6.00186617e-01 -3.41153505e-03 1.93895987e+02] [-6.00181475e-01 7.99860001e-01 2.48516437e-03 1.88892079e+02] [ 4.22031282e-03 5.97746304e-05 9.99991093e-01 7.31126036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79028169299994 meters 0.02085226350813924 Centerline is valid? [True, True] Translation: X:193.92, Y:188.87, Z:0.73 [[ 8.00004507e-01 5.99978036e-01 -4.37556947e-03 1.93917066e+02] [-5.99969579e-01 8.00016469e-01 3.18638537e-03 1.88873989e+02] [ 5.41228888e-03 7.60859126e-05 9.99985351e-01 7.28790013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82028169299997 meters 0.02222450028808314 Centerline is valid? [True, True] Translation: X:193.94, Y:188.86, Z:0.73 [[ 8.00054681e-01 5.99901998e-01 -5.48627858e-03 1.93940200e+02] [-5.99888708e-01 8.00073486e-01 3.99438390e-03 1.88857889e+02] [ 6.78566492e-03 9.54310263e-05 9.99976973e-01 7.25729181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85028169299994 meters 0.02222450028808314 Centerline is valid? [True, True] Translation: X:193.96, Y:188.84, Z:0.73 [[ 8.00162833e-01 5.99757730e-01 -5.48688535e-03 1.93962548e+02] [-5.99744441e-01 8.00181640e-01 3.99355035e-03 1.88841875e+02] [ 6.78566760e-03 9.52384278e-05 9.99976973e-01 7.25772759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.880281693 meters 0.023007696277025442 Centerline is valid? [True, True] Translation: X:193.98, Y:188.82, Z:0.72 [[ 7.99980742e-01 5.99989637e-01 -6.57630379e-03 1.93984001e+02] [-5.99970564e-01 8.00007763e-01 4.78549993e-03 1.88824951e+02] [ 8.13234446e-03 1.17280907e-04 9.99966925e-01 7.23959262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91028169299994 meters 0.022050097731744392 Centerline is valid? [True, True] Translation: X:194.01, Y:188.81, Z:0.73 [[ 7.99581055e-01 6.00529376e-01 -5.88255384e-03 1.94006971e+02] [-6.00514139e-01 7.99602687e-01 4.27939129e-03 1.88807358e+02] [ 7.27360603e-03 1.10836547e-04 9.99973541e-01 7.27103337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.940281693 meters 0.02472743408387152 Centerline is valid? [True, True] Translation: X:194.03, Y:188.80, Z:0.73 [[ 7.97799314e-01 6.02915609e-01 -3.00381986e-03 1.94033749e+02] [-6.02911655e-01 7.97804966e-01 2.18459557e-03 1.88795571e+02] [ 3.71358917e-03 6.81691569e-05 9.99993102e-01 7.33144816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97028169299995 meters 0.0306849948865219 Centerline is valid? [True, True] Translation: X:194.06, Y:188.79, Z:0.74 [[ 7.96328108e-01 6.04863868e-01 -1.11641876e-03 1.94061473e+02] [-6.04863324e-01 7.96328890e-01 8.11835442e-04 1.88786870e+02] [ 1.38008643e-03 2.87933791e-05 9.99999047e-01 7.37254420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.000281693 meters 0.040487007662647914 Centerline is valid? [True, True] Translation: X:194.09, Y:188.78, Z:0.74 [[ 7.91684446e-01 6.10930051e-01 4.58434997e-04 1.94094061e+02] [-6.10929961e-01 7.91684579e-01 -3.33195349e-04 1.88783407e+02] [-5.66494969e-04 -1.62860991e-05 9.99999839e-01 7.41955381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03028169299995 meters 0.04609001226746109 Centerline is valid? [True, True] Translation: X:194.12, Y:188.77, Z:0.74 [[ 7.88972761e-01 6.14428105e-01 2.95543875e-04 1.94123808e+02] [-6.14428067e-01 7.88972816e-01 -2.14542086e-04 1.88774074e+02] [-3.64996770e-04 -1.23225902e-05 9.99999933e-01 7.41695528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.060281693 meters 0.04447441241910666 Centerline is valid? [True, True] Translation: X:194.15, Y:188.76, Z:0.74 [[ 7.86612304e-01 6.17446990e-01 -5.45112557e-04 1.94148125e+02] [-6.17446863e-01 7.86612493e-01 3.96344162e-04 1.88757090e+02] [ 6.73513857e-04 2.48088440e-05 9.99999773e-01 7.39366057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09028169299995 meters 0.05688244443971539 Centerline is valid? [True, True] Translation: X:194.18, Y:188.76, Z:0.73 [[ 7.83542733e-01 6.21330569e-01 -3.01810330e-03 1.94183049e+02] [-6.21326720e-01 7.83548530e-01 2.19275039e-03 1.88757064e+02] [ 3.72725325e-03 1.57114592e-04 9.99993041e-01 7.32348649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.120281693 meters 0.057674786876308407 Centerline is valid? [True, True] Translation: X:194.21, Y:188.74, Z:0.73 [[ 7.83302265e-01 6.21626079e-01 -4.31046978e-03 1.94208160e+02] [-6.21618236e-01 7.83314092e-01 3.13081637e-03 1.88743183e+02] [ 5.32264883e-03 2.27091071e-04 9.99985809e-01 7.28878432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15028169299995 meters 0.051727973561625236 Centerline is valid? [True, True] Translation: X:194.23, Y:188.72, Z:0.72 [[ 7.84133554e-01 6.20561797e-01 -6.13386935e-03 1.94229426e+02] [-6.20545895e-01 7.84157482e-01 4.45363233e-03 1.88723280e+02] [ 7.57367363e-03 3.14104904e-04 9.99971270e-01 7.24628502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.180281693 meters 0.057831369608757115 Centerline is valid? [True, True] Translation: X:194.26, Y:188.71, Z:0.72 [[ 7.84897534e-01 6.19594834e-01 -6.17278813e-03 1.94257343e+02] [-6.19578705e-01 7.84921746e-01 4.48116903e-03 1.88713895e+02] [ 7.62166482e-03 3.07269553e-04 9.99970908e-01 7.23359593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21028169299996 meters 0.05616344409143984 Centerline is valid? [True, True] Translation: X:194.28, Y:188.70, Z:0.73 [[ 7.85965246e-01 6.18247823e-01 -5.31605416e-03 1.94279767e+02] [-6.18235835e-01 7.85983183e-01 3.85846729e-03 1.88695505e+02] [ 6.56381818e-03 2.53953987e-04 9.99978426e-01 7.25065943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.240281693 meters 0.039833363347992506 Centerline is valid? [True, True] Translation: X:194.29, Y:188.66, Z:0.73 [[ 7.88892022e-01 6.14523796e-01 -3.14347702e-03 1.94292370e+02] [-6.14519577e-01 7.88898274e-01 2.28102493e-03 1.88662908e+02] [ 3.88162769e-03 1.32245797e-04 9.99992458e-01 7.32851042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27028169299996 meters 0.037851547117200526 Centerline is valid? [True, True] Translation: X:194.31, Y:188.65, Z:0.73 [[ 7.90418197e-01 6.12560162e-01 -3.02026597e-03 1.94314710e+02] [-6.12556254e-01 7.90423958e-01 2.19118360e-03 1.88646485e+02] [ 3.72952236e-03 1.18131425e-04 9.99993038e-01 7.33260092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.300281693 meters 0.038624163685248195 Centerline is valid? [True, True] Translation: X:194.34, Y:188.63, Z:0.73 [[ 7.92842345e-01 6.09410161e-01 -4.50233756e-03 1.94339388e+02] [-6.09401431e-01 7.92855114e-01 3.26551441e-03 1.88632743e+02] [ 5.55973902e-03 1.54692847e-04 9.99984533e-01 7.28140124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33028169299996 meters 0.033399506611801126 Centerline is valid? [True, True] Translation: X:194.36, Y:188.61, Z:0.73 [[ 7.93721328e-01 6.08258277e-01 -5.32188923e-03 1.94358430e+02] [-6.08246063e-01 7.93739150e-01 3.85857821e-03 1.88609310e+02] [ 6.57120397e-03 1.74382349e-04 9.99978394e-01 7.26860528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.360281693 meters 0.03091825390483916 Centerline is valid? [True, True] Translation: X:194.38, Y:188.59, Z:0.73 [[ 7.95012974e-01 6.06562276e-01 -6.04782013e-03 1.94379448e+02] [-6.06546461e-01 7.95035957e-01 4.38394417e-03 1.88588569e+02] [ 7.46736961e-03 1.82991399e-04 9.99972102e-01 7.25902155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39028169299996 meters 0.02724028303277937 Centerline is valid? [True, True] Translation: X:194.40, Y:188.57, Z:0.73 [[ 7.98055699e-01 6.02548502e-01 -6.51183397e-03 1.94398047e+02] [-6.02530038e-01 7.98082250e-01 4.71978304e-03 1.88565529e+02] [ 8.04087731e-03 1.56925816e-04 9.99967659e-01 7.25199672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42028169299994 meters 0.024594794252417604 Centerline is valid? [True, True] Translation: X:194.42, Y:188.54, Z:0.73 [[ 8.00628864e-01 5.99143733e-01 -4.49537617e-03 1.94417229e+02] [-5.99134881e-01 8.00641480e-01 3.25793698e-03 1.88544388e+02] [ 5.55115716e-03 8.49382902e-05 9.99984589e-01 7.28415151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45028169299997 meters 0.021602199464903382 Centerline is valid? [True, True] Translation: X:194.44, Y:188.52, Z:0.73 [[ 8.01209861e-01 5.98370131e-01 -3.99314264e-03 1.94437670e+02] [-5.98363141e-01 8.01219808e-01 2.89323814e-03 1.88522604e+02] [ 4.93061226e-03 7.12584439e-05 9.99987842e-01 7.30137699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48028169299994 meters 0.02155368443489329 Centerline is valid? [True, True] Translation: X:194.46, Y:188.51, Z:0.73 [[ 8.01450939e-01 5.98045053e-01 -4.30210348e-03 1.94459433e+02] [-5.98036940e-01 8.01462482e-01 3.11592758e-03 1.88505708e+02] [ 5.31143960e-03 7.55537228e-05 9.99985891e-01 7.29873595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51028169299997 meters 0.02323722591314708 Centerline is valid? [True, True] Translation: X:194.48, Y:188.49, Z:0.73 [[ 8.00815621e-01 5.98885317e-01 -5.54239589e-03 1.94482313e+02] [-5.98871879e-01 8.00834793e-01 4.01340659e-03 1.88490215e+02] [ 6.84211374e-03 1.05186348e-04 9.99976587e-01 7.27064898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54028169299994 meters 0.023921620526972213 Centerline is valid? [True, True] Translation: X:194.51, Y:188.47, Z:0.73 [[ 8.00290921e-01 5.99586957e-01 -5.47023602e-03 1.94506075e+02] [-5.99573890e-01 8.00309608e-01 3.96002296e-03 1.88473828e+02] [ 6.75226056e-03 1.10640271e-04 9.99977197e-01 7.27546517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57028169299997 meters 0.025742813234494344 Centerline is valid? [True, True] Translation: X:194.53, Y:188.46, Z:0.73 [[ 7.99345287e-01 6.00852827e-01 -4.79498171e-03 1.94529385e+02] [-6.00842813e-01 7.99359662e-01 3.47061456e-03 1.88457873e+02] [ 5.91824352e-03 1.06810907e-04 9.99982481e-01 7.28059566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60028169299994 meters 0.02564521830308466 Centerline is valid? [True, True] Translation: X:194.55, Y:188.44, Z:0.73 [[ 7.99465675e-01 6.00696661e-01 -4.26097928e-03 1.94551947e+02] [-6.00688755e-01 7.99477025e-01 3.08323356e-03 1.88440450e+02] [ 5.25864313e-03 9.45829406e-05 9.99986169e-01 7.28991765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.630281693 meters 0.025062031534730692 Centerline is valid? [True, True] Translation: X:194.57, Y:188.42, Z:0.73 [[ 8.00036385e-01 5.99936679e-01 -4.21457802e-03 1.94574340e+02] [-5.99928940e-01 8.00047482e-01 3.04862545e-03 1.88423137e+02] [ 5.20084476e-03 8.94360391e-05 9.99986472e-01 7.29048030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66028169299994 meters 0.022866519577962235 Centerline is valid? [True, True] Translation: X:194.60, Y:188.40, Z:0.73 [[ 8.01614538e-01 5.97816499e-01 -5.43748942e-03 1.94595484e+02] [-5.97803577e-01 8.01632973e-01 3.93183536e-03 1.88403937e+02] [ 6.70938686e-03 9.87342378e-05 9.99977487e-01 7.26883717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.690281693 meters 0.021650026944800557 Centerline is valid? [True, True] Translation: X:194.62, Y:188.39, Z:0.73 [[ 8.02584967e-01 5.96512748e-01 -5.46923702e-03 1.94617811e+02] [-5.96499653e-01 8.02603597e-01 3.95356032e-03 1.88385390e+02] [ 6.74797843e-03 8.93299100e-05 9.99977228e-01 7.26957924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72028169299995 meters 0.017544228821635324 Centerline is valid? [True, True] Translation: X:194.64, Y:188.36, Z:0.73 [[ 8.04138950e-01 5.94425479e-01 -4.34737314e-03 1.94637099e+02] [-5.94417180e-01 8.04150699e-01 3.14156887e-03 1.88362483e+02] [ 5.36337173e-03 5.78953929e-05 9.99985615e-01 7.32127898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.750281693 meters 0.017753338962932262 Centerline is valid? [True, True] Translation: X:194.66, Y:188.35, Z:0.73 [[ 8.04842072e-01 5.93476902e-01 -3.79539945e-03 1.94660271e+02] [-5.93470569e-01 8.04851020e-01 2.74216659e-03 1.88346653e+02] [ 4.68214365e-03 4.54468278e-05 9.99989038e-01 7.32767814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78028169299995 meters 0.015206008509322464 Centerline is valid? [True, True] Translation: X:194.68, Y:188.33, Z:0.73 [[ 8.06440410e-01 5.91304432e-01 -3.59641339e-03 1.94680820e+02] [-5.91298727e-01 8.06448428e-01 2.59767936e-03 1.88326168e+02] [ 4.43634124e-03 3.16810532e-05 9.99990159e-01 7.33074528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.810281693 meters 0.015085246820743024 Centerline is valid? [True, True] Translation: X:194.70, Y:188.31, Z:0.73 [[ 8.07492464e-01 5.89865449e-01 -3.83052867e-03 1.94702458e+02] [-5.89858964e-01 8.07501549e-01 2.76618294e-03 1.88309384e+02] [ 4.72483358e-03 2.57997951e-05 9.99988838e-01 7.31937230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84028169299995 meters 0.013988765287919676 Centerline is valid? [True, True] Translation: X:194.72, Y:188.29, Z:0.73 [[ 8.08693731e-01 5.88216946e-01 -3.90827382e-03 1.94724007e+02] [-5.88210179e-01 8.08703174e-01 2.82156827e-03 1.88290019e+02] [ 4.82032771e-03 1.71018753e-05 9.99988382e-01 7.32136049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.870281693 meters 0.013329501512042765 Centerline is valid? [True, True] Translation: X:194.74, Y:188.27, Z:0.73 [[ 8.11598119e-01 5.84204083e-01 -3.75257465e-03 1.94741742e+02] [-5.84197804e-01 8.11606795e-01 2.70864981e-03 1.88267028e+02] [ 4.62801936e-03 -6.08921728e-06 9.99989291e-01 7.32969295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90028169299995 meters 0.014027877828716593 Centerline is valid? [True, True] Translation: X:194.76, Y:188.25, Z:0.73 [[ 8.13050663e-01 5.82179987e-01 -3.88362093e-03 1.94762525e+02] [-5.82173242e-01 8.13059938e-01 2.80250008e-03 1.88246071e+02] [ 4.78917605e-03 -1.76343612e-05 9.99988532e-01 7.33016125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.930281693 meters 0.015612708741298435 Centerline is valid? [True, True] Translation: X:194.78, Y:188.22, Z:0.73 [[ 8.15443790e-01 5.78817643e-01 -4.64354174e-03 1.94781516e+02] [-5.78807952e-01 8.15457010e-01 3.34963816e-03 1.88223831e+02] [ 5.72543833e-03 -4.37227536e-05 9.99983609e-01 7.32218317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96028169299996 meters 0.01646829390014105 Centerline is valid? [True, True] Translation: X:194.80, Y:188.21, Z:0.73 [[ 8.16092059e-01 5.77903409e-01 -4.62621476e-03 1.94802469e+02] [-5.77893779e-01 8.16105169e-01 3.33650326e-03 1.88206068e+02] [ 5.70365439e-03 -4.94330784e-05 9.99983733e-01 7.32016429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.990281693 meters 0.01859122397920029 Centerline is valid? [True, True] Translation: X:194.82, Y:188.19, Z:0.73 [[ 8.16593915e-01 5.77197093e-01 -4.23002591e-03 1.94822197e+02] [-5.77189035e-01 8.16604870e-01 3.05039286e-03 1.88186537e+02] [ 5.21493765e-03 -4.94076785e-05 9.99986401e-01 7.31650804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02028169299996 meters 0.019608650265695672 Centerline is valid? [True, True] Translation: X:194.84, Y:188.17, Z:0.74 [[ 8.17705832e-01 5.75632333e-01 -2.14231323e-03 1.94842369e+02] [-5.75630261e-01 8.17708638e-01 1.54462587e-03 1.88165847e+02] [ 2.64092462e-03 -2.98692550e-05 9.99996512e-01 7.36145597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.050281693 meters 0.020589812936329183 Centerline is valid? [True, True] Translation: X:194.86, Y:188.14, Z:0.74 [[ 8.19257051e-01 5.73419157e-01 -2.89038987e-03 1.94862377e+02] [-5.73415375e-01 8.19262148e-01 2.08319486e-03 1.88144092e+02] [ 3.56253086e-03 -4.92780897e-05 9.99993653e-01 7.35575384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08028169299996 meters 0.021431733334754854 Centerline is valid? [True, True] Translation: X:194.88, Y:188.12, Z:0.73 [[ 8.19995630e-01 5.72354055e-01 -4.24295577e-03 1.94884106e+02] [-5.72345898e-01 8.20006603e-01 3.05681999e-03 1.88124721e+02] [ 5.22883506e-03 -7.81407070e-05 9.99986327e-01 7.32818064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11028169299993 meters 0.022192799842798958 Centerline is valid? [True, True] Translation: X:194.91, Y:188.11, Z:0.73 [[ 8.20628668e-01 5.71436383e-01 -5.38972685e-03 1.94905642e+02] [-5.71423210e-01 8.20646360e-01 3.88155190e-03 1.88105723e+02] [ 6.64111971e-03 -1.05497746e-04 9.99977942e-01 7.30409349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14028169299996 meters 0.024057469896011565 Centerline is valid? [True, True] Translation: X:194.92, Y:188.08, Z:0.73 [[ 8.21311639e-01 5.70443515e-01 -6.43325852e-03 1.94924024e+02] [-5.70424723e-01 8.21336824e-01 4.63222340e-03 1.88083822e+02] [ 7.92629391e-03 -1.34809284e-04 9.99968577e-01 7.26666429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17028169299994 meters 0.024128381326808123 Centerline is valid? [True, True] Translation: X:194.95, Y:188.07, Z:0.73 [[ 8.21441730e-01 5.70255046e-01 -6.53197047e-03 1.94945209e+02] [-5.70235679e-01 8.21467689e-01 4.70168621e-03 1.88065091e+02] [ 8.04696297e-03 -1.37398637e-04 9.99967613e-01 7.26374190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20028169299997 meters 0.023419147912451047 Centerline is valid? [True, True] Translation: X:194.97, Y:188.05, Z:0.73 [[ 8.20733632e-01 5.71268530e-01 -6.96943494e-03 1.94965311e+02] [-5.71246529e-01 8.20763211e-01 5.01543142e-03 1.88045803e+02] [ 8.58541394e-03 -1.35067728e-04 9.99963136e-01 7.26435078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23028169299994 meters 0.022478080722712023 Centerline is valid? [True, True] Translation: X:194.99, Y:188.03, Z:0.73 [[ 8.20084896e-01 5.72200071e-01 -6.91687947e-03 1.94987659e+02] [-5.72178439e-01 8.20114055e-01 4.97695377e-03 1.88029259e+02] [ 8.52044337e-03 -1.23835314e-04 9.99963693e-01 7.26416336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26028169299997 meters 0.018900574995674664 Centerline is valid? [True, True] Translation: X:195.01, Y:188.01, Z:0.73 [[ 8.17890645e-01 5.75334834e-01 -6.68745543e-03 1.95012368e+02] [-5.75314722e-01 8.17917979e-01 4.81139182e-03 1.88014392e+02] [ 8.23795135e-03 -8.78007937e-05 9.99966064e-01 7.27532273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29028169299994 meters 0.01600829193286327 Centerline is valid? [True, True] Translation: X:195.04, Y:188.00, Z:0.73 [[ 8.16217126e-01 5.77711357e-01 -6.26034629e-03 1.95038339e+02] [-5.77693812e-01 8.16241132e-01 4.50274386e-03 1.88000741e+02] [ 7.71123841e-03 -5.86533358e-05 9.99970266e-01 7.29337621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32028169299997 meters 0.014424180507937125 Centerline is valid? [True, True] Translation: X:195.06, Y:187.99, Z:0.73 [[ 8.14349073e-01 5.80347629e-01 -5.67599682e-03 1.95062502e+02] [-5.80333276e-01 8.14368853e-01 4.08175315e-03 1.87986453e+02] [ 6.99119078e-03 -3.00020617e-05 9.99975561e-01 7.30744851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35028169299994 meters 0.013114268925756923 Centerline is valid? [True, True] Translation: X:195.09, Y:187.97, Z:0.74 [[ 8.11345911e-01 5.84555670e-01 -3.53296916e-03 1.95088084e+02] [-5.84550150e-01 8.11353603e-01 2.54037950e-03 1.87974329e+02] [ 4.35148050e-03 4.07112953e-06 9.99990532e-01 7.36182148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.380281693 meters 0.014045194335803764 Centerline is valid? [True, True] Translation: X:195.11, Y:187.96, Z:0.73 [[ 8.09609720e-01 5.86955994e-01 -3.84222155e-03 1.95111815e+02] [-5.86949494e-01 8.09618837e-01 2.76240558e-03 1.87959413e+02] [ 4.73214546e-03 1.87195863e-05 9.99988803e-01 7.33963232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41028169299994 meters 0.014626728914283607 Centerline is valid? [True, True] Translation: X:195.14, Y:187.94, Z:0.73 [[ 8.09098862e-01 5.87658266e-01 -4.09799660e-03 1.95135126e+02] [-5.87650885e-01 8.09109240e-01 2.94551042e-03 1.87942260e+02] [ 5.04668046e-03 2.49821975e-05 9.99987265e-01 7.32906969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.440281693 meters 0.014746989558592117 Centerline is valid? [True, True] Translation: X:195.16, Y:187.93, Z:0.73 [[ 8.08907222e-01 5.87925799e-01 -3.51577894e-03 1.95157586e+02] [-5.87920372e-01 8.08914862e-01 2.52615809e-03 1.87925196e+02] [ 4.32915935e-03 2.35705355e-05 9.99990629e-01 7.33943138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47028169299995 meters 0.015974546304298974 Centerline is valid? [True, True] Translation: X:195.18, Y:187.91, Z:0.74 [[ 8.07941533e-01 5.89255213e-01 -2.96190298e-03 1.95180197e+02] [-5.89251372e-01 8.07946962e-01 2.12774862e-03 1.87909433e+02] [ 3.64684748e-03 2.62089123e-05 9.99993350e-01 7.36956747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.500281693 meters 0.01657356613380692 Centerline is valid? [True, True] Translation: X:195.20, Y:187.89, Z:0.74 [[ 8.07546698e-01 5.89795654e-01 -3.06857674e-03 1.95203825e+02] [-5.89791538e-01 8.07552528e-01 2.20384932e-03 1.87892391e+02] [ 3.77785765e-03 3.01093491e-05 9.99992863e-01 7.36595491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53028169299995 meters 0.018111813689489664 Centerline is valid? [True, True] Translation: X:195.23, Y:187.88, Z:0.74 [[ 8.05978944e-01 5.91930806e-01 -3.98266962e-03 1.95227432e+02] [-5.91923903e-01 8.05988783e-01 2.85929375e-03 1.87875672e+02] [ 4.90249110e-03 5.29067887e-05 9.99987981e-01 7.36014085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.560281693 meters 0.021994664510470847 Centerline is valid? [True, True] Translation: X:195.25, Y:187.86, Z:0.74 [[ 8.04389032e-01 5.94090862e-01 -3.78589634e-03 1.95254044e+02] [-5.94084650e-01 8.04397938e-01 2.71750396e-03 1.87864978e+02] [ 4.65981148e-03 6.32125232e-05 9.99989141e-01 7.36153663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59028169299995 meters 0.023127208168944428 Centerline is valid? [True, True] Translation: X:195.28, Y:187.85, Z:0.74 [[ 8.02133503e-01 5.97138087e-01 -2.81925027e-03 1.95279296e+02] [-5.97134663e-01 8.02138455e-01 2.02317918e-03 1.87850989e+02] [ 3.46954640e-03 6.06122544e-05 9.99993979e-01 7.38773207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.620281693 meters 0.03785826856668932 Centerline is valid? [True, True] Translation: X:195.32, Y:187.86, Z:0.74 [[ 7.96475476e-01 6.04668537e-01 -1.66653010e-03 1.95317657e+02] [-6.04667357e-01 7.96477217e-01 1.19573887e-03 1.87855498e+02] [ 2.05037893e-03 5.53196641e-05 9.99997896e-01 7.39972647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65028169299995 meters 0.04371566728496999 Centerline is valid? [True, True] Translation: X:195.35, Y:187.85, Z:0.74 [[ 7.93436458e-01 6.08649107e-01 -2.20262139e-03 1.95347696e+02] [-6.08647063e-01 7.93439510e-01 1.58009296e-03 1.87846995e+02] [ 2.70936900e-03 8.69156775e-05 9.99996326e-01 7.38705266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.680281693 meters 0.047736667989068685 Centerline is valid? [True, True] Translation: X:195.38, Y:187.84, Z:0.73 [[ 7.88686456e-01 6.14780328e-01 -4.33857063e-03 1.95377684e+02] [-6.14772490e-01 7.88698360e-01 3.11155644e-03 1.87839250e+02] [ 5.33474723e-03 2.13191450e-04 9.99985747e-01 7.34704652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71028169299996 meters 0.05197922032598439 Centerline is valid? [True, True] Translation: X:195.41, Y:187.83, Z:0.73 [[ 7.87664832e-01 6.16080725e-01 -5.35286577e-03 1.95406298e+02] [-6.16068827e-01 7.87682972e-01 3.83864940e-03 1.87829965e+02] [ 6.58127913e-03 2.74164601e-04 9.99978306e-01 7.32735512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.740281693 meters 0.05197922032598439 Centerline is valid? [True, True] Translation: X:195.43, Y:187.81, Z:0.73 [[ 7.87774367e-01 6.15940652e-01 -5.35341528e-03 1.95428769e+02] [-6.15928756e-01 7.87792510e-01 3.83788299e-03 1.87814092e+02] [ 6.58128861e-03 2.73936566e-04 9.99978306e-01 7.32779121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77028169299996 meters 0.049970107533213765 Centerline is valid? [True, True] Translation: X:195.46, Y:187.80, Z:0.73 [[ 7.87449893e-01 6.16353355e-01 -5.58643617e-03 1.95455987e+02] [-6.16340420e-01 7.87469655e-01 4.00353404e-03 1.87802108e+02] [ 6.86674060e-03 2.90563967e-04 9.99976381e-01 7.32411942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.800281693 meters 0.052025383733145074 Centerline is valid? [True, True] Translation: X:195.48, Y:187.79, Z:0.73 [[ 7.87971309e-01 6.15691358e-01 -5.03670163e-03 1.95482893e+02] [-6.15680834e-01 7.87987364e-01 3.60896270e-03 1.87791855e+02] [ 6.19086438e-03 2.57241600e-04 9.99980803e-01 7.33173021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83028169299996 meters 0.04868223918290061 Centerline is valid? [True, True] Translation: X:195.51, Y:187.78, Z:0.73 [[ 7.89686021e-01 6.13493204e-01 -4.69849233e-03 1.95508666e+02] [-6.13484013e-01 7.89699967e-01 3.36577399e-03 1.87777977e+02] [ 5.77527871e-03 2.24545255e-04 9.99983298e-01 7.34074637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86028169299993 meters 0.044941397770838075 Centerline is valid? [True, True] Translation: X:195.53, Y:187.76, Z:0.73 [[ 7.90665133e-01 6.12231461e-01 -4.61363744e-03 1.95532070e+02] [-6.12222583e-01 7.90678565e-01 3.30396110e-03 1.87760116e+02] [ 5.67069316e-03 2.12246186e-04 9.99983899e-01 7.33646448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89028169299996 meters 0.042785952809458336 Centerline is valid? [True, True] Translation: X:195.56, Y:187.74, Z:0.73 [[ 7.91694931e-01 6.10895578e-01 -5.07238414e-03 1.95556458e+02] [-6.10884822e-01 7.91711149e-01 3.63189943e-03 1.87744360e+02] [ 6.23457438e-03 2.23286109e-04 9.99980540e-01 7.33423219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92028169299994 meters 0.03923151744456112 Centerline is valid? [True, True] Translation: X:195.58, Y:187.73, Z:0.73 [[ 7.93961783e-01 6.07936889e-01 -6.11762817e-03 1.95580452e+02] [-6.07921160e-01 7.93985315e-01 4.37986603e-03 1.87729579e+02] [ 7.51998906e-03 2.41589367e-04 9.99971695e-01 7.31624996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95028169299997 meters 0.03934313397481609 Centerline is valid? [True, True] Translation: X:195.61, Y:187.72, Z:0.73 [[ 7.95339534e-01 6.06123480e-01 -7.02520391e-03 1.95605021e+02] [-6.06102670e-01 7.95370518e-01 5.02913828e-03 1.87715118e+02] [ 8.63591886e-03 2.58122355e-04 9.99962676e-01 7.28908829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98028169299994 meters 0.032991531769576005 Centerline is valid? [True, True] Translation: X:195.63, Y:187.70, Z:0.73 [[ 7.98607250e-01 6.01804422e-01 -7.60900618e-03 1.95626879e+02] [-6.01779828e-01 7.98643465e-01 5.44556507e-03 1.87695115e+02] [ 9.35404820e-03 2.30078680e-04 9.99956223e-01 7.27937740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01028169299997 meters 0.027543162805783603 Centerline is valid? [True, True] Translation: X:195.65, Y:187.67, Z:0.73 [[ 8.00126984e-01 5.99789206e-01 -7.05110621e-03 1.95647405e+02] [-5.99768013e-01 8.00158029e-01 5.04560587e-03 1.87674281e+02] [ 8.66829919e-03 1.91902554e-04 9.99962411e-01 7.30797704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04028169299994 meters 0.026387070192155394 Centerline is valid? [True, True] Translation: X:195.67, Y:187.66, Z:0.73 [[ 8.02435455e-01 5.96707064e-01 -6.16602711e-03 1.95670758e+02] [-5.96690770e-01 8.02459133e-01 4.41186079e-03 1.87658266e+02] [ 7.58057327e-03 1.38977943e-04 9.99971257e-01 7.32476896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07028169299997 meters 0.024662557322654485 Centerline is valid? [True, True] Translation: X:195.69, Y:187.64, Z:0.73 [[ 8.03626846e-01 5.95104682e-01 -5.85750394e-03 1.95692800e+02] [-5.95089943e-01 8.03648184e-01 4.18994336e-03 1.87639981e+02] [ 7.20082731e-03 1.18590721e-04 9.99974067e-01 7.32540551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10028169299994 meters 0.021774345153864453 Centerline is valid? [True, True] Translation: X:195.71, Y:187.62, Z:0.73 [[ 8.05038526e-01 5.93195700e-01 -5.64213433e-03 1.95714054e+02] [-5.93181988e-01 8.05058291e-01 4.03453120e-03 1.87620456e+02] [ 6.93551358e-03 9.88594103e-05 9.99975944e-01 7.33390146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.130281693 meters 0.01692541778759398 Centerline is valid? [True, True] Translation: X:195.73, Y:187.60, Z:0.73 [[ 8.08365876e-01 5.88648700e-01 -6.10887253e-03 1.95732336e+02] [-5.88632500e-01 8.08388956e-01 4.36760223e-03 1.87596309e+02] [ 7.50932846e-03 6.52603041e-05 9.99971802e-01 7.33598250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16028169299994 meters 0.014922319635908458 Centerline is valid? [True, True] Translation: X:195.75, Y:187.57, Z:0.74 [[ 8.10421562e-01 5.85821707e-01 -5.46079410e-03 1.95751612e+02] [-5.85808705e-01 8.10439959e-01 3.90314416e-03 1.87574701e+02] [ 6.71219232e-03 3.57885374e-05 9.99977472e-01 7.35161111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.190281693 meters 0.012864284746409186 Centerline is valid? [True, True] Translation: X:195.77, Y:187.55, Z:0.74 [[ 8.14126441e-01 5.80680219e-01 -2.93611687e-03 1.95766990e+02] [-5.80676429e-01 8.14131736e-01 2.09803727e-03 1.87547238e+02] [ 3.60867466e-03 -3.13375859e-06 9.99993489e-01 7.40916359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22028169299995 meters 0.013375697268377758 Centerline is valid? [True, True] Translation: X:195.79, Y:187.53, Z:0.74 [[ 8.15670500e-01 5.78512173e-01 -2.30243202e-03 1.95787795e+02] [-5.78509836e-01 8.15673749e-01 1.64469149e-03 1.87527674e+02] [ 2.82950741e-03 -9.54676274e-06 9.99995997e-01 7.42156385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.250281693 meters 0.015368557044518727 Centerline is valid? [True, True] Translation: X:195.81, Y:187.51, Z:0.74 [[ 8.17543953e-01 5.75855464e-01 -3.51696081e-03 1.95806745e+02] [-5.75849988e-01 8.17551518e-01 2.51149994e-03 1.87506183e+02] [ 4.32155761e-03 -2.80197488e-05 9.99990662e-01 7.37834557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28028169299995 meters 0.01620471198931289 Centerline is valid? [True, True] Translation: X:195.83, Y:187.49, Z:0.74 [[ 8.18331073e-01 5.74729861e-01 -4.45436745e-03 1.95828059e+02] [-5.74721065e-01 8.18343195e-01 3.18000545e-03 1.87486742e+02] [ 5.47284539e-03 -4.22784691e-05 9.99985023e-01 7.36097926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.310281693 meters 0.016618555066251553 Centerline is valid? [True, True] Translation: X:195.85, Y:187.47, Z:0.74 [[ 8.19054132e-01 5.73698683e-01 -4.48887023e-03 1.95849420e+02] [-5.73689740e-01 8.19066431e-01 3.20352882e-03 1.87467264e+02] [ 5.51454318e-03 -4.86447195e-05 9.99984794e-01 7.36896686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34028169299995 meters 0.018207012669125437 Centerline is valid? [True, True] Translation: X:195.87, Y:187.45, Z:0.74 [[ 8.20211881e-01 5.72049849e-01 -3.38250722e-03 1.95867512e+02] [-5.72044759e-01 8.20218854e-01 2.41353475e-03 1.87445287e+02] [ 4.15505839e-03 -4.46643506e-05 9.99991367e-01 7.39807271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.370281693 meters 0.01842823509709567 Centerline is valid? [True, True] Translation: X:195.89, Y:187.43, Z:0.74 [[ 8.20480014e-01 5.71665528e-01 -3.32715988e-03 1.95889095e+02] [-5.71660603e-01 8.20486759e-01 2.37335675e-03 1.87427011e+02] [ 4.08665686e-03 -4.52855569e-05 9.99991649e-01 7.40041686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40028169299995 meters 0.01798328947886751 Centerline is valid? [True, True] Translation: X:195.91, Y:187.41, Z:0.74 [[ 8.20230351e-01 5.72020236e-01 -3.87565339e-03 1.95910599e+02] [-5.72013563e-01 8.20239506e-01 2.76346146e-03 1.87408740e+02] [ 4.75971990e-03 -4.97486605e-05 9.99988671e-01 7.39260042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.430281693 meters 0.017321810382630063 Centerline is valid? [True, True] Translation: X:195.93, Y:187.39, Z:0.74 [[ 8.19638997e-01 5.72861695e-01 -4.62527453e-03 1.95933156e+02] [-5.72852209e-01 8.19652045e-01 3.29724064e-03 1.87393057e+02] [ 5.67997859e-03 -5.29482804e-05 9.99983867e-01 7.37577737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46028169299996 meters 0.016552275809946126 Centerline is valid? [True, True] Translation: X:195.96, Y:187.38, Z:0.74 [[ 8.19064273e-01 5.73679306e-01 -5.07648638e-03 1.95957269e+02] [-5.73667900e-01 8.19080003e-01 3.61784460e-03 1.87377360e+02] [ 6.23353106e-03 -5.10299788e-05 9.99980570e-01 7.36648735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.490281693 meters 0.016134246949974597 Centerline is valid? [True, True] Translation: X:195.98, Y:187.36, Z:0.74 [[ 8.18679143e-01 5.74231690e-01 -4.73572184e-03 1.95980209e+02] [-5.74221778e-01 8.18692839e-01 3.37424508e-03 1.87360906e+02] [ 5.81470001e-03 -4.30694553e-05 9.99983094e-01 7.37375761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52028169299996 meters 0.01439689803679626 Centerline is valid? [True, True] Translation: X:196.01, Y:187.35, Z:0.74 [[ 8.17286074e-01 5.76218837e-01 -3.91462440e-03 1.96005774e+02] [-5.76212091e-01 8.17295449e-01 2.78842059e-03 1.87347147e+02] [ 4.80614518e-03 -2.32834097e-05 9.99988450e-01 7.39072600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.550281693 meters 0.013820502980208644 Centerline is valid? [True, True] Translation: X:196.03, Y:187.33, Z:0.74 [[ 8.16328515e-01 5.77571489e-01 -4.35107586e-03 1.96029896e+02] [-5.77563178e-01 8.16340110e-01 3.09837028e-03 1.87333704e+02] [ 5.34148808e-03 -1.62668050e-05 9.99985734e-01 7.37521704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58028169299996 meters 0.013653331171672915 Centerline is valid? [True, True] Translation: X:196.05, Y:187.32, Z:0.73 [[ 8.15386447e-01 5.78891903e-01 -5.39509879e-03 1.96053709e+02] [-5.78879160e-01 8.15404295e-01 3.84100876e-03 1.87320371e+02] [ 6.62271560e-03 -8.79622806e-06 9.99978070e-01 7.34565549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61028169299993 meters 0.014320225664212056 Centerline is valid? [True, True] Translation: X:196.08, Y:187.31, Z:0.73 [[ 8.14577497e-01 5.79999606e-01 -7.99740376e-03 1.96079275e+02] [-5.79971676e-01 8.14616755e-01 5.69187615e-03 1.87306051e+02] [ 9.81610502e-03 1.79343964e-06 9.99951821e-01 7.29240835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64028169299996 meters 0.014445421650333776 Centerline is valid? [True, True] Translation: X:196.10, Y:187.29, Z:0.73 [[ 8.14782698e-01 5.79702831e-01 -8.58965195e-03 1.96102472e+02] [-5.79670605e-01 8.14827974e-01 6.11243805e-03 1.87289789e+02] [ 1.05424863e-02 -1.14002268e-06 9.99944426e-01 7.27767347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67028169299994 meters 0.014123801034988752 Centerline is valid? [True, True] Translation: X:196.13, Y:187.27, Z:0.73 [[ 8.15911760e-01 5.78135600e-01 -6.87229995e-03 1.96126421e+02] [-5.78114927e-01 8.15940701e-01 4.88903061e-03 1.87272927e+02] [ 8.43391188e-03 -1.60383803e-05 9.99964434e-01 7.32511372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70028169299997 meters 0.013985811283634344 Centerline is valid? [True, True] Translation: X:196.15, Y:187.26, Z:0.74 [[ 8.16601327e-01 5.77178925e-01 -5.17314727e-03 1.96148309e+02] [-5.77167196e-01 8.16617712e-01 3.67968637e-03 1.87256135e+02] [ 6.34832111e-03 -1.90658627e-05 9.99979849e-01 7.36837384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73028169299994 meters 0.01441098147077908 Centerline is valid? [True, True] Translation: X:196.17, Y:187.24, Z:0.74 [[ 8.17587309e-01 5.75790800e-01 -3.99331500e-03 1.96170175e+02] [-5.75783798e-01 8.17597061e-01 2.83964587e-03 1.87237870e+02] [ 4.89996457e-03 -2.23723463e-05 9.99987995e-01 7.39670799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76028169299997 meters 0.016621609466871808 Centerline is valid? [True, True] Translation: X:196.19, Y:187.22, Z:0.74 [[ 8.19635168e-01 5.72879237e-01 -2.75141987e-03 1.96189137e+02] [-5.72875898e-01 8.19639786e-01 1.95616909e-03 1.87215985e+02] [ 3.37582185e-03 -2.71228528e-05 9.99994302e-01 7.42466714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79028169299994 meters 0.01907299030362371 Centerline is valid? [True, True] Translation: X:196.21, Y:187.19, Z:0.74 [[ 8.21330777e-01 5.70445380e-01 -2.79694508e-03 1.96209002e+02] [-5.70441917e-01 8.21335539e-01 1.98807210e-03 1.87193609e+02] [ 3.43131694e-03 -3.73700900e-05 9.99994112e-01 7.41826291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82028169299997 meters 0.02066137045796339 Centerline is valid? [True, True] Translation: X:196.23, Y:187.17, Z:0.74 [[ 8.21912847e-01 5.69600663e-01 -3.78888507e-03 1.96229282e+02] [-5.69594302e-01 8.21921579e-01 2.69252680e-03 1.87173803e+02] [ 4.64783144e-03 -5.48950203e-05 9.99989197e-01 7.38916638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85028169299994 meters 0.021466638242438746 Centerline is valid? [True, True] Translation: X:196.25, Y:187.16, Z:0.74 [[ 8.22208138e-01 5.69163959e-01 -5.11527038e-03 1.96250011e+02] [-5.69152358e-01 8.22224046e-01 3.63465346e-03 1.87155037e+02] [ 6.27461207e-03 -7.70734562e-05 9.99980311e-01 7.35806623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.880281693 meters 0.02043098554113813 Centerline is valid? [True, True] Translation: X:196.27, Y:187.14, Z:0.73 [[ 8.21808946e-01 5.69727990e-01 -6.33032856e-03 1.96272386e+02] [-5.69710252e-01 8.21833322e-01 4.49655571e-03 1.87137829e+02] [ 7.76428859e-03 -8.88566308e-05 9.99969854e-01 7.33684201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91028169299994 meters 0.01922081692070699 Centerline is valid? [True, True] Translation: X:196.30, Y:187.12, Z:0.73 [[ 8.21113305e-01 5.70731964e-01 -6.16163440e-03 1.96296046e+02] [-5.70715198e-01 8.21136419e-01 4.37528209e-03 1.87121268e+02] [ 7.55665575e-03 -7.60639351e-05 9.99971445e-01 7.33766190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.940281693 meters 0.016713106851170383 Centerline is valid? [True, True] Translation: X:196.32, Y:187.10, Z:0.74 [[ 8.19631740e-01 5.72868732e-01 -5.02262568e-03 1.96318313e+02] [-5.72857636e-01 8.19647127e-01 3.56580001e-03 1.87104207e+02] [ 6.15951604e-03 -4.53933940e-05 9.99981029e-01 7.36789156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97028169299995 meters 0.015579057065794152 Centerline is valid? [True, True] Translation: X:196.34, Y:187.09, Z:0.74 [[ 8.18878123e-01 5.73954433e-01 -3.86363415e-03 1.96340583e+02] [-5.73947881e-01 8.18887238e-01 2.74264974e-03 1.87087784e+02] [ 4.73803668e-03 -2.83712350e-05 9.99988775e-01 7.39721208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.000281693 meters 0.013608034601759628 Centerline is valid? [True, True] Translation: X:196.36, Y:187.07, Z:0.74 [[ 8.17350366e-01 5.76131568e-01 -3.28575613e-03 1.96364998e+02] [-5.76126849e-01 8.17356970e-01 2.33186376e-03 1.87072466e+02] [ 4.02909600e-03 -1.29373680e-05 9.99991883e-01 7.41619508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03028169299995 meters 0.013492774997439927 Centerline is valid? [True, True] Translation: X:196.39, Y:187.06, Z:0.74 [[ 8.16526107e-01 5.77292729e-01 -4.26879353e-03 1.96387339e+02] [-5.77284784e-01 8.16537265e-01 3.02874874e-03 1.87056983e+02] [ 5.23410362e-03 -8.74286301e-06 9.99986302e-01 7.38305261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.060281693 meters 0.013743552975986038 Centerline is valid? [True, True] Translation: X:196.41, Y:187.04, Z:0.73 [[ 8.14931708e-01 5.79522189e-01 -6.35161827e-03 1.96411039e+02] [-5.79504678e-01 8.14956460e-01 4.50505925e-03 1.87039900e+02] [ 7.78707414e-03 9.47687541e-06 9.99969680e-01 7.34855162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09028169299995 meters 0.014105322379896656 Centerline is valid? [True, True] Translation: X:196.43, Y:187.02, Z:0.73 [[ 8.14370131e-01 5.80309225e-01 -6.51865702e-03 1.96433354e+02] [-5.80290812e-01 8.14396220e-01 4.62275520e-03 1.87023754e+02] [ 7.99139713e-03 1.80830200e-05 9.99968068e-01 7.33443660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.120281693 meters 0.014638782370608536 Centerline is valid? [True, True] Translation: X:196.46, Y:187.01, Z:0.74 [[ 8.13278181e-01 5.81848524e-01 -5.55839719e-03 1.96456494e+02] [-5.81835181e-01 8.13297175e-01 3.94053312e-03 1.87007531e+02] [ 6.81342212e-03 2.93214238e-05 9.99976788e-01 7.35834198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15028169299995 meters 0.014767372461370326 Centerline is valid? [True, True] Translation: X:196.48, Y:186.99, Z:0.74 [[ 8.12903180e-01 5.82374025e-01 -5.37724711e-03 1.96478350e+02] [-5.82361559e-01 8.12920964e-01 3.81061409e-03 1.86990593e+02] [ 6.59047957e-03 3.38416997e-05 9.99978282e-01 7.36717000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.180281693 meters 0.015360484835019348 Centerline is valid? [True, True] Translation: X:196.50, Y:186.97, Z:0.74 [[ 8.12392911e-01 5.83082987e-01 -5.65582297e-03 1.96500508e+02] [-5.83069219e-01 8.12412598e-01 4.00706718e-03 1.86974305e+02] [ 6.93131453e-03 4.24233109e-05 9.99975977e-01 7.35430728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21028169299996 meters 0.016139290635543948 Centerline is valid? [True, True] Translation: X:196.52, Y:186.96, Z:0.73 [[ 8.11991379e-01 5.83628254e-01 -6.93263688e-03 1.96521523e+02] [-5.83607595e-01 8.12020971e-01 4.91097898e-03 1.86956394e+02] [ 8.49563262e-03 5.82669442e-05 9.99963910e-01 7.32277605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.240281693 meters 0.016176706572263687 Centerline is valid? [True, True] Translation: X:196.54, Y:186.94, Z:0.73 [[ 8.11977060e-01 5.83644627e-01 -7.22516302e-03 1.96543688e+02] [-5.83622204e-01 8.12009203e-01 5.11642635e-03 1.86939749e+02] [ 8.85307361e-03 6.23447406e-05 9.99960809e-01 7.32354167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27028169299996 meters 0.016901712859518823 Centerline is valid? [True, True] Translation: X:196.57, Y:186.92, Z:0.73 [[ 8.11462042e-01 5.84367263e-01 -6.65259738e-03 1.96566728e+02] [-5.84348284e-01 8.11489308e-01 4.71016973e-03 1.86923318e+02] [ 8.15098064e-03 6.53099191e-05 9.99966778e-01 7.31831942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.300281693 meters 0.01698232996767563 Centerline is valid? [True, True] Translation: X:196.59, Y:186.91, Z:0.73 [[ 8.11286770e-01 5.84615852e-01 -6.17112628e-03 1.96589179e+02] [-5.84599538e-01 8.11310238e-01 4.36781905e-03 1.86905826e+02] [ 7.56019418e-03 6.40837662e-05 9.99971419e-01 7.33630536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33028169299996 meters 0.017637111090102246 Centerline is valid? [True, True] Translation: X:196.61, Y:186.89, Z:0.74 [[ 8.11029521e-01 5.84981626e-01 -5.25489117e-03 1.96611141e+02] [-5.84969810e-01 8.11046542e-01 3.71854001e-03 1.86890126e+02] [ 6.43723889e-03 5.81069625e-05 9.99979279e-01 7.35758706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36028169299993 meters 0.01776918816570622 Centerline is valid? [True, True] Translation: X:196.64, Y:186.87, Z:0.74 [[ 8.10766279e-01 5.85346584e-01 -5.23614804e-03 1.96635244e+02] [-5.85334867e-01 8.10783185e-01 3.70417612e-03 1.86874260e+02] [ 6.41360762e-03 6.16789264e-05 9.99979431e-01 7.36123872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39028169299996 meters 0.01904115374716631 Centerline is valid? [True, True] Translation: X:196.66, Y:186.86, Z:0.73 [[ 8.10321029e-01 5.85952581e-01 -6.27712393e-03 1.96659576e+02] [-5.85935768e-01 8.10345337e-01 4.43958011e-03 1.86860629e+02] [ 7.68802154e-03 8.05063066e-05 9.99970444e-01 7.33624318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42028169299994 meters 0.018936770754600592 Centerline is valid? [True, True] Translation: X:196.68, Y:186.84, Z:0.73 [[ 8.10227876e-01 5.86081591e-01 -6.25760051e-03 1.96682415e+02] [-5.86064897e-01 8.10252036e-01 4.42425605e-03 1.86843934e+02] [ 7.66320858e-03 8.27044138e-05 9.99970634e-01 7.34018155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45028169299997 meters 0.02039239077815402 Centerline is valid? [True, True] Translation: X:196.71, Y:186.83, Z:0.74 [[ 8.09295495e-01 5.87380597e-01 -4.98359378e-03 1.96706931e+02] [-5.87370037e-01 8.09310836e-01 3.52291363e-03 1.86830049e+02] [ 6.10256756e-03 7.61355294e-05 9.99981376e-01 7.37682490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48028169299994 meters 0.02195485650117257 Centerline is valid? [True, True] Translation: X:196.73, Y:186.82, Z:0.74 [[ 8.08303495e-01 5.88752228e-01 -4.03408179e-03 1.96732634e+02] [-5.88745329e-01 8.08313559e-01 2.85096816e-03 1.86817047e+02] [ 4.93931687e-03 7.05992788e-05 9.99987799e-01 7.40026496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51028169299997 meters 0.024948167420763948 Centerline is valid? [True, True] Translation: X:196.76, Y:186.81, Z:0.74 [[ 8.06660273e-01 5.91001025e-01 -4.12223728e-03 1.96760010e+02] [-5.90993856e-01 8.06670801e-01 2.91229541e-03 1.86805827e+02] [ 5.04645802e-03 8.69839012e-05 9.99987263e-01 7.40689815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54028169299994 meters 0.03275840251338079 Centerline is valid? [True, True] Translation: X:196.79, Y:186.80, Z:0.74 [[ 8.02566060e-01 5.96545319e-01 -4.62615999e-03 1.96793877e+02] [-5.96536387e-01 8.02579381e-01 3.26725939e-03 1.86802899e+02] [ 5.66192891e-03 1.37481273e-04 9.99983962e-01 7.39769194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57028169299997 meters 0.03776910346306936 Centerline is valid? [True, True] Translation: X:196.82, Y:186.79, Z:0.74 [[ 8.00207288e-01 5.99707495e-01 -4.38375499e-03 1.96822795e+02] [-5.99699524e-01 8.00219281e-01 3.09564475e-03 1.86794213e+02] [ 5.36444662e-03 1.51778293e-04 9.99985600e-01 7.40406790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60028169299994 meters 0.03927704810331452 Centerline is valid? [True, True] Translation: X:196.85, Y:186.78, Z:0.74 [[ 7.96432634e-01 6.04721247e-01 -2.69672636e-03 1.96850462e+02] [-6.04718260e-01 7.96437192e-01 1.90419014e-03 1.86782238e+02] [ 3.29927740e-03 1.14200502e-04 9.99994551e-01 7.44089441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.630281693 meters 0.04705153029158172 Centerline is valid? [True, True] Translation: X:196.88, Y:186.78, Z:0.75 [[ 7.95704100e-01 6.05682220e-01 -2.00837687e-03 1.96880753e+02] [-6.05680566e-01 7.95706630e-01 1.41800799e-03 1.86776277e+02] [ 2.45694101e-03 8.81200671e-05 9.99996978e-01 7.45662786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66028169299994 meters 0.04705153029158172 Centerline is valid? [True, True] Translation: X:196.90, Y:186.76, Z:0.75 [[ 7.95808892e-01 6.05544526e-01 -2.00851783e-03 1.96903339e+02] [-6.05542872e-01 7.95811422e-01 1.41780829e-03 1.86760576e+02] [ 2.45694748e-03 8.79392101e-05 9.99996978e-01 7.45706386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.690281693 meters 0.04566207398716585 Centerline is valid? [True, True] Translation: X:196.93, Y:186.75, Z:0.75 [[ 7.96748297e-01 6.04307952e-01 -2.01244202e-03 1.96926908e+02] [-6.04306289e-01 7.96750834e-01 1.42018424e-03 1.86745634e+02] [ 2.46164349e-03 8.46019942e-05 9.99996967e-01 7.45495716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72028169299995 meters 0.04375553604525381 Centerline is valid? [True, True] Translation: X:196.95, Y:186.73, Z:0.74 [[ 7.98061756e-01 6.02570201e-01 -2.56644245e-03 1.96949421e+02] [-6.02567489e-01 7.98065876e-01 1.81086780e-03 1.86726499e+02] [ 3.13936512e-03 1.01270446e-04 9.99995067e-01 7.43699971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.750281693 meters 0.035847564755024 Centerline is valid? [True, True] Translation: X:196.97, Y:186.70, Z:0.74 [[ 7.99897107e-01 6.00129309e-01 -3.07098905e-03 1.96966742e+02] [-6.00125408e-01 7.99902995e-01 2.16658862e-03 1.86700674e+02] [ 3.75672667e-03 1.09930582e-04 9.99992937e-01 7.42399418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78028169299995 meters 0.03205772728193184 Centerline is valid? [True, True] Translation: X:196.99, Y:186.68, Z:0.74 [[ 8.02790431e-01 5.96247131e-01 -4.10885265e-03 1.96986711e+02] [-5.96240098e-01 8.02800937e-01 2.89852004e-03 1.86679419e+02] [ 5.02682501e-03 1.22958553e-04 9.99987358e-01 7.40770817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.810281693 meters 0.031765465976447756 Centerline is valid? [True, True] Translation: X:197.01, Y:186.66, Z:0.74 [[ 8.04483309e-01 5.93963000e-01 -3.81592756e-03 1.97009651e+02] [-5.93956909e-01 8.04492352e-01 2.69163641e-03 1.86662805e+02] [ 4.66861697e-03 1.01119974e-04 9.99989097e-01 7.40616527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84028169299995 meters 0.025530076250185357 Centerline is valid? [True, True] Translation: X:197.03, Y:186.64, Z:0.74 [[ 8.05221588e-01 5.92964965e-01 -3.27784309e-03 1.97027564e+02] [-5.92960466e-01 8.05228255e-01 2.31151296e-03 1.86638692e+02] [ 4.01005807e-03 8.23512320e-05 9.99991956e-01 7.42778607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.870281693 meters 0.026525297867111206 Centerline is valid? [True, True] Translation: X:197.05, Y:186.62, Z:0.74 [[ 8.05527062e-01 5.92552893e-01 -2.68715693e-03 1.97050798e+02] [-5.92549868e-01 8.05531542e-01 1.89457183e-03 1.86622858e+02] [ 3.28722368e-03 6.61456050e-05 9.99994595e-01 7.43259920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90028169299995 meters 0.02657867956279122 Centerline is valid? [True, True] Translation: X:197.07, Y:186.61, Z:0.74 [[ 8.05782267e-01 5.92198512e-01 -3.98252773e-03 1.97073536e+02] [-5.92191866e-01 8.05792103e-01 2.80737171e-03 1.86608262e+02] [ 4.87161074e-03 9.62901910e-05 9.99988129e-01 7.40642372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.930281693 meters 0.02947974016515443 Centerline is valid? [True, True] Translation: X:197.10, Y:186.60, Z:0.74 [[ 8.05242179e-01 5.92918584e-01 -5.70835370e-03 1.97101025e+02] [-5.92904951e-01 8.05262399e-01 4.02334223e-03 1.86598812e+02] [ 6.98223698e-03 1.44746309e-04 9.99975613e-01 7.36888681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96028169299996 meters 0.0323928015699606 Centerline is valid? [True, True] Translation: X:197.13, Y:186.59, Z:0.74 [[ 8.05096599e-01 5.93113806e-01 -5.95649195e-03 1.97127095e+02] [-5.93098971e-01 8.05118619e-01 4.19773458e-03 1.86587590e+02] [ 7.28541690e-03 1.53207410e-04 9.99973449e-01 7.35915660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.990281693 meters 0.027303052711841105 Centerline is valid? [True, True] Translation: X:197.15, Y:186.57, Z:0.74 [[ 8.05281546e-01 5.92861420e-01 -6.08020082e-03 1.97147268e+02] [-5.92845965e-01 8.05304485e-01 4.28347210e-03 1.86567234e+02] [ 7.43591834e-03 1.55221491e-04 9.99972341e-01 7.38076583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02028169299996 meters 0.027058385324556795 Centerline is valid? [True, True] Translation: X:197.17, Y:186.56, Z:0.74 [[ 8.06730962e-01 5.90896329e-01 -5.16558879e-03 1.97172965e+02] [-5.90885138e-01 8.06747491e-01 3.63848971e-03 1.86555249e+02] [ 6.31729601e-03 1.16987337e-04 9.99980039e-01 7.38988641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.050281693 meters 0.02411599655584501 Centerline is valid? [True, True] Translation: X:197.20, Y:186.54, Z:0.74 [[ 8.08078598e-01 5.89062444e-01 -3.79677818e-03 1.97195406e+02] [-5.89056381e-01 8.08087514e-01 2.67371014e-03 1.86536387e+02] [ 4.64311127e-03 7.59484675e-05 9.99989218e-01 7.41730926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08028169299996 meters 0.016915248790769867 Centerline is valid? [True, True] Translation: X:197.21, Y:186.51, Z:0.75 [[ 8.12385309e-01 5.83115885e-01 -2.44420820e-03 1.97212898e+02] [-5.83113347e-01 8.12388985e-01 1.72078938e-03 1.86510191e+02] [ 2.98906744e-03 2.73064148e-05 9.99995532e-01 7.45100497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11028169299993 meters 0.01388781127804513 Centerline is valid? [True, True] Translation: X:197.23, Y:186.49, Z:0.74 [[ 8.15337671e-01 5.78979456e-01 -2.69641818e-03 1.97232917e+02] [-5.78976346e-01 8.15342130e-01 1.89785569e-03 1.86487546e+02] [ 3.29732279e-03 1.37691043e-05 9.99994564e-01 7.44418325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14028169299996 meters 0.014965598321424191 Centerline is valid? [True, True] Translation: X:197.25, Y:186.46, Z:0.74 [[ 8.21371323e-01 5.70382979e-01 -3.52246047e-03 1.97247448e+02] [-5.70377595e-01 8.21378875e-01 2.47848234e-03 1.86458777e+02] [ 4.30695876e-03 -2.66217907e-05 9.99990725e-01 7.42366276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17028169299994 meters 0.017410792406893517 Centerline is valid? [True, True] Translation: X:197.27, Y:186.44, Z:0.74 [[ 8.24105555e-01 5.66423123e-01 -3.85747651e-03 1.97266591e+02] [-5.66416627e-01 8.24114582e-01 2.71318608e-03 1.86436147e+02] [ 4.71581397e-03 -5.10128881e-05 9.99988879e-01 7.41444703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20028169299997 meters 0.02111345308297029 Centerline is valid? [True, True] Translation: X:197.28, Y:186.41, Z:0.74 [[ 8.26231517e-01 5.63308812e-01 -4.96624179e-03 1.97284024e+02] [-5.63297993e-01 8.26246437e-01 3.49227093e-03 1.86412698e+02] [ 6.07056657e-03 -8.79502676e-05 9.99981570e-01 7.39522718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23028169299994 meters 0.02790452637527971 Centerline is valid? [True, True] Translation: X:197.30, Y:186.38, Z:0.73 [[ 8.28853204e-01 5.59424990e-01 -6.78576134e-03 1.97298990e+02] [-5.59404665e-01 8.28880966e-01 4.77130671e-03 1.86384430e+02] [ 8.29377662e-03 -1.58726304e-04 9.99965593e-01 7.34689152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26028169299997 meters 0.027076092555392475 Centerline is valid? [True, True] Translation: X:197.32, Y:186.36, Z:0.74 [[ 8.29435210e-01 5.58574095e-01 -5.67558719e-03 1.97319805e+02] [-5.58559865e-01 8.29454617e-01 3.98958354e-03 1.86363578e+02] [ 6.93612001e-03 -1.38945853e-04 9.99975935e-01 7.36972589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29028169299994 meters 0.026241144897891252 Centerline is valid? [True, True] Translation: X:197.34, Y:186.34, Z:0.74 [[ 8.29410820e-01 5.58619885e-01 -4.63853420e-03 1.97341006e+02] [-5.58610387e-01 8.29423783e-01 3.25952064e-03 1.86344237e+02] [ 5.66814363e-03 -1.12348298e-04 9.99983930e-01 7.40327948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32028169299997 meters 0.02740059629286244 Centerline is valid? [True, True] Translation: X:197.36, Y:186.32, Z:0.74 [[ 8.29172310e-01 5.58979775e-01 -3.85898102e-03 1.97360000e+02] [-5.58973208e-01 8.29181285e-01 2.71112659e-03 1.86323175e+02] [ 4.71525977e-03 -9.09240975e-05 9.99988879e-01 7.41917351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35028169299994 meters 0.02462985401083638 Centerline is valid? [True, True] Translation: X:197.38, Y:186.30, Z:0.74 [[ 8.28950379e-01 5.59300759e-01 -4.89183491e-03 1.97381429e+02] [-5.59290219e-01 8.28964805e-01 3.43551779e-03 1.86304846e+02] [ 5.97664668e-03 -1.11918358e-04 9.99982133e-01 7.40475031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.380281693 meters 0.024732781377064094 Centerline is valid? [True, True] Translation: X:197.40, Y:186.29, Z:0.74 [[ 8.28667918e-01 5.59716165e-01 -5.22466999e-03 1.97401846e+02] [-5.59704155e-01 8.28684380e-01 3.66852292e-03 1.86285347e+02] [ 6.38293399e-03 -1.15717748e-04 9.99979622e-01 7.39289160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41028169299994 meters 0.022771904124864146 Centerline is valid? [True, True] Translation: X:197.42, Y:186.27, Z:0.74 [[ 8.26696847e-01 5.62633456e-01 -3.98979057e-03 1.97422105e+02] [-5.62626488e-01 8.26706471e-01 2.80102831e-03 1.86265668e+02] [ 4.87433792e-03 -7.08394159e-05 9.99988118e-01 7.42341598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.440281693 meters 0.018687154242603612 Centerline is valid? [True, True] Translation: X:197.45, Y:186.25, Z:0.75 [[ 8.25177872e-01 5.64865599e-01 -2.88702310e-03 1.97448464e+02] [-5.64861966e-01 8.25182921e-01 2.02632711e-03 1.86252797e+02] [ 3.52692463e-03 -4.13107458e-05 9.99993780e-01 7.45923599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47028169299995 meters 0.01620556385879873 Centerline is valid? [True, True] Translation: X:197.47, Y:186.24, Z:0.75 [[ 8.23174313e-01 5.67783190e-01 -2.50978136e-03 1.97473407e+02] [-5.67780459e-01 8.23178139e-01 1.76112014e-03 1.86240171e+02] [ 3.06593156e-03 -2.47040506e-05 9.99995300e-01 7.46891585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.500281693 meters 0.012908188549538551 Centerline is valid? [True, True] Translation: X:197.50, Y:186.23, Z:0.75 [[ 8.18639881e-01 5.74300891e-01 -2.68901070e-03 1.97504066e+02] [-5.74297793e-01 8.18644298e-01 1.88636265e-03 1.86233056e+02] [ 3.28468303e-03 4.12188411e-08 9.99994605e-01 7.46799931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53028169299995 meters 0.013796573137764171 Centerline is valid? [True, True] Translation: X:197.53, Y:186.22, Z:0.75 [[ 8.16496723e-01 5.77340841e-01 -3.26421517e-03 1.97529478e+02] [-5.77336302e-01 8.16503248e-01 2.28917744e-03 1.86221629e+02] [ 3.98687792e-03 1.54440369e-05 9.99992052e-01 7.45306881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.560281693 meters 0.01736389119833772 Centerline is valid? [True, True] Translation: X:197.56, Y:186.21, Z:0.74 [[ 8.13143899e-01 5.82046567e-01 -4.33521021e-03 1.97559461e+02] [-5.82038634e-01 8.13155454e-01 3.03925128e-03 1.86214669e+02] [ 5.29418560e-03 5.19111901e-05 9.99985984e-01 7.42091319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59028169299995 meters 0.019057360704878186 Centerline is valid? [True, True] Translation: X:197.59, Y:186.20, Z:0.74 [[ 8.11750888e-01 5.83987695e-01 -4.34374221e-03 1.97585885e+02] [-5.83979765e-01 8.11762507e-01 3.04416044e-03 1.86202177e+02] [ 5.30383930e-03 6.55576152e-05 9.99985932e-01 7.41685801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.620281693 meters 0.0217988056322884 Centerline is valid? [True, True] Translation: X:197.61, Y:186.19, Z:0.74 [[ 8.10137268e-01 5.86220832e-01 -4.76892758e-03 1.97611690e+02] [-5.86211317e-01 8.10151299e-01 3.34132566e-03 1.86190317e+02] [ 5.82230759e-03 8.86668788e-05 9.99983046e-01 7.41086567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65028169299995 meters 0.022126659128528958 Centerline is valid? [True, True] Translation: X:197.63, Y:186.18, Z:0.74 [[ 8.10173771e-01 5.86167502e-01 -5.11077770e-03 1.97634661e+02] [-5.86156576e-01 8.10189886e-01 3.58019250e-03 1.86176111e+02] [ 6.23929289e-03 9.51379025e-05 9.99980531e-01 7.40807164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.680281693 meters 0.022192319316350236 Centerline is valid? [True, True] Translation: X:197.66, Y:186.16, Z:0.74 [[ 8.10360407e-01 5.85905884e-01 -5.50514039e-03 1.97658478e+02] [-5.85893205e-01 8.10379100e-01 3.85577390e-03 1.86162208e+02] [ 6.72037133e-03 1.00857842e-04 9.99977413e-01 7.39925287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71028169299996 meters 0.021160696622706487 Centerline is valid? [True, True] Translation: X:197.68, Y:186.15, Z:0.74 [[ 8.10566130e-01 5.85630803e-01 -4.37173556e-03 1.97684056e+02] [-5.85622808e-01 8.10577915e-01 3.06105345e-03 1.86147810e+02] [ 5.33627948e-03 7.90018097e-05 9.99985759e-01 7.42065379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.740281693 meters 0.02371639947225275 Centerline is valid? [True, True] Translation: X:197.71, Y:186.14, Z:0.75 [[ 8.09450180e-01 5.87184120e-01 -2.28367182e-03 1.97710204e+02] [-5.87181945e-01 8.09453401e-01 1.59870941e-03 1.86136932e+02] [ 2.78726270e-03 4.68552413e-05 9.99996115e-01 7.46563874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77028169299996 meters 0.023892395380366315 Centerline is valid? [True, True] Translation: X:197.73, Y:186.12, Z:0.75 [[ 8.08965936e-01 5.87849449e-01 -2.67211234e-03 1.97734541e+02] [-5.87846477e-01 8.08970347e-01 1.87010375e-03 1.86121776e+02] [ 3.26099910e-03 5.79415910e-05 9.99994681e-01 7.45760684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.800281693 meters 0.02554991302048605 Centerline is valid? [True, True] Translation: X:197.76, Y:186.11, Z:0.74 [[ 8.08489152e-01 5.88496874e-01 -4.08921343e-03 1.97759953e+02] [-5.88489926e-01 8.08499487e-01 2.86114517e-03 1.86109111e+02] [ 4.98990195e-03 9.32560793e-05 9.99987546e-01 7.42872182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83028169299996 meters 0.028220584672894226 Centerline is valid? [True, True] Translation: X:197.79, Y:186.10, Z:0.74 [[ 8.07081125e-01 5.90410481e-01 -5.96001920e-03 1.97787889e+02] [-5.90395782e-01 8.07103116e-01 4.16898991e-03 1.86097449e+02] [ 7.27176541e-03 1.54057131e-04 9.99973549e-01 7.38989612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86028169299993 meters 0.029722337929120567 Centerline is valid? [True, True] Translation: X:197.81, Y:186.09, Z:0.74 [[ 8.06406185e-01 5.91331837e-01 -5.97699583e-03 1.97812855e+02] [-5.91317085e-01 8.06428318e-01 4.17999981e-03 1.86085000e+02] [ 7.29178566e-03 1.63522054e-04 9.99973401e-01 7.39114662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89028169299996 meters 0.03171784064271236 Centerline is valid? [True, True] Translation: X:197.84, Y:186.08, Z:0.74 [[ 8.04736702e-01 5.93612006e-01 -4.86069106e-03 1.97842377e+02] [-5.93602294e-01 8.04751368e-01 3.39899489e-03 1.86076126e+02] [ 5.92933196e-03 1.50021421e-04 9.99982410e-01 7.41219936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92028169299994 meters 0.03288205463748076 Centerline is valid? [True, True] Translation: X:197.87, Y:186.06, Z:0.74 [[ 8.04191010e-01 5.94354065e-01 -4.47940578e-03 1.97869262e+02] [-5.94345833e-01 8.04203472e-01 3.13153959e-03 1.86063904e+02] [ 5.46359697e-03 1.43960169e-04 9.99985064e-01 7.41959276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95028169299997 meters 0.03261440102540752 Centerline is valid? [True, True] Translation: X:197.90, Y:186.05, Z:0.74 [[ 8.03519044e-01 5.95251972e-01 -5.67764029e-03 1.97895544e+02] [-5.95238779e-01 8.03539080e-01 3.96773570e-03 1.86051716e+02] [ 6.92400836e-03 1.91400479e-04 9.99976010e-01 7.40763062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98028169299994 meters 0.03676209512154467 Centerline is valid? [True, True] Translation: X:197.92, Y:186.04, Z:0.74 [[ 8.03554775e-01 5.95194964e-01 -6.53289811e-03 1.97923186e+02] [-5.95177501e-01 8.03581301e-01 4.56458477e-03 1.86042923e+02] [ 7.96653263e-03 2.20340090e-04 9.99968242e-01 7.38426276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01028169299997 meters 0.034442503959340655 Centerline is valid? [True, True] Translation: X:197.95, Y:186.03, Z:0.74 [[ 8.04119368e-01 5.94430019e-01 -6.70779614e-03 1.97946849e+02] [-5.94411594e-01 8.04147315e-01 4.68537768e-03 1.86026565e+02] [ 8.17918540e-03 2.19588864e-04 9.99966526e-01 7.38487325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04028169299994 meters 0.031558016602275515 Centerline is valid? [True, True] Translation: X:197.97, Y:186.01, Z:0.74 [[ 8.05981250e-01 5.91914678e-01 -5.58915351e-03 1.97972055e+02] [-5.91901830e-01 8.06000613e-01 3.90344129e-03 1.86013604e+02] [ 6.81536534e-03 1.62129697e-04 9.99976762e-01 7.40807362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07028169299997 meters 0.030700681190583234 Centerline is valid? [True, True] Translation: X:198.00, Y:186.00, Z:0.74 [[ 8.07097943e-01 5.90398391e-01 -4.75921611e-03 1.97996365e+02] [-5.90389054e-01 8.07111965e-01 3.32292279e-03 1.85998770e+02] [ 5.80306853e-03 1.27864944e-04 9.99983154e-01 7.42142990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10028169299994 meters 0.023987237773368603 Centerline is valid? [True, True] Translation: X:198.02, Y:185.98, Z:0.74 [[ 8.09838488e-01 5.86636050e-01 -4.44604261e-03 1.98017518e+02] [-5.86627850e-01 8.09850687e-01 3.10328126e-03 1.85977650e+02] [ 5.42112733e-03 9.50158158e-05 9.99985301e-01 7.43649046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.130281693 meters 0.021945637630078414 Centerline is valid? [True, True] Translation: X:198.04, Y:185.96, Z:0.74 [[ 8.11369118e-01 5.84511437e-01 -5.15118717e-03 1.98040798e+02] [-5.84500394e-01 8.11385464e-01 3.59419236e-03 1.85960636e+02] [ 6.28044493e-03 9.46542428e-05 9.99980273e-01 7.41942622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16028169299994 meters 0.019121796437337205 Centerline is valid? [True, True] Translation: X:198.06, Y:185.94, Z:0.74 [[ 8.14207880e-01 5.80542297e-01 -6.01406082e-03 1.98063344e+02] [-5.80527142e-01 8.14230088e-01 4.19547668e-03 1.85943787e+02] [ 7.33248093e-03 7.53353657e-05 9.99973114e-01 7.38809583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.190281693 meters 0.016713137666010767 Centerline is valid? [True, True] Translation: X:198.08, Y:185.92, Z:0.74 [[ 8.15980775e-01 5.78055121e-01 -5.25856627e-03 1.98084990e+02] [-5.78043489e-01 8.15997718e-01 3.66741965e-03 1.85924321e+02] [ 6.41094878e-03 4.71360682e-05 9.99979449e-01 7.40801809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22028169299995 meters 0.013229920744942681 Centerline is valid? [True, True] Translation: X:198.10, Y:185.90, Z:0.75 [[ 8.19873272e-01 5.72542121e-01 -1.82685373e-03 1.98103927e+02] [-5.72540704e-01 8.19875307e-01 1.27385440e-03 1.85900544e+02] [ 2.22712756e-03 1.54895350e-06 9.99997520e-01 7.49397790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.250281693 meters 0.013203644552607344 Centerline is valid? [True, True] Translation: X:198.13, Y:185.88, Z:0.75 [[ 8.21364196e-01 5.70403789e-01 -6.11563221e-04 1.98125906e+02] [-5.70403630e-01 8.21364424e-01 4.26528447e-04 1.85882663e+02] [ 7.45609715e-04 -1.49731407e-06 9.99999722e-01 7.52100941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28028169299995 meters 0.01354005073212139 Centerline is valid? [True, True] Translation: X:198.15, Y:185.87, Z:0.75 [[ 8.22071410e-01 5.69383591e-01 -9.60574018e-04 1.98148582e+02] [-5.69383198e-01 8.22071971e-01 6.69472909e-04 1.85866950e+02] [ 1.17084787e-03 -3.41983248e-06 9.99999315e-01 7.51234577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.310281693 meters 0.013731276834579842 Centerline is valid? [True, True] Translation: X:198.17, Y:185.85, Z:0.74 [[ 8.21787427e-01 5.69779420e-01 -4.10334413e-03 1.98174294e+02] [-5.69772254e-01 8.21797672e-01 2.85753571e-03 1.85854419e+02] [ 5.00028369e-03 -1.03152807e-05 9.99987498e-01 7.43794684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34028169299995 meters 0.014220253516329493 Centerline is valid? [True, True] Translation: X:198.20, Y:185.84, Z:0.74 [[ 8.20338695e-01 5.71837287e-01 -6.82226345e-03 1.98201177e+02] [-5.71817561e-01 8.20367063e-01 4.74967068e-03 1.85844946e+02] [ 8.31279902e-03 4.75139338e-06 9.99965448e-01 7.37403394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.370281693 meters 0.014298072874426132 Centerline is valid? [True, True] Translation: X:198.23, Y:185.83, Z:0.74 [[ 8.19648562e-01 5.72830257e-01 -6.45997528e-03 1.98226848e+02] [-5.72812614e-01 8.19674018e-01 4.49594401e-03 1.85831986e+02] [ 7.87048666e-03 1.52612787e-05 9.99969027e-01 7.38495314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40028169299995 meters 0.01440625437317476 Centerline is valid? [True, True] Translation: X:198.25, Y:185.82, Z:0.74 [[ 8.19066271e-01 5.73672555e-01 -5.49946216e-03 1.98251874e+02] [-5.73659791e-01 8.19084733e-01 3.82682821e-03 1.85818497e+02] [ 6.69987181e-03 2.03944039e-05 9.99977555e-01 7.41063594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.430281693 meters 0.014889320957327866 Centerline is valid? [True, True] Translation: X:198.28, Y:185.81, Z:0.74 [[ 8.18153705e-01 5.74983734e-01 -4.26848079e-03 1.98277772e+02] [-5.74976067e-01 8.18164840e-01 2.96937260e-03 1.85806773e+02] [ 5.19966185e-03 2.48710989e-05 9.99986481e-01 7.43867014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46028169299996 meters 0.015288523007777746 Centerline is valid? [True, True] Translation: X:198.30, Y:185.79, Z:0.74 [[ 8.17860772e-01 5.75400274e-01 -4.27570291e-03 1.98301927e+02] [-5.75392593e-01 8.17871948e-01 2.97326297e-03 1.85792985e+02] [ 5.20779379e-03 2.84926338e-05 9.99986439e-01 7.43673851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.490281693 meters 0.01606202370218623 Centerline is valid? [True, True] Translation: X:198.33, Y:185.78, Z:0.75 [[ 8.17478652e-01 5.75947280e-01 -3.65844722e-03 1.98325922e+02] [-5.75941665e-01 8.17486838e-01 2.54346651e-03 1.85780538e+02] [ 4.45563507e-03 2.78226025e-05 9.99990073e-01 7.45069750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52028169299996 meters 0.015562872542065096 Centerline is valid? [True, True] Translation: X:198.35, Y:185.76, Z:0.75 [[ 8.17650252e-01 5.75704978e-01 -3.44132336e-03 1.98348751e+02] [-5.75700010e-01 8.17657494e-01 2.39180715e-03 1.85764469e+02] [ 4.19079912e-03 2.55081735e-05 9.99991218e-01 7.46415618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.550281693 meters 0.015562872542065096 Centerline is valid? [True, True] Translation: X:198.37, Y:185.75, Z:0.75 [[ 8.17753188e-01 5.75558752e-01 -3.44175095e-03 1.98371446e+02] [-5.75553786e-01 8.17760431e-01 2.39119178e-03 1.85748958e+02] [ 4.19079909e-03 2.55080846e-05 9.99991218e-01 7.46459185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58028169299996 meters 0.014852221388987735 Centerline is valid? [True, True] Translation: X:198.39, Y:185.73, Z:0.75 [[ 8.18443020e-01 5.74577445e-01 -3.43249062e-03 1.98393398e+02] [-5.74572500e-01 8.18450218e-01 2.38384015e-03 1.85730897e+02] [ 4.17902348e-03 2.11773804e-05 9.99991268e-01 7.46006995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61028169299993 meters 0.014466892403581042 Centerline is valid? [True, True] Translation: X:198.42, Y:185.71, Z:0.74 [[ 8.19057035e-01 5.73700487e-01 -3.65034960e-03 1.98415020e+02] [-5.73694888e-01 8.19065169e-01 2.53457244e-03 1.85714000e+02] [ 4.44395965e-03 1.82275162e-05 9.99990125e-01 7.44599622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64028169299996 meters 0.01383248757732277 Centerline is valid? [True, True] Translation: X:198.44, Y:185.70, Z:0.74 [[ 8.19942340e-01 5.72432349e-01 -3.97054443e-03 1.98435919e+02] [-5.72425714e-01 8.19951953e-01 2.75606324e-03 1.85695263e+02] [ 4.83331542e-03 1.30287871e-05 9.99988319e-01 7.44079330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67028169299994 meters 0.013448080328703956 Centerline is valid? [True, True] Translation: X:198.45, Y:185.67, Z:0.74 [[ 8.22075282e-01 5.69362302e-01 -4.33594815e-03 1.98452330e+02] [-5.69354352e-01 8.22086717e-01 3.00876480e-03 1.85672056e+02] [ 5.27760263e-03 -4.74022277e-06 9.99986073e-01 7.42870349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70028169299997 meters 0.014980232777699031 Centerline is valid? [True, True] Translation: X:198.47, Y:185.65, Z:0.74 [[ 8.24386940e-01 5.66005647e-01 -4.87657187e-03 1.98469347e+02] [-5.65995537e-01 8.24401362e-01 3.38321437e-03 1.85647037e+02] [ 5.93517093e-03 -2.89598267e-05 9.99982386e-01 7.41621715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73028169299994 meters 0.015064582181211343 Centerline is valid? [True, True] Translation: X:198.49, Y:185.63, Z:0.74 [[ 8.25220226e-01 5.64789299e-01 -4.96258403e-03 1.98492086e+02] [-5.64778813e-01 8.25235146e-01 3.44181324e-03 1.85629354e+02] [ 6.03919805e-03 -3.74915865e-05 9.99981763e-01 7.42501551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76028169299997 meters 0.015942547620084797 Centerline is valid? [True, True] Translation: X:198.51, Y:185.61, Z:0.74 [[ 8.25786966e-01 5.63955974e-01 -5.43556003e-03 1.98513318e+02] [-5.63943381e-01 8.25804854e-01 3.76912452e-03 1.85610345e+02] [ 6.61433214e-03 -4.71458055e-05 9.99978124e-01 7.41290048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79028169299994 meters 0.01717845642732664 Centerline is valid? [True, True] Translation: X:198.53, Y:185.59, Z:0.74 [[ 8.26729680e-01 5.62567030e-01 -6.03093481e-03 1.98531396e+02] [-5.62551495e-01 8.26751675e-01 4.18122791e-03 1.85588123e+02] [ 7.33830642e-03 -6.40338230e-05 9.99973072e-01 7.40118968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82028169299997 meters 0.017638115697251235 Centerline is valid? [True, True] Translation: X:198.55, Y:185.57, Z:0.74 [[ 8.27241856e-01 5.61810592e-01 -6.30639223e-03 1.98552912e+02] [-5.61793594e-01 8.27265890e-01 4.37081014e-03 1.85569366e+02] [ 7.67263061e-03 -7.28263315e-05 9.99970562e-01 7.40151233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85028169299994 meters 0.019280458827864264 Centerline is valid? [True, True] Translation: X:198.57, Y:185.55, Z:0.74 [[ 8.27120222e-01 5.61985909e-01 -6.63144328e-03 1.98571174e+02] [-5.61967128e-01 8.27146802e-01 4.59511915e-03 1.85548390e+02] [ 8.06756932e-03 -7.40628404e-05 9.99967454e-01 7.36625020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.880281693 meters 0.016853953868564468 Centerline is valid? [True, True] Translation: X:198.60, Y:185.53, Z:0.74 [[ 8.26927061e-01 5.62265997e-01 -6.97024973e-03 1.98595467e+02] [-5.62245273e-01 8.26956434e-01 4.82809761e-03 1.85534232e+02] [ 8.47876797e-03 -7.34946059e-05 9.99964052e-01 7.38666441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91028169299994 meters 0.018249573627182093 Centerline is valid? [True, True] Translation: X:198.61, Y:185.51, Z:0.73 [[ 8.26392910e-01 5.63042790e-01 -7.58785300e-03 1.98613712e+02] [-5.63018274e-01 8.26427741e-01 5.25470585e-03 1.85513408e+02] [ 9.22943646e-03 -7.03517596e-05 9.99957405e-01 7.34392068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.940281693 meters 0.016081173073064736 Centerline is valid? [True, True] Translation: X:198.64, Y:185.50, Z:0.74 [[ 8.25900737e-01 5.63772767e-01 -6.94550489e-03 1.98638265e+02] [-5.63752264e-01 8.25929939e-01 4.80837741e-03 1.85498880e+02] [ 8.44733267e-03 -5.56983450e-05 9.99964319e-01 7.38565254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97028169299995 meters 0.015217175687923393 Centerline is valid? [True, True] Translation: X:198.66, Y:185.48, Z:0.74 [[ 8.25294489e-01 5.64675254e-01 -5.55542901e-03 1.98661182e+02] [-5.64662162e-01 8.25313187e-01 3.84541912e-03 1.85483340e+02] [ 6.75638184e-03 -3.66626513e-05 9.99977175e-01 7.41259305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.000281693 meters 0.013350668678117628 Centerline is valid? [True, True] Translation: X:198.69, Y:185.47, Z:0.75 [[ 8.23121234e-01 5.67855854e-01 -3.34107769e-03 1.98685516e+02] [-5.67851146e-01 8.23128015e-01 2.31242833e-03 1.85469409e+02] [ 4.06326061e-03 -6.17407131e-06 9.99991745e-01 7.47093300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03028169299995 meters 0.013753840136616586 Centerline is valid? [True, True] Translation: X:198.71, Y:185.46, Z:0.75 [[ 8.20492021e-01 5.71645825e-01 -3.72758076e-03 1.98712069e+02] [-5.71640006e-01 8.20500488e-01 2.57923258e-03 1.85457893e+02] [ 4.53288937e-03 1.45945354e-05 9.99989726e-01 7.47193981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.060281693 meters 0.015095943293301398 Centerline is valid? [True, True] Translation: X:198.74, Y:185.45, Z:0.74 [[ 8.19137421e-01 5.73578515e-01 -4.64466546e-03 1.98737041e+02] [-5.73569516e-01 8.19150588e-01 3.21311958e-03 1.85445409e+02] [ 5.64765680e-03 3.20520342e-05 9.99984051e-01 7.44752911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09028169299995 meters 0.016418897859945516 Centerline is valid? [True, True] Translation: X:198.76, Y:185.43, Z:0.74 [[ 8.17947982e-01 5.75264670e-01 -5.62651347e-03 1.98762700e+02] [-5.75251512e-01 8.17967332e-01 3.89116630e-03 1.85431633e+02] [ 6.84075471e-03 5.38887601e-05 9.99976600e-01 7.42455989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.120281693 meters 0.020026229078701458 Centerline is valid? [True, True] Translation: X:198.79, Y:185.42, Z:0.74 [[ 8.15728790e-01 5.78400389e-01 -6.28744134e-03 1.98789280e+02] [-5.78384058e-01 8.15753015e-01 4.34738115e-03 1.85421937e+02] [ 7.64352617e-03 9.02718740e-05 9.99970784e-01 7.39497134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15028169299995 meters 0.021115983319093538 Centerline is valid? [True, True] Translation: X:198.81, Y:185.41, Z:0.74 [[ 8.14645165e-01 5.79931131e-01 -5.75654254e-03 1.98814734e+02] [-5.79917488e-01 8.14665498e-01 3.97910243e-03 1.85407523e+02] [ 6.99726196e-03 9.67631316e-05 9.99975514e-01 7.40942315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.180281693 meters 0.02654001649841403 Centerline is valid? [True, True] Translation: X:198.84, Y:185.40, Z:0.75 [[ 8.11953455e-01 5.83709098e-01 -3.90849659e-03 1.98844759e+02] [-5.83702854e-01 8.11962857e-01 2.70132899e-03 1.85400345e+02] [ 4.75034436e-03 8.80472094e-05 9.99988713e-01 7.45794885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21028169299996 meters 0.028935207717800473 Centerline is valid? [True, True] Translation: X:198.87, Y:185.39, Z:0.75 [[ 8.10633947e-01 5.85544355e-01 -3.22691798e-03 1.98871346e+02] [-5.85540114e-01 8.10640365e-01 2.23004724e-03 1.85388746e+02] [ 3.92166154e-03 8.17379331e-05 9.99992307e-01 7.47777563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.240281693 meters 0.03107901879667908 Centerline is valid? [True, True] Translation: X:198.90, Y:185.38, Z:0.75 [[ 8.09682360e-01 5.86859007e-01 -3.31381763e-03 1.98898249e+02] [-5.86854548e-01 8.09689136e-01 2.28952982e-03 1.85376472e+02] [ 4.02679333e-03 9.09370429e-05 9.99991888e-01 7.47420580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27028169299996 meters 0.03197180247977348 Centerline is valid? [True, True] Translation: X:198.93, Y:185.37, Z:0.74 [[ 8.08652386e-01 5.88265803e-01 -4.96620171e-03 1.98925859e+02] [-5.88255823e-01 8.08667622e-01 3.42985312e-03 1.85365299e+02] [ 6.03367183e-03 1.47838166e-04 9.99981786e-01 7.42038530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.300281693 meters 0.031851334823971206 Centerline is valid? [True, True] Translation: X:198.95, Y:185.35, Z:0.74 [[ 8.08977965e-01 5.87810464e-01 -5.78879958e-03 1.98949960e+02] [-5.87796897e-01 8.08998659e-01 3.99723396e-03 1.85351357e+02] [ 7.03274705e-03 1.68964235e-04 9.99975256e-01 7.39770471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33028169299996 meters 0.027830604043966797 Centerline is valid? [True, True] Translation: X:198.97, Y:185.33, Z:0.74 [[ 8.10598457e-01 5.85571860e-01 -5.97812153e-03 1.98971967e+02] [-5.85557333e-01 8.10620487e-01 4.12752822e-03 1.85332961e+02] [ 7.26295216e-03 1.54764890e-04 9.99973612e-01 7.41154017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36028169299993 meters 0.026481873276171315 Centerline is valid? [True, True] Translation: X:199.00, Y:185.32, Z:0.74 [[ 8.11625701e-01 5.84150457e-01 -5.65378185e-03 1.98995747e+02] [-5.84137433e-01 8.11645382e-01 3.90296892e-03 1.85315997e+02] [ 6.86878701e-03 1.34835735e-04 9.99976401e-01 7.43242464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39028169299996 meters 0.023243794960088337 Centerline is valid? [True, True] Translation: X:199.02, Y:185.30, Z:0.75 [[ 8.13606649e-01 5.81406168e-01 -3.32997884e-03 1.99018802e+02] [-5.81401628e-01 8.13613461e-01 2.29854761e-03 1.85298439e+02] [ 4.04570537e-03 6.59415010e-05 9.99991814e-01 7.49241859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42028169299994 meters 0.021629039075155447 Centerline is valid? [True, True] Translation: X:199.04, Y:185.28, Z:0.75 [[ 8.14688198e-01 5.79894783e-01 -2.27633820e-03 1.99041873e+02] [-5.79892656e-01 8.14691377e-01 1.57097020e-03 1.85281681e+02] [ 2.76551053e-03 4.01809229e-05 9.99996175e-01 7.50994053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45028169299997 meters 0.01983473579866635 Centerline is valid? [True, True] Translation: X:199.07, Y:185.27, Z:0.75 [[ 8.16167545e-01 5.77805782e-01 -3.31927585e-03 1.99065477e+02] [-5.77801247e-01 8.16174293e-01 2.28980119e-03 1.85265914e+02] [ 4.03216798e-03 4.90203083e-05 9.99991870e-01 7.46973398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48028169299994 meters 0.019382775088949637 Centerline is valid? [True, True] Translation: X:199.09, Y:185.25, Z:0.74 [[ 8.16364938e-01 5.77516179e-01 -4.83235602e-03 1.99089350e+02] [-5.77506570e-01 8.16379237e-01 3.33217214e-03 1.85250555e+02] [ 5.86941844e-03 7.04488490e-05 9.99982772e-01 7.44705368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51028169299997 meters 0.02031976616072058 Centerline is valid? [True, True] Translation: X:199.12, Y:185.24, Z:0.74 [[ 8.16287760e-01 5.77617528e-01 -5.68190261e-03 1.99115629e+02] [-5.77604251e-01 8.16307531e-01 3.91718036e-03 1.85239245e+02] [ 6.90081193e-03 8.43447249e-05 9.99976186e-01 7.42896752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54028169299994 meters 0.020213165641271413 Centerline is valid? [True, True] Translation: X:199.14, Y:185.22, Z:0.74 [[ 8.16429248e-01 5.77419657e-01 -5.46112449e-03 1.99139538e+02] [-5.77407391e-01 8.16447508e-01 3.76451884e-03 1.85224582e+02] [ 6.63242866e-03 7.98303555e-05 9.99978002e-01 7.43440843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57028169299997 meters 0.018446082174224145 Centerline is valid? [True, True] Translation: X:199.16, Y:185.21, Z:0.74 [[ 8.17687050e-01 5.75642601e-01 -4.84596354e-03 1.99162450e+02] [-5.75632917e-01 8.17701408e-01 3.33954820e-03 1.85207264e+02] [ 5.88493742e-03 5.87908088e-05 9.99982682e-01 7.44426006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60028169299994 meters 0.017327483104025806 Centerline is valid? [True, True] Translation: X:199.19, Y:185.19, Z:0.74 [[ 8.18669519e-01 5.74244148e-01 -4.88645292e-03 1.99185359e+02] [-5.74234283e-01 8.18684100e-01 3.36631426e-03 1.85190040e+02] [ 5.93354757e-03 5.00699186e-05 9.99982395e-01 7.43868322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.630281693 meters 0.015848227887034744 Centerline is valid? [True, True] Translation: X:199.21, Y:185.17, Z:0.74 [[ 8.19913894e-01 5.72465679e-01 -4.92473020e-03 1.99207947e+02] [-5.72455634e-01 8.19928683e-01 3.39154165e-03 1.85172461e+02] [ 5.97946874e-03 3.84174272e-05 9.99982122e-01 7.43898283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66028169299994 meters 0.013592462005677647 Centerline is valid? [True, True] Translation: X:199.23, Y:185.15, Z:0.74 [[ 8.23276233e-01 5.67620914e-01 -4.76892040e-03 1.99226897e+02] [-5.67611419e-01 8.23290045e-01 3.28314273e-03 1.85148920e+02] [ 5.78978516e-03 3.96029951e-06 9.99983239e-01 7.44669599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.690281693 meters 0.013791347938516232 Centerline is valid? [True, True] Translation: X:199.25, Y:185.13, Z:0.75 [[ 8.25282071e-01 5.64699325e-01 -4.91696418e-03 1.99246400e+02] [-5.64689187e-01 8.25296718e-01 3.38375457e-03 1.85127839e+02] [ 5.96875832e-03 -1.59954680e-05 9.99982187e-01 7.45465024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72028169299995 meters 0.01667467686422315 Centerline is valid? [True, True] Translation: X:199.26, Y:185.10, Z:0.75 [[ 8.28900135e-01 5.59375888e-01 -4.81483900e-03 1.99263727e+02] [-5.59366084e-01 8.28914117e-01 3.31225904e-03 1.85102507e+02] [ 5.84388586e-03 -5.22743308e-05 9.99982923e-01 7.47084298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.750281693 meters 0.018454935205491303 Centerline is valid? [True, True] Translation: X:199.28, Y:185.08, Z:0.75 [[ 8.30045208e-01 5.57680047e-01 -4.23305006e-03 1.99283993e+02] [-5.57672450e-01 8.30055999e-01 2.91144313e-03 1.85083773e+02] [ 5.13732234e-03 -5.59740148e-05 9.99986802e-01 7.48194783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78028169299995 meters 0.022864437001635814 Centerline is valid? [True, True] Translation: X:199.30, Y:185.06, Z:0.75 [[ 8.31501373e-01 5.55504893e-01 -4.44757929e-03 1.99300995e+02] [-5.55496477e-01 8.31513264e-01 3.05858404e-03 1.85060046e+02] [ 5.39727957e-03 -7.26021968e-05 9.99985432e-01 7.46682473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.810281693 meters 0.022400236708810837 Centerline is valid? [True, True] Translation: X:199.32, Y:185.04, Z:0.75 [[ 8.32288772e-01 5.54316973e-01 -5.30030405e-03 1.99324317e+02] [-5.54305004e-01 8.32305644e-01 3.64393152e-03 1.85042518e+02] [ 6.43136606e-03 -9.48182329e-05 9.99979314e-01 7.45264931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84028169299995 meters 0.024337414051665195 Centerline is valid? [True, True] Translation: X:199.34, Y:185.02, Z:0.74 [[ 8.33956059e-01 5.51790313e-01 -6.68900417e-03 1.99344850e+02] [-5.51771182e-01 8.33982872e-01 4.59697077e-03 1.85021012e+02] [ 8.11507885e-03 -1.42871884e-04 9.99967062e-01 7.42646114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.870281693 meters 0.02861494968444345 Centerline is valid? [True, True] Translation: X:199.36, Y:185.00, Z:0.74 [[ 8.34517173e-01 5.50943108e-01 -6.54067003e-03 1.99363422e+02] [-5.50924796e-01 8.34542791e-01 4.49427292e-03 1.84998942e+02] [ 7.93455771e-03 -1.47130625e-04 9.99968510e-01 7.41920146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90028169299995 meters 0.027369174443385637 Centerline is valid? [True, True] Translation: X:199.38, Y:184.98, Z:0.75 [[ 8.35006346e-01 5.50216639e-01 -5.10414896e-03 1.99384541e+02] [-5.50205481e-01 8.35021937e-01 3.50611092e-03 1.84980287e+02] [ 6.19119692e-03 -1.19294137e-04 9.99980827e-01 7.46449489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.930281693 meters 0.025850492648885465 Centerline is valid? [True, True] Translation: X:199.41, Y:184.96, Z:0.75 [[ 8.35018701e-01 5.50200735e-01 -4.78746922e-03 1.99407304e+02] [-5.50190926e-01 8.35032418e-01 3.28730655e-03 1.84964513e+02] [ 5.80637048e-03 -1.10940325e-04 9.99983137e-01 7.47881485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96028169299996 meters 0.02546820314512321 Centerline is valid? [True, True] Translation: X:199.43, Y:184.95, Z:0.75 [[ 8.34637700e-01 5.50777865e-01 -4.86335307e-03 1.99428635e+02] [-5.50767756e-01 8.34651862e-01 3.33874964e-03 1.84946463e+02] [ 5.89811610e-03 -1.08068261e-04 9.99982600e-01 7.46478902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.990281693 meters 0.023530789543362705 Centerline is valid? [True, True] Translation: X:199.45, Y:184.93, Z:0.75 [[ 8.34252802e-01 5.51360535e-01 -4.88082590e-03 1.99453762e+02] [-5.51350369e-01 8.34267074e-01 3.34975353e-03 1.84931471e+02] [ 5.91883424e-03 -1.03496116e-04 9.99982478e-01 7.46444629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02028169299996 meters 0.02284500567491436 Centerline is valid? [True, True] Translation: X:199.48, Y:184.92, Z:0.75 [[ 8.33680274e-01 5.52228946e-01 -4.51584599e-03 1.99476415e+02] [-5.52220259e-01 8.33692499e-01 3.09868462e-03 1.84915951e+02] [ 5.47601027e-03 -8.95706012e-05 9.99985003e-01 7.47899442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.050281693 meters 0.019677184664763016 Centerline is valid? [True, True] Translation: X:199.50, Y:184.90, Z:0.75 [[ 8.31149782e-01 5.56037495e-01 -3.51349796e-03 1.99501140e+02] [-5.56032272e-01 8.31157207e-01 2.41061380e-03 1.84903222e+02] [ 4.26066080e-03 -4.99628808e-05 9.99990922e-01 7.50306364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08028169299996 meters 0.01701357897614978 Centerline is valid? [True, True] Translation: X:199.53, Y:184.89, Z:0.75 [[ 8.29488982e-01 5.58509926e-01 -3.83307117e-03 1.99528081e+02] [-5.58503739e-01 8.29497837e-01 2.62915568e-03 1.84891014e+02] [ 4.64793379e-03 -4.00710915e-05 9.99989198e-01 7.50219115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11028169299993 meters 0.013921068669124974 Centerline is valid? [True, True] Translation: X:199.56, Y:184.88, Z:0.75 [[ 8.25952850e-01 5.63713611e-01 -5.37161535e-03 1.99557501e+02] [-5.63701579e-01 8.25970317e-01 3.68304274e-03 1.84883617e+02] [ 6.51297616e-03 -1.40315937e-05 9.99978790e-01 7.46653709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14028169299996 meters 0.013876640989144 Centerline is valid? [True, True] Translation: X:199.58, Y:184.87, Z:0.75 [[ 8.24665185e-01 5.65592944e-01 -5.65277455e-03 1.99582204e+02] [-5.65579675e-01 8.24684559e-01 3.87427312e-03 1.84870801e+02] [ 6.85301743e-03 2.11623184e-06 9.99976518e-01 7.45693708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17028169299994 meters 0.013967785089410486 Centerline is valid? [True, True] Translation: X:199.61, Y:184.86, Z:0.75 [[ 8.23521965e-01 5.67268720e-01 -4.21573912e-03 1.99605708e+02] [-5.67261366e-01 8.23532755e-01 2.88854097e-03 1.84857462e+02] [ 5.11037819e-03 1.26490016e-05 9.99986942e-01 7.48893977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20028169299997 meters 0.014269878903678087 Centerline is valid? [True, True] Translation: X:199.63, Y:184.84, Z:0.75 [[ 8.23082418e-01 5.67911385e-01 -3.46294799e-03 1.99628840e+02] [-5.67906431e-01 8.23089702e-01 2.37213364e-03 1.84844093e+02] [ 4.19747853e-03 1.41689400e-05 9.99991190e-01 7.49330445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23028169299994 meters 0.01454380675391881 Centerline is valid? [True, True] Translation: X:199.65, Y:184.83, Z:0.75 [[ 8.22690426e-01 5.68476423e-01 -3.87547145e-03 1.99652233e+02] [-5.68470229e-01 8.22699554e-01 2.65372268e-03 1.84829202e+02] [ 4.69692741e-03 1.98979026e-05 9.99988969e-01 7.48888782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26028169299997 meters 0.015164392555640813 Centerline is valid? [True, True] Translation: X:199.68, Y:184.81, Z:0.75 [[ 8.22118322e-01 5.69297518e-01 -4.66908203e-03 1.99676916e+02] [-5.69288549e-01 8.22131580e-01 3.19589118e-03 1.84814428e+02] [ 5.65801270e-03 3.06542396e-05 9.99983993e-01 7.47561758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29028169299994 meters 0.01775697123973089 Centerline is valid? [True, True] Translation: X:199.70, Y:184.80, Z:0.75 [[ 8.20109126e-01 5.72187004e-01 -4.80150822e-03 1.99704048e+02] [-5.72177571e-01 8.20123180e-01 3.28590668e-03 1.84804852e+02] [ 5.81798129e-03 5.25132544e-05 9.99983074e-01 7.48754174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32028169299997 meters 0.018871016058481987 Centerline is valid? [True, True] Translation: X:199.73, Y:184.79, Z:0.75 [[ 8.19054762e-01 5.73702271e-01 -3.87323046e-03 1.99730814e+02] [-5.73696153e-01 8.19063918e-01 2.64993819e-03 1.84793027e+02] [ 4.69269887e-03 5.16129224e-05 9.99988988e-01 7.51106766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35028169299994 meters 0.02243540369115786 Centerline is valid? [True, True] Translation: X:199.76, Y:184.79, Z:0.75 [[ 8.16720655e-01 5.77028277e-01 -2.39572636e-03 1.99760900e+02] [-5.77025952e-01 8.16724168e-01 1.63862595e-03 1.84786222e+02] [ 2.90218113e-03 4.40966210e-05 9.99995788e-01 7.53504372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.380281693 meters 0.024065338611460214 Centerline is valid? [True, True] Translation: X:199.79, Y:184.77, Z:0.75 [[ 8.15781246e-01 5.78353328e-01 -2.89608733e-03 1.99786947e+02] [-5.78349941e-01 8.15786384e-01 1.98010709e-03 1.84773589e+02] [ 3.50779013e-03 5.96177090e-05 9.99993846e-01 7.52008307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41028169299994 meters 0.027200219228705164 Centerline is valid? [True, True] Translation: X:199.82, Y:184.76, Z:0.75 [[ 8.14248678e-01 5.80490027e-01 -5.51528003e-03 1.99816826e+02] [-5.80477804e-01 8.14267346e-01 3.76944580e-03 1.84764831e+02] [ 6.67903813e-03 1.32231376e-04 9.99977686e-01 7.47034933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.440281693 meters 0.02758475155166339 Centerline is valid? [True, True] Translation: X:199.84, Y:184.75, Z:0.75 [[ 8.14138255e-01 5.80641733e-01 -5.83774584e-03 1.99843516e+02] [-5.80628052e-01 8.14159172e-01 3.98847824e-03 1.84751988e+02] [ 7.06873123e-03 1.42386279e-04 9.99975006e-01 7.46211967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47028169299995 meters 0.02758475155166339 Centerline is valid? [True, True] Translation: X:199.87, Y:184.74, Z:0.75 [[ 8.14245382e-01 5.80491490e-01 -5.83846157e-03 1.99866329e+02] [-5.80477813e-01 8.14266301e-01 3.98743041e-03 1.84736642e+02] [ 7.06873193e-03 1.42350606e-04 9.99975006e-01 7.46255543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.500281693 meters 0.0247497687295936 Centerline is valid? [True, True] Translation: X:199.89, Y:184.72, Z:0.75 [[ 8.15643953e-01 5.78540604e-01 -3.96369454e-03 1.99891657e+02] [-5.78534279e-01 8.15653580e-01 2.70661865e-03 1.84722371e+02] [ 4.79889043e-03 8.54960256e-05 9.99988482e-01 7.50194152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53028169299995 meters 0.02272751455457465 Centerline is valid? [True, True] Translation: X:199.92, Y:184.71, Z:0.75 [[ 8.16965103e-01 5.76679468e-01 -2.96838984e-03 1.99915335e+02] [-5.76675910e-01 8.16970494e-01 2.02653491e-03 1.84705083e+02] [ 3.59374799e-03 5.61906139e-05 9.99993541e-01 7.52418058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.560281693 meters 0.021294226202933805 Centerline is valid? [True, True] Translation: X:199.94, Y:184.69, Z:0.75 [[ 8.18359265e-01 5.74701794e-01 -2.44150540e-03 1.99937354e+02] [-5.74699380e-01 8.18362906e-01 1.66644567e-03 1.84688597e+02] [ 2.95574677e-03 3.93803851e-05 9.99995631e-01 7.53597542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59028169299995 meters 0.016267807620831555 Centerline is valid? [True, True] Translation: X:199.96, Y:184.67, Z:0.75 [[ 8.21722721e-01 5.69883774e-01 -2.06241190e-03 1.99956874e+02] [-5.69882036e-01 8.21725309e-01 1.40747026e-03 1.84665393e+02] [ 2.49683052e-03 1.87812023e-05 9.99996883e-01 7.54066354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.620281693 meters 0.014885533399772694 Centerline is valid? [True, True] Translation: X:199.98, Y:184.65, Z:0.75 [[ 8.23322265e-01 5.67571188e-01 -1.84237559e-03 1.99978638e+02] [-5.67569796e-01 8.23324327e-01 1.25704327e-03 1.84645428e+02] [ 2.23033418e-03 1.07250249e-05 9.99997513e-01 7.54893248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65028169299995 meters 0.013865644211754569 Centerline is valid? [True, True] Translation: X:200.00, Y:184.62, Z:0.76 [[ 8.25038045e-01 5.65075505e-01 -1.37774096e-03 1.99998667e+02] [-5.65074723e-01 8.25039196e-01 9.39779039e-04 1.84624999e+02] [ 1.66773641e-03 3.17313260e-06 9.99998609e-01 7.56520564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.680281693 meters 0.013860522098674078 Centerline is valid? [True, True] Translation: X:200.02, Y:184.61, Z:0.76 [[ 8.25309603e-01 5.64676330e-01 -2.16835313e-03 2.00021274e+02] [-5.64674394e-01 8.25312451e-01 1.47865311e-03 1.84608296e+02] [ 2.62452925e-03 4.06688020e-06 9.99996556e-01 7.55463213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71028169299996 meters 0.014696596703166614 Centerline is valid? [True, True] Translation: X:200.05, Y:184.59, Z:0.75 [[ 8.24576016e-01 5.65729318e-01 -4.97314924e-03 2.00045491e+02] [-5.65719160e-01 8.24591013e-01 3.39017910e-03 1.84594029e+02] [ 6.01873788e-03 1.79454338e-05 9.99981887e-01 7.48962142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.740281693 meters 0.015247215566181986 Centerline is valid? [True, True] Translation: X:200.07, Y:184.58, Z:0.75 [[ 8.23893882e-01 5.66715642e-01 -5.67909192e-03 2.00070165e+02] [-5.66702427e-01 8.23913454e-01 3.87023906e-03 1.84578723e+02] [ 6.87240526e-03 2.96888894e-05 9.99976384e-01 7.46904401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77028169299996 meters 0.0171226452578645 Centerline is valid? [True, True] Translation: X:200.10, Y:184.57, Z:0.75 [[ 8.22239132e-01 5.69111637e-01 -5.89537809e-03 2.00095331e+02] [-5.69097463e-01 8.22260264e-01 4.01691616e-03 1.84565800e+02] [ 7.13360887e-03 5.21790540e-05 9.99974554e-01 7.45888781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.800281693 meters 0.0181120820653737 Centerline is valid? [True, True] Translation: X:200.12, Y:184.55, Z:0.75 [[ 8.21491631e-01 5.70192331e-01 -5.67506441e-03 2.00120487e+02] [-5.70179230e-01 8.21511231e-01 3.86567729e-03 1.84550896e+02] [ 6.86630869e-03 6.01823162e-05 9.99976425e-01 7.46919478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83028169299996 meters 0.019334701234534617 Centerline is valid? [True, True] Translation: X:200.15, Y:184.54, Z:0.75 [[ 8.19629559e-01 5.72876363e-01 -4.47873461e-03 2.00145367e+02] [-5.72868247e-01 8.19641793e-01 3.05011176e-03 1.84537180e+02] [ 5.41829500e-03 6.57630872e-05 9.99985319e-01 7.50268430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86028169299993 meters 0.021773300321896595 Centerline is valid? [True, True] Translation: X:200.17, Y:184.53, Z:0.75 [[ 8.18426978e-01 5.74595326e-01 -4.18247160e-03 2.00171183e+02] [-5.74588274e-01 8.18437662e-01 2.84774475e-03 1.84526527e+02] [ 5.05939310e-03 7.25280050e-05 9.99987199e-01 7.50266193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89028169299996 meters 0.0256784222921625 Centerline is valid? [True, True] Translation: X:200.20, Y:184.52, Z:0.75 [[ 8.15324951e-01 5.78974294e-01 -5.83015209e-03 2.00201089e+02] [-5.78960706e-01 8.15345784e-01 3.96908915e-03 1.84519022e+02] [ 7.05159051e-03 1.39331548e-04 9.99975128e-01 7.46417529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92028169299994 meters 0.035020953784701485 Centerline is valid? [True, True] Translation: X:200.23, Y:184.52, Z:0.74 [[ 8.13931120e-01 5.80922193e-01 -6.74816266e-03 2.00233178e+02] [-5.80904059e-01 8.13959073e-01 4.59359483e-03 1.84515791e+02] [ 8.16124941e-03 1.81165304e-04 9.99966680e-01 7.41686782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95028169299997 meters 0.03253449693339466 Centerline is valid? [True, True] Translation: X:200.26, Y:184.50, Z:0.75 [[ 8.12161689e-01 5.83404366e-01 -5.72154267e-03 2.00257406e+02] [-5.83391394e-01 8.12181824e-01 3.89445272e-03 1.84499824e+02] [ 6.91897368e-03 1.74973454e-04 9.99976048e-01 7.47287827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98028169299994 meters 0.032785486450174324 Centerline is valid? [True, True] Translation: X:200.28, Y:184.49, Z:0.75 [[ 8.11735882e-01 5.84006674e-01 -4.58937906e-03 2.00283113e+02] [-5.83998342e-01 8.11748842e-01 3.12298586e-03 1.84486591e+02] [ 5.54926772e-03 1.45150084e-04 9.99984592e-01 7.50584251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01028169299997 meters 0.0356500875064374 Centerline is valid? [True, True] Translation: X:200.31, Y:184.48, Z:0.75 [[ 8.11166499e-01 5.84802426e-01 -3.87738161e-03 2.00311480e+02] [-5.84796490e-01 8.11175755e-01 2.63795603e-03 1.84479802e+02] [ 4.68792104e-03 1.27657605e-04 9.99989004e-01 7.50837703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04028169299994 meters 0.0356278763569215 Centerline is valid? [True, True] Translation: X:200.34, Y:184.47, Z:0.75 [[ 8.11212101e-01 5.84739922e-01 -3.76170048e-03 2.00336006e+02] [-5.84734338e-01 8.11220813e-01 2.55847149e-03 1.84465723e+02] [ 4.54761014e-03 1.24132408e-04 9.99989652e-01 7.50489588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07028169299997 meters 0.035987132212120375 Centerline is valid? [True, True] Translation: X:200.36, Y:184.45, Z:0.75 [[ 8.11316878e-01 5.84592376e-01 -4.08387586e-03 2.00361628e+02] [-5.84585798e-01 8.11327145e-01 2.77648255e-03 1.84453856e+02] [ 4.93646987e-03 1.34768678e-04 9.99987807e-01 7.49083007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10028169299994 meters 0.03592226466315406 Centerline is valid? [True, True] Translation: X:200.39, Y:184.44, Z:0.75 [[ 8.11196903e-01 5.84758644e-01 -4.11249525e-03 2.00386704e+02] [-5.84751981e-01 8.11207316e-01 2.79493685e-03 1.84440075e+02] [ 4.97044971e-03 1.37545625e-04 9.99987638e-01 7.49855172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.130281693 meters 0.03731905072847814 Centerline is valid? [True, True] Translation: X:200.42, Y:184.43, Z:0.75 [[ 8.10471715e-01 5.85759219e-01 -4.66223641e-03 2.00415341e+02] [-5.85750678e-01 8.10485108e-01 3.16742198e-03 1.84430617e+02] [ 5.63401981e-03 1.63802221e-04 9.99984115e-01 7.49917945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16028169299994 meters 0.040239220024935546 Centerline is valid? [True, True] Translation: X:200.44, Y:184.42, Z:0.75 [[ 8.09985139e-01 5.86428702e-01 -5.04508177e-03 2.00442218e+02] [-5.86418718e-01 8.10000830e-01 3.42687639e-03 1.84420943e+02] [ 6.09613910e-03 1.82811431e-04 9.99981402e-01 7.48284717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.190281693 meters 0.03914919778219281 Centerline is valid? [True, True] Translation: X:200.47, Y:184.41, Z:0.75 [[ 8.09488104e-01 5.87112336e-01 -5.30232446e-03 2.00468598e+02] [-5.87101329e-01 8.09505445e-01 3.60055493e-03 1.84407793e+02] [ 6.40619073e-03 1.98395352e-04 9.99979461e-01 7.47433109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22028169299995 meters 0.039951780097186605 Centerline is valid? [True, True] Translation: X:200.49, Y:184.40, Z:0.75 [[ 8.09624842e-01 5.86931992e-01 -4.29556108e-03 2.00493948e+02] [-5.86924769e-01 8.09636222e-01 2.91628728e-03 1.84395499e+02] [ 5.18950414e-03 1.60072565e-04 9.99986522e-01 7.49476768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.250281693 meters 0.03512642525472892 Centerline is valid? [True, True] Translation: X:200.52, Y:184.38, Z:0.76 [[ 8.10974479e-01 5.85077297e-01 -2.22515371e-03 2.00516962e+02] [-5.85075352e-01 8.10977528e-01 1.51052538e-03 1.84377699e+02] [ 2.68832377e-03 7.68850575e-05 9.99996384e-01 7.55199499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28028169299995 meters 0.035088896952573355 Centerline is valid? [True, True] Translation: X:200.54, Y:184.36, Z:0.76 [[ 8.12484462e-01 5.82980015e-01 -1.81704634e-03 2.00541192e+02] [-5.82978713e-01 8.12486492e-01 1.23335122e-03 1.84363574e+02] [ 2.19534472e-03 5.72206315e-05 9.99997589e-01 7.56002453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.310281693 meters 0.02816310113536176 Centerline is valid? [True, True] Translation: X:200.56, Y:184.34, Z:0.75 [[ 8.15524547e-01 5.78715050e-01 -2.93326875e-03 2.00561503e+02] [-5.78711632e-01 8.15529819e-01 1.99039405e-03 1.84340945e+02] [ 3.54403912e-03 7.43015423e-05 9.99993717e-01 7.52154836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34028169299995 meters 0.025777633110395385 Centerline is valid? [True, True] Translation: X:200.58, Y:184.32, Z:0.75 [[ 8.16724102e-01 5.77014396e-01 -4.01594696e-03 2.00584269e+02] [-5.77007973e-01 8.16733970e-01 2.72405055e-03 1.84322313e+02] [ 4.85177669e-03 9.24356773e-05 9.99988226e-01 7.49545348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.370281693 meters 0.023996219957500144 Centerline is valid? [True, True] Translation: X:200.61, Y:184.31, Z:0.75 [[ 8.18362155e-01 5.74667757e-01 -6.35230397e-03 2.00606446e+02] [-5.74651623e-01 8.18386800e-01 4.30792104e-03 1.84305848e+02] [ 7.67426504e-03 1.24922242e-04 9.99970545e-01 7.45124807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40028169299995 meters 0.023766948916437904 Centerline is valid? [True, True] Translation: X:200.63, Y:184.29, Z:0.74 [[ 8.19005170e-01 5.73746765e-01 -6.72160526e-03 2.00629387e+02] [-5.73728675e-01 8.19032743e-01 4.55779033e-03 1.84290916e+02] [ 8.12023225e-03 1.23523831e-04 9.99967023e-01 7.44355434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.430281693 meters 0.022462104478214163 Centerline is valid? [True, True] Translation: X:200.65, Y:184.28, Z:0.75 [[ 8.19603877e-01 5.72907195e-01 -5.17982238e-03 2.00652933e+02] [-5.72896442e-01 8.19620240e-01 3.51133486e-03 1.84275047e+02] [ 6.25715627e-03 8.95981430e-05 9.99980420e-01 7.46992396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46028169299996 meters 0.022637822919274957 Centerline is valid? [True, True] Translation: X:200.68, Y:184.26, Z:0.75 [[ 8.19498598e-01 5.73067111e-01 -4.01689055e-03 2.00676897e+02] [-5.73060650e-01 8.19508439e-01 2.72202365e-03 1.84260967e+02] [ 4.85177793e-03 7.12273412e-05 9.99988228e-01 7.48915197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.490281693 meters 0.02562906866695375 Centerline is valid? [True, True] Translation: X:200.70, Y:184.25, Z:0.75 [[ 8.18252196e-01 5.74848976e-01 -3.46385318e-03 2.00703564e+02] [-5.74844190e-01 8.18259525e-01 2.34677304e-03 1.84250857e+02] [ 4.18337093e-03 7.09236805e-05 9.99991247e-01 7.50038758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52028169299996 meters 0.026394490586304706 Centerline is valid? [True, True] Translation: X:200.73, Y:184.24, Z:0.75 [[ 8.18033698e-01 5.75157355e-01 -3.85830268e-03 2.00728471e+02] [-5.75151424e-01 8.18042793e-01 2.61330752e-03 1.84236208e+02] [ 4.65931974e-03 8.13346635e-05 9.99989142e-01 7.48483132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.550281693 meters 0.02327268511453268 Centerline is valid? [True, True] Translation: X:200.75, Y:184.22, Z:0.75 [[ 8.19073017e-01 5.73660928e-01 -5.70383996e-03 2.00749443e+02] [-5.73647939e-01 8.19092869e-01 3.86182150e-03 1.84216457e+02] [ 6.88735074e-03 1.08882253e-04 9.99976276e-01 7.45406185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58028169299996 meters 0.021230999478454672 Centerline is valid? [True, True] Translation: X:200.77, Y:184.20, Z:0.74 [[ 8.20193058e-01 5.72048974e-01 -6.58171366e-03 2.00771340e+02] [-5.72031641e-01 8.20219458e-01 4.45452162e-03 1.84198092e+02] [ 7.94665413e-03 1.11380759e-04 9.99968419e-01 7.44081701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61028169299993 meters 0.01889710160008529 Centerline is valid? [True, True] Translation: X:200.79, Y:184.18, Z:0.74 [[ 8.22366657e-01 5.68910260e-01 -7.36190158e-03 2.00794209e+02] [-5.68888463e-01 8.22399604e-01 4.98080834e-03 1.84179493e+02] [ 8.88805790e-03 9.20501711e-05 9.99960496e-01 7.42205237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64028169299996 meters 0.018157452476557524 Centerline is valid? [True, True] Translation: X:200.82, Y:184.16, Z:0.74 [[ 8.23102235e-01 5.67848294e-01 -7.14325830e-03 2.00816623e+02] [-5.67827740e-01 8.23133227e-01 4.83207941e-03 1.84163635e+02] [ 8.62374130e-03 7.88448629e-05 9.99962812e-01 7.42822873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67028169299994 meters 0.016604349166751693 Centerline is valid? [True, True] Translation: X:200.84, Y:184.15, Z:0.75 [[ 8.24192293e-01 5.66287297e-01 -5.07567208e-03 2.00838003e+02] [-5.66276892e-01 8.24207920e-01 3.43304776e-03 1.84146047e+02] [ 6.12750047e-03 4.47443085e-05 9.99981226e-01 7.45991915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70028169299997 meters 0.015789677309451255 Centerline is valid? [True, True] Translation: X:200.86, Y:184.13, Z:0.75 [[ 8.24974146e-01 5.65157338e-01 -3.85252077e-03 2.00860907e+02] [-5.65151335e-01 8.24983141e-01 2.60503974e-03 1.84128200e+02] [ 4.65052201e-03 2.81668227e-05 9.99989186e-01 7.49098786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73028169299994 meters 0.015783537822121285 Centerline is valid? [True, True] Translation: X:200.88, Y:184.11, Z:0.75 [[ 8.25500569e-01 5.64395630e-01 -2.52674895e-03 2.00884146e+02] [-5.64393045e-01 8.25504435e-01 1.70825157e-03 1.84113065e+02] [ 3.04997219e-03 1.59168918e-05 9.99995349e-01 7.51257412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76028169299997 meters 0.014627238782291413 Centerline is valid? [True, True] Translation: X:200.91, Y:184.10, Z:0.75 [[ 8.26355156e-01 5.63142975e-01 -2.67321188e-03 2.00906428e+02] [-5.63140077e-01 8.26359480e-01 1.80677963e-03 1.84096543e+02] [ 3.22650924e-03 1.23510789e-05 9.99994795e-01 7.52302571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79028169299994 meters 0.014685345179155212 Centerline is valid? [True, True] Translation: X:200.93, Y:184.08, Z:0.75 [[ 8.26576753e-01 5.62811457e-01 -3.75961660e-03 2.00929796e+02] [-5.62805726e-01 8.26585303e-01 2.53988636e-03 1.84081137e+02] [ 4.53712096e-03 1.65227321e-05 9.99989707e-01 7.50225770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82028169299997 meters 0.015309664582504061 Centerline is valid? [True, True] Translation: X:200.95, Y:184.07, Z:0.75 [[ 8.26162460e-01 5.63407105e-01 -5.29382281e-03 2.00954345e+02] [-5.63395764e-01 8.26179420e-01 3.57488874e-03 1.84066694e+02] [ 6.38776517e-03 2.90784747e-05 9.99979598e-01 7.47509953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85028169299994 meters 0.015736035995312748 Centerline is valid? [True, True] Translation: X:200.98, Y:184.05, Z:0.75 [[ 8.25624575e-01 5.64196322e-01 -5.15465917e-03 2.00979225e+02] [-5.64185594e-01 8.25640666e-01 3.47955756e-03 1.84053512e+02] [ 6.21904981e-03 3.53762115e-05 9.99980661e-01 7.48002331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.880281693 meters 0.016126940208097865 Centerline is valid? [True, True] Translation: X:201.00, Y:184.04, Z:0.75 [[ 8.25461003e-01 5.64440113e-01 -4.63597907e-03 2.01002812e+02] [-5.64431442e-01 8.25474020e-01 3.12871530e-03 1.84040414e+02] [ 5.59285269e-03 3.40598832e-05 9.99984359e-01 7.48755865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91028169299994 meters 0.015935906607485343 Centerline is valid? [True, True] Translation: X:201.03, Y:184.03, Z:0.75 [[ 8.25266693e-01 5.64732338e-01 -3.50310528e-03 2.01026261e+02] [-5.64727393e-01 8.25274128e-01 2.36344042e-03 1.84025531e+02] [ 4.22573339e-03 2.78308556e-05 9.99991071e-01 7.50985122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.940281693 meters 0.017027044345550964 Centerline is valid? [True, True] Translation: X:201.05, Y:184.01, Z:0.75 [[ 8.24483403e-01 5.65883919e-01 -1.58388089e-03 2.01052009e+02] [-5.65882911e-01 8.24484924e-01 1.06840926e-03 1.84013272e+02] [ 1.91048154e-03 1.54054303e-05 9.99998175e-01 7.54954482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97028169299995 meters 0.017617776462043336 Centerline is valid? [True, True] Translation: X:201.08, Y:184.00, Z:0.75 [[ 8.23706383e-01 5.67011905e-01 -2.30093001e-03 2.01078740e+02] [-5.67009783e-01 8.23709596e-01 1.55169326e-03 1.84001162e+02] [ 2.77512669e-03 2.65101840e-05 9.99996149e-01 7.52726319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.000281693 meters 0.01877028685503369 Centerline is valid? [True, True] Translation: X:201.10, Y:183.99, Z:0.75 [[ 8.23595271e-01 5.67169826e-01 -3.03596661e-03 2.01104169e+02] [-5.67166134e-01 8.23600866e-01 2.04674115e-03 1.83988489e+02] [ 3.66127455e-03 3.62111121e-05 9.99993297e-01 7.50622846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03028169299995 meters 0.016678629372529077 Centerline is valid? [True, True] Translation: X:201.13, Y:183.97, Z:0.75 [[ 8.25190912e-01 5.64844955e-01 -3.18361413e-03 2.01125566e+02] [-5.64840881e-01 8.25197053e-01 2.14567172e-03 1.83968993e+02] [ 3.83908084e-03 2.76466055e-05 9.99992630e-01 7.50320734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.060281693 meters 0.014772511246771786 Centerline is valid? [True, True] Translation: X:201.15, Y:183.95, Z:0.75 [[ 8.26695465e-01 5.62643064e-01 -2.71839420e-03 2.01146332e+02] [-5.62640084e-01 8.26699935e-01 1.83152779e-03 1.83948416e+02] [ 3.27779272e-03 1.53618219e-05 9.99994628e-01 7.51726812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09028169299995 meters 0.014108853181209323 Centerline is valid? [True, True] Translation: X:201.17, Y:183.93, Z:0.75 [[ 8.28175913e-01 5.60461736e-01 -2.70173492e-03 2.01166981e+02] [-5.60458782e-01 8.28180320e-01 1.81986674e-03 1.83929876e+02] [ 3.25748937e-03 7.04126696e-06 9.99994694e-01 7.51920569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.120281693 meters 0.014139894743448593 Centerline is valid? [True, True] Translation: X:201.18, Y:183.91, Z:0.75 [[ 8.30828588e-01 5.56514089e-01 -3.99087105e-03 2.01184732e+02] [-5.56507600e-01 8.30838173e-01 2.68732357e-03 1.83905768e+02] [ 4.81130144e-03 -1.17551733e-05 9.99988426e-01 7.48730090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15028169299995 meters 0.01533707519840053 Centerline is valid? [True, True] Translation: X:201.20, Y:183.88, Z:0.75 [[ 8.32428793e-01 5.54109727e-01 -4.97144210e-03 2.01204197e+02] [-5.54099624e-01 8.32443637e-01 3.34629317e-03 1.83882889e+02] [ 5.99265894e-03 -3.08765849e-05 9.99982043e-01 7.46877494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.180281693 meters 0.0152614243747116 Centerline is valid? [True, True] Translation: X:201.23, Y:183.87, Z:0.75 [[ 8.32480018e-01 5.54032128e-01 -5.04200306e-03 2.01227382e+02] [-5.54021742e-01 8.32495286e-01 3.39244768e-03 1.83867108e+02] [ 6.07696878e-03 -3.07655872e-05 9.99981535e-01 7.46677365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21028169299996 meters 0.014601745622939633 Centerline is valid? [True, True] Translation: X:201.25, Y:183.86, Z:0.75 [[ 8.30772422e-01 5.56581845e-01 -5.81661304e-03 2.01253489e+02] [-5.56568096e-01 8.30792784e-01 3.91204497e-03 1.83855599e+02] [ 7.00977335e-03 -1.26778264e-05 9.99975431e-01 7.45733081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.240281693 meters 0.014566732063499375 Centerline is valid? [True, True] Translation: X:201.28, Y:183.84, Z:0.74 [[ 8.29599670e-01 5.58324641e-01 -6.16307257e-03 2.01276953e+02] [-5.58309261e-01 8.29622562e-01 4.14410960e-03 1.83842899e+02] [ 7.42678255e-03 2.94853557e-06 9.99972421e-01 7.44480536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27028169299996 meters 0.014968531253860162 Centerline is valid? [True, True] Translation: X:201.30, Y:183.83, Z:0.74 [[ 8.28403668e-01 5.60096455e-01 -6.27092455e-03 2.01301285e+02] [-5.60080594e-01 8.28427402e-01 4.21512577e-03 1.83829020e+02] [ 7.55588274e-03 2.03974986e-05 9.99971454e-01 7.44664053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.300281693 meters 0.015013980756517385 Centerline is valid? [True, True] Translation: X:201.32, Y:183.81, Z:0.75 [[ 8.28412894e-01 5.60087634e-01 -5.82395063e-03 2.01323594e+02] [-5.60073960e-01 8.28433366e-01 3.91382053e-03 1.83814210e+02] [ 7.01683750e-03 1.95837014e-05 9.99975382e-01 7.45262209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33028169299996 meters 0.014380693897971399 Centerline is valid? [True, True] Translation: X:201.35, Y:183.80, Z:0.75 [[ 8.29451948e-01 5.58562663e-01 -4.14941197e-03 2.01345597e+02] [-5.58555707e-01 8.29462327e-01 2.78770877e-03 1.83795200e+02] [ 4.99889094e-03 5.40726104e-06 9.99987505e-01 7.48288646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36028169299993 meters 0.014380693897971399 Centerline is valid? [True, True] Translation: X:201.37, Y:183.78, Z:0.75 [[ 8.29556721e-01 5.58407042e-01 -4.14991411e-03 2.01368519e+02] [-5.58400087e-01 8.29567101e-01 2.78696116e-03 1.83780042e+02] [ 4.99889095e-03 5.37003298e-06 9.99987505e-01 7.48332212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39028169299996 meters 0.014281305959892155 Centerline is valid? [True, True] Translation: X:201.39, Y:183.76, Z:0.75 [[ 8.30478606e-01 5.57036012e-01 -4.02077645e-03 2.01388832e+02] [-5.57029470e-01 8.30488339e-01 2.69956905e-03 1.83761688e+02] [ 4.84296513e-03 -2.24336215e-06 9.99988273e-01 7.47576074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42028169299994 meters 0.015428164784778538 Centerline is valid? [True, True] Translation: X:201.41, Y:183.74, Z:0.75 [[ 8.32933439e-01 5.53357908e-01 -4.11235336e-03 2.01407228e+02] [-5.53351024e-01 8.32943591e-01 2.76025618e-03 1.83737254e+02] [ 4.95276796e-03 -2.35347353e-05 9.99987735e-01 7.47357949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45028169299997 meters 0.015992509623233175 Centerline is valid? [True, True] Translation: X:201.43, Y:183.72, Z:0.75 [[ 8.34017113e-01 5.51724680e-01 -3.91573823e-03 2.01428914e+02] [-5.51718425e-01 8.34026305e-01 2.62737724e-03 1.83718678e+02] [ 4.71541755e-03 -3.08926537e-05 9.99988882e-01 7.49310550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48028169299994 meters 0.01783693985926677 Centerline is valid? [True, True] Translation: X:201.45, Y:183.70, Z:0.75 [[ 8.35233968e-01 5.49875829e-01 -4.55981467e-03 2.01447847e+02] [-5.49867324e-01 8.35246413e-01 3.05876158e-03 1.83696668e+02] [ 5.49050790e-03 -4.74884789e-05 9.99984926e-01 7.48610469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51028169299997 meters 0.01874750467276788 Centerline is valid? [True, True] Translation: X:201.47, Y:183.68, Z:0.75 [[ 8.35911942e-01 5.48838038e-01 -5.29463786e-03 2.01469289e+02] [-5.48826557e-01 8.35928708e-01 3.55059044e-03 1.83677583e+02] [ 6.37463888e-03 -6.21430873e-05 9.99979680e-01 7.46674508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54028169299994 meters 0.020328491755705322 Centerline is valid? [True, True] Translation: X:201.49, Y:183.65, Z:0.75 [[ 8.37453395e-01 5.46482352e-01 -5.37111654e-03 2.01488607e+02] [-5.46470496e-01 8.37470616e-01 3.60062034e-03 1.83654561e+02] [ 6.46582775e-03 -8.01950100e-05 9.99979093e-01 7.46902672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57028169299997 meters 0.02290362269150555 Centerline is valid? [True, True] Translation: X:201.51, Y:183.63, Z:0.75 [[ 8.38455450e-01 5.44950451e-01 -4.63296264e-03 2.01507133e+02] [-5.44941609e-01 8.38468246e-01 3.10524318e-03 1.83632758e+02] [ 5.57679573e-03 -7.89139572e-05 9.99984446e-01 7.47707382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60028169299994 meters 0.026686695125984674 Centerline is valid? [True, True] Translation: X:201.52, Y:183.61, Z:0.75 [[ 8.41333606e-01 5.40511948e-01 -2.14420999e-03 2.01524070e+02] [-5.40510040e-01 8.41336337e-01 1.43706488e-03 1.83605320e+02] [ 2.58075252e-03 -5.00839505e-05 9.99996669e-01 7.54152911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.630281693 meters 0.031165448612681647 Centerline is valid? [True, True] Translation: X:201.54, Y:183.58, Z:0.76 [[ 8.44356970e-01 5.35780556e-01 -7.10074667e-04 2.01539976e+02] [-5.35780345e-01 8.44357268e-01 4.75889450e-04 1.83575329e+02] [ 8.54529019e-04 -2.13765239e-05 9.99999635e-01 7.57393894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66028169299994 meters 0.03312858608682363 Centerline is valid? [True, True] Translation: X:201.56, Y:183.55, Z:0.76 [[ 8.45675764e-01 5.33696717e-01 -5.61561197e-04 2.01560012e+02] [-5.33696585e-01 8.45675951e-01 3.76383859e-04 1.83553079e+02] [ 6.75773629e-04 -1.85954143e-05 9.99999772e-01 7.57323552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.690281693 meters 0.035114466522290944 Centerline is valid? [True, True] Translation: X:201.58, Y:183.53, Z:0.76 [[ 8.46733859e-01 5.32015834e-01 -9.61155338e-04 2.01580121e+02] [-5.32015445e-01 8.46734404e-01 6.44139942e-04 1.83530648e+02] [ 1.15653594e-03 -3.40656135e-05 9.99999331e-01 7.56343610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72028169299995 meters 0.03604037096917505 Centerline is valid? [True, True] Translation: X:201.60, Y:183.51, Z:0.75 [[ 8.47719937e-01 5.30436981e-01 -2.74183688e-03 2.01599276e+02] [-5.30433812e-01 8.47724365e-01 1.83654259e-03 1.83506779e+02] [ 3.29849203e-03 -1.02510782e-04 9.99994555e-01 7.52812930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.750281693 meters 0.03520846352368675 Centerline is valid? [True, True] Translation: X:201.62, Y:183.49, Z:0.75 [[ 8.47663642e-01 5.30520953e-01 -3.72410052e-03 2.01620864e+02] [-5.30515110e-01 8.47671811e-01 2.49371918e-03 1.83489128e+02] [ 4.47978531e-03 -1.38143486e-04 9.99989956e-01 7.51443559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78028169299995 meters 0.03508803677688663 Centerline is valid? [True, True] Translation: X:201.64, Y:183.47, Z:0.75 [[ 8.46505406e-01 5.32346734e-01 -5.96257093e-03 2.01639860e+02] [-5.32331808e-01 8.46526380e-01 3.99164507e-03 1.83466954e+02] [ 7.17241281e-03 -2.04882967e-04 9.99974257e-01 7.46033261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.810281693 meters 0.032417394390574616 Centerline is valid? [True, True] Translation: X:201.66, Y:183.45, Z:0.74 [[ 8.45276952e-01 5.34276810e-01 -7.42729225e-03 2.01661565e+02] [-5.34253729e-01 8.45309550e-01 4.97164322e-03 1.83448116e+02] [ 8.93459475e-03 -2.34356842e-04 9.99960058e-01 7.43708025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84028169299995 meters 0.031051692059113217 Centerline is valid? [True, True] Translation: X:201.68, Y:183.43, Z:0.74 [[ 8.44641807e-01 5.35290827e-01 -6.62927920e-03 2.01684317e+02] [-5.35272482e-01 8.44667799e-01 4.43612067e-03 1.83430928e+02] [ 7.97415337e-03 -1.98462247e-04 9.99968186e-01 7.44844265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.870281693 meters 0.029902603295973364 Centerline is valid? [True, True] Translation: X:201.71, Y:183.41, Z:0.75 [[ 8.43847900e-01 5.36556047e-01 -5.32261002e-03 2.01706196e+02] [-5.36544250e-01 8.43864673e-01 3.56114219e-03 1.83413796e+02] [ 6.40231494e-03 -1.49246557e-04 9.99979494e-01 7.47544082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90028169299995 meters 0.027067495157664673 Centerline is valid? [True, True] Translation: X:201.73, Y:183.40, Z:0.75 [[ 8.42303169e-01 5.38995011e-01 -3.12231795e-03 2.01727610e+02] [-5.38990969e-01 8.42308953e-01 2.08879742e-03 1.83395705e+02] [ 3.75580775e-03 -7.64995025e-05 9.99992944e-01 7.52320248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.930281693 meters 0.028939908734752922 Centerline is valid? [True, True] Translation: X:201.75, Y:183.38, Z:0.75 [[ 8.41639434e-01 5.40031103e-01 -3.07761579e-03 2.01747952e+02] [-5.40027183e-01 8.41645058e-01 2.05863490e-03 1.83375744e+02] [ 3.70198699e-03 -7.06321227e-05 9.99993145e-01 7.52054092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96028169299996 meters 0.023931636305564632 Centerline is valid? [True, True] Translation: X:201.77, Y:183.36, Z:0.75 [[ 8.40464155e-01 5.41855378e-01 -3.57131295e-03 2.01773775e+02] [-5.41850120e-01 8.40471739e-01 2.38821336e-03 1.83362077e+02] [ 4.29565386e-03 -7.20913678e-05 9.99990771e-01 7.50900576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.990281693 meters 0.023190094545192705 Centerline is valid? [True, True] Translation: X:201.80, Y:183.35, Z:0.75 [[ 8.39759723e-01 5.42941058e-01 -4.31450708e-03 2.01796950e+02] [-5.42933402e-01 8.39770803e-01 2.88445455e-03 1.83346055e+02] [ 5.18928588e-03 -7.97587492e-05 9.99986532e-01 7.49125199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02028169299996 meters 0.020068784450640975 Centerline is valid? [True, True] Translation: X:201.82, Y:183.33, Z:0.75 [[ 8.37852608e-01 5.45861401e-01 -6.19171051e-03 2.01821953e+02] [-5.45845723e-01 8.37875482e-01 4.13808129e-03 1.83331635e+02] [ 7.44670128e-03 -8.73835004e-05 9.99972269e-01 7.45310892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.050281693 meters 0.01919724687088677 Centerline is valid? [True, True] Translation: X:201.85, Y:183.32, Z:0.74 [[ 8.37104992e-01 5.46999689e-01 -6.82436103e-03 2.01846165e+02] [-5.46980694e-01 8.37132805e-01 4.55937503e-03 1.83315508e+02] [ 8.20687321e-03 -8.38818754e-05 9.99966320e-01 7.43634574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08028169299996 meters 0.018903189179494625 Centerline is valid? [True, True] Translation: X:201.87, Y:183.30, Z:0.75 [[ 8.37067053e-01 5.47066562e-01 -6.07673495e-03 2.01867793e+02] [-5.47051512e-01 8.37089106e-01 4.05852591e-03 1.83296188e+02] [ 7.30705244e-03 -7.29712842e-05 9.99973301e-01 7.45150594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11028169299993 meters 0.019333657156813372 Centerline is valid? [True, True] Translation: X:201.89, Y:183.28, Z:0.75 [[ 8.37439650e-01 5.46508291e-01 -4.84976094e-03 2.01887840e+02] [-5.46498699e-01 8.37453691e-01 3.23840427e-03 1.83278075e+02] [ 5.83126498e-03 -6.15800940e-05 9.99982996e-01 7.47407787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14028169299996 meters 0.019491877952825032 Centerline is valid? [True, True] Translation: X:201.91, Y:183.26, Z:0.75 [[ 8.37767213e-01 5.46018575e-01 -3.13259414e-03 2.01908249e+02] [-5.46014572e-01 8.37773068e-01 2.09119936e-03 1.83258335e+02] [ 3.76623670e-03 -4.14962095e-05 9.99992907e-01 7.52095720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17028169299994 meters 0.018501897441300794 Centerline is valid? [True, True] Translation: X:201.93, Y:183.24, Z:0.75 [[ 8.37240745e-01 5.46826140e-01 -3.01791461e-03 2.01932181e+02] [-5.46822432e-01 8.37246184e-01 2.01394816e-03 1.83241413e+02] [ 3.62801699e-03 -3.58960524e-05 9.99993418e-01 7.52225652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20028169299997 meters 0.01589220633419241 Centerline is valid? [True, True] Translation: X:201.96, Y:183.23, Z:0.75 [[ 8.35415105e-01 5.49612412e-01 -2.79279350e-03 2.01956347e+02] [-5.49609255e-01 8.35419772e-01 1.86312233e-03 1.83226271e+02] [ 3.35715007e-03 -2.15353797e-05 9.99994365e-01 7.53432992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23028169299994 meters 0.014698564945491082 Centerline is valid? [True, True] Translation: X:201.98, Y:183.21, Z:0.75 [[ 8.34203529e-01 5.51451777e-01 -2.32609723e-03 2.01980510e+02] [-5.51449594e-01 8.34206772e-01 1.55144938e-03 1.83212322e+02] [ 2.79599558e-03 -1.14991768e-05 9.99996091e-01 7.54722235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26028169299997 meters 0.013935979854276664 Centerline is valid? [True, True] Translation: X:202.01, Y:183.20, Z:0.75 [[ 8.31305731e-01 5.55809447e-01 -2.57685930e-03 2.02007887e+02] [-5.55806792e-01 8.31309725e-01 1.71824612e-03 1.83202987e+02] [ 3.09718562e-03 3.84804975e-06 9.99995204e-01 7.54176868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29028169299994 meters 0.014624028437646952 Centerline is valid? [True, True] Translation: X:202.03, Y:183.19, Z:0.75 [[ 8.29773520e-01 5.58090928e-01 -3.22819277e-03 2.02033631e+02] [-5.58086781e-01 8.29779799e-01 2.15164024e-03 1.83189726e+02] [ 3.87950005e-03 1.62376135e-05 9.99992475e-01 7.52937618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32028169299997 meters 0.018357639351633103 Centerline is valid? [True, True] Translation: X:202.06, Y:183.18, Z:0.75 [[ 8.27278374e-01 5.61765165e-01 -5.51286327e-03 2.02061291e+02] [-5.61753157e-01 8.27296740e-01 3.67348538e-03 1.83181307e+02] [ 6.62440993e-03 5.78733401e-05 9.99978057e-01 7.47000365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35028169299994 meters 0.01780197182511402 Centerline is valid? [True, True] Translation: X:202.08, Y:183.16, Z:0.75 [[ 8.26981719e-01 5.62193582e-01 -6.29384622e-03 2.02084457e+02] [-5.62177953e-01 8.27005666e-01 4.19255990e-03 1.83164814e+02] [ 7.56207675e-03 7.10911890e-05 9.99971405e-01 7.46506938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.380281693 meters 0.017542930889782718 Centerline is valid? [True, True] Translation: X:202.11, Y:183.15, Z:0.75 [[ 8.28089626e-01 5.60561913e-01 -6.15734576e-03 2.02107113e+02] [-5.60546915e-01 8.28112516e-01 4.10090681e-03 1.83149235e+02] [ 7.39778726e-03 5.55627843e-05 9.99972634e-01 7.45426250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41028169299994 meters 0.015778365893637434 Centerline is valid? [True, True] Translation: X:202.13, Y:183.13, Z:0.75 [[ 8.29134005e-01 5.59023019e-01 -5.48319909e-03 2.02129005e+02] [-5.59011099e-01 8.29152135e-01 3.65081783e-03 1.83129881e+02] [ 6.58729744e-03 3.81519401e-05 9.99978303e-01 7.48540171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.440281693 meters 0.015112688228829822 Centerline is valid? [True, True] Translation: X:202.15, Y:183.11, Z:0.75 [[ 8.30109723e-01 5.57574981e-01 -5.29045105e-03 2.02151874e+02] [-5.57563860e-01 8.30126581e-01 3.52167113e-03 1.83113379e+02] [ 6.35533976e-03 2.63908603e-05 9.99979804e-01 7.50058693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47028169299995 meters 0.015750372637232064 Centerline is valid? [True, True] Translation: X:202.18, Y:183.10, Z:0.75 [[ 8.29890985e-01 5.57900892e-01 -5.24860206e-03 2.02175954e+02] [-5.57889958e-01 8.29907582e-01 3.49292761e-03 1.83100924e+02] [ 6.30456207e-03 2.93932466e-05 9.99980126e-01 7.49141147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.500281693 meters 0.015274106598670126 Centerline is valid? [True, True] Translation: X:202.20, Y:183.09, Z:0.75 [[ 8.29884029e-01 5.57914180e-01 -4.92601481e-03 2.02201033e+02] [-5.57904556e-01 8.29898649e-01 3.27704319e-03 1.83087554e+02] [ 5.91640190e-03 2.86802980e-05 9.99982498e-01 7.50863881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53028169299995 meters 0.014997772613969479 Centerline is valid? [True, True] Translation: X:202.23, Y:183.07, Z:0.75 [[ 8.30228230e-01 5.57404292e-01 -4.64123581e-03 2.02225768e+02] [-5.57395748e-01 8.30241203e-01 3.08634995e-03 1.83074936e+02] [ 5.57368991e-03 2.46302554e-05 9.99984467e-01 7.51724477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.560281693 meters 0.014705505205820498 Centerline is valid? [True, True] Translation: X:202.25, Y:183.06, Z:0.75 [[ 8.30927209e-01 5.56361933e-01 -4.62304328e-03 2.02249260e+02] [-5.56353446e-01 8.30940070e-01 3.07299070e-03 1.83059556e+02] [ 5.55116695e-03 1.86144766e-05 9.99984592e-01 7.51774883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59028169299995 meters 0.01421402483608161 Centerline is valid? [True, True] Translation: X:202.27, Y:183.04, Z:0.75 [[ 8.32130862e-01 5.54560714e-01 -4.54340399e-03 2.02271302e+02] [-5.54552494e-01 8.32143265e-01 3.01942511e-03 1.83042600e+02] [ 5.45521758e-03 6.99919361e-06 9.99985120e-01 7.51912854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.620281693 meters 0.014081264728309431 Centerline is valid? [True, True] Translation: X:202.29, Y:183.03, Z:0.75 [[ 8.32583666e-01 5.53882652e-01 -4.29498650e-03 2.02294207e+02] [-5.53875302e-01 8.32594744e-01 2.85343129e-03 1.83025959e+02] [ 5.15644928e-03 3.16666532e-06 9.99986705e-01 7.52903420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65028169299995 meters 0.014096300060422891 Centerline is valid? [True, True] Translation: X:202.31, Y:183.01, Z:0.75 [[ 8.33777970e-01 5.52083687e-01 -4.23072075e-03 2.02314143e+02] [-5.52076535e-01 8.33788704e-01 2.81004775e-03 1.83007432e+02] [ 5.07890869e-03 -7.27425416e-06 9.99987102e-01 7.53972159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.680281693 meters 0.014404170310421799 Centerline is valid? [True, True] Translation: X:202.34, Y:182.99, Z:0.75 [[ 8.34507032e-01 5.50982172e-01 -4.08162248e-03 2.02336119e+02] [-5.50975506e-01 8.34517014e-01 2.71014842e-03 1.82990556e+02] [ 4.89942687e-03 -1.27639037e-05 9.99987998e-01 7.54537095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71028169299996 meters 0.014477686277229946 Centerline is valid? [True, True] Translation: X:202.36, Y:182.97, Z:0.76 [[ 8.34723107e-01 5.50656192e-01 -3.88502050e-03 2.02359901e+02] [-5.50650155e-01 8.34732147e-01 2.57859305e-03 1.82974975e+02] [ 4.66286973e-03 -1.31240578e-05 9.99989129e-01 7.55918734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.740281693 meters 0.014368599874821373 Centerline is valid? [True, True] Translation: X:202.38, Y:182.96, Z:0.76 [[ 8.33833018e-01 5.52000044e-01 -4.29522504e-03 2.02384420e+02] [-5.51992688e-01 8.33844081e-01 2.84964123e-03 1.82961756e+02] [ 5.15455005e-03 -5.19213031e-06 9.99986715e-01 7.55655868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77028169299996 meters 0.01448330278511688 Centerline is valid? [True, True] Translation: X:202.41, Y:182.95, Z:0.75 [[ 8.32404860e-01 5.54142600e-01 -5.30362321e-03 2.02410336e+02] [-5.54131435e-01 8.32421755e-01 3.51768822e-03 1.82949752e+02] [ 6.36415224e-03 1.07635746e-05 9.99979749e-01 7.53546032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.800281693 meters 0.014758891653485724 Centerline is valid? [True, True] Translation: X:202.44, Y:182.94, Z:0.75 [[ 8.31728375e-01 5.55158242e-01 -5.21888312e-03 2.02435344e+02] [-5.55147459e-01 8.31744748e-01 3.46024522e-03 1.82937212e+02] [ 6.26176228e-03 1.92655725e-05 9.99980395e-01 7.53518068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83028169299996 meters 0.015082909373625839 Centerline is valid? [True, True] Translation: X:202.46, Y:182.92, Z:0.75 [[ 8.31027753e-01 5.56209523e-01 -4.88269370e-03 2.02460563e+02] [-5.56200106e-01 8.31042097e-01 3.23670187e-03 1.82924524e+02] [ 5.85800841e-03 2.59656731e-05 9.99982841e-01 7.53342588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86028169299993 meters 0.016494539792437177 Centerline is valid? [True, True] Translation: X:202.49, Y:182.91, Z:0.75 [[ 8.29605765e-01 5.58324425e-01 -5.30204170e-03 2.02486398e+02] [-5.58313367e-01 8.29622706e-01 3.51422632e-03 1.82913331e+02] [ 6.36077258e-03 4.47783407e-05 9.99979769e-01 7.52719991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89028169299996 meters 0.017722919069807927 Centerline is valid? [True, True] Translation: X:202.51, Y:182.90, Z:0.75 [[ 8.29063152e-01 5.59121022e-01 -6.16213053e-03 2.02510852e+02] [-5.59106112e-01 8.29086050e-01 4.08376482e-03 1.82900511e+02] [ 7.39225522e-03 5.95859035e-05 9.99972675e-01 7.50453694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92028169299994 meters 0.01921284955002671 Centerline is valid? [True, True] Translation: X:202.54, Y:182.89, Z:0.75 [[ 8.27672559e-01 5.61170344e-01 -6.78092950e-03 2.02538281e+02] [-5.61152368e-01 8.27700331e-01 4.49245896e-03 1.82889239e+02] [ 8.13361233e-03 8.68496509e-05 9.99966918e-01 7.50911893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95028169299997 meters 0.021234858053443995 Centerline is valid? [True, True] Translation: X:202.56, Y:182.88, Z:0.75 [[ 8.26864242e-01 5.62372461e-01 -5.72198468e-03 2.02564997e+02] [-5.62359694e-01 8.26884036e-01 3.79026913e-03 1.82879998e+02] [ 6.86296077e-03 8.37755442e-05 9.99976446e-01 7.52128024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98028169299994 meters 0.023944555007611168 Centerline is valid? [True, True] Translation: X:202.59, Y:182.87, Z:0.76 [[ 8.25100358e-01 5.64973602e-01 -3.77210190e-03 2.02594234e+02] [-5.64968084e-01 8.25108977e-01 2.49803521e-03 1.82872568e+02] [ 4.52371909e-03 6.99874381e-05 9.99989766e-01 7.56051982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01028169299997 meters 0.025288386985415818 Centerline is valid? [True, True] Translation: X:202.62, Y:182.86, Z:0.76 [[ 8.24148735e-01 5.66358826e-01 -4.06735548e-03 2.02620631e+02] [-5.66352431e-01 8.24158767e-01 2.69261899e-03 1.82860119e+02] [ 4.87713521e-03 8.44381292e-05 9.99988103e-01 7.56047551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04028169299994 meters 0.02821557134009172 Centerline is valid? [True, True] Translation: X:202.65, Y:182.85, Z:0.75 [[ 8.22903518e-01 5.68153998e-01 -5.55283881e-03 2.02648635e+02] [-5.68142126e-01 8.22922243e-01 3.67526841e-03 1.82851956e+02] [ 6.65767300e-03 1.30410338e-04 9.99977829e-01 7.51595081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07028169299997 meters 0.026090569287964497 Centerline is valid? [True, True] Translation: X:202.67, Y:182.83, Z:0.75 [[ 8.23424334e-01 5.67397107e-01 -5.73486173e-03 2.02671192e+02] [-5.67384433e-01 8.23444295e-01 3.79460957e-03 1.82834577e+02] [ 6.87538967e-03 1.29297408e-04 9.99976356e-01 7.51885082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10028169299994 meters 0.025528096328927646 Centerline is valid? [True, True] Translation: X:202.69, Y:182.82, Z:0.75 [[ 8.24315947e-01 5.66102529e-01 -5.58082633e-03 2.02693944e+02] [-5.66090503e-01 8.24334831e-01 3.69187248e-03 1.82818732e+02] [ 6.69044788e-03 1.15983417e-04 9.99977612e-01 7.52132273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.130281693 meters 0.02117275802806129 Centerline is valid? [True, True] Translation: X:202.72, Y:182.80, Z:0.76 [[ 8.26485135e-01 5.62940975e-01 -4.44745475e-03 2.02715360e+02] [-5.62933293e-01 8.26497098e-01 2.94178073e-03 1.82798480e+02] [ 5.33185736e-03 7.22823043e-05 9.99985783e-01 7.55719669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16028169299994 meters 0.019398678969826933 Centerline is valid? [True, True] Translation: X:202.74, Y:182.78, Z:0.76 [[ 8.27639169e-01 5.61253245e-01 -2.86372495e-03 2.02739929e+02] [-5.61250051e-01 8.27644123e-01 1.89380018e-03 1.82782815e+02] [ 3.43304662e-03 3.98825664e-05 9.99994106e-01 7.59456049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.190281693 meters 0.01921277392769356 Centerline is valid? [True, True] Translation: X:202.76, Y:182.77, Z:0.76 [[ 8.27826389e-01 5.60978343e-01 -2.60170367e-03 2.02763357e+02] [-5.60975707e-01 8.27830476e-01 1.72013516e-03 1.82768227e+02] [ 3.11872816e-03 3.55192760e-05 9.99995136e-01 7.59554379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22028169299995 meters 0.018815946705659087 Centerline is valid? [True, True] Translation: X:202.79, Y:182.75, Z:0.76 [[ 8.28304540e-01 5.60261203e-01 -4.35575677e-03 2.02786123e+02] [-5.60253809e-01 8.28315991e-01 2.87884654e-03 1.82751656e+02] [ 5.22084901e-03 5.57676652e-05 9.99986370e-01 7.55604666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.250281693 meters 0.018704975504958934 Centerline is valid? [True, True] Translation: X:202.81, Y:182.74, Z:0.75 [[ 8.28501522e-01 5.59959758e-01 -5.50432539e-03 2.02809279e+02] [-5.59947955e-01 8.28519803e-01 3.63639650e-03 1.82735350e+02] [ 6.59667829e-03 6.93757118e-05 9.99978239e-01 7.53378114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28028169299995 meters 0.018704975504958934 Centerline is valid? [True, True] Translation: X:202.83, Y:182.72, Z:0.75 [[ 8.28606745e-01 5.59804035e-01 -5.50500838e-03 2.02832330e+02] [-5.59792235e-01 8.28625029e-01 3.63536241e-03 1.82720359e+02] [ 6.59667827e-03 6.93751289e-05 9.99978239e-01 7.53421683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.310281693 meters 0.01889227573741992 Centerline is valid? [True, True] Translation: X:202.85, Y:182.70, Z:0.75 [[ 8.29125176e-01 5.59031607e-01 -5.92491444e-03 2.02854691e+02] [-5.59017930e-01 8.29146343e-01 3.91103782e-03 1.82704347e+02] [ 7.09901489e-03 6.93934827e-05 9.99974799e-01 7.52432236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34028169299995 meters 0.01855169943639015 Centerline is valid? [True, True] Translation: X:202.88, Y:182.69, Z:0.75 [[ 8.29387723e-01 5.58647712e-01 -5.36091351e-03 2.02877554e+02] [-5.58636516e-01 8.29405046e-01 3.53736866e-03 1.82687780e+02] [ 6.42251162e-03 6.09519086e-05 9.99979374e-01 7.54418956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.370281693 meters 0.0183657914490571 Centerline is valid? [True, True] Translation: X:202.90, Y:182.67, Z:0.76 [[ 8.29529062e-01 5.58447459e-01 -4.23926441e-03 2.02900466e+02] [-5.58440460e-01 8.29539893e-01 2.79622697e-03 1.82672144e+02] [ 5.07818480e-03 4.78252311e-05 9.99987105e-01 7.57185948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40028169299995 meters 0.01813280174147685 Centerline is valid? [True, True] Translation: X:202.92, Y:182.66, Z:0.76 [[ 8.29552076e-01 5.58424376e-01 -2.35994096e-03 2.02924664e+02] [-5.58422209e-01 8.29555432e-01 1.55616179e-03 1.82657838e+02] [ 2.82670052e-03 2.69262034e-05 9.99996005e-01 7.60943882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.430281693 meters 0.018192030103294697 Centerline is valid? [True, True] Translation: X:202.95, Y:182.64, Z:0.76 [[ 8.29665303e-01 5.58256998e-01 -2.14677077e-03 2.02948482e+02] [-5.58255205e-01 8.29668080e-01 1.41507089e-03 1.82642863e+02] [ 2.57108041e-03 2.44107436e-05 9.99996695e-01 7.61861051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46028169299996 meters 0.016658157231983516 Centerline is valid? [True, True] Translation: X:202.97, Y:182.62, Z:0.76 [[ 8.30844802e-01 5.56498625e-01 -2.48915870e-03 2.02969656e+02] [-5.56496209e-01 8.30848530e-01 1.64009547e-03 1.82623008e+02] [ 2.98082472e-03 2.25425792e-05 9.99995557e-01 7.59988860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.490281693 meters 0.016066737934415362 Centerline is valid? [True, True] Translation: X:202.99, Y:182.60, Z:0.76 [[ 8.31428737e-01 5.55621267e-01 -3.35613053e-03 2.02991658e+02] [-5.55616871e-01 8.31435510e-01 2.21038858e-03 1.82604958e+02] [ 4.01854501e-03 2.69421602e-05 9.99991925e-01 7.58491656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52028169299996 meters 0.016017096259708305 Centerline is valid? [True, True] Translation: X:203.01, Y:182.59, Z:0.76 [[ 8.31491379e-01 5.55524423e-01 -3.83429392e-03 2.03014713e+02] [-5.55518689e-01 8.31500219e-01 2.52423249e-03 1.82588230e+02] [ 4.59048903e-03 3.11443796e-05 9.99989463e-01 7.57136375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.550281693 meters 0.018005499932819163 Centerline is valid? [True, True] Translation: X:203.04, Y:182.58, Z:0.75 [[ 8.30129439e-01 5.57547255e-01 -5.11586250e-03 2.03039633e+02] [-5.57537092e-01 8.30145201e-01 3.36697427e-03 1.82575632e+02] [ 6.12415597e-03 5.72586393e-05 9.99981246e-01 7.53955119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58028169299996 meters 0.01988362433390891 Centerline is valid? [True, True] Translation: X:203.06, Y:182.56, Z:0.75 [[ 8.28995759e-01 5.59224763e-01 -5.80488110e-03 2.03064758e+02] [-5.59211722e-01 8.29016078e-01 3.81988942e-03 1.82563452e+02] [ 6.94851652e-03 7.94854283e-05 9.99975856e-01 7.52037557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61028169299993 meters 0.02504404143912033 Centerline is valid? [True, True] Translation: X:203.09, Y:182.55, Z:0.75 [[ 8.25675709e-01 5.64117743e-01 -5.54935655e-03 2.03093697e+02] [-5.64105937e-01 8.25694350e-01 3.65134078e-03 1.82554295e+02] [ 6.64185847e-03 1.15601587e-04 9.99977936e-01 7.54427839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64028169299996 meters 0.0294012187244509 Centerline is valid? [True, True] Translation: X:203.12, Y:182.54, Z:0.76 [[ 8.23793114e-01 5.66869448e-01 -4.89231316e-03 2.03121791e+02] [-5.66860325e-01 8.23807632e-01 3.21824971e-03 1.82544741e+02] [ 5.85465236e-03 1.22086278e-04 9.99982854e-01 7.55890280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67028169299994 meters 0.03398229434545147 Centerline is valid? [True, True] Translation: X:203.15, Y:182.54, Z:0.76 [[ 8.21629496e-01 5.70002096e-01 -4.75199641e-03 2.03149990e+02] [-5.69993544e-01 8.21643226e-01 3.12553430e-03 1.82535641e+02] [ 5.68600676e-03 1.40576099e-04 9.99983825e-01 7.56816268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70028169299997 meters 0.04278191629216024 Centerline is valid? [True, True] Translation: X:203.18, Y:182.53, Z:0.75 [[ 8.17584855e-01 5.75788901e-01 -4.70595440e-03 2.03183061e+02] [-5.75780611e-01 8.17598379e-01 3.09491164e-03 1.82533812e+02] [ 5.62959646e-03 1.79244411e-04 9.99984138e-01 7.54917220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73028169299994 meters 0.044178341705149095 Centerline is valid? [True, True] Translation: X:203.21, Y:182.52, Z:0.75 [[ 8.15871938e-01 5.78209050e-01 -5.22260085e-03 2.03210256e+02] [-5.78198891e-01 8.15888625e-01 3.43438356e-03 1.82521644e+02] [ 6.24685228e-03 2.17684850e-04 9.99980465e-01 7.53881227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76028169299997 meters 0.049540319350390494 Centerline is valid? [True, True] Translation: X:203.24, Y:182.52, Z:0.75 [[ 8.13407965e-01 5.81659241e-01 -6.32535148e-03 2.03241346e+02] [-5.81644447e-01 8.13432505e-01 4.15904451e-03 1.82517537e+02] [ 7.56439317e-03 2.96105631e-04 9.99971346e-01 7.52506790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79028169299994 meters 0.05187279650252447 Centerline is valid? [True, True] Translation: X:203.27, Y:182.51, Z:0.75 [[ 8.12753890e-01 5.82572420e-01 -6.36316145e-03 2.03268080e+02] [-5.82557480e-01 8.12778741e-01 4.18339254e-03 1.82507599e+02] [ 7.60897146e-03 3.06838741e-04 9.99971004e-01 7.52829140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82028169299997 meters 0.05236131492160281 Centerline is valid? [True, True] Translation: X:203.29, Y:182.49, Z:0.75 [[ 8.12483754e-01 5.82946773e-01 -6.57342673e-03 2.03294317e+02] [-5.82930852e-01 8.12510281e-01 4.32036327e-03 1.82494503e+02] [ 7.85951862e-03 3.21628268e-04 9.99969062e-01 7.52591054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85028169299994 meters 0.05183427501550107 Centerline is valid? [True, True] Translation: X:203.32, Y:182.48, Z:0.75 [[ 8.13142792e-01 5.82021429e-01 -7.06086200e-03 2.03320335e+02] [-5.82003038e-01 8.13173378e-01 4.63915458e-03 1.82481306e+02] [ 8.44179239e-03 3.37148027e-04 9.99964311e-01 7.50182818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.880281693 meters 0.04834767406276007 Centerline is valid? [True, True] Translation: X:203.34, Y:182.46, Z:0.75 [[ 8.13984108e-01 5.80848642e-01 -6.68785270e-03 2.03343881e+02] [-5.80832114e-01 8.14011523e-01 4.39268079e-03 1.82463542e+02] [ 7.99547183e-03 3.08947262e-04 9.99967988e-01 7.51582327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91028169299994 meters 0.04341189675856091 Centerline is valid? [True, True] Translation: X:203.37, Y:182.45, Z:0.76 [[ 8.14696238e-01 5.79866516e-01 -4.98633079e-03 2.03367720e+02] [-5.79857312e-01 8.14711467e-01 3.27464325e-03 1.82447858e+02] [ 5.96127684e-03 2.23520830e-04 9.99982206e-01 7.56966789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.940281693 meters 0.04886827998473116 Centerline is valid? [True, True] Translation: X:203.40, Y:182.44, Z:0.76 [[ 8.14729772e-01 5.79825587e-01 -4.20557360e-03 2.03396327e+02] [-5.79819042e-01 8.14740605e-01 2.76148909e-03 1.82441377e+02] [ 5.02763362e-03 1.88604281e-04 9.99987344e-01 7.58762950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97028169299995 meters 0.04810300000224114 Centerline is valid? [True, True] Translation: X:203.42, Y:182.43, Z:0.76 [[ 8.14692716e-01 5.79880338e-01 -3.81741593e-03 2.03421415e+02] [-5.79874949e-01 8.14701641e-01 2.50592049e-03 1.82426669e+02] [ 4.56318905e-03 1.72068700e-04 9.99989574e-01 7.59960219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.000281693 meters 0.046003141110709564 Centerline is valid? [True, True] Translation: X:203.45, Y:182.41, Z:0.76 [[ 8.13956057e-01 5.80899742e-01 -5.57020970e-03 2.03447057e+02] [-5.80888300e-01 8.13975075e-01 3.65525870e-03 1.82411823e+02] [ 6.65735069e-03 2.60449684e-04 9.99977806e-01 7.56521788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03028169299995 meters 0.046894237806447955 Centerline is valid? [True, True] Translation: X:203.47, Y:182.40, Z:0.76 [[ 8.13753882e-01 5.81176625e-01 -6.19281319e-03 2.03473777e+02] [-5.81162500e-01 8.13777393e-01 4.06240263e-03 1.82399292e+02] [ 7.40054482e-03 2.93234888e-04 9.99972573e-01 7.55062875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.060281693 meters 0.04779892172374077 Centerline is valid? [True, True] Translation: X:203.50, Y:182.39, Z:0.76 [[ 8.13640536e-01 5.81334744e-01 -6.24454434e-03 2.03501511e+02] [-5.81320398e-01 8.13664443e-01 4.09489585e-03 1.82389198e+02] [ 7.46146893e-03 2.98307752e-04 9.99972118e-01 7.55758498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09028169299995 meters 0.047770313280937664 Centerline is valid? [True, True] Translation: X:203.53, Y:182.38, Z:0.76 [[ 8.14058447e-01 5.80749273e-01 -6.25513360e-03 2.03527397e+02] [-5.80734872e-01 8.14082425e-01 4.10040397e-03 1.82375631e+02] [ 7.47350096e-03 2.94605725e-04 9.99972030e-01 7.55877512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.120281693 meters 0.04619040232073164 Centerline is valid? [True, True] Translation: X:203.55, Y:182.36, Z:0.76 [[ 8.14745076e-01 5.79787740e-01 -6.05292653e-03 2.03551871e+02] [-5.79774239e-01 8.14767513e-01 3.96646689e-03 1.82359958e+02] [ 7.23143677e-03 2.77671503e-04 9.99973814e-01 7.56440994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15028169299995 meters 0.04473979220188482 Centerline is valid? [True, True] Translation: X:203.58, Y:182.35, Z:0.76 [[ 8.16560696e-01 5.77237780e-01 -5.01743879e-03 2.03576671e+02] [-5.77228458e-01 8.16576084e-01 3.28742066e-03 1.82346475e+02] [ 5.99474392e-03 2.11829948e-04 9.99982009e-01 7.57961775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.180281693 meters 0.04189069302359414 Centerline is valid? [True, True] Translation: X:203.60, Y:182.33, Z:0.76 [[ 8.18023114e-01 5.75174900e-01 -3.46690457e-03 2.03600802e+02] [-5.75170431e-01 8.18030449e-01 2.27131999e-03 1.82330336e+02] [ 4.14243975e-03 1.36068743e-04 9.99991411e-01 7.61835339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21028169299996 meters 0.04220349285431264 Centerline is valid? [True, True] Translation: X:203.63, Y:182.32, Z:0.76 [[ 8.18388750e-01 5.74660286e-01 -2.32599924e-03 2.03625876e+02] [-5.74658272e-01 8.18392050e-01 1.52372786e-03 1.82317599e+02] [ 2.77920518e-03 8.96529672e-05 9.99996134e-01 7.64509301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.240281693 meters 0.03937614132302981 Centerline is valid? [True, True] Translation: X:203.65, Y:182.30, Z:0.77 [[ 8.18546768e-01 5.74436739e-01 -1.90286210e-03 2.03648957e+02] [-5.74435392e-01 8.18548977e-01 1.24629745e-03 1.82302006e+02] [ 2.27350487e-03 7.29185863e-05 9.99997413e-01 7.66007927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27028169299996 meters 0.039036532520981874 Centerline is valid? [True, True] Translation: X:203.68, Y:182.29, Z:0.77 [[ 8.18142178e-01 5.75010474e-01 -2.51608784e-03 2.03675926e+02] [-5.75008123e-01 8.18146041e-01 1.64719233e-03 1.82290372e+02] [ 3.00568015e-03 9.91334318e-05 9.99995478e-01 7.65007251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.300281693 meters 0.0393377713163015 Centerline is valid? [True, True] Translation: X:203.70, Y:182.28, Z:0.76 [[ 8.18187987e-01 5.74943250e-01 -2.94572102e-03 2.03699082e+02] [-5.74940029e-01 8.18193282e-01 1.92790254e-03 1.82277304e+02] [ 3.51860370e-03 1.16226226e-04 9.99993803e-01 7.63643556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33028169299996 meters 0.03664316095561656 Centerline is valid? [True, True] Translation: X:203.72, Y:182.26, Z:0.76 [[ 8.19968815e-01 5.72395734e-01 -3.77709247e-03 2.03723023e+02] [-5.72390415e-01 8.19977503e-01 2.47129657e-03 1.82259850e+02] [ 4.51169047e-03 1.35585400e-04 9.99989813e-01 7.61661645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36028169299993 meters 0.03798353650617804 Centerline is valid? [True, True] Translation: X:203.75, Y:182.25, Z:0.76 [[ 8.21089221e-01 5.70781615e-01 -4.56510174e-03 2.03748252e+02] [-5.70773824e-01 8.21101897e-01 2.98617178e-03 1.82247140e+02] [ 5.45286565e-03 1.53727119e-04 9.99985121e-01 7.59358554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39028169299996 meters 0.03599696480152702 Centerline is valid? [True, True] Translation: X:203.77, Y:182.23, Z:0.76 [[ 8.22142553e-01 5.69254999e-01 -5.51082140e-03 2.03771536e+02] [-5.69243619e-01 8.22161003e-01 3.60367852e-03 1.82230529e+02] [ 6.58219446e-03 1.74262459e-04 9.99978322e-01 7.57278776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42028169299994 meters 0.03339053095402902 Centerline is valid? [True, True] Translation: X:203.80, Y:182.21, Z:0.75 [[ 8.23651704e-01 5.67049552e-01 -7.25783511e-03 2.03795471e+02] [-5.67029742e-01 8.23683654e-01 4.74447596e-03 1.82213514e+02] [ 8.66851312e-03 2.07612657e-04 9.99962406e-01 7.54027015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45028169299997 meters 0.03002333707085584 Centerline is valid? [True, True] Translation: X:203.82, Y:182.20, Z:0.76 [[ 8.24564197e-01 5.65720400e-01 -7.36983122e-03 2.03818672e+02] [-5.65699929e-01 8.24597108e-01 4.81667417e-03 1.82195423e+02] [ 8.80203234e-03 1.97455933e-04 9.99961242e-01 7.55389232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48028169299994 meters 0.027673501099925155 Centerline is valid? [True, True] Translation: X:203.84, Y:182.18, Z:0.76 [[ 8.26359434e-01 5.63113858e-01 -5.73311087e-03 2.03842856e+02] [-5.63101410e-01 8.26379311e-01 3.74655223e-03 1.82180677e+02] [ 6.84745969e-03 1.32324033e-04 9.99976547e-01 7.58145005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51028169299997 meters 0.02545721219120008 Centerline is valid? [True, True] Translation: X:203.87, Y:182.16, Z:0.76 [[ 8.27383997e-01 5.61610083e-01 -5.46225813e-03 2.03866074e+02] [-5.61598757e-01 8.27402019e-01 3.56857708e-03 1.82162663e+02] [ 6.52363228e-03 1.15013812e-04 9.99978714e-01 7.59100414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54028169299994 meters 0.02318629968898632 Centerline is valid? [True, True] Translation: X:203.89, Y:182.15, Z:0.76 [[ 8.29165581e-01 5.58963596e-01 -6.64358053e-03 2.03888622e+02] [-5.58946762e-01 8.29192188e-01 4.33956646e-03 1.82146545e+02] [ 7.93446475e-03 1.15188679e-04 9.99968515e-01 7.56398184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57028169299997 meters 0.021219830237509528 Centerline is valid? [True, True] Translation: X:203.91, Y:182.13, Z:0.76 [[ 8.29721479e-01 5.58132615e-01 -7.08879541e-03 2.03912164e+02] [-5.58113432e-01 8.29751752e-01 4.62887684e-03 1.82129062e+02] [ 8.46546755e-03 1.15673399e-04 9.99964161e-01 7.57134551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60028169299994 meters 0.02179304311875409 Centerline is valid? [True, True] Translation: X:203.94, Y:182.12, Z:0.76 [[ 8.29714512e-01 5.58155387e-01 -6.03257788e-03 2.03937378e+02] [-5.58141506e-01 8.29736436e-01 3.93762468e-03 1.82117414e+02] [ 7.20325610e-03 9.99277642e-05 9.99974051e-01 7.59583537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.630281693 meters 0.022910174984535663 Centerline is valid? [True, True] Translation: X:203.96, Y:182.11, Z:0.76 [[ 8.29662343e-01 5.58244813e-01 -4.80891769e-03 2.03962725e+02] [-5.58235998e-01 8.29676275e-01 3.13833061e-03 1.82105828e+02] [ 5.74180171e-03 8.07562358e-05 9.99983512e-01 7.62821070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66028169299994 meters 0.022466719364889545 Centerline is valid? [True, True] Translation: X:203.99, Y:182.09, Z:0.77 [[ 8.29611658e-01 5.58328376e-01 -3.73130445e-03 2.03987754e+02] [-5.58323072e-01 8.29620046e-01 2.43435778e-03 1.82093416e+02] [ 4.45473600e-03 6.37017663e-05 9.99990076e-01 7.65376553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.690281693 meters 0.02621469541659623 Centerline is valid? [True, True] Translation: X:204.02, Y:182.09, Z:0.76 [[ 8.28200131e-01 5.60418135e-01 -4.00714541e-03 2.04017966e+02] [-5.60412046e-01 8.28209821e-01 2.61356385e-03 1.82089658e+02] [ 4.78344576e-03 8.10986395e-05 9.99988556e-01 7.63280615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72028169299995 meters 0.025522034838791705 Centerline is valid? [True, True] Translation: X:204.04, Y:182.07, Z:0.76 [[ 8.27659384e-01 5.61210575e-01 -4.75765969e-03 2.04042866e+02] [-5.61202011e-01 8.27673051e-01 3.10203999e-03 1.82074774e+02] [ 5.67868436e-03 1.02575678e-04 9.99983871e-01 7.61506086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.750281693 meters 0.0276191774754581 Centerline is valid? [True, True] Translation: X:204.07, Y:182.07, Z:0.76 [[ 8.26890983e-01 5.62338395e-01 -5.17989636e-03 2.04071120e+02] [-5.62328270e-01 8.26907199e-01 3.37668353e-03 1.82066543e+02] [ 6.18213238e-03 1.20652991e-04 9.99980883e-01 7.61038783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78028169299995 meters 0.02861485343159553 Centerline is valid? [True, True] Translation: X:204.10, Y:182.06, Z:0.76 [[ 8.26737895e-01 5.62569664e-01 -4.45263106e-03 2.04097430e+02] [-5.62562188e-01 8.26749879e-01 2.90224089e-03 1.82056413e+02] [ 5.31392487e-03 1.05489343e-04 9.99985875e-01 7.63115034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.810281693 meters 0.02859663974254555 Centerline is valid? [True, True] Translation: X:204.12, Y:182.04, Z:0.76 [[ 8.26902436e-01 5.62329049e-01 -4.28971840e-03 2.04123395e+02] [-5.62322111e-01 8.26913557e-01 2.79518435e-03 1.82044640e+02] [ 5.11903966e-03 1.00858758e-04 9.99986893e-01 7.63605705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84028169299995 meters 0.02682943743503472 Centerline is valid? [True, True] Translation: X:204.15, Y:182.03, Z:0.76 [[ 8.27863192e-01 5.60899258e-01 -5.87855628e-03 2.04149507e+02] [-5.60886203e-01 8.27884054e-01 3.82896490e-03 1.82031166e+02] [ 7.01442657e-03 1.27342005e-04 9.99975391e-01 7.59182183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.870281693 meters 0.025680139847164735 Centerline is valid? [True, True] Translation: X:204.17, Y:182.02, Z:0.76 [[ 8.28610937e-01 5.59789962e-01 -6.25412761e-03 2.04173734e+02] [-5.59775165e-01 8.28634529e-01 4.07214438e-03 1.82016280e+02] [ 7.46193163e-03 1.26681950e-04 9.99972151e-01 7.58231695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90028169299995 meters 0.0227925444357899 Centerline is valid? [True, True] Translation: X:204.20, Y:182.00, Z:0.76 [[ 8.30470661e-01 5.57030376e-01 -5.97003830e-03 2.04198302e+02] [-5.57016827e-01 8.30492113e-01 3.88641971e-03 1.82001892e+02] [ 7.12292355e-03 9.78542426e-05 9.99974627e-01 7.59188643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.930281693 meters 0.020268446915073998 Centerline is valid? [True, True] Translation: X:204.22, Y:181.98, Z:0.76 [[ 8.31957367e-01 5.54817218e-01 -4.97937802e-03 2.04221312e+02] [-5.54807759e-01 8.31972265e-01 3.24058013e-03 1.81984152e+02] [ 5.94063406e-03 6.65730506e-05 9.99982352e-01 7.61770200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96028169299996 meters 0.01488399109796141 Centerline is valid? [True, True] Translation: X:204.24, Y:181.96, Z:0.76 [[ 8.36144195e-01 5.48499655e-01 -3.31872014e-03 2.04238707e+02] [-5.48495404e-01 8.36150781e-01 2.15949722e-03 1.81958691e+02] [ 3.95943392e-03 1.46516770e-05 9.99992161e-01 7.64770493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.990281693 meters 0.014248776807878708 Centerline is valid? [True, True] Translation: X:204.26, Y:181.94, Z:0.77 [[ 8.38867803e-01 5.44327403e-01 -2.91344858e-03 2.04257768e+02] [-5.44324103e-01 8.38872862e-01 1.89536363e-03 1.81935835e+02] [ 3.47571131e-03 -4.09923945e-06 9.99993960e-01 7.65440465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02028169299996 meters 0.015811449144056355 Centerline is valid? [True, True] Translation: X:204.28, Y:181.91, Z:0.77 [[ 8.41481309e-01 5.40280125e-01 -2.56753818e-03 2.04277380e+02] [-5.40277545e-01 8.41485226e-01 1.66980163e-03 1.81912467e+02] [ 3.06270608e-03 -1.79236320e-05 9.99995310e-01 7.65963523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.050281693 meters 0.020407711780251282 Centerline is valid? [True, True] Translation: X:204.29, Y:181.88, Z:0.77 [[ 8.45555210e-01 5.33881392e-01 -2.65451168e-03 2.04294449e+02] [-5.33878603e-01 8.45559376e-01 1.72599912e-03 1.81884817e+02] [ 3.16602605e-03 -4.22405607e-05 9.99994987e-01 7.66307512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08028169299996 meters 0.02450408001439953 Centerline is valid? [True, True] Translation: X:204.31, Y:181.86, Z:0.76 [[ 8.47979166e-01 5.30012087e-01 -4.30372719e-03 2.04313792e+02] [-5.30004710e-01 8.47990082e-01 2.79802528e-03 1.81860624e+02] [ 5.13250519e-03 -9.16714600e-05 9.99986824e-01 7.62821685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11028169299993 meters 0.02531256748040607 Centerline is valid? [True, True] Translation: X:204.34, Y:181.84, Z:0.76 [[ 8.48633260e-01 5.28957661e-01 -5.03811640e-03 2.04336826e+02] [-5.28947538e-01 8.48648207e-01 3.27451305e-03 1.81843477e+02] [ 6.00766721e-03 -1.13961419e-04 9.99981947e-01 7.61470711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14028169299996 meters 0.025641442644363768 Centerline is valid? [True, True] Translation: X:204.36, Y:181.83, Z:0.76 [[ 8.49065183e-01 5.28262376e-01 -5.21310679e-03 2.04360440e+02] [-5.28251532e-01 8.49081178e-01 3.38702431e-03 1.81826972e+02] [ 6.21558837e-03 -1.21972761e-04 9.99980676e-01 7.61498366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17028169299994 meters 0.025641442644363768 Centerline is valid? [True, True] Translation: X:204.38, Y:181.81, Z:0.76 [[ 8.49164054e-01 5.28103424e-01 -5.21372054e-03 2.04383589e+02] [-5.28092582e-01 8.49180051e-01 3.38607943e-03 1.81812155e+02] [ 6.21558761e-03 -1.22009796e-04 9.99980676e-01 7.61541940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20028169299997 meters 0.024388585521447723 Centerline is valid? [True, True] Translation: X:204.41, Y:181.80, Z:0.77 [[ 8.48363025e-01 5.29396525e-01 -4.41563696e-03 2.04406144e+02] [-5.29388770e-01 8.48374511e-01 2.86708496e-03 1.81796191e+02] [ 5.26393866e-03 -9.47402548e-05 9.99986141e-01 7.65011658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23028169299994 meters 0.02311113299365097 Centerline is valid? [True, True] Translation: X:204.43, Y:181.78, Z:0.77 [[ 8.47430994e-01 5.30894073e-01 -3.49204969e-03 2.04430185e+02] [-5.30889236e-01 8.47438186e-01 2.26709183e-03 1.81781882e+02] [ 4.16288187e-03 -6.73122935e-05 9.99991333e-01 7.67138092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26028169299997 meters 0.019336217643837812 Centerline is valid? [True, True] Translation: X:204.46, Y:181.77, Z:0.77 [[ 8.45078513e-01 5.34636025e-01 -2.57445410e-03 2.04456948e+02] [-5.34633414e-01 8.45082434e-01 1.67119321e-03 1.81772292e+02] [ 3.06910603e-03 -3.59002818e-05 9.99995290e-01 7.67637881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29028169299994 meters 0.017589267334167682 Centerline is valid? [True, True] Translation: X:204.48, Y:181.76, Z:0.77 [[ 8.43920211e-01 5.36461185e-01 -2.84151887e-03 2.04483759e+02] [-5.36458016e-01 8.43924995e-01 1.84412057e-03 1.81759878e+02] [ 3.38732791e-03 -3.19350469e-05 9.99994263e-01 7.66281517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32028169299997 meters 0.016387782843116625 Centerline is valid? [True, True] Translation: X:204.51, Y:181.75, Z:0.77 [[ 8.43208750e-01 5.37575403e-01 -3.41906790e-03 2.04510342e+02] [-5.37570828e-01 8.43215681e-01 2.21812860e-03 1.81747477e+02] [ 4.07542304e-03 -3.23542820e-05 9.99991695e-01 7.65847330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35028169299994 meters 0.015174834443376854 Centerline is valid? [True, True] Translation: X:204.54, Y:181.74, Z:0.77 [[ 8.42004964e-01 5.39460550e-01 -3.15509255e-03 2.04537220e+02] [-5.39456669e-01 8.42010875e-01 2.04644298e-03 1.81738044e+02] [ 3.76059749e-03 -2.10794343e-05 9.99992929e-01 7.67744428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.380281693 meters 0.014744259204599748 Centerline is valid? [True, True] Translation: X:204.56, Y:181.73, Z:0.77 [[ 8.41718185e-01 5.39912682e-01 -2.18910856e-03 2.04562167e+02] [-5.39910816e-01 8.41721032e-01 1.41958829e-03 1.81725881e+02] [ 2.60907244e-03 -1.29698889e-05 9.99996596e-01 7.70354739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41028169299994 meters 0.014109784044736558 Centerline is valid? [True, True] Translation: X:204.59, Y:181.72, Z:0.77 [[ 8.41145020e-01 5.40809491e-01 -3.86861514e-04 2.04588834e+02] [-5.40809433e-01 8.41145109e-01 2.51059718e-04 1.81715035e+02] [ 4.61182148e-04 -1.95927603e-06 9.99999894e-01 7.72994501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.440281693 meters 0.01371904020672813 Centerline is valid? [True, True] Translation: X:204.61, Y:181.70, Z:0.77 [[ 8.40505566e-01 5.41802729e-01 -4.43575589e-04 2.04614535e+02] [-5.41802652e-01 8.40505683e-01 2.87533098e-04 1.81703355e+02] [ 5.28614021e-04 -1.34273899e-06 9.99999860e-01 7.72198993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47028169299995 meters 0.013881956115367966 Centerline is valid? [True, True] Translation: X:204.64, Y:181.70, Z:0.77 [[ 8.39589790e-01 5.43214465e-01 -2.65148962e-03 2.04642636e+02] [-5.43211749e-01 8.39593976e-01 1.71773894e-03 1.81695229e+02] [ 3.15927536e-03 -1.87576457e-06 9.99995010e-01 7.66398942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.500281693 meters 0.014101156343114863 Centerline is valid? [True, True] Translation: X:204.67, Y:181.68, Z:0.76 [[ 8.39560270e-01 5.43253408e-01 -3.77981780e-03 2.04668046e+02] [-5.43247895e-01 8.39568779e-01 2.44756853e-03 1.81682784e+02] [ 4.50306696e-03 -1.50323995e-06 9.99989861e-01 7.63730502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53028169299995 meters 0.014147770625212726 Centerline is valid? [True, True] Translation: X:204.69, Y:181.67, Z:0.76 [[ 8.39802998e-01 5.42875260e-01 -4.16848026e-03 2.04692448e+02] [-5.42868556e-01 8.39813343e-01 2.69806167e-03 1.81669862e+02] [ 4.96545628e-03 -2.90341707e-06 9.99987672e-01 7.63712894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.560281693 meters 0.014468702167970105 Centerline is valid? [True, True] Translation: X:204.72, Y:181.65, Z:0.76 [[ 8.40855420e-01 5.41241490e-01 -4.45110604e-03 2.04715708e+02] [-5.41233826e-01 8.40867201e-01 2.88032773e-03 1.81654188e+02] [ 5.30174195e-03 -1.28500322e-05 9.99985946e-01 7.62318359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59028169299995 meters 0.015129926855257653 Centerline is valid? [True, True] Translation: X:204.74, Y:181.64, Z:0.76 [[ 8.42331260e-01 5.38941316e-01 -4.50625864e-03 2.04737467e+02] [-5.38933432e-01 8.42343313e-01 2.91515910e-03 1.81635578e+02] [ 5.36691652e-03 -2.69562005e-05 9.99985598e-01 7.61849368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.620281693 meters 0.01950511273669223 Centerline is valid? [True, True] Translation: X:204.75, Y:181.61, Z:0.76 [[ 8.46506807e-01 5.32364969e-01 -3.71030706e-03 2.04754959e+02] [-5.32359563e-01 8.46514936e-01 2.39987083e-03 1.81609205e+02] [ 4.41843750e-03 -5.62895470e-05 9.99990237e-01 7.62896807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65028169299995 meters 0.02405034302166643 Centerline is valid? [True, True] Translation: X:204.77, Y:181.59, Z:0.76 [[ 8.48900642e-01 5.28543721e-01 -3.03886326e-03 2.04773451e+02] [-5.28540070e-01 8.48906079e-01 1.96540123e-03 1.81585858e+02] [ 3.61850997e-03 -6.22693653e-05 9.99993451e-01 7.63745666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.680281693 meters 0.027702788113315262 Centerline is valid? [True, True] Translation: X:204.79, Y:181.56, Z:0.76 [[ 8.51055815e-01 5.25068514e-01 -2.65620593e-03 2.04793907e+02] [-5.25065709e-01 8.51059957e-01 1.71761028e-03 1.81562486e+02] [ 3.16245358e-03 -6.70995721e-05 9.99994997e-01 7.64848250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71028169299996 meters 0.031885945357913004 Centerline is valid? [True, True] Translation: X:204.81, Y:181.54, Z:0.77 [[ 8.53646317e-01 5.20847015e-01 -2.52054273e-03 2.04811204e+02] [-5.20844472e-01 8.53650034e-01 1.62961673e-03 1.81535069e+02] [ 3.00044239e-03 -7.83055710e-05 9.99995496e-01 7.65424062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.740281693 meters 0.034542373384745605 Centerline is valid? [True, True] Translation: X:204.83, Y:181.51, Z:0.77 [[ 8.54465203e-01 5.19502966e-01 -2.42585244e-03 2.04830181e+02] [-5.19500605e-01 8.54468643e-01 1.56818205e-03 1.81514081e+02] [ 2.88749007e-03 -7.97251792e-05 9.99995828e-01 7.65220808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77028169299996 meters 0.03587910958494601 Centerline is valid? [True, True] Translation: X:204.85, Y:181.49, Z:0.77 [[ 8.55641392e-01 5.17562024e-01 -2.71285502e-03 2.04850787e+02] [-5.17559063e-01 8.55645687e-01 1.75326764e-03 1.81491176e+02] [ 3.22866745e-03 -9.61056564e-05 9.99994783e-01 7.65526029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.800281693 meters 0.0379717723162401 Centerline is valid? [True, True] Translation: X:204.87, Y:181.47, Z:0.76 [[ 8.56017807e-01 5.16935797e-01 -3.30100365e-03 2.04870402e+02] [-5.16931410e-01 8.56024163e-01 2.13294524e-03 1.81470898e+02] [ 3.92833464e-03 -1.19446635e-04 9.99992277e-01 7.64250818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83028169299996 meters 0.03801808412455595 Centerline is valid? [True, True] Translation: X:204.89, Y:181.45, Z:0.76 [[ 8.56681386e-01 5.15835513e-01 -3.27524713e-03 2.04889465e+02] [-5.15831188e-01 8.56687638e-01 2.11575379e-03 1.81447369e+02] [ 3.89724467e-03 -1.23052273e-04 9.99992398e-01 7.64996257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86028169299993 meters 0.03515261870881825 Centerline is valid? [True, True] Translation: X:204.91, Y:181.43, Z:0.77 [[ 8.56997901e-01 5.15313755e-01 -2.51614969e-03 2.04913453e+02] [-5.15311202e-01 8.57001590e-01 1.62487362e-03 1.81430795e+02] [ 2.99366401e-03 -9.59131620e-05 9.99995514e-01 7.66973381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89028169299996 meters 0.038722644025046785 Centerline is valid? [True, True] Translation: X:204.93, Y:181.40, Z:0.77 [[ 8.56881673e-01 5.15511610e-01 -1.25668333e-03 2.04929810e+02] [-5.15510973e-01 8.56882593e-01 8.11385308e-04 1.81404479e+02] [ 1.49510861e-03 -4.74271549e-05 9.99998881e-01 7.70373613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92028169299994 meters 0.038343428410490044 Centerline is valid? [True, True] Translation: X:204.95, Y:181.39, Z:0.77 [[ 8.56590503e-01 5.15995223e-01 -1.28070946e-03 2.04952273e+02] [-5.15994563e-01 8.56591459e-01 8.26794290e-04 1.81387070e+02] [ 1.52366669e-03 -4.73850162e-05 9.99998838e-01 7.70853187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95028169299997 meters 0.03733026144426994 Centerline is valid? [True, True] Translation: X:204.98, Y:181.37, Z:0.77 [[ 8.55958847e-01 5.17041898e-01 -1.45890912e-03 2.04975965e+02] [-5.17041043e-01 8.55960089e-01 9.41468054e-04 1.81370290e+02] [ 1.73554641e-03 -5.15420149e-05 9.99998493e-01 7.70864080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98028169299994 meters 0.03267713467335516 Centerline is valid? [True, True] Translation: X:205.00, Y:181.36, Z:0.77 [[ 8.53385691e-01 5.21277943e-01 -1.47286631e-03 2.05000701e+02] [-5.21277079e-01 8.53386961e-01 9.50169067e-04 1.81355557e+02] [ 1.75222708e-03 -4.30892366e-05 9.99998464e-01 7.70239421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01028169299997 meters 0.026896397940615945 Centerline is valid? [True, True] Translation: X:205.03, Y:181.34, Z:0.77 [[ 8.52083526e-01 5.23405064e-01 -8.96998210e-04 2.05027978e+02] [-5.23404744e-01 8.52083998e-01 5.78656513e-04 1.81344319e+02] [ 1.06718957e-03 -2.35705632e-05 9.99999430e-01 7.71181523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04028169299994 meters 0.02537808099152366 Centerline is valid? [True, True] Translation: X:205.05, Y:181.33, Z:0.77 [[ 8.49664561e-01 5.27323557e-01 -8.28985799e-06 2.05050155e+02] [-5.27323557e-01 8.49664561e-01 5.59952464e-06 1.81325770e+02] [ 9.99635984e-06 -3.86280233e-07 1.00000000e+00 7.74288735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07028169299997 meters 0.023272529115583904 Centerline is valid? [True, True] Translation: X:205.07, Y:181.31, Z:0.77 [[ 8.48785262e-01 5.28737722e-01 -1.21181178e-05 2.05074955e+02] [-5.28737722e-01 8.48785262e-01 8.10436310e-06 1.81310984e+02] [ 1.45707623e-05 -4.71557958e-07 1.00000000e+00 7.74933905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10028169299994 meters 0.02202427508078525 Centerline is valid? [True, True] Translation: X:205.10, Y:181.30, Z:0.77 [[ 8.48200077e-01 5.29675779e-01 -4.45840355e-04 2.05099215e+02] [-5.29675701e-01 8.48200194e-01 2.87579594e-04 1.81295829e+02] [ 5.30485821e-04 -7.77423160e-06 9.99999859e-01 7.74162860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.130281693 meters 0.018574126983662984 Centerline is valid? [True, True] Translation: X:205.13, Y:181.28, Z:0.77 [[ 8.46733695e-01 5.32011530e-01 -2.40455396e-03 2.05125366e+02] [-5.32009275e-01 8.46737109e-01 1.54918253e-03 1.81282626e+02] [ 2.86020804e-03 -3.25000354e-05 9.99995909e-01 7.69840746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16028169299994 meters 0.017107534638695108 Centerline is valid? [True, True] Translation: X:205.15, Y:181.27, Z:0.77 [[ 8.45988990e-01 5.33194025e-01 -2.60022163e-03 2.05150552e+02] [-5.33191396e-01 8.45992985e-01 1.67461381e-03 1.81268555e+02] [ 3.09266334e-03 -3.02890494e-05 9.99995217e-01 7.69047672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.190281693 meters 0.014580909221957178 Centerline is valid? [True, True] Translation: X:205.18, Y:181.26, Z:0.77 [[ 8.43665838e-01 5.36864597e-01 -2.08750656e-03 2.05177009e+02] [-5.36862915e-01 8.43668421e-01 1.34409498e-03 1.81257996e+02] [ 2.48276038e-03 -1.32621634e-05 9.99996918e-01 7.70329579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22028169299995 meters 0.013798714740097365 Centerline is valid? [True, True] Translation: X:205.20, Y:181.25, Z:0.77 [[ 8.42387282e-01 5.38869388e-01 -1.85708729e-03 2.05202084e+02] [-5.38868062e-01 8.42389329e-01 1.19559053e-03 1.81245782e+02] [ 2.20865766e-03 -6.42522355e-06 9.99997561e-01 7.70756457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.250281693 meters 0.013383281054814747 Centerline is valid? [True, True] Translation: X:205.23, Y:181.24, Z:0.77 [[ 8.40670514e-01 5.41543719e-01 -1.86735765e-03 2.05229182e+02] [-5.41542385e-01 8.40672588e-01 1.20195686e-03 1.81236699e+02] [ 2.22074858e-03 8.03625417e-07 9.99997534e-01 7.70348808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28028169299995 meters 0.013296242857482625 Centerline is valid? [True, True] Translation: X:205.25, Y:181.22, Z:0.77 [[ 8.40327636e-01 5.42077065e-01 -1.38539138e-03 2.05253837e+02] [-5.42076332e-01 8.40328778e-01 8.91467980e-04 1.81223004e+02] [ 1.64742859e-03 1.86269524e-06 9.99998643e-01 7.71535702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.310281693 meters 0.013403726119319514 Centerline is valid? [True, True] Translation: X:205.28, Y:181.21, Z:0.77 [[ 8.40190322e-01 5.42290715e-01 -1.00131447e-03 2.05277640e+02] [-5.42290333e-01 8.40190919e-01 6.44105085e-04 1.81209621e+02] [ 1.19058753e-03 1.83229768e-06 9.99999291e-01 7.72196122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34028169299995 meters 0.013294143637362062 Centerline is valid? [True, True] Translation: X:205.30, Y:181.20, Z:0.77 [[ 8.40909148e-01 5.41175002e-01 -1.19255265e-03 2.05301109e+02] [-5.41174458e-01 8.40909994e-01 7.66974239e-04 1.81195258e+02] [ 1.41789673e-03 4.23382194e-07 9.99998995e-01 7.71231342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.370281693 meters 0.013406869611545308 Centerline is valid? [True, True] Translation: X:205.32, Y:181.18, Z:0.77 [[ 8.41403748e-01 5.40403424e-01 -1.96797095e-03 2.05324033e+02] [-5.40401943e-01 8.41406049e-01 1.26501917e-03 1.81180422e+02] [ 2.33948335e-03 -8.96543533e-07 9.99997263e-01 7.69084094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40028169299995 meters 0.013569853614278265 Centerline is valid? [True, True] Translation: X:205.35, Y:181.16, Z:0.77 [[ 8.42516082e-01 5.38666463e-01 -2.25684579e-03 2.05346153e+02] [-5.38664511e-01 8.42519105e-01 1.45029516e-03 1.81163959e+02] [ 2.68266106e-03 -6.21426347e-06 9.99996402e-01 7.69068468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.430281693 meters 0.013854845920212452 Centerline is valid? [True, True] Translation: X:205.37, Y:181.15, Z:0.77 [[ 8.43106146e-01 5.37745482e-01 -1.35005965e-03 2.05368884e+02] [-5.37744782e-01 8.43107227e-01 8.67369226e-04 1.81147565e+02] [ 1.60466893e-03 -5.29679222e-06 9.99998713e-01 7.72013301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46028169299996 meters 0.015137275377017659 Centerline is valid? [True, True] Translation: X:205.39, Y:181.13, Z:0.78 [[ 8.44782968e-01 5.35108318e-01 9.07934059e-04 2.05391602e+02] [-5.35108001e-01 8.44783456e-01 -5.82747225e-04 1.81129880e+02] [-1.07884056e-03 6.45215133e-06 9.99999418e-01 7.76863050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.490281693 meters 0.01582176003242641 Centerline is valid? [True, True] Translation: X:205.41, Y:181.11, Z:0.78 [[ 8.45359393e-01 5.34197720e-01 5.41232766e-04 2.05414554e+02] [-5.34197607e-01 8.45359566e-01 -3.47412782e-04 1.81113220e+02] [-6.43123412e-04 4.56340959e-06 9.99999793e-01 7.75505279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52028169299996 meters 0.01591341549163138 Centerline is valid? [True, True] Translation: X:205.44, Y:181.10, Z:0.77 [[ 8.45753229e-01 5.33573936e-01 -5.75175953e-04 2.05437955e+02] [-5.33573808e-01 8.45753424e-01 3.69511096e-04 1.81097748e+02] [ 6.83618522e-04 -5.61637927e-06 9.99999766e-01 7.72190502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.550281693 meters 0.01586091933186058 Centerline is valid? [True, True] Translation: X:205.46, Y:181.08, Z:0.77 [[ 8.45794460e-01 5.33503232e-01 -2.45639842e-03 2.05461655e+02] [-5.33500904e-01 8.45798026e-01 1.57628107e-03 1.81082162e+02] [ 2.91856798e-03 -2.27190177e-05 9.99995741e-01 7.67728391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58028169299996 meters 0.015623038077708096 Centerline is valid? [True, True] Translation: X:205.49, Y:181.07, Z:0.77 [[ 8.45701563e-01 5.33650599e-01 -2.42997136e-03 2.05485903e+02] [-5.33648323e-01 8.45705054e-01 1.55868366e-03 1.81067307e+02] [ 2.88683153e-03 -2.14310687e-05 9.99995833e-01 7.69073848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61028169299993 meters 0.01563335604445708 Centerline is valid? [True, True] Translation: X:205.51, Y:181.05, Z:0.77 [[ 8.45452283e-01 5.34048519e-01 -1.61719202e-03 2.05508600e+02] [-5.34047513e-01 8.45453830e-01 1.03707599e-03 1.81052017e+02] [ 1.92111008e-03 -1.31408876e-05 9.99998155e-01 7.71304282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64028169299996 meters 0.014931769910143972 Centerline is valid? [True, True] Translation: X:205.53, Y:181.04, Z:0.77 [[ 8.45271549e-01 5.34336819e-01 -4.13917442e-04 2.05532092e+02] [-5.34336753e-01 8.45271651e-01 2.65643386e-04 1.81037296e+02] [ 4.91815722e-04 -3.36949402e-06 9.99999879e-01 7.74011451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67028169299994 meters 0.015065175920286923 Centerline is valid? [True, True] Translation: X:205.56, Y:181.02, Z:0.77 [[ 8.45303439e-01 5.34285342e-01 -1.12650177e-03 2.05555857e+02] [-5.34284854e-01 8.45304190e-01 7.22095746e-04 1.81022480e+02] [ 1.33804184e-03 -8.51718183e-06 9.99999105e-01 7.72181929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70028169299997 meters 0.015186404833102456 Centerline is valid? [True, True] Translation: X:205.58, Y:181.01, Z:0.77 [[ 8.45686869e-01 5.33676019e-01 -1.90431638e-03 2.05580098e+02] [-5.33674625e-01 8.45689013e-01 1.21995970e-03 1.81008145e+02] [ 2.26152267e-03 -1.54185668e-05 9.99997443e-01 7.70028813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73028169299994 meters 0.015390840309391668 Centerline is valid? [True, True] Translation: X:205.60, Y:181.00, Z:0.77 [[ 8.45583567e-01 5.33835687e-01 -2.80890352e-03 2.05603605e+02] [-5.33832657e-01 8.45588233e-01 1.79868223e-03 1.80995406e+02] [ 3.33537653e-03 -2.14517070e-05 9.99994437e-01 7.68435961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76028169299997 meters 0.014972601216640357 Centerline is valid? [True, True] Translation: X:205.63, Y:180.98, Z:0.77 [[ 8.45404300e-01 5.34120829e-01 -2.55125610e-03 2.05628454e+02] [-5.34118333e-01 8.45408150e-01 1.63317338e-03 1.80982324e+02] [ 3.02916461e-03 -1.80191463e-05 9.99995412e-01 7.68840812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79028169299994 meters 0.014196731022469518 Centerline is valid? [True, True] Translation: X:205.65, Y:180.97, Z:0.77 [[ 8.45016697e-01 5.34739634e-01 -5.53370112e-04 2.05654354e+02] [-5.34739517e-01 8.45016878e-01 3.54372212e-04 1.80971645e+02] [ 6.57103951e-04 -3.54156940e-06 9.99999784e-01 7.72742451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82028169299997 meters 0.014555662810242093 Centerline is valid? [True, True] Translation: X:205.68, Y:180.96, Z:0.77 [[ 8.45120748e-01 5.34575458e-01 1.27175611e-05 2.05677374e+02] [-5.34575458e-01 8.45120749e-01 -7.89104945e-06 1.80956666e+02] [-1.49662361e-05 -1.29606428e-07 1.00000000e+00 7.73803163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85028169299994 meters 0.014609439142091599 Centerline is valid? [True, True] Translation: X:205.70, Y:180.94, Z:0.77 [[ 8.45806303e-01 5.33489766e-01 -6.05858815e-04 2.05701157e+02] [-5.33489625e-01 8.45806520e-01 3.87678572e-04 1.80942108e+02] [ 7.19261886e-04 -4.68158798e-06 9.99999741e-01 7.72316682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.880281693 meters 0.01584879968413098 Centerline is valid? [True, True] Translation: X:205.72, Y:180.93, Z:0.77 [[ 8.46921664e-01 5.31714373e-01 -1.87624732e-03 2.05724778e+02] [-5.31713021e-01 8.46923742e-01 1.19936018e-03 1.80925397e+02] [ 2.22675545e-03 -1.81389913e-05 9.99997521e-01 7.69201900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91028169299994 meters 0.019883879587264383 Centerline is valid? [True, True] Translation: X:205.75, Y:180.91, Z:0.76 [[ 8.48694593e-01 5.28869692e-01 -3.78652529e-03 2.05745800e+02] [-5.28864159e-01 8.48703038e-01 2.41965181e-03 1.80906398e+02] [ 4.49331602e-03 -5.09878984e-05 9.99989904e-01 7.64865471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.940281693 meters 0.02001310331898082 Centerline is valid? [True, True] Translation: X:205.77, Y:180.89, Z:0.77 [[ 8.49253966e-01 5.27974936e-01 -3.18881086e-03 2.05770397e+02] [-5.27971008e-01 8.49259951e-01 2.03720192e-03 1.80892204e+02] [ 3.78372091e-03 -4.65021309e-05 9.99992841e-01 7.66436203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97028169299995 meters 0.01940085681039909 Centerline is valid? [True, True] Translation: X:205.80, Y:180.88, Z:0.77 [[ 8.49725690e-01 5.27220710e-01 -2.13889017e-03 2.05796026e+02] [-5.27218941e-01 8.49728381e-01 1.36606654e-03 1.80878012e+02] [ 2.53769426e-03 -3.31184248e-05 9.99996780e-01 7.69569882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.000281693 meters 0.021113367339897153 Centerline is valid? [True, True] Translation: X:205.82, Y:180.86, Z:0.77 [[ 8.50662334e-01 5.25712167e-01 -5.57844384e-04 2.05818798e+02] [-5.25712047e-01 8.50662517e-01 3.56267419e-04 1.80862007e+02] [ 6.61831424e-04 -9.79776126e-06 9.99999781e-01 7.72847833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03028169299995 meters 0.022258481428805252 Centerline is valid? [True, True] Translation: X:205.84, Y:180.85, Z:0.77 [[ 8.51302928e-01 5.24673476e-01 -1.03379873e-03 2.05841595e+02] [-5.24673061e-01 8.51303555e-01 6.60056638e-04 1.80846009e+02] [ 1.22639074e-03 -1.95018066e-05 9.99999248e-01 7.71495111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.060281693 meters 0.027921596998171448 Centerline is valid? [True, True] Translation: X:205.86, Y:180.82, Z:0.77 [[ 8.53644982e-01 5.20846627e-01 -3.00603375e-03 2.05860027e+02] [-5.20843098e-01 8.53650271e-01 1.91884024e-03 1.80822629e+02] [ 3.56552299e-03 -7.23364173e-05 9.99993641e-01 7.67211671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09028169299995 meters 0.027921596998171448 Centerline is valid? [True, True] Translation: X:205.88, Y:180.81, Z:0.77 [[ 8.53738492e-01 5.20693335e-01 -3.00627083e-03 2.05883310e+02] [-5.20689806e-01 8.53743782e-01 1.91846875e-03 1.80808007e+02] [ 3.56551892e-03 -7.25360439e-05 9.99993641e-01 7.67255250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.120281693 meters 0.02834015364217722 Centerline is valid? [True, True] Translation: X:205.91, Y:180.79, Z:0.77 [[ 8.55107594e-01 5.18440993e-01 -3.15260530e-03 2.05906626e+02] [-5.18437100e-01 8.55113401e-01 2.01107901e-03 1.80790628e+02] [ 3.73846084e-03 -8.52613882e-05 9.99993008e-01 7.67292795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15028169299995 meters 0.03050106051427433 Centerline is valid? [True, True] Translation: X:205.93, Y:180.77, Z:0.77 [[ 8.56432144e-01 5.16254960e-01 -2.19055477e-03 2.05928747e+02] [-5.16253074e-01 8.56434943e-01 1.39696609e-03 1.80771395e+02] [ 2.59725832e-03 -6.55260260e-05 9.99996625e-01 7.69635751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.180281693 meters 0.03520442477451373 Centerline is valid? [True, True] Translation: X:205.95, Y:180.75, Z:0.77 [[ 8.57549227e-01 5.14400366e-01 -1.25987756e-03 2.05948092e+02] [-5.14399740e-01 8.57550151e-01 8.03282909e-04 1.80750555e+02] [ 1.49361721e-03 -4.07739490e-05 9.99998884e-01 7.71826833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21028169299996 meters 0.037185189395121866 Centerline is valid? [True, True] Translation: X:205.97, Y:180.73, Z:0.77 [[ 8.59114378e-01 5.11781192e-01 -1.58025553e-03 2.05970171e+02] [-5.11780204e-01 8.59115829e-01 1.00737252e-03 1.80730528e+02] [ 1.87317685e-03 -5.67047189e-05 9.99998244e-01 7.70984703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.240281693 meters 0.03732919525321896 Centerline is valid? [True, True] Translation: X:205.99, Y:180.71, Z:0.77 [[ 8.59589025e-01 5.10982075e-01 -2.00662787e-03 2.05993145e+02] [-5.10980480e-01 8.59591364e-01 1.27900301e-03 1.80713829e+02] [ 2.37842759e-03 -7.40692776e-05 9.99997169e-01 7.70609305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27028169299996 meters 0.03711206737615918 Centerline is valid? [True, True] Translation: X:206.02, Y:180.70, Z:0.77 [[ 8.59850334e-01 5.10542801e-01 -1.85803998e-03 2.06016367e+02] [-5.10541432e-01 8.59852338e-01 1.18415194e-03 1.80697474e+02] [ 2.20220027e-03 -6.95870434e-05 9.99997573e-01 7.70773330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.300281693 meters 0.04009248438774329 Centerline is valid? [True, True] Translation: X:206.04, Y:180.68, Z:0.77 [[ 8.59958346e-01 5.10358641e-01 -2.38760985e-03 2.06035735e+02] [-5.10356381e-01 8.59961656e-01 1.52142814e-03 1.80675346e+02] [ 2.82972692e-03 -8.98329038e-05 9.99995992e-01 7.69775271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33028169299996 meters 0.03622621808530427 Centerline is valid? [True, True] Translation: X:206.06, Y:180.66, Z:0.77 [[ 8.59802612e-01 5.10616497e-01 -3.20327921e-03 2.06061434e+02] [-5.10612434e-01 8.59808571e-01 2.04061190e-03 1.80662045e+02] [ 3.79617702e-03 -1.18889244e-04 9.99992787e-01 7.68343784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36028169299993 meters 0.037247868344473155 Centerline is valid? [True, True] Translation: X:206.08, Y:180.64, Z:0.77 [[ 8.58213519e-01 5.13280312e-01 -3.58854510e-03 2.06082988e+02] [-5.13275239e-01 8.58221013e-01 2.28529007e-03 1.80642172e+02] [ 4.25275921e-03 -1.19355489e-04 9.99990950e-01 7.66745141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39028169299996 meters 0.032606579154503074 Centerline is valid? [True, True] Translation: X:206.11, Y:180.63, Z:0.77 [[ 8.56884176e-01 5.15500359e-01 -2.98159923e-03 2.06109962e+02] [-5.15496871e-01 8.56889358e-01 1.89846458e-03 1.80631085e+02] [ 3.53355982e-03 -8.97591850e-05 9.99993753e-01 7.68274173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42028169299994 meters 0.028497190941833964 Centerline is valid? [True, True] Translation: X:206.14, Y:180.62, Z:0.77 [[ 8.55409289e-01 5.17948498e-01 -2.07418108e-03 2.06136709e+02] [-5.17946818e-01 8.55411802e-01 1.32057978e-03 1.80619304e+02] [ 2.45827129e-03 -5.53207181e-05 9.99996977e-01 7.70503771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45028169299997 meters 0.026021533121278514 Centerline is valid? [True, True] Translation: X:206.16, Y:180.60, Z:0.77 [[ 8.53313279e-01 5.21395037e-01 -1.91398270e-03 2.06161104e+02] [-5.21393615e-01 8.53315425e-01 1.21847622e-03 1.80604493e+02] [ 2.26853841e-03 -4.18035828e-05 9.99997426e-01 7.71253382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48028169299994 meters 0.02395990285078045 Centerline is valid? [True, True] Translation: X:206.19, Y:180.59, Z:0.77 [[ 8.53061410e-01 5.21803776e-01 -2.65532543e-03 2.06185990e+02] [-5.21801042e-01 8.53065540e-01 1.69003631e-03 1.80590538e+02] [ 3.14703395e-03 -5.61531811e-05 9.99995047e-01 7.68847622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51028169299997 meters 0.024088882509699698 Centerline is valid? [True, True] Translation: X:206.21, Y:180.57, Z:0.77 [[ 8.53138614e-01 5.21671953e-01 -3.58869984e-03 2.06208928e+02] [-5.21666963e-01 8.53146158e-01 2.28310634e-03 1.80574440e+02] [ 4.25271803e-03 -7.57000333e-05 9.99990954e-01 7.66754950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54028169299994 meters 0.024111406475636477 Centerline is valid? [True, True] Translation: X:206.23, Y:180.56, Z:0.77 [[ 8.53089583e-01 5.21754025e-01 -3.30166394e-03 2.06231940e+02] [-5.21749805e-01 8.53095969e-01 2.09970103e-03 1.80558092e+02] [ 3.91216367e-03 -6.85905617e-05 9.99992345e-01 7.66673206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57028169299997 meters 0.021756237850554926 Centerline is valid? [True, True] Translation: X:206.26, Y:180.54, Z:0.77 [[ 8.52592607e-01 5.22571341e-01 -2.24504469e-03 2.06255405e+02] [-5.22569393e-01 8.52595562e-01 1.42730802e-03 1.80542036e+02] [ 2.65998541e-03 -4.37206247e-05 9.99996461e-01 7.70204277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60028169299994 meters 0.022728341578394463 Centerline is valid? [True, True] Translation: X:206.28, Y:180.52, Z:0.77 [[ 8.52257675e-01 5.23117344e-01 -2.25824351e-03 2.06276621e+02] [-5.23115377e-01 8.52260666e-01 1.43530683e-03 1.80524321e+02] [ 2.67544602e-03 -4.19293520e-05 9.99996420e-01 7.70197359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.630281693 meters 0.02144100251985281 Centerline is valid? [True, True] Translation: X:206.30, Y:180.51, Z:0.77 [[ 8.51677769e-01 5.24060695e-01 -2.31629358e-03 2.06301867e+02] [-5.24058630e-01 8.51680918e-01 1.47188648e-03 1.80509302e+02] [ 2.74410090e-03 -3.96993515e-05 9.99996234e-01 7.70221077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66028169299994 meters 0.018028225121406137 Centerline is valid? [True, True] Translation: X:206.33, Y:180.50, Z:0.77 [[ 8.49581211e-01 5.27451871e-01 -2.50795209e-03 2.06328690e+02] [-5.27449465e-01 8.49584912e-01 1.59328374e-03 1.80499206e+02] [ 2.97109874e-03 -3.08059427e-05 9.99995586e-01 7.70637210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.690281693 meters 0.01625589148012427 Centerline is valid? [True, True] Translation: X:206.36, Y:180.49, Z:0.77 [[ 8.48549702e-01 5.29105009e-01 -3.36052978e-03 2.06355656e+02] [-5.29100705e-01 8.48556356e-01 2.13433018e-03 1.80487440e+02] [ 3.98088370e-03 -3.30265618e-05 9.99992076e-01 7.69318351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72028169299995 meters 0.013389137647888025 Centerline is valid? [True, True] Translation: X:206.38, Y:180.48, Z:0.77 [[ 8.45820146e-01 5.33452871e-01 -4.03917865e-03 2.06384817e+02] [-5.33446705e-01 8.45829791e-01 2.56478227e-03 1.80481291e+02] [ 4.78464809e-03 -1.46579727e-05 9.99988553e-01 7.67847443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.750281693 meters 0.012794376385646488 Centerline is valid? [True, True] Translation: X:206.41, Y:180.47, Z:0.77 [[ 8.44738076e-01 5.35169892e-01 -3.28167137e-03 2.06411775e+02] [-5.35165838e-01 8.44744450e-01 2.08320955e-03 1.80470937e+02] [ 3.88704471e-03 -3.52802326e-06 9.99992445e-01 7.69261371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78028169299995 meters 0.01273524178656292 Centerline is valid? [True, True] Translation: X:206.44, Y:180.46, Z:0.77 [[ 8.43790520e-01 5.36667634e-01 -2.32561825e-03 2.06437845e+02] [-5.36665605e-01 8.43793725e-01 1.47595996e-03 1.80460880e+02] [ 2.75444202e-03 2.67830223e-06 9.99996207e-01 7.70986436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.810281693 meters 0.013245309297984629 Centerline is valid? [True, True] Translation: X:206.46, Y:180.45, Z:0.77 [[ 8.42908702e-01 5.38052747e-01 -2.03975195e-03 2.06464984e+02] [-5.38051191e-01 8.42911170e-01 1.29423020e-03 1.80452139e+02] [ 2.41569382e-03 6.57306693e-06 9.99997082e-01 7.71809649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84028169299995 meters 0.013040911067393328 Centerline is valid? [True, True] Translation: X:206.49, Y:180.44, Z:0.77 [[ 8.42904204e-01 5.38056755e-01 -2.72612352e-03 2.06488939e+02] [-5.38053978e-01 8.42908612e-01 1.72891102e-03 1.80438520e+02] [ 3.22812524e-03 9.49523826e-06 9.99994790e-01 7.71967213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.870281693 meters 0.013034416016748865 Centerline is valid? [True, True] Translation: X:206.51, Y:180.43, Z:0.77 [[ 8.43208474e-01 5.37579526e-01 -2.77880812e-03 2.06512501e+02] [-5.37576640e-01 8.43213053e-01 1.76168876e-03 1.80425480e+02] [ 3.29017509e-03 8.35144231e-06 9.99994587e-01 7.71616421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90028169299995 meters 0.01280324977437676 Centerline is valid? [True, True] Translation: X:206.54, Y:180.41, Z:0.77 [[ 8.43622616e-01 5.36927569e-01 -3.10921942e-03 2.06536844e+02] [-5.36923953e-01 8.43628346e-01 1.97040758e-03 1.80411395e+02] [ 3.68099179e-03 7.13398727e-06 9.99993225e-01 7.72066441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.930281693 meters 0.012567885385965103 Centerline is valid? [True, True] Translation: X:206.56, Y:180.40, Z:0.77 [[ 8.44405899e-01 5.35702035e-01 -1.41693993e-03 2.06560493e+02] [-5.35701283e-01 8.44407087e-01 8.97787347e-04 1.80397469e+02] [ 1.67742063e-03 9.59609561e-07 9.99998593e-01 7.73945248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96028169299996 meters 0.012507744460529331 Centerline is valid? [True, True] Translation: X:206.58, Y:180.38, Z:0.78 [[ 8.44902418e-01 5.34919830e-01 -8.24710522e-04 2.06583738e+02] [-5.34919574e-01 8.44902821e-01 5.22616434e-04 1.80381839e+02] [ 9.76358140e-04 -4.06087737e-07 9.99999523e-01 7.75004105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.990281693 meters 0.012451399242368275 Centerline is valid? [True, True] Translation: X:206.61, Y:180.37, Z:0.77 [[ 8.45514574e-01 5.33951596e-01 -8.93597914e-04 2.06607137e+02] [-5.33951296e-01 8.45515046e-01 5.66002745e-04 1.80365915e+02] [ 1.05776855e-03 -1.42580549e-06 9.99999441e-01 7.74839646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02028169299996 meters 0.026224226566548457 Centerline is valid? [True, True] Translation: X:206.63, Y:180.35, Z:0.78 [[ 8.46158839e-01 5.32920548e-01 -3.30292143e-03 2.06629829e+02] [-5.32916447e-01 8.46165285e-01 2.09059214e-03 1.80350051e+02] [ 3.90893696e-03 -8.79186317e-06 9.99992360e-01 7.75652618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.050281693 meters 0.012996203959023098 Centerline is valid? [True, True] Translation: X:206.65, Y:180.34, Z:0.77 [[ 8.46196742e-01 5.32858187e-01 -3.63679334e-03 2.06654438e+02] [-5.32853218e-01 8.46204557e-01 2.30119634e-03 1.80336191e+02] [ 4.30368240e-03 -9.38781239e-06 9.99990739e-01 7.69393599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08028169299996 meters 0.01302028691606479 Centerline is valid? [True, True] Translation: X:206.68, Y:180.32, Z:0.77 [[ 8.46262680e-01 5.32755147e-01 -3.38079411e-03 2.06677238e+02] [-5.32750855e-01 8.46269433e-01 2.13865511e-03 1.80321685e+02] [ 4.00044223e-03 -8.74305565e-06 9.99991998e-01 7.69904474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11028169299993 meters 0.012680400007902734 Centerline is valid? [True, True] Translation: X:206.70, Y:180.31, Z:0.78 [[ 8.46563101e-01 5.32286001e-01 -1.59041332e-03 2.06701915e+02] [-5.32285050e-01 8.46564595e-01 1.00593983e-03 1.80307806e+02] [ 1.88183530e-03 -5.03831154e-06 9.99998229e-01 7.75100989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14028169299996 meters 0.012790980626231628 Centerline is valid? [True, True] Translation: X:206.73, Y:180.29, Z:0.78 [[ 8.46647530e-01 5.32152809e-01 -1.16101411e-03 2.06725631e+02] [-5.32152303e-01 8.46648326e-01 7.34113093e-04 1.80294160e+02] [ 1.37363100e-03 -3.69870507e-06 9.99999057e-01 7.75441884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17028169299994 meters 0.013037024788216172 Centerline is valid? [True, True] Translation: X:206.75, Y:180.28, Z:0.77 [[ 8.46672435e-01 5.32110343e-01 -2.09074755e-03 2.06749695e+02] [-5.32108702e-01 8.46675016e-01 1.32145833e-03 1.80280987e+02] [ 2.47334536e-03 -6.33737121e-06 9.99996941e-01 7.71809617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20028169299997 meters 0.01330915004195212 Centerline is valid? [True, True] Translation: X:206.77, Y:180.27, Z:0.77 [[ 8.47292792e-01 5.31117281e-01 -3.05911109e-03 2.06774117e+02] [-5.31113765e-01 8.47298314e-01 1.93283138e-03 1.80266639e+02] [ 3.61853982e-03 -1.29380855e-05 9.99993453e-01 7.70528499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23028169299994 meters 0.013854383865031177 Centerline is valid? [True, True] Translation: X:206.80, Y:180.25, Z:0.77 [[ 8.47998730e-01 5.29984456e-01 -3.82484671e-03 2.06798914e+02] [-5.29978952e-01 8.48007356e-01 2.41562820e-03 1.80251934e+02] [ 4.52374354e-03 -2.13613951e-05 9.99989768e-01 7.69572976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26028169299997 meters 0.014244827034448864 Centerline is valid? [True, True] Translation: X:206.82, Y:180.24, Z:0.77 [[ 8.48538316e-01 5.29117300e-01 -4.19624650e-03 2.06824474e+02] [-5.29110669e-01 8.48548691e-01 2.64919353e-03 1.80237560e+02] [ 4.96245361e-03 -2.76634233e-05 9.99987687e-01 7.69444957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29028169299994 meters 0.014741561329385524 Centerline is valid? [True, True] Translation: X:206.85, Y:180.22, Z:0.77 [[ 8.49210947e-01 5.28037812e-01 -4.10336299e-03 2.06849614e+02] [-5.28031463e-01 8.49220860e-01 2.58961949e-03 1.80222905e+02] [ 4.85207846e-03 -3.24284552e-05 9.99988228e-01 7.69965346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32028169299997 meters 0.014943825409508182 Centerline is valid? [True, True] Translation: X:206.87, Y:180.21, Z:0.77 [[ 8.49461542e-01 5.27638632e-01 -3.54430023e-03 2.06873940e+02] [-5.27633895e-01 8.49468936e-01 2.23595843e-03 1.80208487e+02] [ 4.19055100e-03 -2.92677580e-05 9.99991219e-01 7.70381672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35028169299994 meters 0.01519506155305046 Centerline is valid? [True, True] Translation: X:206.90, Y:180.19, Z:0.77 [[ 8.49586640e-01 5.27438012e-01 -3.41825597e-03 2.06897341e+02] [-5.27433607e-01 8.49593516e-01 2.15587060e-03 1.80194927e+02] [ 4.04121621e-03 -2.86957798e-05 9.99991834e-01 7.70872003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.380281693 meters 0.014707639893122173 Centerline is valid? [True, True] Translation: X:206.92, Y:180.18, Z:0.77 [[ 8.49163050e-01 5.28119418e-01 -3.46335211e-03 2.06923208e+02] [-5.28114903e-01 8.49170112e-01 2.18398878e-03 1.80183505e+02] [ 4.09438199e-03 -2.55147136e-05 9.99991618e-01 7.71422997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41028169299994 meters 0.014200364991552918 Centerline is valid? [True, True] Translation: X:206.95, Y:180.17, Z:0.77 [[ 8.48861310e-01 5.28601363e-01 -3.88278098e-03 2.06948760e+02] [-5.28595696e-01 8.48870190e-01 2.44771205e-03 1.80170701e+02] [ 4.58984096e-03 -2.53467416e-05 9.99989466e-01 7.71280702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.440281693 meters 0.014125030935151139 Centerline is valid? [True, True] Translation: X:206.97, Y:180.16, Z:0.77 [[ 8.48798367e-01 5.28704004e-01 -3.66163159e-03 2.06972714e+02] [-5.28698968e-01 8.48806265e-01 2.30771929e-03 1.80157640e+02] [ 4.32811626e-03 -2.28875248e-05 9.99990633e-01 7.71588836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47028169299995 meters 0.0146049725332469 Centerline is valid? [True, True] Translation: X:207.00, Y:180.14, Z:0.77 [[ 8.49254497e-01 5.27972588e-01 -3.42714151e-03 2.06997125e+02] [-5.27968173e-01 8.49261412e-01 2.15926774e-03 1.80144586e+02] [ 4.05057321e-03 -2.43461930e-05 9.99991796e-01 7.71076677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.500281693 meters 0.014289360363856484 Centerline is valid? [True, True] Translation: X:207.02, Y:180.13, Z:0.77 [[ 8.49330914e-01 5.27847597e-01 -3.73005546e-03 2.07021825e+02] [-5.27842370e-01 8.49339104e-01 2.34912809e-03 1.80131274e+02] [ 4.40806358e-03 -2.63057937e-05 9.99990284e-01 7.71690414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53028169299995 meters 0.014211929268030289 Centerline is valid? [True, True] Translation: X:207.05, Y:180.12, Z:0.77 [[ 8.49442123e-01 5.27671465e-01 -3.30238642e-03 2.07046522e+02] [-5.27667370e-01 8.49448542e-01 2.07896691e-03 1.80118615e+02] [ 3.90221884e-03 -2.34005103e-05 9.99992386e-01 7.73913756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.560281693 meters 0.014824584928251162 Centerline is valid? [True, True] Translation: X:207.07, Y:180.10, Z:0.77 [[ 8.49755323e-01 5.27168812e-01 -2.98890376e-03 2.07069178e+02] [-5.27165457e-01 8.49760580e-01 1.88096534e-03 1.80104893e+02] [ 3.53143886e-03 -2.27134886e-05 9.99993764e-01 7.74616249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59028169299995 meters 0.0149872204407667 Centerline is valid? [True, True] Translation: X:207.09, Y:180.09, Z:0.77 [[ 8.50312205e-01 5.26270239e-01 -2.96470778e-03 2.07094319e+02] [-5.26266934e-01 8.50317373e-01 1.86509823e-03 1.80090888e+02] [ 3.50248822e-03 -2.56881100e-05 9.99993866e-01 7.74681492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.620281693 meters 0.018048940111162936 Centerline is valid? [True, True] Translation: X:207.12, Y:180.07, Z:0.77 [[ 8.51971405e-01 5.23582554e-01 -2.45641510e-03 2.07116995e+02] [-5.23580275e-01 8.51974946e-01 1.54494382e-03 1.80073951e+02] [ 2.90170975e-03 -3.01174603e-05 9.99995790e-01 7.74556164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65028169299995 meters 0.01755284455990097 Centerline is valid? [True, True] Translation: X:207.14, Y:180.06, Z:0.77 [[ 8.52825572e-01 5.22188792e-01 -2.72187442e-03 2.07143014e+02] [-5.22185989e-01 8.52829915e-01 1.71139673e-03 1.80061532e+02] [ 3.21496813e-03 -3.81982110e-05 9.99994831e-01 7.74733829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.680281693 meters 0.020165230992704303 Centerline is valid? [True, True] Translation: X:207.17, Y:180.04, Z:0.77 [[ 8.53273354e-01 5.21453977e-01 -3.21469121e-03 2.07165966e+02] [-5.21450064e-01 8.53279408e-01 2.02072721e-03 1.80044899e+02] [ 3.79674605e-03 -4.79317461e-05 9.99992791e-01 7.73116630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71028169299996 meters 0.020486521629401254 Centerline is valid? [True, True] Translation: X:207.19, Y:180.03, Z:0.77 [[ 8.53934074e-01 5.20369982e-01 -3.41743527e-03 2.07192619e+02] [-5.20365553e-01 8.53940911e-01 2.14758945e-03 1.80032446e+02] [ 4.03582887e-03 -5.55842137e-05 9.99991854e-01 7.73607853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.740281693 meters 0.021660411575970817 Centerline is valid? [True, True] Translation: X:207.22, Y:180.02, Z:0.77 [[ 8.54477842e-01 5.19479823e-01 -2.88643467e-03 2.07216027e+02] [-5.19476659e-01 8.54482716e-01 1.81352346e-03 1.80017190e+02] [ 3.40849738e-03 -5.01801738e-05 9.99994190e-01 7.73895335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77028169299996 meters 0.021061987091068626 Centerline is valid? [True, True] Translation: X:207.24, Y:180.00, Z:0.77 [[ 8.55403308e-01 5.17956538e-01 -2.49113194e-03 2.07241146e+02] [-5.17954176e-01 8.55406934e-01 1.56479534e-03 1.80003382e+02] [ 2.94142751e-03 -4.82389146e-05 9.99995673e-01 7.74853303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.800281693 meters 0.026616805011870432 Centerline is valid? [True, True] Translation: X:207.26, Y:179.98, Z:0.77 [[ 8.58137265e-01 5.13412433e-01 -2.84760955e-03 2.07260934e+02] [-5.13409324e-01 8.58141986e-01 1.78823336e-03 1.79981531e+02] [ 3.36175456e-03 -7.25603896e-05 9.99994347e-01 7.73722060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83028169299996 meters 0.03011231472635155 Centerline is valid? [True, True] Translation: X:207.28, Y:179.96, Z:0.77 [[ 8.59649906e-01 5.10865715e-01 -4.27317160e-03 2.07282442e+02] [-5.10858684e-01 8.59660518e-01 2.68309068e-03 1.79961538e+02] [ 5.04417594e-03 -1.23531828e-04 9.99987270e-01 7.70975662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86028169299993 meters 0.03329122902673164 Centerline is valid? [True, True] Translation: X:207.30, Y:179.94, Z:0.77 [[ 8.61249779e-01 5.08149907e-01 -5.70008602e-03 2.07304616e+02] [-5.08137340e-01 8.61268621e-01 3.57860998e-03 1.79941428e+02] [ 6.72777555e-03 -1.85650510e-04 9.99977351e-01 7.68098716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89028169299996 meters 0.039284071845355754 Centerline is valid? [True, True] Translation: X:207.32, Y:179.92, Z:0.76 [[ 8.63870949e-01 5.03659586e-01 -7.34876944e-03 2.07323346e+02] [-5.03638538e-01 8.63902159e-01 4.61327413e-03 1.79916815e+02] [ 8.67213753e-03 -2.84150004e-04 9.99962356e-01 7.64188886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92028169299994 meters 0.038344769914454145 Centerline is valid? [True, True] Translation: X:207.35, Y:179.90, Z:0.77 [[ 8.64781726e-01 5.02095264e-01 -7.27399516e-03 2.07347372e+02] [-5.02074600e-01 8.64812268e-01 4.56489234e-03 1.79900525e+02] [ 8.58265107e-03 -2.95547272e-04 9.99963125e-01 7.65068122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95028169299997 meters 0.043780253896167645 Centerline is valid? [True, True] Translation: X:207.37, Y:179.88, Z:0.77 [[ 8.64995979e-01 5.01735117e-01 -6.62034192e-03 2.07365209e+02] [-5.01717995e-01 8.65021270e-01 4.15396480e-03 1.79877374e+02] [ 7.81092660e-03 -2.71618176e-04 9.99969457e-01 7.65544394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98028169299994 meters 0.043780253896167645 Centerline is valid? [True, True] Translation: X:207.39, Y:179.86, Z:0.77 [[ 8.65085380e-01 5.01580949e-01 -6.62098179e-03 2.07388611e+02] [-5.01563830e-01 8.65110674e-01 4.15294481e-03 1.79862922e+02] [ 7.81092001e-03 -2.71806850e-04 9.99969457e-01 7.65587991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01028169299997 meters 0.03777942857176609 Centerline is valid? [True, True] Translation: X:207.41, Y:179.85, Z:0.77 [[ 8.64496724e-01 5.02617219e-01 -4.62020251e-03 2.07414086e+02] [-5.02608900e-01 8.64509050e-01 2.89752796e-03 1.79848819e+02] [ 5.45055433e-03 -1.82748529e-04 9.99985129e-01 7.71365223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04028169299994 meters 0.03784711279825047 Centerline is valid? [True, True] Translation: X:207.44, Y:179.83, Z:0.77 [[ 8.64253412e-01 5.03038598e-01 -4.26721795e-03 2.07436234e+02] [-5.03031508e-01 8.64263930e-01 2.67583682e-03 1.79831304e+02] [ 5.03405176e-03 -1.66056020e-04 9.99987315e-01 7.72384060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07028169299997 meters 0.03724769606079648 Centerline is valid? [True, True] Translation: X:207.46, Y:179.81, Z:0.77 [[ 8.64197234e-01 5.03129404e-01 -4.89321494e-03 2.07458867e+02] [-5.03120090e-01 8.64211066e-01 3.06732340e-03 1.79814727e+02] [ 5.77203109e-03 -1.88897664e-04 9.99983324e-01 7.71279990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10028169299994 meters 0.03822557831483127 Centerline is valid? [True, True] Translation: X:207.48, Y:179.79, Z:0.77 [[ 8.64313030e-01 5.02903349e-01 -7.15590321e-03 2.07478375e+02] [-5.02883429e-01 8.64342608e-01 4.48470753e-03 1.79794046e+02] [ 8.44052648e-03 -2.77606008e-04 9.99964340e-01 7.65896822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.130281693 meters 0.0424252456033519 Centerline is valid? [True, True] Translation: X:207.50, Y:179.77, Z:0.76 [[ 8.64185178e-01 5.03118344e-01 -7.47733443e-03 2.07497611e+02] [-5.03096607e-01 8.64217478e-01 4.68554339e-03 1.79772148e+02] [ 8.81942593e-03 -2.87355567e-04 9.99961067e-01 7.63558731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16028169299994 meters 0.04012128134809027 Centerline is valid? [True, True] Translation: X:207.52, Y:179.76, Z:0.76 [[ 8.63812078e-01 5.03761792e-01 -7.26298886e-03 2.07522627e+02] [-5.03741319e-01 8.63842568e-01 4.54982966e-03 1.79757465e+02] [ 8.56610929e-03 -2.71530227e-04 9.99963273e-01 7.64868340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.190281693 meters 0.03756176173513261 Centerline is valid? [True, True] Translation: X:207.55, Y:179.74, Z:0.77 [[ 8.62972031e-01 5.05209768e-01 -6.50876301e-03 2.07547392e+02] [-5.05193371e-01 8.62996545e-01 4.07676455e-03 1.79743365e+02] [ 7.67666126e-03 -2.29949852e-04 9.99970508e-01 7.67025742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22028169299995 meters 0.030442193815369844 Centerline is valid? [True, True] Translation: X:207.58, Y:179.73, Z:0.77 [[ 8.60803805e-01 5.08912311e-01 -5.00688469e-03 2.07576234e+02] [-5.08902676e-01 8.60818353e-01 3.13531861e-03 1.79732909e+02] [ 5.90562048e-03 -1.50877176e-04 9.99982550e-01 7.71423304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.250281693 meters 0.02836343444813067 Centerline is valid? [True, True] Translation: X:207.60, Y:179.72, Z:0.77 [[ 8.59623664e-01 5.10905160e-01 -4.80353112e-03 2.07600895e+02] [-5.10896325e-01 8.59637075e-01 3.00745622e-03 1.79719518e+02] [ 5.66581834e-03 -1.31174137e-04 9.99983941e-01 7.72078049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28028169299995 meters 0.0269949954713591 Centerline is valid? [True, True] Translation: X:207.62, Y:179.70, Z:0.77 [[ 8.57613692e-01 5.14270672e-01 -4.94292078e-03 2.07624101e+02] [-5.14261374e-01 8.57627929e-01 3.09442737e-03 1.79702797e+02] [ 5.83056015e-03 -1.11870044e-04 9.99982996e-01 7.70780219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.310281693 meters 0.024237923307677912 Centerline is valid? [True, True] Translation: X:207.65, Y:179.69, Z:0.77 [[ 8.57178091e-01 5.14996056e-01 -4.97818932e-03 2.07648981e+02] [-5.14986642e-01 8.57192540e-01 3.11561131e-03 1.79688778e+02] [ 5.87179428e-03 -1.06932754e-04 9.99982755e-01 7.70859154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34028169299995 meters 0.023287858356966756 Centerline is valid? [True, True] Translation: X:207.67, Y:179.67, Z:0.77 [[ 8.56810744e-01 5.15608155e-01 -4.85588724e-03 2.07673030e+02] [-5.15599215e-01 8.56824498e-01 3.03797284e-03 1.79672280e+02] [ 5.72704672e-03 -9.92761162e-05 9.99983595e-01 7.71327658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.370281693 meters 0.02134738803103124 Centerline is valid? [True, True] Translation: X:207.70, Y:179.66, Z:0.77 [[ 8.55632546e-01 5.17562551e-01 -4.68533952e-03 2.07696292e+02] [-5.17554260e-01 8.55645370e-01 2.93071039e-03 1.79656745e+02] [ 5.52581501e-03 -8.26937672e-05 9.99984729e-01 7.70836418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40028169299995 meters 0.020892758008155977 Centerline is valid? [True, True] Translation: X:207.72, Y:179.64, Z:0.77 [[ 8.54935269e-01 5.18709648e-01 -5.09768301e-03 2.07719466e+02] [-5.18699856e-01 8.54950463e-01 3.18821614e-03 1.79641157e+02] [ 6.01202492e-03 -8.15509826e-05 9.99981924e-01 7.69741218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.430281693 meters 0.030735670518574787 Centerline is valid? [True, True] Translation: X:207.74, Y:179.63, Z:0.77 [[ 8.54348163e-01 5.19667344e-01 -5.92188275e-03 2.07743502e+02] [-5.19654161e-01 8.54368682e-01 3.70256787e-03 1.79625604e+02] [ 6.98357477e-03 -8.59510491e-05 9.99975611e-01 7.73260273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46028169299996 meters 0.018642385327599504 Centerline is valid? [True, True] Translation: X:207.77, Y:179.61, Z:0.76 [[ 8.53541839e-01 5.20976619e-01 -7.04918627e-03 2.07769316e+02] [-5.20957996e-01 8.53570943e-01 4.40580276e-03 1.79611714e+02] [ 8.31230080e-03 -8.82070349e-05 9.99965448e-01 7.64903721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.490281693 meters 0.0159542968738619 Centerline is valid? [True, True] Translation: X:207.80, Y:179.60, Z:0.76 [[ 8.51982079e-01 5.23499745e-01 -8.63445092e-03 2.07795443e+02] [-5.23471955e-01 8.52025828e-01 5.39457682e-03 1.79598546e+02] [ 1.01808348e-02 -7.61898782e-05 9.99948171e-01 7.63515719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52028169299996 meters 0.015429426435803133 Centerline is valid? [True, True] Translation: X:207.82, Y:179.58, Z:0.76 [[ 8.51314413e-01 5.24585160e-01 -8.61273385e-03 2.07818503e+02] [-5.24557574e-01 8.51357977e-01 5.38010947e-03 1.79583525e+02] [ 1.01548453e-02 -6.22899610e-05 9.99948436e-01 7.62739267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.550281693 meters 0.013417039043842774 Centerline is valid? [True, True] Translation: X:207.85, Y:179.57, Z:0.77 [[ 8.49431164e-01 5.27652434e-01 -7.04321263e-03 2.07845471e+02] [-5.27634102e-01 8.49460363e-01 4.39842433e-03 1.79571477e+02] [ 8.30376926e-03 -1.99195279e-05 9.99965523e-01 7.66614125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58028169299996 meters 0.012881403646245805 Centerline is valid? [True, True] Translation: X:207.87, Y:179.56, Z:0.77 [[ 8.48491961e-01 5.29174282e-01 -5.99757893e-03 2.07871251e+02] [-5.29161036e-01 8.48513158e-01 3.74418019e-03 1.79559335e+02] [ 7.07034850e-03 -3.22171393e-06 9.99975005e-01 7.68491444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61028169299993 meters 0.012907135445955512 Centerline is valid? [True, True] Translation: X:207.90, Y:179.55, Z:0.77 [[ 8.47555622e-01 5.30680545e-01 -5.25618213e-03 2.07897084e+02] [-5.30670408e-01 8.47571920e-01 3.28016681e-03 1.79547127e+02] [ 6.19571309e-03 9.17649506e-06 9.99980806e-01 7.69923936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64028169299996 meters 0.014380229451763298 Centerline is valid? [True, True] Translation: X:207.93, Y:179.54, Z:0.77 [[ 8.45208931e-01 5.34413740e-01 -4.88028531e-03 2.07925746e+02] [-5.34405069e-01 8.45223020e-01 3.04447326e-03 1.79537922e+02] [ 5.75193782e-03 3.48332203e-05 9.99983457e-01 7.70700269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67028169299994 meters 0.01642605653604328 Centerline is valid? [True, True] Translation: X:207.95, Y:179.53, Z:0.77 [[ 8.44303414e-01 5.35839945e-01 -5.22491874e-03 2.07952458e+02] [-5.35830038e-01 8.44319579e-01 3.25865596e-03 1.79527588e+02] [ 6.15761922e-03 4.83740521e-05 9.99981041e-01 7.68857797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70028169299997 meters 0.027604291945286824 Centerline is valid? [True, True] Translation: X:207.98, Y:179.51, Z:0.77 [[ 8.43806263e-01 5.36615677e-01 -5.88261154e-03 2.07977765e+02] [-5.36603147e-01 8.43826766e-01 3.66759033e-03 1.79513947e+02] [ 6.93199154e-03 6.18921814e-05 9.99975972e-01 7.74657367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73028169299994 meters 0.016966905703847426 Centerline is valid? [True, True] Translation: X:208.00, Y:179.50, Z:0.77 [[ 8.43665668e-01 5.36845365e-01 -5.02932648e-03 2.08002528e+02] [-5.36836215e-01 8.43680657e-01 3.13489912e-03 1.79502101e+02] [ 5.92610153e-03 5.51178287e-05 9.99982439e-01 7.70586035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76028169299997 meters 0.016703855262227292 Centerline is valid? [True, True] Translation: X:208.03, Y:179.49, Z:0.77 [[ 8.43645393e-01 5.36880743e-01 -4.63884063e-03 2.08026153e+02] [-5.36872964e-01 8.43658145e-01 2.89049097e-03 1.79487798e+02] [ 5.46544461e-03 5.19187292e-05 9.99985063e-01 7.72145355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79028169299994 meters 0.016747925049937874 Centerline is valid? [True, True] Translation: X:208.05, Y:179.47, Z:0.77 [[ 8.43716723e-01 5.36768313e-01 -4.67638520e-03 2.08050567e+02] [-5.36760413e-01 8.43729681e-01 2.91265457e-03 1.79473834e+02] [ 5.50902568e-03 5.26430847e-05 9.99984824e-01 7.72448430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82028169299997 meters 0.016951136525193262 Centerline is valid? [True, True] Translation: X:208.07, Y:179.46, Z:0.77 [[ 8.43929369e-01 5.36429335e-01 -5.17584118e-03 2.08074075e+02] [-5.36419656e-01 8.43945238e-01 3.22290871e-03 1.79461427e+02] [ 6.09698930e-03 5.65156339e-05 9.99981412e-01 7.70920069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85028169299994 meters 0.016033454108905942 Centerline is valid? [True, True] Translation: X:208.10, Y:179.45, Z:0.77 [[ 8.44425939e-01 5.35638443e-01 -6.02434725e-03 2.08098455e+02] [-5.35625320e-01 8.44447426e-01 3.74984075e-03 1.79447417e+02] [ 7.09580339e-03 6.03301277e-05 9.99974823e-01 7.69083235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.880281693 meters 0.015596074710151705 Centerline is valid? [True, True] Translation: X:208.12, Y:179.43, Z:0.77 [[ 8.44763480e-01 5.35112212e-01 -5.43919171e-03 2.08122638e+02] [-5.35101508e-01 8.44780989e-01 3.38495309e-03 1.79433000e+02] [ 6.40625549e-03 5.10349354e-05 9.99979478e-01 7.70023440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91028169299994 meters 0.015030226797972838 Centerline is valid? [True, True] Translation: X:208.15, Y:179.42, Z:0.77 [[ 8.45219132e-01 5.34400176e-01 -4.59040949e-03 2.08147399e+02] [-5.34392546e-01 8.45231596e-01 2.85589333e-03 1.79417443e+02] [ 5.40614904e-03 3.92249333e-05 9.99985386e-01 7.71874921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.940281693 meters 0.013667303545916944 Centerline is valid? [True, True] Translation: X:208.17, Y:179.40, Z:0.77 [[ 8.46390109e-01 5.32553290e-01 -3.28290273e-03 2.08171535e+02] [-5.32549376e-01 8.46396475e-01 2.04177062e-03 1.79400988e+02] [ 3.86598896e-03 2.01733416e-05 9.99992527e-01 7.74932240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97028169299995 meters 0.013259650809155062 Centerline is valid? [True, True] Translation: X:208.19, Y:179.39, Z:0.78 [[ 8.46920738e-01 5.31710496e-01 -3.03512204e-03 2.08194645e+02] [-5.31707148e-01 8.46926176e-01 1.88693568e-03 1.79385964e+02] [ 3.57382781e-03 1.57111218e-05 9.99993614e-01 7.75366026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.000281693 meters 0.013281037292054487 Centerline is valid? [True, True] Translation: X:208.22, Y:179.37, Z:0.77 [[ 8.47042180e-01 5.31515530e-01 -3.28427860e-03 2.08218564e+02] [-5.31511612e-01 8.47048547e-01 2.04094296e-03 1.79372259e+02] [ 3.86673630e-03 1.68674342e-05 9.99992524e-01 7.74985183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03028169299995 meters 0.013248606671577148 Centerline is valid? [True, True] Translation: X:208.24, Y:179.36, Z:0.78 [[ 8.47169517e-01 5.31313749e-01 -3.08381708e-03 2.08242729e+02] [-5.31310296e-01 8.47175130e-01 1.91558110e-03 1.79358794e+02] [ 3.63030771e-03 1.56418496e-05 9.99993410e-01 7.75741156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.060281693 meters 0.013341978400151782 Centerline is valid? [True, True] Translation: X:208.27, Y:179.35, Z:0.78 [[ 8.47020024e-01 5.31555884e-01 -2.32841007e-03 2.08267173e+02] [-5.31553918e-01 8.47023224e-01 1.44590035e-03 1.79347677e+02] [ 2.74079424e-03 1.29689441e-05 9.99996244e-01 7.77112532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09028169299995 meters 0.013590423340911281 Centerline is valid? [True, True] Translation: X:208.29, Y:179.33, Z:0.78 [[ 8.46945399e-01 5.31672205e-01 -2.85610578e-03 2.08291437e+02] [-5.31669249e-01 8.46950215e-01 1.77289570e-03 1.79334236e+02] [ 3.36157876e-03 1.69577606e-05 9.99994350e-01 7.75681699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.120281693 meters 0.013881591623378273 Centerline is valid? [True, True] Translation: X:208.32, Y:179.32, Z:0.77 [[ 8.46813900e-01 5.31878210e-01 -3.43337190e-03 2.08315199e+02] [-5.31873944e-01 8.46820860e-01 2.13042437e-03 1.79321352e+02] [ 4.04057725e-03 2.20480865e-05 9.99991837e-01 7.73179222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15028169299995 meters 0.014255553341345066 Centerline is valid? [True, True] Translation: X:208.34, Y:179.31, Z:0.77 [[ 8.46762345e-01 5.31952990e-01 -4.42122205e-03 2.08339688e+02] [-5.31945923e-01 8.46773887e-01 2.74228185e-03 1.79307787e+02] [ 5.20254041e-03 2.97900352e-05 9.99986466e-01 7.71176624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.180281693 meters 0.015237501932842557 Centerline is valid? [True, True] Translation: X:208.37, Y:179.30, Z:0.77 [[ 8.46271083e-01 5.32714007e-01 -6.40638841e-03 2.08365406e+02] [-5.32699196e-01 8.46295329e-01 3.97267772e-03 1.79296627e+02] [ 7.53799765e-03 5.07156786e-05 9.99971588e-01 7.67169796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21028169299996 meters 0.01543284335139654 Centerline is valid? [True, True] Translation: X:208.39, Y:179.28, Z:0.77 [[ 8.45960963e-01 5.33201546e-01 -6.79418287e-03 2.08390956e+02] [-5.33184915e-01 8.45988243e-01 4.21178543e-03 1.79283386e+02] [ 7.99352933e-03 5.95497567e-05 9.99968049e-01 7.67300345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.240281693 meters 0.016440924962302875 Centerline is valid? [True, True] Translation: X:208.42, Y:179.27, Z:0.77 [[ 8.45489062e-01 5.33953463e-01 -6.47650236e-03 2.08416534e+02] [-5.33938378e-01 8.45513865e-01 4.01413645e-03 1.79272390e+02] [ 7.61933459e-03 6.41446975e-05 9.99970970e-01 7.67456875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27028169299996 meters 0.017515498803268616 Centerline is valid? [True, True] Translation: X:208.44, Y:179.26, Z:0.77 [[ 8.44827609e-01 5.35008352e-01 -5.68981359e-03 2.08443057e+02] [-5.34996736e-01 8.44846766e-01 3.52610787e-03 1.79261700e+02] [ 6.69351777e-03 6.50784153e-05 9.99977596e-01 7.69496182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.300281693 meters 0.01861424172903195 Centerline is valid? [True, True] Translation: X:208.47, Y:179.25, Z:0.77 [[ 8.44109502e-01 5.36146800e-01 -5.07515710e-03 2.08470566e+02] [-5.36137584e-01 8.44124757e-01 3.14427058e-03 1.79250708e+02] [ 5.96985636e-03 6.68737911e-05 9.99982178e-01 7.70717507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33028169299996 meters 0.020387773334419365 Centerline is valid? [True, True] Translation: X:208.50, Y:179.24, Z:0.77 [[ 8.43283794e-01 5.37444585e-01 -5.07543310e-03 2.08497993e+02] [-5.37435395e-01 8.43299064e-01 3.14385074e-03 1.79241611e+02] [ 5.96975354e-03 7.65590092e-05 9.99982178e-01 7.70713961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36028169299993 meters 0.024228053399643183 Centerline is valid? [True, True] Translation: X:208.53, Y:179.24, Z:0.77 [[ 8.41362840e-01 5.40447016e-01 -5.05906162e-03 2.08529874e+02] [-5.40437945e-01 8.41378045e-01 3.13279688e-03 1.79238413e+02] [ 5.94969410e-03 9.82899843e-05 9.99982296e-01 7.70616110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39028169299996 meters 0.0254580811727788 Centerline is valid? [True, True] Translation: X:208.56, Y:179.23, Z:0.77 [[ 8.40656206e-01 5.41545148e-01 -5.09853657e-03 2.08558238e+02] [-5.41535962e-01 8.40671661e-01 3.15612191e-03 1.79228815e+02] [ 5.99537771e-03 1.07827436e-04 9.99982022e-01 7.70706858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42028169299994 meters 0.027180530863177794 Centerline is valid? [True, True] Translation: X:208.59, Y:179.22, Z:0.77 [[ 8.40222531e-01 5.42216639e-01 -5.21668864e-03 2.08585973e+02] [-5.42207039e-01 8.40238718e-01 3.22865598e-03 1.79221273e+02] [ 6.13389477e-03 1.15735797e-04 9.99981181e-01 7.69815632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45028169299997 meters 0.02524893375354052 Centerline is valid? [True, True] Translation: X:208.61, Y:179.21, Z:0.77 [[ 8.40350174e-01 5.42013168e-01 -5.77161287e-03 2.08614285e+02] [-5.42001420e-01 8.40369984e-01 3.57083693e-03 1.79214215e+02] [ 6.78573085e-03 1.27468942e-04 9.99976969e-01 7.68394365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48028169299994 meters 0.023562881391406935 Centerline is valid? [True, True] Translation: X:208.64, Y:179.20, Z:0.77 [[ 8.41188527e-01 5.40714461e-01 -5.45281447e-03 2.08640614e+02] [-5.40703956e-01 8.41206193e-01 3.37232702e-03 1.79201335e+02] [ 6.41040729e-03 1.11595555e-04 9.99979447e-01 7.68900922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51028169299997 meters 0.022208438710850844 Centerline is valid? [True, True] Translation: X:208.67, Y:179.19, Z:0.77 [[ 8.42481382e-01 5.38702717e-01 -4.95017050e-03 2.08665246e+02] [-5.38694028e-01 8.42495920e-01 3.06088902e-03 1.79188993e+02] [ 5.81940768e-03 8.78852735e-05 9.99983063e-01 7.69453015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54028169299994 meters 0.02000297661030782 Centerline is valid? [True, True] Translation: X:208.69, Y:179.17, Z:0.77 [[ 8.44370335e-01 5.35743105e-01 -4.24996783e-03 2.08689627e+02] [-5.35736665e-01 8.44381029e-01 2.62749358e-03 1.79174925e+02] [ 4.99625378e-03 5.82859578e-05 9.99987517e-01 7.70112832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57028169299997 meters 0.014938890919673138 Centerline is valid? [True, True] Translation: X:208.71, Y:179.15, Z:0.77 [[ 8.46527893e-01 5.32331512e-01 -3.69965963e-03 2.08711447e+02] [-5.32326603e-01 8.46535977e-01 2.28658947e-03 1.79154829e+02] [ 4.34911861e-03 3.37654752e-05 9.99990542e-01 7.72015970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60028169299994 meters 0.012055555030569817 Centerline is valid? [True, True] Translation: X:208.73, Y:179.14, Z:0.77 [[ 8.50424229e-01 5.26090665e-01 -2.69124674e-03 2.08733038e+02] [-5.26088038e-01 8.50428487e-01 1.66279930e-03 1.79135865e+02] [ 3.16349608e-03 1.74790497e-06 9.99994996e-01 7.73534365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.630281693 meters 0.012206268905097765 Centerline is valid? [True, True] Translation: X:208.76, Y:179.12, Z:0.78 [[ 8.52069676e-01 5.23423766e-01 -2.19748139e-03 2.08756140e+02] [-5.23422006e-01 8.52072509e-01 1.35725143e-03 1.79119165e+02] [ 2.58283114e-03 -6.26266825e-06 9.99996665e-01 7.75050056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66028169299994 meters 0.013006906146602078 Centerline is valid? [True, True] Translation: X:208.78, Y:179.10, Z:0.77 [[ 8.53388767e-01 5.21270656e-01 -2.12502771e-03 2.08779766e+02] [-5.21269005e-01 8.53391413e-01 1.31198844e-03 1.79103107e+02] [ 2.49738148e-03 -1.19251210e-05 9.99996882e-01 7.74939364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.690281693 meters 0.014072695501856825 Centerline is valid? [True, True] Translation: X:208.80, Y:179.09, Z:0.77 [[ 8.54398056e-01 5.19612095e-01 -2.68936758e-03 2.08803285e+02] [-5.19609444e-01 8.54402289e-01 1.65986395e-03 1.79087445e+02] [ 3.16028720e-03 -2.07637431e-05 9.99995006e-01 7.73655371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72028169299995 meters 0.015747982361887035 Centerline is valid? [True, True] Translation: X:208.83, Y:179.07, Z:0.77 [[ 8.55530382e-01 5.17724570e-01 -5.38841526e-03 2.08827336e+02] [-5.17713899e-01 8.55547349e-01 3.32447501e-03 1.79070941e+02] [ 6.33120679e-03 -5.45319085e-05 9.99979956e-01 7.67375475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.750281693 meters 0.016859621451692303 Centerline is valid? [True, True] Translation: X:208.85, Y:179.05, Z:0.76 [[ 8.56220874e-01 5.16569922e-01 -6.42880923e-03 2.08850559e+02] [-5.16554711e-01 8.56245006e-01 3.96487650e-03 1.79053641e+02] [ 7.55277174e-03 -7.39783262e-05 9.99971475e-01 7.64686552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78028169299995 meters 0.0185159881249603 Centerline is valid? [True, True] Translation: X:208.87, Y:179.04, Z:0.76 [[ 8.57017202e-01 5.15243544e-01 -6.75314750e-03 2.08872610e+02] [-5.15226726e-01 8.57043804e-01 4.16395440e-03 1.79035685e+02] [ 7.93319384e-03 -8.91784730e-05 9.99968528e-01 7.63793019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.810281693 meters 0.02007137398202467 Centerline is valid? [True, True] Translation: X:208.90, Y:179.02, Z:0.76 [[ 8.58238064e-01 5.13211011e-01 -6.47181218e-03 2.08895331e+02] [-5.13195517e-01 8.58262458e-01 3.98920176e-03 1.79017557e+02] [ 7.60181571e-03 -1.02379793e-04 9.99971101e-01 7.64933991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84028169299995 meters 0.024768144760799287 Centerline is valid? [True, True] Translation: X:208.91, Y:178.99, Z:0.77 [[ 8.60745150e-01 5.09011258e-01 -5.03249243e-03 2.08914345e+02] [-5.09001821e-01 8.60759855e-01 3.10154597e-03 1.78994453e+02] [ 5.91048927e-03 -1.08092843e-04 9.99982527e-01 7.68297193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.870281693 meters 0.02678495159469698 Centerline is valid? [True, True] Translation: X:208.94, Y:178.97, Z:0.77 [[ 8.61792177e-01 5.07242029e-01 -4.44611174e-03 2.08936402e+02] [-5.07234643e-01 8.61803640e-01 2.73940861e-03 1.78974570e+02] [ 5.22121846e-03 -1.05579010e-04 9.99986364e-01 7.69578589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90028169299995 meters 0.02678495159469698 Centerline is valid? [True, True] Translation: X:208.96, Y:178.96, Z:0.77 [[ 8.61883621e-01 5.07086631e-01 -4.44658668e-03 2.08959903e+02] [-5.07079247e-01 8.61895085e-01 2.73863759e-03 1.78960321e+02] [ 5.22121771e-03 -1.05615062e-04 9.99986364e-01 7.69622162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.930281693 meters 0.028430333202411968 Centerline is valid? [True, True] Translation: X:208.98, Y:178.94, Z:0.77 [[ 8.62524045e-01 5.05996951e-01 -4.39970753e-03 2.08981245e+02] [-5.05989710e-01 8.62535259e-01 2.70919726e-03 1.78941097e+02] [ 5.16574842e-03 -1.10541042e-04 9.99986651e-01 7.70005528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96028169299996 meters 0.028795082420744432 Centerline is valid? [True, True] Translation: X:209.00, Y:178.92, Z:0.77 [[ 8.62827199e-01 5.05478508e-01 -4.55006062e-03 2.09004369e+02] [-5.05470761e-01 8.62839188e-01 2.80098018e-03 1.78923063e+02] [ 5.34180589e-03 -1.16839275e-04 9.99985726e-01 7.69672664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.990281693 meters 0.02990655920089132 Centerline is valid? [True, True] Translation: X:209.03, Y:178.90, Z:0.77 [[ 8.63253400e-01 5.04744951e-01 -5.10895102e-03 2.09026645e+02] [-5.04735178e-01 8.63268508e-01 3.14389299e-03 1.78904368e+02] [ 5.99726063e-03 -1.35309011e-04 9.99982007e-01 7.68021929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02028169299996 meters 0.03255033025081228 Centerline is valid? [True, True] Translation: X:209.04, Y:178.88, Z:0.77 [[ 8.64284974e-01 5.02974552e-01 -5.29937245e-03 2.09044901e+02] [-5.02964007e-01 8.64301207e-01 3.26046930e-03 1.78880589e+02] [ 6.22018710e-03 -1.52581022e-04 9.99980643e-01 7.66910129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.050281693 meters 0.03372677541873675 Centerline is valid? [True, True] Translation: X:209.07, Y:178.86, Z:0.77 [[ 8.64843109e-01 5.02022878e-01 -4.40767356e-03 2.09066602e+02] [-5.02015575e-01 8.64854330e-01 2.71111180e-03 1.78860684e+02] [ 5.17303571e-03 -1.31965585e-04 9.99986611e-01 7.68981950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08028169299996 meters 0.03450036172866844 Centerline is valid? [True, True] Translation: X:209.09, Y:178.84, Z:0.77 [[ 8.65277438e-01 5.01275891e-01 -4.17579167e-03 2.09088526e+02] [-5.01269332e-01 8.65287504e-01 2.56761424e-03 1.78841781e+02] [ 4.90034347e-03 -1.28502366e-04 9.99987985e-01 7.70770156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11028169299993 meters 0.03393807138473001 Centerline is valid? [True, True] Translation: X:209.11, Y:178.82, Z:0.77 [[ 8.65456065e-01 5.00963878e-01 -4.58175966e-03 2.09111643e+02] [-5.00955982e-01 8.65468181e-01 2.81622876e-03 1.78824621e+02] [ 5.37619608e-03 -1.42062352e-04 9.99985538e-01 7.70672753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14028169299996 meters 0.029915407350833093 Centerline is valid? [True, True] Translation: X:209.14, Y:178.81, Z:0.77 [[ 8.64511360e-01 5.02566368e-01 -6.86686065e-03 2.09135540e+02] [-5.02548696e-01 8.64538610e-01 4.21911992e-03 1.78809174e+02] [ 8.05705393e-03 -1.96545235e-04 9.99967522e-01 7.67408355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17028169299994 meters 0.027755725661609533 Centerline is valid? [True, True] Translation: X:209.16, Y:178.79, Z:0.77 [[ 8.63709358e-01 5.03943384e-01 -6.87104791e-03 2.09159608e+02] [-5.03925746e-01 8.63736669e-01 4.22013847e-03 1.78793837e+02] [ 8.06148689e-03 -1.82475144e-04 9.99967489e-01 7.67552359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20028169299997 meters 0.026455438311882865 Centerline is valid? [True, True] Translation: X:209.18, Y:178.78, Z:0.77 [[ 8.62838941e-01 5.05445576e-01 -5.80786500e-03 2.09182007e+02] [-5.05433012e-01 8.62858476e-01 3.56652275e-03 1.78777744e+02] [ 6.81404869e-03 -1.41848006e-04 9.99976774e-01 7.69487798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23028169299994 meters 0.022249051387043705 Centerline is valid? [True, True] Translation: X:209.21, Y:178.76, Z:0.78 [[ 8.60748947e-01 5.09022759e-01 -2.66086965e-03 2.09207428e+02] [-5.09020140e-01 8.60753059e-01 1.63371938e-03 1.78761698e+02] [ 3.12195203e-03 -5.17859928e-05 9.99995125e-01 7.76309450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26028169299997 meters 0.020150198034757306 Centerline is valid? [True, True] Translation: X:209.23, Y:178.75, Z:0.78 [[ 8.59664751e-01 5.10854841e-01 -1.96134205e-03 2.09232129e+02] [-5.10853423e-01 8.59666988e-01 1.20391153e-03 1.78746975e+02] [ 2.30112505e-03 -3.30020036e-05 9.99997352e-01 7.78093746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29028169299994 meters 0.03196968880117311 Centerline is valid? [True, True] Translation: X:209.25, Y:178.73, Z:0.78 [[ 8.58864294e-01 5.12197809e-01 -2.35128050e-03 2.09254098e+02] [-5.12195778e-01 8.58867512e-01 1.44282135e-03 1.78730006e+02] [ 2.75844837e-03 -3.48717969e-05 9.99996195e-01 7.82877179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32028169299997 meters 0.017348195134390454 Centerline is valid? [True, True] Translation: X:209.28, Y:178.72, Z:0.78 [[ 8.58185799e-01 5.13332929e-01 -2.53748327e-03 2.09279052e+02] [-5.13330569e-01 8.58189550e-01 1.55669757e-03 1.78715380e+02] [ 2.97674575e-03 -3.33680195e-05 9.99995569e-01 7.76780787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35028169299994 meters 0.016952861309866365 Centerline is valid? [True, True] Translation: X:209.30, Y:178.70, Z:0.78 [[ 8.57789459e-01 5.13992479e-01 -2.99582099e-03 2.09301645e+02] [-5.13989197e-01 8.57794690e-01 1.83732051e-03 1.78698511e+02] [ 3.51416826e-03 -3.62145393e-05 9.99993825e-01 7.75516523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.380281693 meters 0.016778938772738627 Centerline is valid? [True, True] Translation: X:209.32, Y:178.68, Z:0.77 [[ 8.57752326e-01 5.14048953e-01 -3.82372069e-03 2.09321507e+02] [-5.14043610e-01 8.57760848e-01 2.34422380e-03 1.78678025e+02] [ 4.48488369e-03 -4.52042347e-05 9.99989942e-01 7.73118278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41028169299994 meters 0.0300633536036267 Centerline is valid? [True, True] Translation: X:209.34, Y:178.66, Z:0.78 [[ 8.57970243e-01 5.13683579e-01 -4.03021812e-03 2.09343661e+02] [-5.13677642e-01 8.57979708e-01 2.47023695e-03 1.78659960e+02] [ 4.72676552e-03 -4.91568565e-05 9.99988828e-01 7.78644896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.440281693 meters 0.016332552743894082 Centerline is valid? [True, True] Translation: X:209.37, Y:178.64, Z:0.77 [[ 8.57616837e-01 5.14277946e-01 -3.39931566e-03 2.09365308e+02] [-5.14273728e-01 8.57623573e-01 2.08327871e-03 1.78642232e+02] [ 3.98671754e-03 -3.84761545e-05 9.99992052e-01 7.74807518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47028169299995 meters 0.016124805979386564 Centerline is valid? [True, True] Translation: X:209.39, Y:178.62, Z:0.78 [[ 8.57304264e-01 5.14802990e-01 -2.69818640e-03 2.09387763e+02] [-5.14800335e-01 8.57308510e-01 1.65339496e-03 1.78624986e+02] [ 3.16435083e-03 -2.84352847e-05 9.99994993e-01 7.76958612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.500281693 meters 0.015355381608178256 Centerline is valid? [True, True] Translation: X:209.41, Y:178.61, Z:0.78 [[ 8.57033674e-01 5.15254670e-01 -2.43037782e-03 2.09411060e+02] [-5.15252519e-01 8.57037120e-01 1.48891524e-03 1.78610155e+02] [ 2.85009454e-03 -2.37922004e-05 9.99995938e-01 7.78337496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53028169299995 meters 0.014927540268074978 Centerline is valid? [True, True] Translation: X:209.43, Y:178.59, Z:0.78 [[ 8.56579209e-01 5.16009209e-01 -2.56031954e-03 2.09433953e+02] [-5.16006828e-01 8.56583035e-01 1.56789016e-03 1.78593313e+02] [ 3.00217205e-03 -2.18797463e-05 9.99995493e-01 7.77196958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.560281693 meters 0.014364156821855215 Centerline is valid? [True, True] Translation: X:209.46, Y:178.58, Z:0.78 [[ 8.56280495e-01 5.16505921e-01 -2.31229398e-03 2.09456982e+02] [-5.16503982e-01 8.56283617e-01 1.41549299e-03 1.78577710e+02] [ 2.71108996e-03 -1.77499887e-05 9.99996325e-01 7.76926197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59028169299995 meters 0.01434762813896585 Centerline is valid? [True, True] Translation: X:209.48, Y:178.56, Z:0.78 [[ 8.56232152e-01 5.16584336e-01 -2.66961746e-03 2.09478567e+02] [-5.16581753e-01 8.56236313e-01 1.63361798e-03 1.78561305e+02] [ 3.12972487e-03 -1.96805729e-05 9.99995102e-01 7.76244865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.620281693 meters 0.014586884918549195 Centerline is valid? [True, True] Translation: X:209.50, Y:178.55, Z:0.77 [[ 8.56338121e-01 5.16404508e-01 -3.37744391e-03 2.09500710e+02] [-5.16400375e-01 8.56344781e-01 2.06612568e-03 1.78545279e+02] [ 3.95921308e-03 -2.51888825e-05 9.99992162e-01 7.74237356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65028169299995 meters 0.014050192864537318 Centerline is valid? [True, True] Translation: X:209.53, Y:178.53, Z:0.77 [[ 8.55923880e-01 5.17076517e-01 -5.11745880e-03 2.09525012e+02] [-5.17067048e-01 8.55939177e-01 3.12934333e-03 1.78531725e+02] [ 5.99834342e-03 -3.24103652e-05 9.99982009e-01 7.72358732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.680281693 meters 0.013387255017899455 Centerline is valid? [True, True] Translation: X:209.55, Y:178.52, Z:0.77 [[ 8.55194483e-01 5.18283263e-01 -4.98558207e-03 2.09550278e+02] [-5.18274300e-01 8.55209015e-01 3.04811102e-03 1.78518886e+02] [ 5.84349966e-03 -2.28286709e-05 9.99982926e-01 7.73590359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71028169299996 meters 0.012349212171456075 Centerline is valid? [True, True] Translation: X:209.58, Y:178.51, Z:0.78 [[ 8.54217910e-01 5.19899904e-01 -3.98159676e-03 2.09576160e+02] [-5.19894208e-01 8.54227189e-01 2.43363411e-03 1.78506860e+02] [ 4.66643435e-03 -8.84475075e-06 9.99989112e-01 7.75910214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.740281693 meters 0.012034506055114379 Centerline is valid? [True, True] Translation: X:209.60, Y:178.49, Z:0.78 [[ 8.53220133e-01 5.21544463e-01 -2.60353327e-03 2.09601600e+02] [-5.21542036e-01 8.53224105e-01 1.59081623e-03 1.78494548e+02] [ 3.05107874e-03 5.35609965e-07 9.99995345e-01 7.78396212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77028169299996 meters 0.01239793007192308 Centerline is valid? [True, True] Translation: X:209.63, Y:178.48, Z:0.78 [[ 8.51874289e-01 5.23743192e-01 -1.80688626e-03 2.09626657e+02] [-5.23742028e-01 8.51876205e-01 1.10376680e-03 1.78482654e+02] [ 2.11733376e-03 6.07172291e-06 9.99997758e-01 7.78756405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.800281693 meters 0.012748855647772762 Centerline is valid? [True, True] Translation: X:209.65, Y:178.47, Z:0.78 [[ 8.51597333e-01 5.24188178e-01 -2.95579002e-03 2.09651127e+02] [-5.24185070e-01 8.51602463e-01 1.80500078e-03 1.78468831e+02] [ 3.46331813e-03 1.22471437e-05 9.99994003e-01 7.76586445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83028169299996 meters 0.013319978778332114 Centerline is valid? [True, True] Translation: X:209.68, Y:178.46, Z:0.77 [[ 8.51169844e-01 5.24873805e-01 -4.16970124e-03 2.09675770e+02] [-5.24867632e-01 8.51180057e-01 2.54557677e-03 1.78455079e+02] [ 4.88527310e-03 2.18230386e-05 9.99988067e-01 7.74632770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86028169299993 meters 0.014086557768036493 Centerline is valid? [True, True] Translation: X:209.70, Y:178.44, Z:0.77 [[ 8.50595338e-01 5.25798388e-01 -4.86076042e-03 2.09701460e+02] [-5.25790020e-01 8.50609225e-01 2.96654716e-03 1.78441711e+02] [ 5.69441337e-03 3.24081392e-05 9.99983786e-01 7.73266332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89028169299996 meters 0.015383660267763128 Centerline is valid? [True, True] Translation: X:209.73, Y:178.43, Z:0.77 [[ 8.49525803e-01 5.27522223e-01 -5.12002986e-03 2.09727373e+02] [-5.27512974e-01 8.49541230e-01 3.12415788e-03 1.78429824e+02] [ 5.99773918e-03 4.68294476e-05 9.99982012e-01 7.73511449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92028169299994 meters 0.01874364898596111 Centerline is valid? [True, True] Translation: X:209.76, Y:178.42, Z:0.78 [[ 8.47008974e-01 5.31563878e-01 -3.95504920e-03 2.09756285e+02] [-5.31558406e-01 8.47018206e-01 2.41262711e-03 1.78422331e+02] [ 4.63246410e-03 5.88228337e-05 9.99989268e-01 7.75890568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95028169299997 meters 0.02149591912454738 Centerline is valid? [True, True] Translation: X:209.78, Y:178.41, Z:0.78 [[ 8.45915358e-01 5.33306113e-01 -3.43465540e-03 2.09782963e+02] [-5.33302002e-01 8.45922329e-01 2.09470941e-03 1.78413424e+02] [ 4.02257303e-03 5.97617407e-05 9.99991908e-01 7.76306276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98028169299994 meters 0.02243848000919321 Centerline is valid? [True, True] Translation: X:209.81, Y:178.40, Z:0.78 [[ 8.45062365e-01 5.34660751e-01 -2.73507770e-03 2.09809403e+02] [-5.34658153e-01 8.45066790e-01 1.66763884e-03 1.78401120e+02] [ 3.20294437e-03 5.30727693e-05 9.99994869e-01 7.77446092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01028169299997 meters 0.02418817052867954 Centerline is valid? [True, True] Translation: X:209.84, Y:178.39, Z:0.78 [[ 8.44213806e-01 5.36000561e-01 -2.53946323e-03 2.09835960e+02] [-5.35998329e-01 8.44217623e-01 1.54781949e-03 1.78389581e+02] [ 2.97349173e-03 5.44574598e-05 9.99995578e-01 7.78042342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04028169299994 meters 0.025715942428440938 Centerline is valid? [True, True] Translation: X:209.86, Y:178.38, Z:0.78 [[ 8.43081166e-01 5.37776785e-01 -3.20572755e-03 2.09862791e+02] [-5.37773243e-01 8.43087258e-01 1.95337784e-03 1.78379195e+02] [ 3.75318930e-03 7.70984333e-05 9.99992954e-01 7.77620369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07028169299997 meters 0.027829633302215787 Centerline is valid? [True, True] Translation: X:209.89, Y:178.37, Z:0.78 [[ 8.43277882e-01 5.37467027e-01 -3.40709591e-03 2.09889410e+02] [-5.37463025e-01 8.43284761e-01 2.07579530e-03 1.78368535e+02] [ 3.98882358e-03 8.07158083e-05 9.99992041e-01 7.76460833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10028169299994 meters 0.026677702629309567 Centerline is valid? [True, True] Translation: X:209.91, Y:178.35, Z:0.78 [[ 8.43904042e-01 5.36483894e-01 -3.31660071e-03 2.09914083e+02] [-5.36480095e-01 8.43910556e-01 2.02016119e-03 1.78352746e+02] [ 3.88269829e-03 7.44680731e-05 9.99992460e-01 7.76412491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.130281693 meters 0.025454958001717497 Centerline is valid? [True, True] Translation: X:209.94, Y:178.34, Z:0.78 [[ 8.44860871e-01 5.34976173e-01 -3.25615769e-03 2.09937144e+02] [-5.34972502e-01 8.44867143e-01 1.98293423e-03 1.78337013e+02] [ 3.81184321e-03 6.66512881e-05 9.99992733e-01 7.75615385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16028169299994 meters 0.02299279825873181 Centerline is valid? [True, True] Translation: X:209.96, Y:178.32, Z:0.78 [[ 8.46127584e-01 5.32970491e-01 -3.25072822e-03 2.09960222e+02] [-5.32966819e-01 8.46133827e-01 1.97914897e-03 1.78318667e+02] [ 3.80537911e-03 5.79177457e-05 9.99992758e-01 7.75072638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.190281693 meters 0.017909644190013802 Centerline is valid? [True, True] Translation: X:209.98, Y:178.30, Z:0.77 [[ 8.48375881e-01 5.29377830e-01 -4.18070660e-03 2.09981094e+02] [-5.29371716e-01 8.48386180e-01 2.54482563e-03 1.78297253e+02] [ 4.89402797e-03 5.41791443e-05 9.99988023e-01 7.74054402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22028169299995 meters 0.017885492597261778 Centerline is valid? [True, True] Translation: X:210.00, Y:178.28, Z:0.77 [[ 8.48996323e-01 5.28381539e-01 -4.26523258e-03 2.10004831e+02] [-5.28375164e-01 8.49007036e-01 2.59595925e-03 1.78283564e+02] [ 4.99286941e-03 4.96831044e-05 9.99987534e-01 7.73940740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.250281693 meters 0.01730935664794246 Centerline is valid? [True, True] Translation: X:210.03, Y:178.27, Z:0.78 [[ 8.49426685e-01 5.27691680e-01 -3.97456138e-03 2.10029029e+02] [-5.27686140e-01 8.49435983e-01 2.41839648e-03 1.78268076e+02] [ 4.65230315e-03 4.30704490e-05 9.99989177e-01 7.75201627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28028169299995 meters 0.016695762977630098 Centerline is valid? [True, True] Translation: X:210.05, Y:178.25, Z:0.78 [[ 8.49432513e-01 5.27694295e-01 -1.77117309e-03 2.10052842e+02] [-5.27693196e-01 8.49434359e-01 1.07747215e-03 1.78252761e+02] [ 2.07307119e-03 1.93961092e-05 9.99997851e-01 7.81163065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.310281693 meters 0.016474587993456493 Centerline is valid? [True, True] Translation: X:210.08, Y:178.24, Z:0.78 [[ 8.49425981e-01 5.27706839e-01 -9.97840236e-04 2.10077066e+02] [-5.27706490e-01 8.49426567e-01 6.06924444e-04 1.78238827e+02] [ 1.16787019e-03 1.10293768e-05 9.99999318e-01 7.83067780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34028169299995 meters 0.01640481143958841 Centerline is valid? [True, True] Translation: X:210.10, Y:178.23, Z:0.78 [[ 8.49595371e-01 5.27434557e-01 -7.02267245e-04 2.10100672e+02] [-5.27434384e-01 8.49595661e-01 4.27015349e-04 1.78226145e+02] [ 8.21865856e-04 7.60962853e-06 9.99999662e-01 7.83070805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.370281693 meters 0.01614310666591311 Centerline is valid? [True, True] Translation: X:210.13, Y:178.21, Z:0.78 [[ 8.49937674e-01 5.26881777e-01 -1.24273490e-03 2.10125401e+02] [-5.26881235e-01 8.49938582e-01 7.55258108e-04 1.78212090e+02] [ 1.45418007e-03 1.28513795e-05 9.99998943e-01 7.81575240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40028169299995 meters 0.015611999030016522 Centerline is valid? [True, True] Translation: X:210.15, Y:178.20, Z:0.78 [[ 8.50377823e-01 5.26168271e-01 -2.12334685e-03 2.10149210e+02] [-5.26166691e-01 8.50380474e-01 1.28966066e-03 1.78197382e+02] [ 2.48423122e-03 2.05355616e-05 9.99996914e-01 7.79789464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.430281693 meters 0.014336959076048067 Centerline is valid? [True, True] Translation: X:210.17, Y:178.18, Z:0.78 [[ 8.51619541e-01 5.24149579e-01 -3.37298404e-03 2.10172577e+02] [-5.24145578e-01 8.51626220e-01 2.04794889e-03 1.78182404e+02] [ 3.94595320e-03 2.38613816e-05 9.99992214e-01 7.77197292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46028169299996 meters 0.013263594677406643 Centerline is valid? [True, True] Translation: X:210.20, Y:178.17, Z:0.78 [[ 8.52629670e-01 5.22504152e-01 -3.47250714e-03 2.10196753e+02] [-5.22499900e-01 8.52636741e-01 2.10783564e-03 1.78165713e+02] [ 4.06214004e-03 1.71814294e-05 9.99991749e-01 7.76727050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.490281693 meters 0.012584706786236808 Centerline is valid? [True, True] Translation: X:210.22, Y:178.15, Z:0.78 [[ 8.53605676e-01 5.20907857e-01 -3.51494831e-03 2.10219482e+02] [-5.20903491e-01 8.53612913e-01 2.13276577e-03 1.78149590e+02] [ 4.11137971e-03 1.04078768e-05 9.99991548e-01 7.76580589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52028169299996 meters 0.012237823384773474 Centerline is valid? [True, True] Translation: X:210.24, Y:178.13, Z:0.78 [[ 8.54499927e-01 5.19437559e-01 -3.80743089e-03 2.10241093e+02] [-5.19432424e-01 8.54508410e-01 2.30958675e-03 1.78134078e+02] [ 4.45316782e-03 4.16134721e-06 9.99990085e-01 7.76070218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.550281693 meters 0.01233850853820064 Centerline is valid? [True, True] Translation: X:210.26, Y:178.12, Z:0.78 [[ 8.55471464e-01 5.17833911e-01 -4.07615423e-03 2.10263653e+02] [-5.17828011e-01 8.55481175e-01 2.47174193e-03 1.78117692e+02] [ 4.76702500e-03 -3.75784803e-06 9.99988638e-01 7.75861953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58028169299996 meters 0.012704468128531697 Centerline is valid? [True, True] Translation: X:210.29, Y:178.10, Z:0.78 [[ 8.56514689e-01 5.16105309e-01 -4.23062309e-03 2.10286116e+02] [-5.16098936e-01 8.56525137e-01 2.56482719e-03 1.78101730e+02] [ 4.94735594e-03 -1.33920870e-05 9.99987762e-01 7.76073694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61028169299993 meters 0.012533729937319521 Centerline is valid? [True, True] Translation: X:210.31, Y:178.09, Z:0.78 [[ 8.56610204e-01 5.15948031e-01 -4.07283952e-03 2.10311057e+02] [-5.15942126e-01 8.56619886e-01 2.46834830e-03 1.78088644e+02] [ 4.76241477e-03 -1.30628632e-05 9.99988660e-01 7.76519626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64028169299996 meters 0.01241276375318772 Centerline is valid? [True, True] Translation: X:210.34, Y:178.08, Z:0.78 [[ 8.56218995e-01 5.16599801e-01 -3.69835682e-03 2.10335256e+02] [-5.16594941e-01 8.56226982e-01 2.24079652e-03 1.78076026e+02] [ 4.32422793e-03 -8.06011921e-06 9.99990650e-01 7.76225702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67028169299994 meters 0.012210650802355812 Centerline is valid? [True, True] Translation: X:210.36, Y:178.06, Z:0.78 [[ 8.55919190e-01 5.17099935e-01 -3.16197702e-03 2.10360911e+02] [-5.17096388e-01 8.55925030e-01 1.91520511e-03 1.78063484e+02] [ 3.69676771e-03 -4.21390698e-06 9.99993167e-01 7.77577692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70028169299997 meters 0.012082210319852571 Centerline is valid? [True, True] Translation: X:210.39, Y:178.05, Z:0.78 [[ 8.55399355e-01 5.17963069e-01 -2.49041837e-03 2.10386323e+02] [-5.17960875e-01 8.55402980e-01 1.50786455e-03 1.78051220e+02] [ 2.91132945e-03 1.12916879e-07 9.99995762e-01 7.79050196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73028169299994 meters 0.012209173878471763 Centerline is valid? [True, True] Translation: X:210.41, Y:178.04, Z:0.78 [[ 8.55467348e-01 5.17845718e-01 -3.38067364e-03 2.10409415e+02] [-5.17841675e-01 8.55474028e-01 2.04616459e-03 1.78036372e+02] [ 3.95167607e-03 2.26701328e-07 9.99992192e-01 7.76797709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76028169299997 meters 0.0124364715580849 Centerline is valid? [True, True] Translation: X:210.43, Y:178.02, Z:0.77 [[ 8.55929796e-01 5.17072449e-01 -4.50188006e-03 2.10432755e+02] [-5.17065275e-01 8.55941635e-01 2.72376113e-03 1.78020135e+02] [ 5.26172841e-03 -3.58245712e-06 9.99986157e-01 7.74879461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79028169299994 meters 0.0124364715580849 Centerline is valid? [True, True] Translation: X:210.46, Y:178.01, Z:0.77 [[ 8.56027645e-01 5.16910436e-01 -4.50239485e-03 2.10456376e+02] [-5.16903264e-01 8.56039486e-01 2.72291002e-03 1.78006082e+02] [ 5.26172838e-03 -3.58365873e-06 9.99986157e-01 7.74923027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82028169299997 meters 0.012782378990511267 Centerline is valid? [True, True] Translation: X:210.48, Y:177.99, Z:0.77 [[ 8.56497590e-01 5.16119471e-01 -5.70702296e-03 2.10478799e+02] [-5.16107937e-01 8.56516603e-01 3.45056869e-03 1.77990312e+02] [ 6.66906560e-03 -9.96392134e-06 9.99977762e-01 7.72407254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85028169299994 meters 0.013055064627070201 Centerline is valid? [True, True] Translation: X:210.50, Y:177.98, Z:0.77 [[ 8.57049353e-01 5.15197783e-01 -6.13601926e-03 2.10502249e+02] [-5.15184436e-01 8.57071318e-01 3.70859311e-03 1.77975250e+02] [ 7.16966506e-03 -1.72657053e-05 9.99974298e-01 7.72087608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.880281693 meters 0.012850038762682791 Centerline is valid? [True, True] Translation: X:210.53, Y:177.96, Z:0.77 [[ 8.56953141e-01 5.15367448e-01 -5.26373592e-03 2.10526354e+02] [-5.15357634e-01 8.56969307e-01 3.18062580e-03 1.77961182e+02] [ 6.15005113e-03 -1.29407828e-05 9.99981088e-01 7.73614260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91028169299994 meters 0.012594138870273384 Centerline is valid? [True, True] Translation: X:210.55, Y:177.95, Z:0.78 [[ 8.56907917e-01 5.15454772e-01 -3.89870494e-03 2.10550315e+02] [-5.15449392e-01 8.56916786e-01 2.35505542e-03 1.77947295e+02] [ 4.55479026e-03 -8.48054080e-06 9.99989627e-01 7.76553378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.940281693 meters 0.012335242423379005 Centerline is valid? [True, True] Translation: X:210.57, Y:177.93, Z:0.78 [[ 8.56860731e-01 5.15542149e-01 -2.44551643e-03 2.10574964e+02] [-5.15540034e-01 8.56864220e-01 1.47676236e-03 1.77933212e+02] [ 2.85680878e-03 -4.61805244e-06 9.99995919e-01 7.79250295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97028169299995 meters 0.012291930041547286 Centerline is valid? [True, True] Translation: X:210.60, Y:177.92, Z:0.78 [[ 8.56944696e-01 5.15404732e-01 -1.93644614e-03 2.10598876e+02] [-5.15403406e-01 8.56946884e-01 1.16893922e-03 1.77919598e+02] [ 2.26190829e-03 -3.66532896e-06 9.99997442e-01 7.80706560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.000281693 meters 0.012357634978735502 Centerline is valid? [True, True] Translation: X:210.62, Y:177.91, Z:0.78 [[ 8.56722901e-01 5.15766526e-01 -3.28061897e-03 2.10623521e+02] [-5.15762728e-01 8.56729182e-01 1.97926976e-03 1.77906728e+02] [ 3.83144310e-03 -3.66474186e-06 9.99992660e-01 7.77247344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03028169299995 meters 0.012505328829549028 Centerline is valid? [True, True] Translation: X:210.65, Y:177.89, Z:0.78 [[ 8.56687976e-01 5.15819927e-01 -3.93872160e-03 2.10647313e+02] [-5.15814459e-01 8.56697031e-01 2.37523330e-03 1.77892411e+02] [ 4.59948377e-03 -3.18426119e-06 9.99989422e-01 7.75490192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.060281693 meters 0.012540575143803594 Centerline is valid? [True, True] Translation: X:210.67, Y:177.88, Z:0.78 [[ 8.56931823e-01 5.15411791e-01 -4.30543563e-03 2.10670392e+02] [-5.15405256e-01 8.56942639e-01 2.59547892e-03 1.77877535e+02] [ 5.02725181e-03 -5.10432944e-06 9.99987363e-01 7.75115669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09028169299995 meters 0.012842552170349615 Centerline is valid? [True, True] Translation: X:210.69, Y:177.86, Z:0.78 [[ 8.57959477e-01 5.13704491e-01 -3.63741652e-03 2.10693073e+02] [-5.13699815e-01 8.57967188e-01 2.19202788e-03 1.77860319e+02] [ 4.24683859e-03 -1.21309009e-05 9.99990982e-01 7.76305840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.120281693 meters 0.013105395497916153 Centerline is valid? [True, True] Translation: X:210.71, Y:177.84, Z:0.78 [[ 8.58441844e-01 5.12902503e-01 -2.93642316e-03 2.10714808e+02] [-5.12899452e-01 8.58446866e-01 1.76915008e-03 1.77844323e+02] [ 3.42816477e-03 -1.26226261e-05 9.99994124e-01 7.77616306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15028169299995 meters 0.013264183133095362 Centerline is valid? [True, True] Translation: X:210.74, Y:177.83, Z:0.78 [[ 8.58798764e-01 5.12307995e-01 -2.28041254e-03 2.10738013e+02] [-5.12306154e-01 8.58801792e-01 1.37356618e-03 1.77829022e+02] [ 2.66211131e-03 -1.13475613e-05 9.99996457e-01 7.78549505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.180281693 meters 0.013044329619737343 Centerline is valid? [True, True] Translation: X:210.76, Y:177.81, Z:0.78 [[ 8.58752621e-01 5.12384429e-01 -2.47639515e-03 2.10762006e+02] [-5.12382260e-01 8.58756191e-01 1.49095753e-03 1.77814834e+02] [ 2.89056309e-03 -1.15027455e-05 9.99995822e-01 7.77955809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21028169299996 meters 0.01301142305567682 Centerline is valid? [True, True] Translation: X:210.79, Y:177.80, Z:0.77 [[ 8.58326700e-01 5.13089875e-01 -3.74923092e-03 2.10785480e+02] [-5.13084913e-01 8.58334888e-01 2.25649631e-03 1.77802094e+02] [ 4.37588111e-03 -1.31372109e-05 9.99990426e-01 7.74909236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.240281693 meters 0.012817191130691795 Centerline is valid? [True, True] Translation: X:210.81, Y:177.79, Z:0.77 [[ 8.57551630e-01 5.14372602e-01 -5.10178213e-03 2.10811376e+02] [-5.14363444e-01 8.57566806e-01 3.06940587e-03 1.77790941e+02] [ 5.95393729e-03 -8.00377739e-06 9.99982275e-01 7.72655128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27028169299996 meters 0.01326559400116371 Centerline is valid? [True, True] Translation: X:210.84, Y:177.79, Z:0.77 [[ 8.55425163e-01 5.17892888e-01 -5.89471452e-03 2.10841979e+02] [-5.17880754e-01 8.55445473e-01 3.54508221e-03 1.77785612e+02] [ 6.87857971e-03 2.02066743e-05 9.99976342e-01 7.72021049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.300281693 meters 0.013586741195586357 Centerline is valid? [True, True] Translation: X:210.87, Y:177.77, Z:0.77 [[ 8.54838332e-01 5.18866757e-01 -5.35851959e-03 2.10867799e+02] [-5.18856758e-01 8.54855127e-01 3.22131326e-03 1.77774823e+02] [ 6.25219030e-03 2.66020452e-05 9.99980455e-01 7.73802753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33028169299996 meters 0.01352180937964561 Centerline is valid? [True, True] Translation: X:210.89, Y:177.76, Z:0.78 [[ 8.54644498e-01 5.19193555e-01 -4.56449150e-03 2.10892598e+02] [-5.19186310e-01 8.54656687e-01 2.74282110e-03 1.77762378e+02] [ 5.32512822e-03 2.56845417e-05 9.99985821e-01 7.75365023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36028169299993 meters 0.013967139193547815 Centerline is valid? [True, True] Translation: X:210.92, Y:177.75, Z:0.78 [[ 8.54663349e-01 5.19164120e-01 -4.37905895e-03 2.10917008e+02] [-5.19157456e-01 8.54674567e-01 2.63069313e-03 1.77750280e+02] [ 5.10843180e-03 2.50641045e-05 9.99986952e-01 7.75103973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39028169299996 meters 0.013039702419180035 Centerline is valid? [True, True] Translation: X:210.94, Y:177.73, Z:0.78 [[ 8.55655988e-01 5.17526399e-01 -4.38821555e-03 2.10939837e+02] [-5.17519690e-01 8.55667240e-01 2.63525523e-03 1.77734711e+02] [ 5.11866643e-03 1.61160347e-05 9.99986899e-01 7.76071563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42028169299994 meters 0.012580697288710141 Centerline is valid? [True, True] Translation: X:210.96, Y:177.72, Z:0.78 [[ 8.56667049e-01 5.15854488e-01 -3.96422502e-03 2.10963038e+02] [-5.15848997e-01 8.56676221e-01 2.38011228e-03 1.77719326e+02] [ 4.62384891e-03 5.97774129e-06 9.99989310e-01 7.77164054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45028169299997 meters 0.01246572510019734 Centerline is valid? [True, True] Translation: X:210.99, Y:177.70, Z:0.78 [[ 8.57921269e-01 5.13770972e-01 -3.23794080e-03 2.10985438e+02] [-5.13767295e-01 8.57927380e-01 1.94363990e-03 1.77704101e+02] [ 3.77650382e-03 -3.94192433e-06 9.99992869e-01 7.78561766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48028169299994 meters 0.01283237321433147 Centerline is valid? [True, True] Translation: X:211.01, Y:177.69, Z:0.78 [[ 8.59134940e-01 5.11741600e-01 -2.77313642e-03 2.11009597e+02] [-5.11738894e-01 8.59139415e-01 1.66406118e-03 1.77689043e+02] [ 3.23408013e-03 -1.05313351e-05 9.99994770e-01 7.79650547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51028169299997 meters 0.013869703524950844 Centerline is valid? [True, True] Translation: X:211.03, Y:177.67, Z:0.78 [[ 8.60217192e-01 5.09919803e-01 -2.85957989e-03 2.11032345e+02] [-5.09916918e-01 8.60221945e-01 1.71544495e-03 1.77673368e+02] [ 3.33461272e-03 -1.75070750e-05 9.99994440e-01 7.78980299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54028169299994 meters 0.015637511354238236 Centerline is valid? [True, True] Translation: X:211.06, Y:177.66, Z:0.78 [[ 8.61902923e-01 5.07052715e-01 -4.57125027e-03 2.11056454e+02] [-5.07045306e-01 8.61915044e-01 2.74135793e-03 1.77657491e+02] [ 5.33004235e-03 -4.49534235e-05 9.99985794e-01 7.75978452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57028169299997 meters 0.016696650231360056 Centerline is valid? [True, True] Translation: X:211.08, Y:177.64, Z:0.78 [[ 8.62584426e-01 5.05888544e-01 -4.98892391e-03 2.11079143e+02] [-5.05879704e-01 8.62598851e-01 2.99120488e-03 1.77642008e+02] [ 5.81665632e-03 -5.63713932e-05 9.99983082e-01 7.75372451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60028169299994 meters 0.018157106738305194 Centerline is valid? [True, True] Translation: X:211.10, Y:177.63, Z:0.78 [[ 8.63146655e-01 5.04931872e-01 -4.65373855e-03 2.11101505e+02] [-5.04924168e-01 8.63159198e-01 2.78987436e-03 1.77625908e+02] [ 5.42561372e-03 -5.82856569e-05 9.99985280e-01 7.76353944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.630281693 meters 0.019270109690984284 Centerline is valid? [True, True] Translation: X:211.12, Y:177.61, Z:0.78 [[ 8.63806663e-01 5.03807809e-01 -3.96746826e-03 2.11124668e+02] [-5.03802199e-01 8.63815772e-01 2.37807097e-03 1.77610475e+02] [ 4.62525238e-03 -5.53743175e-05 9.99989302e-01 7.78321636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66028169299994 meters 0.023478475159480042 Centerline is valid? [True, True] Translation: X:211.15, Y:177.59, Z:0.78 [[ 8.65793520e-01 5.00392465e-01 -2.99366649e-03 2.11145836e+02] [-5.00389252e-01 8.65798694e-01 1.79407801e-03 1.77592235e+02] [ 3.48965565e-03 -5.53025826e-05 9.99993910e-01 7.80053650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.690281693 meters 0.023273309111588883 Centerline is valid? [True, True] Translation: X:211.17, Y:177.58, Z:0.78 [[ 8.66900840e-01 4.98471268e-01 -3.05431195e-03 2.11170580e+02] [-4.98467912e-01 8.66906218e-01 1.83012790e-03 1.77578516e+02] [ 3.56006820e-03 -6.40629187e-05 9.99993661e-01 7.80007401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72028169299995 meters 0.025364664207376333 Centerline is valid? [True, True] Translation: X:211.19, Y:177.56, Z:0.78 [[ 8.68113901e-01 4.96354484e-01 -3.23743621e-03 2.11193780e+02] [-4.96350702e-01 8.68119934e-01 1.93931723e-03 1.77561413e+02] [ 3.77307171e-03 -7.66445160e-05 9.99992879e-01 7.79443300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.750281693 meters 0.028510721740103957 Centerline is valid? [True, True] Translation: X:211.22, Y:177.54, Z:0.78 [[ 8.69368364e-01 4.94154609e-01 -3.14160753e-03 2.11215188e+02] [-4.94151034e-01 8.69374037e-01 1.88140229e-03 1.77543072e+02] [ 3.66093563e-03 -8.32030155e-05 9.99993295e-01 7.79437355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78028169299995 meters 0.033107406729961764 Centerline is valid? [True, True] Translation: X:211.24, Y:177.52, Z:0.78 [[ 8.72391073e-01 4.88798652e-01 -3.11339114e-03 2.11236722e+02] [-4.88795108e-01 8.72396622e-01 1.86428764e-03 1.77520411e+02] [ 3.62737320e-03 -1.04577534e-04 9.99993416e-01 7.79836017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.810281693 meters 0.0390739708887085 Centerline is valid? [True, True] Translation: X:211.26, Y:177.50, Z:0.78 [[ 8.74051894e-01 4.85822255e-01 -3.16596712e-03 2.11255855e+02] [-4.85818571e-01 8.74057620e-01 1.89563990e-03 1.77496705e+02] [ 3.68818174e-03 -1.18802028e-04 9.99993192e-01 7.79689399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84028169299995 meters 0.04110452952543008 Centerline is valid? [True, True] Translation: X:211.28, Y:177.48, Z:0.78 [[ 8.75536202e-01 4.83142783e-01 -3.06765597e-03 2.11277490e+02] [-4.83139308e-01 8.75541567e-01 1.83663156e-03 1.77476436e+02] [ 3.57321560e-03 -1.25932236e-04 9.99993608e-01 7.80282489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.870281693 meters 0.04291827774753645 Centerline is valid? [True, True] Translation: X:211.30, Y:177.46, Z:0.78 [[ 8.76965628e-01 4.80545227e-01 -2.75192919e-03 2.11299424e+02] [-4.80542418e-01 8.76969937e-01 1.64748005e-03 1.77456263e+02] [ 3.20504784e-03 -1.22364670e-04 9.99994856e-01 7.81096772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90028169299995 meters 0.046522581277616125 Centerline is valid? [True, True] Translation: X:211.32, Y:177.43, Z:0.78 [[ 8.77965629e-01 4.78716455e-01 -2.62875073e-03 2.11319883e+02] [-4.78713884e-01 8.77969556e-01 1.57361616e-03 1.77434548e+02] [ 3.06127906e-03 -1.23161423e-04 9.99995307e-01 7.81816210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.930281693 meters 0.04726201170810848 Centerline is valid? [True, True] Translation: X:211.34, Y:177.42, Z:0.78 [[ 8.78684223e-01 4.77395316e-01 -2.78378254e-03 2.11343371e+02] [-4.77392427e-01 8.78688622e-01 1.66630790e-03 1.77416380e+02] [ 3.24156563e-03 -1.35201762e-04 9.99994737e-01 7.82096383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96028169299996 meters 0.04922368577815941 Centerline is valid? [True, True] Translation: X:211.36, Y:177.39, Z:0.78 [[ 8.79318323e-01 4.76222015e-01 -3.44662633e-03 2.11364269e+02] [-4.76217578e-01 8.79325061e-01 2.06291972e-03 1.77394495e+02] [ 4.01311269e-03 -1.72619063e-04 9.99991933e-01 7.80347152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.990281693 meters 0.04864556463651337 Centerline is valid? [True, True] Translation: X:211.39, Y:177.38, Z:0.78 [[ 8.79378074e-01 4.76112691e-01 -3.30287557e-03 2.11386571e+02] [-4.76108618e-01 8.79384261e-01 1.97632839e-03 1.77377531e+02] [ 3.84545182e-03 -1.65412330e-04 9.99992593e-01 7.79891224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02028169299996 meters 0.04973045251510232 Centerline is valid? [True, True] Translation: X:211.41, Y:177.36, Z:0.78 [[ 8.79459752e-01 4.75962519e-01 -3.19752579e-03 2.11407549e+02] [-4.75958702e-01 8.79465551e-01 1.91281487e-03 1.77358030e+02] [ 3.72254197e-03 -1.60353463e-04 9.99993058e-01 7.79977337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.050281693 meters 0.049448810443332325 Centerline is valid? [True, True] Translation: X:211.43, Y:177.34, Z:0.78 [[ 8.79509271e-01 4.75872426e-01 -2.97930748e-03 2.11427923e+02] [-4.75869114e-01 8.79514305e-01 1.78179488e-03 1.77336596e+02] [ 3.46825059e-03 -1.49344705e-04 9.99993974e-01 7.80862749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08028169299996 meters 0.04795970426051666 Centerline is valid? [True, True] Translation: X:211.45, Y:177.32, Z:0.78 [[ 8.79285052e-01 4.76285225e-01 -3.19097977e-03 2.11451823e+02] [-4.76281431e-01 8.79290828e-01 1.90764096e-03 1.77320089e+02] [ 3.71438045e-03 -1.57555770e-04 9.99993089e-01 7.80978639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11028169299993 meters 0.04987026424154406 Centerline is valid? [True, True] Translation: X:211.47, Y:177.30, Z:0.78 [[ 8.78865770e-01 4.77058651e-01 -3.16254192e-03 2.11472395e+02] [-4.77054931e-01 8.78871447e-01 1.89013405e-03 1.77300006e+02] [ 3.68117259e-03 -1.52467897e-04 9.99993213e-01 7.80337400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14028169299996 meters 0.04829674585424002 Centerline is valid? [True, True] Translation: X:211.50, Y:177.28, Z:0.78 [[ 8.78433074e-01 4.77856079e-01 -2.98368182e-03 2.11496544e+02] [-4.77852774e-01 8.78438130e-01 1.78273875e-03 1.77283741e+02] [ 3.47287242e-03 -1.40256043e-04 9.99993960e-01 7.80766177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17028169299994 meters 0.04631567098176854 Centerline is valid? [True, True] Translation: X:211.52, Y:177.27, Z:0.78 [[ 8.77138390e-01 4.80232301e-01 -2.27643527e-03 2.11519453e+02] [-4.80230386e-01 8.77141338e-01 1.35991035e-03 1.77265180e+02] [ 2.64982836e-03 -9.96161888e-05 9.99996484e-01 7.82417498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20028169299997 meters 0.04523307719624409 Centerline is valid? [True, True] Translation: X:211.54, Y:177.25, Z:0.78 [[ 8.76151829e-01 4.82028883e-01 -2.47532982e-03 2.11543325e+02] [-4.82026626e-01 8.76155320e-01 1.47864376e-03 1.77248594e+02] [ 2.88152239e-03 -1.02341558e-04 9.99995843e-01 7.82658710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23028169299994 meters 0.04006803692135289 Centerline is valid? [True, True] Translation: X:211.57, Y:177.24, Z:0.78 [[ 8.74765976e-01 4.84536127e-01 -3.03780205e-03 2.11570613e+02] [-4.84532743e-01 8.74771243e-01 1.81452887e-03 1.77236362e+02] [ 3.53658667e-03 -1.15373555e-04 9.99993740e-01 7.81530099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26028169299997 meters 0.03212271861183513 Centerline is valid? [True, True] Translation: X:211.60, Y:177.22, Z:0.78 [[ 8.71283819e-01 4.90753865e-01 -5.01498491e-03 2.11598859e+02] [-4.90744746e-01 8.71298239e-01 2.99542730e-03 1.77224475e+02] [ 5.83956505e-03 -1.48789845e-04 9.99982939e-01 7.77141178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29028169299994 meters 0.028974127525368525 Centerline is valid? [True, True] Translation: X:211.62, Y:177.21, Z:0.78 [[ 8.69729765e-01 4.93500537e-01 -5.23027196e-03 2.11623997e+02] [-4.93490669e-01 8.69745481e-01 3.12376481e-03 1.77210912e+02] [ 6.09058501e-03 -1.35740824e-04 9.99981443e-01 7.76279164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32028169299997 meters 0.025120489819882002 Centerline is valid? [True, True] Translation: X:211.65, Y:177.20, Z:0.78 [[ 8.68481538e-01 4.95697104e-01 -4.91934026e-03 2.11649648e+02] [-4.95688412e-01 8.68495462e-01 2.93775306e-03 1.77197824e+02] [ 5.72866037e-03 -1.12924334e-04 9.99983585e-01 7.77402857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35028169299994 meters 0.022815878758090692 Centerline is valid? [True, True] Translation: X:211.67, Y:177.18, Z:0.78 [[ 8.66650634e-01 4.98903710e-01 -3.43037100e-03 2.11671617e+02] [-4.98899509e-01 8.66657420e-01 2.04836925e-03 1.77179134e+02] [ 3.99489550e-03 -6.38101041e-05 9.99992018e-01 7.80688754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.380281693 meters 0.02157585835022648 Centerline is valid? [True, True] Translation: X:211.69, Y:177.16, Z:0.78 [[ 8.65932269e-01 5.00154401e-01 -2.62309115e-03 2.11694921e+02] [-5.00151951e-01 8.65936241e-01 1.56615525e-03 1.77163812e+02] [ 3.05474913e-03 -4.42402075e-05 9.99995333e-01 7.82479992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41028169299994 meters 0.019193729363389256 Centerline is valid? [True, True] Translation: X:211.72, Y:177.15, Z:0.78 [[ 8.65361771e-01 5.01144457e-01 -1.79978523e-03 2.11720346e+02] [-5.01143306e-01 8.65363642e-01 1.07441596e-03 1.77149964e+02] [ 2.09590630e-03 -2.78081807e-05 9.99997803e-01 7.84202603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.440281693 meters 0.018757654625285215 Centerline is valid? [True, True] Translation: X:211.74, Y:177.13, Z:0.78 [[ 8.64593572e-01 5.02469430e-01 -1.55817514e-03 2.11743317e+02] [-5.02468570e-01 8.64594975e-01 9.29897808e-04 1.77133606e+02] [ 1.81443562e-03 -2.10496301e-05 9.99998354e-01 7.84487268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47028169299995 meters 0.01653511896370662 Centerline is valid? [True, True] Translation: X:211.77, Y:177.12, Z:0.78 [[ 8.63735022e-01 5.03942033e-01 -2.05892979e-03 2.11766029e+02] [-5.03940536e-01 8.63737476e-01 1.22843840e-03 1.77115667e+02] [ 2.39743657e-03 -2.34670881e-05 9.99997126e-01 7.82911296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.500281693 meters 0.016340647291651165 Centerline is valid? [True, True] Translation: X:211.79, Y:177.10, Z:0.78 [[ 8.63634233e-01 5.04113354e-01 -2.37428675e-03 2.11788623e+02] [-5.04111366e-01 8.63637497e-01 1.41598107e-03 1.77098689e+02] [ 2.76433803e-03 -2.59847938e-05 9.99996179e-01 7.82589769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53028169299995 meters 0.016649677275835155 Centerline is valid? [True, True] Translation: X:211.81, Y:177.08, Z:0.78 [[ 8.63409988e-01 5.04498594e-01 -2.08832853e-03 2.11808968e+02] [-5.04497058e-01 8.63412513e-01 1.24507720e-03 1.77079125e+02] [ 2.43122868e-03 -2.14564915e-05 9.99997044e-01 7.82781544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.560281693 meters 0.015935647858899185 Centerline is valid? [True, True] Translation: X:211.83, Y:177.06, Z:0.78 [[ 8.63497935e-01 5.04348772e-01 -1.90612142e-03 2.11832251e+02] [-5.04347492e-01 8.63500038e-01 1.13620538e-03 1.77063125e+02] [ 2.21897971e-03 -1.97634411e-05 9.99997538e-01 7.82647828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59028169299995 meters 0.016251123144684233 Centerline is valid? [True, True] Translation: X:211.85, Y:177.05, Z:0.78 [[ 8.63761353e-01 5.03897571e-01 -1.88768851e-03 2.11854654e+02] [-5.03896317e-01 8.63763415e-01 1.12473690e-03 1.77045072e+02] [ 2.19726847e-03 -2.03049824e-05 9.99997586e-01 7.82524733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.620281693 meters 0.016703422694433045 Centerline is valid? [True, True] Translation: X:211.88, Y:177.03, Z:0.78 [[ 8.63882099e-01 5.03688164e-01 -2.43978594e-03 2.11875801e+02] [-5.03686069e-01 8.63885544e-01 1.45311923e-03 1.77027129e+02] [ 2.83961476e-03 -2.64375002e-05 9.99995968e-01 7.81645540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65028169299995 meters 0.015715300767459528 Centerline is valid? [True, True] Translation: X:211.90, Y:177.01, Z:0.78 [[ 8.63500229e-01 5.04338766e-01 -3.12481484e-03 2.11898240e+02] [-5.04335335e-01 8.63505882e-01 1.86047155e-03 1.77009168e+02] [ 3.63660392e-03 -3.05630699e-05 9.99993387e-01 7.81663224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.680281693 meters 0.014503331831912674 Centerline is valid? [True, True] Translation: X:211.92, Y:176.99, Z:0.78 [[ 8.62720270e-01 5.05674311e-01 -2.68824951e-03 2.11923124e+02] [-5.05671780e-01 8.62724458e-01 1.59995005e-03 1.76994298e+02] [ 3.12827224e-03 -2.09374223e-05 9.99995107e-01 7.82905203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71028169299996 meters 0.014503331831912674 Centerline is valid? [True, True] Translation: X:211.95, Y:176.98, Z:0.78 [[ 8.62815580e-01 5.05511668e-01 -2.68853210e-03 2.11946866e+02] [-5.05509138e-01 8.62819769e-01 1.59947509e-03 1.76980402e+02] [ 3.12827197e-03 -2.09744837e-05 9.99995107e-01 7.82948775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.740281693 meters 0.012400846164476098 Centerline is valid? [True, True] Translation: X:211.97, Y:176.97, Z:0.78 [[ 8.60099083e-01 5.10121509e-01 -2.36938823e-03 2.11973842e+02] [-5.10119563e-01 8.60102346e-01 1.40907389e-03 1.76970201e+02] [ 2.75671527e-03 -3.27186808e-06 9.99996200e-01 7.83890195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77028169299996 meters 0.012567744400208438 Centerline is valid? [True, True] Translation: X:212.00, Y:176.96, Z:0.78 [[ 8.58586755e-01 5.12662842e-01 -2.36546904e-03 2.11999064e+02] [-5.12660913e-01 8.58590013e-01 1.40632221e-03 1.76960575e+02] [ 2.75193723e-03 5.23389020e-06 9.99996213e-01 7.83429064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.800281693 meters 0.013334011799435561 Centerline is valid? [True, True] Translation: X:212.03, Y:176.95, Z:0.78 [[ 8.57516191e-01 5.14448857e-01 -2.89068550e-03 2.12026190e+02] [-5.14445988e-01 8.57521063e-01 1.71805186e-03 1.76949215e+02] [ 3.36267352e-03 1.38442673e-05 9.99994346e-01 7.82239456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83028169299996 meters 0.014197865465465118 Centerline is valid? [True, True] Translation: X:212.05, Y:176.94, Z:0.78 [[ 8.56754394e-01 5.15711785e-01 -3.64185631e-03 2.12052735e+02] [-5.15707247e-01 8.56762134e-01 2.16362791e-03 1.76936559e+02] [ 4.23601299e-03 2.44339656e-05 9.99991028e-01 7.81103676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86028169299993 meters 0.014816519005535093 Centerline is valid? [True, True] Translation: X:212.08, Y:176.92, Z:0.78 [[ 8.55738476e-01 5.17390160e-01 -4.36831715e-03 2.12077879e+02] [-5.17383658e-01 8.55749625e-01 2.59414776e-03 1.76922174e+02] [ 5.08037228e-03 4.01838540e-05 9.99987094e-01 7.80807468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89028169299996 meters 0.015855162101119022 Centerline is valid? [True, True] Translation: X:212.10, Y:176.91, Z:0.78 [[ 8.55461058e-01 5.17850418e-01 -4.16207414e-03 2.12103401e+02] [-5.17844524e-01 8.55471182e-01 2.47112527e-03 1.76910236e+02] [ 4.84020774e-03 4.13558626e-05 9.99988285e-01 7.80853805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92028169299994 meters 0.017650836224115958 Centerline is valid? [True, True] Translation: X:212.13, Y:176.90, Z:0.78 [[ 8.54614158e-01 5.19253107e-01 -3.29429660e-03 2.12129837e+02] [-5.19249426e-01 8.54620506e-01 1.95558818e-03 1.76899855e+02] [ 3.83081867e-03 3.92882737e-05 9.99992662e-01 7.81938955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95028169299997 meters 0.01786003149406865 Centerline is valid? [True, True] Translation: X:212.15, Y:176.89, Z:0.78 [[ 8.53796840e-01 5.20596392e-01 -3.21766871e-03 2.12154840e+02] [-5.20592892e-01 8.53802902e-01 1.90952244e-03 1.76885687e+02] [ 3.74134537e-03 4.47512334e-05 9.99993000e-01 7.82496380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98028169299994 meters 0.019582778907895726 Centerline is valid? [True, True] Translation: X:212.18, Y:176.87, Z:0.78 [[ 8.52979526e-01 5.21936105e-01 -2.93783866e-03 2.12180074e+02] [-5.21933197e-01 8.52984584e-01 1.74298483e-03 1.76874137e+02] [ 3.41565780e-03 4.66251521e-05 9.99994166e-01 7.83185395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01028169299997 meters 0.0222829609459709 Centerline is valid? [True, True] Translation: X:212.21, Y:176.86, Z:0.79 [[ 8.52369658e-01 5.22937029e-01 -1.68255365e-03 2.12207262e+02] [-5.22936077e-01 8.52371318e-01 9.98119719e-04 1.76864964e+02] [ 1.95611423e-03 2.91010407e-05 9.99998086e-01 7.85976965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04028169299994 meters 0.022618513936680896 Centerline is valid? [True, True] Translation: X:212.23, Y:176.85, Z:0.79 [[ 8.52356265e-01 5.22959570e-01 -1.44426497e-03 2.12231393e+02] [-5.22958869e-01 8.52357488e-01 8.56661362e-04 1.76852933e+02] [ 1.67902932e-03 2.51104954e-05 9.99998590e-01 7.86154021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07028169299997 meters 0.020816546417331383 Centerline is valid? [True, True] Translation: X:212.25, Y:176.84, Z:0.79 [[ 8.52568072e-01 5.22613616e-01 -1.64066645e-03 2.12254440e+02] [-5.22612711e-01 8.52569650e-01 9.72925118e-04 1.76837234e+02] [ 1.90724633e-03 2.79482475e-05 9.99998181e-01 7.85169633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10028169299994 meters 0.02089866176013469 Centerline is valid? [True, True] Translation: X:212.28, Y:176.82, Z:0.78 [[ 8.52423305e-01 5.22847940e-01 -2.13109918e-03 2.12279420e+02] [-5.22846416e-01 8.52425968e-01 1.26313763e-03 1.76822916e+02] [ 2.47703319e-03 3.75096153e-05 9.99996931e-01 7.83849537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.130281693 meters 0.021960169568346552 Centerline is valid? [True, True] Translation: X:212.31, Y:176.81, Z:0.78 [[ 8.51471438e-01 5.24394422e-01 -2.62309806e-03 2.12306264e+02] [-5.24392122e-01 8.51475477e-01 1.55409212e-03 1.76811455e+02] [ 3.04846091e-03 5.22669041e-05 9.99995352e-01 7.83445916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16028169299994 meters 0.023315246243397793 Centerline is valid? [True, True] Translation: X:212.33, Y:176.80, Z:0.78 [[ 8.50869038e-01 5.25369886e-01 -2.89196371e-03 2.12333430e+02] [-5.25367098e-01 8.50873950e-01 1.71269693e-03 1.76800787e+02] [ 3.36049598e-03 6.20617935e-05 9.99994352e-01 7.83821717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.190281693 meters 0.02534934564063334 Centerline is valid? [True, True] Translation: X:212.36, Y:176.79, Z:0.78 [[ 8.50170604e-01 5.26497275e-01 -3.25022607e-03 2.12360143e+02] [-5.26493764e-01 8.50176813e-01 1.92437078e-03 1.76791536e+02] [ 3.77644281e-03 7.51802876e-05 9.99992866e-01 7.83295718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22028169299995 meters 0.02723797846110302 Centerline is valid? [True, True] Translation: X:212.39, Y:176.78, Z:0.78 [[ 8.49033491e-01 5.28333232e-01 -2.47542231e-03 2.12387875e+02] [-5.28331203e-01 8.49037097e-01 1.46541408e-03 1.76782935e+02] [ 2.87595233e-03 6.36572134e-05 9.99995862e-01 7.84030048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.250281693 meters 0.027948707181640154 Centerline is valid? [True, True] Translation: X:212.41, Y:176.77, Z:0.78 [[ 8.48753534e-01 5.28783743e-01 -2.27848048e-03 2.12414280e+02] [-5.28782027e-01 8.48756591e-01 1.34847525e-03 1.76771581e+02] [ 2.64692711e-03 6.02963869e-05 9.99996495e-01 7.84995277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28028169299995 meters 0.029832695282429364 Centerline is valid? [True, True] Translation: X:212.44, Y:176.76, Z:0.78 [[ 8.48778860e-01 5.28742214e-01 -2.47356156e-03 2.12440518e+02] [-5.28740193e-01 8.48782462e-01 1.46348119e-03 1.76761937e+02] [ 2.87331996e-03 6.56995192e-05 9.99995870e-01 7.84251913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.310281693 meters 0.028332987106896437 Centerline is valid? [True, True] Translation: X:212.47, Y:176.75, Z:0.78 [[ 8.49467563e-01 5.27629508e-01 -3.45852878e-03 2.12465432e+02] [-5.27625550e-01 8.49474599e-01 2.04557738e-03 1.76748176e+02] [ 4.01723934e-03 8.71565238e-05 9.99991927e-01 7.82738380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34028169299995 meters 0.02857494735764408 Centerline is valid? [True, True] Translation: X:212.49, Y:176.73, Z:0.78 [[ 8.49787648e-01 5.27115316e-01 -3.22430252e-03 2.12490431e+02] [-5.27111874e-01 8.49793762e-01 1.90662694e-03 1.76734929e+02] [ 3.74500443e-03 7.93401208e-05 9.99992984e-01 7.83283348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.370281693 meters 0.027179560465295873 Centerline is valid? [True, True] Translation: X:212.51, Y:176.72, Z:0.78 [[ 8.49915096e-01 5.26911897e-01 -2.86044097e-03 2.12513919e+02] [-5.26909188e-01 8.49919907e-01 1.69100057e-03 1.76720481e+02] [ 3.32215404e-03 6.99857208e-05 9.99994479e-01 7.84248987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40028169299995 meters 0.028007973544022194 Centerline is valid? [True, True] Translation: X:212.54, Y:176.71, Z:0.78 [[ 8.49516190e-01 5.27549601e-01 -3.69605362e-03 2.12541333e+02] [-5.27545089e-01 8.49524225e-01 2.18404132e-03 1.76709863e+02] [ 4.29207722e-03 9.44564785e-05 9.99990785e-01 7.81966984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.430281693 meters 0.02950966136667093 Centerline is valid? [True, True] Translation: X:212.57, Y:176.70, Z:0.78 [[ 8.49073401e-01 5.28253227e-01 -4.78412425e-03 2.12566675e+02] [-5.28245682e-01 8.49086869e-01 2.82629161e-03 1.76699000e+02] [ 5.55513474e-03 1.27463947e-04 9.99984562e-01 7.79518795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46028169299996 meters 0.02998525049128156 Centerline is valid? [True, True] Translation: X:212.59, Y:176.69, Z:0.78 [[ 8.48802402e-01 5.28679691e-01 -5.68033482e-03 2.12592329e+02] [-5.28669071e-01 8.48821395e-01 3.35464762e-03 1.76685885e+02] [ 6.59512380e-03 1.55584371e-04 9.99978240e-01 7.78750952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.490281693 meters 0.031103587733620396 Centerline is valid? [True, True] Translation: X:212.62, Y:176.68, Z:0.78 [[ 8.48187343e-01 5.29674495e-01 -4.81254440e-03 2.12620098e+02] [-5.29666891e-01 8.48200984e-01 2.84163358e-03 1.76677062e+02] [ 5.58714573e-03 1.38807796e-04 9.99984382e-01 7.81469537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52028169299996 meters 0.033671297531270857 Centerline is valid? [True, True] Translation: X:212.65, Y:176.67, Z:0.78 [[ 8.47593325e-01 5.30632510e-01 -3.83342003e-03 2.12647152e+02] [-5.30627696e-01 8.47601986e-01 2.26322050e-03 1.76668627e+02] [ 4.45015280e-03 1.15828249e-04 9.99990091e-01 7.83029785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.550281693 meters 0.03509220521027407 Centerline is valid? [True, True] Translation: X:212.67, Y:176.66, Z:0.78 [[ 8.46960905e-01 5.31646358e-01 -3.06177822e-03 2.12674117e+02] [-5.31643296e-01 8.46966434e-01 1.80720634e-03 1.76657811e+02] [ 3.55401805e-03 9.71407403e-05 9.99993680e-01 7.84116263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58028169299996 meters 0.03822671655732233 Centerline is valid? [True, True] Translation: X:212.70, Y:176.65, Z:0.78 [[ 8.45742451e-01 5.33576916e-01 -3.92184879e-03 2.12702531e+02] [-5.33571914e-01 8.45751533e-01 2.31433755e-03 1.76650425e+02] [ 4.55178672e-03 1.35254849e-04 9.99989631e-01 7.81869613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61028169299993 meters 0.038368532998154875 Centerline is valid? [True, True] Translation: X:212.73, Y:176.64, Z:0.78 [[ 8.45435899e-01 5.34057386e-01 -4.56608640e-03 2.12729031e+02] [-5.34050617e-01 8.45448214e-01 2.69373606e-03 1.76638894e+02] [ 5.29899923e-03 1.61140096e-04 9.99985947e-01 7.80927607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64028169299996 meters 0.03630104407290675 Centerline is valid? [True, True] Translation: X:212.75, Y:176.63, Z:0.78 [[ 8.45085229e-01 5.34609999e-01 -4.80673882e-03 2.12754528e+02] [-5.34602513e-01 8.45098881e-01 2.83463941e-03 1.76625315e+02] [ 5.57759617e-03 1.74182756e-04 9.99984430e-01 7.81295655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67028169299994 meters 0.036776187467387124 Centerline is valid? [True, True] Translation: X:212.78, Y:176.62, Z:0.78 [[ 8.44889462e-01 5.34920813e-01 -4.63909322e-03 2.12782367e+02] [-5.34913850e-01 8.44902181e-01 2.73475561e-03 1.76615288e+02] [ 5.38245767e-03 1.70949020e-04 9.99985500e-01 7.82334594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70028169299997 meters 0.03978632845295995 Centerline is valid? [True, True] Translation: X:212.81, Y:176.61, Z:0.78 [[ 8.44084198e-01 5.36193987e-01 -4.22784582e-03 2.12812529e+02] [-5.36188222e-01 8.44094771e-01 2.49182178e-03 1.76611306e+02] [ 4.90480241e-03 1.63613738e-04 9.99987958e-01 7.83040030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73028169299994 meters 0.04288363008638206 Centerline is valid? [True, True] Translation: X:212.84, Y:176.60, Z:0.78 [[ 8.44002491e-01 5.36321188e-01 -4.40223550e-03 2.12840872e+02] [-5.36314941e-01 8.44013954e-01 2.59425752e-03 1.76603937e+02] [ 5.10690346e-03 1.71424860e-04 9.99986945e-01 7.81974549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76028169299997 meters 0.038626892363033107 Centerline is valid? [True, True] Translation: X:212.87, Y:176.59, Z:0.78 [[ 8.44810527e-01 5.35054332e-01 -3.46916997e-03 2.12867167e+02] [-5.35050442e-01 8.44817640e-01 2.04418444e-03 1.76591794e+02] [ 4.02456573e-03 1.29232387e-04 9.99991893e-01 7.83748866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79028169299994 meters 0.036527586134629995 Centerline is valid? [True, True] Translation: X:212.89, Y:176.58, Z:0.79 [[ 8.45729270e-01 5.33604294e-01 -2.90866563e-03 2.12891946e+02] [-5.33601553e-01 8.45734265e-01 1.71351343e-03 1.76577379e+02] [ 3.37429632e-03 1.02900033e-04 9.99994302e-01 7.85005720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82028169299997 meters 0.03515010474395246 Centerline is valid? [True, True] Translation: X:212.92, Y:176.56, Z:0.79 [[ 8.46797654e-01 5.31908178e-01 -2.72468181e-03 2.12916522e+02] [-5.31905764e-01 8.46802033e-01 1.60477165e-03 1.76563474e+02] [ 3.16085726e-03 9.03570877e-05 9.99995000e-01 7.85420083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85028169299994 meters 0.03100554062270354 Centerline is valid? [True, True] Translation: X:212.94, Y:176.55, Z:0.78 [[ 8.48926426e-01 5.28498288e-01 -3.67186097e-03 2.12941880e+02] [-5.28493876e-01 8.48934361e-01 2.16208021e-03 1.76548106e+02] [ 4.25982464e-03 1.05109008e-04 9.99990921e-01 7.84198290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.880281693 meters 0.030408639876378398 Centerline is valid? [True, True] Translation: X:212.97, Y:176.54, Z:0.78 [[ 8.49714969e-01 5.27226476e-01 -4.08829553e-03 2.12967633e+02] [-5.27220995e-01 8.49724797e-01 2.40668405e-03 1.76536232e+02] [ 4.74279364e-03 1.10439774e-04 9.99988747e-01 7.83135347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91028169299994 meters 0.030351530494835646 Centerline is valid? [True, True] Translation: X:212.99, Y:176.52, Z:0.78 [[ 8.50122188e-01 5.26566404e-01 -4.48200066e-03 2.12993617e+02] [-5.26559811e-01 8.50133995e-01 2.63761046e-03 1.76524524e+02] [ 5.19917818e-03 1.17750246e-04 9.99986477e-01 7.82373362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.940281693 meters 0.030071571393935227 Centerline is valid? [True, True] Translation: X:213.02, Y:176.51, Z:0.78 [[ 8.50120610e-01 5.26570477e-01 -4.29906893e-03 2.13019806e+02] [-5.26564416e-01 8.50131472e-01 2.52895990e-03 1.76513660e+02] [ 4.98644942e-03 1.13815792e-04 9.99987561e-01 7.83123915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97028169299995 meters 0.029256324536654426 Centerline is valid? [True, True] Translation: X:213.04, Y:176.50, Z:0.78 [[ 8.50241931e-01 5.26378359e-01 -3.80561908e-03 2.13044347e+02] [-5.26373612e-01 8.50250442e-01 2.23778176e-03 1.76500619e+02] [ 4.41364920e-03 1.00521576e-04 9.99990255e-01 7.84702387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.000281693 meters 0.02881527549644822 Centerline is valid? [True, True] Translation: X:213.07, Y:176.49, Z:0.78 [[ 8.50641199e-01 5.25732991e-01 -3.79124016e-03 2.13069398e+02] [-5.25728275e-01 8.50649642e-01 2.22880043e-03 1.76487496e+02] [ 4.39677100e-03 9.72526864e-05 9.99990329e-01 7.83695248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03028169299995 meters 0.025776967971531492 Centerline is valid? [True, True] Translation: X:213.09, Y:176.47, Z:0.78 [[ 8.51234220e-01 5.24771463e-01 -3.90060748e-03 2.13092992e+02] [-5.24766464e-01 8.51243151e-01 2.29240936e-03 1.76470088e+02] [ 4.52335641e-03 9.55307017e-05 9.99989765e-01 7.83137291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.060281693 meters 0.024768531413084494 Centerline is valid? [True, True] Translation: X:213.12, Y:176.46, Z:0.78 [[ 8.52403068e-01 5.22866616e-01 -4.41717046e-03 2.13117529e+02] [-5.22860186e-01 8.52414508e-01 2.59495183e-03 1.76455843e+02] [ 5.12207386e-03 9.76176667e-05 9.99986877e-01 7.82670299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09028169299995 meters 0.02381650673633065 Centerline is valid? [True, True] Translation: X:213.14, Y:176.44, Z:0.78 [[ 8.53068503e-01 5.21774991e-01 -4.99886194e-03 2.13142428e+02] [-5.21766744e-01 8.53083142e-01 2.93551731e-03 1.76440849e+02] [ 5.79612437e-03 1.04042560e-04 9.99983197e-01 7.82584980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.120281693 meters 0.023889285470891822 Centerline is valid? [True, True] Translation: X:213.17, Y:176.43, Z:0.78 [[ 8.53818058e-01 5.20547529e-01 -4.99938603e-03 2.13167691e+02] [-5.20539265e-01 8.53832689e-01 2.93471481e-03 1.76427966e+02] [ 5.79629776e-03 9.66642345e-05 9.99983197e-01 7.82367772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15028169299995 meters 0.020396223790147525 Centerline is valid? [True, True] Translation: X:213.19, Y:176.41, Z:0.78 [[ 8.55509559e-01 5.17774150e-01 -3.65034397e-03 2.13191366e+02] [-5.17769722e-01 8.55517344e-01 2.14212573e-03 1.76410681e+02] [ 4.23206991e-03 5.74285480e-05 9.99991043e-01 7.84323388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.180281693 meters 0.01835405768183259 Centerline is valid? [True, True] Translation: X:213.22, Y:176.39, Z:0.79 [[ 8.56447175e-01 5.16225727e-01 -3.03905809e-03 2.13215218e+02] [-5.16222650e-01 8.56452566e-01 1.78280574e-03 1.76393790e+02] [ 3.52313929e-03 4.19516817e-05 9.99993793e-01 7.85545476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21028169299996 meters 0.017135144013596216 Centerline is valid? [True, True] Translation: X:213.24, Y:176.38, Z:0.79 [[ 8.57291705e-01 5.14822525e-01 -2.94956509e-03 2.13239446e+02] [-5.14819621e-01 8.57296778e-01 1.72966142e-03 1.76378149e+02] [ 3.41912131e-03 3.56695931e-05 9.99994154e-01 7.86040598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.240281693 meters 0.016142954070006005 Centerline is valid? [True, True] Translation: X:213.26, Y:176.36, Z:0.79 [[ 8.58123528e-01 5.13432372e-01 -3.34830756e-03 2.13263057e+02] [-5.13428620e-01 8.58130059e-01 1.96298914e-03 1.76363933e+02] [ 3.88114554e-03 3.46297645e-05 9.99992468e-01 7.85226527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27028169299996 meters 0.014604661451876296 Centerline is valid? [True, True] Translation: X:213.29, Y:176.35, Z:0.79 [[ 8.59331351e-01 5.11411609e-01 -2.79191301e-03 2.13287825e+02] [-5.11408992e-01 8.59335886e-01 1.63639227e-03 1.76349086e+02] [ 3.23606104e-03 2.16062365e-05 9.99994764e-01 7.86742765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.300281693 meters 0.013896492291994786 Centerline is valid? [True, True] Translation: X:213.31, Y:176.33, Z:0.79 [[ 8.60018018e-01 5.10255775e-01 -2.83792477e-03 2.13311701e+02] [-5.10253066e-01 8.60022700e-01 1.66268392e-03 1.76333819e+02] [ 3.28907379e-03 1.81216882e-05 9.99994591e-01 7.86337439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33028169299996 meters 0.013308444485778075 Centerline is valid? [True, True] Translation: X:213.34, Y:176.32, Z:0.79 [[ 8.60730239e-01 5.09051372e-01 -3.18682224e-03 2.13335457e+02] [-5.09047952e-01 8.60736139e-01 1.86625003e-03 1.76318098e+02] [ 3.69303021e-03 1.59074937e-05 9.99993181e-01 7.85304962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36028169299993 meters 0.01269998843818213 Centerline is valid? [True, True] Translation: X:213.36, Y:176.30, Z:0.78 [[ 8.61733897e-01 5.07345988e-01 -3.83923068e-03 2.13358179e+02] [-5.07341009e-01 8.61742449e-01 2.24770099e-03 1.76302570e+02] [ 4.44879013e-03 1.08790367e-05 9.99990104e-01 7.83910094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39028169299996 meters 0.012626285002815998 Centerline is valid? [True, True] Translation: X:213.38, Y:176.29, Z:0.78 [[ 8.62179011e-01 5.06586525e-01 -4.17683698e-03 2.13382072e+02] [-5.06580627e-01 8.62189128e-01 2.44453673e-03 1.76288927e+02] [ 4.83959280e-03 8.27643272e-06 9.99988289e-01 7.83206531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42028169299994 meters 0.01253326595776972 Centerline is valid? [True, True] Translation: X:213.41, Y:176.28, Z:0.78 [[ 8.62677647e-01 5.05738274e-01 -4.00944079e-03 2.13406186e+02] [-5.05732835e-01 8.62686964e-01 2.34557737e-03 1.76275026e+02] [ 4.64514056e-03 4.22868796e-06 9.99989211e-01 7.83603906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45028169299997 meters 0.012349119591924793 Centerline is valid? [True, True] Translation: X:213.43, Y:176.26, Z:0.78 [[ 8.63136182e-01 5.04961319e-01 -3.16197416e-03 2.13429746e+02] [-5.04957933e-01 8.63141973e-01 1.84922213e-03 1.76262306e+02] [ 3.66301826e-03 5.33410474e-07 9.99993291e-01 7.84907706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48028169299994 meters 0.01234916913292211 Centerline is valid? [True, True] Translation: X:213.45, Y:176.25, Z:0.79 [[ 8.63048398e-01 5.05111779e-01 -3.09088379e-03 2.13453596e+02] [-5.05108546e-01 8.63053933e-01 1.80723524e-03 1.76250479e+02] [ 3.58045522e-03 1.50033287e-06 9.99993590e-01 7.85180483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51028169299997 meters 0.012421641967245612 Centerline is valid? [True, True] Translation: X:213.48, Y:176.24, Z:0.78 [[ 8.62817251e-01 5.05503141e-01 -3.60086512e-03 2.13479226e+02] [-5.05498759e-01 8.62824765e-01 2.10469858e-03 1.76238413e+02] [ 4.17084734e-03 4.26260402e-06 9.99991302e-01 7.83960522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54028169299994 meters 0.013104344490178024 Centerline is valid? [True, True] Translation: X:213.51, Y:176.23, Z:0.78 [[ 8.61915159e-01 5.07029238e-01 -4.85918602e-03 2.13506623e+02] [-5.07021290e-01 8.61928856e-01 2.83897670e-03 1.76228264e+02] [ 5.62771683e-03 1.67537069e-05 9.99984164e-01 7.81491285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57028169299997 meters 0.013092530459347128 Centerline is valid? [True, True] Translation: X:213.53, Y:176.22, Z:0.78 [[ 8.61711135e-01 5.07378467e-01 -4.58383197e-03 2.13531904e+02] [-5.07371405e-01 8.61723326e-01 2.67699773e-03 1.76215835e+02] [ 5.30824593e-03 1.89065129e-05 9.99985911e-01 7.83206634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60028169299994 meters 0.013092530459347128 Centerline is valid? [True, True] Translation: X:213.56, Y:176.20, Z:0.78 [[ 8.61808445e-01 5.07213158e-01 -4.58434513e-03 2.13555734e+02] [-5.07206098e-01 8.61820638e-01 2.67611879e-03 1.76202144e+02] [ 5.30824590e-03 1.89060307e-05 9.99985911e-01 7.83250201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.630281693 meters 0.013038548051971535 Centerline is valid? [True, True] Translation: X:213.58, Y:176.19, Z:0.79 [[ 8.61927247e-01 5.07022701e-01 -3.06627140e-03 2.13581191e+02] [-5.07019543e-01 8.61932701e-01 1.78950683e-03 1.76191266e+02] [ 3.55024017e-03 1.22348280e-05 9.99993698e-01 7.86498926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66028169299994 meters 0.012882497423400129 Centerline is valid? [True, True] Translation: X:213.60, Y:176.18, Z:0.79 [[ 8.62149778e-01 5.06647797e-01 -2.40211044e-03 2.13604498e+02] [-5.06645859e-01 8.62153124e-01 1.40166162e-03 1.76178075e+02] [ 2.78113579e-03 8.57704652e-06 9.99996133e-01 7.87729323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.690281693 meters 0.012689972316774512 Centerline is valid? [True, True] Translation: X:213.63, Y:176.16, Z:0.79 [[ 8.62388927e-01 5.06242176e-01 -2.04884987e-03 2.13628541e+02] [-5.06240765e-01 8.62391361e-01 1.19524215e-03 1.76164102e+02] [ 2.37199241e-03 6.44773044e-06 9.99997187e-01 7.88519741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72028169299995 meters 0.01270493609109253 Centerline is valid? [True, True] Translation: X:213.65, Y:176.15, Z:0.79 [[ 8.62524441e-01 5.06012256e-01 -1.78469328e-03 2.13652655e+02] [-5.06011185e-01 8.62526288e-01 1.04080809e-03 1.76150903e+02] [ 2.06600652e-03 5.35234730e-06 9.99997866e-01 7.89392326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.750281693 meters 0.012580523109025592 Centerline is valid? [True, True] Translation: X:213.68, Y:176.14, Z:0.79 [[ 8.62570023e-01 5.05937333e-01 -6.09084195e-04 2.13677019e+02] [-5.05937208e-01 8.62570238e-01 3.55239480e-04 1.76139182e+02] [ 7.05106814e-04 1.73943107e-06 9.99999751e-01 7.91683121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78028169299995 meters 0.012683211722455467 Centerline is valid? [True, True] Translation: X:213.70, Y:176.13, Z:0.79 [[ 8.62588135e-01 5.05905661e-01 -1.08227811e-03 2.13701868e+02] [-5.05905268e-01 8.62588814e-01 6.31037729e-04 1.76125640e+02] [ 1.25280655e-03 3.20453926e-06 9.99999215e-01 7.90461909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.810281693 meters 0.012812222801609664 Centerline is valid? [True, True] Translation: X:213.73, Y:176.11, Z:0.79 [[ 8.62601405e-01 5.05878311e-01 -2.43915069e-03 2.13725357e+02] [-5.05876315e-01 8.62604854e-01 1.42133495e-03 1.76112654e+02] [ 2.82304575e-03 7.86303614e-06 9.99996015e-01 7.87289579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84028169299995 meters 0.01386891054942514 Centerline is valid? [True, True] Translation: X:213.75, Y:176.10, Z:0.78 [[ 8.62084353e-01 5.06730012e-01 -5.93834443e-03 2.13751812e+02] [-5.06718206e-01 8.62104805e-01 3.45908657e-03 1.76101025e+02] [ 6.87229825e-03 2.70428289e-05 9.99976385e-01 7.80026017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.870281693 meters 0.01413995499757569 Centerline is valid? [True, True] Translation: X:213.78, Y:176.09, Z:0.78 [[ 8.61623490e-01 5.07505537e-01 -6.56444098e-03 2.13777801e+02] [-5.07491144e-01 8.61648495e-01 3.82232768e-03 1.76088023e+02] [ 7.59609315e-03 3.79883476e-05 9.99971149e-01 7.79471281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90028169299995 meters 0.014774690284013098 Centerline is valid? [True, True] Translation: X:213.80, Y:176.08, Z:0.78 [[ 8.61116519e-01 5.08370833e-01 -6.11853964e-03 2.13803056e+02] [-5.08358356e-01 8.61138255e-01 3.56203386e-03 1.76075897e+02] [ 7.07974267e-03 4.30845534e-05 9.99974937e-01 7.80167654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.930281693 meters 0.016046107557265876 Centerline is valid? [True, True] Translation: X:213.83, Y:176.07, Z:0.79 [[ 8.60374762e-01 5.09654519e-01 -2.74610790e-03 2.13829075e+02] [-5.09652012e-01 8.60379144e-01 1.59850470e-03 1.76067242e+02] [ 3.17737911e-03 2.42463158e-05 9.99994952e-01 7.87488464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96028169299996 meters 0.016402620927715324 Centerline is valid? [True, True] Translation: X:213.85, Y:176.06, Z:0.79 [[ 8.60233810e-01 5.09897410e-01 -1.55670942e-03 2.13854026e+02] [-5.09896605e-01 8.60235219e-01 9.06054275e-04 1.76056226e+02] [ 1.80113100e-03 1.43423281e-05 9.99998378e-01 7.90407424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.990281693 meters 0.015702371035870168 Centerline is valid? [True, True] Translation: X:213.88, Y:176.04, Z:0.79 [[ 8.60737615e-01 5.09047557e-01 -1.15888030e-03 2.13879051e+02] [-5.09047110e-01 8.60738395e-01 6.74450680e-04 1.76044193e+02] [ 1.34082024e-03 9.39959779e-06 9.99999101e-01 7.90855888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02028169299996 meters 0.015366006589654438 Centerline is valid? [True, True] Translation: X:213.90, Y:176.03, Z:0.79 [[ 8.61065051e-01 5.08492292e-01 -1.60225879e-03 2.13902688e+02] [-5.08491438e-01 8.61066541e-01 9.32002613e-04 1.76029934e+02] [ 1.85356758e-03 1.22200001e-05 9.99998282e-01 7.89211535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.050281693 meters 0.014989144694722425 Centerline is valid? [True, True] Translation: X:213.93, Y:176.02, Z:0.79 [[ 8.61391101e-01 5.07937276e-01 -2.25699222e-03 2.13926055e+02] [-5.07935581e-01 8.61394058e-01 1.31234414e-03 1.76015138e+02] [ 2.61074819e-03 1.59650878e-05 9.99996592e-01 7.87289424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08028169299996 meters 0.014648925100116176 Centerline is valid? [True, True] Translation: X:213.95, Y:176.00, Z:0.79 [[ 8.61693407e-01 5.07422887e-01 -2.54689847e-03 2.13949809e+02] [-5.07420727e-01 8.61697170e-01 1.48053504e-03 1.76000274e+02] [ 2.94591257e-03 1.65817899e-05 9.99995661e-01 7.86279692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11028169299993 meters 0.013472298290883462 Centerline is valid? [True, True] Translation: X:213.97, Y:175.98, Z:0.79 [[ 8.62444327e-01 5.06143955e-01 -2.84244293e-03 2.13972004e+02] [-5.06141261e-01 8.62449011e-01 1.65162125e-03 1.75983646e+02] [ 3.28742021e-03 1.42462717e-05 9.99994596e-01 7.86632988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14028169299996 meters 0.013507996641502365 Centerline is valid? [True, True] Translation: X:213.99, Y:175.97, Z:0.79 [[ 8.62656168e-01 5.05781383e-01 -3.08696766e-03 2.13994948e+02] [-5.05778204e-01 8.62661691e-01 1.79314329e-03 1.75969801e+02] [ 3.56994723e-03 1.44548404e-05 9.99993628e-01 7.86073258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17028169299994 meters 0.01312953404047936 Centerline is valid? [True, True] Translation: X:214.02, Y:175.95, Z:0.79 [[ 8.62950256e-01 5.05279073e-01 -3.14870455e-03 2.14018794e+02] [-5.05275765e-01 8.62956000e-01 1.82841458e-03 1.75954531e+02] [ 3.64105311e-03 1.31332668e-05 9.99993371e-01 7.86056188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20028169299997 meters 0.013643789608659414 Centerline is valid? [True, True] Translation: X:214.04, Y:175.94, Z:0.78 [[ 8.63072792e-01 5.05062820e-01 -4.11139904e-03 2.14043619e+02] [-5.05057181e-01 8.63082585e-01 2.38679034e-03 1.75941750e+02] [ 4.75395597e-03 1.65178056e-05 9.99988700e-01 7.83105318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23028169299994 meters 0.01395606166766448 Centerline is valid? [True, True] Translation: X:214.07, Y:175.93, Z:0.78 [[ 8.62969605e-01 5.05236736e-01 -4.39324183e-03 2.14068372e+02] [-5.05230303e-01 8.62980788e-01 2.54962127e-03 1.75928443e+02] [ 5.07944563e-03 1.93532401e-05 9.99987099e-01 7.81900701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26028169299997 meters 0.014534340237063785 Centerline is valid? [True, True] Translation: X:214.09, Y:175.92, Z:0.78 [[ 8.62656505e-01 5.05772768e-01 -4.20257702e-03 2.14093173e+02] [-5.05766892e-01 8.62666741e-01 2.43804323e-03 1.75915303e+02] [ 4.85851929e-03 2.23304699e-05 9.99988197e-01 7.82137802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29028169299994 meters 0.013925231904108127 Centerline is valid? [True, True] Translation: X:214.12, Y:175.90, Z:0.78 [[ 8.62501577e-01 5.06043531e-01 -3.31291238e-03 2.14116558e+02] [-5.06039884e-01 8.62507939e-01 1.92118729e-03 1.75899495e+02] [ 3.82961763e-03 1.94387288e-05 9.99992667e-01 7.84572617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32028169299997 meters 0.014755194830486765 Centerline is valid? [True, True] Translation: X:214.14, Y:175.89, Z:0.79 [[ 8.61950195e-01 5.06987939e-01 -2.25631863e-03 2.14141805e+02] [-5.06986252e-01 8.61953148e-01 1.30815267e-03 1.75888113e+02] [ 2.60805857e-03 1.63600712e-05 9.99996599e-01 7.87318256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35028169299994 meters 0.015066347945170543 Centerline is valid? [True, True] Translation: X:214.17, Y:175.88, Z:0.79 [[ 8.61542575e-01 5.07681853e-01 -1.87843329e-03 2.14167693e+02] [-5.07680685e-01 8.61544622e-01 1.08886456e-03 1.75876097e+02] [ 2.17115088e-03 1.55411248e-05 9.99997643e-01 7.88598603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.380281693 meters 0.016051506954083177 Centerline is valid? [True, True] Translation: X:214.19, Y:175.87, Z:0.79 [[ 8.60910643e-01 5.08753466e-01 -1.66597696e-03 2.14194302e+02] [-5.08752551e-01 8.60912255e-01 9.65380900e-04 1.75865357e+02] [ 1.92540086e-03 1.64633362e-05 9.99998146e-01 7.88969758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41028169299994 meters 0.019251524899718285 Centerline is valid? [True, True] Translation: X:214.22, Y:175.86, Z:0.79 [[ 8.59226988e-01 5.11588596e-01 -2.46820459e-03 2.14222490e+02] [-5.11586599e-01 8.59230532e-01 1.42965533e-03 1.75859365e+02] [ 2.85215211e-03 3.43019539e-05 9.99995932e-01 7.87854443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.440281693 meters 0.01994646196391229 Centerline is valid? [True, True] Translation: X:214.25, Y:175.85, Z:0.79 [[ 8.58765430e-01 5.12359136e-01 -3.17030836e-03 2.14248923e+02] [-5.12355850e-01 8.58771281e-01 1.83570368e-03 1.75847611e+02] [ 3.66310933e-03 4.78871703e-05 9.99993290e-01 7.86398935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47028169299995 meters 0.020692794663767205 Centerline is valid? [True, True] Translation: X:214.27, Y:175.84, Z:0.79 [[ 8.58572685e-01 5.12680086e-01 -3.47485954e-03 2.14274948e+02] [-5.12676143e-01 8.58579715e-01 2.01147612e-03 1.75836373e+02] [ 4.01468766e-03 5.44791401e-05 9.99991940e-01 7.85915136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.500281693 meters 0.01967863957926568 Centerline is valid? [True, True] Translation: X:214.30, Y:175.83, Z:0.79 [[ 8.59142150e-01 5.11733489e-01 -1.89780603e-03 2.14301830e+02] [-5.11732311e-01 8.59144246e-01 1.09837439e-03 1.75825706e+02] [ 2.19256409e-03 2.75089316e-05 9.99997596e-01 7.88076197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53028169299995 meters 0.018418453993206938 Centerline is valid? [True, True] Translation: X:214.33, Y:175.81, Z:0.79 [[ 8.59963859e-01 5.10354609e-01 -5.77521184e-04 2.14326041e+02] [-5.10354500e-01 8.59964053e-01 3.34246606e-04 1.75812107e+02] [ 6.67231755e-04 7.30053373e-06 9.99999777e-01 7.90199273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.560281693 meters 0.01656551408122724 Centerline is valid? [True, True] Translation: X:214.35, Y:175.80, Z:0.79 [[ 8.61134089e-01 5.08377890e-01 -4.84224177e-05 2.14350545e+02] [-5.08377889e-01 8.61134090e-01 2.82945398e-05 1.75796280e+02] [ 5.60825131e-05 2.51493746e-07 9.99999998e-01 7.91471408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59028169299995 meters 0.013819205361427923 Centerline is valid? [True, True] Translation: X:214.37, Y:175.78, Z:0.79 [[ 8.63414609e-01 5.04490282e-01 -2.18373786e-03 2.14372892e+02] [-5.04488702e-01 8.63417370e-01 1.26274615e-03 1.75778789e+02] [ 2.52252036e-03 1.13976028e-05 9.99996818e-01 7.86990336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.620281693 meters 0.013012905517867874 Centerline is valid? [True, True] Translation: X:214.40, Y:175.76, Z:0.78 [[ 8.64604813e-01 5.02440640e-01 -3.45267761e-03 2.14395761e+02] [-5.02436676e-01 8.64611707e-01 1.99581763e-03 1.75762438e+02] [ 3.98800536e-03 9.15833733e-06 9.99992048e-01 7.84268636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65028169299995 meters 0.01282326078926376 Centerline is valid? [True, True] Translation: X:214.42, Y:175.75, Z:0.78 [[ 8.65789912e-01 5.00391633e-01 -4.00517595e-03 2.14418127e+02] [-5.00386281e-01 8.65799176e-01 2.31432976e-03 1.75747124e+02] [ 4.62574928e-03 4.11731696e-07 9.99989301e-01 7.82363719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.680281693 meters 0.013678538220500545 Centerline is valid? [True, True] Translation: X:214.44, Y:175.73, Z:0.79 [[ 8.68406289e-01 4.95848325e-01 -2.22629288e-03 2.14439501e+02] [-4.95846657e-01 8.68409143e-01 1.28610579e-03 1.75726573e+02] [ 2.57104650e-03 -1.29624719e-05 9.99996695e-01 7.86265484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71028169299996 meters 0.01571708862336413 Centerline is valid? [True, True] Translation: X:214.46, Y:175.71, Z:0.79 [[ 8.69681032e-01 4.93612927e-01 -1.08687129e-03 2.14460247e+02] [-4.93612527e-01 8.69681711e-01 6.27746157e-04 1.75707460e+02] [ 1.25509570e-03 -9.44564214e-06 9.99999212e-01 7.88780510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.740281693 meters 0.01656655965634202 Centerline is valid? [True, True] Translation: X:214.48, Y:175.69, Z:0.79 [[ 8.70857089e-01 4.91535960e-01 -5.75412952e-04 2.14483969e+02] [-4.91535847e-01 8.70857279e-01 3.32457770e-04 1.75690302e+02] [ 6.64517507e-04 -6.68711318e-06 9.99999779e-01 7.89715717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77028169299996 meters 0.01771974083791008 Centerline is valid? [True, True] Translation: X:214.51, Y:175.67, Z:0.79 [[ 8.71682098e-01 4.90071000e-01 -8.57438917e-04 2.14506986e+02] [-4.90070750e-01 8.71682520e-01 4.95072516e-04 1.75673044e+02] [ 9.90035199e-04 -1.13401165e-05 9.99999510e-01 7.89459628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.800281693 meters 0.019369921086954223 Centerline is valid? [True, True] Translation: X:214.53, Y:175.65, Z:0.79 [[ 8.72310876e-01 4.88950370e-01 -1.12710394e-03 2.14528616e+02] [-4.88949938e-01 8.72311605e-01 6.50399436e-04 1.75653996e+02] [ 1.30119889e-03 -1.62531002e-05 9.99999153e-01 7.89752434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83028169299996 meters 0.018750701545394818 Centerline is valid? [True, True] Translation: X:214.55, Y:175.64, Z:0.79 [[ 8.72573823e-01 4.88481726e-01 -7.25910364e-04 2.14552736e+02] [-4.88481547e-01 8.72574125e-01 4.18983989e-04 1.75639583e+02] [ 8.38076623e-04 -1.10006437e-05 9.99999649e-01 7.90568040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86028169299993 meters 0.01942014318355217 Centerline is valid? [True, True] Translation: X:214.58, Y:175.62, Z:0.79 [[ 8.72935194e-01 4.87836188e-01 -8.66263904e-06 2.14576709e+02] [-4.87836188e-01 8.72935194e-01 5.29443283e-06 1.75622534e+02] [ 1.01447385e-05 -3.95747939e-07 1.00000000e+00 7.91976450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89028169299996 meters 0.021261381922594483 Centerline is valid? [True, True] Translation: X:214.60, Y:175.60, Z:0.79 [[ 8.73599357e-01 4.86645361e-01 -6.75246411e-04 2.14596815e+02] [-4.86645205e-01 8.73599618e-01 3.89326337e-04 1.75602286e+02] [ 7.79358862e-04 -1.15098097e-05 9.99999696e-01 7.90830693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92028169299994 meters 0.020741668282672057 Centerline is valid? [True, True] Translation: X:214.62, Y:175.59, Z:0.79 [[ 8.73724368e-01 4.86418467e-01 -1.67472118e-03 2.14620428e+02] [-4.86417510e-01 8.73725972e-01 9.65252002e-04 1.75587141e+02] [ 1.93276379e-03 -2.87504886e-05 9.99998132e-01 7.89124955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95028169299997 meters 0.019783421470535058 Centerline is valid? [True, True] Translation: X:214.64, Y:175.57, Z:0.79 [[ 8.73640444e-01 4.86564785e-01 -2.66178779e-03 2.14644781e+02] [-4.86562371e-01 8.73644498e-01 1.53328797e-03 1.75573109e+02] [ 3.07150019e-03 -4.44166018e-05 9.99995282e-01 7.87885958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98028169299994 meters 0.019873828789518114 Centerline is valid? [True, True] Translation: X:214.67, Y:175.56, Z:0.79 [[ 8.73159124e-01 4.87421328e-01 -3.68693729e-03 2.14667610e+02] [-4.87416707e-01 8.73166906e-01 2.12313896e-03 1.75557719e+02] [ 4.25417484e-03 -5.67633186e-05 9.99990949e-01 7.86426888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01028169299997 meters 0.01908566295837183 Centerline is valid? [True, True] Translation: X:214.69, Y:175.54, Z:0.79 [[ 8.72812277e-01 4.88048265e-01 -2.76058247e-03 2.14692570e+02] [-4.88045679e-01 8.72816642e-01 1.58931082e-03 1.75543024e+02] [ 3.18514271e-03 -3.98796515e-05 9.99994927e-01 7.87910336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04028169299994 meters 0.017820875013498848 Centerline is valid? [True, True] Translation: X:214.72, Y:175.53, Z:0.79 [[ 8.72583748e-01 4.88460551e-01 -1.97301562e-03 2.14717595e+02] [-4.88459231e-01 8.72585979e-01 1.13554807e-03 1.75529315e+02] [ 2.27629620e-03 -2.71230915e-05 9.99997409e-01 7.89743968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07028169299997 meters 0.017271908526924794 Centerline is valid? [True, True] Translation: X:214.74, Y:175.51, Z:0.79 [[ 8.71872073e-01 4.89733003e-01 -8.20488663e-04 2.14741552e+02] [-4.89732776e-01 8.71872459e-01 4.72138892e-04 1.75514645e+02] [ 9.46583466e-04 -9.82452418e-06 9.99999552e-01 7.92098424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10028169299994 meters 0.016581601420974746 Centerline is valid? [True, True] Translation: X:214.77, Y:175.50, Z:0.79 [[ 8.71581993e-01 4.90248659e-01 -1.04005478e-03 2.14766557e+02] [-4.90248294e-01 8.71582614e-01 5.98418505e-04 1.75501079e+02] [ 1.19986753e-03 -1.16857136e-05 9.99999280e-01 7.91438751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.130281693 meters 0.017030096009567938 Centerline is valid? [True, True] Translation: X:214.79, Y:175.48, Z:0.79 [[ 8.71660310e-01 4.90107401e-01 -1.74345066e-03 2.14788814e+02] [-4.90106376e-01 8.71662053e-01 1.00256901e-03 1.75484816e+02] [ 2.01106627e-03 -1.94233288e-05 9.99997978e-01 7.89211691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16028169299994 meters 0.017177880041929203 Centerline is valid? [True, True] Translation: X:214.81, Y:175.47, Z:0.79 [[ 8.71987469e-01 4.89525821e-01 -1.52446341e-03 2.14811734e+02] [-4.89525037e-01 8.71988802e-01 8.76399786e-04 1.75468968e+02] [ 1.75833535e-03 -1.79466229e-05 9.99998454e-01 7.89028805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.190281693 meters 0.017723520448285138 Centerline is valid? [True, True] Translation: X:214.84, Y:175.45, Z:0.79 [[ 8.72381316e-01 4.88824387e-01 -1.24872658e-03 2.14835320e+02] [-4.88823860e-01 8.72382209e-01 7.17630747e-04 1.75451908e+02] [ 1.44016226e-03 -1.56403100e-05 9.99998963e-01 7.89750178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22028169299995 meters 0.01846565361216243 Centerline is valid? [True, True] Translation: X:214.86, Y:175.43, Z:0.79 [[ 8.72552478e-01 4.88518659e-01 -1.30125086e-03 2.14857713e+02] [-4.88518087e-01 8.72553448e-01 7.47512619e-04 1.75434734e+02] [ 1.50058479e-03 -1.65594056e-05 9.99998874e-01 7.89879216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.250281693 meters 0.018917076624134402 Centerline is valid? [True, True] Translation: X:214.88, Y:175.42, Z:0.79 [[ 8.73216066e-01 4.87329467e-01 -1.92144364e-03 2.14879561e+02] [-4.87328218e-01 8.73218180e-01 1.10356794e-03 1.75415963e+02] [ 2.21564069e-03 -2.72795459e-05 9.99997545e-01 7.88430881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28028169299995 meters 0.02029373431190264 Centerline is valid? [True, True] Translation: X:214.90, Y:175.40, Z:0.79 [[ 8.73583450e-01 4.86666638e-01 -2.74570214e-03 2.14901469e+02] [-4.86664086e-01 8.73587764e-01 1.57664074e-03 1.75397972e+02] [ 3.16591024e-03 -4.10926383e-05 9.99994988e-01 7.86799573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.310281693 meters 0.019931527450651812 Centerline is valid? [True, True] Translation: X:214.93, Y:175.38, Z:0.79 [[ 8.73887250e-01 4.86117166e-01 -3.34300854e-03 2.14925055e+02] [-4.86113381e-01 8.73893642e-01 1.91906819e-03 1.75381824e+02] [ 3.85432590e-03 -5.19680424e-05 9.99992571e-01 7.85576991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34028169299995 meters 0.019883069450713955 Centerline is valid? [True, True] Translation: X:214.95, Y:175.37, Z:0.78 [[ 8.73845198e-01 4.86185195e-01 -4.30427223e-03 2.14947533e+02] [-4.86178926e-01 8.73855796e-01 2.46977426e-03 1.75365284e+02] [ 4.96208091e-03 -6.55539282e-05 9.99987687e-01 7.84648780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.370281693 meters 0.018278630228711817 Centerline is valid? [True, True] Translation: X:214.97, Y:175.35, Z:0.78 [[ 8.72975134e-01 4.87737242e-01 -5.17674368e-03 2.14971556e+02] [-4.87728209e-01 8.72990480e-01 2.96915592e-03 1.75349162e+02] [ 5.96741587e-03 -6.71553625e-05 9.99982193e-01 7.82561101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40028169299995 meters 0.017469330197510284 Centerline is valid? [True, True] Translation: X:215.00, Y:175.34, Z:0.78 [[ 8.72058756e-01 4.89377073e-01 -4.85877026e-03 2.14996150e+02] [-4.89369144e-01 8.72072290e-01 2.78609932e-03 1.75335422e+02] [ 5.60065203e-03 -5.19100580e-05 9.99984315e-01 7.82092932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.430281693 meters 0.01558311607045563 Centerline is valid? [True, True] Translation: X:215.02, Y:175.32, Z:0.78 [[ 8.71020431e-01 4.91230205e-01 -4.03666211e-03 2.15022783e+02] [-4.91224756e-01 8.71029784e-01 2.31403869e-03 1.75322972e+02] [ 4.65277862e-03 -3.26666158e-05 9.99989175e-01 7.83468861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46028169299996 meters 0.013281481177096686 Centerline is valid? [True, True] Translation: X:215.05, Y:175.31, Z:0.79 [[ 8.68960127e-01 4.94871681e-01 -3.21200654e-03 2.15050305e+02] [-4.94868257e-01 8.68966064e-01 1.84069770e-03 1.75312203e+02] [ 3.70203384e-03 -9.97282801e-06 9.99993147e-01 7.86187572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.490281693 meters 0.012933412568638667 Centerline is valid? [True, True] Translation: X:215.08, Y:175.30, Z:0.79 [[ 8.67974013e-01 4.96596333e-01 -3.63246567e-03 2.15075867e+02] [-4.96591974e-01 8.67981614e-01 2.08074290e-03 1.75300787e+02] [ 4.18620271e-03 -2.17746957e-06 9.99991238e-01 7.86425493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52028169299996 meters 0.012933412568638667 Centerline is valid? [True, True] Translation: X:215.10, Y:175.29, Z:0.79 [[ 8.68069870e-01 4.96428750e-01 -3.63286680e-03 2.15099817e+02] [-4.96424392e-01 8.68077471e-01 2.08004243e-03 1.75287295e+02] [ 4.18620268e-03 -2.17846794e-06 9.99991238e-01 7.86469059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.550281693 meters 0.012984556412227406 Centerline is valid? [True, True] Translation: X:215.13, Y:175.28, Z:0.79 [[ 8.67146057e-01 4.98035608e-01 -4.27183041e-03 2.15125338e+02] [-4.98029608e-01 8.67156579e-01 2.44473000e-03 1.75275907e+02] [ 4.92190844e-03 7.56004389e-06 9.99987887e-01 7.85115455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58028169299996 meters 0.013673589850597676 Centerline is valid? [True, True] Translation: X:215.15, Y:175.26, Z:0.78 [[ 8.66221298e-01 4.99638331e-01 -4.71181641e-03 2.15150853e+02] [-4.99631059e-01 8.66234113e-01 2.69587375e-03 1.75264700e+02] [ 5.42849797e-03 1.89465589e-05 9.99985265e-01 7.83193945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61028169299993 meters 0.01364309815231592 Centerline is valid? [True, True] Translation: X:215.17, Y:175.25, Z:0.78 [[ 8.66213788e-01 4.99652353e-01 -4.60436194e-03 2.15174601e+02] [-4.99645411e-01 8.66226025e-01 2.63393342e-03 1.75252081e+02] [ 5.30446917e-03 1.89988702e-05 9.99985931e-01 7.83411602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64028169299996 meters 0.013519008926291721 Centerline is valid? [True, True] Translation: X:215.20, Y:175.24, Z:0.78 [[ 8.66687621e-01 4.98825523e-01 -5.06605784e-03 2.15200300e+02] [-4.98817111e-01 8.66702427e-01 2.89695763e-03 1.75240863e+02] [ 5.83584103e-03 1.62790210e-05 9.99982971e-01 7.83881455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67028169299994 meters 0.013600270819323078 Centerline is valid? [True, True] Translation: X:215.23, Y:175.23, Z:0.78 [[ 8.66850348e-01 4.98543181e-01 -5.01699155e-03 2.15225476e+02] [-4.98534931e-01 8.66864866e-01 2.86816166e-03 1.75229614e+02] [ 5.77895615e-03 1.48786030e-05 9.99983302e-01 7.83286442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70028169299997 meters 0.013303538563302584 Centerline is valid? [True, True] Translation: X:215.25, Y:175.22, Z:0.78 [[ 8.67070656e-01 4.98166056e-01 -4.36555258e-03 2.15251222e+02] [-4.98159809e-01 8.67081646e-01 2.49486630e-03 1.75217310e+02] [ 5.02814822e-03 1.15174742e-05 9.99987359e-01 7.84519255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73028169299994 meters 0.012958732047635584 Centerline is valid? [True, True] Translation: X:215.28, Y:175.21, Z:0.79 [[ 8.67383918e-01 4.97633496e-01 -2.45814050e-03 2.15277547e+02] [-4.97631515e-01 8.67387401e-01 1.40433858e-03 1.75207504e+02] [ 2.83100602e-03 5.14747596e-06 9.99995993e-01 7.88446284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76028169299997 meters 0.012852099460853078 Centerline is valid? [True, True] Translation: X:215.30, Y:175.20, Z:0.79 [[ 8.67755382e-01 4.96988414e-01 -1.76443113e-03 2.15302280e+02] [-4.96987392e-01 8.67757176e-01 1.00773350e-03 1.75195607e+02] [ 2.03192965e-03 2.43385454e-06 9.99997936e-01 7.90232293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79028169299994 meters 0.012874745460928027 Centerline is valid? [True, True] Translation: X:215.33, Y:175.18, Z:0.79 [[ 8.68241929e-01 4.96136896e-01 -2.03320873e-03 2.15326089e+02] [-4.96135538e-01 8.68244309e-01 1.16091058e-03 1.75183697e+02] [ 2.34129249e-03 7.95865639e-07 9.99997259e-01 7.90047827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82028169299997 meters 0.012896251136990187 Centerline is valid? [True, True] Translation: X:215.35, Y:175.17, Z:0.79 [[ 8.68829070e-01 4.95103690e-01 -2.89525487e-03 2.15351059e+02] [-4.95100933e-01 8.68833894e-01 1.65225849e-03 1.75170001e+02] [ 3.33353484e-03 -2.08681516e-06 9.99994444e-01 7.87868496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85028169299994 meters 0.013545737691353902 Centerline is valid? [True, True] Translation: X:215.37, Y:175.16, Z:0.78 [[ 8.69954828e-01 4.93104142e-01 -5.18668016e-03 2.15374893e+02] [-4.93095264e-01 8.69970290e-01 2.95900977e-03 1.75155856e+02] [ 5.97135762e-03 -1.66774149e-05 9.99982171e-01 7.83471244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.880281693 meters 0.01381488126208098 Centerline is valid? [True, True] Translation: X:215.40, Y:175.14, Z:0.78 [[ 8.70357948e-01 4.92391489e-01 -5.25959135e-03 2.15399841e+02] [-4.92382349e-01 8.70373840e-01 3.00019957e-03 1.75142458e+02] [ 6.05508346e-03 -2.15176015e-05 9.99981668e-01 7.83076632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91028169299994 meters 0.013619250093295125 Centerline is valid? [True, True] Translation: X:215.42, Y:175.13, Z:0.79 [[ 8.70313103e-01 4.92477831e-01 -4.54839591e-03 2.15424609e+02] [-4.92470999e-01 8.70324988e-01 2.59418453e-03 1.75130703e+02] [ 5.23616099e-03 -1.77997089e-05 9.99986291e-01 7.85703650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.940281693 meters 0.012938471584834181 Centerline is valid? [True, True] Translation: X:215.45, Y:175.12, Z:0.79 [[ 8.69710677e-01 4.93556676e-01 -2.26858900e-03 2.15451817e+02] [-4.93554981e-01 8.69713635e-01 1.29365375e-03 1.75120928e+02] [ 2.61151423e-03 -5.43107856e-06 9.99996590e-01 7.90203541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97028169299995 meters 0.012947842034936492 Centerline is valid? [True, True] Translation: X:215.48, Y:175.11, Z:0.79 [[ 8.69479132e-01 4.93964783e-01 -2.19799334e-03 2.15476482e+02] [-4.93963194e-01 8.69481911e-01 1.25303079e-03 1.75109417e+02] [ 2.53006853e-03 -3.75631067e-06 9.99996799e-01 7.89712196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.000281693 meters 0.012907653135521016 Centerline is valid? [True, True] Translation: X:215.50, Y:175.10, Z:0.79 [[ 8.69618782e-01 4.93716492e-01 -2.68311213e-03 2.15501858e+02] [-4.93714124e-01 8.69622922e-01 1.52908531e-03 1.75096529e+02] [ 3.08823045e-03 -5.03094947e-06 9.99995231e-01 7.87918497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03028169299995 meters 0.013475179681415688 Centerline is valid? [True, True] Translation: X:215.53, Y:175.08, Z:0.78 [[ 8.70324280e-01 4.92460159e-01 -4.31738909e-03 2.15525059e+02] [-4.92454017e-01 8.70334988e-01 2.45955008e-03 1.75081603e+02] [ 4.96880521e-03 -1.44905534e-05 9.99987655e-01 7.84885366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.060281693 meters 0.013945432374457788 Centerline is valid? [True, True] Translation: X:215.55, Y:175.07, Z:0.78 [[ 8.71062392e-01 4.91148116e-01 -4.88237221e-03 2.15549159e+02] [-4.91140247e-01 8.71076074e-01 2.78046830e-03 1.75065148e+02] [ 5.61853939e-03 -2.40318750e-05 9.99984216e-01 7.84484417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09028169299995 meters 0.014499189566321267 Centerline is valid? [True, True] Translation: X:215.57, Y:175.05, Z:0.79 [[ 8.71820123e-01 4.89805063e-01 -4.54671540e-03 2.15573352e+02] [-4.89798225e-01 8.71831979e-01 2.58835094e-03 1.75049193e+02] [ 5.23175928e-03 -2.96033023e-05 9.99986314e-01 7.85016520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.120281693 meters 0.01593858173401418 Centerline is valid? [True, True] Translation: X:215.60, Y:175.03, Z:0.79 [[ 8.72961799e-01 4.87771835e-01 -4.04161989e-03 2.15597252e+02] [-4.87766412e-01 8.72971154e-01 2.30034187e-03 1.75034473e+02] [ 4.65025955e-03 -3.67441420e-05 9.99989187e-01 7.86875167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15028169299995 meters 0.016998208769339555 Centerline is valid? [True, True] Translation: X:215.62, Y:175.02, Z:0.79 [[ 8.73250693e-01 4.87253504e-01 -4.15338635e-03 2.15621061e+02] [-4.87247773e-01 8.73260569e-01 2.36352742e-03 1.75020002e+02] [ 4.77862555e-03 -4.02237028e-05 9.99988582e-01 7.86644456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.180281693 meters 0.017083013974966383 Centerline is valid? [True, True] Translation: X:215.65, Y:175.01, Z:0.79 [[ 8.73392990e-01 4.86999980e-01 -3.96300630e-03 2.15645909e+02] [-4.86994763e-01 8.73401980e-01 2.25444621e-03 1.75007169e+02] [ 4.55921280e-03 -3.90542002e-05 9.99989606e-01 7.86615185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21028169299996 meters 0.01777757815116015 Centerline is valid? [True, True] Translation: X:215.67, Y:174.99, Z:0.79 [[ 8.73745692e-01 4.86368001e-01 -3.82544095e-03 2.15669901e+02] [-4.86363136e-01 8.73754065e-01 2.17571090e-03 1.74993272e+02] [ 4.40069074e-03 -4.04645664e-05 9.99990316e-01 7.86534972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.240281693 meters 0.018399356554840613 Centerline is valid? [True, True] Translation: X:215.70, Y:174.98, Z:0.79 [[ 8.74225074e-01 4.85506370e-01 -3.75292160e-03 2.15695127e+02] [-4.85501683e-01 8.74233128e-01 2.13389424e-03 1.74978844e+02] [ 4.31694764e-03 -4.34540957e-05 9.99990681e-01 7.86678721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27028169299996 meters 0.01884826613880954 Centerline is valid? [True, True] Translation: X:215.72, Y:174.96, Z:0.79 [[ 8.74932830e-01 4.84229760e-01 -3.75269323e-03 2.15720463e+02] [-4.84225064e-01 8.74940877e-01 2.13299363e-03 1.74964328e+02] [ 4.31624370e-03 -4.90780346e-05 9.99990684e-01 7.86591123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.300281693 meters 0.023117518117868892 Centerline is valid? [True, True] Translation: X:215.74, Y:174.94, Z:0.78 [[ 8.76997454e-01 4.80476250e-01 -4.24714702e-03 2.15741299e+02] [-4.80470194e-01 8.77007735e-01 2.41354086e-03 1.74944245e+02] [ 4.88442985e-03 -7.60416363e-05 9.99988068e-01 7.84899173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33028169299996 meters 0.024183150304702174 Centerline is valid? [True, True] Translation: X:215.77, Y:174.93, Z:0.79 [[ 8.78225855e-01 4.78225448e-01 -4.44603837e-03 2.15765609e+02] [-4.78218787e-01 8.78237105e-01 2.52581973e-03 1.74929291e+02] [ 5.11258714e-03 -9.20611166e-05 9.99986926e-01 7.85071896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36028169299993 meters 0.027495609925492694 Centerline is valid? [True, True] Translation: X:215.79, Y:174.91, Z:0.78 [[ 8.79085295e-01 4.76642793e-01 -4.54885325e-03 2.15787896e+02] [-4.76635802e-01 8.79097058e-01 2.58368454e-03 1.74912014e+02] [ 5.23037813e-03 -1.03132771e-04 9.99986316e-01 7.84201215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39028169299996 meters 0.030364986374494522 Centerline is valid? [True, True] Translation: X:215.81, Y:174.89, Z:0.78 [[ 8.80484294e-01 4.74050246e-01 -4.87572611e-03 2.15811315e+02] [-4.74042176e-01 8.80497784e-01 2.76907635e-03 1.74893869e+02] [ 5.60574736e-03 -1.26828421e-04 9.99984280e-01 7.83903515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42028169299994 meters 0.031039494510113758 Centerline is valid? [True, True] Translation: X:215.84, Y:174.88, Z:0.78 [[ 8.81417475e-01 4.72319603e-01 -4.17472434e-03 2.15835044e+02] [-4.72313670e-01 8.81427353e-01 2.37030989e-03 1.74877678e+02] [ 4.79926005e-03 -1.17453185e-04 9.99988477e-01 7.84929068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45028169299997 meters 0.03553338883714803 Centerline is valid? [True, True] Translation: X:215.86, Y:174.86, Z:0.79 [[ 8.82505755e-01 4.70289001e-01 -3.44197175e-03 2.15855575e+02] [-4.70284954e-01 8.82512461e-01 1.95393571e-03 1.74856161e+02] [ 3.95649744e-03 -1.05651985e-04 9.99992167e-01 7.85787169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48028169299994 meters 0.04189344508527894 Centerline is valid? [True, True] Translation: X:215.87, Y:174.83, Z:0.79 [[ 8.85210395e-01 4.65182912e-01 -2.72314622e-03 2.15874006e+02] [-4.65180354e-01 8.85214578e-01 1.54577116e-03 1.74828803e+02] [ 3.12963505e-03 -1.01578573e-04 9.99995098e-01 7.87251349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51028169299997 meters 0.04541164225395144 Centerline is valid? [True, True] Translation: X:215.90, Y:174.81, Z:0.79 [[ 8.86510871e-01 4.62697484e-01 -3.08454021e-03 2.15895543e+02] [-4.62694188e-01 8.86516228e-01 1.75080265e-03 1.74806941e+02] [ 3.54458693e-03 -1.24906749e-04 9.99993710e-01 7.86849603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54028169299994 meters 0.04671942915945888 Centerline is valid? [True, True] Translation: X:215.92, Y:174.79, Z:0.78 [[ 8.87499822e-01 4.60788648e-01 -4.22942453e-03 2.15918055e+02] [-4.60782431e-01 8.87509881e-01 2.40050738e-03 1.74786730e+02] [ 4.85978261e-03 -1.81605355e-04 9.99988175e-01 7.84943114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57028169299997 meters 0.052294783335171464 Centerline is valid? [True, True] Translation: X:215.93, Y:174.76, Z:0.78 [[ 8.88632611e-01 4.58569832e-01 -6.76694958e-03 2.15933843e+02] [-4.58553855e-01 8.88658322e-01 3.84042993e-03 1.74757323e+02] [ 7.77461137e-03 -3.09720458e-04 9.99969729e-01 7.79567993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60028169299994 meters 0.04995545423813795 Centerline is valid? [True, True] Translation: X:215.96, Y:174.74, Z:0.78 [[ 8.88573689e-01 4.58677675e-01 -7.18263662e-03 2.15958299e+02] [-4.58659688e-01 8.88602658e-01 4.07508844e-03 1.74741270e+02] [ 8.25166209e-03 -3.26630495e-04 9.99965901e-01 7.79408190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.630281693 meters 0.04891173512413668 Centerline is valid? [True, True] Translation: X:215.98, Y:174.72, Z:0.78 [[ 8.88224644e-01 4.59353355e-01 -7.17474857e-03 2.15981613e+02] [-4.59335442e-01 8.88253564e-01 4.06914688e-03 1.74724402e+02] [ 8.24217226e-03 -3.18700235e-04 9.99965982e-01 7.80344368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66028169299994 meters 0.04511302676910018 Centerline is valid? [True, True] Translation: X:216.00, Y:174.71, Z:0.79 [[ 8.86337932e-01 4.63010018e-01 -5.17622752e-03 2.16003663e+02] [-4.63000758e-01 8.86353023e-01 2.93540528e-03 1.74705167e+02] [ 5.94708696e-03 -2.05163780e-04 9.99982295e-01 7.85493754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.690281693 meters 0.04169611164378867 Centerline is valid? [True, True] Translation: X:216.03, Y:174.69, Z:0.79 [[ 8.84905949e-01 4.65752841e-01 -3.96887863e-03 2.16028477e+02] [-4.65747426e-01 8.84914838e-01 2.25062596e-03 1.74689860e+02] [ 4.56035502e-03 -1.43097296e-04 9.99989591e-01 7.88429005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72028169299995 meters 0.03442722400211052 Centerline is valid? [True, True] Translation: X:216.06, Y:174.68, Z:0.79 [[ 8.83272162e-01 4.68848429e-01 -3.38206377e-03 2.16057090e+02] [-4.68844519e-01 8.83278630e-01 1.91779633e-03 1.74679779e+02] [ 3.88646045e-03 -1.08274051e-04 9.99992442e-01 7.90406089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.750281693 meters 0.0309424844974667 Centerline is valid? [True, True] Translation: X:216.08, Y:174.67, Z:0.79 [[ 8.81578650e-01 4.72026215e-01 -3.21491811e-03 2.16084148e+02] [-4.72022703e-01 8.81584508e-01 1.82296883e-03 1.74666771e+02] [ 3.69471107e-03 -8.95760643e-05 9.99993171e-01 7.90124465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78028169299995 meters 0.022170251641966825 Centerline is valid? [True, True] Translation: X:216.11, Y:174.66, Z:0.79 [[ 8.77448939e-01 4.79651544e-01 -4.21374478e-03 2.16114354e+02] [-4.79645600e-01 8.77459054e-01 2.38920364e-03 1.74660283e+02] [ 4.84337372e-03 -7.53000583e-05 9.99988268e-01 7.88181771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.810281693 meters 0.019334065234974735 Centerline is valid? [True, True] Translation: X:216.14, Y:174.65, Z:0.79 [[ 8.75330187e-01 4.83507387e-01 -4.20351689e-03 2.16139971e+02] [-4.83501518e-01 8.75340279e-01 2.38304998e-03 1.74649702e+02] [ 4.83172992e-03 -5.35487922e-05 9.99988326e-01 7.87864683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84028169299995 meters 0.013466201750112202 Centerline is valid? [True, True] Translation: X:216.17, Y:174.65, Z:0.79 [[ 8.71382106e-01 4.90596783e-01 -2.83215559e-03 2.16171581e+02] [-4.90594156e-01 8.71386709e-01 1.60541661e-03 1.74647729e+02] [ 3.25551496e-03 -9.49232992e-06 9.99994701e-01 7.92460970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.870281693 meters 0.02831927893201281 Centerline is valid? [True, True] Translation: X:216.20, Y:174.64, Z:0.80 [[ 8.69235256e-01 4.94393878e-01 -2.18234313e-03 2.16200892e+02] [-4.94392331e-01 8.69237996e-01 1.23682307e-03 1.74642805e+02] [ 2.50845332e-03 3.84349053e-06 9.99996854e-01 8.00678811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90028169299995 meters 0.01513354415603841 Centerline is valid? [True, True] Translation: X:216.23, Y:174.64, Z:0.80 [[ 8.67288127e-01 4.97803761e-01 -1.64947127e-03 2.16229963e+02] [-4.97802884e-01 8.67289695e-01 9.34565346e-04 1.74637452e+02] [ 1.89579958e-03 1.05741266e-05 9.99998203e-01 7.95550734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.930281693 meters 0.021254655232747215 Centerline is valid? [True, True] Translation: X:216.26, Y:174.64, Z:0.79 [[ 8.63999921e-01 5.03480272e-01 -3.42818605e-03 2.16263551e+02] [-5.03476529e-01 8.64006721e-01 1.94193870e-03 1.74636408e+02] [ 3.93970361e-03 4.81763276e-05 9.99992238e-01 7.90795369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96028169299996 meters 0.024648780744569453 Centerline is valid? [True, True] Translation: X:216.29, Y:174.63, Z:0.79 [[ 8.62537335e-01 5.05978281e-01 -3.91474052e-03 2.16292044e+02] [-5.05973427e-01 8.62546216e-01 2.21721029e-03 1.74629276e+02] [ 4.49850487e-03 6.83280194e-05 9.99989879e-01 7.88951980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.990281693 meters 0.027978002662021988 Centerline is valid? [True, True] Translation: X:216.32, Y:174.62, Z:0.79 [[ 8.61287452e-01 5.08098745e-01 -4.42612691e-03 2.16321502e+02] [-5.08092573e-01 8.61298820e-01 2.50614402e-03 1.74622298e+02] [ 5.08558652e-03 9.03718114e-05 9.99987064e-01 7.88245747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02028169299996 meters 0.0349772523491364 Centerline is valid? [True, True] Translation: X:216.35, Y:174.62, Z:0.79 [[ 8.58580998e-01 5.12650696e-01 -5.28525521e-03 2.16354553e+02] [-5.12641983e-01 8.58597254e-01 2.99207006e-03 1.74623045e+02] [ 6.07179241e-03 1.40509216e-04 9.99981557e-01 7.87272068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.050281693 meters 0.038937198203411336 Centerline is valid? [True, True] Translation: X:216.38, Y:174.62, Z:0.79 [[ 8.57355479e-01 5.14691340e-01 -5.86570698e-03 2.16383856e+02] [-5.14680659e-01 8.57375527e-01 3.32034580e-03 1.74617230e+02] [ 6.73806684e-03 1.72249272e-04 9.99977284e-01 7.85936019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08028169299996 meters 0.04133762385911114 Centerline is valid? [True, True] Translation: X:216.41, Y:174.61, Z:0.79 [[ 8.56273271e-01 5.16488632e-01 -5.96481878e-03 2.16413142e+02] [-5.16477632e-01 8.56294025e-01 3.37618249e-03 1.74609576e+02] [ 6.85139856e-03 1.89760656e-04 9.99976511e-01 7.86224707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11028169299993 meters 0.04378498426191655 Centerline is valid? [True, True] Translation: X:216.44, Y:174.60, Z:0.79 [[ 8.55547335e-01 5.17696490e-01 -5.39462624e-03 2.16442159e+02] [-5.17687518e-01 8.55564324e-01 3.05311778e-03 1.74603391e+02] [ 6.19603810e-03 1.80643888e-04 9.99980788e-01 7.87787064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14028169299996 meters 0.036606763353978354 Centerline is valid? [True, True] Translation: X:216.47, Y:174.59, Z:0.79 [[ 8.54864523e-01 5.18838445e-01 -3.64908057e-03 2.16466936e+02] [-5.18834351e-01 8.54872301e-01 2.06497669e-03 1.74589700e+02] [ 4.19088720e-03 1.27993040e-04 9.99991210e-01 7.92073401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17028169299994 meters 0.03683691235213157 Centerline is valid? [True, True] Translation: X:216.49, Y:174.58, Z:0.79 [[ 8.55022706e-01 5.18574888e-01 -4.03222787e-03 2.16493533e+02] [-5.18569888e-01 8.55032202e-01 2.28147347e-03 1.74579503e+02] [ 4.63079952e-03 1.40280338e-04 9.99989268e-01 7.91387150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20028169299997 meters 0.03612931170493199 Centerline is valid? [True, True] Translation: X:216.52, Y:174.57, Z:0.79 [[ 8.55695222e-01 5.17460201e-01 -4.54174691e-03 2.16519272e+02] [-5.17453844e-01 8.55707262e-01 2.56940347e-03 1.74567941e+02] [ 5.21596985e-03 1.51518122e-04 9.99986385e-01 7.90550733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23028169299994 meters 0.03184692469428973 Centerline is valid? [True, True] Translation: X:216.55, Y:174.56, Z:0.79 [[ 8.57790483e-01 5.13971091e-01 -5.40418807e-03 2.16545900e+02] [-5.13962026e-01 8.57807492e-01 3.05642330e-03 1.74555274e+02] [ 6.20666623e-03 1.55776633e-04 9.99980726e-01 7.89469214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26028169299997 meters 0.03612914647782815 Centerline is valid? [True, True] Translation: X:216.58, Y:174.55, Z:0.79 [[ 8.59176419e-01 5.11654639e-01 -5.04104276e-03 2.16575018e+02] [-5.11646715e-01 8.59191197e-01 2.85051616e-03 1.74549802e+02] [ 5.78969938e-03 1.30136708e-04 9.99983231e-01 7.87893720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29028169299994 meters 0.022672051878637776 Centerline is valid? [True, True] Translation: X:216.59, Y:174.52, Z:0.79 [[ 8.62473235e-01 5.06086936e-01 -3.99146432e-03 2.16593377e+02] [-5.06081911e-01 8.62482468e-01 2.25643850e-03 1.74522341e+02] [ 4.58452204e-03 7.38900776e-05 9.99989488e-01 7.92426550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32028169299997 meters 0.02043061234213557 Centerline is valid? [True, True] Translation: X:216.62, Y:174.51, Z:0.79 [[ 8.63997144e-01 5.03482248e-01 -3.81587668e-03 2.16616438e+02] [-5.03477632e-01 8.64005569e-01 2.15673632e-03 1.74507006e+02] [ 4.38281715e-03 5.77945376e-05 9.99990394e-01 7.92325718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35028169299994 meters 0.017478345395130653 Centerline is valid? [True, True] Translation: X:216.64, Y:174.49, Z:0.79 [[ 8.65632183e-01 5.00663983e-01 -4.06201615e-03 2.16639540e+02] [-5.00658724e-01 8.65641712e-01 2.29515509e-03 1.74489913e+02] [ 4.66535210e-03 4.69237116e-05 9.99989116e-01 7.91971932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.380281693 meters 0.015959107579413163 Centerline is valid? [True, True] Translation: X:216.66, Y:174.47, Z:0.79 [[ 8.67068469e-01 4.98170109e-01 -4.33736350e-03 2.16662983e+02] [-4.98164085e-01 8.67079317e-01 2.45018246e-03 1.74474427e+02] [ 4.98144584e-03 3.62427704e-05 9.99987592e-01 7.90816865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41028169299994 meters 0.015959107579413163 Centerline is valid? [True, True] Translation: X:216.69, Y:174.46, Z:0.79 [[ 8.67158958e-01 4.98012576e-01 -4.33771287e-03 2.16687009e+02] [-4.98006553e-01 8.67169806e-01 2.44956385e-03 1.74461092e+02] [ 4.98144724e-03 3.60481942e-05 9.99987592e-01 7.90860426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.440281693 meters 0.01353707948351432 Centerline is valid? [True, True] Translation: X:216.71, Y:174.44, Z:0.79 [[ 8.69505805e-01 4.93896443e-01 -5.09493706e-03 2.16709298e+02] [-4.93888069e-01 8.69520732e-01 2.87598478e-03 1.74441557e+02] [ 5.85059205e-03 1.56431619e-05 9.99982885e-01 7.90320556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47028169299995 meters 0.013371235526948159 Centerline is valid? [True, True] Translation: X:216.73, Y:174.43, Z:0.79 [[ 8.70597536e-01 4.91962950e-01 -5.69094175e-03 2.16733028e+02] [-4.91952470e-01 8.70616136e-01 3.21102034e-03 1.74426074e+02] [ 6.53432876e-03 4.16645607e-06 9.99978651e-01 7.89088835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.500281693 meters 0.013781658038317395 Centerline is valid? [True, True] Translation: X:216.76, Y:174.41, Z:0.79 [[ 8.72392469e-01 4.88760963e-01 -6.64092790e-03 2.16757753e+02] [-4.88746612e-01 8.72417744e-01 3.74548614e-03 1.74410950e+02] [ 7.62431075e-03 -2.18028914e-05 9.99970934e-01 7.88517947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53028169299995 meters 0.014199053199728045 Centerline is valid? [True, True] Translation: X:216.78, Y:174.40, Z:0.79 [[ 8.73103239e-01 4.87498018e-01 -6.03466507e-03 2.16781242e+02] [-4.87486142e-01 8.73124093e-01 3.40277399e-03 1.74397085e+02] [ 6.92785704e-03 -2.91573961e-05 9.99976002e-01 7.89173480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.560281693 meters 0.01529961781660718 Centerline is valid? [True, True] Translation: X:216.80, Y:174.38, Z:0.79 [[ 8.74292456e-01 4.85384680e-01 -3.79654119e-03 2.16802593e+02] [-4.85379962e-01 8.74300699e-01 2.14040477e-03 1.74380604e+02] [ 4.35823830e-03 -2.85747243e-05 9.99990502e-01 7.92886134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59028169299995 meters 0.015382105436004316 Centerline is valid? [True, True] Translation: X:216.83, Y:174.37, Z:0.79 [[ 8.74720043e-01 4.84614737e-01 -3.66102352e-03 2.16827128e+02] [-4.84610345e-01 8.74727704e-01 2.06330315e-03 1.74367251e+02] [ 4.20230581e-03 -3.06427439e-05 9.99991170e-01 7.93639010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.620281693 meters 0.015605054587555393 Centerline is valid? [True, True] Translation: X:216.85, Y:174.36, Z:0.79 [[ 8.74947956e-01 4.84198623e-01 -4.21528730e-03 2.16852531e+02] [-4.84192802e-01 8.74958109e-01 2.37459883e-03 1.74355189e+02] [ 4.83797729e-03 -3.66386261e-05 9.99988296e-01 7.92959035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65028169299995 meters 0.01488635999770025 Centerline is valid? [True, True] Translation: X:216.88, Y:174.35, Z:0.79 [[ 8.74164727e-01 4.85604213e-01 -4.95764211e-03 2.16879878e+02] [-4.85596190e-01 8.74178784e-01 2.79163449e-03 1.74347515e+02] [ 5.68949503e-03 -3.29362824e-05 9.99983814e-01 7.91461166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.680281693 meters 0.014006243619316372 Centerline is valid? [True, True] Translation: X:216.91, Y:174.34, Z:0.79 [[ 8.73223674e-01 4.87288238e-01 -5.53062675e-03 2.16906367e+02] [-4.87278295e-01 8.73241188e-01 3.11294864e-03 1.74337100e+02] [ 6.34647433e-03 -2.33460728e-05 9.99979861e-01 7.90528298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71028169299996 meters 0.01354685918491464 Centerline is valid? [True, True] Translation: X:216.93, Y:174.33, Z:0.79 [[ 8.72191523e-01 4.89129630e-01 -5.84400132e-03 2.16933183e+02] [-4.89118579e-01 8.72211101e-01 3.28789994e-03 1.74327213e+02] [ 6.70541211e-03 -9.26883902e-06 9.99977518e-01 7.90245462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.740281693 meters 0.013306393245981337 Centerline is valid? [True, True] Translation: X:216.96, Y:174.32, Z:0.79 [[ 8.71172920e-01 4.90942447e-01 -5.76684148e-03 2.16960260e+02] [-4.90931735e-01 8.71192007e-01 3.24309949e-03 1.74318722e+02] [ 6.61620141e-03 5.82504379e-06 9.99978113e-01 7.90307439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77028169299996 meters 0.014648031796195587 Centerline is valid? [True, True] Translation: X:216.99, Y:174.32, Z:0.79 [[ 8.69179924e-01 4.94467539e-01 -5.30217633e-03 2.16990306e+02] [-4.94458554e-01 8.69196095e-01 2.98103803e-03 1.74316165e+02] [ 6.08265750e-03 3.06480273e-05 9.99981500e-01 7.91112131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.800281693 meters 0.015671442197580203 Centerline is valid? [True, True] Translation: X:217.02, Y:174.31, Z:0.79 [[ 8.68406228e-01 4.95826686e-01 -5.14983749e-03 2.17017792e+02] [-4.95818240e-01 8.68421496e-01 2.89445274e-03 1.74305599e+02] [ 5.90737649e-03 3.98225733e-05 9.99982551e-01 7.91197328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83028169299996 meters 0.01632447343091083 Centerline is valid? [True, True] Translation: X:217.04, Y:174.29, Z:0.79 [[ 8.68092297e-01 4.96373593e-01 -5.38708582e-03 2.17044169e+02] [-4.96364367e-01 8.68109011e-01 3.02666323e-03 1.74293304e+02] [ 6.17893344e-03 4.65344084e-05 9.99980909e-01 7.90946333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86028169299993 meters 0.016094554394978273 Centerline is valid? [True, True] Translation: X:217.07, Y:174.28, Z:0.79 [[ 8.68294364e-01 4.96018471e-01 -5.52943088e-03 2.17068560e+02] [-4.96008749e-01 8.68311968e-01 3.10591253e-03 1.74281801e+02] [ 6.34186100e-03 4.57997437e-05 9.99979889e-01 7.90133972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89028169299996 meters 0.015708566388472657 Centerline is valid? [True, True] Translation: X:217.09, Y:174.27, Z:0.79 [[ 8.68676987e-01 4.95348199e-01 -5.51850044e-03 2.17093770e+02] [-4.95338509e-01 8.68694515e-01 3.09865443e-03 1.74268826e+02] [ 6.32880396e-03 4.17959872e-05 9.99979972e-01 7.89910224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92028169299994 meters 0.01502227778663807 Centerline is valid? [True, True] Translation: X:217.12, Y:174.26, Z:0.79 [[ 8.69360949e-01 4.94139739e-01 -6.12036514e-03 2.17118030e+02] [-4.94127798e-01 8.69382492e-01 3.43548044e-03 1.74256454e+02] [ 7.01854570e-03 3.75700159e-05 9.99975369e-01 7.88779411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95028169299997 meters 0.014731546676867978 Centerline is valid? [True, True] Translation: X:217.14, Y:174.24, Z:0.79 [[ 8.69838120e-01 4.93291811e-01 -6.69580918e-03 2.17142216e+02] [-4.93277500e-01 8.69863890e-01 3.75770533e-03 1.74243447e+02] [ 7.67808789e-03 3.42966694e-05 9.99970522e-01 7.86645961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98028169299994 meters 0.014286079075955815 Centerline is valid? [True, True] Translation: X:217.17, Y:174.23, Z:0.78 [[ 8.70438020e-01 4.92224421e-01 -7.26444348e-03 2.17166851e+02] [-4.92207551e-01 8.70468333e-01 4.07530988e-03 1.74229347e+02] [ 8.32943505e-03 2.83092677e-05 9.99965309e-01 7.84873844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01028169299997 meters 0.013405983631624156 Centerline is valid? [True, True] Translation: X:217.19, Y:174.21, Z:0.79 [[ 8.72240141e-01 4.89030827e-01 -6.78134159e-03 2.17190391e+02] [-4.89016041e-01 8.72266502e-01 3.80284241e-03 1.74212389e+02] [ 7.77484427e-03 -8.06981034e-07 9.99969775e-01 7.86878580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04028169299994 meters 0.01375031622051752 Centerline is valid? [True, True] Translation: X:217.21, Y:174.20, Z:0.79 [[ 8.73428786e-01 4.86912229e-01 -6.21595489e-03 2.17212596e+02] [-4.86899757e-01 8.73450904e-01 3.48500256e-03 1.74196418e+02] [ 7.12622178e-03 -1.73546281e-05 9.99974608e-01 7.87103176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07028169299997 meters 0.014607278786796149 Centerline is valid? [True, True] Translation: X:217.24, Y:174.18, Z:0.79 [[ 8.74839769e-01 4.84375983e-01 -5.94009147e-03 2.17236650e+02] [-4.84364543e-01 8.74859935e-01 3.32925895e-03 1.74179519e+02] [ 6.80936111e-03 -3.53984392e-05 9.99976815e-01 7.88610771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10028169299994 meters 0.01730333650963412 Centerline is valid? [True, True] Translation: X:217.26, Y:174.16, Z:0.79 [[ 8.76485881e-01 4.81396896e-01 -5.43404945e-03 2.17258037e+02] [-4.81387268e-01 8.76502724e-01 3.04507852e-03 1.74161303e+02] [ 6.22885050e-03 -5.30861067e-05 9.99980599e-01 7.88644778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.130281693 meters 0.024830691858893472 Centerline is valid? [True, True] Translation: X:217.28, Y:174.14, Z:0.79 [[ 8.80091199e-01 4.74786927e-01 -4.10556884e-03 2.17276686e+02] [-4.74781360e-01 8.80100772e-01 2.30037996e-03 1.74136409e+02] [ 4.70550464e-03 -7.52965934e-05 9.99988926e-01 7.90628902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16028169299994 meters 0.0293698179551842 Centerline is valid? [True, True] Translation: X:217.30, Y:174.12, Z:0.79 [[ 8.81930205e-01 4.71362866e-01 -4.02018754e-03 2.17299079e+02] [-4.71357493e-01 8.81939363e-01 2.25235707e-03 1.74115047e+02] [ 4.60723912e-03 -9.14762173e-05 9.99989382e-01 7.90560387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.190281693 meters 0.03898338103467822 Centerline is valid? [True, True] Translation: X:217.32, Y:174.09, Z:0.79 [[ 8.85536617e-01 4.64543139e-01 -4.95699658e-03 2.17315022e+02] [-4.64534865e-01 8.85550477e-01 2.77696763e-03 1.74085647e+02] [ 5.67969195e-03 -1.56408784e-04 9.99983858e-01 7.88262330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22028169299995 meters 0.0388872767224715 Centerline is valid? [True, True] Translation: X:217.34, Y:174.07, Z:0.79 [[ 8.86894887e-01 4.61935942e-01 -5.71361924e-03 2.17339679e+02] [-4.61924897e-01 8.86913268e-01 3.20062740e-03 1.74068408e+02] [ 6.54596955e-03 -1.99357100e-04 9.99978555e-01 7.87972906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.250281693 meters 0.04186212044033483 Centerline is valid? [True, True] Translation: X:217.36, Y:174.05, Z:0.79 [[ 8.87897850e-01 4.59999710e-01 -6.13791128e-03 2.17362218e+02] [-4.59986918e-01 8.87919036e-01 3.43812527e-03 1.74047327e+02] [ 7.03150490e-03 -2.29345140e-04 9.99975252e-01 7.87623408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28028169299995 meters 0.05054397684480581 Centerline is valid? [True, True] Translation: X:217.38, Y:174.02, Z:0.79 [[ 8.89263539e-01 4.57362050e-01 -5.50581786e-03 2.17378113e+02] [-4.57351708e-01 8.89280555e-01 3.08384734e-03 1.74016706e+02] [ 6.30665150e-03 -2.24257797e-04 9.99980088e-01 7.88053893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.310281693 meters 0.04129977103172856 Centerline is valid? [True, True] Translation: X:217.41, Y:174.01, Z:0.79 [[ 8.89706660e-01 4.56509880e-01 -4.55948090e-03 2.17407259e+02] [-4.56502780e-01 8.89718323e-01 2.55306703e-03 1.74010294e+02] [ 5.22215402e-03 -1.90065036e-04 9.99986346e-01 7.91552207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34028169299995 meters 0.05153511980012028 Centerline is valid? [True, True] Translation: X:217.42, Y:173.98, Z:0.79 [[ 8.89538165e-01 4.56841209e-01 -4.23820669e-03 2.17422879e+02] [-4.56835081e-01 8.89548244e-01 2.37267727e-03 1.73981789e+02] [ 4.85402607e-03 -1.74425494e-04 9.99988204e-01 7.90985213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.370281693 meters 0.04415387678987491 Centerline is valid? [True, True] Translation: X:217.45, Y:173.97, Z:0.79 [[ 8.88276757e-01 4.59274851e-01 -5.56901343e-03 2.17449717e+02] [-4.59264322e-01 8.88294190e-01 3.11689471e-03 1.73968845e+02] [ 6.37843362e-03 -2.11015944e-04 9.99979635e-01 7.88715343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40028169299995 meters 0.042178030899772186 Centerline is valid? [True, True] Translation: X:217.47, Y:173.95, Z:0.79 [[ 8.87366466e-01 4.61019727e-01 -6.44716816e-03 2.17474253e+02] [-4.61005667e-01 8.87389857e-01 3.60784371e-03 1.73953784e+02] [ 7.38443876e-03 -2.29298471e-04 9.99972708e-01 7.86658940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.430281693 meters 0.035135542301800916 Centerline is valid? [True, True] Translation: X:217.50, Y:173.95, Z:0.79 [[ 8.86413010e-01 4.62844648e-01 -6.84158800e-03 2.17502163e+02] [-4.62828872e-01 8.86439383e-01 3.82814877e-03 1.73945202e+02] [ 7.83649121e-03 -2.26836415e-04 9.99969269e-01 7.87531094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46028169299996 meters 0.033051194031255005 Centerline is valid? [True, True] Translation: X:217.53, Y:173.93, Z:0.79 [[ 8.85434429e-01 4.64708811e-01 -7.18283735e-03 2.17527307e+02] [-4.64691487e-01 8.85463535e-01 4.01865274e-03 1.73931604e+02] [ 8.22764389e-03 -2.20450125e-04 9.99966128e-01 7.87476564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.490281693 meters 0.028611316512320135 Centerline is valid? [True, True] Translation: X:217.55, Y:173.92, Z:0.79 [[ 8.83247258e-01 4.68840384e-01 -7.93570871e-03 2.17553502e+02] [-4.68819407e-01 8.83282885e-01 4.43949813e-03 1.73918141e+02] [ 9.09089169e-03 -2.00760295e-04 9.99958657e-01 7.85411789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52028169299996 meters 0.025743931292997645 Centerline is valid? [True, True] Translation: X:217.58, Y:173.91, Z:0.79 [[ 8.82007231e-01 4.71168754e-01 -7.95301271e-03 2.17579816e+02] [-4.71147792e-01 8.82043069e-01 4.44781121e-03 1.73905217e+02] [ 9.11056940e-03 -1.75957269e-04 9.99958482e-01 7.85666323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.550281693 meters 0.024253334115794015 Centerline is valid? [True, True] Translation: X:217.60, Y:173.89, Z:0.79 [[ 8.80762792e-01 4.73499183e-01 -7.44500120e-03 2.17604350e+02] [-4.73480904e-01 8.80794246e-01 4.16280917e-03 1.73892233e+02] [ 8.52860096e-03 -1.41381527e-04 9.99963621e-01 7.86154749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58028169299996 meters 0.01845841162673087 Centerline is valid? [True, True] Translation: X:217.63, Y:173.88, Z:0.79 [[ 8.78362493e-01 4.77958615e-01 -5.90704062e-03 2.17634163e+02] [-4.77947211e-01 8.78382352e-01 3.30258004e-03 1.73884884e+02] [ 6.76713682e-03 -7.76088437e-05 9.99977100e-01 7.90763956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61028169299993 meters 0.019564853059026558 Centerline is valid? [True, True] Translation: X:217.66, Y:173.87, Z:0.79 [[ 8.77410299e-01 4.79708837e-01 -5.53169282e-03 2.17657561e+02] [-4.79698874e-01 8.77427734e-01 3.09220741e-03 1.73870129e+02] [ 6.33701991e-03 -5.95878066e-05 9.99979919e-01 7.88959207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64028169299996 meters 0.01565164616054371 Centerline is valid? [True, True] Translation: X:217.69, Y:173.86, Z:0.79 [[ 8.76636469e-01 4.81119913e-01 -5.66835128e-03 2.17686346e+02] [-4.81109489e-01 8.76654793e-01 3.16751178e-03 1.73863352e+02] [ 6.49314031e-03 -4.96587606e-05 9.99978918e-01 7.90697745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67028169299994 meters 0.015070474333070653 Centerline is valid? [True, True] Translation: X:217.71, Y:173.85, Z:0.79 [[ 8.75932040e-01 4.82401051e-01 -5.68215344e-03 2.17711874e+02] [-4.82390607e-01 8.75950469e-01 3.17459401e-03 1.73851663e+02] [ 6.50871246e-03 -3.97111608e-05 9.99978817e-01 7.89525474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70028169299997 meters 0.013949877920981497 Centerline is valid? [True, True] Translation: X:217.74, Y:173.84, Z:0.79 [[ 8.75090874e-01 4.83931881e-01 -5.08886431e-03 2.17739605e+02] [-4.83923535e-01 8.75105670e-01 2.84223866e-03 1.73842426e+02] [ 5.82874392e-03 -2.45959118e-05 9.99983012e-01 7.90916380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73028169299994 meters 0.013648014020864345 Centerline is valid? [True, True] Translation: X:217.76, Y:173.83, Z:0.79 [[ 8.74834870e-01 4.84395252e-01 -5.01886216e-03 2.17764964e+02] [-4.84387149e-01 8.74849267e-01 2.80194726e-03 1.73830753e+02] [ 5.74799783e-03 -2.01688333e-05 9.99983480e-01 7.91383828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76028169299997 meters 0.013596844634860487 Centerline is valid? [True, True] Translation: X:217.79, Y:173.82, Z:0.79 [[ 8.74547441e-01 4.84906647e-01 -5.68490006e-03 2.17791344e+02] [-4.84896270e-01 8.74565917e-01 3.17233176e-03 1.73819968e+02] [ 6.51010459e-03 -1.77677813e-05 9.99978809e-01 7.90662778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79028169299994 meters 0.013686947443041254 Centerline is valid? [True, True] Translation: X:217.82, Y:173.82, Z:0.79 [[ 8.73299468e-01 4.87124321e-01 -7.61146290e-03 2.17820715e+02] [-4.87105814e-01 8.73332638e-01 4.24623112e-03 1.73815030e+02] [ 8.71578142e-03 -6.43554215e-07 9.99962017e-01 7.86920970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82028169299997 meters 0.013752810819252163 Centerline is valid? [True, True] Translation: X:217.85, Y:173.81, Z:0.79 [[ 8.72704172e-01 4.88186544e-01 -7.83112471e-03 2.17847189e+02] [-4.88167012e-01 8.72739307e-01 4.36699975e-03 1.73805892e+02] [ 8.96644087e-03 1.17978486e-05 9.99959801e-01 7.86690217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85028169299994 meters 0.013829448267203214 Centerline is valid? [True, True] Translation: X:217.88, Y:173.80, Z:0.79 [[ 8.71875458e-01 4.89684997e-01 -6.46445011e-03 2.17875852e+02] [-4.89671740e-01 8.71899422e-01 3.60332410e-03 1.73799397e+02] [ 7.40084407e-03 2.38086802e-05 9.99972613e-01 7.89448684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.880281693 meters 0.013916008435869499 Centerline is valid? [True, True] Translation: X:217.90, Y:173.79, Z:0.79 [[ 8.71797946e-01 4.89828627e-01 -6.02144295e-03 2.17901080e+02] [-4.89817134e-01 8.71818740e-01 3.35556445e-03 1.73788788e+02] [ 6.89325833e-03 2.40317334e-05 9.99976241e-01 7.89749897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91028169299994 meters 0.013716475570462756 Centerline is valid? [True, True] Translation: X:217.93, Y:173.78, Z:0.79 [[ 8.72198138e-01 4.89117550e-01 -5.86764225e-03 2.17925915e+02] [-4.89106629e-01 8.72217875e-01 3.26859858e-03 1.73776314e+02] [ 6.71659139e-03 1.90371241e-05 9.99977443e-01 7.90172481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.940281693 meters 0.013463431845621146 Centerline is valid? [True, True] Translation: X:217.95, Y:173.76, Z:0.79 [[ 8.72767131e-01 4.88100435e-01 -5.95824693e-03 2.17949297e+02] [-4.88089158e-01 8.72787469e-01 3.31794915e-03 1.73763183e+02] [ 6.81977568e-03 1.23587628e-05 9.99976745e-01 7.90006835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97028169299995 meters 0.013446917484909083 Centerline is valid? [True, True] Translation: X:217.97, Y:173.75, Z:0.79 [[ 8.74336790e-01 4.85277763e-01 -6.37737915e-03 2.17971867e+02] [-4.85264774e-01 8.74360048e-01 3.55056607e-03 1.73747781e+02] [ 7.29913630e-03 -9.67308467e-06 9.99973361e-01 7.89652754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.000281693 meters 0.013888411060767318 Centerline is valid? [True, True] Translation: X:218.00, Y:173.73, Z:0.79 [[ 8.75201052e-01 4.83713251e-01 -6.67906754e-03 2.17996286e+02] [-4.83698968e-01 8.75226537e-01 3.71724559e-03 1.73732552e+02] [ 7.64377810e-03 -2.26791783e-05 9.99970786e-01 7.89082077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03028169299995 meters 0.014484288576899105 Centerline is valid? [True, True] Translation: X:218.02, Y:173.72, Z:0.79 [[ 8.76127515e-01 4.82034316e-01 -6.59507516e-03 2.18020832e+02] [-4.82020353e-01 8.76152337e-01 3.66908399e-03 1.73716998e+02] [ 7.54691490e-03 -3.56249789e-05 9.99971521e-01 7.89424969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.060281693 meters 0.01623770929183737 Centerline is valid? [True, True] Translation: X:218.04, Y:173.70, Z:0.79 [[ 8.77653644e-01 4.79268722e-01 -5.05693498e-03 2.18041724e+02] [-4.79260470e-01 8.77668212e-01 2.81284981e-03 1.73698182e+02] [ 5.78642202e-03 -4.51188547e-05 9.99983258e-01 7.92150574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09028169299995 meters 0.01653312508861942 Centerline is valid? [True, True] Translation: X:218.07, Y:173.68, Z:0.79 [[ 8.78247879e-01 4.78185083e-01 -4.43734946e-03 2.18065776e+02] [-4.78178719e-01 8.78259087e-01 2.46747121e-03 1.73682267e+02] [ 5.07705041e-03 -4.52052705e-05 9.99987111e-01 7.94162487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.120281693 meters 0.01706899266567599 Centerline is valid? [True, True] Translation: X:218.09, Y:173.67, Z:0.79 [[ 8.78747596e-01 4.77270020e-01 -3.99892647e-03 2.18089986e+02] [-4.77264845e-01 8.78756694e-01 2.22285379e-03 1.73665637e+02] [ 4.57498488e-03 -4.47804012e-05 9.99989534e-01 7.94881168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15028169299995 meters 0.01797698692959678 Centerline is valid? [True, True] Translation: X:218.11, Y:173.65, Z:0.79 [[ 8.79366033e-01 4.76125626e-01 -4.44612186e-03 2.18112409e+02] [-4.76119220e-01 8.79377271e-01 2.47044966e-03 1.73647545e+02] [ 5.08606290e-03 -5.55454400e-05 9.99987064e-01 7.94242198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.180281693 meters 0.018550523363101847 Centerline is valid? [True, True] Translation: X:218.14, Y:173.63, Z:0.79 [[ 8.79563188e-01 4.75746512e-01 -5.81848952e-03 2.18135767e+02] [-4.75735537e-01 8.79582430e-01 3.23226897e-03 1.73631762e+02] [ 6.65558184e-03 -7.49225600e-05 9.99977849e-01 7.91486225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21028169299996 meters 0.018940654834837263 Centerline is valid? [True, True] Translation: X:218.16, Y:173.62, Z:0.79 [[ 8.79683459e-01 4.75504445e-01 -7.24815411e-03 2.18159859e+02] [-4.75487418e-01 8.79713314e-01 4.02510229e-03 1.73615952e+02] [ 8.29025170e-03 -9.44098234e-05 9.99965631e-01 7.88546003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.240281693 meters 0.018965504527171127 Centerline is valid? [True, True] Translation: X:218.18, Y:173.60, Z:0.79 [[ 8.79712835e-01 4.75449217e-01 -7.30556469e-03 2.18181621e+02] [-4.75431931e-01 8.79743163e-01 4.05526402e-03 1.73598203e+02] [ 8.35509270e-03 -9.41690740e-05 9.99965091e-01 7.87650014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27028169299996 meters 0.018959675789267615 Centerline is valid? [True, True] Translation: X:218.20, Y:173.58, Z:0.79 [[ 8.79806702e-01 4.75289927e-01 -6.29701545e-03 2.18204990e+02] [-4.75277086e-01 8.79829232e-01 3.49477056e-03 1.73582335e+02] [ 7.20132752e-03 -8.18954095e-05 9.99974067e-01 7.90347004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.300281693 meters 0.019059927607663264 Centerline is valid? [True, True] Translation: X:218.23, Y:173.57, Z:0.79 [[ 8.79940427e-01 4.75053003e-01 -5.43042138e-03 2.18228069e+02] [-4.75043455e-01 8.79957181e-01 3.01277020e-03 1.73567020e+02] [ 6.20976382e-03 -7.13721631e-05 9.99980717e-01 7.92303977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33028169299996 meters 0.019059927607663264 Centerline is valid? [True, True] Translation: X:218.25, Y:173.55, Z:0.79 [[ 8.80026913e-01 4.74892764e-01 -5.43096958e-03 2.18252201e+02] [-4.74883219e-01 8.80043668e-01 3.01178183e-03 1.73553862e+02] [ 6.20976379e-03 -7.13727556e-05 9.99980717e-01 7.92347546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36028169299993 meters 0.017580397005019142 Centerline is valid? [True, True] Translation: X:218.28, Y:173.54, Z:0.79 [[ 8.79526442e-01 4.75816033e-01 -5.68688894e-03 2.18277024e+02] [-4.75805595e-01 8.79544825e-01 3.15243203e-03 1.73539772e+02] [ 6.50185144e-03 -6.67937564e-05 9.99978861e-01 7.93046678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39028169299996 meters 0.017718192024892332 Centerline is valid? [True, True] Translation: X:218.30, Y:173.53, Z:0.79 [[ 8.79205834e-01 4.76404184e-01 -6.01294869e-03 2.18300575e+02] [-4.76392538e-01 8.79226393e-01 3.33172462e-03 1.73525590e+02] [ 6.87399074e-03 -6.47478385e-05 9.99976372e-01 7.91476407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42028169299994 meters 0.01709606966615677 Centerline is valid? [True, True] Translation: X:218.33, Y:173.51, Z:0.79 [[ 8.78989804e-01 4.76800548e-01 -6.17759780e-03 2.18325061e+02] [-4.76788275e-01 8.79011510e-01 3.42147644e-03 1.73512675e+02] [ 7.06154141e-03 -6.20367050e-05 9.99975065e-01 7.91445176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45028169299997 meters 0.016453361623586293 Centerline is valid? [True, True] Translation: X:218.35, Y:173.50, Z:0.79 [[ 8.78666317e-01 4.77410233e-01 -4.99725303e-03 2.18350047e+02] [-4.77402215e-01 8.78680526e-01 2.76721171e-03 1.73499628e+02] [ 5.71208411e-03 -4.57560580e-05 9.99983685e-01 7.94335597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48028169299994 meters 0.016008293883089313 Centerline is valid? [True, True] Translation: X:218.37, Y:173.49, Z:0.80 [[ 8.78962069e-01 4.76875818e-01 -3.89033966e-03 2.18374594e+02] [-4.76870957e-01 8.78970678e-01 2.15356537e-03 1.73485749e+02] [ 4.44647773e-03 -3.77122781e-05 9.99990114e-01 7.96812328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51028169299997 meters 0.01715384822664527 Centerline is valid? [True, True] Translation: X:218.40, Y:173.47, Z:0.80 [[ 8.79337226e-01 4.76187621e-01 -3.37532444e-03 2.18396881e+02] [-4.76183958e-01 8.79343703e-01 1.86802087e-03 1.73467872e+02] [ 3.85759871e-03 -3.53449374e-05 9.99992559e-01 7.97945603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54028169299994 meters 0.017377951413138953 Centerline is valid? [True, True] Translation: X:218.42, Y:173.45, Z:0.80 [[ 8.79972311e-01 4.75013816e-01 -3.25679954e-03 2.18420175e+02] [-4.75010399e-01 8.79978337e-01 1.80192381e-03 1.73450753e+02] [ 3.72185175e-03 -3.86294042e-05 9.99993073e-01 7.98126039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57028169299997 meters 0.01841066680139156 Centerline is valid? [True, True] Translation: X:218.44, Y:173.43, Z:0.80 [[ 8.81043536e-01 4.73016333e-01 -4.22339988e-03 2.18441229e+02] [-4.73010570e-01 8.81053656e-01 2.33571341e-03 1.73429396e+02] [ 4.82587250e-03 -6.01524139e-05 9.99988354e-01 7.96525047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60028169299994 meters 0.01947986753484611 Centerline is valid? [True, True] Translation: X:218.46, Y:173.41, Z:0.79 [[ 8.81184062e-01 4.72749465e-01 -4.75317368e-03 2.18463333e+02] [-4.72742165e-01 8.81196878e-01 2.62809023e-03 1.73411765e+02] [ 5.43091005e-03 -6.88056040e-05 9.99985250e-01 7.94918573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.630281693 meters 0.01802888158682415 Centerline is valid? [True, True] Translation: X:218.49, Y:173.39, Z:0.80 [[ 8.80690058e-01 4.73671557e-01 -4.50308925e-03 2.18486398e+02] [-4.73665021e-01 8.80701568e-01 2.48903552e-03 1.73394086e+02] [ 5.14486309e-03 -5.91129737e-05 9.99986763e-01 7.96142308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66028169299994 meters 0.017264639949886328 Centerline is valid? [True, True] Translation: X:218.51, Y:173.38, Z:0.80 [[ 8.80007288e-01 4.74936368e-01 -4.75604643e-03 2.18510060e+02] [-4.74929098e-01 8.80020138e-01 2.62827643e-03 1.73379537e+02] [ 5.43368070e-03 -5.41175709e-05 9.99985236e-01 7.95808095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.690281693 meters 0.016341009299293986 Centerline is valid? [True, True] Translation: X:218.53, Y:173.37, Z:0.79 [[ 8.79324274e-01 4.76193272e-01 -5.36558241e-03 2.18534731e+02] [-4.76184049e-01 8.79340642e-01 2.96414820e-03 1.73365629e+02] [ 6.12968211e-03 -5.14427007e-05 9.99981212e-01 7.94764485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72028169299995 meters 0.01526393395641473 Centerline is valid? [True, True] Translation: X:218.56, Y:173.35, Z:0.79 [[ 8.78585009e-01 4.77549431e-01 -5.90962337e-03 2.18560061e+02] [-4.77538282e-01 8.78604882e-01 3.26340011e-03 1.73352029e+02] [ 6.75065881e-03 -4.51030215e-05 9.99977213e-01 7.93373173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.750281693 meters 0.014075044359332312 Centerline is valid? [True, True] Translation: X:218.59, Y:173.34, Z:0.79 [[ 8.77344155e-01 4.79817309e-01 -6.52560461e-03 2.18585001e+02] [-4.79803789e-01 8.77368423e-01 3.60212398e-03 1.73336701e+02] [ 7.45372086e-03 -2.92926011e-05 9.99972220e-01 7.91884440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78028169299995 meters 0.013915863413816364 Centerline is valid? [True, True] Translation: X:218.61, Y:173.32, Z:0.79 [[ 8.77314987e-01 4.79874591e-01 -6.22811615e-03 2.18608301e+02] [-4.79862288e-01 8.77337094e-01 3.43643077e-03 1.73320851e+02] [ 7.11321313e-03 -2.61941533e-05 9.99974700e-01 7.92703438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.810281693 meters 0.013952173520786858 Centerline is valid? [True, True] Translation: X:218.63, Y:173.30, Z:0.79 [[ 8.77652538e-01 4.79261498e-01 -5.86855436e-03 2.18631287e+02] [-4.79250570e-01 8.77672158e-01 3.23660196e-03 1.73303886e+02] [ 6.70184547e-03 -2.81039006e-05 9.99977542e-01 7.93693381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84028169299995 meters 0.01489780000832364 Centerline is valid? [True, True] Translation: X:218.65, Y:173.28, Z:0.79 [[ 8.78547983e-01 4.77620745e-01 -5.64497305e-03 2.18651797e+02] [-4.77610604e-01 8.78566117e-01 3.11263266e-03 1.73283111e+02] [ 6.44613999e-03 -3.84981591e-05 9.99979223e-01 7.94738988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.870281693 meters 0.015383460099081907 Centerline is valid? [True, True] Translation: X:218.67, Y:173.27, Z:0.79 [[ 8.78958014e-01 4.76866737e-01 -5.56105997e-03 2.18674644e+02] [-4.76856883e-01 8.78975605e-01 3.06594065e-03 1.73266312e+02] [ 6.35008116e-03 -4.30033830e-05 9.99979837e-01 7.94409668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90028169299995 meters 0.015507636573678334 Centerline is valid? [True, True] Translation: X:218.70, Y:173.25, Z:0.79 [[ 8.79355456e-01 4.76120532e-01 -6.57422728e-03 2.18697643e+02] [-4.76106749e-01 8.79380029e-01 3.62324992e-03 1.73248348e+02] [ 7.50634786e-03 -5.60906130e-05 9.99971825e-01 7.93178500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.930281693 meters 0.01559387328582702 Centerline is valid? [True, True] Translation: X:218.72, Y:173.23, Z:0.79 [[ 8.78844030e-01 4.77056347e-01 -7.10015037e-03 2.18721279e+02] [-4.77040307e-01 8.78872709e-01 3.91232126e-03 1.73233446e+02] [ 8.10652608e-03 -5.12622647e-05 9.99967140e-01 7.91320062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96028169299996 meters 0.014457379174398278 Centerline is valid? [True, True] Translation: X:218.75, Y:173.22, Z:0.79 [[ 8.77960172e-01 4.78684450e-01 -6.86545370e-03 2.18747232e+02] [-4.78669512e-01 8.77987014e-01 3.78175024e-03 1.73220865e+02] [ 7.83804423e-03 -3.39427172e-05 9.99969282e-01 7.92011910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.990281693 meters 0.013407051793005859 Centerline is valid? [True, True] Translation: X:218.77, Y:173.21, Z:0.79 [[ 8.76675787e-01 4.81035590e-01 -6.65773484e-03 2.18774408e+02] [-4.81021622e-01 8.76701067e-01 3.66591348e-03 1.73209694e+02] [ 7.60027809e-03 -1.13031800e-05 9.99971117e-01 7.94030444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02028169299996 meters 0.015819958907268353 Centerline is valid? [True, True] Translation: X:218.80, Y:173.21, Z:0.80 [[ 8.72599029e-01 4.88397207e-01 -6.25327907e-03 2.18804630e+02] [-4.88385077e-01 8.72621433e-01 3.44255603e-03 1.73207553e+02] [ 7.13808010e-03 5.00371283e-05 9.99974522e-01 7.95712062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.050281693 meters 0.018708964202560685 Centerline is valid? [True, True] Translation: X:218.83, Y:173.20, Z:0.80 [[ 8.70732750e-01 4.91717955e-01 -6.15886782e-03 2.18833284e+02] [-4.91706279e-01 8.70754527e-01 3.38947278e-03 1.73199285e+02] [ 7.02952666e-03 7.70290219e-05 9.99975290e-01 7.96490791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08028169299996 meters 0.021569244779248934 Centerline is valid? [True, True] Translation: X:218.86, Y:173.19, Z:0.80 [[ 8.69177288e-01 4.94467756e-01 -5.69912825e-03 2.18861483e+02] [-4.94457825e-01 8.69195967e-01 3.13528257e-03 1.73190236e+02] [ 6.50395543e-03 9.28621546e-05 9.99978845e-01 7.96862747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11028169299993 meters 0.023653843664918527 Centerline is valid? [True, True] Translation: X:218.89, Y:173.18, Z:0.80 [[ 8.67771827e-01 4.96940364e-01 -4.72555745e-03 2.18887904e+02] [-4.96933578e-01 8.67784689e-01 2.59873038e-03 1.73178532e+02] [ 5.39218043e-03 9.31831597e-05 9.99985458e-01 7.98383336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14028169299996 meters 0.0241396539743848 Centerline is valid? [True, True] Translation: X:218.91, Y:173.16, Z:0.80 [[ 8.68011781e-01 4.96523780e-01 -4.43661596e-03 2.18912571e+02] [-4.96517796e-01 8.68023115e-01 2.43932134e-03 1.73164683e+02] [ 5.06226626e-03 8.54991153e-05 9.99987183e-01 7.97812804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17028169299994 meters 0.022857420326404684 Centerline is valid? [True, True] Translation: X:218.94, Y:173.15, Z:0.80 [[ 8.68325893e-01 4.95974133e-01 -4.45007583e-03 2.18935445e+02] [-4.95968109e-01 8.68337292e-01 2.44587478e-03 1.73148680e+02] [ 5.07725742e-03 8.32792935e-05 9.99987107e-01 7.98316246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20028169299997 meters 0.022459076455919654 Centerline is valid? [True, True] Translation: X:218.96, Y:173.13, Z:0.80 [[ 8.68613210e-01 4.95475523e-01 -3.88549455e-03 2.18960676e+02] [-4.95470930e-01 8.68621898e-01 2.13474251e-03 1.73134142e+02] [ 4.43273832e-03 7.08840524e-05 9.99990173e-01 7.99297479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23028169299994 meters 0.02302589667568341 Centerline is valid? [True, True] Translation: X:218.99, Y:173.12, Z:0.80 [[ 8.68326094e-01 4.95977270e-01 -4.04254828e-03 2.18986177e+02] [-4.95972306e-01 8.68335501e-01 2.22042029e-03 1.73121709e+02] [ 4.61156618e-03 7.69431122e-05 9.99989364e-01 7.99476647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26028169299997 meters 0.026826966326553226 Centerline is valid? [True, True] Translation: X:219.01, Y:173.11, Z:0.80 [[ 8.67156733e-01 4.98016162e-01 -4.37076447e-03 2.19014056e+02] [-4.98010387e-01 8.67167742e-01 2.40030071e-03 1.73114128e+02] [ 4.98557450e-03 9.52491800e-05 9.99987567e-01 7.99097125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29028169299994 meters 0.026630577005767157 Centerline is valid? [True, True] Translation: X:219.04, Y:173.10, Z:0.80 [[ 8.66703351e-01 4.98803888e-01 -4.47029220e-03 2.19039448e+02] [-4.98797861e-01 8.66714873e-01 2.45419950e-03 1.73100970e+02] [ 5.09863299e-03 1.02709259e-04 9.99986997e-01 7.99099781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32028169299997 meters 0.027925241059984028 Centerline is valid? [True, True] Translation: X:219.07, Y:173.09, Z:0.80 [[ 8.66190277e-01 4.99696725e-01 -4.19370614e-03 2.19065771e+02] [-4.99691436e-01 8.66200423e-01 2.30148759e-03 1.73089900e+02] [ 4.78263584e-03 1.02032868e-04 9.99988558e-01 8.00252406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35028169299994 meters 0.02933064802471412 Centerline is valid? [True, True] Translation: X:219.09, Y:173.08, Z:0.80 [[ 8.65595618e-01 5.00730370e-01 -3.65005216e-03 2.19092630e+02] [-5.00726375e-01 8.65603308e-01 2.00240419e-03 1.73079390e+02] [ 4.16216182e-03 9.44050949e-05 9.99991334e-01 8.01418962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.380281693 meters 0.03205947450111424 Centerline is valid? [True, True] Translation: X:219.12, Y:173.07, Z:0.80 [[ 8.64867844e-01 5.01986746e-01 -3.59436858e-03 2.19121153e+02] [-5.01982885e-01 8.64875307e-01 1.97140576e-03 1.73072819e+02] [ 4.09830019e-03 9.93060646e-05 9.99991597e-01 8.00817598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41028169299994 meters 0.03241436384642688 Centerline is valid? [True, True] Translation: X:219.15, Y:173.06, Z:0.80 [[ 8.64851837e-01 5.02008210e-01 -4.36536793e-03 2.19147858e+02] [-5.02002519e-01 8.64862846e-01 2.39354088e-03 1.73061363e+02] [ 4.97702171e-03 1.21367471e-04 9.99987607e-01 7.99162274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.440281693 meters 0.03177857839067802 Centerline is valid? [True, True] Translation: X:219.17, Y:173.05, Z:0.80 [[ 8.65134683e-01 5.01512239e-01 -5.23969040e-03 2.19172839e+02] [-5.01504038e-01 8.65150538e-01 2.87168331e-03 1.73049605e+02] [ 5.97330529e-03 1.43333058e-04 9.99982149e-01 7.97638681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47028169299995 meters 0.03063923697501748 Centerline is valid? [True, True] Translation: X:219.20, Y:173.04, Z:0.80 [[ 8.65880668e-01 5.00223215e-01 -5.23495259e-03 2.19199159e+02] [-5.00215009e-01 8.65896482e-01 2.86834485e-03 1.73039812e+02] [ 5.96773971e-03 1.34957504e-04 9.99982184e-01 7.97242810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.500281693 meters 0.029676707352315448 Centerline is valid? [True, True] Translation: X:219.23, Y:173.03, Z:0.80 [[ 8.66436012e-01 4.99266821e-01 -4.61283067e-03 2.19225035e+02] [-4.99260441e-01 8.66448284e-01 2.52668115e-03 1.73027380e+02] [ 5.25826728e-03 1.13796335e-04 9.99986169e-01 7.98679360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53028169299995 meters 0.02936071193757975 Centerline is valid? [True, True] Translation: X:219.25, Y:173.02, Z:0.80 [[ 8.66913733e-01 4.98442272e-01 -3.98502364e-03 2.19250456e+02] [-4.98437504e-01 8.66922887e-01 2.18227583e-03 1.73015545e+02] [ 4.54244672e-03 9.44403475e-05 9.99989679e-01 7.99822171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.560281693 meters 0.028225733983875675 Centerline is valid? [True, True] Translation: X:219.28, Y:173.00, Z:0.80 [[ 8.67295947e-01 4.97780309e-01 -3.53609523e-03 2.19275894e+02] [-4.97776551e-01 8.67303152e-01 1.93586588e-03 1.73001283e+02] [ 4.03050246e-03 8.12166589e-05 9.99991874e-01 8.01429083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59028169299995 meters 0.024298771895380232 Centerline is valid? [True, True] Translation: X:219.30, Y:172.99, Z:0.80 [[ 8.67708934e-01 4.97061926e-01 -3.26310864e-03 2.19300362e+02] [-4.97058724e-01 8.67715066e-01 1.78574183e-03 1.72985378e+02] [ 3.71907281e-03 7.24524732e-05 9.99993082e-01 8.03366547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.620281693 meters 0.025696392987433835 Centerline is valid? [True, True] Translation: X:219.33, Y:172.98, Z:0.80 [[ 8.67804713e-01 4.96893556e-01 -3.43133423e-03 2.19326760e+02] [-4.96890016e-01 8.67811493e-01 1.87725465e-03 1.72976948e+02] [ 3.91054702e-03 7.59052892e-05 9.99992351e-01 8.02803603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65028169299995 meters 0.029008300376912825 Centerline is valid? [True, True] Translation: X:219.36, Y:172.97, Z:0.80 [[ 8.67777965e-01 4.96934330e-01 -4.20421269e-03 2.19355605e+02] [-4.96929018e-01 8.67788144e-01 2.29969078e-03 1.72972190e+02] [ 4.79116122e-03 9.35742989e-05 9.99988518e-01 7.99689012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.680281693 meters 0.027542194542386503 Centerline is valid? [True, True] Translation: X:219.38, Y:172.96, Z:0.80 [[ 8.67908431e-01 4.96704851e-01 -4.38708597e-03 2.19380171e+02] [-4.96699067e-01 8.67919514e-01 2.39891730e-03 1.72958052e+02] [ 4.99919138e-03 9.70209558e-05 9.99987499e-01 7.99613710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71028169299996 meters 0.024865149563899347 Centerline is valid? [True, True] Translation: X:219.40, Y:172.94, Z:0.80 [[ 8.68334343e-01 4.95959814e-01 -4.39666876e-03 2.19404731e+02] [-4.95954001e-01 8.68345469e-01 2.40323679e-03 1.72941912e+02] [ 5.00973627e-03 9.37324195e-05 9.99987447e-01 8.00335746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.740281693 meters 0.02485696061331613 Centerline is valid? [True, True] Translation: X:219.43, Y:172.93, Z:0.80 [[ 8.69726323e-01 4.93514192e-01 -4.45703684e-03 2.19431045e+02] [-4.93508188e-01 8.69737740e-01 2.43572078e-03 1.72932066e+02] [ 5.07851592e-03 8.11736909e-05 9.99987101e-01 8.00719929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77028169299996 meters 0.021473975015974367 Centerline is valid? [True, True] Translation: X:219.45, Y:172.92, Z:0.80 [[ 8.70186843e-01 4.92704842e-01 -4.09843234e-03 2.19454607e+02] [-4.92699760e-01 8.70196491e-01 2.23906637e-03 1.72915211e+02] [ 4.66964028e-03 7.08905356e-05 9.99989095e-01 8.02322943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.800281693 meters 0.02160910525100586 Centerline is valid? [True, True] Translation: X:219.48, Y:172.90, Z:0.80 [[ 8.70230410e-01 4.92628622e-01 -4.00917123e-03 2.19478619e+02] [-4.92623761e-01 8.70239643e-01 2.18972859e-03 1.72903641e+02] [ 4.56766272e-03 6.94445949e-05 9.99989566e-01 8.02542210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83028169299996 meters 0.023557717087513547 Centerline is valid? [True, True] Translation: X:219.51, Y:172.90, Z:0.80 [[ 8.69399171e-01 4.94098161e-01 -3.47691076e-03 2.19505594e+02] [-4.94094517e-01 8.69406121e-01 1.89870126e-03 1.72895996e+02] [ 3.96099230e-03 6.71932456e-05 9.99992153e-01 8.04078888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86028169299993 meters 0.02772664891282836 Centerline is valid? [True, True] Translation: X:219.53, Y:172.89, Z:0.80 [[ 8.68864702e-01 4.95039422e-01 -3.17813164e-03 2.19534344e+02] [-4.95036385e-01 8.68870512e-01 1.73526517e-03 1.72891642e+02] [ 3.62040953e-03 6.55801482e-05 9.99993444e-01 8.04266902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89028169299996 meters 0.025878940618005806 Centerline is valid? [True, True] Translation: X:219.56, Y:172.88, Z:0.80 [[ 8.68441274e-01 4.95784112e-01 -2.80497281e-03 2.19560550e+02] [-4.95781751e-01 8.68445802e-01 1.53111174e-03 1.72879204e+02] [ 3.19506774e-03 6.09737014e-05 9.99994894e-01 8.04811969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92028169299994 meters 0.02697786917251511 Centerline is valid? [True, True] Translation: X:219.59, Y:172.87, Z:0.80 [[ 8.68096312e-01 4.96389526e-01 -2.49639518e-03 2.19588068e+02] [-4.96387660e-01 8.68099899e-01 1.36218154e-03 1.72870080e+02] [ 2.84329306e-03 5.66749906e-05 9.99995956e-01 8.04911996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95028169299997 meters 0.028733508630784367 Centerline is valid? [True, True] Translation: X:219.62, Y:172.86, Z:0.80 [[ 8.67435921e-01 4.97540154e-01 -2.95279634e-03 2.19615680e+02] [-4.97537551e-01 8.67440943e-01 1.61076165e-03 1.72862137e+02] [ 3.36279504e-03 7.18945484e-05 9.99994343e-01 8.03559892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98028169299994 meters 0.028785461041895714 Centerline is valid? [True, True] Translation: X:219.64, Y:172.85, Z:0.80 [[ 8.67636454e-01 4.97186810e-01 -3.50138057e-03 2.19641546e+02] [-4.97183149e-01 8.67643515e-01 1.90973904e-03 1.72850836e+02] [ 3.98744721e-03 8.38682057e-05 9.99992047e-01 8.02440031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01028169299997 meters 0.02828683981919558 Centerline is valid? [True, True] Translation: X:219.67, Y:172.84, Z:0.80 [[ 8.67977671e-01 4.96589640e-01 -3.67328147e-03 2.19668364e+02] [-4.96585608e-01 8.67985439e-01 2.00292116e-03 1.72838873e+02] [ 4.18298473e-03 8.56078639e-05 9.99991248e-01 8.01801851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04028169299994 meters 0.02777213525027679 Centerline is valid? [True, True] Translation: X:219.69, Y:172.83, Z:0.80 [[ 8.68319906e-01 4.95991218e-01 -3.64050668e-03 2.19694975e+02] [-4.95987254e-01 8.68327533e-01 1.98460212e-03 1.72830532e+02] [ 4.14549740e-03 8.23753885e-05 9.99991404e-01 8.01626038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07028169299997 meters 0.02620735356269925 Centerline is valid? [True, True] Translation: X:219.72, Y:172.82, Z:0.80 [[ 8.68567139e-01 4.95558618e-01 -3.57512513e-03 2.19719643e+02] [-4.95554795e-01 8.68574493e-01 1.94833409e-03 1.72816924e+02] [ 4.07077625e-03 7.94114287e-05 9.99991711e-01 8.01908728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10028169299994 meters 0.026391852794344802 Centerline is valid? [True, True] Translation: X:219.75, Y:172.81, Z:0.80 [[ 8.68991059e-01 4.94809992e-01 -4.19657143e-03 2.19746957e+02] [-4.94804717e-01 8.69001188e-01 2.28640032e-03 1.72808123e+02] [ 4.77815928e-03 8.96218994e-05 9.99988581e-01 8.00153747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.130281693 meters 0.025395381004352624 Centerline is valid? [True, True] Translation: X:219.77, Y:172.80, Z:0.80 [[ 8.69356969e-01 4.94167254e-01 -4.14551309e-03 2.19772992e+02] [-4.94162103e-01 8.69366849e-01 2.25790503e-03 1.72796428e+02] [ 4.71975438e-03 8.56299908e-05 9.99988858e-01 8.00080833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16028169299994 meters 0.02525123617861288 Centerline is valid? [True, True] Translation: X:219.80, Y:172.79, Z:0.80 [[ 8.69585243e-01 4.93762912e-01 -4.43761514e-03 2.19798821e+02] [-4.93757007e-01 8.69596561e-01 2.41646557e-03 1.72785479e+02] [ 5.05209594e-03 8.97807741e-05 9.99987234e-01 7.99676389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.190281693 meters 0.024719235077158647 Centerline is valid? [True, True] Translation: X:219.83, Y:172.77, Z:0.80 [[ 8.69990969e-01 4.93046160e-01 -4.60404700e-03 2.19825025e+02] [-4.93039798e-01 8.70003147e-01 2.50632527e-03 1.72773734e+02] [ 5.24126943e-03 8.94980499e-05 9.99986260e-01 7.99346108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22028169299995 meters 0.024719235077158647 Centerline is valid? [True, True] Translation: X:219.85, Y:172.76, Z:0.80 [[ 8.70080796e-01 4.92887621e-01 -4.60448608e-03 2.19849258e+02] [-4.92881261e-01 8.70092975e-01 2.50551849e-03 1.72760782e+02] [ 5.24127003e-03 8.94613859e-05 9.99986260e-01 7.99389678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.250281693 meters 0.02393679781536494 Centerline is valid? [True, True] Translation: X:219.87, Y:172.75, Z:0.80 [[ 8.70576656e-01 4.92014830e-01 -4.20626208e-03 2.19874361e+02] [-4.92009517e-01 8.70586814e-01 2.28794557e-03 1.72747019e+02] [ 4.78761946e-03 7.76889648e-05 9.99988536e-01 7.99600845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28028169299995 meters 0.02313354407697849 Centerline is valid? [True, True] Translation: X:219.90, Y:172.73, Z:0.80 [[ 8.71191889e-01 4.90927082e-01 -3.91051610e-03 2.19899018e+02] [-4.90922481e-01 8.71200663e-01 2.12662672e-03 1.72733775e+02] [ 4.45086287e-03 6.70603139e-05 9.99990093e-01 7.99932426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.310281693 meters 0.02161015110437807 Centerline is valid? [True, True] Translation: X:219.92, Y:172.72, Z:0.80 [[ 8.71860176e-01 4.89738262e-01 -4.03329360e-03 2.19923919e+02] [-4.89733357e-01 8.71869503e-01 2.19274947e-03 1.72719444e+02] [ 4.59037900e-03 6.34674776e-05 9.99989462e-01 7.99686250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34028169299995 meters 0.0204801335077348 Centerline is valid? [True, True] Translation: X:219.95, Y:172.71, Z:0.80 [[ 8.73015828e-01 4.87666579e-01 -4.96716188e-03 2.19949030e+02] [-4.87659110e-01 8.73029956e-01 2.69984742e-03 1.72706760e+02] [ 5.65310647e-03 6.52722111e-05 9.99984019e-01 7.97078336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.370281693 meters 0.0192230043813131 Centerline is valid? [True, True] Translation: X:219.97, Y:172.69, Z:0.80 [[ 8.73355215e-01 4.87055235e-01 -5.27892730e-03 2.19973392e+02] [-4.87046794e-01 8.73371166e-01 2.86829605e-03 1.72693384e+02] [ 6.00748150e-03 6.60432984e-05 9.99981953e-01 7.97564758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40028169299995 meters 0.020545122314559627 Centerline is valid? [True, True] Translation: X:220.00, Y:172.69, Z:0.80 [[ 8.72835501e-01 4.87995633e-01 -4.29541809e-03 2.20001926e+02] [-4.87990057e-01 8.72846068e-01 2.33343724e-03 1.72688127e+02] [ 4.88794597e-03 5.94144529e-05 9.99988052e-01 8.00560989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.430281693 meters 0.023032370463510827 Centerline is valid? [True, True] Translation: X:220.03, Y:172.68, Z:0.80 [[ 8.71903855e-01 4.89666240e-01 -3.26213124e-03 2.20029803e+02] [-4.89663037e-01 8.71909955e-01 1.77190777e-03 1.72682035e+02] [ 3.71192812e-03 5.24118779e-05 9.99993109e-01 8.03088079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46028169299996 meters 0.02274530393870388 Centerline is valid? [True, True] Translation: X:220.06, Y:172.67, Z:0.81 [[ 8.70853776e-01 4.91536735e-01 -2.31056795e-03 2.20057275e+02] [-4.91535135e-01 8.70856840e-01 1.25477612e-03 1.72671503e+02] [ 2.62894246e-03 4.29988038e-05 9.99996543e-01 8.05619418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.490281693 meters 0.027319772675342014 Centerline is valid? [True, True] Translation: X:220.09, Y:172.67, Z:0.80 [[ 8.68691587e-01 4.95346590e-01 -2.58497595e-03 2.20090561e+02] [-4.95344606e-01 8.68695431e-01 1.40340785e-03 1.72671891e+02] [ 2.94073009e-03 6.13253003e-05 9.99995674e-01 8.04716768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52028169299996 meters 0.03268420436532566 Centerline is valid? [True, True] Translation: X:220.12, Y:172.67, Z:0.80 [[ 8.67915028e-01 4.96703093e-01 -3.08889391e-03 2.20121503e+02] [-4.96700269e-01 8.67920521e-01 1.67678548e-03 1.72670378e+02] [ 3.51377894e-03 7.89471209e-05 9.99993824e-01 8.02796031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.550281693 meters 0.036167041617497994 Centerline is valid? [True, True] Translation: X:220.15, Y:172.67, Z:0.80 [[ 8.67303436e-01 4.97770091e-01 -3.11240067e-03 2.20151659e+02] [-4.97767231e-01 8.67309016e-01 1.68931910e-03 1.72666735e+02] [ 3.54030569e-03 8.40988104e-05 9.99993730e-01 8.01572016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58028169299996 meters 0.02955641444314202 Centerline is valid? [True, True] Translation: X:220.18, Y:172.65, Z:0.80 [[ 8.67446119e-01 4.97523755e-01 -2.71008851e-03 2.20176817e+02] [-4.97521587e-01 8.67450349e-01 1.47054530e-03 1.72654779e+02] [ 3.08249844e-03 7.27087217e-05 9.99995246e-01 8.02797251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61028169299993 meters 0.029933251428591268 Centerline is valid? [True, True] Translation: X:220.20, Y:172.64, Z:0.80 [[ 8.68368481e-01 4.95911826e-01 -2.76441681e-03 2.20203616e+02] [-4.95909564e-01 8.68372878e-01 1.49937824e-03 1.72644807e+02] [ 3.14410399e-03 6.88879310e-05 9.99995055e-01 8.01975997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64028169299996 meters 0.02617540255991675 Centerline is valid? [True, True] Translation: X:220.23, Y:172.63, Z:0.80 [[ 8.69629173e-01 4.93695372e-01 -3.15941835e-03 2.20227598e+02] [-4.93692405e-01 8.69634909e-01 1.71290396e-03 1.72629113e+02] [ 3.59319325e-03 7.01895943e-05 9.99993542e-01 8.01170315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67028169299994 meters 0.019457813436437932 Centerline is valid? [True, True] Translation: X:220.25, Y:172.61, Z:0.80 [[ 8.72943502e-01 4.87806050e-01 -3.86000083e-03 2.20250828e+02] [-4.87801566e-01 8.72952035e-01 2.09223033e-03 1.72611121e+02] [ 4.39019819e-03 5.65155773e-05 9.99990361e-01 7.99332846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70028169299997 meters 0.016811936056032 Centerline is valid? [True, True] Translation: X:220.27, Y:172.60, Z:0.80 [[ 8.74750944e-01 4.84555698e-01 -4.06954737e-03 2.20273485e+02] [-4.84550681e-01 8.74760409e-01 2.20552409e-03 1.72595046e+02] [ 4.62857819e-03 4.26176757e-05 9.99989287e-01 7.99369122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73028169299994 meters 0.014401166548825053 Centerline is valid? [True, True] Translation: X:220.30, Y:172.58, Z:0.80 [[ 8.76645486e-01 4.81124654e-01 -3.42906774e-03 2.20296615e+02] [-4.81121067e-01 8.76652193e-01 1.85789106e-03 1.72576923e+02] [ 3.89997695e-03 2.10849225e-05 9.99992395e-01 8.00474994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76028169299997 meters 0.013133690527760459 Centerline is valid? [True, True] Translation: X:220.32, Y:172.56, Z:0.80 [[ 8.78353460e-01 4.78005760e-01 -2.38619508e-03 2.20318988e+02] [-4.78004012e-01 8.78356701e-01 1.29257639e-03 1.72559145e+02] [ 2.71378940e-03 5.27188181e-06 9.99996318e-01 8.02168237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79028169299994 meters 0.013149684886284964 Centerline is valid? [True, True] Translation: X:220.34, Y:172.54, Z:0.80 [[ 8.80745713e-01 4.73584941e-01 -2.07160295e-03 2.20340570e+02] [-4.73583613e-01 8.80748150e-01 1.12190544e-03 1.72540804e+02] [ 2.35587799e-03 -7.03620273e-06 9.99997225e-01 8.03530517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82028169299997 meters 0.013764893961616198 Centerline is valid? [True, True] Translation: X:220.36, Y:172.53, Z:0.80 [[ 8.81436071e-01 4.72292133e-01 -3.25490483e-03 2.20363936e+02] [-4.72288846e-01 8.81442081e-01 1.76204935e-03 1.72525338e+02] [ 3.70121213e-03 -1.58786091e-05 9.99993150e-01 8.01142247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85028169299994 meters 0.014340349809472583 Centerline is valid? [True, True] Translation: X:220.39, Y:172.51, Z:0.80 [[ 8.81824885e-01 4.71558470e-01 -4.18115452e-03 2.20386584e+02] [-4.71553040e-01 8.81834797e-01 2.26302067e-03 1.72509449e+02] [ 4.75423411e-03 -2.39518173e-05 9.99988698e-01 7.98352724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.880281693 meters 0.014783661149145987 Centerline is valid? [True, True] Translation: X:220.41, Y:172.49, Z:0.80 [[ 8.82217584e-01 4.70817000e-01 -4.84642210e-03 2.20410596e+02] [-4.70809699e-01 8.82230895e-01 2.62218039e-03 1.72493723e+02] [ 5.51023041e-03 -3.15911140e-05 9.99984818e-01 7.97761050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91028169299994 meters 0.014276379695594763 Centerline is valid? [True, True] Translation: X:220.43, Y:172.48, Z:0.80 [[ 8.82093278e-01 4.71051513e-01 -4.68191736e-03 2.20434668e+02] [-4.71044708e-01 8.82105703e-01 2.53206722e-03 1.72479474e+02] [ 5.32268010e-03 -2.81270803e-05 9.99985834e-01 7.98589924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.940281693 meters 0.013942243982299185 Centerline is valid? [True, True] Translation: X:220.46, Y:172.47, Z:0.80 [[ 8.81790521e-01 4.71621604e-01 -4.30587629e-03 2.20458869e+02] [-4.71615860e-01 8.81801033e-01 2.32764924e-03 1.72466497e+02] [ 4.89469583e-03 -2.17794891e-05 9.99988021e-01 7.98720132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97028169299995 meters 0.01350632909193057 Centerline is valid? [True, True] Translation: X:220.48, Y:172.45, Z:0.80 [[ 8.81206788e-01 4.72715444e-01 -3.83480730e-03 2.20483593e+02] [-4.72710901e-01 8.81215132e-01 2.07250665e-03 1.72453533e+02] [ 4.35899613e-03 -1.35517112e-05 9.99990499e-01 7.99509866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.000281693 meters 0.01283920129296377 Centerline is valid? [True, True] Translation: X:220.51, Y:172.44, Z:0.80 [[ 8.80503765e-01 4.74031986e-01 -2.60693884e-03 2.20508267e+02] [-4.74029894e-01 8.80507624e-01 1.40854696e-03 1.72440715e+02] [ 2.96312584e-03 -4.46395595e-06 9.99995610e-01 8.02202290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03028169299995 meters 0.0129215699236723 Centerline is valid? [True, True] Translation: X:220.53, Y:172.43, Z:0.80 [[ 8.80575394e-01 4.73900259e-01 -2.34957711e-03 2.20532750e+02] [-4.73898560e-01 8.80578528e-01 1.26895612e-03 1.72427717e+02] [ 2.67034579e-03 -3.95032249e-06 9.99996435e-01 8.02731249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.060281693 meters 0.012999035605406817 Centerline is valid? [True, True] Translation: X:220.56, Y:172.41, Z:0.80 [[ 8.81070242e-01 4.72979083e-01 -2.45268195e-03 2.20557016e+02] [-4.72977230e-01 8.81073656e-01 1.32402393e-03 1.72413322e+02] [ 2.78722907e-03 -6.49537461e-06 9.99996116e-01 8.02433025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09028169299995 meters 0.01405481048061321 Centerline is valid? [True, True] Translation: X:220.58, Y:172.39, Z:0.80 [[ 8.82494602e-01 4.70320732e-01 -1.29852619e-03 2.20578416e+02] [-4.70320210e-01 8.82495557e-01 7.00805781e-04 1.72394055e+02] [ 1.47554708e-03 -7.73420900e-06 9.99998911e-01 8.03210032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.120281693 meters 0.014707730404349823 Centerline is valid? [True, True] Translation: X:220.60, Y:172.38, Z:0.80 [[ 8.83369025e-01 4.68677542e-01 -7.25818625e-04 2.20602147e+02] [-4.68677378e-01 8.83369324e-01 3.91802799e-04 1.72377149e+02] [ 8.24795081e-04 -5.93168694e-06 9.99999660e-01 8.04698928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15028169299995 meters 0.01592034762479855 Centerline is valid? [True, True] Translation: X:220.63, Y:172.36, Z:0.81 [[ 8.84345469e-01 4.66832439e-01 -7.51681519e-04 2.20625478e+02] [-4.66832263e-01 8.84345789e-01 4.05592385e-04 1.72360062e+02] [ 8.54090068e-04 -7.77460403e-06 9.99999635e-01 8.05025248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.180281693 meters 0.017879721108866785 Centerline is valid? [True, True] Translation: X:220.65, Y:172.34, Z:0.81 [[ 8.85710481e-01 4.64237108e-01 -9.23056282e-04 2.20647603e+02] [-4.64236841e-01 8.85710962e-01 4.97799354e-04 1.72341089e+02] [ 1.04865800e-03 -1.23893727e-05 9.99999450e-01 8.05636306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21028169299996 meters 0.019923886042692115 Centerline is valid? [True, True] Translation: X:220.67, Y:172.32, Z:0.80 [[ 8.86184387e-01 4.63330652e-01 -1.39223401e-03 2.20670198e+02] [-4.63330045e-01 8.86185481e-01 7.50376820e-04 1.72323818e+02] [ 1.58145015e-03 -1.99083741e-05 9.99998749e-01 8.04925911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.240281693 meters 0.01950137755809595 Centerline is valid? [True, True] Translation: X:220.69, Y:172.31, Z:0.80 [[ 8.86441285e-01 4.62837091e-01 -1.91731737e-03 2.20694360e+02] [-4.62835939e-01 8.86443358e-01 1.03311417e-03 1.72310029e+02] [ 2.17775681e-03 -2.83916705e-05 9.99997628e-01 8.03681759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27028169299996 meters 0.01979743696399583 Centerline is valid? [True, True] Translation: X:220.72, Y:172.30, Z:0.80 [[ 8.86399734e-01 4.62910869e-01 -3.00633331e-03 2.20716443e+02] [-4.62908039e-01 8.86404831e-01 1.61922739e-03 1.72295144e+02] [ 3.41438633e-03 -4.36268742e-05 9.99994170e-01 8.00702172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.300281693 meters 0.0188237245188042 Centerline is valid? [True, True] Translation: X:220.74, Y:172.28, Z:0.80 [[ 8.86306708e-01 4.63087560e-01 -3.21423147e-03 2.20740999e+02] [-4.63084328e-01 8.86312535e-01 1.73061349e-03 1.72281981e+02] [ 3.65023922e-03 -4.53941224e-05 9.99993337e-01 8.00429428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33028169299996 meters 0.018860357842670244 Centerline is valid? [True, True] Translation: X:220.76, Y:172.27, Z:0.80 [[ 8.86317095e-01 4.63069463e-01 -2.94618243e-03 2.20763148e+02] [-4.63066750e-01 8.86321990e-01 1.58573141e-03 1.72266863e+02] [ 3.34557006e-03 -4.11817316e-05 9.99994403e-01 8.00855454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36028169299993 meters 0.01904137772546573 Centerline is valid? [True, True] Translation: X:220.78, Y:172.25, Z:0.80 [[ 8.86518992e-01 4.62683091e-01 -2.90411484e-03 2.20783770e+02] [-4.62680454e-01 8.86523748e-01 1.56250609e-03 1.72246970e+02] [ 3.29751191e-03 -4.15141503e-05 9.99994562e-01 8.00493420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39028169299996 meters 0.020114457764830965 Centerline is valid? [True, True] Translation: X:220.81, Y:172.23, Z:0.80 [[ 8.86782966e-01 4.62174279e-01 -3.30242324e-03 2.20806034e+02] [-4.62170869e-01 8.86789114e-01 1.77628915e-03 1.72229666e+02] [ 3.74950814e-03 -4.88991441e-05 9.99992969e-01 7.99801358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42028169299994 meters 0.020339090258338036 Centerline is valid? [True, True] Translation: X:220.83, Y:172.21, Z:0.80 [[ 8.86900914e-01 4.61946187e-01 -3.53398604e-03 2.20829365e+02] [-4.61942282e-01 8.86907953e-01 1.90023650e-03 1.72213994e+02] [ 4.01212733e-03 -5.28239131e-05 9.99991950e-01 7.98816595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45028169299997 meters 0.019344209621178356 Centerline is valid? [True, True] Translation: X:220.85, Y:172.20, Z:0.80 [[ 8.86656245e-01 4.62413375e-01 -3.81747119e-03 2.20854147e+02] [-4.62408826e-01 8.86664462e-01 2.05182250e-03 1.72199992e+02] [ 4.33360621e-03 -5.40288636e-05 9.99990608e-01 7.98561985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48028169299994 meters 0.018115378551690098 Centerline is valid? [True, True] Translation: X:220.88, Y:172.18, Z:0.80 [[ 8.85892095e-01 4.63871362e-01 -4.30749329e-03 2.20877414e+02] [-4.63865592e-01 8.85902566e-01 2.31428396e-03 1.72183705e+02] [ 4.88954941e-03 -5.21079404e-05 9.99988045e-01 7.97351566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51028169299997 meters 0.017920946792741317 Centerline is valid? [True, True] Translation: X:220.90, Y:172.17, Z:0.80 [[ 8.85595335e-01 4.64438724e-01 -4.19222200e-03 2.20900923e+02] [-4.64433267e-01 8.85605256e-01 2.25187231e-03 1.72168347e+02] [ 4.75851054e-03 -4.72402508e-05 9.99988677e-01 7.97621911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54028169299994 meters 0.016973106181012613 Centerline is valid? [True, True] Translation: X:220.93, Y:172.15, Z:0.80 [[ 8.85271911e-01 4.65057693e-01 -3.87125291e-03 2.20926158e+02] [-4.65053048e-01 8.85280374e-01 2.07890404e-03 1.72154330e+02] [ 4.39395454e-03 -4.00573843e-05 9.99990346e-01 7.98761054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57028169299997 meters 0.015839173666157884 Centerline is valid? [True, True] Translation: X:220.95, Y:172.14, Z:0.80 [[ 8.84561446e-01 4.66407199e-01 -3.92082822e-03 2.20949631e+02] [-4.66402450e-01 8.84570135e-01 2.10507884e-03 1.72139154e+02] [ 4.45007148e-03 -3.33876907e-05 9.99990098e-01 7.98731219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60028169299994 meters 0.015550329940656058 Centerline is valid? [True, True] Translation: X:220.97, Y:172.12, Z:0.80 [[ 8.84357058e-01 4.66791066e-01 -4.32370886e-03 2.20973429e+02] [-4.66785299e-01 8.84367627e-01 2.32060303e-03 1.72124853e+02] [ 4.90698491e-03 -3.39979300e-05 9.99987960e-01 7.97418223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.630281693 meters 0.014993372440037421 Centerline is valid? [True, True] Translation: X:221.00, Y:172.11, Z:0.80 [[ 8.84028658e-01 4.67409822e-01 -4.62493429e-03 2.20997483e+02] [-4.67403237e-01 8.84040756e-01 2.48119632e-03 1.72110683e+02] [ 5.24836594e-03 -3.17393967e-05 9.99986227e-01 7.96633873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66028169299994 meters 0.014398314915740633 Centerline is valid? [True, True] Translation: X:221.02, Y:172.10, Z:0.80 [[ 8.83606691e-01 4.68205807e-01 -4.74747150e-03 2.21021342e+02] [-4.68198886e-01 8.83619444e-01 2.54584439e-03 1.72097216e+02] [ 5.38693725e-03 -2.67642624e-05 9.99985490e-01 7.96634205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.690281693 meters 0.013122530546341354 Centerline is valid? [True, True] Translation: X:221.05, Y:172.09, Z:0.80 [[ 8.82144901e-01 4.70953073e-01 -4.85558202e-03 2.21047393e+02] [-4.70945881e-01 8.82158264e-01 2.60280534e-03 1.72085845e+02] [ 5.50919098e-03 -9.33510523e-06 9.99984824e-01 7.96427665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72028169299995 meters 0.013067021853692764 Centerline is valid? [True, True] Translation: X:221.07, Y:172.08, Z:0.80 [[ 8.81044709e-01 4.73006579e-01 -4.99965211e-03 2.21073578e+02] [-4.72998993e-01 8.81058895e-01 2.67893735e-03 1.72075039e+02] [ 5.67214296e-03 4.56683286e-06 9.99983913e-01 7.96677433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.750281693 meters 0.013868259968748072 Centerline is valid? [True, True] Translation: X:221.10, Y:172.06, Z:0.80 [[ 8.79808904e-01 4.75300529e-01 -5.06954520e-03 2.21099935e+02] [-4.75292770e-01 8.79823509e-01 2.71581249e-03 1.72064717e+02] [ 5.75113216e-03 2.01221686e-05 9.99983462e-01 7.96756137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78028169299995 meters 0.019777319106671732 Centerline is valid? [True, True] Translation: X:221.13, Y:172.06, Z:0.80 [[ 8.76167003e-01 4.81987474e-01 -4.41101998e-03 2.21130763e+02] [-4.81981686e-01 8.76178105e-01 2.36278034e-03 1.72062333e+02] [ 5.00366966e-03 5.58406763e-05 9.99987480e-01 7.99253539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.810281693 meters 0.024393835029982335 Centerline is valid? [True, True] Translation: X:221.16, Y:172.06, Z:0.80 [[ 8.74177385e-01 4.85594634e-01 -3.42793438e-03 2.21159690e+02] [-4.85591168e-01 8.74184104e-01 1.83573103e-03 1.72055802e+02] [ 3.88806688e-03 5.98201075e-05 9.99992440e-01 8.01614719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84028169299995 meters 0.025457583598482564 Centerline is valid? [True, True] Translation: X:221.19, Y:172.04, Z:0.80 [[ 8.72450809e-01 4.88696723e-01 -2.25816450e-03 2.21186583e+02] [-4.88695230e-01 8.72453730e-01 1.20907653e-03 1.72043971e+02] [ 2.56101577e-03 4.86944250e-05 9.99996719e-01 8.04583280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.870281693 meters 0.028742706855839555 Centerline is valid? [True, True] Translation: X:221.21, Y:172.03, Z:0.81 [[ 8.70889607e-01 4.91477727e-01 -9.67772600e-04 2.21214631e+02] [-4.91477454e-01 8.70890144e-01 5.18161356e-04 1.72034591e+02] [ 1.09748838e-03 2.43770745e-05 9.99999397e-01 8.06988794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90028169299995 meters 0.033917321387880436 Centerline is valid? [True, True] Translation: X:221.24, Y:172.03, Z:0.81 [[ 8.68649615e-01 4.95426453e-01 -6.89693471e-04 2.21244098e+02] [-4.95426316e-01 8.68649889e-01 3.69267895e-04 1.72029555e+02] [ 7.82047240e-04 2.09278809e-05 9.99999694e-01 8.07373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.930281693 meters 0.03651406718445439 Centerline is valid? [True, True] Translation: X:221.27, Y:172.02, Z:0.81 [[ 8.67689784e-01 4.97104773e-01 -1.13277909e-03 2.21272097e+02] [-4.97104404e-01 8.67690523e-01 6.06387236e-04 1.72021748e+02] [ 1.28433967e-03 3.69534648e-05 9.99999175e-01 8.05950257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96028169299996 meters 0.03901189160516328 Centerline is valid? [True, True] Translation: X:221.30, Y:172.01, Z:0.80 [[ 8.66720573e-01 4.98790579e-01 -1.84599919e-03 2.21300594e+02] [-4.98789604e-01 8.66722536e-01 9.88027584e-04 1.72013755e+02] [ 2.09278795e-03 6.44213702e-05 9.99997808e-01 8.04828700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.990281693 meters 0.0410817776734796 Centerline is valid? [True, True] Translation: X:221.33, Y:172.01, Z:0.80 [[ 8.65051372e-01 5.01677806e-01 -2.34596074e-03 2.21330675e+02] [-5.01676243e-01 8.65054548e-01 1.25539169e-03 1.72006922e+02] [ 2.65918615e-03 9.09344654e-05 9.99996460e-01 8.03883466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02028169299996 meters 0.041858193139289554 Centerline is valid? [True, True] Translation: X:221.36, Y:172.00, Z:0.81 [[ 8.64429431e-01 5.02750822e-01 -1.83538722e-03 2.21357955e+02] [-5.02749869e-01 8.64431377e-01 9.81902775e-04 1.71997346e+02] [ 2.08021873e-03 7.39550265e-05 9.99997834e-01 8.05537181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.050281693 meters 0.05281047359145372 Centerline is valid? [True, True] Translation: X:221.39, Y:172.00, Z:0.81 [[ 8.64049335e-01 5.03406640e-01 -7.08339461e-04 2.21390842e+02] [-5.03406498e-01 8.64049625e-01 3.78887864e-04 1.72000561e+02] [ 8.02775112e-04 2.92048807e-05 9.99999677e-01 8.07679793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08028169299996 meters 0.045303571876957195 Centerline is valid? [True, True] Translation: X:221.42, Y:171.98, Z:0.81 [[ 8.63028906e-01 5.05153987e-01 7.46040510e-04 2.21415659e+02] [-5.05153831e-01 8.63029228e-01 -3.98606748e-04 1.71984046e+02] [-8.45212553e-04 -3.28560758e-05 9.99999642e-01 8.10594731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11028169299993 meters 0.04562614884774 Centerline is valid? [True, True] Translation: X:221.44, Y:171.97, Z:0.81 [[ 8.62729958e-01 5.05664763e-01 4.09211433e-04 2.21442928e+02] [-5.05664716e-01 8.62730055e-01 -2.18379512e-04 1.71973707e+02] [-4.63465826e-04 -1.85212363e-05 9.99999892e-01 8.09255213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14028169299996 meters 0.04562614884774 Centerline is valid? [True, True] Translation: X:221.47, Y:171.96, Z:0.81 [[ 8.62824994e-01 5.05502584e-01 4.09270351e-04 2.21467257e+02] [-5.05502537e-01 8.62825091e-01 -2.18269181e-04 1.71960923e+02] [-4.63464363e-04 -1.85590959e-05 9.99999892e-01 8.09298809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17028169299994 meters 0.04820601565176254 Centerline is valid? [True, True] Translation: X:221.50, Y:171.95, Z:0.81 [[ 8.63039148e-01 5.05136197e-01 -9.23303320e-04 2.21495111e+02] [-5.05135957e-01 8.63039641e-01 4.93207342e-04 1.71953592e+02] [ 1.04598425e-03 4.07364623e-05 9.99999452e-01 8.07038061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20028169299997 meters 0.04562449923039766 Centerline is valid? [True, True] Translation: X:221.52, Y:171.94, Z:0.80 [[ 8.63503185e-01 5.04340345e-01 -1.75072475e-03 2.21520374e+02] [-5.04339485e-01 8.63504957e-01 9.34924687e-04 1.71939441e+02] [ 1.98327974e-03 7.56491732e-05 9.99998030e-01 8.04626662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23028169299994 meters 0.04530765640701849 Centerline is valid? [True, True] Translation: X:221.55, Y:171.93, Z:0.80 [[ 8.64768774e-01 5.02164294e-01 -2.44741101e-03 2.21547242e+02] [-5.02162604e-01 8.64772231e-01 1.30650802e-03 1.71930463e+02] [ 2.77253476e-03 9.91709545e-05 9.99996152e-01 8.03158350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26028169299997 meters 0.042433139755220214 Centerline is valid? [True, True] Translation: X:221.57, Y:171.92, Z:0.80 [[ 8.65243496e-01 5.01345181e-01 -2.58883869e-03 2.21572307e+02] [-5.01343288e-01 8.65247363e-01 1.38169706e-03 1.71915187e+02] [ 2.93269302e-03 1.02392505e-04 9.99995694e-01 8.03924604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29028169299994 meters 0.05280814223676012 Centerline is valid? [True, True] Translation: X:221.60, Y:171.92, Z:0.80 [[ 8.65757428e-01 5.00458390e-01 -2.34001167e-03 2.21604001e+02] [-5.00456841e-01 8.65760586e-01 1.24854738e-03 1.71916361e+02] [ 2.65073588e-03 9.01356767e-05 9.99996483e-01 8.04246204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32028169299997 meters 0.03625857356947945 Centerline is valid? [True, True] Translation: X:221.62, Y:171.89, Z:0.81 [[ 8.66699238e-01 4.98828071e-01 -1.72819279e-03 2.21622297e+02] [-4.98827223e-01 8.66700959e-01 9.21922397e-04 1.71888316e+02] [ 1.95770712e-03 6.30401705e-05 9.99998082e-01 8.05820603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35028169299994 meters 0.04937707886337733 Centerline is valid? [True, True] Translation: X:221.66, Y:171.89, Z:0.81 [[ 8.67388646e-01 4.97629466e-01 -1.36061574e-03 2.21657149e+02] [-4.97628939e-01 8.67389712e-01 7.25616832e-04 1.71893666e+02] [ 1.54127241e-03 4.76899643e-05 9.99998811e-01 8.06346548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.380281693 meters 0.035460797632361964 Centerline is valid? [True, True] Translation: X:221.67, Y:171.87, Z:0.81 [[ 8.68146539e-01 4.96307455e-01 -7.05489539e-04 2.21674851e+02] [-4.96307313e-01 8.68146825e-01 3.76226584e-04 1.71866130e+02] [ 7.99192562e-04 2.35198105e-05 9.99999680e-01 8.06662439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41028169299994 meters 0.0326834296713732 Centerline is valid? [True, True] Translation: X:221.70, Y:171.85, Z:0.81 [[ 8.70206930e-01 4.92685963e-01 -6.63371259e-04 2.21699674e+02] [-4.92685837e-01 8.70207183e-01 3.53534023e-04 1.71853112e+02] [ 7.51451685e-04 1.91858670e-05 9.99999718e-01 8.06879814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.440281693 meters 0.03048953931687928 Centerline is valid? [True, True] Translation: X:221.73, Y:171.84, Z:0.81 [[ 8.71303789e-01 4.90742987e-01 -1.01409375e-03 2.21725129e+02] [-4.90742690e-01 8.71304379e-01 5.40321996e-04 1.71839166e+02] [ 1.14874355e-03 2.68744922e-05 9.99999340e-01 8.06359290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47028169299995 meters 0.029682797556798597 Centerline is valid? [True, True] Translation: X:221.75, Y:171.83, Z:0.81 [[ 8.72432953e-01 4.88731503e-01 -1.50385979e-03 2.21751170e+02] [-4.88730847e-01 8.72434248e-01 8.01130060e-04 1.71827671e+02] [ 1.70355628e-03 3.60504051e-05 9.99998548e-01 8.05656865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.500281693 meters 0.023027829386507728 Centerline is valid? [True, True] Translation: X:221.77, Y:171.81, Z:0.81 [[ 8.73909345e-01 4.86085798e-01 -1.74767291e-03 2.21774710e+02] [-4.86084909e-01 8.73911091e-01 9.30654783e-04 1.71810421e+02] [ 1.97968881e-03 3.62095132e-05 9.99998040e-01 8.05178757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53028169299995 meters 0.023351852975442122 Centerline is valid? [True, True] Translation: X:221.80, Y:171.80, Z:0.80 [[ 8.74769651e-01 4.84535801e-01 -1.76492042e-03 2.21801018e+02] [-4.84534891e-01 8.74771431e-01 9.39721275e-04 1.71800195e+02] [ 1.99923056e-03 3.31258692e-05 9.99998001e-01 8.04673580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.560281693 meters 0.021491774959480885 Centerline is valid? [True, True] Translation: X:221.83, Y:171.79, Z:0.80 [[ 8.75664353e-01 4.82916842e-01 -1.80713172e-03 2.21826654e+02] [-4.82915885e-01 8.75666217e-01 9.61998658e-04 1.71787126e+02] [ 2.04700955e-03 3.03046816e-05 9.99997904e-01 8.04446007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59028169299995 meters 0.02056241355035604 Centerline is valid? [True, True] Translation: X:221.85, Y:171.78, Z:0.80 [[ 8.76353782e-01 4.81664477e-01 -1.83866579e-03 2.21852823e+02] [-4.81663485e-01 8.76355710e-01 9.78438690e-04 1.71776344e+02] [ 2.08260442e-03 2.81597243e-05 9.99997831e-01 8.04023643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.620281693 meters 0.017797236396342325 Centerline is valid? [True, True] Translation: X:221.88, Y:171.77, Z:0.80 [[ 8.77634542e-01 4.79327293e-01 -1.71954892e-03 2.21880332e+02] [-4.79326420e-01 8.77636227e-01 9.14839259e-04 1.71766234e+02] [ 1.94764585e-03 2.13306920e-05 9.99998103e-01 8.03620764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65028169299995 meters 0.016175424079652063 Centerline is valid? [True, True] Translation: X:221.91, Y:171.75, Z:0.80 [[ 8.78565691e-01 4.77619562e-01 -1.37106526e-03 2.21906189e+02] [-4.77619006e-01 8.78566761e-01 7.29205350e-04 1.71752360e+02] [ 1.55285510e-03 1.41920225e-05 9.99998794e-01 8.03973596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.680281693 meters 0.01324489322760667 Centerline is valid? [True, True] Translation: X:221.93, Y:171.74, Z:0.80 [[ 8.81106890e-01 4.72915750e-01 -1.15807013e-03 2.21930170e+02] [-4.72915349e-01 8.81107652e-01 6.15839585e-04 1.71735954e+02] [ 1.31162469e-03 5.04863952e-06 9.99999140e-01 8.03885125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71028169299996 meters 0.012685284185493965 Centerline is valid? [True, True] Translation: X:221.95, Y:171.72, Z:0.80 [[ 8.82581686e-01 4.70157146e-01 -1.35117018e-03 2.21953934e+02] [-4.70156597e-01 8.82582720e-01 7.18173875e-04 1.71722331e+02] [ 1.53017403e-03 1.41446284e-06 9.99998829e-01 8.03516538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.740281693 meters 0.012744322112242717 Centerline is valid? [True, True] Translation: X:221.98, Y:171.71, Z:0.80 [[ 8.83901575e-01 4.67670259e-01 -1.59201489e-03 2.21977647e+02] [-4.67669493e-01 8.83903009e-01 8.46040926e-04 1.71708450e+02] [ 1.80285493e-03 -3.28010888e-06 9.99998375e-01 8.02985247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77028169299996 meters 0.013489056509926942 Centerline is valid? [True, True] Translation: X:222.00, Y:171.69, Z:0.80 [[ 8.85039805e-01 4.65511767e-01 -1.82723785e-03 2.22002908e+02] [-4.65510755e-01 8.85041691e-01 9.70791922e-04 1.71693831e+02] [ 2.06909674e-03 -8.59062317e-06 9.99997859e-01 8.02831448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.800281693 meters 0.015411575729568527 Centerline is valid? [True, True] Translation: X:222.03, Y:171.68, Z:0.81 [[ 8.86719005e-01 4.62307521e-01 -1.07792854e-03 2.22025027e+02] [-4.62307166e-01 8.86719661e-01 5.72558932e-04 1.71677019e+02] [ 1.22051873e-03 -9.36479620e-06 9.99999255e-01 8.05265428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83028169299996 meters 0.01624256581809976 Centerline is valid? [True, True] Translation: X:222.05, Y:171.66, Z:0.81 [[ 8.87348964e-01 4.61098377e-01 -3.20438456e-04 2.22050044e+02] [-4.61098345e-01 8.87349022e-01 1.70378481e-04 1.71661744e+02] [ 3.62901991e-04 -3.43152658e-06 9.99999934e-01 8.06942816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86028169299993 meters 0.016076700829463338 Centerline is valid? [True, True] Translation: X:222.08, Y:171.65, Z:0.81 [[ 8.87735482e-01 4.60353490e-01 6.15234650e-04 2.22075678e+02] [-4.60353374e-01 8.87735695e-01 -3.26154690e-04 1.71649016e+02] [-6.96312209e-04 6.31374407e-06 9.99999758e-01 8.08023224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89028169299996 meters 0.017249388233069197 Centerline is valid? [True, True] Translation: X:222.10, Y:171.63, Z:0.81 [[ 8.88075664e-01 4.59695924e-01 1.12825188e-03 2.22099213e+02] [-4.59695535e-01 8.88076380e-01 -5.98380708e-04 1.71634180e+02] [-1.27704702e-03 1.27549947e-05 9.99999185e-01 8.08474882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92028169299994 meters 0.01844200667479419 Centerline is valid? [True, True] Translation: X:222.12, Y:171.62, Z:0.81 [[ 8.89094057e-01 4.57721970e-01 1.53499671e-03 2.22122553e+02] [-4.57721248e-01 8.89095382e-01 -8.13706109e-04 1.71616686e+02] [-1.73720965e-03 2.08606563e-05 9.99998491e-01 8.07318378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95028169299997 meters 0.01999297757157357 Centerline is valid? [True, True] Translation: X:222.14, Y:171.60, Z:0.81 [[ 8.89999264e-01 4.55961520e-01 6.34047851e-04 2.22144837e+02] [-4.55961396e-01 8.89999490e-01 -3.36005765e-04 1.71599320e+02] [-7.17507963e-04 9.94354015e-06 9.99999743e-01 8.05297634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98028169299994 meters 0.022024538387046447 Centerline is valid? [True, True] Translation: X:222.17, Y:171.58, Z:0.80 [[ 8.91061904e-01 4.53881461e-01 -5.49665561e-04 2.22167024e+02] [-4.53881367e-01 8.91062074e-01 2.91485029e-04 1.71580843e+02] [ 6.22085786e-04 -1.02482480e-05 9.99999806e-01 8.02974208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01028169299997 meters 0.026238270735058453 Centerline is valid? [True, True] Translation: X:222.19, Y:171.56, Z:0.80 [[ 8.93000768e-01 4.50052455e-01 -1.55463202e-03 2.22186480e+02] [-4.50051702e-01 8.93002120e-01 8.24116931e-04 1.71555584e+02] [ 1.75918554e-03 -3.62722641e-05 9.99998452e-01 8.01086573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04028169299994 meters 0.02808928412196055 Centerline is valid? [True, True] Translation: X:222.21, Y:171.54, Z:0.80 [[ 8.93739852e-01 4.48583134e-01 -1.49954116e-03 2.22208096e+02] [-4.48582432e-01 8.93741109e-01 7.94846656e-04 1.71536872e+02] [ 1.69675638e-03 -3.77183131e-05 9.99998560e-01 8.01444404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07028169299997 meters 0.029986959439482822 Centerline is valid? [True, True] Translation: X:222.23, Y:171.52, Z:0.80 [[ 8.94541929e-01 4.46982762e-01 -1.07109305e-03 2.22230900e+02] [-4.46982402e-01 8.94542570e-01 5.67737613e-04 1.71518493e+02] [ 1.21190726e-03 -2.91053528e-05 9.99999265e-01 8.02631837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10028169299994 meters 0.03138331931049926 Centerline is valid? [True, True] Translation: X:222.25, Y:171.50, Z:0.80 [[ 8.95015941e-01 4.46032711e-01 -1.13414178e-03 2.22252769e+02] [-4.46032308e-01 8.95016659e-01 6.00879192e-04 1.71501290e+02] [ 1.28308756e-03 -3.19325813e-05 9.99999176e-01 8.02794619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.130281693 meters 0.03263007339083402 Centerline is valid? [True, True] Translation: X:222.27, Y:171.48, Z:0.80 [[ 8.95077801e-01 4.45907014e-01 -1.63238123e-03 2.22272894e+02] [-4.45906178e-01 8.95079289e-01 8.64660471e-04 1.71478847e+02] [ 1.84666880e-03 -4.60495184e-05 9.99998294e-01 8.01186092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16028169299994 meters 0.031570212802084496 Centerline is valid? [True, True] Translation: X:222.30, Y:171.46, Z:0.80 [[ 8.94968891e-01 4.46125589e-01 -1.62555402e-03 2.22296764e+02] [-4.46124761e-01 8.94970367e-01 8.60899270e-04 1.71462819e+02] [ 1.83889187e-03 -4.52781668e-05 9.99998308e-01 8.00865238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.190281693 meters 0.031249392557426016 Centerline is valid? [True, True] Translation: X:222.32, Y:171.45, Z:0.80 [[ 8.94718276e-01 4.46628364e-01 -1.52009544e-03 2.22319336e+02] [-4.46627641e-01 8.94719567e-01 8.04778459e-04 1.71446622e+02] [ 1.71949602e-03 -4.11333536e-05 9.99998521e-01 8.01242184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22028169299995 meters 0.030268674151082576 Centerline is valid? [True, True] Translation: X:222.34, Y:171.43, Z:0.80 [[ 8.94304329e-01 4.47456625e-01 -1.52832480e-03 2.22343287e+02] [-4.47455896e-01 8.94305634e-01 8.09010257e-04 1.71431189e+02] [ 1.72878648e-03 -3.96434318e-05 9.99998505e-01 8.01584478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.250281693 meters 0.02526233465943043 Centerline is valid? [True, True] Translation: X:222.37, Y:171.42, Z:0.80 [[ 8.92275969e-01 4.51488664e-01 -1.25772805e-03 2.22368954e+02] [-4.51488174e-01 8.92276855e-01 6.65565961e-04 1.71416412e+02] [ 1.42273711e-03 -2.60191731e-05 9.99998988e-01 8.02413479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28028169299995 meters 0.021854267748553702 Centerline is valid? [True, True] Translation: X:222.39, Y:171.40, Z:0.80 [[ 8.90647159e-01 4.54692504e-01 -1.53796889e-03 2.22394498e+02] [-4.54691777e-01 8.90648486e-01 8.13581447e-04 1.71404063e+02] [ 1.73971905e-03 -2.53121976e-05 9.99998486e-01 8.02253505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.310281693 meters 0.01769003167031914 Centerline is valid? [True, True] Translation: X:222.42, Y:171.39, Z:0.80 [[ 8.88679344e-01 4.58526177e-01 -1.66412560e-03 2.22421300e+02] [-4.58525332e-01 8.88680902e-01 8.80217801e-04 1.71393854e+02] [ 1.88247954e-03 -1.91876348e-05 9.99998228e-01 8.02619218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34028169299995 meters 0.012620709185366919 Centerline is valid? [True, True] Translation: X:222.45, Y:171.39, Z:0.80 [[ 8.84666330e-01 4.66222580e-01 -1.41088837e-03 2.22451160e+02] [-4.66221983e-01 8.84667455e-01 7.46203895e-04 1.71387744e+02] [ 1.59606412e-03 -2.35428993e-06 9.99998726e-01 8.03690691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.370281693 meters 0.01289916224817147 Centerline is valid? [True, True] Translation: X:222.48, Y:171.38, Z:0.80 [[ 8.82813999e-01 4.69721103e-01 -1.23632594e-03 2.22477325e+02] [-4.69720648e-01 8.82814865e-01 6.53830078e-04 1.71377799e+02] [ 1.39856470e-03 3.51747750e-06 9.99999022e-01 8.04366029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40028169299995 meters 0.014556350049041588 Centerline is valid? [True, True] Translation: X:222.50, Y:171.37, Z:0.81 [[ 8.80979649e-01 4.73153004e-01 -1.04571065e-03 2.22504099e+02] [-4.73152681e-01 8.80980269e-01 5.53009348e-04 1.71366608e+02] [ 1.18290849e-03 7.59081748e-06 9.99999300e-01 8.05100506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.430281693 meters 0.02249701924783651 Centerline is valid? [True, True] Translation: X:222.53, Y:171.36, Z:0.80 [[ 8.76993292e-01 4.80502159e-01 -6.64114844e-04 2.22533826e+02] [-4.80502031e-01 8.76993543e-01 3.51069798e-04 1.71362340e+02] [ 7.51114226e-04 1.12226730e-05 9.99999718e-01 8.04947138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46028169299996 meters 0.027413342839206132 Centerline is valid? [True, True] Translation: X:222.56, Y:171.35, Z:0.80 [[ 8.75468990e-01 4.83274064e-01 -4.75349644e-04 2.22561457e+02] [-4.83273999e-01 8.75469119e-01 2.51273669e-04 1.71353478e+02] [ 5.37587981e-04 9.74181847e-06 9.99999855e-01 8.04819068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.490281693 meters 0.028088868937090623 Centerline is valid? [True, True] Translation: X:222.59, Y:171.34, Z:0.80 [[ 8.74553947e-01 4.84928073e-01 -3.96901346e-04 2.22585895e+02] [-4.84928027e-01 8.74554038e-01 2.09939255e-04 1.71338631e+02] [ 4.48917113e-04 8.86538270e-06 9.99999899e-01 8.04702751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52028169299996 meters 0.03202613666475863 Centerline is valid? [True, True] Translation: X:222.61, Y:171.33, Z:0.81 [[ 8.73103547e-01 4.87534708e-01 -3.24005941e-04 2.22611969e+02] [-4.87534678e-01 8.73103607e-01 1.71196932e-04 1.71326822e+02] [ 3.66355202e-04 8.49148393e-06 9.99999933e-01 8.05432561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.550281693 meters 0.036428686596260404 Centerline is valid? [True, True] Translation: X:222.64, Y:171.32, Z:0.80 [[ 8.72140693e-01 4.89254508e-01 -7.98937501e-04 2.22639194e+02] [-4.89254326e-01 8.72141059e-01 4.22033574e-04 1.71319344e+02] [ 9.03268027e-04 2.28109750e-05 9.99999592e-01 8.04793210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58028169299996 meters 0.037355061799728966 Centerline is valid? [True, True] Translation: X:222.67, Y:171.31, Z:0.80 [[ 8.71125997e-01 4.91058240e-01 -1.14134262e-03 2.22665930e+02] [-4.91057872e-01 8.71126744e-01 6.02809309e-04 1.71306926e+02] [ 1.29026855e-03 3.53424154e-05 9.99999167e-01 8.03385240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61028169299993 meters 0.03915118325717895 Centerline is valid? [True, True] Translation: X:222.69, Y:171.30, Z:0.80 [[ 8.69823761e-01 4.93361247e-01 -1.14195537e-03 2.22693489e+02] [-4.93360881e-01 8.69824510e-01 6.02934826e-04 1.71295867e+02] [ 1.29076545e-03 3.89490679e-05 9.99999166e-01 8.03051727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64028169299996 meters 0.03973270409679205 Centerline is valid? [True, True] Translation: X:222.72, Y:171.28, Z:0.80 [[ 8.69866142e-01 4.93287163e-01 -8.18514010e-04 2.22718557e+02] [-4.93286974e-01 8.69866527e-01 4.32068399e-04 1.71284936e+02] [ 9.25131734e-04 2.79206285e-05 9.99999572e-01 8.03504293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67028169299994 meters 0.04258834559305557 Centerline is valid? [True, True] Translation: X:222.75, Y:171.28, Z:0.80 [[ 8.70181488e-01 4.92730729e-01 -7.78992899e-04 2.22745450e+02] [-4.92730559e-01 8.70181836e-01 4.11116837e-04 1.71276635e+02] [ 8.80435370e-04 2.60873453e-05 9.99999612e-01 8.04082953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70028169299997 meters 0.035760457606992 Centerline is valid? [True, True] Translation: X:222.77, Y:171.26, Z:0.80 [[ 8.72018557e-01 4.89471536e-01 -1.11911208e-03 2.22768753e+02] [-4.89471181e-01 8.72019274e-01 5.90499293e-04 1.71257298e+02] [ 1.26491990e-03 3.28467704e-05 9.99999199e-01 8.02921418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73028169299994 meters 0.03646050237014084 Centerline is valid? [True, True] Translation: X:222.79, Y:171.25, Z:0.80 [[ 8.73237096e-01 4.87291636e-01 -1.95850265e-03 2.22794394e+02] [-4.87290544e-01 8.73239291e-01 1.03312054e-03 1.71246479e+02] [ 2.21367246e-03 5.22006454e-05 9.99997548e-01 8.00502806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76028169299997 meters 0.03028465408669421 Centerline is valid? [True, True] Translation: X:222.82, Y:171.23, Z:0.80 [[ 8.74420294e-01 4.85162028e-01 -2.63746228e-03 2.22816302e+02] [-4.85160038e-01 8.74424269e-01 1.39101705e-03 1.71226800e+02] [ 2.98112968e-03 6.32577592e-05 9.99995554e-01 7.98999799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79028169299994 meters 0.027166736538024892 Centerline is valid? [True, True] Translation: X:222.84, Y:171.21, Z:0.80 [[ 8.75721478e-01 4.82810021e-01 -2.52524626e-03 2.22840673e+02] [-4.82808187e-01 8.75725117e-01 1.33169429e-03 1.71210987e+02] [ 2.85437692e-03 5.30162792e-05 9.99995925e-01 7.98973537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82028169299997 meters 0.022762620353186838 Centerline is valid? [True, True] Translation: X:222.86, Y:171.19, Z:0.80 [[ 8.77757039e-01 4.79105547e-01 -6.74877158e-04 2.22864225e+02] [-4.79105415e-01 8.77757298e-01 3.55917524e-04 1.71194972e+02] [ 7.62900411e-04 1.09281891e-05 9.99999709e-01 8.03346723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85028169299994 meters 0.02183295395066704 Centerline is valid? [True, True] Translation: X:222.89, Y:171.18, Z:0.81 [[ 8.78236957e-01 4.78225715e-01 1.09177767e-04 2.22889215e+02] [-4.78225712e-01 8.78236964e-01 -5.74610205e-05 1.71181940e+02] [-1.23363288e-04 -1.74722359e-06 9.99999992e-01 8.05699154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.880281693 meters 0.021175462584940068 Centerline is valid? [True, True] Translation: X:222.91, Y:171.17, Z:0.81 [[ 8.78594276e-01 4.77568765e-01 4.15714564e-04 2.22914916e+02] [-4.77568714e-01 8.78594375e-01 -2.18811658e-04 1.71168751e+02] [-4.69742091e-04 -6.28559953e-06 9.99999890e-01 8.06105744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91028169299994 meters 0.020916138495077168 Centerline is valid? [True, True] Translation: X:222.94, Y:171.16, Z:0.81 [[ 8.78809338e-01 4.77172849e-01 4.68938397e-04 2.22940259e+02] [-4.77172785e-01 8.78809463e-01 -2.47003433e-04 1.71156213e+02] [-5.29970833e-04 -6.69571769e-06 9.99999860e-01 8.05897948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.940281693 meters 0.019053012859300705 Centerline is valid? [True, True] Translation: X:222.96, Y:171.14, Z:0.80 [[ 8.79058530e-01 4.76712823e-01 -9.92455967e-04 2.22964368e+02] [-4.76712537e-01 8.79059090e-01 5.23055017e-04 1.71142101e+02] [ 1.12177447e-03 1.33202272e-05 9.99999371e-01 8.02429628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97028169299995 meters 0.020465853387031618 Centerline is valid? [True, True] Translation: X:222.99, Y:171.13, Z:0.80 [[ 8.79264210e-01 4.76330354e-01 -1.96043973e-03 2.22990651e+02] [-4.76329236e-01 8.79266395e-01 1.03252106e-03 1.71131588e+02] [ 2.21556990e-03 2.59559431e-05 9.99997545e-01 7.99683523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.000281693 meters 0.019888433561841543 Centerline is valid? [True, True] Translation: X:223.02, Y:171.12, Z:0.80 [[ 8.79590306e-01 4.75725504e-01 -2.47760499e-03 2.23015099e+02] [-4.75723716e-01 8.79593795e-01 1.30469883e-03 1.71118378e+02] [ 2.79996448e-03 3.10550094e-05 9.99996080e-01 7.98655183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03028169299995 meters 0.019888433561841543 Centerline is valid? [True, True] Translation: X:223.04, Y:171.11, Z:0.80 [[ 8.79670608e-01 4.75577000e-01 -2.47773976e-03 2.23039508e+02] [-4.75575212e-01 8.79674096e-01 1.30444284e-03 1.71105775e+02] [ 2.79996650e-03 3.08715844e-05 9.99996080e-01 7.98698734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.060281693 meters 0.01864505729019875 Centerline is valid? [True, True] Translation: X:223.06, Y:171.09, Z:0.80 [[ 8.80265607e-01 4.74476621e-01 -2.09683956e-03 2.23064503e+02] [-4.74475338e-01 8.80268105e-01 1.10352524e-03 1.71092339e+02] [ 2.36937791e-03 2.35033492e-05 9.99997193e-01 7.98759799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09028169299995 meters 0.01801261579345664 Centerline is valid? [True, True] Translation: X:223.09, Y:171.08, Z:0.80 [[ 8.80706950e-01 4.73657641e-01 -1.92553146e-03 2.23089415e+02] [-4.73656558e-01 8.80709055e-01 1.01309078e-03 1.71078960e+02] [ 2.17569118e-03 1.98045102e-05 9.99997633e-01 7.99034164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.120281693 meters 0.015699090769873743 Centerline is valid? [True, True] Translation: X:223.11, Y:171.06, Z:0.80 [[ 8.81476168e-01 4.72224417e-01 -1.96616121e-03 2.23113671e+02] [-4.72223285e-01 8.81478360e-01 1.03425865e-03 1.71062375e+02] [ 2.22153075e-03 1.67927534e-05 9.99997532e-01 7.99302822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15028169299995 meters 0.01356970098120745 Centerline is valid? [True, True] Translation: X:223.14, Y:171.05, Z:0.80 [[ 8.83233796e-01 4.68927260e-01 -2.29912650e-03 2.23137758e+02] [-4.68925702e-01 8.83236789e-01 1.20890109e-03 1.71046165e+02] [ 2.59755979e-03 1.03772065e-05 9.99996626e-01 7.98228246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.180281693 meters 0.012955693117261531 Centerline is valid? [True, True] Translation: X:223.16, Y:171.03, Z:0.80 [[ 8.84065834e-01 4.67358442e-01 -1.92065057e-03 2.23162067e+02] [-4.67357351e-01 8.84067920e-01 1.00954426e-03 1.71031611e+02] [ 2.16980458e-03 5.12657535e-06 9.99997646e-01 7.98506517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21028169299996 meters 0.01258890428467299 Centerline is valid? [True, True] Translation: X:223.19, Y:171.02, Z:0.80 [[ 8.84906612e-01 4.65765170e-01 -1.75895879e-03 2.23186086e+02] [-4.65764253e-01 8.84908360e-01 9.24178626e-04 1.71016757e+02] [ 1.98696755e-03 1.44834956e-06 9.99998026e-01 7.99083694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.240281693 meters 0.01257980817103247 Centerline is valid? [True, True] Translation: X:223.21, Y:171.00, Z:0.80 [[ 8.85588637e-01 4.64467878e-01 -1.53493259e-03 2.23209553e+02] [-4.64467178e-01 8.85589968e-01 8.06167204e-04 1.71002663e+02] [ 1.73375967e-03 -1.00670672e-06 9.99998497e-01 7.99451429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27028169299996 meters 0.012992282280908466 Centerline is valid? [True, True] Translation: X:223.23, Y:170.99, Z:0.80 [[ 8.86652373e-01 4.62433649e-01 -1.64007629e-03 2.23232556e+02] [-4.62432847e-01 8.86653890e-01 8.61210407e-04 1.70986429e+02] [ 1.85243269e-03 -5.16910302e-06 9.99998284e-01 7.99849844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.300281693 meters 0.013785981533198488 Centerline is valid? [True, True] Translation: X:223.26, Y:170.97, Z:0.80 [[ 8.87163095e-01 4.61452012e-01 -1.91915560e-03 2.23255360e+02] [-4.61450912e-01 8.87165171e-01 1.00755259e-03 1.70970482e+02] [ 2.16754517e-03 -8.26737083e-06 9.99997651e-01 7.99605829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33028169299996 meters 0.014400696124596069 Centerline is valid? [True, True] Translation: X:223.28, Y:170.95, Z:0.80 [[ 8.87883774e-01 4.60063510e-01 -1.99280954e-03 2.23279410e+02] [-4.60062321e-01 8.87886010e-01 1.04600725e-03 1.70954355e+02] [ 2.25061748e-03 -1.19162837e-05 9.99997467e-01 7.99417821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36028169299993 meters 0.016371332828105104 Centerline is valid? [True, True] Translation: X:223.30, Y:170.93, Z:0.80 [[ 8.89484967e-01 4.56957801e-01 -2.46192690e-03 2.23301830e+02] [-4.56955976e-01 8.89488374e-01 1.29169723e-03 1.70934149e+02] [ 2.78010649e-03 -2.39530607e-05 9.99996135e-01 7.97691993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39028169299996 meters 0.016992257154314662 Centerline is valid? [True, True] Translation: X:223.33, Y:170.92, Z:0.80 [[ 8.90293505e-01 4.55382033e-01 -2.16319292e-03 2.23326458e+02] [-4.55380620e-01 8.90296133e-01 1.13455445e-03 1.70918088e+02] [ 2.44253800e-03 -2.50103284e-05 9.99997017e-01 7.97596493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42028169299994 meters 0.019814601387755326 Centerline is valid? [True, True] Translation: X:223.35, Y:170.90, Z:0.80 [[ 8.90921925e-01 4.54153766e-01 -1.57510987e-03 2.23347756e+02] [-4.54153015e-01 8.90923317e-01 8.25883420e-04 1.70899002e+02] [ 1.77838018e-03 -2.04567487e-05 9.99998419e-01 7.98769290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45028169299997 meters 0.021326994342477715 Centerline is valid? [True, True] Translation: X:223.37, Y:170.88, Z:0.80 [[ 8.92176636e-01 4.51684666e-01 -1.34599937e-03 2.23369450e+02] [-4.51684115e-01 8.92177652e-01 7.05631652e-04 1.70877537e+02] [ 1.51959355e-03 -2.15815408e-05 9.99998845e-01 8.00192601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48028169299994 meters 0.022229836850937188 Centerline is valid? [True, True] Translation: X:223.39, Y:170.86, Z:0.80 [[ 8.92500897e-01 4.51041208e-01 -1.99447681e-03 2.23392427e+02] [-4.51039998e-01 8.92503125e-01 1.04513775e-03 1.70860802e+02] [ 2.25147698e-03 -3.31975638e-05 9.99997465e-01 7.99585358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51028169299997 meters 0.020898931458907415 Centerline is valid? [True, True] Translation: X:223.42, Y:170.85, Z:0.80 [[ 8.92657714e-01 4.50727840e-01 -2.57282658e-03 2.23416756e+02] [-4.50725827e-01 8.92661421e-01 1.34779742e-03 1.70847913e+02] [ 2.90415285e-03 -4.34823727e-05 9.99995782e-01 7.98371248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54028169299994 meters 0.019675197405042366 Centerline is valid? [True, True] Translation: X:223.44, Y:170.83, Z:0.80 [[ 8.92501884e-01 4.51037001e-01 -2.45162502e-03 2.23440907e+02] [-4.51035176e-01 8.92505250e-01 1.28376062e-03 1.70832307e+02] [ 2.76711175e-03 -3.99896500e-05 9.99996171e-01 7.98348636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57028169299997 meters 0.019781626982050778 Centerline is valid? [True, True] Translation: X:223.46, Y:170.82, Z:0.80 [[ 8.92329054e-01 4.51379496e-01 -2.32601278e-03 2.23463963e+02] [-4.51377855e-01 8.92332085e-01 1.21762699e-03 1.70816463e+02] [ 2.62518769e-03 -3.66132769e-05 9.99996554e-01 7.98892542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60028169299994 meters 0.021499743438805778 Centerline is valid? [True, True] Translation: X:223.49, Y:170.80, Z:0.80 [[ 8.92242249e-01 4.51550540e-01 -2.42454362e-03 2.23485233e+02] [-4.51548758e-01 8.92245543e-01 1.26898683e-03 1.70798699e+02] [ 2.73629993e-03 -3.74440025e-05 9.99996256e-01 7.99072142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.630281693 meters 0.018180208575039252 Centerline is valid? [True, True] Translation: X:223.51, Y:170.79, Z:0.80 [[ 8.92035035e-01 4.51961997e-01 -1.96204716e-03 2.23511501e+02] [-4.51960832e-01 8.92037192e-01 1.02667904e-03 1.70785816e+02] [ 2.21423895e-03 -2.90652046e-05 9.99997548e-01 8.00823118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66028169299994 meters 0.020750616313929528 Centerline is valid? [True, True] Translation: X:223.53, Y:170.77, Z:0.80 [[ 8.91759415e-01 4.52507741e-01 -1.37469735e-03 2.23532695e+02] [-4.52507170e-01 8.91760475e-01 7.19124080e-04 1.70767082e+02] [ 1.55130998e-03 -1.92252612e-05 9.99998797e-01 8.01769433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.690281693 meters 0.018053149795248427 Centerline is valid? [True, True] Translation: X:223.56, Y:170.76, Z:0.80 [[ 8.91402413e-01 4.53211670e-01 -9.59336343e-04 2.23559079e+02] [-4.53211392e-01 8.91402929e-01 5.01859096e-04 1.70755182e+02] [ 1.08260362e-03 -1.25762491e-05 9.99999414e-01 8.02399584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72028169299995 meters 0.017848991757642364 Centerline is valid? [True, True] Translation: X:223.58, Y:170.74, Z:0.80 [[ 8.90396186e-01 4.55180434e-01 -2.32467382e-03 2.23581761e+02] [-4.55178812e-01 8.90399221e-01 1.21533603e-03 1.70738523e+02] [ 2.62308494e-03 -2.39883013e-05 9.99996559e-01 8.00248628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.750281693 meters 0.015534639372168875 Centerline is valid? [True, True] Translation: X:223.61, Y:170.73, Z:0.80 [[ 8.89806781e-01 4.56324705e-01 -3.41404008e-03 2.23609332e+02] [-4.56321218e-01 8.89813330e-01 1.78428564e-03 1.70728628e+02] [ 3.85207199e-03 -2.97705409e-05 9.99992580e-01 7.99103751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78028169299995 meters 0.014175196054278603 Centerline is valid? [True, True] Translation: X:223.64, Y:170.72, Z:0.80 [[ 8.88827437e-01 4.58228159e-01 -3.56942126e-03 2.23636096e+02] [-4.58224366e-01 8.88834604e-01 1.86473804e-03 1.70717837e+02] [ 4.02710061e-03 -2.18345378e-05 9.99991891e-01 7.98786605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.810281693 meters 0.013057138175206635 Centerline is valid? [True, True] Translation: X:223.66, Y:170.71, Z:0.80 [[ 8.87617773e-01 4.60571719e-01 -2.89489881e-03 2.23663280e+02] [-4.60569238e-01 8.87622494e-01 1.51180168e-03 1.70706771e+02] [ 3.26587040e-03 -8.60070131e-06 9.99994667e-01 8.00530213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84028169299995 meters 0.01305923858576719 Centerline is valid? [True, True] Translation: X:223.69, Y:170.70, Z:0.80 [[ 8.85194164e-01 4.65221542e-01 -4.57190274e-04 2.23688686e+02] [-4.65221480e-01 8.85194282e-01 2.38810908e-04 1.70696320e+02] [ 5.15802196e-04 1.30071411e-06 9.99999867e-01 8.04971255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.870281693 meters 0.013838827220541344 Centerline is valid? [True, True] Translation: X:223.72, Y:170.68, Z:0.81 [[ 8.84247791e-01 4.67017703e-01 -5.55748537e-04 2.23715277e+02] [-4.67017612e-01 8.84247966e-01 2.90291518e-04 1.70684365e+02] [ 6.26990791e-04 2.85472104e-06 9.99999803e-01 8.05083838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90028169299995 meters 0.015039969634094756 Centerline is valid? [True, True] Translation: X:223.74, Y:170.67, Z:0.80 [[ 8.83309022e-01 4.68789060e-01 -1.40996087e-03 2.23741264e+02] [-4.68788483e-01 8.83310148e-01 7.35733275e-04 1.70673421e+02] [ 1.59033646e-03 1.10935789e-05 9.99998735e-01 8.03667512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.930281693 meters 0.018398660087351887 Centerline is valid? [True, True] Translation: X:223.77, Y:170.66, Z:0.80 [[ 8.81602026e-01 4.71983682e-01 -3.04504453e-03 2.23767821e+02] [-4.71981010e-01 8.81607284e-01 1.58858923e-03 1.70664239e+02] [ 3.43432163e-03 3.66997104e-05 9.99994102e-01 7.99422646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96028169299996 meters 0.01947572755716656 Centerline is valid? [True, True] Translation: X:223.79, Y:170.65, Z:0.80 [[ 8.80744474e-01 4.73582910e-01 -2.89812447e-03 2.23793779e+02] [-4.73580499e-01 8.80749241e-01 1.51152990e-03 1.70650766e+02] [ 3.26835566e-03 4.12236264e-05 9.99994658e-01 8.00172022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.990281693 meters 0.020934546635238412 Centerline is valid? [True, True] Translation: X:223.82, Y:170.64, Z:0.80 [[ 8.79788759e-01 4.75361446e-01 -1.79870016e-03 2.23819619e+02] [-4.75360522e-01 8.79790597e-01 9.37907960e-04 1.70638947e+02] [ 2.02832478e-03 2.98701689e-05 9.99997943e-01 8.02993120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02028169299996 meters 0.024641354240204916 Centerline is valid? [True, True] Translation: X:223.85, Y:170.63, Z:0.81 [[ 8.77844849e-01 4.78945043e-01 2.60849211e-04 2.23848653e+02] [-4.78945023e-01 8.77844887e-01 -1.35925403e-04 1.70631858e+02] [-2.94085944e-04 -5.61101650e-06 9.99999957e-01 8.07594941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.050281693 meters 0.027060496113501732 Centerline is valid? [True, True] Translation: X:223.88, Y:170.62, Z:0.81 [[ 8.76828526e-01 4.80803019e-01 4.40173535e-04 2.23876635e+02] [-4.80802964e-01 8.76828636e-01 -2.29089411e-04 1.70622441e+02] [-4.96103641e-04 -1.07646094e-05 9.99999877e-01 8.07828946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08028169299996 meters 0.029932918515741123 Centerline is valid? [True, True] Translation: X:223.90, Y:170.61, Z:0.81 [[ 8.75631394e-01 4.82979963e-01 1.30119428e-04 2.23904543e+02] [-4.82979958e-01 8.75631404e-01 -6.77394795e-05 1.70613217e+02] [-1.46653469e-04 -3.53026117e-06 9.99999989e-01 8.06814167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11028169299993 meters 0.034745324067310734 Centerline is valid? [True, True] Translation: X:223.94, Y:170.61, Z:0.80 [[ 8.73478030e-01 4.86861983e-01 -1.24138663e-03 2.23935515e+02] [-4.86861555e-01 8.73478911e-01 6.46873129e-04 1.70608387e+02] [ 1.39926298e-03 3.93539616e-05 9.99999020e-01 8.04824611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14028169299996 meters 0.03914206240195965 Centerline is valid? [True, True] Translation: X:223.96, Y:170.60, Z:0.80 [[ 8.72571924e-01 4.88483778e-01 -1.35473393e-03 2.23964713e+02] [-4.88483270e-01 8.72572975e-01 7.05805784e-04 1.70603281e+02] [ 1.52687890e-03 4.58985518e-05 9.99998833e-01 8.04866393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17028169299994 meters 0.03812663971282011 Centerline is valid? [True, True] Translation: X:223.99, Y:170.59, Z:0.81 [[ 8.72119219e-01 4.89292226e-01 -1.08901776e-03 2.23991384e+02] [-4.89291898e-01 8.72119898e-01 5.67368301e-04 1.70591370e+02] [ 1.22736295e-03 3.80347665e-05 9.99999246e-01 8.05207790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20028169299997 meters 0.037507221773371596 Centerline is valid? [True, True] Translation: X:224.02, Y:170.58, Z:0.80 [[ 8.72817493e-01 4.88046435e-01 -5.48875775e-04 2.24016999e+02] [-4.88046351e-01 8.72817666e-01 2.85876188e-04 1.70579837e+02] [ 6.18589327e-04 1.83590816e-05 9.99999809e-01 8.04992350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23028169299994 meters 0.03540358247940784 Centerline is valid? [True, True] Translation: X:224.04, Y:170.56, Z:0.80 [[ 8.73952054e-01 4.86011680e-01 -6.74577853e-04 2.24041976e+02] [-4.86011553e-01 8.73952314e-01 3.51358148e-04 1.70564691e+02] [ 7.60313039e-04 2.07824551e-05 9.99999711e-01 8.04650112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26028169299997 meters 0.0323128747446806 Centerline is valid? [True, True] Translation: X:224.07, Y:170.55, Z:0.80 [[ 8.75365128e-01 4.83461568e-01 -8.97926215e-04 2.24065935e+02] [-4.83461342e-01 8.75365588e-01 4.67367598e-04 1.70548658e+02] [ 1.01196798e-03 2.49953168e-05 9.99999488e-01 8.04087610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29028169299994 meters 0.02651343047684358 Centerline is valid? [True, True] Translation: X:224.09, Y:170.53, Z:0.80 [[ 8.78195901e-01 4.78300286e-01 -8.92345417e-04 2.24087732e+02] [-4.78300061e-01 8.78196354e-01 4.64409393e-04 1.70527812e+02] [ 1.00578164e-03 1.89664425e-05 9.99999494e-01 8.04272953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32028169299997 meters 0.023865560423293335 Centerline is valid? [True, True] Translation: X:224.11, Y:170.51, Z:0.80 [[ 8.79461641e-01 4.75969224e-01 -7.21762157e-04 2.24111332e+02] [-4.75969076e-01 8.79461937e-01 3.75648091e-04 1.70509567e+02] [ 8.13559275e-04 1.31683807e-05 9.99999669e-01 8.04305027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35028169299994 meters 0.02162772606124338 Centerline is valid? [True, True] Translation: X:224.13, Y:170.49, Z:0.80 [[ 8.80601689e-01 4.73856803e-01 -6.29321172e-04 2.24134415e+02] [-4.73856690e-01 8.80601913e-01 3.27567833e-04 1.70492373e+02] [ 7.09401674e-04 9.75126074e-06 9.99999748e-01 8.04782035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.380281693 meters 0.01974772990240912 Centerline is valid? [True, True] Translation: X:224.16, Y:170.48, Z:0.80 [[ 8.81600427e-01 4.71995927e-01 -7.29133479e-04 2.24158651e+02] [-4.71995774e-01 8.81600729e-01 3.79331102e-04 1.70475818e+02] [ 8.21847341e-04 9.72945981e-06 9.99999662e-01 8.03877151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41028169299994 meters 0.017512576989213255 Centerline is valid? [True, True] Translation: X:224.18, Y:170.46, Z:0.80 [[ 8.82882495e-01 4.69592889e-01 -1.00945605e-03 2.24180776e+02] [-4.69592596e-01 8.82883072e-01 5.24821012e-04 1.70457969e+02] [ 1.13768388e-03 1.06778037e-05 9.99999353e-01 8.03098287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.440281693 meters 0.01672020915667878 Centerline is valid? [True, True] Translation: X:224.21, Y:170.44, Z:0.80 [[ 8.83426788e-01 4.68567871e-01 -1.12283015e-03 2.24205053e+02] [-4.68567507e-01 8.83427502e-01 5.83657180e-04 1.70441811e+02] [ 1.26542204e-03 1.05033378e-05 9.99999199e-01 8.02759608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47028169299995 meters 0.01585907177572994 Centerline is valid? [True, True] Translation: X:224.23, Y:170.43, Z:0.80 [[ 8.83998860e-01 4.67487421e-01 -1.23607122e-03 2.24228824e+02] [-4.67486980e-01 8.83999724e-01 6.42249474e-04 1.70425331e+02] [ 1.39293016e-03 1.00993966e-05 9.99999030e-01 8.02448735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.500281693 meters 0.014052951089017836 Centerline is valid? [True, True] Translation: X:224.25, Y:170.41, Z:0.80 [[ 8.85163927e-01 4.65275906e-01 -1.77567559e-03 2.24250815e+02] [-4.65274993e-01 8.85165708e-01 9.22149294e-04 1.70405413e+02] [ 2.00082099e-03 9.92415416e-06 9.99997998e-01 8.01108064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53028169299995 meters 0.01369706149479355 Centerline is valid? [True, True] Translation: X:224.27, Y:170.39, Z:0.80 [[ 8.85799277e-01 4.64065280e-01 -1.74844400e-03 2.24273920e+02] [-4.64064392e-01 8.85801003e-01 9.07695910e-04 1.70390333e+02] [ 1.97000361e-03 7.35422293e-06 9.99998060e-01 8.00667938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.560281693 meters 0.013172956194156154 Centerline is valid? [True, True] Translation: X:224.30, Y:170.37, Z:0.80 [[ 8.86446961e-01 4.62828305e-01 -1.32122495e-03 2.24297165e+02] [-4.62827797e-01 8.86447946e-01 6.85848086e-04 1.70374293e+02] [ 1.48862705e-03 3.53168184e-06 9.99998892e-01 8.01910078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59028169299995 meters 0.012889219557628145 Centerline is valid? [True, True] Translation: X:224.32, Y:170.36, Z:0.80 [[ 8.87019621e-01 4.61731011e-01 -8.15628403e-04 2.24320756e+02] [-4.61730817e-01 8.87019996e-01 4.23338166e-04 1.70358747e+02] [ 9.18947062e-04 1.09150926e-06 9.99999578e-01 8.03303985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.620281693 meters 0.01272860627823731 Centerline is valid? [True, True] Translation: X:224.34, Y:170.35, Z:0.80 [[ 8.87223717e-01 4.61339010e-01 -6.27378468e-04 2.24344370e+02] [-4.61338895e-01 8.87223939e-01 3.25459268e-04 1.70345768e+02] [ 7.06772252e-04 6.78908337e-07 9.99999750e-01 8.04294775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65028169299995 meters 0.012922014464528883 Centerline is valid? [True, True] Translation: X:224.37, Y:170.33, Z:0.80 [[ 8.86893912e-01 4.61972649e-01 -6.78122325e-04 2.24369773e+02] [-4.61972515e-01 8.86894172e-01 3.51811128e-04 1.70333813e+02] [ 7.63949856e-04 1.25472769e-06 9.99999708e-01 8.03810117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.680281693 meters 0.01332555890553779 Centerline is valid? [True, True] Translation: X:224.40, Y:170.32, Z:0.80 [[ 8.86224127e-01 4.63256231e-01 -6.79579840e-04 2.24395705e+02] [-4.63256097e-01 8.86224387e-01 3.52274371e-04 1.70322596e+02] [ 7.65453525e-04 2.62545758e-06 9.99999707e-01 8.04022534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71028169299996 meters 0.014222517190081175 Centerline is valid? [True, True] Translation: X:224.42, Y:170.31, Z:0.80 [[ 8.85426548e-01 4.64779333e-01 -1.77674976e-05 2.24421428e+02] [-4.64779333e-01 8.85426548e-01 9.36210762e-06 1.70311393e+02] [ 2.00831283e-05 -3.14929248e-08 1.00000000e+00 8.04746471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.740281693 meters 0.014041681768200056 Centerline is valid? [True, True] Translation: X:224.45, Y:170.30, Z:0.80 [[ 8.85480528e-01 4.64676474e-01 -9.82977128e-05 2.24446598e+02] [-4.64676471e-01 8.85480533e-01 5.12464083e-05 1.70299215e+02] [ 1.10853711e-04 2.98937646e-07 9.99999994e-01 8.04190115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77028169299996 meters 0.014263727021980496 Centerline is valid? [True, True] Translation: X:224.47, Y:170.29, Z:0.80 [[ 8.85515572e-01 4.64609696e-01 4.13275194e-05 2.24471364e+02] [-4.64609695e-01 8.85515573e-01 -2.12489782e-05 1.70288510e+02] [-4.64686433e-05 -3.84865079e-07 9.99999999e-01 8.04186950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.800281693 meters 0.014192951615215185 Centerline is valid? [True, True] Translation: X:224.50, Y:170.28, Z:0.80 [[ 8.85520904e-01 4.64599535e-01 2.23444800e-05 2.24497053e+02] [-4.64599535e-01 8.85520905e-01 -1.12193293e-05 1.70276271e+02] [-2.49989992e-05 -4.46284419e-07 1.00000000e+00 8.04605532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83028169299996 meters 0.014592189004172307 Centerline is valid? [True, True] Translation: X:224.52, Y:170.27, Z:0.81 [[ 8.85320815e-01 4.64980639e-01 2.46685712e-04 2.24522192e+02] [-4.64980621e-01 8.85320849e-01 -1.27535898e-04 1.70265035e+02] [-2.77697727e-04 -1.79389079e-06 9.99999961e-01 8.05443391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86028169299993 meters 0.01449781806052295 Centerline is valid? [True, True] Translation: X:224.55, Y:170.25, Z:0.81 [[ 8.85434372e-01 4.64764387e-01 1.94204185e-04 2.24547738e+02] [-4.64764377e-01 8.85434393e-01 -1.00104579e-04 1.70252795e+02] [-2.18480108e-04 -1.62315239e-06 9.99999976e-01 8.05454320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89028169299996 meters 0.014285311237694958 Centerline is valid? [True, True] Translation: X:224.57, Y:170.24, Z:0.81 [[ 8.85731140e-01 4.64198571e-01 1.85174128e-04 2.24571861e+02] [-4.64198561e-01 8.85731160e-01 -9.56052307e-05 1.70240734e+02] [-2.08394307e-04 -1.27703380e-06 9.99999978e-01 8.05177845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92028169299994 meters 0.013509857328360408 Centerline is valid? [True, True] Translation: X:224.59, Y:170.22, Z:0.80 [[ 8.86867431e-01 4.62023958e-01 -1.52259499e-04 2.24594921e+02] [-4.62023951e-01 8.86867444e-01 7.89899573e-05 1.70223633e+02] [ 1.71529245e-04 2.93914672e-07 9.99999985e-01 8.03394778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95028169299997 meters 0.013509857328360408 Centerline is valid? [True, True] Translation: X:224.62, Y:170.21, Z:0.80 [[ 8.86950489e-01 4.61864490e-01 -1.52260962e-04 2.24619429e+02] [-4.61864483e-01 8.86950502e-01 7.89871768e-05 1.70211201e+02] [ 1.71529308e-04 2.66215291e-07 9.99999985e-01 8.03438344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98028169299994 meters 0.013116319168957702 Centerline is valid? [True, True] Translation: X:224.64, Y:170.19, Z:0.80 [[ 8.87741677e-01 4.60339044e-01 -1.63661935e-03 2.24641662e+02] [-4.60338268e-01 8.87743186e-01 8.45513127e-04 1.70194280e+02] [ 1.84212038e-03 2.80127392e-06 9.99998303e-01 8.00348514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01028169299997 meters 0.013125677053388459 Centerline is valid? [True, True] Translation: X:224.66, Y:170.18, Z:0.80 [[ 8.88335136e-01 4.59181076e-01 -3.66418059e-03 2.24663389e+02] [-4.59177178e-01 8.88342693e-01 1.89201370e-03 1.70177411e+02] [ 4.12382493e-03 1.76585295e-06 9.99991497e-01 7.96689717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04028169299994 meters 0.01314163303948146 Centerline is valid? [True, True] Translation: X:224.69, Y:170.17, Z:0.80 [[ 8.88100256e-01 4.59636119e-01 -3.54598951e-03 2.24687445e+02] [-4.59632474e-01 8.88107335e-01 1.83062530e-03 1.70165874e+02] [ 3.99064080e-03 4.07313559e-06 9.99992037e-01 7.96963255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07028169299997 meters 0.013280885506273614 Centerline is valid? [True, True] Translation: X:224.71, Y:170.15, Z:0.80 [[ 8.87573030e-01 4.60657192e-01 -3.01145385e-03 2.24713479e+02] [-4.60654570e-01 8.87578138e-01 1.55417402e-03 1.70154875e+02] [ 3.38884204e-03 7.79703650e-06 9.99994258e-01 7.98680063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10028169299994 meters 0.013855658585643924 Centerline is valid? [True, True] Translation: X:224.74, Y:170.14, Z:0.80 [[ 8.86851039e-01 4.62049963e-01 -2.25084397e-03 2.24738976e+02] [-4.62048504e-01 8.86853895e-01 1.16129518e-03 1.70144403e+02] [ 2.53274613e-03 1.01032496e-05 9.99996793e-01 8.00461085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.130281693 meters 0.015756885730585427 Centerline is valid? [True, True] Translation: X:224.77, Y:170.14, Z:0.80 [[ 8.85309324e-01 4.65000798e-01 -1.28753053e-03 2.24765393e+02] [-4.65000324e-01 8.85310261e-01 6.64207582e-04 1.70135886e+02] [ 1.44872105e-03 1.06729492e-05 9.99998951e-01 8.02590607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16028169299994 meters 0.01680825725983598 Centerline is valid? [True, True] Translation: X:224.79, Y:170.12, Z:0.80 [[ 8.84791223e-01 4.65985116e-01 -1.53737586e-03 2.24791988e+02] [-4.65984441e-01 8.84792559e-01 7.92926308e-04 1.70124713e+02] [ 1.72975058e-03 1.48189950e-05 9.99998504e-01 8.02234423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.190281693 meters 0.018005400232561714 Centerline is valid? [True, True] Translation: X:224.82, Y:170.11, Z:0.80 [[ 8.84274729e-01 4.66962059e-01 -2.15372418e-03 2.24817792e+02] [-4.66960740e-01 8.84277352e-01 1.11036936e-03 1.70113116e+02] [ 2.42298988e-03 2.38330719e-05 9.99997064e-01 8.00096750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22028169299995 meters 0.017890889035330093 Centerline is valid? [True, True] Translation: X:224.84, Y:170.10, Z:0.80 [[ 8.84446966e-01 4.66636475e-01 -1.99106236e-03 2.24842209e+02] [-4.66635347e-01 8.84449207e-01 1.02628245e-03 1.70099568e+02] [ 2.23989435e-03 2.14076789e-05 9.99997491e-01 7.99980501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.250281693 meters 0.017803474396844446 Centerline is valid? [True, True] Translation: X:224.87, Y:170.09, Z:0.80 [[ 8.84602943e-01 4.66343176e-01 -1.29472713e-03 2.24866317e+02] [-4.66342699e-01 8.84603890e-01 6.67177689e-04 1.70086259e+02] [ 1.45645442e-03 1.35991994e-05 9.99998939e-01 8.01307408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28028169299995 meters 0.01765892954384459 Centerline is valid? [True, True] Translation: X:224.89, Y:170.07, Z:0.80 [[ 8.84771082e-01 4.66025327e-01 -7.25318974e-04 2.24890874e+02] [-4.66025177e-01 8.84771380e-01 3.73734902e-04 1.70073457e+02] [ 8.15911399e-04 7.34706992e-06 9.99999667e-01 8.03301082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.310281693 meters 0.018606704930267833 Centerline is valid? [True, True] Translation: X:224.92, Y:170.06, Z:0.80 [[ 8.84334853e-01 4.66852394e-01 -8.43116065e-04 2.24916896e+02] [-4.66852192e-01 8.84335254e-01 4.34102625e-04 1.70063943e+02] [ 9.48259110e-04 9.71850233e-06 9.99999550e-01 8.04074363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34028169299995 meters 0.019763800077137832 Centerline is valid? [True, True] Translation: X:224.94, Y:170.05, Z:0.80 [[ 8.83893741e-01 4.67686015e-01 -1.28320874e-03 2.24943727e+02] [-4.67685549e-01 8.83894672e-01 6.60571259e-04 1.70053979e+02] [ 1.44316131e-03 1.62633841e-05 9.99998959e-01 8.03591648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.370281693 meters 0.019913310192829162 Centerline is valid? [True, True] Translation: X:224.97, Y:170.04, Z:0.80 [[ 8.83406032e-01 4.68606869e-01 -1.17698180e-03 2.24970293e+02] [-4.68606478e-01 8.83406816e-01 6.05683586e-04 1.70042232e+02] [ 1.32358124e-03 1.64767641e-05 9.99999124e-01 8.03276358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40028169299995 meters 0.022514235491300383 Centerline is valid? [True, True] Translation: X:225.00, Y:170.03, Z:0.80 [[ 8.82794235e-01 4.69758476e-01 -1.14620406e-03 2.24996968e+02] [-4.69758106e-01 8.82794979e-01 5.89584632e-04 1.70034190e+02] [ 1.28882556e-03 1.79567336e-05 9.99999169e-01 8.03745775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.430281693 meters 0.026165934128704767 Centerline is valid? [True, True] Translation: X:225.03, Y:170.03, Z:0.81 [[ 8.81384506e-01 4.72399545e-01 -1.50852525e-04 2.25025719e+02] [-4.72399539e-01 8.81384519e-01 7.76684019e-05 1.70028725e+02] [ 1.69649598e-04 2.80693709e-06 9.99999986e-01 8.05146968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46028169299996 meters 0.028324526522759387 Centerline is valid? [True, True] Translation: X:225.05, Y:170.02, Z:0.81 [[ 8.80659325e-01 4.73750096e-01 8.06462560e-07 2.25052875e+02] [-4.73750096e-01 8.80659325e-01 -3.18795043e-07 1.70020547e+02] [-8.61247899e-07 -1.01311880e-07 1.00000000e+00 8.05456184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.490281693 meters 0.029588404764089627 Centerline is valid? [True, True] Translation: X:225.08, Y:170.01, Z:0.81 [[ 8.80264301e-01 4.74483636e-01 1.99802903e-04 2.25080019e+02] [-4.74483625e-01 8.80264323e-01 -1.02425112e-04 1.70010897e+02] [-2.24478406e-04 -4.64203591e-06 9.99999975e-01 8.06393628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52028169299996 meters 0.02564516584967522 Centerline is valid? [True, True] Translation: X:225.10, Y:170.00, Z:0.81 [[ 8.80405782e-01 4.74221022e-01 2.84754412e-04 2.25104584e+02] [-4.74220999e-01 8.80405828e-01 -1.45949083e-04 1.69997242e+02] [-3.19911567e-04 -6.54210507e-06 9.99999949e-01 8.06314515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.550281693 meters 0.02341594600597248 Centerline is valid? [True, True] Translation: X:225.13, Y:169.98, Z:0.81 [[ 8.80971679e-01 4.73168996e-01 -3.59606299e-05 2.25129688e+02] [-4.73168996e-01 8.80971680e-01 1.87718749e-05 1.69982799e+02] [ 4.05625658e-05 4.77965018e-07 9.99999999e-01 8.05776405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58028169299996 meters 0.022359303452306384 Centerline is valid? [True, True] Translation: X:225.15, Y:169.97, Z:0.80 [[ 8.81700021e-01 4.71810191e-01 -4.65536880e-04 2.25154888e+02] [-4.71810130e-01 8.81700144e-01 2.39261605e-04 1.69969708e+02] [ 5.23349998e-04 8.68805329e-06 9.99999863e-01 8.04985621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61028169299993 meters 0.02569833230872238 Centerline is valid? [True, True] Translation: X:225.18, Y:169.96, Z:0.80 [[ 8.82321668e-01 4.70646627e-01 -4.76587962e-04 2.25182162e+02] [-4.70646563e-01 8.82321797e-01 2.44701384e-04 1.69961927e+02] [ 5.35671827e-04 8.39915335e-06 9.99999857e-01 8.04924240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64028169299996 meters 0.019981798623953377 Centerline is valid? [True, True] Translation: X:225.20, Y:169.94, Z:0.80 [[ 8.83558388e-01 4.68320685e-01 -5.58080206e-04 2.25203938e+02] [-4.68320598e-01 8.83558564e-01 2.86594904e-04 1.69941516e+02] [ 6.27314867e-04 8.13712453e-06 9.99999803e-01 8.03604334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67028169299994 meters 0.019286115760325278 Centerline is valid? [True, True] Translation: X:225.23, Y:169.93, Z:0.80 [[ 8.83970259e-01 4.67542620e-01 -6.91990782e-04 2.25229831e+02] [-4.67542485e-01 8.83970530e-01 3.55079102e-04 1.69927782e+02] [ 7.77714072e-04 9.65572457e-06 9.99999698e-01 8.03940319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70028169299997 meters 0.01904153023138528 Centerline is valid? [True, True] Translation: X:225.26, Y:169.92, Z:0.80 [[ 8.84183429e-01 4.67139346e-01 -7.04207079e-04 2.25255073e+02] [-4.67139206e-01 8.84183709e-01 3.61351895e-04 1.69915421e+02] [ 7.91450115e-04 9.46137843e-06 9.99999687e-01 8.04148919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73028169299994 meters 0.019369284245396277 Centerline is valid? [True, True] Translation: X:225.28, Y:169.90, Z:0.80 [[ 8.84171049e-01 4.67161832e-01 -1.17433988e-03 2.25279961e+02] [-4.67161444e-01 8.84171829e-01 6.02055128e-04 1.69904078e+02] [ 1.31957541e-03 1.62865986e-05 9.99999129e-01 8.03836081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76028169299997 meters 0.0197026903826096 Centerline is valid? [True, True] Translation: X:225.31, Y:169.89, Z:0.80 [[ 8.84056999e-01 4.67371923e-01 -2.58996350e-03 2.25305883e+02] [-4.67370040e-01 8.84060792e-01 1.32724126e-03 1.69892481e+02] [ 2.91000048e-03 3.71144198e-05 9.99995765e-01 8.00643759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79028169299994 meters 0.020787541952498757 Centerline is valid? [True, True] Translation: X:225.33, Y:169.88, Z:0.80 [[ 8.83943407e-01 4.67581041e-01 -3.46755833e-03 2.25331321e+02] [-4.67577669e-01 8.83950207e-01 1.77642174e-03 1.69881981e+02] [ 3.89577003e-03 5.10965583e-05 9.99992410e-01 7.98389923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82028169299997 meters 0.020386677752633028 Centerline is valid? [True, True] Translation: X:225.36, Y:169.87, Z:0.80 [[ 8.83786447e-01 4.67875874e-01 -3.69890164e-03 2.25356949e+02] [-4.67872042e-01 8.83794186e-01 1.89434752e-03 1.69869305e+02] [ 4.15538726e-03 5.64140005e-05 9.99991365e-01 7.98413483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85028169299994 meters 0.021889267894855933 Centerline is valid? [True, True] Translation: X:225.38, Y:169.86, Z:0.80 [[ 8.83113971e-01 4.69153661e-01 -2.13470596e-03 2.25383265e+02] [-4.69152390e-01 8.83116550e-01 1.09301275e-03 1.69860234e+02] [ 2.39798510e-03 3.62475730e-05 9.99997124e-01 8.01948394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.880281693 meters 0.021124183868484255 Centerline is valid? [True, True] Translation: X:225.41, Y:169.85, Z:0.80 [[ 8.82909402e-01 4.69542230e-01 -1.04022418e-03 2.25408319e+02] [-4.69541928e-01 8.82910015e-01 5.32619693e-04 1.69846872e+02] [ 1.16851179e-03 1.81739341e-05 9.99999317e-01 8.04717839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91028169299994 meters 0.02207784650149732 Centerline is valid? [True, True] Translation: X:225.43, Y:169.84, Z:0.81 [[ 8.83362294e-01 4.68690698e-01 2.94973641e-04 2.25434997e+02] [-4.68690674e-01 8.83362343e-01 -1.50815881e-04 1.69837843e+02] [-3.31254607e-04 -5.02633254e-06 9.99999945e-01 8.08739077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.940281693 meters 0.01966871663414161 Centerline is valid? [True, True] Translation: X:225.46, Y:169.82, Z:0.81 [[ 8.84136082e-01 4.67227865e-01 1.22865498e-03 2.25459700e+02] [-4.67227444e-01 8.84136936e-01 -6.28090711e-04 1.69823233e+02] [-1.37976073e-03 -1.87436644e-05 9.99999048e-01 8.10009177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97028169299995 meters 0.01857246355118323 Centerline is valid? [True, True] Translation: X:225.48, Y:169.81, Z:0.81 [[ 8.84788355e-01 4.65989929e-01 1.71871829e-03 2.25484809e+02] [-4.65989101e-01 8.84790024e-01 -8.78367145e-04 1.69809706e+02] [-1.93001504e-03 -2.37349694e-05 9.99998137e-01 8.10351401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.000281693 meters 0.017202183439250274 Centerline is valid? [True, True] Translation: X:225.51, Y:169.79, Z:0.81 [[ 8.85584190e-01 4.64478805e-01 2.87571899e-04 2.25509445e+02] [-4.64478782e-01 8.85584236e-01 -1.46656846e-04 1.69794318e+02] [-3.22788138e-04 -3.69406087e-06 9.99999948e-01 8.06648630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03028169299995 meters 0.01682506514059051 Centerline is valid? [True, True] Translation: X:225.53, Y:169.78, Z:0.80 [[ 8.86156040e-01 4.63385104e-01 -1.31088122e-03 2.25533409e+02] [-4.63384620e-01 8.86157010e-01 6.69899169e-04 1.69780781e+02] [ 1.47206788e-03 1.38070004e-05 9.99998916e-01 8.03683051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.060281693 meters 0.016424782368786812 Centerline is valid? [True, True] Translation: X:225.56, Y:169.77, Z:0.80 [[ 8.87007104e-01 4.61749255e-01 -2.45425052e-03 2.25558185e+02] [-4.61747553e-01 8.87010499e-01 1.25382099e-03 1.69767417e+02] [ 2.75589689e-03 2.10960439e-05 9.99996202e-01 8.01584502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09028169299995 meters 0.013275044751452294 Centerline is valid? [True, True] Translation: X:225.58, Y:169.75, Z:0.80 [[ 8.89204842e-01 4.57504689e-01 -2.05122849e-03 2.25579383e+02] [-4.57503490e-01 8.89207208e-01 1.04770773e-03 1.69745833e+02] [ 2.30329836e-03 6.81741108e-06 9.99997347e-01 8.03036474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.120281693 meters 0.01279077630539474 Centerline is valid? [True, True] Translation: X:225.60, Y:169.73, Z:0.80 [[ 8.90306743e-01 4.55358103e-01 -1.70322344e-03 2.25601294e+02] [-4.55357272e-01 8.90308373e-01 8.69695638e-04 1.69728364e+02] [ 1.91241704e-03 1.27928727e-06 9.99998171e-01 8.03792087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15028169299995 meters 0.01280183100978854 Centerline is valid? [True, True] Translation: X:225.62, Y:169.71, Z:0.80 [[ 8.91326628e-01 4.53359207e-01 -1.50713495e-03 2.25623303e+02] [-4.53358554e-01 8.91327903e-01 7.69457168e-04 1.69710759e+02] [ 1.69219192e-03 -2.56514460e-06 9.99998568e-01 8.03763277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.180281693 meters 0.013165177106292784 Centerline is valid? [True, True] Translation: X:225.65, Y:169.69, Z:0.80 [[ 8.92095404e-01 4.51843874e-01 -1.70373116e-03 2.25646758e+02] [-4.51843038e-01 8.92097031e-01 8.69395660e-04 1.69694407e+02] [ 1.91272461e-03 -5.76481045e-06 9.99998171e-01 8.03541042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21028169299996 meters 0.013365447175465228 Centerline is valid? [True, True] Translation: X:225.67, Y:169.68, Z:0.80 [[ 8.92437493e-01 4.51166224e-01 -2.08779814e-03 2.25669125e+02] [-4.51164967e-01 8.92439936e-01 1.06492083e-03 1.69677491e+02] [ 2.34369075e-03 -8.43389809e-06 9.99997254e-01 8.02510981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.240281693 meters 0.013327168696702616 Centerline is valid? [True, True] Translation: X:225.69, Y:169.66, Z:0.80 [[ 8.92332097e-01 4.51375392e-01 -1.91945458e-03 2.25692599e+02] [-4.51374330e-01 8.92334162e-01 9.78906792e-04 1.69663028e+02] [ 2.15464933e-03 -7.11742720e-06 9.99997679e-01 8.02715045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27028169299996 meters 0.013109113941232278 Centerline is valid? [True, True] Translation: X:225.72, Y:169.65, Z:0.80 [[ 8.92151591e-01 4.51731354e-01 -2.07883607e-03 2.25716526e+02] [-4.51730111e-01 8.92154013e-01 1.05987884e-03 1.69649194e+02] [ 2.33342245e-03 -6.49974769e-06 9.99997278e-01 8.02947744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.300281693 meters 0.013065615222893236 Centerline is valid? [True, True] Translation: X:225.74, Y:169.64, Z:0.80 [[ 8.91817761e-01 4.52388031e-01 -2.48006720e-03 2.25740047e+02] [-4.52386265e-01 8.91821210e-01 1.26388196e-03 1.69636502e+02] [ 2.78354160e-03 -5.20404190e-06 9.99996126e-01 8.01720768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33028169299996 meters 0.013264465734125437 Centerline is valid? [True, True] Translation: X:225.77, Y:169.63, Z:0.80 [[ 8.90143363e-01 4.55669591e-01 -3.16491659e-03 2.25766635e+02] [-4.55666739e-01 8.90148990e-01 1.61219623e-03 1.69627254e+02] [ 3.55187610e-03 7.06144337e-06 9.99993692e-01 7.99877539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36028169299993 meters 0.014191734228627061 Centerline is valid? [True, True] Translation: X:225.79, Y:169.62, Z:0.80 [[ 8.88960375e-01 4.57969518e-01 -3.65674571e-03 2.25793872e+02] [-4.57965734e-01 8.88967896e-01 1.86186381e-03 1.69616941e+02] [ 4.10340641e-03 1.95410844e-05 9.99991581e-01 8.00159560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39028169299996 meters 0.01656160582600437 Centerline is valid? [True, True] Translation: X:225.82, Y:169.61, Z:0.80 [[ 8.87556747e-01 4.60683012e-01 -3.76606886e-03 2.25821133e+02] [-4.60679025e-01 8.87564736e-01 1.91694007e-03 1.69610035e+02] [ 4.22573164e-03 3.35558347e-05 9.99991071e-01 7.99693329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42028169299994 meters 0.021248262408388143 Centerline is valid? [True, True] Translation: X:225.85, Y:169.61, Z:0.80 [[ 8.85298919e-01 4.65005055e-01 -4.01536599e-03 2.25850508e+02] [-4.65000569e-01 8.85308023e-01 2.04333329e-03 1.69607144e+02] [ 4.50499603e-03 5.81867188e-05 9.99989851e-01 7.98820104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45028169299997 meters 0.02255401217589138 Centerline is valid? [True, True] Translation: X:225.88, Y:169.60, Z:0.80 [[ 8.84677812e-01 4.66187261e-01 -3.82200962e-03 2.25877568e+02] [-4.66183210e-01 8.84686065e-01 1.94429300e-03 1.69597265e+02] [ 4.28768328e-03 6.16838424e-05 9.99990806e-01 7.99230723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48028169299994 meters 0.023274422825909462 Centerline is valid? [True, True] Translation: X:225.90, Y:169.59, Z:0.80 [[ 8.84481347e-01 4.66561921e-01 -3.56654183e-03 2.25904492e+02] [-4.66558400e-01 8.84488536e-01 1.81364803e-03 1.69586399e+02] [ 4.00074447e-03 5.98621936e-05 9.99991995e-01 7.99082938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51028169299997 meters 0.021560804933774318 Centerline is valid? [True, True] Translation: X:225.93, Y:169.57, Z:0.80 [[ 8.84678204e-01 4.66191635e-01 -3.13612373e-03 2.25929126e+02] [-4.66188912e-01 8.84683761e-01 1.59411573e-03 1.69573289e+02] [ 3.51764115e-03 5.17466703e-05 9.99993812e-01 7.99727537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54028169299994 meters 0.020654512205610247 Centerline is valid? [True, True] Translation: X:225.96, Y:169.56, Z:0.80 [[ 8.85579547e-01 4.64481878e-01 -2.33485031e-03 2.25955664e+02] [-4.64480364e-01 8.85582624e-01 1.18650238e-03 1.69564687e+02] [ 2.61881171e-03 3.37498814e-05 9.99996570e-01 8.02226815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57028169299997 meters 0.018382528386152144 Centerline is valid? [True, True] Translation: X:225.98, Y:169.55, Z:0.80 [[ 8.86509568e-01 4.62703848e-01 -2.43630542e-03 2.25981284e+02] [-4.62702193e-01 8.86512915e-01 1.23783531e-03 1.69550401e+02] [ 2.73256739e-03 2.99310177e-05 9.99996266e-01 8.02771779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60028169299994 meters 0.01697429448020381 Centerline is valid? [True, True] Translation: X:226.01, Y:169.54, Z:0.80 [[ 8.87620305e-01 4.60566214e-01 -2.99270434e-03 2.26006053e+02] [-4.60563706e-01 8.87625350e-01 1.52021967e-03 1.69536969e+02] [ 3.35656205e-03 2.89531548e-05 9.99994366e-01 8.01610649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.630281693 meters 0.013812738654991033 Centerline is valid? [True, True] Translation: X:226.03, Y:169.52, Z:0.80 [[ 8.90266829e-01 4.55426456e-01 -3.42305004e-03 2.26029660e+02] [-4.55423138e-01 8.90273409e-01 1.73831641e-03 1.69518694e+02] [ 3.83912572e-03 1.13707571e-05 9.99992631e-01 8.02006952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66028169299994 meters 0.013441786542020683 Centerline is valid? [True, True] Translation: X:226.05, Y:169.50, Z:0.80 [[ 8.91650635e-01 4.52713864e-01 -3.05004203e-03 2.26053735e+02] [-4.52711216e-01 8.91655852e-01 1.54847170e-03 1.69503868e+02] [ 3.42060243e-03 9.24658334e-08 9.99994150e-01 8.02613182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.690281693 meters 0.01374203326386126 Centerline is valid? [True, True] Translation: X:226.08, Y:169.49, Z:0.80 [[ 8.92983674e-01 4.50084036e-01 -2.12560186e-03 2.26077569e+02] [-4.50082743e-01 8.92986204e-01 1.07886864e-03 1.69489163e+02] [ 2.38371468e-03 -6.71536712e-06 9.99997159e-01 8.04358846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72028169299995 meters 0.014328787168564918 Centerline is valid? [True, True] Translation: X:226.10, Y:169.47, Z:0.81 [[ 8.93963599e-01 4.48138419e-01 -1.02001603e-03 2.26102181e+02] [-4.48138120e-01 8.93964181e-01 5.17639336e-04 1.69474576e+02] [ 1.14383187e-03 -5.64265995e-06 9.99999346e-01 8.06907367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.750281693 meters 0.015415786376283176 Centerline is valid? [True, True] Translation: X:226.13, Y:169.46, Z:0.81 [[ 8.94958552e-01 4.46149289e-01 -3.88528308e-05 2.26125840e+02] [-4.46149289e-01 8.94958553e-01 1.98067281e-05 1.69459990e+02] [ 4.36084309e-05 -3.92037848e-07 9.99999999e-01 8.09044239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78028169299995 meters 0.015630211389369236 Centerline is valid? [True, True] Translation: X:226.15, Y:169.45, Z:0.81 [[ 8.95486383e-01 4.45088730e-01 -3.99650233e-04 2.26151438e+02] [-4.45088684e-01 8.95486473e-01 2.02887802e-04 1.69447170e+02] [ 4.48184451e-04 -3.80346787e-06 9.99999900e-01 8.08269818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.810281693 meters 0.016330700970467734 Centerline is valid? [True, True] Translation: X:226.18, Y:169.43, Z:0.81 [[ 8.95837296e-01 4.44380864e-01 -1.08928151e-03 2.26175850e+02] [-4.44380521e-01 8.95837958e-01 5.52190652e-04 1.69433090e+02] [ 1.22120268e-03 -1.06174952e-05 9.99999254e-01 8.06978330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84028169299995 meters 0.016330700970467734 Centerline is valid? [True, True] Translation: X:226.20, Y:169.42, Z:0.81 [[ 8.95921188e-01 4.44211704e-01 -1.08929373e-03 2.26200446e+02] [-4.44211361e-01 8.95921850e-01 5.52166559e-04 1.69420837e+02] [ 1.22120090e-03 -1.08210701e-05 9.99999254e-01 8.07021892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.870281693 meters 0.0172429209132325 Centerline is valid? [True, True] Translation: X:226.23, Y:169.41, Z:0.80 [[ 8.96619965e-01 4.42791177e-01 -2.93472027e-03 2.26225459e+02] [-4.42788683e-01 8.96624767e-01 1.48639492e-03 1.69405922e+02] [ 3.28950544e-03 -3.32704345e-05 9.99994589e-01 8.03108446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90028169299995 meters 0.01857865299553704 Centerline is valid? [True, True] Translation: X:226.25, Y:169.39, Z:0.80 [[ 8.97166441e-01 4.41674761e-01 -3.97284104e-03 2.26248580e+02] [-4.41670183e-01 8.97175236e-01 2.01144798e-03 1.69391061e+02] [ 4.45274040e-03 -4.99181914e-05 9.99990085e-01 8.01613393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.930281693 meters 0.020677432023175797 Centerline is valid? [True, True] Translation: X:226.27, Y:169.37, Z:0.80 [[ 8.97881872e-01 4.40213133e-01 -4.53236596e-03 2.26271376e+02] [-4.40207159e-01 8.97893308e-01 2.29429778e-03 1.69374390e+02] [ 5.07956108e-03 -6.48284399e-05 9.99987097e-01 8.00651758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96028169299996 meters 0.023261174012209423 Centerline is valid? [True, True] Translation: X:226.29, Y:169.36, Z:0.80 [[ 8.99108857e-01 4.37705065e-01 -4.18796457e-03 2.26292985e+02] [-4.37699939e-01 8.99118608e-01 2.11967261e-03 1.69355924e+02] [ 4.69326831e-03 -7.27445802e-05 9.99988984e-01 8.01887665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.990281693 meters 0.024191995915289356 Centerline is valid? [True, True] Translation: X:226.32, Y:169.34, Z:0.80 [[ 8.99496685e-01 4.36916087e-01 -3.16965445e-03 2.26316373e+02] [-4.36913147e-01 8.99502268e-01 1.60407452e-03 1.69341193e+02] [ 3.55195732e-03 -5.79960118e-05 9.99993690e-01 8.04210234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02028169299996 meters 0.02273475297143428 Centerline is valid? [True, True] Translation: X:226.34, Y:169.33, Z:0.81 [[ 8.99641284e-01 4.36622528e-01 -2.51570539e-03 2.26342101e+02] [-4.36620676e-01 8.99644800e-01 1.27279368e-03 1.69329707e+02] [ 2.81897166e-03 -4.66487577e-05 9.99996026e-01 8.05973385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.050281693 meters 0.023642766011399877 Centerline is valid? [True, True] Translation: X:226.37, Y:169.31, Z:0.81 [[ 8.99437757e-01 4.37038946e-01 -2.94643180e-03 2.26366151e+02] [-4.37036408e-01 8.99442581e-01 1.49021644e-03 1.69314792e+02] [ 3.30142885e-03 -5.26589565e-05 9.99994549e-01 8.05017339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08028169299996 meters 0.02206305879581835 Centerline is valid? [True, True] Translation: X:226.39, Y:169.30, Z:0.80 [[ 8.99235688e-01 4.37443523e-01 -4.28280861e-03 2.26391261e+02] [-4.37438170e-01 8.99245883e-01 2.16530139e-03 1.69302325e+02] [ 4.79849508e-03 -7.36523248e-05 9.99988484e-01 8.02201017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11028169299993 meters 0.022060889937472516 Centerline is valid? [True, True] Translation: X:226.42, Y:169.29, Z:0.80 [[ 8.99424647e-01 4.37058093e-01 -3.94038811e-03 2.26415769e+02] [-4.37053562e-01 8.99433276e-01 1.99128702e-03 1.69287919e+02] [ 4.41442430e-03 -6.88519684e-05 9.99990254e-01 8.03135787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14028169299996 meters 0.022543802211476647 Centerline is valid? [True, True] Translation: X:226.44, Y:169.27, Z:0.80 [[ 8.99545219e-01 4.36814834e-01 -3.34660834e-03 2.26438166e+02] [-4.36811566e-01 8.99551442e-01 1.69074049e-03 1.69272931e+02] [ 3.74898688e-03 -5.90602954e-05 9.99992971e-01 8.04267027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17028169299994 meters 0.02375111506545427 Centerline is valid? [True, True] Translation: X:226.46, Y:169.25, Z:0.80 [[ 8.99935255e-01 4.36009475e-01 -3.50349210e-03 2.26459947e+02] [-4.36005888e-01 8.99942073e-01 1.76962392e-03 1.69254746e+02] [ 3.92451274e-03 -6.50037633e-05 9.99992297e-01 8.04873679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20028169299997 meters 0.02281741214747693 Centerline is valid? [True, True] Translation: X:226.49, Y:169.24, Z:0.80 [[ 8.99853824e-01 4.36173711e-01 -3.94841588e-03 2.26485119e+02] [-4.36169161e-01 8.99862483e-01 1.99359483e-03 1.69241437e+02] [ 4.42258498e-03 -7.17666892e-05 9.99990218e-01 8.04405801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23028169299994 meters 0.02271503254992737 Centerline is valid? [True, True] Translation: X:226.51, Y:169.23, Z:0.80 [[ 8.99580484e-01 4.36735326e-01 -4.14833034e-03 2.26509193e+02] [-4.36730312e-01 8.99590046e-01 2.09399067e-03 1.69227431e+02] [ 4.64631638e-03 -7.20115341e-05 9.99989203e-01 8.04011159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26028169299997 meters 0.019990586843482056 Centerline is valid? [True, True] Translation: X:226.54, Y:169.21, Z:0.80 [[ 8.98879636e-01 4.38176036e-01 -4.14262577e-03 2.26535332e+02] [-4.38171054e-01 8.98889180e-01 2.09047839e-03 1.69214291e+02] [ 4.63975901e-03 -6.39097571e-05 9.99989234e-01 8.04868491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29028169299994 meters 0.020229046657764458 Centerline is valid? [True, True] Translation: X:226.56, Y:169.20, Z:0.80 [[ 8.98403572e-01 4.39152551e-01 -4.00736605e-03 2.26559566e+02] [-4.39147901e-01 8.98412508e-01 2.02166944e-03 1.69199621e+02] [ 4.48808907e-03 -5.64486537e-05 9.99989927e-01 8.04299695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32028169299997 meters 0.018154374051075766 Centerline is valid? [True, True] Translation: X:226.59, Y:169.19, Z:0.81 [[ 8.97615694e-01 4.40763703e-01 -3.66395055e-03 2.26586042e+02] [-4.40759832e-01 8.97623170e-01 1.84782359e-03 1.69188082e+02] [ 4.10330048e-03 -4.37132224e-05 9.99991581e-01 8.05442514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35028169299994 meters 0.014728883765585118 Centerline is valid? [True, True] Translation: X:226.61, Y:169.18, Z:0.81 [[ 8.95424777e-01 4.45196932e-01 -3.76312827e-03 2.26614034e+02] [-4.45192891e-01 8.95432684e-01 1.89706366e-03 1.69178946e+02] [ 4.21419496e-03 -2.33598488e-05 9.99991120e-01 8.05503570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.380281693 meters 0.013746856493393413 Centerline is valid? [True, True] Translation: X:226.64, Y:169.17, Z:0.81 [[ 8.94393661e-01 4.47263304e-01 -3.93910642e-03 2.26640073e+02] [-4.47258898e-01 8.94402335e-01 1.98528614e-03 1.69167761e+02] [ 4.41109162e-03 -1.38269423e-05 9.99990271e-01 8.05038756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41028169299994 meters 0.013314202835702206 Centerline is valid? [True, True] Translation: X:226.67, Y:169.16, Z:0.80 [[ 8.93424628e-01 4.49193420e-01 -4.20787938e-03 2.26665995e+02] [-4.49188417e-01 8.93434537e-01 2.11998416e-03 1.69157634e+02] [ 4.71174770e-03 -3.91537785e-06 9.99988900e-01 8.04835622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.440281693 meters 0.013560558503493657 Centerline is valid? [True, True] Translation: X:226.69, Y:169.15, Z:0.80 [[ 8.92394274e-01 4.51232168e-01 -4.68943673e-03 2.26691982e+02] [-4.51225986e-01 8.92406595e-01 2.36199441e-03 1.69147926e+02] [ 5.25069212e-03 8.16542832e-06 9.99986215e-01 8.03332922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47028169299995 meters 0.015486260227233964 Centerline is valid? [True, True] Translation: X:226.72, Y:169.14, Z:0.80 [[ 8.90534164e-01 4.54875620e-01 -6.08886040e-03 2.26720412e+02] [-4.54865287e-01 8.90554978e-01 3.06623690e-03 1.69141781e+02] [ 6.81722134e-03 3.90225212e-05 9.99976762e-01 8.00466558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.500281693 meters 0.016138981765809485 Centerline is valid? [True, True] Translation: X:226.75, Y:169.13, Z:0.80 [[ 8.89941359e-01 4.56035763e-01 -5.98005833e-03 2.26747718e+02] [-4.56025829e-01 8.89961449e-01 3.01036841e-03 1.69130954e+02] [ 6.69485703e-03 4.80097076e-05 9.99977588e-01 8.01002237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53028169299995 meters 0.016974356715989132 Centerline is valid? [True, True] Translation: X:226.77, Y:169.12, Z:0.80 [[ 8.89581892e-01 4.56742880e-01 -5.47716223e-03 2.26773618e+02] [-4.56734565e-01 8.89598752e-01 2.75649868e-03 1.69120807e+02] [ 6.13148783e-03 4.94779984e-05 9.99981201e-01 8.01797916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.560281693 meters 0.016259879654308605 Centerline is valid? [True, True] Translation: X:226.80, Y:169.11, Z:0.80 [[ 8.90002424e-01 4.55931932e-01 -4.66453771e-03 2.26798088e+02] [-4.55925894e-01 8.90014647e-01 2.34675146e-03 1.69106325e+02] [ 5.22146581e-03 3.80690413e-05 9.99986367e-01 8.03735934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59028169299995 meters 0.015535376231131662 Centerline is valid? [True, True] Translation: X:226.82, Y:169.09, Z:0.80 [[ 8.90526832e-01 4.54904211e-01 -4.91128324e-03 2.26822761e+02] [-4.54897507e-01 8.90540374e-01 2.46979292e-03 1.69092412e+02] [ 5.49721521e-03 3.47136415e-05 9.99984890e-01 8.03331122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.620281693 meters 0.015206208606355392 Centerline is valid? [True, True] Translation: X:226.85, Y:169.08, Z:0.80 [[ 8.90970328e-01 4.54027758e-01 -5.53810377e-03 2.26847138e+02] [-4.54019222e-01 8.90987539e-01 2.78423192e-03 1.69080162e+02] [ 6.19850002e-03 3.37375417e-05 9.99980789e-01 8.02684092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65028169299995 meters 0.014441138215433993 Centerline is valid? [True, True] Translation: X:226.87, Y:169.07, Z:0.80 [[ 8.91398519e-01 4.53185105e-01 -5.65168980e-03 2.26871949e+02] [-4.53176206e-01 8.91416435e-01 2.84016316e-03 1.69067158e+02] [ 6.32512881e-03 2.94941072e-05 9.99979996e-01 8.03446934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.680281693 meters 0.01383426790591874 Centerline is valid? [True, True] Translation: X:226.90, Y:169.06, Z:0.81 [[ 8.91894477e-01 4.52227208e-01 -3.84645643e-03 2.26897330e+02] [-4.52223079e-01 8.91902771e-01 1.93246439e-03 1.69056477e+02] [ 4.30457812e-03 1.59020523e-05 9.99990735e-01 8.06776323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71028169299996 meters 0.013737313451113885 Centerline is valid? [True, True] Translation: X:226.92, Y:169.05, Z:0.81 [[ 8.92021859e-01 4.51983164e-01 -2.86758035e-03 2.26923443e+02] [-4.51980869e-01 8.92026468e-01 1.44020757e-03 1.69045515e+02] [ 3.20890714e-03 1.13948270e-05 9.99994851e-01 8.08746475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.740281693 meters 0.014029179405533233 Centerline is valid? [True, True] Translation: X:226.95, Y:169.04, Z:0.81 [[ 8.92112196e-01 4.51805416e-01 -2.77411383e-03 2.26949305e+02] [-4.51803270e-01 8.92116509e-01 1.39271310e-03 1.69036841e+02] [ 3.10406807e-03 1.08973561e-05 9.99995182e-01 8.08121929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77028169299996 meters 0.013918890041946038 Centerline is valid? [True, True] Translation: X:226.98, Y:169.03, Z:0.80 [[ 8.92576010e-01 4.50866017e-01 -5.28205271e-03 2.26975979e+02] [-4.50858226e-01 8.92591639e-01 2.65055571e-03 1.69025892e+02] [ 5.90976158e-03 1.56344708e-05 9.99982537e-01 8.02425958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.800281693 meters 0.01400499017068108 Centerline is valid? [True, True] Translation: X:227.00, Y:169.01, Z:0.80 [[ 8.93045798e-01 4.49927919e-01 -5.83702949e-03 2.26999960e+02] [-4.49918391e-01 8.93064873e-01 2.92800912e-03 1.69014353e+02] [ 6.53023905e-03 1.13406794e-05 9.99978678e-01 7.99195571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83028169299996 meters 0.013698255026148385 Centerline is valid? [True, True] Translation: X:227.02, Y:169.00, Z:0.80 [[ 8.93750522e-01 4.48523476e-01 -6.05765448e-03 2.27024013e+02] [-4.48513192e-01 8.93771051e-01 3.03734690e-03 1.69000265e+02] [ 6.77647760e-03 2.30757161e-06 9.99977039e-01 8.00442932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86028169299993 meters 0.014257981356408187 Centerline is valid? [True, True] Translation: X:227.05, Y:168.99, Z:0.80 [[ 8.95412939e-01 4.45197832e-01 -5.87872230e-03 2.27047688e+02] [-4.45188079e-01 8.95432236e-01 2.94697748e-03 1.68985372e+02] [ 6.57598545e-03 -2.16246781e-05 9.99978378e-01 8.02110748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89028169299996 meters 0.01469600242617032 Centerline is valid? [True, True] Translation: X:227.07, Y:168.97, Z:0.80 [[ 8.96306422e-01 4.43403814e-01 -5.27781211e-03 2.27072917e+02] [-4.43395928e-01 8.96321960e-01 2.64475077e-03 1.68972576e+02] [ 5.90331148e-03 -3.03467053e-05 9.99982575e-01 8.03034645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92028169299994 meters 0.015682383411588223 Centerline is valid? [True, True] Translation: X:227.10, Y:168.96, Z:0.80 [[ 8.96936230e-01 4.42134798e-01 -4.71386649e-03 2.27097290e+02] [-4.42128492e-01 8.96948616e-01 2.36162070e-03 1.68959271e+02] [ 5.27225072e-03 -3.40884848e-05 9.99986101e-01 8.03311805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95028169299997 meters 0.01590704396122473 Centerline is valid? [True, True] Translation: X:227.12, Y:168.95, Z:0.80 [[ 8.97519265e-01 4.40954266e-01 -4.30162168e-03 2.27122885e+02] [-4.40949005e-01 8.97529573e-01 2.15440516e-03 1.68946852e+02] [ 4.81082681e-03 -3.68243407e-05 9.99988427e-01 8.04746344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98028169299994 meters 0.016554560254988845 Centerline is valid? [True, True] Translation: X:227.15, Y:168.93, Z:0.81 [[ 8.98096863e-01 4.39777310e-01 -4.23581694e-03 2.27148419e+02] [-4.39772200e-01 8.98106851e-01 2.12058334e-03 1.68933325e+02] [ 4.73680065e-03 -4.16947118e-05 9.99988780e-01 8.05589490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01028169299997 meters 0.0172434981439734 Centerline is valid? [True, True] Translation: X:227.17, Y:168.92, Z:0.80 [[ 8.98547684e-01 4.38853541e-01 -4.43040041e-03 2.27173749e+02] [-4.38847943e-01 8.98558605e-01 2.21707552e-03 1.68920226e+02] [ 4.95394586e-03 -4.78759652e-05 9.99987728e-01 8.04307544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04028169299994 meters 0.018104868001771104 Centerline is valid? [True, True] Translation: X:227.20, Y:168.91, Z:0.80 [[ 8.99088019e-01 4.37740883e-01 -4.86348474e-03 2.27199240e+02] [-4.37734127e-01 8.99101171e-01 2.43277641e-03 1.68905866e+02] [ 5.43769052e-03 -5.83668723e-05 9.99985214e-01 8.03714873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07028169299997 meters 0.019754003125433312 Centerline is valid? [True, True] Translation: X:227.22, Y:168.89, Z:0.80 [[ 8.99827908e-01 4.36217583e-01 -4.89451108e-03 2.27222779e+02] [-4.36210721e-01 8.99841217e-01 2.44762849e-03 1.68889921e+02] [ 5.47198139e-03 -6.74062159e-05 9.99985026e-01 8.03407549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10028169299994 meters 0.0239380434369086 Centerline is valid? [True, True] Translation: X:227.24, Y:168.87, Z:0.80 [[ 9.01708269e-01 4.32313872e-01 -5.18781600e-03 2.27243448e+02] [-4.32306101e-01 9.01723187e-01 2.59398076e-03 1.68867521e+02] [ 5.79938784e-03 -9.62893952e-05 9.99983179e-01 8.02982586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.130281693 meters 0.025614550087014756 Centerline is valid? [True, True] Translation: X:227.27, Y:168.85, Z:0.80 [[ 9.02784219e-01 4.30062222e-01 -5.20954857e-03 2.27266962e+02] [-4.30054353e-01 9.02799243e-01 2.60402751e-03 1.68850501e+02] [ 5.82307036e-03 -1.10485902e-04 9.99983040e-01 8.03537944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16028169299994 meters 0.026626779101115144 Centerline is valid? [True, True] Translation: X:227.29, Y:168.83, Z:0.80 [[ 9.03527667e-01 4.28501633e-01 -4.90978744e-03 2.27290823e+02] [-4.28494625e-01 9.03541000e-01 2.45321217e-03 1.68834259e+02] [ 5.48739967e-03 -1.12727541e-04 9.99984938e-01 8.04687016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.190281693 meters 0.025986120045118556 Centerline is valid? [True, True] Translation: X:227.31, Y:168.82, Z:0.81 [[ 9.03298616e-01 4.29002638e-01 -2.88910599e-03 2.27313968e+02] [-4.29000215e-01 9.03303234e-01 1.44323564e-03 1.68818571e+02] [ 3.22889068e-03 -6.42456639e-05 9.99994785e-01 8.09484613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22028169299995 meters 0.024677471463484524 Centerline is valid? [True, True] Translation: X:227.34, Y:168.81, Z:0.81 [[ 9.02415506e-01 4.30861238e-01 -2.20186195e-03 2.27338979e+02] [-4.30859837e-01 9.02418191e-01 1.09975441e-03 1.68805854e+02] [ 2.46084182e-03 -4.37415509e-05 9.99996971e-01 8.11043819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.250281693 meters 0.021351750942218025 Centerline is valid? [True, True] Translation: X:227.37, Y:168.80, Z:0.81 [[ 9.01303891e-01 4.33183019e-01 -1.94136883e-03 2.27366413e+02] [-4.33181935e-01 9.01305981e-01 9.69450421e-04 1.68796206e+02] [ 2.16971680e-03 -3.28035298e-05 9.99997646e-01 8.10987017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28028169299995 meters 0.01815766575674502 Centerline is valid? [True, True] Translation: X:227.39, Y:168.79, Z:0.81 [[ 9.00031945e-01 4.35815797e-01 -2.66246057e-03 2.27394215e+02] [-4.35813773e-01 9.00035882e-01 1.32889904e-03 1.68786384e+02] [ 2.97546524e-03 -3.57146066e-05 9.99995573e-01 8.09808829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.310281693 meters 0.01586176679937804 Centerline is valid? [True, True] Translation: X:227.42, Y:168.78, Z:0.81 [[ 8.97983717e-01 4.39996484e-01 -5.32342826e-03 2.27420204e+02] [-4.39988468e-01 8.97999495e-01 2.65620959e-03 1.68775454e+02] [ 5.94915877e-03 -4.29859106e-05 9.99982303e-01 8.05072225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34028169299995 meters 0.014973942238427565 Centerline is valid? [True, True] Translation: X:227.45, Y:168.76, Z:0.80 [[ 8.97214184e-01 4.41558876e-01 -5.69795542e-03 2.27445101e+02] [-4.41549727e-01 8.97232277e-01 2.84266720e-03 1.68763670e+02] [ 6.36759444e-03 -3.45506707e-05 9.99979726e-01 8.04599694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.370281693 meters 0.014071341344466422 Centerline is valid? [True, True] Translation: X:227.47, Y:168.75, Z:0.81 [[ 8.96660018e-01 4.42688452e-01 -5.26743396e-03 2.27471264e+02] [-4.42680658e-01 8.96675490e-01 2.62697893e-03 1.68752584e+02] [ 5.88611216e-03 -2.37158379e-05 9.99982676e-01 8.06487934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40028169299995 meters 0.013089946348184259 Centerline is valid? [True, True] Translation: X:227.50, Y:168.74, Z:0.81 [[ 8.95755890e-01 4.44539339e-01 -2.48228448e-03 2.27496318e+02] [-4.44537616e-01 8.95759329e-01 1.23770774e-03 1.68740528e+02] [ 2.77373927e-03 -5.21516994e-06 9.99996153e-01 8.11630674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.430281693 meters 0.012879721000386667 Centerline is valid? [True, True] Translation: X:227.52, Y:168.73, Z:0.81 [[ 8.95526997e-01 4.45004715e-01 -1.48383512e-03 2.27521140e+02] [-4.45004100e-01 8.95528226e-01 7.39754678e-04 1.68728704e+02] [ 1.65801056e-03 -2.15757184e-06 9.99998626e-01 8.13273053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46028169299996 meters 0.012934652611942552 Centerline is valid? [True, True] Translation: X:227.55, Y:168.72, Z:0.81 [[ 8.95177511e-01 4.45707272e-01 -1.50059323e-03 2.27545974e+02] [-4.45706645e-01 8.95178768e-01 7.47760538e-04 1.68717409e+02] [ 1.67658151e-03 -5.54042139e-07 9.99998595e-01 8.13114413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.490281693 meters 0.013013406474323265 Centerline is valid? [True, True] Translation: X:227.57, Y:168.71, Z:0.81 [[ 8.94963342e-01 4.46131728e-01 -2.66421374e-03 2.27570874e+02] [-4.46129754e-01 8.94967307e-01 1.32721811e-03 1.68706098e+02] [ 2.97649831e-03 7.73464623e-07 9.99995570e-01 8.10472872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52028169299996 meters 0.013535957601340987 Centerline is valid? [True, True] Translation: X:227.60, Y:168.69, Z:0.81 [[ 8.94343891e-01 4.47351814e-01 -5.03580108e-03 2.27597689e+02] [-4.47344786e-01 8.94358068e-01 2.50764373e-03 1.68694724e+02] [ 5.62560830e-03 1.00435060e-05 9.99984176e-01 8.05294265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.550281693 meters 0.01368054789150287 Centerline is valid? [True, True] Translation: X:227.62, Y:168.68, Z:0.80 [[ 8.94234783e-01 4.47563254e-01 -5.59340163e-03 2.27623032e+02] [-4.47554596e-01 8.94252276e-01 2.78399803e-03 1.68682430e+02] [ 6.24792736e-03 1.38047352e-05 9.99980481e-01 8.04342085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58028169299996 meters 0.013703470571372053 Centerline is valid? [True, True] Translation: X:227.65, Y:168.67, Z:0.80 [[ 8.94423350e-01 4.47180638e-01 -6.02897313e-03 2.27646869e+02] [-4.47170575e-01 8.94443669e-01 2.99995958e-03 1.68669597e+02] [ 6.73410068e-03 1.27454872e-05 9.99977326e-01 8.03440456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61028169299993 meters 0.013737328132814156 Centerline is valid? [True, True] Translation: X:227.67, Y:168.65, Z:0.80 [[ 8.95430926e-01 4.45147285e-01 -6.88129428e-03 2.27669855e+02] [-4.45134127e-01 8.95457366e-01 3.42264052e-03 1.68653363e+02] [ 7.68548479e-03 -1.63924718e-06 9.99970466e-01 8.02317691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64028169299996 meters 0.013611870231945856 Centerline is valid? [True, True] Translation: X:227.69, Y:168.64, Z:0.80 [[ 8.96221741e-01 4.43556385e-01 -6.65758701e-03 2.27694156e+02] [-4.43544037e-01 8.96246469e-01 3.30976524e-03 1.68638457e+02] [ 7.43490636e-03 -1.33505505e-05 9.99972361e-01 8.04157341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67028169299994 meters 0.013954993971240039 Centerline is valid? [True, True] Translation: X:227.72, Y:168.62, Z:0.80 [[ 8.96823915e-01 4.42347597e-01 -5.95562750e-03 2.27716834e+02] [-4.42337694e-01 8.96843689e-01 2.95999328e-03 1.68624410e+02] [ 6.65061285e-03 -2.01942253e-05 9.99977884e-01 8.04691799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70028169299997 meters 0.01393351098921635 Centerline is valid? [True, True] Translation: X:227.74, Y:168.61, Z:0.81 [[ 8.97298615e-01 4.41400577e-01 -4.55251849e-03 2.27741335e+02] [-4.41394783e-01 8.97310164e-01 2.26177419e-03 1.68610996e+02] [ 5.08336955e-03 -2.00289318e-05 9.99987079e-01 8.07167359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73028169299994 meters 0.01366835068288719 Centerline is valid? [True, True] Translation: X:227.77, Y:168.60, Z:0.81 [[ 8.97406129e-01 4.41197764e-01 -2.60250925e-03 2.27767291e+02] [-4.41195871e-01 8.97409903e-01 1.29249294e-03 1.68599538e+02] [ 2.90576257e-03 -1.16747516e-05 9.99995778e-01 8.10436983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76028169299997 meters 0.01366835068288719 Centerline is valid? [True, True] Translation: X:227.79, Y:168.59, Z:0.81 [[ 8.97492455e-01 4.41022130e-01 -2.60276168e-03 2.27791994e+02] [-4.41020238e-01 8.97496229e-01 1.29198446e-03 1.68587486e+02] [ 2.90576253e-03 -1.16757245e-05 9.99995778e-01 8.10480549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79028169299994 meters 0.013740052843898433 Centerline is valid? [True, True] Translation: X:227.82, Y:168.58, Z:0.81 [[ 8.97536337e-01 4.40932397e-01 -2.67308800e-03 2.27816952e+02] [-4.40930402e-01 8.97540317e-01 1.32640523e-03 1.68576350e+02] [ 2.98405929e-03 -1.18511283e-05 9.99995548e-01 8.11170109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82028169299997 meters 0.014011537441026485 Centerline is valid? [True, True] Translation: X:227.84, Y:168.56, Z:0.81 [[ 8.97691412e-01 4.40618205e-01 -2.39295870e-03 2.27841450e+02] [-4.40616606e-01 8.97694602e-01 1.18716799e-03 1.68563984e+02] [ 2.67123394e-03 -1.13331678e-05 9.99996432e-01 8.11409566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85028169299994 meters 0.014755966016182369 Centerline is valid? [True, True] Translation: X:227.87, Y:168.55, Z:0.81 [[ 8.98592390e-01 4.38777163e-01 -2.51340457e-03 2.27866517e+02] [-4.38775393e-01 8.98595905e-01 1.24654420e-03 1.68549839e+02] [ 2.80549019e-03 -1.73150532e-05 9.99996064e-01 8.11963722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.880281693 meters 0.015159212954208074 Centerline is valid? [True, True] Translation: X:227.89, Y:168.54, Z:0.81 [[ 8.98984918e-01 4.37966328e-01 -3.40778465e-03 2.27891947e+02] [-4.37963071e-01 8.98991376e-01 1.68931802e-03 1.68536516e+02] [ 3.80343342e-03 -2.61875946e-05 9.99992767e-01 8.10019728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91028169299994 meters 0.01569667257657547 Centerline is valid? [True, True] Translation: X:227.92, Y:168.52, Z:0.81 [[ 8.99401978e-01 4.37102150e-01 -4.21806836e-03 2.27917610e+02] [-4.37097154e-01 8.99411869e-01 2.09006292e-03 1.68524285e+02] [ 4.70735174e-03 -3.61010492e-05 9.99988920e-01 8.08508017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.940281693 meters 0.016189599129074233 Centerline is valid? [True, True] Translation: X:227.94, Y:168.51, Z:0.81 [[ 8.99745406e-01 4.36393189e-01 -4.38054563e-03 2.27943793e+02] [-4.36387797e-01 8.99756069e-01 2.16966905e-03 1.68511461e+02] [ 4.88825131e-03 -4.05331021e-05 9.99988052e-01 8.07955269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97028169299995 meters 0.017539877537258042 Centerline is valid? [True, True] Translation: X:227.97, Y:168.50, Z:0.81 [[ 9.00832218e-01 4.34160237e-01 -2.49071962e-03 2.27968656e+02] [-4.34158486e-01 9.00835661e-01 1.23326300e-03 1.68495883e+02] [ 2.77916281e-03 -2.95959810e-05 9.99996138e-01 8.11514013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.000281693 meters 0.018665626490473985 Centerline is valid? [True, True] Translation: X:227.99, Y:168.48, Z:0.81 [[ 9.01499352e-01 4.32777168e-01 -1.68556359e-03 2.27992681e+02] [-4.32776365e-01 9.01500927e-01 8.34345908e-04 1.68480149e+02] [ 1.88062300e-03 -2.26902120e-05 9.99998231e-01 8.13131428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03028169299995 meters 0.019509722568888648 Centerline is valid? [True, True] Translation: X:228.02, Y:168.46, Z:0.81 [[ 9.02216495e-01 4.31280766e-01 -1.51584424e-03 2.28016825e+02] [-4.31280114e-01 9.02217768e-01 7.50057164e-04 1.68464296e+02] [ 1.69110684e-03 -2.29604673e-05 9.99998570e-01 8.13459807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.060281693 meters 0.02127685284850675 Centerline is valid? [True, True] Translation: X:228.04, Y:168.45, Z:0.81 [[ 9.02915279e-01 4.29814743e-01 -1.81278084e-03 2.28039526e+02] [-4.29813809e-01 9.02917098e-01 8.96605958e-04 1.68447270e+02] [ 2.02216527e-03 -3.04009827e-05 9.99997955e-01 8.12315107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09028169299995 meters 0.024048206929187424 Centerline is valid? [True, True] Translation: X:228.06, Y:168.42, Z:0.81 [[ 9.04267329e-01 4.26956200e-01 -3.00026054e-03 2.28060312e+02] [-4.26953627e-01 9.04272304e-01 1.48344411e-03 1.68424614e+02] [ 3.34641817e-03 -6.04579185e-05 9.99994399e-01 8.10167452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.120281693 meters 0.025482040316798536 Centerline is valid? [True, True] Translation: X:228.08, Y:168.41, Z:0.81 [[ 9.04629198e-01 4.26188810e-01 -3.01859814e-03 2.28082162e+02] [-4.26186203e-01 9.04634232e-01 1.49210578e-03 1.68406937e+02] [ 3.36664600e-03 -6.33175780e-05 9.99994331e-01 8.10406963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15028169299995 meters 0.02712437392745833 Centerline is valid? [True, True] Translation: X:228.10, Y:168.39, Z:0.81 [[ 9.04932737e-01 4.25543689e-01 -3.05128900e-03 2.28104148e+02] [-4.25541022e-01 9.04937879e-01 1.50804691e-03 1.68389139e+02] [ 3.40296684e-03 -6.62323749e-05 9.99994208e-01 8.10698219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.180281693 meters 0.025508899027359772 Centerline is valid? [True, True] Translation: X:228.13, Y:168.38, Z:0.81 [[ 9.04927449e-01 4.25554114e-01 -3.16343158e-03 2.28129090e+02] [-4.25551249e-01 9.04932976e-01 1.56296661e-03 1.68375623e+02] [ 3.52782042e-03 -6.81691235e-05 9.99993775e-01 8.10458189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21028169299996 meters 0.025824618012781825 Centerline is valid? [True, True] Translation: X:228.15, Y:168.36, Z:0.81 [[ 9.04520722e-01 4.26410400e-01 -4.05401270e-03 2.28152621e+02] [-4.26405706e-01 9.04529803e-01 2.00237187e-03 1.68360178e+02] [ 4.52080750e-03 -8.25327014e-05 9.99989778e-01 8.09158300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.240281693 meters 0.020119587726395244 Centerline is valid? [True, True] Translation: X:228.18, Y:168.35, Z:0.81 [[ 9.02326543e-01 4.31026707e-01 -4.77370028e-03 2.28180059e+02] [-4.31020268e-01 9.02339167e-01 2.35710590e-03 1.68349234e+02] [ 5.32347233e-03 -6.93176479e-05 9.99985828e-01 8.07772033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27028169299996 meters 0.01769122624373768 Centerline is valid? [True, True] Translation: X:228.21, Y:168.34, Z:0.81 [[ 9.01035028e-01 4.33725851e-01 -4.21480711e-03 2.28205502e+02] [-4.33720862e-01 9.01044885e-01 2.08071295e-03 1.68337103e+02] [ 4.70018938e-03 -4.67454784e-05 9.99988953e-01 8.08881808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.300281693 meters 0.01547862780798296 Centerline is valid? [True, True] Translation: X:228.23, Y:168.32, Z:0.81 [[ 8.99949152e-01 4.35983674e-01 -3.12398447e-03 2.28231412e+02] [-4.35980948e-01 8.99954574e-01 1.54179525e-03 1.68324843e+02] [ 3.48364167e-03 -2.55396185e-05 9.99993932e-01 8.11074827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33028169299996 meters 0.013531399004710567 Centerline is valid? [True, True] Translation: X:228.26, Y:168.31, Z:0.81 [[ 8.98465748e-01 4.39042352e-01 -1.05449601e-03 2.28255688e+02] [-4.39042044e-01 8.98466367e-01 5.20360892e-04 1.68311619e+02] [ 1.17588967e-03 -4.55835659e-06 9.99999309e-01 8.14978520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36028169299993 meters 0.01322355166777082 Centerline is valid? [True, True] Translation: X:228.28, Y:168.30, Z:0.81 [[ 8.98131555e-01 4.39725352e-01 -1.15066229e-03 2.28279502e+02] [-4.39724986e-01 8.98132292e-01 5.67732423e-04 1.68298167e+02] [ 1.28309330e-03 -3.92344276e-06 9.99999177e-01 8.14552279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39028169299996 meters 0.013074256070767707 Centerline is valid? [True, True] Translation: X:228.30, Y:168.28, Z:0.81 [[ 8.98058063e-01 4.39873194e-01 -1.81344896e-03 2.28303969e+02] [-4.39872284e-01 8.98059894e-01 8.94442568e-04 1.68283732e+02] [ 2.02202709e-03 -5.57542551e-06 9.99997956e-01 8.13092329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42028169299994 meters 0.01287539518429105 Centerline is valid? [True, True] Translation: X:228.33, Y:168.27, Z:0.81 [[ 8.97795702e-01 4.40405240e-01 -2.47035119e-03 2.28328723e+02] [-4.40403557e-01 8.97799100e-01 1.21776839e-03 1.68269583e+02] [ 2.75419066e-03 -5.35577810e-06 9.99996207e-01 8.12096509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45028169299997 meters 0.012547716336927122 Centerline is valid? [True, True] Translation: X:228.35, Y:168.26, Z:0.82 [[ 8.96744853e-01 4.42546611e-01 -1.07996972e-03 2.28352050e+02] [-4.42546291e-01 8.96745503e-01 5.32264522e-04 1.68255463e+02] [ 1.20400985e-03 6.31122525e-07 9.99999275e-01 8.15290182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48028169299994 meters 0.012950552810839532 Centerline is valid? [True, True] Translation: X:228.38, Y:168.24, Z:0.82 [[ 8.96073015e-01 4.43906622e-01 2.50381665e-04 2.28377580e+02] [-4.43906605e-01 8.96073050e-01 -1.22987859e-04 1.68243986e+02] [-2.78955387e-04 -9.39973426e-07 9.99999961e-01 8.18270177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51028169299997 meters 0.013506495596765547 Centerline is valid? [True, True] Translation: X:228.40, Y:168.23, Z:0.82 [[ 8.95283947e-01 4.45494891e-01 9.78376730e-04 2.28404389e+02] [-4.45494631e-01 8.95284481e-01 -4.81347787e-04 1.68232356e+02] [-1.09036348e-03 -4.91863381e-06 9.99999406e-01 8.19156441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54028169299994 meters 0.014633618651980491 Centerline is valid? [True, True] Translation: X:228.43, Y:168.22, Z:0.82 [[ 8.94380655e-01 4.47306296e-01 5.67612558e-04 2.28430413e+02] [-4.47306209e-01 8.94380835e-01 -2.79281664e-04 1.68221320e+02] [-6.32586240e-04 -4.11250443e-06 9.99999800e-01 8.17831069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57028169299997 meters 0.01814023757017349 Centerline is valid? [True, True] Translation: X:228.46, Y:168.21, Z:0.81 [[ 8.92477443e-01 4.51085273e-01 -2.46787307e-03 2.28456949e+02] [-4.51083639e-01 8.92480855e-01 1.21460285e-03 1.68212812e+02] [ 2.75041893e-03 2.92115153e-05 9.99996217e-01 8.11893553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60028169299994 meters 0.020308658545098186 Centerline is valid? [True, True] Translation: X:228.48, Y:168.20, Z:0.81 [[ 8.91501081e-01 4.53006426e-01 -3.31664643e-03 2.28484376e+02] [-4.53003490e-01 8.91507250e-01 1.63176034e-03 1.68203438e+02] [ 3.69601226e-03 4.77362986e-05 9.99993169e-01 8.10284437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.630281693 meters 0.022040917918486506 Centerline is valid? [True, True] Translation: X:228.51, Y:168.19, Z:0.81 [[ 8.90530180e-01 4.54909408e-01 -3.66473414e-03 2.28511662e+02] [-4.54905842e-01 8.90537718e-01 1.80225825e-03 1.68194135e+02] [ 4.08344821e-03 6.21436100e-05 9.99991661e-01 8.09586127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66028169299994 meters 0.026008634343436587 Centerline is valid? [True, True] Translation: X:228.54, Y:168.19, Z:0.81 [[ 8.89425148e-01 4.57066757e-01 -3.58964207e-03 2.28539902e+02] [-4.57063355e-01 8.89432389e-01 1.76489652e-03 1.68188191e+02] [ 3.99941945e-03 7.09505048e-05 9.99992000e-01 8.09452853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.690281693 meters 0.0317985571107316 Centerline is valid? [True, True] Translation: X:228.57, Y:168.18, Z:0.81 [[ 8.87715108e-01 4.60389576e-01 -1.82381283e-03 2.28569795e+02] [-4.60388705e-01 8.87716980e-01 8.96634877e-04 1.68184428e+02] [ 2.03183097e-03 4.37065002e-05 9.99997935e-01 8.12792938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72028169299995 meters 0.02978734165088642 Centerline is valid? [True, True] Translation: X:228.59, Y:168.17, Z:0.81 [[ 8.87329762e-01 4.61134888e-01 -7.13451520e-04 2.28594661e+02] [-4.61134755e-01 8.87330048e-01 3.50868266e-04 1.68170235e+02] [ 7.94864571e-04 1.76614368e-05 9.99999684e-01 8.14841118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.750281693 meters 0.028978791484441234 Centerline is valid? [True, True] Translation: X:228.62, Y:168.16, Z:0.82 [[ 8.87201293e-01 4.61382535e-01 1.48289788e-04 2.28620294e+02] [-4.61382529e-01 8.87201306e-01 -7.27566685e-05 1.68158179e+02] [-1.65131550e-04 -3.86850717e-06 9.99999986e-01 8.16553548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78028169299995 meters 0.02717267232119615 Centerline is valid? [True, True] Translation: X:228.65, Y:168.14, Z:0.82 [[ 8.87405605e-01 4.60988862e-01 7.49610821e-04 2.28645030e+02] [-4.60988715e-01 8.87405921e-01 -3.67787089e-04 1.68144942e+02] [-8.34754833e-04 -1.91858054e-05 9.99999651e-01 8.17583990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.810281693 meters 0.02773865586788757 Centerline is valid? [True, True] Translation: X:228.67, Y:168.13, Z:0.82 [[ 8.87750662e-01 4.60324330e-01 5.23254144e-04 2.28671268e+02] [-4.60324259e-01 8.87750816e-01 -2.56750426e-04 1.68134652e+02] [-5.82707761e-04 -1.29362148e-05 9.99999830e-01 8.17500592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84028169299995 meters 0.02576392794265717 Centerline is valid? [True, True] Translation: X:228.70, Y:168.12, Z:0.81 [[ 8.89140014e-01 4.57634776e-01 -6.68948065e-04 2.28695683e+02] [-4.57634658e-01 8.89140265e-01 3.28493617e-04 1.68120603e+02] [ 7.45118763e-04 1.40569996e-05 9.99999722e-01 8.13722565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.870281693 meters 0.023609980957383456 Centerline is valid? [True, True] Translation: X:228.72, Y:168.11, Z:0.81 [[ 8.89988849e-01 4.55980738e-01 -1.18962292e-03 2.28720598e+02] [-4.55980364e-01 8.89989644e-01 5.84041155e-04 1.68105518e+02] [ 1.32506360e-03 2.26545774e-05 9.99999122e-01 8.12354600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90028169299995 meters 0.02304820337268434 Centerline is valid? [True, True] Translation: X:228.75, Y:168.09, Z:0.81 [[ 8.90798381e-01 4.54395002e-01 -1.85130027e-03 2.28745867e+02] [-4.54394095e-01 8.90800304e-01 9.08414906e-04 1.68093547e+02] [ 2.06191804e-03 3.20053850e-05 9.99997874e-01 8.10024737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.930281693 meters 0.018762632867977753 Centerline is valid? [True, True] Translation: X:228.77, Y:168.08, Z:0.81 [[ 8.92549171e-01 4.50936061e-01 -3.55600613e-03 2.28769264e+02] [-4.50932690e-01 8.92556254e-01 1.74427303e-03 1.68075897e+02] [ 3.96049112e-03 4.66699623e-05 9.99992156e-01 8.07397518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96028169299996 meters 0.017161395383096065 Centerline is valid? [True, True] Translation: X:228.79, Y:168.06, Z:0.81 [[ 8.93691802e-01 4.48663484e-01 -4.00508852e-03 2.28793055e+02] [-4.48659187e-01 8.93700776e-01 1.96404554e-03 1.68061450e+02] [ 4.46054624e-03 4.16683587e-05 9.99990051e-01 8.06617889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.990281693 meters 0.015061817019032083 Centerline is valid? [True, True] Translation: X:228.82, Y:168.04, Z:0.81 [[ 8.94946779e-01 4.46155590e-01 -3.93086463e-03 2.28816754e+02] [-4.46151429e-01 8.94955412e-01 1.92702768e-03 1.68044106e+02] [ 4.37770275e-03 2.91736551e-05 9.99990417e-01 8.07456349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02028169299996 meters 0.013744311930989468 Centerline is valid? [True, True] Translation: X:228.84, Y:168.03, Z:0.81 [[ 8.96256246e-01 4.43526935e-01 -2.93254755e-03 2.28839441e+02] [-4.43524606e-01 8.96261043e-01 1.43729211e-03 1.68028184e+02] [ 3.26580589e-03 1.24749624e-05 9.99994667e-01 8.09602532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.050281693 meters 0.013133427188970277 Centerline is valid? [True, True] Translation: X:228.86, Y:168.01, Z:0.81 [[ 8.98697506e-01 4.38568745e-01 -4.98952034e-04 2.28859979e+02] [-4.38568677e-01 8.98697644e-01 2.44629065e-04 1.68006609e+02] [ 5.55693680e-04 -1.02279756e-06 9.99999846e-01 8.13124735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08028169299996 meters 0.013722387951768741 Centerline is valid? [True, True] Translation: X:228.88, Y:167.99, Z:0.81 [[ 9.00073016e-01 4.35738992e-01 3.10373367e-04 2.28883562e+02] [-4.35738966e-01 9.00073070e-01 -1.51707927e-04 1.67988343e+02] [-3.45463769e-04 1.30644109e-06 9.99999940e-01 8.14000036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11028169299993 meters 0.015037901896882715 Centerline is valid? [True, True] Translation: X:228.91, Y:167.97, Z:0.81 [[ 9.01018521e-01 4.33780616e-01 -4.77196584e-05 2.28905781e+02] [-4.33780615e-01 9.01018522e-01 2.34746479e-05 1.67971006e+02] [ 5.31791434e-05 -4.51229758e-07 9.99999999e-01 8.13383645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14028169299996 meters 0.01606020457681921 Centerline is valid? [True, True] Translation: X:228.93, Y:167.95, Z:0.81 [[ 9.01885894e-01 4.31971796e-01 -1.48373764e-03 2.28929897e+02] [-4.31971185e-01 9.01887115e-01 7.26551661e-04 1.67954515e+02] [ 1.65201369e-03 -1.43347884e-05 9.99998635e-01 8.11308802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17028169299994 meters 0.017765199454236644 Centerline is valid? [True, True] Translation: X:228.95, Y:167.94, Z:0.81 [[ 9.02817895e-01 4.30007209e-01 -3.69436149e-03 2.28953240e+02] [-4.30003411e-01 9.02825453e-01 1.80784717e-03 1.67936465e+02] [ 4.11275090e-03 -4.35687336e-05 9.99991542e-01 8.07743916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20028169299997 meters 0.01854036814405319 Centerline is valid? [True, True] Translation: X:228.98, Y:167.92, Z:0.81 [[ 9.03027993e-01 4.29561611e-01 -4.15536566e-03 2.28976153e+02] [-4.29556803e-01 9.03037552e-01 2.03291361e-03 1.67920609e+02] [ 4.62571288e-03 -5.08123057e-05 9.99989300e-01 8.06818439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23028169299994 meters 0.018349960113047584 Centerline is valid? [True, True] Translation: X:229.00, Y:167.91, Z:0.81 [[ 9.03290220e-01 4.29014062e-01 -3.70307761e-03 2.29000216e+02] [-4.29010242e-01 9.03297809e-01 1.81101277e-03 1.67905529e+02] [ 4.12193184e-03 -4.72119060e-05 9.99991504e-01 8.07548406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26028169299997 meters 0.018669636172595955 Centerline is valid? [True, True] Translation: X:229.02, Y:167.89, Z:0.81 [[ 9.03560683e-01 4.28451909e-01 -2.65584292e-03 2.29021351e+02] [-4.28449943e-01 9.03564586e-01 1.29841733e-03 1.67887836e+02] [ 2.95603499e-03 -3.53030987e-05 9.99995630e-01 8.09023761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29028169299994 meters 0.018735012482050204 Centerline is valid? [True, True] Translation: X:229.05, Y:167.87, Z:0.81 [[ 9.03625351e-01 4.28319490e-01 -1.90806063e-03 2.29045808e+02] [-4.28318475e-01 9.03627365e-01 9.32555717e-04 1.67873796e+02] [ 2.12360759e-03 -2.54233672e-05 9.99997745e-01 8.10832034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32028169299997 meters 0.018539939240062104 Centerline is valid? [True, True] Translation: X:229.07, Y:167.86, Z:0.81 [[ 9.03546243e-01 4.28489554e-01 -9.43031843e-04 2.29069688e+02] [-4.28489307e-01 9.03546735e-01 4.60787132e-04 1.67860549e+02] [ 1.04951582e-03 -1.22634215e-05 9.99999449e-01 8.12455787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35028169299994 meters 0.018565354857383004 Centerline is valid? [True, True] Translation: X:229.09, Y:167.85, Z:0.81 [[ 9.03623326e-01 4.28327916e-01 -2.83669606e-04 2.29093686e+02] [-4.28327894e-01 9.03623371e-01 1.38827506e-04 1.67846662e+02] [ 3.15794182e-04 -3.94416833e-06 9.99999950e-01 8.14107181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.380281693 meters 0.01900602669668271 Centerline is valid? [True, True] Translation: X:229.12, Y:167.83, Z:0.81 [[ 9.03763665e-01 4.28029310e-01 -1.46548402e-03 2.29116696e+02] [-4.28028712e-01 9.03764853e-01 7.15501778e-04 1.67830187e+02] [ 1.63070869e-03 -1.93752698e-05 9.99998670e-01 8.11279814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41028169299994 meters 0.01915049854683697 Centerline is valid? [True, True] Translation: X:229.14, Y:167.82, Z:0.81 [[ 9.03809223e-01 4.27928643e-01 -2.44224271e-03 2.29141018e+02] [-4.27926984e-01 9.03812522e-01 1.19198703e-03 1.67816913e+02] [ 2.71741494e-03 -3.22273122e-05 9.99996307e-01 8.08556963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.440281693 meters 0.018809917945019478 Centerline is valid? [True, True] Translation: X:229.17, Y:167.80, Z:0.81 [[ 9.03694020e-01 4.28167354e-01 -3.13625279e-03 2.29166193e+02] [-4.28164623e-01 9.03699461e-01 1.52990169e-03 1.67803836e+02] [ 3.48928392e-03 -3.97305097e-05 9.99993912e-01 8.06995241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47028169299995 meters 0.018459086421225387 Centerline is valid? [True, True] Translation: X:229.19, Y:167.79, Z:0.81 [[ 9.03468710e-01 4.28642176e-01 -3.18989939e-03 2.29190618e+02] [-4.28639355e-01 9.03474340e-01 1.55561379e-03 1.67790566e+02] [ 3.54879393e-03 -3.81319667e-05 9.99993702e-01 8.06405704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.500281693 meters 0.018859305641921432 Centerline is valid? [True, True] Translation: X:229.21, Y:167.77, Z:0.81 [[ 9.03697054e-01 4.28162664e-01 -2.89253315e-03 2.29213187e+02] [-4.28160343e-01 9.03701683e-01 1.41017550e-03 1.67773547e+02] [ 3.21777158e-03 -3.59034598e-05 9.99994822e-01 8.06817763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53028169299995 meters 0.020010036579589708 Centerline is valid? [True, True] Translation: X:229.24, Y:167.76, Z:0.81 [[ 9.04165621e-01 4.27171004e-01 -3.07628861e-03 2.29235824e+02] [-4.27168375e-01 9.04170853e-01 1.49928046e-03 1.67757622e+02] [ 3.42193964e-03 -4.15046378e-05 9.99994144e-01 8.06237328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.560281693 meters 0.021216232144264775 Centerline is valid? [True, True] Translation: X:229.26, Y:167.74, Z:0.81 [[ 9.04672938e-01 4.26095608e-01 -3.06713740e-03 2.29258368e+02] [-4.26092989e-01 9.04678136e-01 1.49458657e-03 1.67741342e+02] [ 3.41160892e-03 -4.52262830e-05 9.99994179e-01 8.06782170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59028169299995 meters 0.022707155798635685 Centerline is valid? [True, True] Translation: X:229.28, Y:167.72, Z:0.81 [[ 9.05340935e-01 4.24682366e-01 -1.63677338e-03 2.29279593e+02] [-4.24681618e-01 9.05342414e-01 7.97516329e-04 1.67722219e+02] [ 1.82053149e-03 -2.69166103e-05 9.99998343e-01 8.10763627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.620281693 meters 0.022436286852417515 Centerline is valid? [True, True] Translation: X:229.30, Y:167.71, Z:0.81 [[ 9.05175016e-01 4.25038386e-01 -7.48956045e-04 2.29304086e+02] [-4.25038229e-01 9.05175326e-01 3.64929521e-04 1.67708888e+02] [ 8.33045587e-04 -1.19901342e-05 9.99999653e-01 8.12975569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65028169299995 meters 0.022436286852417515 Centerline is valid? [True, True] Translation: X:229.33, Y:167.70, Z:0.81 [[ 9.05250621e-01 4.24877337e-01 -7.48935896e-04 2.29328913e+02] [-4.24877180e-01 9.05250931e-01 3.64970912e-04 1.67697034e+02] [ 8.33042787e-04 -1.21843733e-05 9.99999653e-01 8.13019167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.680281693 meters 0.021631138796121066 Centerline is valid? [True, True] Translation: X:229.35, Y:167.69, Z:0.81 [[ 9.04991283e-01 4.25430106e-01 5.32616592e-05 2.29354884e+02] [-4.25430105e-01 9.04991285e-01 -2.56486461e-05 1.67685082e+02] [-5.91130436e-05 5.52687881e-07 9.99999998e-01 8.14391460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71028169299996 meters 0.01995946637459565 Centerline is valid? [True, True] Translation: X:229.38, Y:167.67, Z:0.82 [[ 9.04354249e-01 4.26782442e-01 3.73609536e-04 2.29381706e+02] [-4.26782404e-01 9.04354326e-01 -1.81493851e-04 1.67674262e+02] [-4.15333789e-04 4.68475961e-06 9.99999914e-01 8.15075762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.740281693 meters 0.015805786263502625 Centerline is valid? [True, True] Translation: X:229.41, Y:167.67, Z:0.81 [[ 9.02597335e-01 4.30485755e-01 -2.57222700e-04 2.29409865e+02] [-4.30485737e-01 9.02597371e-01 1.25376127e-04 1.67666376e+02] [ 2.86141170e-04 -2.43345479e-06 9.99999959e-01 8.12333183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77028169299996 meters 0.01449869247859184 Centerline is valid? [True, True] Translation: X:229.44, Y:167.66, Z:0.81 [[ 9.01713761e-01 4.32331351e-01 -1.37686868e-03 2.29437286e+02] [-4.32330833e-01 9.01714812e-01 6.69604082e-04 1.67656008e+02] [ 1.53103372e-03 -8.52843223e-06 9.99998828e-01 8.10820600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.800281693 meters 0.013503958938919543 Centerline is valid? [True, True] Translation: X:229.46, Y:167.65, Z:0.81 [[ 9.00832897e-01 4.34161604e-01 -1.94776201e-03 2.29464999e+02] [-4.34160572e-01 9.00835002e-01 9.46734406e-04 1.67646299e+02] [ 2.16564792e-03 -7.20802963e-06 9.99997655e-01 8.10133553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83028169299996 meters 0.013157224851955274 Centerline is valid? [True, True] Translation: X:229.49, Y:167.64, Z:0.81 [[ 8.99086173e-01 4.37768849e-01 -1.57757873e-03 2.29492593e+02] [-4.37768178e-01 8.99087557e-01 7.66557623e-04 1.67640418e+02] [ 1.75395646e-03 1.41240754e-06 9.99998462e-01 8.10748118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86028169299993 meters 0.013283183681275165 Centerline is valid? [True, True] Translation: X:229.52, Y:167.63, Z:0.81 [[ 8.98521735e-01 4.38929019e-01 -8.73090060e-05 2.29518438e+02] [-4.38929017e-01 8.98521739e-01 4.27315755e-05 1.67630261e+02] [ 9.72051685e-05 -7.27931571e-08 9.99999995e-01 8.13619426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89028169299996 meters 0.013744803668151463 Centerline is valid? [True, True] Translation: X:229.54, Y:167.62, Z:0.82 [[ 8.98165977e-01 4.39655405e-01 1.00118598e-03 2.29544236e+02] [-4.39655137e-01 8.98166535e-01 -4.86008747e-04 1.67619908e+02] [-1.11290812e-03 -3.66003983e-06 9.99999381e-01 8.16160687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92028169299994 meters 0.013865410963715265 Centerline is valid? [True, True] Translation: X:229.57, Y:167.61, Z:0.82 [[ 8.98056598e-01 4.39876084e-01 1.83785285e-03 2.29569691e+02] [-4.39875180e-01 8.98058478e-01 -8.92120131e-04 1.67608954e+02] [-2.04292164e-03 -7.25148226e-06 9.99997913e-01 8.17640571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95028169299997 meters 0.014154221711734383 Centerline is valid? [True, True] Translation: X:229.60, Y:167.60, Z:0.82 [[ 8.97825006e-01 4.40351023e-01 1.11168409e-03 2.29596644e+02] [-4.40350693e-01 8.97825694e-01 -5.39131526e-04 1.67600117e+02] [-1.23550566e-03 -5.48509617e-06 9.99999237e-01 8.15361856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98028169299994 meters 0.01478618088774107 Centerline is valid? [True, True] Translation: X:229.62, Y:167.59, Z:0.81 [[ 8.97400745e-01 4.41215964e-01 6.12727447e-04 2.29623354e+02] [-4.41215864e-01 8.97400955e-01 -2.97186811e-04 1.67591113e+02] [-6.80985761e-04 -3.64940415e-06 9.99999768e-01 8.14324893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01028169299997 meters 0.016320770087454913 Centerline is valid? [True, True] Translation: X:229.65, Y:167.58, Z:0.81 [[ 8.96724272e-01 4.42589629e-01 -7.77682126e-06 2.29651033e+02] [-4.42589629e-01 8.96724272e-01 3.86859450e-06 1.67583957e+02] [ 8.68586425e-06 -2.71221414e-08 1.00000000e+00 8.13555563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04028169299994 meters 0.016067770734044095 Centerline is valid? [True, True] Translation: X:229.68, Y:167.57, Z:0.81 [[ 8.96145925e-01 4.43759173e-01 -5.26369929e-04 2.29677518e+02] [-4.43759099e-01 8.96146080e-01 2.55535268e-04 1.67572984e+02] [ 5.85100468e-04 4.58455657e-06 9.99999829e-01 8.12922671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07028169299997 meters 0.016869142446166357 Centerline is valid? [True, True] Translation: X:229.70, Y:167.56, Z:0.81 [[ 8.95554412e-01 4.44951580e-01 -6.21400728e-04 2.29704781e+02] [-4.44951478e-01 8.95554628e-01 3.01489139e-04 1.67564024e+02] [ 6.90646366e-04 6.49324368e-06 9.99999762e-01 8.12882768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10028169299994 meters 0.018276372694068732 Centerline is valid? [True, True] Translation: X:229.73, Y:167.56, Z:0.81 [[ 8.94753106e-01 4.46560724e-01 -6.31598833e-04 2.29733692e+02] [-4.46560619e-01 8.94753329e-01 3.06299791e-04 1.67557129e+02] [ 7.01906615e-04 7.98447644e-06 9.99999754e-01 8.13251253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.130281693 meters 0.018916026641546766 Centerline is valid? [True, True] Translation: X:229.76, Y:167.55, Z:0.81 [[ 8.94590121e-01 4.46887377e-01 -4.32603452e-04 2.29760351e+02] [-4.46887328e-01 8.94590226e-01 2.09665777e-04 1.67548137e+02] [ 4.80699809e-04 5.76006743e-06 9.99999884e-01 8.13214037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16028169299994 meters 0.01899812759949475 Centerline is valid? [True, True] Translation: X:229.79, Y:167.54, Z:0.81 [[ 8.94487587e-01 4.47092655e-01 -3.39209161e-04 2.29786965e+02] [-4.47092624e-01 8.94487651e-01 1.64432756e-04 1.67538068e+02] [ 3.76935083e-04 4.57485542e-06 9.99999929e-01 8.12843938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.190281693 meters 0.02010130821406122 Centerline is valid? [True, True] Translation: X:229.81, Y:167.53, Z:0.81 [[ 8.94304074e-01 4.47459706e-01 1.87931602e-04 2.29814823e+02] [-4.47459697e-01 8.94304094e-01 -9.08405145e-05 1.67532362e+02] [-2.08715471e-04 -2.85277527e-06 9.99999978e-01 8.14079414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22028169299995 meters 0.01989598552020897 Centerline is valid? [True, True] Translation: X:229.84, Y:167.52, Z:0.81 [[ 8.94231998e-01 4.47603609e-01 3.79803501e-04 2.29840662e+02] [-4.47603571e-01 8.94232078e-01 -1.83481994e-04 1.67521387e+02] [-4.21759677e-04 -5.92593355e-06 9.99999911e-01 8.14830185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.250281693 meters 0.02050070991544123 Centerline is valid? [True, True] Translation: X:229.87, Y:167.51, Z:0.81 [[ 8.94167772e-01 4.47731937e-01 3.29553801e-04 2.29866326e+02] [-4.47731909e-01 8.94167832e-01 -1.59367825e-04 1.67511401e+02] [-3.66030473e-04 -5.05017902e-06 9.99999933e-01 8.14999357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28028169299995 meters 0.02000998579027162 Centerline is valid? [True, True] Translation: X:229.89, Y:167.50, Z:0.81 [[ 8.94258076e-01 4.47551579e-01 2.79338049e-04 2.29891124e+02] [-4.47551559e-01 8.94258119e-01 -1.34775573e-04 1.67499405e+02] [-3.10119339e-04 -4.49403491e-06 9.99999952e-01 8.14832847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.310281693 meters 0.01936131860053121 Centerline is valid? [True, True] Translation: X:229.92, Y:167.49, Z:0.82 [[ 8.94819831e-01 4.46426792e-01 7.67190130e-04 2.29916669e+02] [-4.46426638e-01 8.94820160e-01 -3.70906830e-04 1.67488453e+02] [-8.52079941e-04 -1.05993230e-05 9.99999637e-01 8.15402499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34028169299995 meters 0.019021932885466743 Centerline is valid? [True, True] Translation: X:229.94, Y:167.48, Z:0.82 [[ 8.95106072e-01 4.45853076e-01 3.94320781e-04 2.29941979e+02] [-4.45853035e-01 8.95106158e-01 -1.90561020e-04 1.67477107e+02] [-4.37921176e-04 -5.23679148e-06 9.99999904e-01 8.15057605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.370281693 meters 0.01844163573208569 Centerline is valid? [True, True] Translation: X:229.97, Y:167.46, Z:0.81 [[ 8.95430980e-01 4.45200290e-01 -2.49580881e-04 2.29968251e+02] [-4.45200274e-01 8.95431015e-01 1.20915568e-04 1.67464634e+02] [ 2.77314108e-04 2.84193093e-06 9.99999962e-01 8.13884142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40028169299995 meters 0.017495474157886055 Centerline is valid? [True, True] Translation: X:229.99, Y:167.45, Z:0.81 [[ 8.96097455e-01 4.43857303e-01 -2.13828131e-04 2.29993373e+02] [-4.43857291e-01 8.96097481e-01 1.03477389e-04 1.67452272e+02] [ 2.37540045e-04 2.18335005e-06 9.99999972e-01 8.13863070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.430281693 meters 0.01678104691215112 Centerline is valid? [True, True] Translation: X:230.02, Y:167.44, Z:0.82 [[ 8.96664928e-01 4.42708448e-01 1.11209731e-03 2.30018128e+02] [-4.42708123e-01 8.96665618e-01 -5.36801496e-04 1.67440101e+02] [-1.23482598e-03 -1.10034363e-05 9.99999238e-01 8.16660669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46028169299996 meters 0.0165754093210266 Centerline is valid? [True, True] Translation: X:230.04, Y:167.43, Z:0.82 [[ 8.96962162e-01 4.42100018e-01 2.54035114e-03 2.30042748e+02] [-4.42098317e-01 8.96965759e-01 -1.22656068e-03 1.67428969e+02] [-2.82087049e-03 -2.29064448e-05 9.99996021e-01 8.19308108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.490281693 meters 0.016455234569470175 Centerline is valid? [True, True] Translation: X:230.07, Y:167.42, Z:0.82 [[ 8.97131312e-01 4.41761541e-01 1.46626089e-03 2.30068820e+02] [-4.41760974e-01 8.97132510e-01 -7.07836096e-04 1.67418090e+02] [-1.62812508e-03 -1.27149162e-05 9.99998675e-01 8.17357521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52028169299996 meters 0.015704032529631373 Centerline is valid? [True, True] Translation: X:230.09, Y:167.41, Z:0.81 [[ 8.97393689e-01 4.41230726e-01 -1.11844922e-04 2.30093351e+02] [-4.41230723e-01 8.97393696e-01 5.43080559e-05 1.67405432e+02] [ 1.24331311e-04 6.13709331e-07 9.99999992e-01 8.13742313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.550281693 meters 0.015888769968182878 Centerline is valid? [True, True] Translation: X:230.12, Y:167.39, Z:0.81 [[ 8.97661430e-01 4.40683028e-01 -1.55766451e-03 2.30117842e+02] [-4.40682387e-01 8.97662781e-01 7.51682342e-04 1.67394472e+02] [ 1.72951111e-03 1.16790693e-05 9.99998504e-01 8.10271315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58028169299996 meters 0.015398965493418945 Centerline is valid? [True, True] Translation: X:230.14, Y:167.38, Z:0.81 [[ 8.98082844e-01 4.39820669e-01 -2.23257400e-03 2.30142230e+02] [-4.39819351e-01 8.98085619e-01 1.07686696e-03 1.67381060e+02] [ 2.47867095e-03 1.48135084e-05 9.99996928e-01 8.08881898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61028169299993 meters 0.014115039704351733 Centerline is valid? [True, True] Translation: X:230.17, Y:167.37, Z:0.81 [[ 8.99132135e-01 4.37676418e-01 -8.69726445e-04 2.30166553e+02] [-4.37676217e-01 8.99132556e-01 4.19495751e-04 1.67365160e+02] [ 9.65602759e-04 3.47647029e-06 9.99999534e-01 8.11945397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64028169299996 meters 0.01386188615725405 Centerline is valid? [True, True] Translation: X:230.19, Y:167.35, Z:0.81 [[ 8.99604742e-01 4.36704916e-01 3.54005687e-04 2.30191253e+02] [-4.36704883e-01 8.99604811e-01 -1.70212481e-04 1.67352238e+02] [-3.92797847e-04 -1.47205688e-06 9.99999923e-01 8.14862615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67028169299994 meters 0.013909594694432002 Centerline is valid? [True, True] Translation: X:230.22, Y:167.34, Z:0.82 [[ 8.99674653e-01 4.36559351e-01 1.20469983e-03 2.30215756e+02] [-4.36558965e-01 8.99675460e-01 -5.80113037e-04 1.67340566e+02] [-1.33709265e-03 -4.00951738e-06 9.99999106e-01 8.16519293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70028169299997 meters 0.013881643924299237 Centerline is valid? [True, True] Translation: X:230.24, Y:167.33, Z:0.82 [[ 8.99532889e-01 4.36852838e-01 4.24167868e-04 2.30240825e+02] [-4.36852790e-01 8.99532989e-01 -2.03880555e-04 1.67328710e+02] [-4.70618789e-04 -1.90165202e-06 9.99999889e-01 8.15220039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73028169299994 meters 0.014114729311815259 Centerline is valid? [True, True] Translation: X:230.27, Y:167.32, Z:0.81 [[ 8.99459864e-01 4.37003319e-01 2.28984161e-04 2.30265672e+02] [-4.37003305e-01 8.99459893e-01 -1.09862074e-04 1.67316813e+02] [-2.53972160e-04 -1.25030901e-06 9.99999968e-01 8.13905096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76028169299997 meters 0.014151279002988957 Centerline is valid? [True, True] Translation: X:230.29, Y:167.30, Z:0.81 [[ 8.99482676e-01 4.36956342e-01 2.64968495e-04 2.30290316e+02] [-4.36956324e-01 8.99482715e-01 -1.27113349e-04 1.67304567e+02] [-2.93877565e-04 -1.44340395e-06 9.99999957e-01 8.13530239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79028169299994 meters 0.014129126339768247 Centerline is valid? [True, True] Translation: X:230.32, Y:167.29, Z:0.81 [[ 8.99627566e-01 4.36657979e-01 2.28797162e-04 2.30315230e+02] [-4.36657965e-01 8.99627595e-01 -1.09658238e-04 1.67291900e+02] [-2.53715385e-04 -1.25452957e-06 9.99999968e-01 8.13736817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82028169299997 meters 0.014373110732273093 Centerline is valid? [True, True] Translation: X:230.34, Y:167.28, Z:0.81 [[ 8.99427752e-01 4.37068886e-01 -7.13257027e-04 2.30339522e+02] [-4.37068751e-01 8.99428035e-01 3.42963642e-04 1.67280457e+02] [ 7.91422103e-04 3.27134049e-06 9.99999687e-01 8.11497552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85028169299994 meters 0.014738606822374723 Centerline is valid? [True, True] Translation: X:230.36, Y:167.27, Z:0.81 [[ 8.99211441e-01 4.37511137e-01 -1.67033445e-03 2.30364659e+02] [-4.37510401e-01 8.99212992e-01 8.02810212e-04 1.67269466e+02] [ 1.85322485e-03 8.89256787e-06 9.99998283e-01 8.09442403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.880281693 meters 0.015306791826633623 Centerline is valid? [True, True] Translation: X:230.39, Y:167.26, Z:0.81 [[ 8.98909949e-01 4.38128129e-01 -2.15544201e-03 2.30390335e+02] [-4.38126904e-01 8.98912533e-01 1.03578391e-03 1.67258542e+02] [ 2.39135991e-03 1.32806708e-05 9.99997141e-01 8.07940053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91028169299994 meters 0.015508865105168461 Centerline is valid? [True, True] Translation: X:230.42, Y:167.25, Z:0.81 [[ 8.98765816e-01 4.38423330e-01 -2.23400332e-03 2.30415475e+02] [-4.38422017e-01 8.98768593e-01 1.07325165e-03 1.67247203e+02] [ 2.47839058e-03 1.48343481e-05 9.99996929e-01 8.07853922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.940281693 meters 0.016467224554514465 Centerline is valid? [True, True] Translation: X:230.44, Y:167.24, Z:0.81 [[ 8.98302222e-01 4.39375785e-01 -1.42718884e-03 2.30441355e+02] [-4.39375251e-01 8.98303356e-01 6.85439502e-04 1.67237684e+02] [ 1.58321404e-03 1.13396245e-05 9.99998747e-01 8.09602465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97028169299995 meters 0.016290512754304997 Centerline is valid? [True, True] Translation: X:230.47, Y:167.23, Z:0.81 [[ 8.98421005e-01 4.39134400e-01 -8.22584974e-04 2.30466211e+02] [-4.39134222e-01 8.98421382e-01 3.95141003e-04 1.67225252e+02] [ 9.12547936e-04 6.22223550e-06 9.99999584e-01 8.10581035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.000281693 meters 0.015536948659736222 Centerline is valid? [True, True] Translation: X:230.49, Y:167.21, Z:0.81 [[ 8.98866033e-01 4.38223470e-01 2.10902102e-04 2.30490635e+02] [-4.38223458e-01 8.98866058e-01 -1.00861201e-04 1.67211581e+02] [-2.33772487e-04 -1.76154064e-06 9.99999973e-01 8.12139080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03028169299995 meters 0.014861135190987173 Centerline is valid? [True, True] Translation: X:230.51, Y:167.20, Z:0.81 [[ 8.99487846e-01 4.36945306e-01 6.44779078e-04 2.30514717e+02] [-4.36945196e-01 8.99488077e-01 -3.09192825e-04 1.67197273e+02] [-7.15071446e-04 -3.61793324e-06 9.99999744e-01 8.13078377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.060281693 meters 0.013987638293160857 Centerline is valid? [True, True] Translation: X:230.54, Y:167.18, Z:0.81 [[ 9.00476571e-01 4.34903988e-01 6.82079275e-04 2.30538190e+02] [-4.34903865e-01 9.00476830e-01 -3.26966596e-04 1.67182615e+02] [-7.56395660e-04 -2.21315413e-06 9.99999714e-01 8.13412743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09028169299995 meters 0.014036116364287183 Centerline is valid? [True, True] Translation: X:230.56, Y:167.17, Z:0.81 [[ 9.00526220e-01 4.34801608e-01 2.98974834e-04 2.30564115e+02] [-4.34801584e-01 9.00526270e-01 -1.43002729e-04 1.67171756e+02] [-3.31412508e-04 -1.21702474e-06 9.99999945e-01 8.13177616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.120281693 meters 0.014436421768748998 Centerline is valid? [True, True] Translation: X:230.59, Y:167.16, Z:0.81 [[ 9.00159889e-01 4.35559602e-01 8.45157713e-05 2.30590789e+02] [-4.35559600e-01 9.00159893e-01 -4.04099625e-05 1.67162189e+02] [-9.36786548e-05 -4.36228118e-07 9.99999996e-01 8.13307148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15028169299995 meters 0.015343686465928102 Centerline is valid? [True, True] Translation: X:230.62, Y:167.15, Z:0.81 [[ 8.99380575e-01 4.37166495e-01 -1.92539382e-04 2.30618769e+02] [-4.37166485e-01 8.99380596e-01 9.25216177e-05 1.67153191e+02] [ 2.13613535e-04 9.59619195e-07 9.99999977e-01 8.13112383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.180281693 meters 0.01900617821784165 Centerline is valid? [True, True] Translation: X:230.65, Y:167.15, Z:0.81 [[ 8.97233933e-01 4.41555102e-01 -6.00434854e-04 2.30648068e+02] [-4.41555009e-01 8.97234134e-01 2.87726495e-04 1.67150347e+02] [ 6.65777748e-04 6.96704235e-06 9.99999778e-01 8.12977067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21028169299996 meters 0.021214051792653114 Centerline is valid? [True, True] Translation: X:230.68, Y:167.14, Z:0.81 [[ 8.96212057e-01 4.43625874e-01 -1.79335371e-04 2.30676535e+02] [-4.43625866e-01 8.96212075e-01 8.61463524e-05 1.67143460e+02] [ 1.98939276e-04 2.35240933e-06 9.99999980e-01 8.13573883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.240281693 meters 0.024000634013380543 Centerline is valid? [True, True] Translation: X:230.70, Y:167.14, Z:0.82 [[ 8.95178366e-01 4.45707628e-01 6.34882711e-04 2.30704831e+02] [-4.45707525e-01 8.95178591e-01 -3.03869810e-04 1.67137836e+02] [-7.03770503e-04 -1.09543218e-05 9.99999752e-01 8.15355792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27028169299996 meters 0.026252286561974914 Centerline is valid? [True, True] Translation: X:230.73, Y:167.13, Z:0.82 [[ 8.94320183e-01 4.47426282e-01 1.06443707e-03 2.30733391e+02] [-4.47425992e-01 8.94320816e-01 -5.09158696e-04 1.67130832e+02] [-1.17975921e-03 -2.09059134e-05 9.99999304e-01 8.16572851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.300281693 meters 0.02900138286404097 Centerline is valid? [True, True] Translation: X:230.76, Y:167.13, Z:0.82 [[ 8.93376116e-01 4.49309458e-01 3.55982088e-04 2.30763579e+02] [-4.49309426e-01 8.93376187e-01 -1.70035745e-04 1.67127040e+02] [-3.94424589e-04 -8.04023464e-06 9.99999922e-01 8.16395313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33028169299996 meters 0.029606992191592654 Centerline is valid? [True, True] Translation: X:230.79, Y:167.12, Z:0.81 [[ 8.93224145e-01 4.49610966e-01 -7.79065730e-04 2.30791531e+02] [-4.49610812e-01 8.93224484e-01 3.72827831e-04 1.67119006e+02] [ 8.63508066e-04 1.72575544e-05 9.99999627e-01 8.14004270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36028169299993 meters 0.029554494699079028 Centerline is valid? [True, True] Translation: X:230.82, Y:167.11, Z:0.81 [[ 8.93215683e-01 4.49626456e-01 -1.33912388e-03 2.30818675e+02] [-4.49626001e-01 8.93216687e-01 6.40408527e-04 1.67110251e+02] [ 1.48407241e-03 3.00819747e-05 9.99998898e-01 8.12406736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39028169299996 meters 0.026060628761904313 Centerline is valid? [True, True] Translation: X:230.84, Y:167.10, Z:0.81 [[ 8.93401516e-01 4.49258937e-01 -3.72179897e-04 2.30844659e+02] [-4.49258902e-01 8.93401593e-01 1.78148334e-04 1.67099383e+02] [ 4.12540844e-04 8.04714045e-06 9.99999915e-01 8.14239314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42028169299994 meters 0.02623899492367523 Centerline is valid? [True, True] Translation: X:230.87, Y:167.09, Z:0.82 [[ 8.93565841e-01 4.48932098e-01 2.42001949e-04 2.30870986e+02] [-4.48932084e-01 8.93565874e-01 -1.15499833e-04 1.67090571e+02] [-2.68096265e-04 -5.43573415e-06 9.99999964e-01 8.15745500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45028169299997 meters 0.02561372530110094 Centerline is valid? [True, True] Translation: X:230.90, Y:167.08, Z:0.82 [[ 8.93869231e-01 4.48327689e-01 2.86209694e-04 2.30898169e+02] [-4.48327668e-01 8.93869277e-01 -1.36373930e-04 1.67080383e+02] [-3.16974261e-04 -6.41526477e-06 9.99999950e-01 8.15899177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48028169299994 meters 0.028759913376637605 Centerline is valid? [True, True] Translation: X:230.93, Y:167.08, Z:0.81 [[ 8.94482400e-01 4.47102427e-01 -8.09873491e-04 2.30928966e+02] [-4.47102260e-01 8.94482766e-01 3.86833905e-04 1.67079223e+02] [ 8.97372259e-04 1.60801484e-05 9.99999597e-01 8.13707256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51028169299997 meters 0.02804843079424951 Centerline is valid? [True, True] Translation: X:230.96, Y:167.07, Z:0.81 [[ 8.94818254e-01 4.46428967e-01 -1.21235423e-03 2.30955735e+02] [-4.46428592e-01 8.94819075e-01 5.78686346e-04 1.67068768e+02] [ 1.34318004e-03 2.34104852e-05 9.99999098e-01 8.12865369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54028169299994 meters 0.02720673700430625 Centerline is valid? [True, True] Translation: X:230.98, Y:167.06, Z:0.81 [[ 8.95226240e-01 4.45609550e-01 -1.45219309e-03 2.30982749e+02] [-4.45609012e-01 8.95227417e-01 6.92854366e-04 1.67058446e+02] [ 1.60878559e-03 2.68489187e-05 9.99998706e-01 8.12590633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57028169299997 meters 0.02720673700430625 Centerline is valid? [True, True] Translation: X:231.01, Y:167.05, Z:0.81 [[ 8.95300937e-01 4.45459452e-01 -1.45229496e-03 2.31007655e+02] [-4.45458914e-01 8.95302114e-01 6.92640764e-04 1.67046812e+02] [ 1.60878612e-03 2.68158109e-05 9.99998706e-01 8.12634205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60028169299994 meters 0.02233072084620967 Centerline is valid? [True, True] Translation: X:231.03, Y:167.03, Z:0.81 [[ 8.96075098e-01 4.43896649e-01 -2.27664844e-03 2.31032781e+02] [-4.43895324e-01 8.96077990e-01 1.08516779e-03 1.67033022e+02] [ 2.52175690e-03 3.82017667e-05 9.99996820e-01 8.11331234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.630281693 meters 0.021477862832226295 Centerline is valid? [True, True] Translation: X:231.06, Y:167.02, Z:0.81 [[ 8.96614498e-01 4.42808932e-01 -1.64068049e-03 2.31058106e+02] [-4.42808243e-01 8.96615999e-01 7.81811725e-04 1.67022545e+02] [ 1.81725359e-03 2.55231188e-05 9.99998349e-01 8.12570672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66028169299994 meters 0.022325533716304365 Centerline is valid? [True, True] Translation: X:231.09, Y:167.01, Z:0.82 [[ 8.97464406e-01 4.41086505e-01 -5.79510996e-04 2.31085506e+02] [-4.41086418e-01 8.97464593e-01 2.76279471e-04 1.67014111e+02] [ 6.41953747e-04 7.66343872e-06 9.99999794e-01 8.15173627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.690281693 meters 0.0202504839318894 Centerline is valid? [True, True] Translation: X:231.11, Y:167.00, Z:0.82 [[ 8.98395963e-01 4.39186048e-01 5.56159426e-04 2.31111213e+02] [-4.39185969e-01 8.98396135e-01 -2.64697788e-04 1.67000060e+02] [-6.15903054e-04 -6.45399253e-06 9.99999810e-01 8.18205773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72028169299995 meters 0.015681400012267577 Centerline is valid? [True, True] Translation: X:231.13, Y:166.98, Z:0.82 [[ 9.00688200e-01 4.34465984e-01 2.74460468e-04 2.31133499e+02] [-4.34465965e-01 9.00688242e-01 -1.30383714e-04 1.66980283e+02] [-3.03850605e-04 -1.80865931e-06 9.99999954e-01 8.16998351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.750281693 meters 0.014259263085542827 Centerline is valid? [True, True] Translation: X:231.16, Y:166.96, Z:0.82 [[ 9.01839142e-01 4.32071805e-01 -3.41900064e-04 2.31157498e+02] [-4.32071774e-01 9.01839207e-01 1.62935505e-04 1.66964058e+02] [ 3.78738721e-04 7.83751325e-07 9.99999928e-01 8.15330956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78028169299995 meters 0.013792539638783559 Centerline is valid? [True, True] Translation: X:231.18, Y:166.95, Z:0.81 [[ 9.02905637e-01 4.29837809e-01 -9.32452022e-04 2.31180730e+02] [-4.29837580e-01 9.02906118e-01 4.43771651e-04 1.66948808e+02] [ 1.03266647e-03 1.18995227e-07 9.99999467e-01 8.14486025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.810281693 meters 0.014899024748476706 Centerline is valid? [True, True] Translation: X:231.20, Y:166.93, Z:0.81 [[ 9.04719263e-01 4.26006972e-01 -1.05564783e-03 2.31203659e+02] [-4.26006676e-01 9.04719879e-01 5.02138646e-04 1.66930091e+02] [ 1.16898014e-03 -4.58148232e-06 9.99999317e-01 8.14327223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84028169299995 meters 0.01601490471239339 Centerline is valid? [True, True] Translation: X:231.23, Y:166.91, Z:0.81 [[ 9.05426191e-01 4.24502765e-01 -9.02780206e-04 2.31228094e+02] [-4.24502548e-01 9.05426641e-01 4.29300157e-04 1.66914194e+02] [ 9.99640353e-04 -5.46710875e-06 9.99999500e-01 8.14790686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.870281693 meters 0.01716946956930999 Centerline is valid? [True, True] Translation: X:231.25, Y:166.90, Z:0.82 [[ 9.06137713e-01 4.22982128e-01 -7.51669432e-04 2.31251983e+02] [-4.22981978e-01 9.06138024e-01 3.57350490e-04 1.66897832e+02] [ 8.32269125e-04 -5.86613257e-06 9.99999654e-01 8.15700804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90028169299995 meters 0.017397473892992624 Centerline is valid? [True, True] Translation: X:231.28, Y:166.88, Z:0.81 [[ 9.07154416e-01 4.20795976e-01 -1.26953286e-03 2.31276414e+02] [-4.20795544e-01 9.07155304e-01 6.03147382e-04 1.66883034e+02] [ 1.40546546e-03 -1.29340411e-05 9.99999012e-01 8.14930843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.930281693 meters 0.017682767091549843 Centerline is valid? [True, True] Translation: X:231.30, Y:166.87, Z:0.81 [[ 9.07165279e-01 4.20771257e-01 -1.64472805e-03 2.31300670e+02] [-4.20770533e-01 9.07166770e-01 7.81009653e-04 1.66870424e+02] [ 1.82066904e-03 -1.64517435e-05 9.99998342e-01 8.13714685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96028169299996 meters 0.01776531523607755 Centerline is valid? [True, True] Translation: X:231.33, Y:166.86, Z:0.81 [[ 9.06939447e-01 4.21257699e-01 -1.67066055e-03 2.31325727e+02] [-4.21256952e-01 9.06940986e-01 7.93163511e-04 1.66857880e+02] [ 1.84931676e-03 -1.55739037e-05 9.99998290e-01 8.13379477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.990281693 meters 0.016146719132518885 Centerline is valid? [True, True] Translation: X:231.35, Y:166.85, Z:0.81 [[ 9.06232595e-01 4.22776435e-01 -1.60298945e-03 2.31352396e+02] [-4.22775750e-01 9.06234013e-01 7.60907597e-04 1.66847338e+02] [ 1.77437737e-03 -1.18541970e-05 9.99998426e-01 8.13157816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02028169299996 meters 0.0158545095491433 Centerline is valid? [True, True] Translation: X:231.38, Y:166.84, Z:0.81 [[ 9.05818422e-01 4.23660673e-01 -2.14971857e-03 2.31377521e+02] [-4.23659445e-01 9.05820973e-01 1.02000276e-03 1.66835462e+02] [ 2.37939523e-03 -1.31887163e-05 9.99997169e-01 8.12487612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.050281693 meters 0.01501640636629128 Centerline is valid? [True, True] Translation: X:231.40, Y:166.83, Z:0.81 [[ 9.05396594e-01 4.24557031e-01 -2.88692559e-03 2.31403623e+02] [-4.24554823e-01 9.05401197e-01 1.36933012e-03 1.66826304e+02] [ 3.19518462e-03 -1.41286397e-05 9.99994895e-01 8.11513704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08028169299996 meters 0.014717777451207248 Centerline is valid? [True, True] Translation: X:231.43, Y:166.82, Z:0.81 [[ 9.04845835e-01 4.25723909e-01 -3.62876894e-03 2.31428422e+02] [-4.25720433e-01 9.04853111e-01 1.72057697e-03 1.66816455e+02] [ 4.01599362e-03 -1.20158194e-05 9.99991936e-01 8.10300880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11028169299993 meters 0.014402966366306306 Centerline is valid? [True, True] Translation: X:231.45, Y:166.81, Z:0.81 [[ 9.04369038e-01 4.26733535e-01 -3.89025639e-03 2.31454249e+02] [-4.26729551e-01 9.04377405e-01 1.84383177e-03 1.66805970e+02] [ 4.30508483e-03 -7.41699790e-06 9.99990733e-01 8.09620669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14028169299996 meters 0.014240557344794052 Centerline is valid? [True, True] Translation: X:231.48, Y:166.79, Z:0.81 [[ 9.03911716e-01 4.27704676e-01 -3.51005173e-03 2.31477597e+02] [-4.27701443e-01 9.03918531e-01 1.66311259e-03 1.66793220e+02] [ 3.88412183e-03 -2.05276740e-06 9.99992457e-01 8.09528009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17028169299994 meters 0.014303123361467903 Centerline is valid? [True, True] Translation: X:231.50, Y:166.78, Z:0.81 [[ 9.04135339e-01 4.27231759e-01 -3.50897942e-03 2.31502402e+02] [-4.27228526e-01 9.04142148e-01 1.66200157e-03 1.66779334e+02] [ 3.88267604e-03 -3.53824635e-06 9.99992462e-01 8.10232393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20028169299997 meters 0.014369714551282345 Centerline is valid? [True, True] Translation: X:231.53, Y:166.77, Z:0.81 [[ 9.04545849e-01 4.26362221e-01 -3.47325371e-03 2.31526547e+02] [-4.26359051e-01 9.04552517e-01 1.64431747e-03 1.66765294e+02] [ 3.84281523e-03 -6.50738610e-06 9.99992616e-01 8.10092366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23028169299994 meters 0.014514684613236292 Centerline is valid? [True, True] Translation: X:231.55, Y:166.75, Z:0.81 [[ 9.04816235e-01 4.25789991e-01 -3.23479150e-03 2.31550145e+02] [-4.25787239e-01 9.04822018e-01 1.53095566e-03 1.66751555e+02] [ 3.57877617e-03 -7.90059164e-06 9.99993596e-01 8.10544773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26028169299997 meters 0.014248610604733793 Centerline is valid? [True, True] Translation: X:231.57, Y:166.74, Z:0.81 [[ 9.04696468e-01 4.26049351e-01 -2.50046575e-03 2.31573920e+02] [-4.26047708e-01 9.04699923e-01 1.18306431e-03 1.66736879e+02] [ 2.76621495e-03 -4.99640400e-06 9.99996174e-01 8.12915879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29028169299994 meters 0.014125369248626432 Centerline is valid? [True, True] Translation: X:231.60, Y:166.73, Z:0.81 [[ 9.04205731e-01 4.27090763e-01 -2.34009821e-03 2.31599691e+02] [-4.27089329e-01 9.04208759e-01 1.10667145e-03 1.66725647e+02] [ 2.58858645e-03 -1.22769357e-06 9.99996650e-01 8.13469196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32028169299997 meters 0.014334037479313895 Centerline is valid? [True, True] Translation: X:231.63, Y:166.72, Z:0.81 [[ 9.03489474e-01 4.28602526e-01 -2.57783473e-03 2.31625887e+02] [-4.28600794e-01 9.03493151e-01 1.21847003e-03 1.66715268e+02] [ 2.85129536e-03 3.98716648e-06 9.99995935e-01 8.12683254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35028169299994 meters 0.015416156090192689 Centerline is valid? [True, True] Translation: X:231.65, Y:166.70, Z:0.81 [[ 9.02027873e-01 4.31669992e-01 -2.59489745e-03 2.31652928e+02] [-4.31668251e-01 9.02031606e-01 1.22596364e-03 1.66704823e+02] [ 2.86989122e-03 1.42814718e-05 9.99995882e-01 8.11351004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.380281693 meters 0.016088142451386615 Centerline is valid? [True, True] Translation: X:231.68, Y:166.69, Z:0.81 [[ 9.01492792e-01 4.32788007e-01 -2.29948414e-03 2.31678590e+02] [-4.32786645e-01 9.01495724e-01 1.08596222e-03 1.66692030e+02] [ 2.54296654e-03 1.61989151e-05 9.99996767e-01 8.11895747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41028169299994 meters 0.016640919781089454 Centerline is valid? [True, True] Translation: X:231.70, Y:166.68, Z:0.81 [[ 9.01053918e-01 4.33702499e-01 -1.99464619e-03 2.31703757e+02] [-4.33701477e-01 9.01056126e-01 9.41707141e-04 1.66679468e+02] [ 2.20570891e-03 1.65520908e-05 9.99997567e-01 8.12831758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.440281693 meters 0.017237177715663386 Centerline is valid? [True, True] Translation: X:231.73, Y:166.67, Z:0.81 [[ 9.00685702e-01 4.34467665e-01 -1.76449227e-03 2.31729479e+02] [-4.34466867e-01 9.00687431e-01 8.32891305e-04 1.66667526e+02] [ 1.95112035e-03 1.64401397e-05 9.99998096e-01 8.14079363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47028169299995 meters 0.01915719915347373 Centerline is valid? [True, True] Translation: X:231.76, Y:166.66, Z:0.82 [[ 8.99856333e-01 4.36183160e-01 -1.68267865e-03 2.31755776e+02] [-4.36182437e-01 8.99857906e-01 7.93985746e-04 1.66657635e+02] [ 1.86049490e-03 1.94817735e-05 9.99998269e-01 8.15275059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.500281693 meters 0.02138484855406341 Centerline is valid? [True, True] Translation: X:231.78, Y:166.65, Z:0.81 [[ 8.99216699e-01 4.37499006e-01 -1.98687162e-03 2.31782272e+02] [-4.37498003e-01 8.99218894e-01 9.37365492e-04 1.66647978e+02] [ 2.19672897e-03 2.63576640e-05 9.99997587e-01 8.14270656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53028169299995 meters 0.023125166744443905 Centerline is valid? [True, True] Translation: X:231.81, Y:166.64, Z:0.81 [[ 8.98504920e-01 4.38959422e-01 -1.88014218e-03 2.31809222e+02] [-4.38958527e-01 8.98506887e-01 8.86837754e-04 1.66637895e+02] [ 2.07860649e-03 2.84763576e-05 9.99997839e-01 8.13458561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.560281693 meters 0.023066648486406303 Centerline is valid? [True, True] Translation: X:231.84, Y:166.63, Z:0.81 [[ 8.97580937e-01 4.40847018e-01 -1.53871672e-03 2.31835192e+02] [-4.40846422e-01 8.97582256e-01 7.25554597e-04 1.66626097e+02] [ 1.70098340e-03 2.70937838e-05 9.99998553e-01 8.14347026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59028169299995 meters 0.028713082258092104 Centerline is valid? [True, True] Translation: X:231.87, Y:166.62, Z:0.82 [[ 8.94853054e-01 4.46360844e-01 -9.65788109e-05 2.31867396e+02] [-4.46360841e-01 8.94853059e-01 4.55448782e-05 1.66624027e+02] [ 1.06753295e-04 2.35302598e-06 9.99999994e-01 8.17621477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.620281693 meters 0.03192204080673961 Centerline is valid? [True, True] Translation: X:231.90, Y:166.62, Z:0.82 [[ 8.93449189e-01 4.49163563e-01 -8.00430845e-04 2.31895728e+02] [-4.49163405e-01 8.93449547e-01 3.77302034e-04 1.66617569e+02] [ 8.84614901e-04 2.24240477e-05 9.99999609e-01 8.17015702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65028169299995 meters 0.03295927225559495 Centerline is valid? [True, True] Translation: X:231.92, Y:166.61, Z:0.81 [[ 8.92326664e-01 4.51386553e-01 -1.81786115e-03 2.31923865e+02] [-4.51385744e-01 8.92328514e-01 8.56695212e-04 1.66607085e+02] [ 2.00883004e-03 5.61046280e-05 9.99997981e-01 8.14384519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.680281693 meters 0.03536939349393867 Centerline is valid? [True, True] Translation: X:231.95, Y:166.60, Z:0.81 [[ 8.91597174e-01 4.52813522e-01 -3.79391962e-03 2.31951698e+02] [-4.52810010e-01 8.91605237e-01 1.78768592e-03 1.66600830e+02] [ 4.19216696e-03 1.24029068e-04 9.99991205e-01 8.10108591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71028169299996 meters 0.03606331031480158 Centerline is valid? [True, True] Translation: X:231.98, Y:166.59, Z:0.81 [[ 8.91903923e-01 4.52207950e-01 -3.91939440e-03 2.31978743e+02] [-4.52204199e-01 8.91912526e-01 1.84620442e-03 1.66591768e+02] [ 4.33062527e-03 1.25729643e-04 9.99990615e-01 8.09319909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.740281693 meters 0.03537866445719626 Centerline is valid? [True, True] Translation: X:232.00, Y:166.58, Z:0.81 [[ 8.92452927e-01 4.51124771e-01 -3.77006313e-03 2.32003929e+02] [-4.51121293e-01 8.92460883e-01 1.77534556e-03 1.66580651e+02] [ 4.16553622e-03 1.16343412e-04 9.99991317e-01 8.09566441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77028169299996 meters 0.03425711572779392 Centerline is valid? [True, True] Translation: X:232.03, Y:166.57, Z:0.81 [[ 8.93146850e-01 4.49751188e-01 -3.54584485e-03 2.32030128e+02] [-4.49748103e-01 8.93153883e-01 1.66920767e-03 1.66567988e+02] [ 3.91771322e-03 1.03889422e-04 9.99992320e-01 8.10230913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.800281693 meters 0.03084550823112141 Centerline is valid? [True, True] Translation: X:232.05, Y:166.55, Z:0.81 [[ 8.94437266e-01 4.47173929e-01 -4.17783714e-03 2.32054599e+02] [-4.47169620e-01 8.94447016e-01 1.96623299e-03 1.66552357e+02] [ 4.61610210e-03 1.09529786e-04 9.99989340e-01 8.09725444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83028169299996 meters 0.028849082418592274 Centerline is valid? [True, True] Translation: X:232.08, Y:166.54, Z:0.81 [[ 8.95062353e-01 4.45916871e-01 -4.63985344e-03 2.32079686e+02] [-4.45911543e-01 8.95074372e-01 2.18293734e-03 1.66538378e+02] [ 5.12642249e-03 1.15099172e-04 9.99986853e-01 8.08544045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86028169299993 meters 0.028488272481485426 Centerline is valid? [True, True] Translation: X:232.11, Y:166.53, Z:0.81 [[ 8.95725654e-01 4.44583871e-01 -4.55344954e-03 2.32105820e+02] [-4.44578726e-01 8.95737222e-01 2.14137698e-03 1.66527335e+02] [ 5.03071591e-03 1.06280501e-04 9.99987340e-01 8.08730138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89028169299996 meters 0.027846094858065093 Centerline is valid? [True, True] Translation: X:232.13, Y:166.52, Z:0.81 [[ 8.96160122e-01 4.43714530e-01 -3.80148275e-03 2.32131041e+02] [-4.43710939e-01 8.96168181e-01 1.78725862e-03 1.66516196e+02] [ 4.19980050e-03 8.50895791e-05 9.99991177e-01 8.10341479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92028169299994 meters 0.025816808034027448 Centerline is valid? [True, True] Translation: X:232.16, Y:166.50, Z:0.81 [[ 8.96717848e-01 4.42598396e-01 -1.93946290e-03 2.32156291e+02] [-4.42597459e-01 8.96719944e-01 9.11656771e-04 1.66503126e+02] [ 2.14265289e-03 4.09024518e-05 9.99997704e-01 8.14131189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95028169299997 meters 0.02516259737218567 Centerline is valid? [True, True] Translation: X:232.18, Y:166.49, Z:0.82 [[ 8.97110938e-01 4.41803186e-01 -1.38171446e-03 2.32181090e+02] [-4.41802710e-01 8.97112002e-01 6.49282560e-04 1.66491066e+02] [ 1.52640773e-03 2.79667073e-05 9.99998835e-01 8.15251108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98028169299994 meters 0.024323860324580844 Centerline is valid? [True, True] Translation: X:232.21, Y:166.48, Z:0.82 [[ 8.97608883e-01 4.40791519e-01 -1.06317262e-03 2.32206933e+02] [-4.40791237e-01 8.97609512e-01 4.99591596e-04 1.66478014e+02] [ 1.17452960e-03 2.01993191e-05 9.99999310e-01 8.16565209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01028169299997 meters 0.023097333134178222 Centerline is valid? [True, True] Translation: X:232.23, Y:166.46, Z:0.82 [[ 8.98160763e-01 4.39666315e-01 -8.80524604e-04 2.32232970e+02] [-4.39666121e-01 8.98161194e-01 4.13638837e-04 1.66464997e+02] [ 9.72716093e-04 1.56226638e-05 9.99999527e-01 8.16380888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04028169299994 meters 0.023514763531455873 Centerline is valid? [True, True] Translation: X:232.26, Y:166.45, Z:0.82 [[ 8.98164932e-01 4.39656426e-01 -1.40775553e-03 2.32258466e+02] [-4.39655930e-01 8.98166035e-01 6.60854638e-04 1.66454798e+02] [ 1.55494719e-03 2.53716083e-05 9.99998791e-01 8.15405315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07028169299997 meters 0.023664512294908534 Centerline is valid? [True, True] Translation: X:232.28, Y:166.44, Z:0.81 [[ 8.98143438e-01 4.39696431e-01 -2.32674671e-03 2.32284744e+02] [-4.39695077e-01 8.98146451e-01 1.09182376e-03 1.66444002e+02] [ 2.56983031e-03 4.24447259e-05 9.99996697e-01 8.13884470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10028169299994 meters 0.023792900305041234 Centerline is valid? [True, True] Translation: X:232.31, Y:166.43, Z:0.81 [[ 8.98161168e-01 4.39654842e-01 -3.18380109e-03 2.32310575e+02] [-4.39652310e-01 8.98166809e-01 1.49314731e-03 1.66433736e+02] [ 3.51605391e-03 5.86785749e-05 9.99993817e-01 8.12363832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.130281693 meters 0.02509257122883085 Centerline is valid? [True, True] Translation: X:232.34, Y:166.43, Z:0.81 [[ 8.97879764e-01 4.40223816e-01 -3.86280766e-03 2.32338160e+02] [-4.40220097e-01 8.97888070e-01 1.81102002e-03 1.66426682e+02] [ 4.26562306e-03 7.44073330e-05 9.99990899e-01 8.11542935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16028169299994 meters 0.025648750169873374 Centerline is valid? [True, True] Translation: X:232.37, Y:166.42, Z:0.81 [[ 8.97704389e-01 4.40581457e-01 -3.84847665e-03 2.32365409e+02] [-4.40577771e-01 8.97712635e-01 1.80372765e-03 1.66416731e+02] [ 4.24951507e-03 7.63390338e-05 9.99990968e-01 8.12269489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.190281693 meters 0.026685374640771198 Centerline is valid? [True, True] Translation: X:232.39, Y:166.41, Z:0.81 [[ 8.97380727e-01 4.41243880e-01 -3.41591250e-03 2.32391503e+02] [-4.41240983e-01 8.97387226e-01 1.60050001e-03 1.66408013e+02] [ 3.77160707e-03 7.09827251e-05 9.99992885e-01 8.12463280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22028169299995 meters 0.02765984019866313 Centerline is valid? [True, True] Translation: X:232.42, Y:166.40, Z:0.81 [[ 8.97087121e-01 4.41843595e-01 -2.98896507e-03 2.32419610e+02] [-4.41841382e-01 8.97092099e-01 1.40000375e-03 1.66400225e+02] [ 3.29995964e-03 6.47231178e-05 9.99994553e-01 8.13681662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.250281693 meters 0.027751856863147878 Centerline is valid? [True, True] Translation: X:232.45, Y:166.39, Z:0.81 [[ 8.97277548e-01 4.41456946e-01 -2.96095133e-03 2.32445728e+02] [-4.41454774e-01 8.97282431e-01 1.38627286e-03 1.66390959e+02] [ 3.26878939e-03 6.32545872e-05 9.99994656e-01 8.13325302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28028169299995 meters 0.02765424700808514 Centerline is valid? [True, True] Translation: X:232.47, Y:166.38, Z:0.81 [[ 8.97439381e-01 4.41123158e-01 -3.59404854e-03 2.32471633e+02] [-4.41119957e-01 8.97446574e-01 1.68214925e-03 1.66381802e+02] [ 3.96750154e-03 7.57795577e-05 9.99992127e-01 8.12677248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.310281693 meters 0.027472159676736295 Centerline is valid? [True, True] Translation: X:232.50, Y:166.37, Z:0.81 [[ 8.97494362e-01 4.41011678e-01 -3.54547583e-03 2.32498182e+02] [-4.41008564e-01 8.97501362e-01 1.65885451e-03 1.66372176e+02] [ 3.91364360e-03 7.47726338e-05 9.99992339e-01 8.12491612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34028169299995 meters 0.029229543638215363 Centerline is valid? [True, True] Translation: X:232.53, Y:166.37, Z:0.81 [[ 8.97015945e-01 4.41989258e-01 -2.80900141e-03 2.32526991e+02] [-4.41987309e-01 8.97020341e-01 1.31392971e-03 1.66368429e+02] [ 3.10047422e-03 6.29270752e-05 9.99995192e-01 8.14124666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.370281693 meters 0.029684102131551336 Centerline is valid? [True, True] Translation: X:232.55, Y:166.36, Z:0.81 [[ 8.96670126e-01 4.42689499e-01 -2.94811140e-03 2.32554616e+02] [-4.42687358e-01 8.96674970e-01 1.37860628e-03 1.66360208e+02] [ 3.25379222e-03 6.89365824e-05 9.99994704e-01 8.13856046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40028169299995 meters 0.028072500881741798 Centerline is valid? [True, True] Translation: X:232.58, Y:166.35, Z:0.81 [[ 8.96466515e-01 4.43097383e-01 -3.53516558e-03 2.32581415e+02] [-4.43094310e-01 8.96473481e-01 1.65236937e-03 1.66349112e+02] [ 3.90134273e-03 8.51179462e-05 9.99992386e-01 8.12938196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.430281693 meters 0.03195939228716625 Centerline is valid? [True, True] Translation: X:232.61, Y:166.35, Z:0.81 [[ 8.96421327e-01 4.43182159e-01 -4.28693368e-03 2.32611637e+02] [-4.43177644e-01 8.96431572e-01 2.00319338e-03 1.66348107e+02] [ 4.73072227e-03 1.04167906e-04 9.99988805e-01 8.11063397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46028169299996 meters 0.03195939228716625 Centerline is valid? [True, True] Translation: X:232.64, Y:166.34, Z:0.81 [[ 8.96499014e-01 4.43024985e-01 -4.28720690e-03 2.32636626e+02] [-4.43020471e-01 8.96509259e-01 2.00260855e-03 1.66336665e+02] [ 4.73072630e-03 1.03983828e-04 9.99988805e-01 8.11106967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.490281693 meters 0.030589888738592395 Centerline is valid? [True, True] Translation: X:232.66, Y:166.33, Z:0.81 [[ 8.96918224e-01 4.42178753e-01 -3.95589767e-03 2.32663260e+02] [-4.42174905e-01 8.96926944e-01 1.84709087e-03 1.66325641e+02] [ 4.36489555e-03 9.25092094e-05 9.99990470e-01 8.12238849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52028169299996 meters 0.029285550149078073 Centerline is valid? [True, True] Translation: X:232.69, Y:166.31, Z:0.81 [[ 8.97476979e-01 4.41050703e-01 -3.05756247e-03 2.32690013e+02] [-4.41048400e-01 8.97482185e-01 1.42714537e-03 1.66313802e+02] [ 3.37355132e-03 6.77029221e-05 9.99994307e-01 8.13726248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.550281693 meters 0.02568833700899372 Centerline is valid? [True, True] Translation: X:232.71, Y:166.30, Z:0.82 [[ 8.98224502e-01 4.39531202e-01 -2.25080633e-03 2.32714481e+02] [-4.39529950e-01 8.98227321e-01 1.05023684e-03 1.66298697e+02] [ 2.48334760e-03 4.59483294e-05 9.99996915e-01 8.15958303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58028169299996 meters 0.024763979890281458 Centerline is valid? [True, True] Translation: X:232.74, Y:166.29, Z:0.81 [[ 8.99739704e-01 4.36416795e-01 -2.97427862e-03 2.32740129e+02] [-4.36414593e-01 8.99744618e-01 1.38732561e-03 1.66288635e+02] [ 3.28154337e-03 4.97866597e-05 9.99994615e-01 8.14094923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61028169299993 meters 0.021628134065008454 Centerline is valid? [True, True] Translation: X:232.76, Y:166.27, Z:0.81 [[ 9.00397785e-01 4.35051451e-01 -3.75015153e-03 2.32764674e+02] [-4.35047940e-01 9.00405593e-01 1.74863844e-03 1.66273426e+02] [ 4.13740511e-03 5.70255250e-05 9.99991439e-01 8.13220888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64028169299996 meters 0.02238579403371216 Centerline is valid? [True, True] Translation: X:232.79, Y:166.26, Z:0.81 [[ 9.00845241e-01 4.34122853e-01 -3.89889939e-03 2.32790756e+02] [-4.34119052e-01 9.00853676e-01 1.81752867e-03 1.66264051e+02] [ 4.30136857e-03 5.52744559e-05 9.99990748e-01 8.12357120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67028169299994 meters 0.021603426482963015 Centerline is valid? [True, True] Translation: X:232.82, Y:166.25, Z:0.81 [[ 9.01285329e-01 4.33214132e-01 -3.20493681e-03 2.32815538e+02] [-4.33211558e-01 9.01291026e-01 1.49382930e-03 1.66252421e+02] [ 3.53572875e-03 4.20492328e-05 9.99993748e-01 8.13940080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70028169299997 meters 0.01800403145535995 Centerline is valid? [True, True] Translation: X:232.84, Y:166.24, Z:0.82 [[ 9.02045914e-01 4.31637016e-01 -1.62944983e-03 2.32839353e+02] [-4.31636348e-01 9.02047386e-01 7.59403161e-04 1.66235477e+02] [ 1.79762748e-03 1.83132556e-05 9.99998384e-01 8.18084881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73028169299994 meters 0.018413531860071036 Centerline is valid? [True, True] Translation: X:232.87, Y:166.22, Z:0.82 [[ 9.02318800e-01 4.31065737e-01 -1.76459017e-03 2.32865125e+02] [-4.31064954e-01 9.02320525e-01 8.22039483e-04 1.66224801e+02] [ 1.94657898e-03 1.89112995e-05 9.99998105e-01 8.17264443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76028169299997 meters 0.018221791753107446 Centerline is valid? [True, True] Translation: X:232.89, Y:166.21, Z:0.82 [[ 9.02543405e-01 4.30591217e-01 -2.57020625e-03 2.32890601e+02] [-4.30589554e-01 9.02547064e-01 1.19695103e-03 1.66212029e+02] [ 2.83512870e-03 2.64037048e-05 9.99995981e-01 8.15413816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79028169299994 meters 0.01804279188022923 Centerline is valid? [True, True] Translation: X:232.92, Y:166.20, Z:0.81 [[ 9.02388107e-01 4.30910613e-01 -3.42745055e-03 2.32916683e+02] [-4.30907661e-01 9.02394616e-01 1.59537513e-03 1.66198656e+02] [ 3.78037699e-03 3.72671600e-05 9.99992854e-01 8.14207627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82028169299997 meters 0.018282233114667524 Centerline is valid? [True, True] Translation: X:232.94, Y:166.19, Z:0.82 [[ 9.01950488e-01 4.31828232e-01 -3.11363406e-03 2.32943443e+02] [-4.31825804e-01 9.01955862e-01 1.44868739e-03 1.66187073e+02] [ 3.43394461e-03 3.79032306e-05 9.99994103e-01 8.15774437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85028169299994 meters 0.021567252803938095 Centerline is valid? [True, True] Translation: X:232.97, Y:166.18, Z:0.82 [[ 9.01164084e-01 4.33470219e-01 -2.61960505e-03 2.32971261e+02] [-4.33468508e-01 9.01167891e-01 1.21844328e-03 1.66181693e+02] [ 2.88886283e-03 3.74989641e-05 9.99995827e-01 8.16759181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.880281693 meters 0.02260059548550399 Centerline is valid? [True, True] Translation: X:233.00, Y:166.17, Z:0.82 [[ 9.00128610e-01 4.35617782e-01 -2.37334208e-03 2.32999292e+02] [-4.35616386e-01 9.00131738e-01 1.10356703e-03 1.66172694e+02] [ 2.61705395e-03 4.05144471e-05 9.99996575e-01 8.17819706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91028169299994 meters 0.028597427656897545 Centerline is valid? [True, True] Translation: X:233.03, Y:166.17, Z:0.81 [[ 8.97378717e-01 4.41247046e-01 -3.53298328e-03 2.33032583e+02] [-4.41243998e-01 8.97385668e-01 1.64228001e-03 1.66173833e+02] [ 3.89509976e-03 8.51605429e-05 9.99992410e-01 8.14826339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.940281693 meters 0.03170547271358515 Centerline is valid? [True, True] Translation: X:233.06, Y:166.17, Z:0.81 [[ 8.96270366e-01 4.43484119e-01 -4.61176694e-03 2.33061459e+02] [-4.43478956e-01 8.96282222e-01 2.14354376e-03 1.66168488e+02] [ 5.08407233e-03 1.24026836e-04 9.99987068e-01 8.12754047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97028169299995 meters 0.03348529840158321 Centerline is valid? [True, True] Translation: X:233.09, Y:166.16, Z:0.81 [[ 8.95581306e-01 4.44868239e-01 -5.13555237e-03 2.33089315e+02] [-4.44861862e-01 8.95596018e-01 2.38666788e-03 1.66161447e+02] [ 5.66113299e-03 1.47156252e-04 9.99983965e-01 8.10912672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.000281693 meters 0.03712313869184477 Centerline is valid? [True, True] Translation: X:233.12, Y:166.16, Z:0.81 [[ 8.95419194e-01 4.45190827e-01 -5.44009693e-03 2.33119180e+02] [-4.45183679e-01 8.95435705e-01 2.52780945e-03 1.66158913e+02] [ 5.99661461e-03 1.58393259e-04 9.99982008e-01 8.08871954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03028169299995 meters 0.03237180433205096 Centerline is valid? [True, True] Translation: X:233.14, Y:166.14, Z:0.81 [[ 8.96009502e-01 4.44003719e-01 -5.26034265e-03 2.33144400e+02] [-4.43997017e-01 8.96024931e-01 2.44378734e-03 1.66143786e+02] [ 5.79844882e-03 1.45919767e-04 9.99983178e-01 8.10335597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.060281693 meters 0.03114894865057593 Centerline is valid? [True, True] Translation: X:233.17, Y:166.13, Z:0.81 [[ 8.96610779e-01 4.42792769e-01 -4.86575747e-03 2.33171710e+02] [-4.42787020e-01 8.96623972e-01 2.25998015e-03 1.66133163e+02] [ 5.36345766e-03 1.28171691e-04 9.99985608e-01 8.11450635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09028169299995 meters 0.03114642904424578 Centerline is valid? [True, True] Translation: X:233.20, Y:166.13, Z:0.81 [[ 8.97251675e-01 4.41495277e-01 -4.62082898e-03 2.33198566e+02] [-4.41490077e-01 8.97263566e-01 2.14585195e-03 1.66125554e+02] [ 5.09348499e-03 1.14680889e-04 9.99987022e-01 8.11997014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.120281693 meters 0.03111893069251551 Centerline is valid? [True, True] Translation: X:233.23, Y:166.12, Z:0.81 [[ 8.98373625e-01 4.39211331e-01 -4.27033531e-03 2.33227652e+02] [-4.39206866e-01 8.98383770e-01 1.98283724e-03 1.66120888e+02] [ 4.70728451e-03 9.42319088e-05 9.99988916e-01 8.12403704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15028169299995 meters 0.027214867081765234 Centerline is valid? [True, True] Translation: X:233.25, Y:166.11, Z:0.81 [[ 8.98986563e-01 4.37957136e-01 -4.08725345e-03 2.33252919e+02] [-4.37953035e-01 8.98995851e-01 1.89723750e-03 1.66106204e+02] [ 4.50533259e-03 8.44340324e-05 9.99989847e-01 8.12374747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.180281693 meters 0.02484838596889774 Centerline is valid? [True, True] Translation: X:233.28, Y:166.09, Z:0.81 [[ 8.99713873e-01 4.36464833e-01 -3.66002866e-03 2.33278261e+02] [-4.36461535e-01 8.99721315e-01 1.69823600e-03 1.66093272e+02] [ 4.03422609e-03 6.95352327e-05 9.99991860e-01 8.13287075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21028169299996 meters 0.024174333588032542 Centerline is valid? [True, True] Translation: X:233.30, Y:166.08, Z:0.81 [[ 9.00572024e-01 4.34697010e-01 -2.92218127e-03 2.33303740e+02] [-4.34694900e-01 9.00576763e-01 1.35549678e-03 1.66082793e+02] [ 3.22087894e-03 4.95348179e-05 9.99994812e-01 8.14575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.240281693 meters 0.019551801720879496 Centerline is valid? [True, True] Translation: X:233.33, Y:166.07, Z:0.82 [[ 9.02147350e-01 4.31418558e-01 -2.86136083e-03 2.33328043e+02] [-4.31416519e-01 9.02151887e-01 1.32685221e-03 1.66067368e+02] [ 3.15381073e-03 3.74221257e-05 9.99995026e-01 8.15696005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27028169299996 meters 0.018392840654297915 Centerline is valid? [True, True] Translation: X:233.35, Y:166.05, Z:0.81 [[ 9.02893046e-01 4.29852828e-01 -3.27021512e-03 2.33354087e+02] [-4.29850157e-01 9.02898967e-01 1.51574635e-03 1.66054417e+02] [ 3.60422171e-03 3.71456466e-05 9.99993504e-01 8.14804497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.300281693 meters 0.015799667666051273 Centerline is valid? [True, True] Translation: X:233.38, Y:166.04, Z:0.82 [[ 9.04616477e-01 4.26217030e-01 -2.84109036e-03 2.33379110e+02] [-4.26214998e-01 9.04620939e-01 1.31631647e-03 1.66039294e+02] [ 3.13114632e-03 2.01537488e-05 9.99995098e-01 8.15609687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33028169299996 meters 0.014737380914939145 Centerline is valid? [True, True] Translation: X:233.40, Y:166.03, Z:0.82 [[ 9.05477060e-01 4.24391602e-01 -1.74995889e-03 2.33404740e+02] [-4.24390828e-01 9.05478751e-01 8.10540217e-04 1.66025205e+02] [ 1.92853705e-03 8.74093140e-06 9.99998140e-01 8.17801487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36028169299993 meters 0.014297662481682991 Centerline is valid? [True, True] Translation: X:233.43, Y:166.01, Z:0.82 [[ 9.06332047e-01 4.22565388e-01 -8.44882625e-04 2.33429455e+02] [-4.22565207e-01 9.06332441e-01 3.91232058e-04 1.66012274e+02] [ 9.31065658e-04 2.43184961e-06 9.99999567e-01 8.20065893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39028169299996 meters 0.013751594104533915 Centerline is valid? [True, True] Translation: X:233.45, Y:166.00, Z:0.82 [[ 9.07527931e-01 4.19991691e-01 -1.84428936e-04 2.33452166e+02] [-4.19991682e-01 9.07527950e-01 8.56581578e-05 1.65995335e+02] [ 2.03350128e-04 -2.78551954e-07 9.99999979e-01 8.20592082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42028169299994 meters 0.015062495357677784 Centerline is valid? [True, True] Translation: X:233.47, Y:165.97, Z:0.82 [[ 9.09971022e-01 4.14670127e-01 -1.19359851e-03 2.33473235e+02] [-4.14669759e-01 9.09971805e-01 5.52347149e-04 1.65972319e+02] [ 1.31518285e-03 -7.67069361e-06 9.99999135e-01 8.18480858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45028169299997 meters 0.016794015141306264 Centerline is valid? [True, True] Translation: X:233.50, Y:165.95, Z:0.82 [[ 9.11342615e-01 4.11640980e-01 -2.51840777e-03 2.33496599e+02] [-4.11639333e-01 9.11346094e-01 1.16459217e-03 1.65954603e+02] [ 2.77453494e-03 -2.46667811e-05 9.99996151e-01 8.15496526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48028169299994 meters 0.019558006322126887 Centerline is valid? [True, True] Translation: X:233.52, Y:165.94, Z:0.81 [[ 9.12655303e-01 4.08712312e-01 -3.81358032e-03 2.33518681e+02] [-4.08708513e-01 9.12663270e-01 1.76291931e-03 1.65936251e+02] [ 4.20104151e-03 -5.02949117e-05 9.99991174e-01 8.13074208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51028169299997 meters 0.02205320072859408 Centerline is valid? [True, True] Translation: X:233.54, Y:165.92, Z:0.81 [[ 9.14051540e-01 4.05574774e-01 -4.34560816e-03 2.33542211e+02] [-4.05569809e-01 9.14061867e-01 2.00817003e-03 1.65917989e+02] [ 4.78661782e-03 -7.31234351e-05 9.99988541e-01 8.12443489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54028169299994 meters 0.02565712549884165 Centerline is valid? [True, True] Translation: X:233.56, Y:165.89, Z:0.81 [[ 9.15899624e-01 4.01386679e-01 -4.07595131e-03 2.33563837e+02] [-4.01382271e-01 9.15908689e-01 1.88321474e-03 1.65894407e+02] [ 4.48909653e-03 -8.88210827e-05 9.99989920e-01 8.13727016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57028169299997 meters 0.028385412599139886 Centerline is valid? [True, True] Translation: X:233.59, Y:165.88, Z:0.81 [[ 9.16336813e-01 4.00388849e-01 -3.95143528e-03 2.33585855e+02] [-4.00384698e-01 9.16345329e-01 1.82546684e-03 1.65876197e+02] [ 4.35177583e-03 -9.06482450e-05 9.99990527e-01 8.14490642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60028169299994 meters 0.026893608350073817 Centerline is valid? [True, True] Translation: X:233.61, Y:165.86, Z:0.82 [[ 9.16264074e-01 4.00556224e-01 -3.85471979e-03 2.33611615e+02] [-4.00552277e-01 9.16272178e-01 1.78021402e-03 1.65863457e+02] [ 4.24504831e-03 -8.71293617e-05 9.99990986e-01 8.15398208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.630281693 meters 0.027269837944477585 Centerline is valid? [True, True] Translation: X:233.64, Y:165.85, Z:0.81 [[ 9.15776725e-01 4.01664649e-01 -4.30106548e-03 2.33635408e+02] [-4.01659750e-01 9.15786821e-01 1.98583466e-03 1.65849249e+02] [ 4.73649866e-03 -9.10162748e-05 9.99988779e-01 8.14592942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66028169299994 meters 0.022100752933060436 Centerline is valid? [True, True] Translation: X:233.66, Y:165.84, Z:0.81 [[ 9.14460904e-01 4.04643302e-01 -5.00540285e-03 2.33663476e+02] [-4.04636714e-01 9.14474598e-01 2.31071103e-03 1.65840524e+02] [ 5.51232750e-03 -8.76851384e-05 9.99984803e-01 8.13950599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.690281693 meters 0.021962744692834747 Centerline is valid? [True, True] Translation: X:233.69, Y:165.83, Z:0.81 [[ 9.14016501e-01 4.05650317e-01 -4.65353819e-03 2.33688339e+02] [-4.05644637e-01 9.14028345e-01 2.14796835e-03 1.65827226e+02] [ 5.12478985e-03 -7.55957074e-05 9.99986865e-01 8.13959383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72028169299995 meters 0.02261917059089359 Centerline is valid? [True, True] Translation: X:233.71, Y:165.81, Z:0.81 [[ 9.13811351e-01 4.06116313e-01 -4.28424313e-03 2.33712031e+02] [-4.06111506e-01 9.13821392e-01 1.97711903e-03 1.65812723e+02] [ 4.71797332e-03 -6.68333839e-05 9.99988868e-01 8.14433559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.750281693 meters 0.02069668246520384 Centerline is valid? [True, True] Translation: X:233.74, Y:165.80, Z:0.82 [[ 9.13871261e-01 4.05988822e-01 -3.52045960e-03 2.33736744e+02] [-4.05985578e-01 9.13878041e-01 1.62404249e-03 1.65799449e+02] [ 3.87661382e-03 -5.49099391e-05 9.99992484e-01 8.16557543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78028169299995 meters 0.022160980369828345 Centerline is valid? [True, True] Translation: X:233.76, Y:165.78, Z:0.82 [[ 9.13923800e-01 4.05867220e-01 -3.88432883e-03 2.33759043e+02] [-4.05863271e-01 9.13932052e-01 1.79129233e-03 1.65784136e+02] [ 4.27703946e-03 -6.05982900e-05 9.99990852e-01 8.16042210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.810281693 meters 0.022288683460945567 Centerline is valid? [True, True] Translation: X:233.78, Y:165.77, Z:0.82 [[ 9.13983404e-01 4.05725436e-01 -4.60522334e-03 2.33783496e+02] [-4.05719888e-01 9.13995003e-01 2.12288248e-03 1.65770431e+02] [ 5.07045854e-03 -7.18486593e-05 9.99987143e-01 8.15050964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84028169299995 meters 0.02069739446361483 Centerline is valid? [True, True] Translation: X:233.81, Y:165.76, Z:0.82 [[ 9.13828850e-01 4.06072139e-01 -4.71708120e-03 2.33808968e+02] [-4.06066329e-01 9.13841022e-01 2.17338384e-03 1.65759702e+02] [ 5.19321292e-03 -7.06530035e-05 9.99986513e-01 8.15412947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.870281693 meters 0.019522840003590964 Centerline is valid? [True, True] Translation: X:233.83, Y:165.75, Z:0.82 [[ 9.12775230e-01 4.08437480e-01 -4.49484197e-03 2.33833409e+02] [-4.08432236e-01 9.12786296e-01 2.07046211e-03 1.65746631e+02] [ 4.94848448e-03 -5.40281757e-05 9.99987755e-01 8.15148884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90028169299995 meters 0.01749784606815212 Centerline is valid? [True, True] Translation: X:233.86, Y:165.74, Z:0.82 [[ 9.12273530e-01 4.09563016e-01 -3.89144969e-03 2.33860256e+02] [-4.09559098e-01 9.12281829e-01 1.79194359e-03 1.65736341e+02] [ 4.28401266e-03 -4.09640794e-05 9.99990823e-01 8.16482616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.930281693 meters 0.016221423761169907 Centerline is valid? [True, True] Translation: X:233.89, Y:165.72, Z:0.82 [[ 9.11678625e-01 4.10891931e-01 -3.14744227e-03 2.33886546e+02] [-4.10889378e-01 9.11684057e-01 1.44876608e-03 1.65724661e+02] [ 3.46475923e-03 -2.75584733e-05 9.99993997e-01 8.17942060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96028169299996 meters 0.015558707460542977 Centerline is valid? [True, True] Translation: X:233.91, Y:165.71, Z:0.82 [[ 9.11188950e-01 4.11982403e-01 -2.27984386e-03 2.33911185e+02] [-4.11981067e-01 9.11191802e-01 1.04914218e-03 1.65712773e+02] [ 2.50960316e-03 -1.67142559e-05 9.99996851e-01 8.20105942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.990281693 meters 0.014046295903936853 Centerline is valid? [True, True] Translation: X:233.94, Y:165.70, Z:0.82 [[ 9.09949675e-01 4.14715013e-01 -1.74548454e-03 2.33937165e+02] [-4.14714235e-01 9.09951349e-01 8.03140488e-04 1.65702959e+02] [ 1.92138043e-03 -6.94013917e-06 9.99998154e-01 8.21902637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02028169299996 meters 0.01374368406470595 Centerline is valid? [True, True] Translation: X:233.96, Y:165.69, Z:0.82 [[ 9.09499868e-01 4.15697548e-01 -2.35343572e-03 2.33963597e+02] [-4.15696139e-01 9.09502913e-01 1.08254287e-03 1.65692261e+02] [ 2.59046705e-03 -6.25845646e-06 9.99996645e-01 8.20606646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.050281693 meters 0.01363569019997192 Centerline is valid? [True, True] Translation: X:233.99, Y:165.68, Z:0.82 [[ 9.09221388e-01 4.16300658e-01 -3.19851150e-03 2.33987613e+02] [-4.16298060e-01 9.09227014e-01 1.47066872e-03 1.65680887e+02] [ 3.52041341e-03 -5.62931907e-06 9.99993803e-01 8.17686203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08028169299996 meters 0.014016960310107464 Centerline is valid? [True, True] Translation: X:234.01, Y:165.67, Z:0.81 [[ 9.09304252e-01 4.16108170e-01 -4.44608763e-03 2.34011431e+02] [-4.16103151e-01 9.09315122e-01 2.04389738e-03 1.65666682e+02] [ 4.89337712e-03 -8.49350478e-06 9.99988027e-01 8.14370884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11028169299993 meters 0.014151684607830409 Centerline is valid? [True, True] Translation: X:234.04, Y:165.65, Z:0.81 [[ 9.09814116e-01 4.14988157e-01 -4.80666410e-03 2.34036351e+02] [-4.14982279e-01 9.09826813e-01 2.20877800e-03 1.65652966e+02] [ 5.28984859e-03 -1.48969815e-05 9.99986009e-01 8.14947711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14028169299996 meters 0.014852769007750158 Centerline is valid? [True, True] Translation: X:234.06, Y:165.64, Z:0.81 [[ 9.10377318e-01 4.13748649e-01 -5.01945295e-03 2.34060252e+02] [-4.13742224e-01 9.10391155e-01 2.30595903e-03 1.65638294e+02] [ 5.52375301e-03 -2.25331716e-05 9.99984744e-01 8.14637304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17028169299994 meters 0.0151926784702884 Centerline is valid? [True, True] Translation: X:234.08, Y:165.62, Z:0.82 [[ 9.11123694e-01 4.12107711e-01 -4.56612746e-03 2.34084924e+02] [-4.12102377e-01 9.11135135e-01 2.09698081e-03 1.65623740e+02] [ 5.02454112e-03 -2.88969227e-05 9.99987377e-01 8.15937011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20028169299997 meters 0.016215028046243977 Centerline is valid? [True, True] Translation: X:234.11, Y:165.61, Z:0.82 [[ 9.12393842e-01 4.09296660e-01 -3.70434065e-03 2.34107876e+02] [-4.09293129e-01 9.12401361e-01 1.70050304e-03 1.65605111e+02] [ 4.07585566e-03 -3.53673291e-05 9.99991693e-01 8.18115430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23028169299994 meters 0.017451282503858807 Centerline is valid? [True, True] Translation: X:234.13, Y:165.59, Z:0.82 [[ 9.12867519e-01 4.08241597e-01 -3.41923179e-03 2.34130831e+02] [-4.08238583e-01 9.12873922e-01 1.56919930e-03 1.65589134e+02] [ 3.76193996e-03 -3.66087329e-05 9.99992923e-01 8.18005909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26028169299997 meters 0.01944938517842024 Centerline is valid? [True, True] Translation: X:234.15, Y:165.57, Z:0.82 [[ 9.13313515e-01 4.07242348e-01 -3.47743283e-03 2.34153903e+02] [-4.07239224e-01 9.13320135e-01 1.59558720e-03 1.65571853e+02] [ 3.82580010e-03 -4.11243036e-05 9.99992681e-01 8.17592829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29028169299994 meters 0.020762487947807884 Centerline is valid? [True, True] Translation: X:234.18, Y:165.55, Z:0.82 [[ 9.14030199e-01 4.05617586e-01 -4.81353976e-03 2.34177291e+02] [-4.05611583e-01 9.14042871e-01 2.20780267e-03 1.65552660e+02] [ 5.29530529e-03 -6.55708339e-05 9.99985978e-01 8.15151812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32028169299997 meters 0.019825198775041297 Centerline is valid? [True, True] Translation: X:234.20, Y:165.54, Z:0.82 [[ 9.14206024e-01 4.05219156e-01 -4.97815863e-03 2.34202384e+02] [-4.05212735e-01 9.14219575e-01 2.28222732e-03 1.65539247e+02] [ 5.47593230e-03 -6.92126906e-05 9.99985005e-01 8.15663351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35028169299994 meters 0.02013437578857799 Centerline is valid? [True, True] Translation: X:234.23, Y:165.52, Z:0.82 [[ 9.14160139e-01 4.05329891e-01 -4.34967749e-03 2.34225653e+02] [-4.05324993e-01 9.14170485e-01 1.99361261e-03 1.65524384e+02] [ 4.78441756e-03 -5.94481819e-05 9.99988553e-01 8.16027865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.380281693 meters 0.02013437578857799 Centerline is valid? [True, True] Translation: X:234.25, Y:165.51, Z:0.82 [[ 9.14234034e-01 4.05163187e-01 -4.34995881e-03 2.34250730e+02] [-4.05158290e-01 9.14244381e-01 1.99299866e-03 1.65513113e+02] [ 4.78441509e-03 -5.96453308e-05 9.99988553e-01 8.16071442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41028169299994 meters 0.01886229370476908 Centerline is valid? [True, True] Translation: X:234.28, Y:165.50, Z:0.82 [[ 9.14078586e-01 4.05516361e-01 -4.10128827e-03 2.34276849e+02] [-4.05512015e-01 9.14087785e-01 1.87823384e-03 1.65500507e+02] [ 4.51059206e-03 -5.37316605e-05 9.99989826e-01 8.16850791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.440281693 meters 0.017147154557476063 Centerline is valid? [True, True] Translation: X:234.30, Y:165.49, Z:0.82 [[ 9.13027116e-01 4.07879780e-01 -3.94594145e-03 2.34301774e+02] [-4.07875781e-01 9.13035642e-01 1.80663531e-03 1.65488832e+02] [ 4.33967520e-03 -4.00530746e-05 9.99990583e-01 8.17198120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47028169299995 meters 0.015723434249768613 Centerline is valid? [True, True] Translation: X:234.33, Y:165.48, Z:0.82 [[ 9.12192094e-01 4.09741950e-01 -4.13733295e-03 2.34328466e+02] [-4.09737576e-01 9.12201476e-01 1.89362512e-03 1.65478760e+02] [ 4.54997888e-03 -3.21290929e-05 9.99989648e-01 8.17543902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.500281693 meters 0.014392914256574333 Centerline is valid? [True, True] Translation: X:234.36, Y:165.47, Z:0.82 [[ 9.11225793e-01 4.11885543e-01 -4.22537564e-03 2.34355689e+02] [-4.11881007e-01 9.11235589e-01 1.93308168e-03 1.65469304e+02] [ 4.64652106e-03 -2.11219073e-05 9.99989205e-01 8.17807133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53028169299995 meters 0.013661355768827852 Centerline is valid? [True, True] Translation: X:234.38, Y:165.46, Z:0.82 [[ 9.10159992e-01 4.14237279e-01 -4.03309960e-03 2.34381750e+02] [-4.14233172e-01 9.10168928e-01 1.84466266e-03 1.65460309e+02] [ 4.43492998e-03 -8.29450986e-06 9.99990166e-01 8.18687999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.560281693 meters 0.014080592689051062 Centerline is valid? [True, True] Translation: X:234.41, Y:165.46, Z:0.82 [[ 9.07997616e-01 4.18966832e-01 -2.66883659e-03 2.34410459e+02] [-4.18965055e-01 9.08001538e-01 1.22033350e-03 1.65455239e+02] [ 2.93458699e-03 1.00893598e-05 9.99995694e-01 8.21823793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59028169299995 meters 0.01530139996481078 Centerline is valid? [True, True] Translation: X:234.44, Y:165.45, Z:0.82 [[ 9.06900477e-01 4.21339664e-01 -2.10041323e-03 2.34437360e+02] [-4.21338570e-01 9.06902910e-01 9.60120861e-04 1.65447384e+02] [ 2.30940787e-03 1.42510394e-05 9.99997333e-01 8.22861054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.620281693 meters 0.017533875242262482 Centerline is valid? [True, True] Translation: X:234.47, Y:165.44, Z:0.82 [[ 9.05380487e-01 4.24598910e-01 -1.39267432e-03 2.34465597e+02] [-4.24598433e-01 9.05381558e-01 6.36549282e-04 1.65440584e+02] [ 1.53117978e-03 1.50080353e-05 9.99998828e-01 8.24291626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65028169299995 meters 0.018887396991082352 Centerline is valid? [True, True] Translation: X:234.49, Y:165.43, Z:0.82 [[ 9.04942445e-01 4.25531451e-01 -1.46844872e-03 2.34492067e+02] [-4.25530922e-01 9.04943636e-01 6.70879832e-04 1.65431825e+02] [ 1.61434379e-03 1.77627025e-05 9.99998697e-01 8.24521624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.680281693 meters 0.019763579038427848 Centerline is valid? [True, True] Translation: X:234.52, Y:165.42, Z:0.82 [[ 9.04611200e-01 4.26234359e-01 -1.68760008e-03 2.34518559e+02] [-4.26233663e-01 9.04612774e-01 7.70868983e-04 1.65421982e+02] [ 1.85519543e-03 2.19752469e-05 9.99998279e-01 8.23962853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71028169299996 meters 0.02014644866900913 Centerline is valid? [True, True] Translation: X:234.54, Y:165.41, Z:0.82 [[ 9.04388982e-01 4.26702009e-01 -2.44233012e-03 2.34544956e+02] [-4.26700553e-01 9.04392279e-01 1.11528177e-03 1.65411012e+02] [ 2.68471748e-03 3.34950654e-05 9.99996396e-01 8.22540231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.740281693 meters 0.02191439236508959 Centerline is valid? [True, True] Translation: X:234.57, Y:165.40, Z:0.82 [[ 9.03914968e-01 4.27692931e-01 -4.06042150e-03 2.34572251e+02] [-4.27688919e-01 9.03924086e-01 1.85353315e-03 1.65403986e+02] [ 4.46305581e-03 6.11609206e-05 9.99990039e-01 8.18790630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77028169299996 meters 0.022368370425497067 Centerline is valid? [True, True] Translation: X:234.60, Y:165.39, Z:0.82 [[ 9.03748893e-01 4.28042941e-01 -4.14477789e-03 2.34599522e+02] [-4.28038767e-01 9.03758395e-01 1.89142554e-03 1.65394425e+02] [ 4.55548917e-03 6.47518842e-05 9.99989622e-01 8.19201349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.800281693 meters 0.022991098477916423 Centerline is valid? [True, True] Translation: X:234.63, Y:165.39, Z:0.82 [[ 9.03596462e-01 4.28367179e-01 -3.87219512e-03 2.34626676e+02] [-4.28363541e-01 9.03604757e-01 1.76653157e-03 1.65386019e+02] [ 4.25565808e-03 6.24755360e-05 9.99990943e-01 8.20125784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83028169299996 meters 0.0219781637310185 Centerline is valid? [True, True] Translation: X:234.65, Y:165.38, Z:0.82 [[ 9.03534730e-01 4.28502172e-01 -3.29865487e-03 2.34652592e+02] [-4.28499535e-01 9.03540749e-01 1.50433187e-03 1.65375069e+02] [ 3.62507857e-03 5.42559859e-05 9.99993428e-01 8.21884193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86028169299993 meters 0.021239082212754796 Centerline is valid? [True, True] Translation: X:234.68, Y:165.37, Z:0.82 [[ 9.03892618e-01 4.27750657e-01 -2.74061793e-03 2.34680230e+02] [-4.27748835e-01 9.03896771e-01 1.24931418e-03 1.65365471e+02] [ 3.01163066e-03 4.30502611e-05 9.99995464e-01 8.22724079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89028169299996 meters 0.020446766273775844 Centerline is valid? [True, True] Translation: X:234.71, Y:165.35, Z:0.82 [[ 9.04329525e-01 4.26826246e-01 -2.73253547e-03 2.34706104e+02] [-4.26824432e-01 9.04333652e-01 1.24508864e-03 1.65353605e+02] [ 3.00256029e-03 4.03424862e-05 9.99995492e-01 8.22741749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92028169299994 meters 0.01969108519755204 Centerline is valid? [True, True] Translation: X:234.73, Y:165.34, Z:0.82 [[ 9.04869467e-01 4.25679541e-01 -2.85953659e-03 2.34731060e+02] [-4.25677550e-01 9.04873984e-01 1.30255711e-03 1.65342115e+02] [ 3.14199218e-03 3.85963734e-05 9.99995063e-01 8.22454458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95028169299997 meters 0.01654450005611927 Centerline is valid? [True, True] Translation: X:234.76, Y:165.33, Z:0.82 [[ 9.06373519e-01 4.22470513e-01 -2.38931456e-03 2.34755383e+02] [-4.22469113e-01 9.06376668e-01 1.08808617e-03 1.65326549e+02] [ 2.62530330e-03 2.31991118e-05 9.99996554e-01 8.22800911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98028169299994 meters 0.016253604692959653 Centerline is valid? [True, True] Translation: X:234.78, Y:165.32, Z:0.82 [[ 9.07244259e-01 4.20598878e-01 -2.10688208e-03 2.34780849e+02] [-4.20597784e-01 9.07246705e-01 9.59159205e-04 1.65315264e+02] [ 2.31488311e-03 1.59582507e-05 9.99997321e-01 8.22787779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01028169299997 meters 0.014312241592988176 Centerline is valid? [True, True] Translation: X:234.81, Y:165.30, Z:0.82 [[ 9.08218346e-01 4.18491308e-01 -2.11198963e-03 2.34805292e+02] [-4.18490204e-01 9.08220802e-01 9.61244438e-04 1.65299813e+02] [ 2.32042536e-03 1.08271378e-05 9.99997308e-01 8.23107171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04028169299994 meters 0.013918475639684638 Centerline is valid? [True, True] Translation: X:234.83, Y:165.29, Z:0.82 [[ 9.08903172e-01 4.16999995e-01 -2.45511953e-03 2.34830432e+02] [-4.16998499e-01 9.08906488e-01 1.11684548e-03 1.65287101e+02] [ 2.69719863e-03 8.67676327e-06 9.99996363e-01 8.22395644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07028169299997 meters 0.013678643022941276 Centerline is valid? [True, True] Translation: X:234.86, Y:165.27, Z:0.82 [[ 9.09305636e-01 4.16116791e-01 -3.17438548e-03 2.34855668e+02] [-4.16114288e-01 9.09311177e-01 1.44321878e-03 1.65274908e+02] [ 3.48705177e-03 8.58018503e-06 9.99993920e-01 8.21274592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10028169299994 meters 0.013914102565893531 Centerline is valid? [True, True] Translation: X:234.88, Y:165.26, Z:0.82 [[ 9.09525812e-01 4.15621502e-01 -4.64376306e-03 2.34881503e+02] [-4.15616143e-01 9.09537667e-01 2.11055329e-03 1.65263364e+02] [ 5.10086875e-03 1.04201979e-05 9.99986990e-01 8.18534056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.130281693 meters 0.01383043939091926 Centerline is valid? [True, True] Translation: X:234.91, Y:165.25, Z:0.82 [[ 9.09598192e-01 4.15463831e-01 -4.57553252e-03 2.34906758e+02] [-4.15458630e-01 9.09609700e-01 2.07876179e-03 1.65251933e+02] [ 5.02559910e-03 1.01065126e-05 9.99987372e-01 8.19359046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16028169299994 meters 0.013740528719983255 Centerline is valid? [True, True] Translation: X:234.93, Y:165.24, Z:0.82 [[ 9.09749317e-01 4.15133503e-01 -4.51156479e-03 2.34932331e+02] [-4.15128448e-01 9.09760504e-01 2.04870919e-03 1.65240568e+02] [ 4.95493128e-03 9.06710268e-06 9.99987724e-01 8.20486366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.190281693 meters 0.0135496210123677 Centerline is valid? [True, True] Translation: X:234.96, Y:165.23, Z:0.82 [[ 9.10040379e-01 4.14500123e-01 -4.01965762e-03 2.34957047e+02] [-4.14496107e-01 9.10049256e-01 1.82446445e-03 1.65228286e+02] [ 4.41432716e-03 5.79611984e-06 9.99990257e-01 8.21219522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22028169299995 meters 0.01336152589758979 Centerline is valid? [True, True] Translation: X:234.98, Y:165.21, Z:0.82 [[ 9.11169711e-01 4.12025517e-01 -2.17488629e-03 2.34979546e+02] [-4.12024335e-01 9.11172307e-01 9.86921304e-04 1.65210772e+02] [ 2.38833292e-03 -3.14672276e-06 9.99997148e-01 8.24432466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.250281693 meters 0.013878225169405588 Centerline is valid? [True, True] Translation: X:235.00, Y:165.19, Z:0.83 [[ 9.12161485e-01 4.09829081e-01 -1.24476569e-03 2.35002711e+02] [-4.09828692e-01 9.12162334e-01 5.64836582e-04 1.65194927e+02] [ 1.36691484e-03 -5.08147961e-06 9.99999066e-01 8.25637337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28028169299995 meters 0.014978815636930244 Centerline is valid? [True, True] Translation: X:235.03, Y:165.18, Z:0.83 [[ 9.13111950e-01 4.07707238e-01 -1.17266577e-03 2.35025248e+02] [-4.07706891e-01 9.13112703e-01 5.31851472e-04 1.65178447e+02] [ 1.28761570e-03 -7.53601869e-06 9.99999171e-01 8.26046701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.310281693 meters 0.01635239551489336 Centerline is valid? [True, True] Translation: X:235.05, Y:165.16, Z:0.82 [[ 9.14433646e-01 4.04728080e-01 -2.50776488e-03 2.35048910e+02] [-4.04726485e-01 9.14437084e-01 1.13678586e-03 1.65160497e+02] [ 2.75328236e-03 -2.45563750e-05 9.99996209e-01 8.24568216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34028169299995 meters 0.01736469239318225 Centerline is valid? [True, True] Translation: X:235.07, Y:165.15, Z:0.82 [[ 9.14571849e-01 4.04411999e-01 -3.04418725e-03 2.35072921e+02] [-4.04409648e-01 9.14576915e-01 1.37947935e-03 1.65145899e+02] [ 3.34202138e-03 -3.05342926e-05 9.99994415e-01 8.24237944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.370281693 meters 0.01645574792337693 Centerline is valid? [True, True] Translation: X:235.10, Y:165.14, Z:0.82 [[ 9.14452444e-01 4.04681554e-01 -3.09320018e-03 2.35098883e+02] [-4.04679130e-01 9.14457675e-01 1.40120738e-03 1.65136192e+02] [ 3.39564343e-03 -2.95839558e-05 9.99994234e-01 8.24990527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40028169299995 meters 0.015359610663515082 Centerline is valid? [True, True] Translation: X:235.13, Y:165.13, Z:0.82 [[ 9.13374764e-01 4.07101997e-01 -3.80848649e-03 2.35125795e+02] [-4.07098344e-01 9.13382704e-01 1.72465554e-03 1.65127790e+02] [ 4.18071640e-03 -2.48283026e-05 9.99991260e-01 8.22789075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.430281693 meters 0.014822719955551214 Centerline is valid? [True, True] Translation: X:235.15, Y:165.12, Z:0.82 [[ 9.12900635e-01 4.08161178e-01 -4.10886038e-03 2.35152021e+02] [-4.08156939e-01 9.12909882e-01 1.86038802e-03 1.65117272e+02] [ 4.51035741e-03 -2.12895282e-05 9.99989828e-01 8.21354834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46028169299996 meters 0.014483520377135102 Centerline is valid? [True, True] Translation: X:235.18, Y:165.11, Z:0.82 [[ 9.12669933e-01 4.08674195e-01 -4.35839808e-03 2.35177141e+02] [-4.08669434e-01 9.12680340e-01 1.97263706e-03 1.65106013e+02] [ 4.78399010e-03 -1.92224572e-05 9.99988557e-01 8.20784250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.490281693 meters 0.014592292301196757 Centerline is valid? [True, True] Translation: X:235.20, Y:165.09, Z:0.82 [[ 9.12953591e-01 4.08030423e-01 -5.18785557e-03 2.35202646e+02] [-4.08023674e-01 9.12968331e-01 2.34694067e-03 1.65093412e+02] [ 5.69397104e-03 -2.58800202e-05 9.99983789e-01 8.20349586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52028169299996 meters 0.015369461697199216 Centerline is valid? [True, True] Translation: X:235.23, Y:165.08, Z:0.82 [[ 9.13320707e-01 4.07199055e-01 -5.84939716e-03 2.35228038e+02] [-4.07190463e-01 9.13339438e-01 2.64542884e-03 1.65080875e+02] [ 6.41970124e-03 -3.43062001e-05 9.99979393e-01 8.19117341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.550281693 meters 0.016008660563558364 Centerline is valid? [True, True] Translation: X:235.25, Y:165.07, Z:0.82 [[ 9.13781022e-01 4.06163686e-01 -5.94176138e-03 2.35254481e+02] [-4.06154805e-01 9.13800339e-01 2.68620044e-03 1.65068741e+02] [ 6.52062063e-03 -4.13240501e-05 9.99978740e-01 8.19222290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58028169299996 meters 0.016276714968962547 Centerline is valid? [True, True] Translation: X:235.28, Y:165.06, Z:0.82 [[ 9.14178846e-01 4.05267904e-01 -5.91302894e-03 2.35281163e+02] [-4.05259098e-01 9.14197968e-01 2.67206153e-03 1.65056866e+02] [ 6.48857981e-03 -4.64333570e-05 9.99978948e-01 8.19259118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61028169299993 meters 0.017645948238009454 Centerline is valid? [True, True] Translation: X:235.31, Y:165.04, Z:0.82 [[ 9.15461421e-01 4.02379539e-01 -4.59276179e-03 2.35305740e+02] [-4.02374194e-01 9.15472940e-01 2.07458413e-03 1.65040613e+02] [ 5.03931935e-03 -5.11929104e-05 9.99987301e-01 8.21242149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64028169299996 meters 0.019319007267777355 Centerline is valid? [True, True] Translation: X:235.33, Y:165.03, Z:0.82 [[ 9.16089501e-01 4.00952581e-01 -4.12953376e-03 2.35329550e+02] [-4.00948248e-01 9.16098807e-01 1.86488624e-03 1.65025063e+02] [ 4.53079191e-03 -5.26733801e-05 9.99989735e-01 8.22538258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67028169299994 meters 0.020016515418128437 Centerline is valid? [True, True] Translation: X:235.35, Y:165.01, Z:0.82 [[ 9.16771226e-01 3.99391555e-01 -4.11151636e-03 2.35354769e+02] [-3.99387246e-01 9.16780444e-01 1.85611935e-03 1.65011488e+02] [ 4.51067619e-03 -5.95496134e-05 9.99989825e-01 8.22867903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70028169299997 meters 0.023292746436646743 Centerline is valid? [True, True] Translation: X:235.38, Y:164.99, Z:0.82 [[ 9.17665809e-01 3.97324905e-01 -4.73096863e-03 2.35376983e+02] [-3.97319176e-01 9.17678001e-01 2.13516129e-03 1.64994428e+02] [ 5.18985859e-03 -7.96599579e-05 9.99986529e-01 8.21130074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73028169299994 meters 0.022663893934549924 Centerline is valid? [True, True] Translation: X:235.40, Y:164.98, Z:0.82 [[ 9.18017101e-01 3.96513502e-01 -4.65244876e-03 2.35402998e+02] [-3.96507955e-01 9.18028886e-01 2.09897233e-03 1.64982778e+02] [ 5.10335322e-03 -8.21595510e-05 9.99986974e-01 8.22123691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76028169299997 meters 0.022631536580968056 Centerline is valid? [True, True] Translation: X:235.43, Y:164.97, Z:0.82 [[ 9.18329382e-01 3.95796615e-01 -4.02311008e-03 2.35428886e+02] [-3.95792464e-01 9.18338192e-01 1.81428031e-03 1.64969912e+02] [ 4.41266164e-03 -7.37902659e-05 9.99990261e-01 8.23713402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79028169299994 meters 0.02303580760119231 Centerline is valid? [True, True] Translation: X:235.45, Y:164.96, Z:0.83 [[ 9.18768625e-01 3.94783432e-01 -3.20244645e-03 2.35454383e+02] [-3.94780798e-01 9.18774204e-01 1.44360242e-03 1.64956830e+02] [ 3.51223550e-03 -6.20722507e-05 9.99993830e-01 8.25363824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82028169299997 meters 0.026043878613550314 Centerline is valid? [True, True] Translation: X:235.48, Y:164.94, Z:0.82 [[ 9.19626364e-01 3.92781474e-01 -3.17239808e-03 2.35476596e+02] [-3.92778878e-01 9.19631833e-01 1.42961700e-03 1.64939659e+02] [ 3.47896534e-03 -6.86625183e-05 9.99993946e-01 8.24843152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85028169299994 meters 0.027176747849099462 Centerline is valid? [True, True] Translation: X:235.50, Y:164.92, Z:0.82 [[ 9.20241326e-01 3.91327301e-01 -4.34101477e-03 2.35501956e+02] [-3.91322428e-01 9.20251560e-01 1.95550357e-03 1.64924890e+02] [ 4.76006755e-03 -1.00798756e-04 9.99988666e-01 8.22458276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.880281693 meters 0.028948144195974138 Centerline is valid? [True, True] Translation: X:235.53, Y:164.91, Z:0.82 [[ 9.20797426e-01 3.90003337e-01 -5.43120550e-03 2.35525590e+02] [-3.89995689e-01 9.20813434e-01 2.44596848e-03 1.64909277e+02] [ 5.95506286e-03 -1.34094748e-04 9.99982260e-01 8.19647410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91028169299994 meters 0.03143313659799487 Centerline is valid? [True, True] Translation: X:235.55, Y:164.89, Z:0.82 [[ 9.21691818e-01 3.87885263e-01 -5.40515154e-03 2.35548215e+02] [-3.87877655e-01 9.21707655e-01 2.43385941e-03 1.64890163e+02] [ 5.92602775e-03 -1.46730797e-04 9.99982430e-01 8.20285877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.940281693 meters 0.03329437121803442 Centerline is valid? [True, True] Translation: X:235.57, Y:164.88, Z:0.82 [[ 9.21796572e-01 3.87643995e-01 -4.81792779e-03 2.35571181e+02] [-3.87637950e-01 9.21809154e-01 2.16883880e-03 1.64875450e+02] [ 5.28194727e-03 -1.31616515e-04 9.99986042e-01 8.21990205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97028169299995 meters 0.031592159973720314 Centerline is valid? [True, True] Translation: X:235.60, Y:164.87, Z:0.82 [[ 9.21744059e-01 3.87775799e-01 -4.22120011e-03 2.35598496e+02] [-3.87771164e-01 9.21753718e-01 1.89948736e-03 1.64865149e+02] [ 4.62748212e-03 -1.13981514e-04 9.99989287e-01 8.24056779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.000281693 meters 0.030330560203394467 Centerline is valid? [True, True] Translation: X:235.62, Y:164.85, Z:0.82 [[ 9.21404930e-01 3.88587392e-01 -3.57688762e-03 2.35624835e+02] [-3.88584072e-01 9.21411868e-01 1.60890753e-03 1.64854005e+02] [ 3.92098789e-03 -9.25337705e-05 9.99992309e-01 8.24440611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03028169299995 meters 0.028959059156248232 Centerline is valid? [True, True] Translation: X:235.65, Y:164.84, Z:0.83 [[ 9.20345704e-01 3.91097720e-01 -2.52163849e-03 2.35649598e+02] [-3.91096081e-01 9.20349157e-01 1.13397943e-03 1.64841874e+02] [ 2.76428463e-03 -5.74501688e-05 9.99996178e-01 8.25906501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.060281693 meters 0.026507158003080372 Centerline is valid? [True, True] Translation: X:235.68, Y:164.83, Z:0.83 [[ 9.19850404e-01 3.92262191e-01 -2.36817449e-03 2.35676885e+02] [-3.92260749e-01 9.19853451e-01 1.06469674e-03 1.64832436e+02] [ 2.59601375e-03 -5.04198303e-05 9.99996629e-01 8.26280884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09028169299995 meters 0.026016275521459336 Centerline is valid? [True, True] Translation: X:235.70, Y:164.82, Z:0.83 [[ 9.19408765e-01 3.93293515e-01 -2.78108061e-03 2.35702281e+02] [-3.93291533e-01 9.19412969e-01 1.24991646e-03 1.64821350e+02] [ 3.04854562e-03 -5.54086968e-05 9.99995352e-01 8.25652844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.120281693 meters 0.02356495106052518 Centerline is valid? [True, True] Translation: X:235.73, Y:164.81, Z:0.82 [[ 9.18786166e-01 3.94736306e-01 -3.90257655e-03 2.35729142e+02] [-3.94732418e-01 9.18794451e-01 1.75334650e-03 1.64810911e+02] [ 4.27777520e-03 -7.04770262e-05 9.99990848e-01 8.23341692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15028169299995 meters 0.022976750175704722 Centerline is valid? [True, True] Translation: X:235.76, Y:164.80, Z:0.82 [[ 9.18571264e-01 3.95235358e-01 -3.98058140e-03 2.35755592e+02] [-3.95231322e-01 9.18579886e-01 1.78762062e-03 1.64798513e+02] [ 4.36301289e-03 -6.88064880e-05 9.99990480e-01 8.23336317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.180281693 meters 0.023383425398294817 Centerline is valid? [True, True] Translation: X:235.78, Y:164.79, Z:0.82 [[ 9.18432856e-01 3.95560400e-01 -3.61383786e-03 2.35780757e+02] [-3.95557077e-01 9.18439964e-01 1.62244440e-03 1.64785647e+02] [ 3.96086787e-03 -6.06271026e-05 9.99992154e-01 8.23496152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21028169299996 meters 0.022515302845051197 Centerline is valid? [True, True] Translation: X:235.81, Y:164.78, Z:0.82 [[ 9.18394207e-01 3.95650522e-01 -3.57003044e-03 2.35806335e+02] [-3.95647282e-01 9.18401144e-01 1.60216335e-03 1.64775046e+02] [ 3.91261680e-03 -5.89446951e-05 9.99992344e-01 8.24229630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.240281693 meters 0.021102656358947286 Centerline is valid? [True, True] Translation: X:235.83, Y:164.76, Z:0.82 [[ 9.18614135e-01 3.95134087e-01 -4.13828662e-03 2.35832860e+02] [-3.95129733e-01 9.18623453e-01 1.85626866e-03 1.64763022e+02] [ 4.53500216e-03 -7.00345388e-05 9.99989714e-01 8.23239994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27028169299996 meters 0.021102656358947286 Centerline is valid? [True, True] Translation: X:235.86, Y:164.75, Z:0.82 [[ 9.18690671e-01 3.94956102e-01 -4.13863076e-03 2.35858031e+02] [-3.94951750e-01 9.18699991e-01 1.85550117e-03 1.64751938e+02] [ 4.53500155e-03 -7.00721584e-05 9.99989714e-01 8.23283568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.300281693 meters 0.021388821234825637 Centerline is valid? [True, True] Translation: X:235.88, Y:164.74, Z:0.82 [[ 9.18735999e-01 3.94849547e-01 -4.24249399e-03 2.35882110e+02] [-3.94844975e-01 9.18745792e-01 1.90143915e-03 1.64738484e+02] [ 4.64855589e-03 -7.17931597e-05 9.99989193e-01 8.22675145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33028169299996 meters 0.02429990037624064 Centerline is valid? [True, True] Translation: X:235.90, Y:164.72, Z:0.82 [[ 9.18841297e-01 3.94610378e-01 -3.64974313e-03 2.35904686e+02] [-3.94606994e-01 9.18848543e-01 1.63542711e-03 1.64721703e+02] [ 3.99891767e-03 -6.24838009e-05 9.99992002e-01 8.22714261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36028169299993 meters 0.023279809959600387 Centerline is valid? [True, True] Translation: X:235.93, Y:164.71, Z:0.82 [[ 9.18742384e-01 3.94840526e-01 -3.65936560e-03 2.35930123e+02] [-3.94837128e-01 9.18749670e-01 1.63911834e-03 1.64710635e+02] [ 4.00923129e-03 -6.10740884e-05 9.99991961e-01 8.22979254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39028169299996 meters 0.022523663207497473 Centerline is valid? [True, True] Translation: X:235.96, Y:164.70, Z:0.82 [[ 9.18263989e-01 3.95929350e-01 -5.58536183e-03 2.35955051e+02] [-3.95921460e-01 9.18280971e-01 2.50106947e-03 1.64698837e+02] [ 6.11917830e-03 -8.52774209e-05 9.99981274e-01 8.18877944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42028169299994 meters 0.021247950867460084 Centerline is valid? [True, True] Translation: X:235.98, Y:164.69, Z:0.82 [[ 9.18012865e-01 3.96496637e-01 -6.54186177e-03 2.35981102e+02] [-3.96485836e-01 9.18036169e-01 2.92815619e-03 1.64687680e+02] [ 7.16666981e-03 -9.43295256e-05 9.99974315e-01 8.17586719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45028169299997 meters 0.020324378829390265 Centerline is valid? [True, True] Translation: X:236.01, Y:164.68, Z:0.82 [[ 9.17645185e-01 3.97343895e-01 -6.71882750e-03 2.36006975e+02] [-3.97332534e-01 9.17669778e-01 3.00604085e-03 1.64675831e+02] [ 7.36009692e-03 -8.88701513e-05 9.99972910e-01 8.17200448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48028169299994 meters 0.016828401671765143 Centerline is valid? [True, True] Translation: X:236.04, Y:164.67, Z:0.82 [[ 9.16335372e-01 4.00374904e-01 -5.42427356e-03 2.36035395e+02] [-4.00367559e-01 9.16351425e-01 2.42583728e-03 1.64668472e+02] [ 5.94178517e-03 -5.11773423e-05 9.99982346e-01 8.20819409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51028169299997 meters 0.01535308455780013 Centerline is valid? [True, True] Translation: X:236.06, Y:164.66, Z:0.82 [[ 9.15349970e-01 4.02633877e-01 -4.51595271e-03 2.36062229e+02] [-4.02628815e-01 9.15361109e-01 2.01916239e-03 1.64660223e+02] [ 4.94671066e-03 -2.99875468e-05 9.99987765e-01 8.22718483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54028169299994 meters 0.014013735987467652 Centerline is valid? [True, True] Translation: X:236.09, Y:164.65, Z:0.82 [[ 9.14306283e-01 4.05010223e-01 -3.27711484e-03 2.36089505e+02] [-4.05007573e-01 9.14312156e-01 1.46505365e-03 1.64652370e+02] [ 3.58966764e-03 -1.22514275e-05 9.99993557e-01 8.24110164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57028169299997 meters 0.013421336991834369 Centerline is valid? [True, True] Translation: X:236.12, Y:164.65, Z:0.83 [[ 9.12276072e-01 4.09573824e-01 -1.28506604e-03 2.36118597e+02] [-4.09573421e-01 9.12276977e-01 5.74493920e-04 1.64648405e+02] [ 1.40763383e-03 2.23183649e-06 9.99999009e-01 8.27995499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60028169299994 meters 0.014237016869290978 Centerline is valid? [True, True] Translation: X:236.15, Y:164.64, Z:0.83 [[ 9.11228734e-01 4.11899354e-01 -1.05658006e-03 2.36146749e+02] [-4.11899083e-01 9.11229347e-01 4.72152613e-04 1.64641541e+02] [ 1.15726611e-03 4.96532976e-06 9.99999330e-01 8.28916936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.630281693 meters 0.015783138504307494 Centerline is valid? [True, True] Translation: X:236.17, Y:164.64, Z:0.83 [[ 9.10172419e-01 4.14226726e-01 -1.54524690e-03 2.36174110e+02] [-4.14226152e-01 9.10173730e-01 6.90094919e-04 1.64635565e+02] [ 1.69229889e-03 1.19763131e-05 9.99998568e-01 8.27931601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66028169299994 meters 0.01705048194745931 Centerline is valid? [True, True] Translation: X:236.20, Y:164.63, Z:0.83 [[ 9.09405989e-01 4.15903634e-01 -2.21671813e-03 2.36201716e+02] [-4.15902457e-01 9.09408691e-01 9.89768236e-04 1.64628872e+02] [ 2.42755094e-03 2.18373538e-05 9.99997053e-01 8.26208154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.690281693 meters 0.019244995310837915 Centerline is valid? [True, True] Translation: X:236.23, Y:164.63, Z:0.82 [[ 9.08521193e-01 4.17826542e-01 -3.19717122e-03 2.36230876e+02] [-4.17824106e-01 9.08526818e-01 1.42727525e-03 1.64625939e+02] [ 3.50106928e-03 3.91453932e-05 9.99993871e-01 8.23255201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72028169299995 meters 0.01915920759363542 Centerline is valid? [True, True] Translation: X:236.26, Y:164.62, Z:0.82 [[ 9.08649560e-01 4.17547956e-01 -3.11163941e-03 2.36257449e+02] [-4.17545648e-01 9.08654887e-01 1.38863243e-03 1.64616749e+02] [ 3.40722699e-03 3.74712477e-05 9.99994195e-01 8.23692230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.750281693 meters 0.018008559759245566 Centerline is valid? [True, True] Translation: X:236.28, Y:164.61, Z:0.82 [[ 9.09073532e-01 4.16625968e-01 -2.84877510e-03 2.36284202e+02] [-4.16624032e-01 9.09077995e-01 1.27076192e-03 1.64605502e+02] [ 3.11919118e-03 3.16521390e-05 9.99995135e-01 8.24531339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78028169299995 meters 0.016275964155431755 Centerline is valid? [True, True] Translation: X:236.31, Y:164.60, Z:0.82 [[ 9.10373769e-01 4.13766700e-01 -4.08889821e-03 2.36309631e+02] [-4.13762684e-01 9.10382951e-01 1.82335911e-03 1.64595127e+02] [ 4.47690850e-03 3.18951927e-05 9.99989978e-01 8.21747674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.810281693 meters 0.014902456842983528 Centerline is valid? [True, True] Translation: X:236.34, Y:164.58, Z:0.82 [[ 9.11409425e-01 4.11471747e-01 -4.88485616e-03 2.36335534e+02] [-4.11465986e-01 9.11422515e-01 2.17750750e-03 1.64581595e+02] [ 5.34815070e-03 2.53512938e-05 9.99985698e-01 8.20297562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84028169299995 meters 0.014004097230362203 Centerline is valid? [True, True] Translation: X:236.36, Y:164.57, Z:0.82 [[ 9.12578504e-01 4.08876938e-01 -4.48588238e-03 2.36360185e+02] [-4.08872051e-01 9.12589529e-01 1.99918671e-03 1.64568121e+02] [ 4.91119063e-03 9.73711311e-06 9.99987940e-01 8.20382291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.870281693 meters 0.013630362482730921 Centerline is valid? [True, True] Translation: X:236.38, Y:164.55, Z:0.82 [[ 9.13812609e-01 4.06123477e-01 -3.19951390e-03 2.36384356e+02] [-4.06120975e-01 9.13818210e-01 1.42544726e-03 1.64553286e+02] [ 3.50268167e-03 -3.20197582e-06 9.99993866e-01 8.22486802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90028169299995 meters 0.015662777577057908 Centerline is valid? [True, True] Translation: X:236.41, Y:164.53, Z:0.82 [[ 9.16133208e-01 4.00864220e-01 -2.79681171e-03 2.36406573e+02] [-4.00862285e-01 9.16137477e-01 1.24562232e-03 1.64533941e+02] [ 3.06158944e-03 -2.00196433e-05 9.99995313e-01 8.24080942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.930281693 meters 0.016893327034302547 Centerline is valid? [True, True] Translation: X:236.43, Y:164.52, Z:0.82 [[ 9.16900073e-01 3.99098371e-01 -3.84020227e-03 2.36431579e+02] [-3.99094710e-01 9.16908114e-01 1.70966323e-03 1.64519942e+02] [ 4.20343643e-03 -3.49859264e-05 9.99991165e-01 8.22151640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96028169299996 meters 0.018105438889349946 Centerline is valid? [True, True] Translation: X:236.46, Y:164.51, Z:0.82 [[ 9.17444163e-01 3.97836540e-01 -4.72171525e-03 2.36456080e+02] [-3.97830994e-01 9.17456312e-01 2.10115793e-03 1.64506118e+02] [ 5.16788486e-03 -4.92504026e-05 9.99986645e-01 8.19802954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.990281693 meters 0.01829007434541015 Centerline is valid? [True, True] Translation: X:236.48, Y:164.49, Z:0.82 [[ 9.17945762e-01 3.96679634e-01 -4.56580553e-03 2.36481697e+02] [-3.96674438e-01 9.17957115e-01 2.03089947e-03 1.64492884e+02] [ 4.99683012e-03 -5.31172153e-05 9.99987514e-01 8.20450342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02028169299996 meters 0.018432047784093027 Centerline is valid? [True, True] Translation: X:236.51, Y:164.48, Z:0.82 [[ 9.18086435e-01 3.96361096e-01 -3.89601195e-03 2.36507001e+02] [-3.96357313e-01 9.18094701e-01 1.73217920e-03 1.64480312e+02] [ 4.26347637e-03 -4.60774042e-05 9.99990910e-01 8.21582720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.050281693 meters 0.019057890729077417 Centerline is valid? [True, True] Translation: X:236.53, Y:164.47, Z:0.82 [[ 9.18139724e-01 3.96242605e-01 -3.35339151e-03 2.36530538e+02] [-3.96239804e-01 9.18145847e-01 1.49035956e-03 1.64466910e+02] [ 3.66944644e-03 -3.96111135e-05 9.99993267e-01 8.22153632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08028169299996 meters 0.01828556193741883 Centerline is valid? [True, True] Translation: X:236.56, Y:164.46, Z:0.82 [[ 9.18087052e-01 3.96364943e-01 -3.31605394e-03 2.36556330e+02] [-3.96362207e-01 9.18093040e-01 1.47313462e-03 1.64455249e+02] [ 3.62834497e-03 -3.81073637e-05 9.99993417e-01 8.22369049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11028169299993 meters 0.017203042931261358 Centerline is valid? [True, True] Translation: X:236.58, Y:164.44, Z:0.82 [[ 9.17163940e-01 3.98489116e-01 -4.09047186e-03 2.36581495e+02] [-3.98484977e-01 9.17173061e-01 1.81649985e-03 1.64442408e+02] [ 4.47552601e-03 -3.60365775e-05 9.99989984e-01 8.20693412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14028169299996 meters 0.015552636889104372 Centerline is valid? [True, True] Translation: X:236.61, Y:164.43, Z:0.82 [[ 9.16442707e-01 4.00145185e-01 -4.07378488e-03 2.36608880e+02] [-4.00141100e-01 9.16451761e-01 1.80845071e-03 1.64433904e+02] [ 4.45707017e-03 -2.72527044e-05 9.99990067e-01 8.21416294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17028169299994 meters 0.01413067561970442 Centerline is valid? [True, True] Translation: X:236.64, Y:164.43, Z:0.82 [[ 9.15465085e-01 4.02382138e-01 -3.50609020e-03 2.36637264e+02] [-4.02379131e-01 9.15471799e-01 1.55581187e-03 1.64426549e+02] [ 3.83575761e-03 -1.35139240e-05 9.99992643e-01 8.22812958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20028169299997 meters 0.013383773903217655 Centerline is valid? [True, True] Translation: X:236.66, Y:164.42, Z:0.82 [[ 9.14387722e-01 4.04829700e-01 -2.82972774e-03 2.36664719e+02] [-4.04827754e-01 9.14392101e-01 1.25514619e-03 1.64420448e+02] [ 3.09560115e-03 -2.13794132e-06 9.99995209e-01 8.24394951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23028169299994 meters 0.014951556619869796 Centerline is valid? [True, True] Translation: X:236.70, Y:164.42, Z:0.82 [[ 9.12016486e-01 4.10143403e-01 -2.88406178e-03 2.36695616e+02] [-4.10141410e-01 9.12021046e-01 1.27881449e-03 1.64421153e+02] [ 3.15482237e-03 1.65732618e-05 9.99995023e-01 8.23364745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26028169299997 meters 0.016855502520308048 Centerline is valid? [True, True] Translation: X:236.72, Y:164.42, Z:0.82 [[ 9.10903256e-01 4.12607600e-01 -3.19788939e-03 2.36723597e+02] [-4.12605165e-01 9.10908869e-01 1.41773777e-03 1.64416235e+02] [ 3.49795519e-03 2.80437232e-05 9.99993882e-01 8.22869654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29028169299994 meters 0.017943727381603023 Centerline is valid? [True, True] Translation: X:236.75, Y:164.41, Z:0.82 [[ 9.09988905e-01 4.14624469e-01 -2.59654956e-03 2.36751509e+02] [-4.14622873e-01 9.09992609e-01 1.15083763e-03 1.64408974e+02] [ 2.84000635e-03 2.93393642e-05 9.99995967e-01 8.24085895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32028169299997 meters 0.019872030674718436 Centerline is valid? [True, True] Translation: X:236.78, Y:164.40, Z:0.83 [[ 9.08987247e-01 4.16820639e-01 -1.65516429e-03 2.36781391e+02] [-4.16819994e-01 9.08988754e-01 7.33376603e-04 1.64404703e+02] [ 1.81021223e-03 2.32755882e-05 9.99998361e-01 8.26393542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35028169299994 meters 0.01999505577398513 Centerline is valid? [True, True] Translation: X:236.81, Y:164.40, Z:0.83 [[ 9.09064783e-01 4.16650037e-01 -1.99178921e-03 2.36807860e+02] [-4.16649104e-01 9.09066965e-01 8.82065731e-04 1.64396226e+02] [ 2.17818249e-03 2.80222962e-05 9.99997627e-01 8.25104392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.380281693 meters 0.01912673872042054 Centerline is valid? [True, True] Translation: X:236.83, Y:164.39, Z:0.82 [[ 9.09288549e-01 4.16156014e-01 -2.91653169e-03 2.36833986e+02] [-4.16154014e-01 9.09293226e-01 1.29077333e-03 1.64386267e+02] [ 3.18914559e-03 4.00409600e-05 9.99994914e-01 8.22923424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41028169299994 meters 0.01944415963023873 Centerline is valid? [True, True] Translation: X:236.86, Y:164.38, Z:0.82 [[ 9.09360470e-01 4.15988156e-01 -4.16996754e-03 2.36859614e+02] [-4.15984070e-01 9.09370030e-01 1.84475233e-03 1.64378441e+02] [ 4.55943863e-03 5.70952188e-05 9.99989604e-01 8.20585030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.440281693 meters 0.020482648685959608 Centerline is valid? [True, True] Translation: X:236.89, Y:164.37, Z:0.82 [[ 9.09461645e-01 4.15755699e-01 -5.16871682e-03 2.36887219e+02] [-4.15749420e-01 9.09476329e-01 2.28604050e-03 1.64373196e+02] [ 5.65125996e-03 6.98248711e-05 9.99984029e-01 8.18888758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47028169299995 meters 0.0209642436443649 Centerline is valid? [True, True] Translation: X:236.91, Y:164.37, Z:0.82 [[ 9.09428770e-01 4.15833459e-01 -4.67405981e-03 2.36913464e+02] [-4.15828328e-01 9.09440779e-01 2.06682863e-03 1.64365189e+02] [ 5.11023709e-03 6.39730546e-05 9.99986941e-01 8.20345791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.500281693 meters 0.02111772784154084 Centerline is valid? [True, True] Translation: X:236.94, Y:164.36, Z:0.82 [[ 9.09389493e-01 4.15930541e-01 -3.54049179e-03 2.36939908e+02] [-4.15927600e-01 9.09396384e-01 1.56502668e-03 1.64356785e+02] [ 3.87065283e-03 4.93694360e-05 9.99992508e-01 8.22654696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53028169299995 meters 0.021649304685672836 Centerline is valid? [True, True] Translation: X:236.97, Y:164.35, Z:0.82 [[ 9.09074171e-01 4.16626131e-01 -2.61128092e-03 2.36967676e+02] [-4.16624535e-01 9.09077920e-01 1.15383478e-03 1.64348091e+02] [ 2.85457555e-03 3.90023023e-05 9.99995925e-01 8.24990449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.560281693 meters 0.0221372036205289 Centerline is valid? [True, True] Translation: X:237.00, Y:164.34, Z:0.83 [[ 9.08267961e-01 4.18385594e-01 -1.67471973e-03 2.36995936e+02] [-4.18384941e-01 9.08269505e-01 7.39780244e-04 1.64341224e+02] [ 1.83061026e-03 2.87588212e-05 9.99998324e-01 8.25440089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59028169299995 meters 0.022799954744633318 Centerline is valid? [True, True] Translation: X:237.02, Y:164.33, Z:0.83 [[ 9.08037743e-01 4.18884470e-01 -1.80484676e-03 2.37022266e+02] [-4.18883713e-01 9.08039537e-01 7.96924372e-04 1.64332795e+02] [ 1.97269146e-03 3.23835024e-05 9.99998054e-01 8.25123674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.620281693 meters 0.022793146201583094 Centerline is valid? [True, True] Translation: X:237.05, Y:164.32, Z:0.83 [[ 9.08240149e-01 4.18446092e-01 -1.64334056e-03 2.37049311e+02] [-4.18445464e-01 9.08241635e-01 7.25504654e-04 1.64324527e+02] [ 1.79613490e-03 2.87159476e-05 9.99998387e-01 8.25492185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65028169299995 meters 0.022214096100355404 Centerline is valid? [True, True] Translation: X:237.08, Y:164.31, Z:0.83 [[ 9.08507967e-01 4.17865630e-01 -1.26078906e-03 2.37075924e+02] [-4.17865260e-01 9.08508841e-01 5.56574138e-04 1.64313978e+02] [ 1.37801121e-03 2.11879083e-05 9.99999050e-01 8.26386623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.680281693 meters 0.02193394722205264 Centerline is valid? [True, True] Translation: X:237.10, Y:164.30, Z:0.83 [[ 9.08741927e-01 4.17356038e-01 -1.43124933e-03 2.37102293e+02] [-4.17355561e-01 9.08743054e-01 6.31503715e-04 1.64304567e+02] [ 1.56419977e-03 2.34659613e-05 9.99998776e-01 8.26482654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71028169299996 meters 0.022326422336030362 Centerline is valid? [True, True] Translation: X:237.13, Y:164.30, Z:0.83 [[ 9.08622662e-01 4.17613140e-01 -2.03070853e-03 2.37129313e+02] [-4.17612181e-01 9.08624930e-01 8.95671947e-04 1.64295459e+02] [ 2.21919677e-03 3.42207882e-05 9.99997537e-01 8.25174497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.740281693 meters 0.02407843637280571 Centerline is valid? [True, True] Translation: X:237.16, Y:164.29, Z:0.82 [[ 9.07808072e-01 4.19374216e-01 -3.12601486e-03 2.37158179e+02] [-4.19371956e-01 9.07813452e-01 1.37800635e-03 1.64289311e+02] [ 3.41573867e-03 5.99976793e-05 9.99994165e-01 8.23383614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77028169299996 meters 0.02510972666035516 Centerline is valid? [True, True] Translation: X:237.19, Y:164.28, Z:0.82 [[ 9.07454977e-01 4.20139485e-01 -2.87712033e-03 2.37186096e+02] [-4.20137577e-01 9.07459536e-01 1.26774508e-03 1.64281228e+02] [ 3.14350005e-03 5.83647799e-05 9.99995058e-01 8.23809135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.800281693 meters 0.025958279486949083 Centerline is valid? [True, True] Translation: X:237.21, Y:164.27, Z:0.82 [[ 9.07231488e-01 4.20623784e-01 -2.58046888e-03 2.37213125e+02] [-4.20622252e-01 9.07235157e-01 1.13669625e-03 1.64274302e+02] [ 2.81921357e-03 5.41559984e-05 9.99996025e-01 8.24709992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83028169299996 meters 0.02617124955882951 Centerline is valid? [True, True] Translation: X:237.24, Y:164.27, Z:0.83 [[ 9.07147528e-01 4.20807857e-01 -2.02731807e-03 2.37240893e+02] [-4.20806912e-01 9.07149793e-01 8.92841088e-04 1.64266662e+02] [ 2.21479571e-03 4.31708715e-05 9.99997546e-01 8.25382124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86028169299993 meters 0.026841328061453423 Centerline is valid? [True, True] Translation: X:237.27, Y:164.26, Z:0.83 [[ 9.07004815e-01 4.21119064e-01 -9.99547399e-04 2.37269091e+02] [-4.21118834e-01 9.07005366e-01 4.40097333e-04 1.64262739e+02] [ 1.09192823e-03 2.17578349e-05 9.99999404e-01 8.27058910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89028169299996 meters 0.02796947370039248 Centerline is valid? [True, True] Translation: X:237.30, Y:164.26, Z:0.83 [[ 9.07059847e-01 4.21000260e-01 -1.10222643e-03 2.37295669e+02] [-4.20999981e-01 9.07060516e-01 4.85248303e-04 1.64255682e+02] [ 1.20407574e-03 2.38880552e-05 9.99999275e-01 8.26541813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92028169299994 meters 0.027593035942851517 Centerline is valid? [True, True] Translation: X:237.32, Y:164.25, Z:0.83 [[ 9.07275495e-01 4.20533574e-01 -1.63976898e-03 2.37322657e+02] [-4.20532956e-01 9.07276976e-01 7.21537071e-04 1.64245943e+02] [ 1.79115521e-03 3.49439940e-05 9.99998395e-01 8.25853726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95028169299997 meters 0.026681710936161052 Centerline is valid? [True, True] Translation: X:237.35, Y:164.24, Z:0.82 [[ 9.07465779e-01 4.20120564e-01 -2.13796508e-03 2.37348931e+02] [-4.20119514e-01 9.07468297e-01 9.40247554e-04 1.64236060e+02] [ 2.33515286e-03 4.49583719e-05 9.99997273e-01 8.24662762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98028169299994 meters 0.026403879487467974 Centerline is valid? [True, True] Translation: X:237.38, Y:164.23, Z:0.82 [[ 9.07775124e-01 4.19450000e-01 -2.45414436e-03 2.37377262e+02] [-4.19448615e-01 9.07778440e-01 1.07886486e-03 1.64230982e+02] [ 2.68034920e-03 5.00207683e-05 9.99996407e-01 8.23803015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01028169299997 meters 0.026153353637912515 Centerline is valid? [True, True] Translation: X:237.40, Y:164.22, Z:0.82 [[ 9.07965318e-01 4.19034609e-01 -2.99620394e-03 2.37404535e+02] [-4.19032545e-01 9.07970260e-01 1.31672406e-03 1.64222287e+02] [ 3.27221702e-03 5.99671861e-05 9.99994645e-01 8.22403933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04028169299994 meters 0.026339624885696883 Centerline is valid? [True, True] Translation: X:237.43, Y:164.22, Z:0.82 [[ 9.08115323e-01 4.18700573e-01 -4.04843300e-03 2.37432335e+02] [-4.18696803e-01 9.08124344e-01 1.77849733e-03 1.64217397e+02] [ 4.42113841e-03 7.99852791e-05 9.99990224e-01 8.19728373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07028169299997 meters 0.02390587104180371 Centerline is valid? [True, True] Translation: X:237.46, Y:164.21, Z:0.82 [[ 9.08383928e-01 4.18116051e-01 -4.19612155e-03 2.37458959e+02] [-4.18111998e-01 9.08393616e-01 1.84268892e-03 1.64205404e+02] [ 4.58218784e-03 8.05797678e-05 9.99989499e-01 8.19927683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10028169299994 meters 0.025575650286302105 Centerline is valid? [True, True] Translation: X:237.49, Y:164.20, Z:0.82 [[ 9.08670911e-01 4.17495229e-01 -3.86126204e-03 2.37486645e+02] [-4.17491794e-01 9.08679112e-01 1.69511681e-03 1.64199169e+02] [ 4.21635134e-03 7.17418839e-05 9.99991109e-01 8.20551077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.130281693 meters 0.024152925677571657 Centerline is valid? [True, True] Translation: X:237.51, Y:164.19, Z:0.82 [[ 9.09211985e-01 4.16323207e-01 -2.92486767e-03 2.37513440e+02] [-4.16321231e-01 9.09216688e-01 1.28364092e-03 1.64187907e+02] [ 3.19374799e-03 5.05828023e-05 9.99994899e-01 8.22710143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16028169299994 meters 0.019544304834368986 Centerline is valid? [True, True] Translation: X:237.54, Y:164.17, Z:0.83 [[ 9.10722856e-01 4.13017618e-01 -5.71795573e-04 2.37538389e+02] [-4.13017542e-01 9.10723036e-01 2.51059552e-04 1.64172450e+02] [ 6.24439419e-04 7.51592932e-06 9.99999805e-01 8.27138957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.190281693 meters 0.019544304834368986 Centerline is valid? [True, True] Translation: X:237.56, Y:164.16, Z:0.83 [[ 9.10800463e-01 4.12846447e-01 -5.71825081e-04 2.37563629e+02] [-4.12846371e-01 9.10800643e-01 2.50992315e-04 1.64161598e+02] [ 6.24439937e-04 7.47199275e-06 9.99999805e-01 8.27182523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22028169299995 meters 0.01751598494601006 Centerline is valid? [True, True] Translation: X:237.59, Y:164.15, Z:0.83 [[ 9.11794069e-01 4.10647679e-01 2.42127449e-04 2.37588730e+02] [-4.10647665e-01 9.11794102e-01 -1.05804231e-04 1.64147784e+02] [-2.64218642e-04 -2.95740171e-06 9.99999965e-01 8.28485355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.250281693 meters 0.015944358408069438 Centerline is valid? [True, True] Translation: X:237.61, Y:164.13, Z:0.83 [[ 9.12910645e-01 4.08159174e-01 4.91906308e-04 2.37612902e+02] [-4.08159118e-01 9.12910778e-01 -2.15333220e-04 1.64134244e+02] [-5.36956800e-04 -4.19605609e-06 9.99999856e-01 8.29029057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28028169299995 meters 0.014093559223676097 Centerline is valid? [True, True] Translation: X:237.64, Y:164.12, Z:0.83 [[ 9.14155430e-01 4.05363517e-01 5.19123992e-04 2.37637687e+02] [-4.05363454e-01 9.14155577e-01 -2.27017355e-04 1.64119103e+02] [-5.66584646e-04 -2.90474709e-06 9.99999840e-01 8.28677209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.310281693 meters 0.013305787385207718 Centerline is valid? [True, True] Translation: X:237.66, Y:164.10, Z:0.83 [[ 9.16635750e-01 3.99721215e-01 -1.36062528e-03 2.37659393e+02] [-3.99720771e-01 9.16636760e-01 5.95773294e-04 1.64098583e+02] [ 1.48534237e-03 -2.23691403e-06 9.99998897e-01 8.25151351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34028169299995 meters 0.014668450001054167 Centerline is valid? [True, True] Translation: X:237.68, Y:164.08, Z:0.82 [[ 9.18085322e-01 3.96373626e-01 -2.70001833e-03 2.37681847e+02] [-3.96371864e-01 9.18089292e-01 1.18196269e-03 1.64079765e+02] [ 2.94735676e-03 -1.49312954e-05 9.99995656e-01 8.22369537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.370281693 meters 0.016474686937157097 Centerline is valid? [True, True] Translation: X:237.71, Y:164.06, Z:0.82 [[ 9.19583666e-01 3.92878148e-01 -3.55547599e-03 2.37705877e+02] [-3.92875068e-01 9.19590539e-01 1.55591010e-03 1.64062377e+02] [ 3.88086516e-03 -3.39316442e-05 9.99992469e-01 8.20797318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40028169299995 meters 0.023613692256981265 Centerline is valid? [True, True] Translation: X:237.72, Y:164.04, Z:0.82 [[ 9.21943177e-01 3.87317607e-01 -2.41864706e-03 2.37724969e+02] [-3.87316163e-01 9.21946349e-01 1.05817789e-03 1.64035258e+02] [ 2.63971375e-03 -3.87987863e-05 9.99996515e-01 8.22860270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.430281693 meters 0.022799663124196273 Centerline is valid? [True, True] Translation: X:237.75, Y:164.02, Z:0.83 [[ 9.22819557e-01 3.85230612e-01 -1.20050462e-03 2.37750133e+02] [-3.85230254e-01 9.22820338e-01 5.25208413e-04 1.64021854e+02] [ 1.31017643e-03 -2.22018956e-05 9.99999142e-01 8.25331992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46028169299996 meters 0.023165051110963744 Centerline is valid? [True, True] Translation: X:237.77, Y:164.01, Z:0.83 [[ 9.23552325e-01 3.83472055e-01 -5.34158413e-04 2.37774568e+02] [-3.83471984e-01 9.23552480e-01 2.33829267e-04 1.64006565e+02] [ 5.82990317e-04 -1.11187771e-05 9.99999830e-01 8.26251732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.490281693 meters 0.0256420983557796 Centerline is valid? [True, True] Translation: X:237.80, Y:163.99, Z:0.83 [[ 9.23969047e-01 3.82465985e-01 -9.85582429e-04 2.37796882e+02] [-3.82465742e-01 9.23969572e-01 4.30933576e-04 1.63988531e+02] [ 1.07546561e-03 -2.12177703e-05 9.99999421e-01 8.25908366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52028169299996 meters 0.025782863608462405 Centerline is valid? [True, True] Translation: X:237.82, Y:163.97, Z:0.82 [[ 9.24101253e-01 3.82142487e-01 -1.99858166e-03 2.37819795e+02] [-3.82141491e-01 9.24103413e-01 8.73523173e-04 1.63971288e+02] [ 2.18070645e-03 -4.34828850e-05 9.99997621e-01 8.23863217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.550281693 meters 0.024372144796134105 Centerline is valid? [True, True] Translation: X:237.85, Y:163.96, Z:0.82 [[ 9.23753146e-01 3.82984004e-01 -1.83785910e-03 2.37845777e+02] [-3.82983164e-01 9.23754974e-01 8.02905300e-04 1.63958372e+02] [ 2.00523137e-03 -3.78172048e-05 9.99997989e-01 8.23981887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58028169299996 meters 0.023627007345429177 Centerline is valid? [True, True] Translation: X:237.87, Y:163.95, Z:0.83 [[ 9.23269379e-01 3.84151469e-01 -1.14177757e-03 2.37870214e+02] [-3.84151146e-01 9.23270084e-01 4.98653462e-04 1.63945388e+02] [ 1.24572754e-03 -2.17763095e-05 9.99999224e-01 8.26032267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61028169299993 meters 0.02242033093514718 Centerline is valid? [True, True] Translation: X:237.90, Y:163.93, Z:0.83 [[ 9.22746565e-01 3.85406809e-01 -6.06524660e-04 2.37895803e+02] [-3.85406718e-01 9.22746765e-01 2.65000302e-04 1.63933111e+02] [ 6.61801589e-04 -1.07694401e-05 9.99999781e-01 8.27460336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64028169299996 meters 0.02316967993003823 Centerline is valid? [True, True] Translation: X:237.92, Y:163.92, Z:0.83 [[ 9.21803084e-01 3.87657894e-01 -6.56544654e-04 2.37918709e+02] [-3.87657788e-01 9.21803318e-01 2.86630209e-04 1.63916633e+02] [ 7.16319504e-04 -9.70196306e-06 9.99999743e-01 8.26624812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67028169299994 meters 0.01904355679269641 Centerline is valid? [True, True] Translation: X:237.95, Y:163.91, Z:0.83 [[ 9.21490704e-01 3.88399015e-01 -1.04294270e-03 2.37947127e+02] [-3.88398749e-01 9.21491294e-01 4.55170593e-04 1.63909040e+02] [ 1.13785043e-03 -1.43578285e-05 9.99999353e-01 8.25296122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70028169299997 meters 0.020944232895406447 Centerline is valid? [True, True] Translation: X:237.97, Y:163.89, Z:0.82 [[ 9.21136944e-01 3.89234827e-01 -1.72637976e-03 2.37970353e+02] [-3.89234100e-01 9.21138561e-01 7.52942574e-04 1.63893554e+02] [ 1.88330644e-03 -2.15973496e-05 9.99998226e-01 8.24296988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73028169299994 meters 0.01698198720963783 Centerline is valid? [True, True] Translation: X:238.00, Y:163.89, Z:0.82 [[ 9.20410600e-01 3.90945285e-01 -2.47225017e-03 2.37998603e+02] [-3.90943800e-01 9.20413920e-01 1.07783141e-03 1.63886250e+02] [ 2.69686658e-03 -2.55365811e-05 9.99996363e-01 8.22785232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76028169299997 meters 0.0160545142897791 Centerline is valid? [True, True] Translation: X:238.02, Y:163.88, Z:0.82 [[ 9.19968888e-01 3.91980713e-01 -2.89222825e-03 2.38024811e+02] [-3.91978688e-01 9.19973434e-01 1.26032192e-03 1.63875400e+02] [ 3.15479505e-03 -2.57651222e-05 9.99995023e-01 8.21607966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79028169299994 meters 0.015445388147380439 Centerline is valid? [True, True] Translation: X:238.05, Y:163.86, Z:0.82 [[ 9.19540195e-01 3.92982256e-01 -3.28264542e-03 2.38050262e+02] [-3.92979655e-01 9.19546054e-01 1.43000518e-03 1.63864331e+02] [ 3.58051031e-03 -2.49343783e-05 9.99993590e-01 8.21137554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82028169299997 meters 0.014762986634398324 Centerline is valid? [True, True] Translation: X:238.08, Y:163.85, Z:0.82 [[ 9.19187309e-01 3.93806424e-01 -3.34538321e-03 2.38076510e+02] [-3.93803730e-01 9.19193396e-01 1.45681729e-03 1.63853777e+02] [ 3.64875817e-03 -2.16635780e-05 9.99993343e-01 8.21015201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85028169299994 meters 0.013657800885665646 Centerline is valid? [True, True] Translation: X:238.10, Y:163.85, Z:0.82 [[ 9.18255676e-01 3.95980450e-01 -2.44902480e-03 2.38104013e+02] [-3.95979015e-01 9.18258941e-01 1.06617710e-03 1.63846332e+02] [ 2.67102421e-03 -9.26074848e-06 9.99996433e-01 8.23866852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.880281693 meters 0.013084084488915435 Centerline is valid? [True, True] Translation: X:238.13, Y:163.84, Z:0.83 [[ 9.17763059e-01 3.97124123e-01 -1.84384247e-03 2.38129870e+02] [-3.97123312e-01 9.17764911e-01 8.02579662e-04 1.63838254e+02] [ 2.01093766e-03 -4.34513744e-06 9.99997978e-01 8.25129848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91028169299994 meters 0.01295248901920309 Centerline is valid? [True, True] Translation: X:238.16, Y:163.83, Z:0.83 [[ 9.17258968e-01 3.98286919e-01 -1.87498842e-03 2.38156808e+02] [-3.98286083e-01 9.17260885e-01 8.15832007e-04 1.63829456e+02] [ 2.04478875e-03 -1.54742971e-06 9.99997909e-01 8.25379368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.940281693 meters 0.013134510608688876 Centerline is valid? [True, True] Translation: X:238.18, Y:163.82, Z:0.82 [[ 9.16502257e-01 4.00022742e-01 -2.32773160e-03 2.38183697e+02] [-4.00021460e-01 9.16505214e-01 1.01237854e-03 1.63824445e+02] [ 2.53835259e-03 3.29538329e-06 9.99996778e-01 8.24577596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97028169299995 meters 0.013408371936675462 Centerline is valid? [True, True] Translation: X:238.21, Y:163.82, Z:0.82 [[ 9.16136898e-01 4.00857098e-01 -2.60234589e-03 2.38211249e+02] [-4.00855501e-01 9.16140594e-01 1.13141384e-03 1.63817234e+02] [ 2.83764997e-03 6.63469721e-06 9.99995974e-01 8.24446936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.000281693 meters 0.013638757776141486 Centerline is valid? [True, True] Translation: X:238.24, Y:163.81, Z:0.82 [[ 9.15871878e-01 4.01463054e-01 -2.47381121e-03 2.38237715e+02] [-4.01461615e-01 9.15875219e-01 1.07513946e-03 1.63809998e+02] [ 2.69733115e-03 8.45024695e-06 9.99996362e-01 8.23928744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03028169299995 meters 0.013920049210698178 Centerline is valid? [True, True] Translation: X:238.26, Y:163.80, Z:0.82 [[ 9.15694517e-01 4.01868993e-01 -2.20535685e-03 2.38264443e+02] [-4.01867851e-01 9.15697173e-01 9.58187083e-04 1.63801991e+02] [ 2.40450471e-03 8.85536214e-06 9.99997109e-01 8.24715719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.060281693 meters 0.013917071053429805 Centerline is valid? [True, True] Translation: X:238.29, Y:163.80, Z:0.83 [[ 9.15625093e-01 4.02031691e-01 -1.09889836e-03 2.38291023e+02] [-4.02031408e-01 9.15625753e-01 4.77330465e-04 1.63796225e+02] [ 1.19808161e-03 4.73590195e-06 9.99999282e-01 8.26835087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09028169299995 meters 0.013751925959995692 Centerline is valid? [True, True] Translation: X:238.32, Y:163.79, Z:0.83 [[ 9.15849542e-01 4.01520814e-01 -8.07662365e-04 2.38317348e+02] [-4.01520661e-01 9.15849898e-01 3.50862903e-04 1.63786858e+02] [ 8.80576253e-04 2.95549738e-06 9.99999612e-01 8.27255123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.120281693 meters 0.013460272355930048 Centerline is valid? [True, True] Translation: X:238.34, Y:163.78, Z:0.83 [[ 9.16181051e-01 4.00764029e-01 -6.89800116e-04 2.38343437e+02] [-4.00763917e-01 9.16181310e-01 2.99562827e-04 1.63776367e+02] [ 7.52035980e-04 1.99321029e-06 9.99999717e-01 8.27590345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15028169299995 meters 0.013266037686356364 Centerline is valid? [True, True] Translation: X:238.37, Y:163.77, Z:0.83 [[ 9.16441443e-01 4.00168579e-01 -4.36352231e-04 2.38368585e+02] [-4.00168534e-01 9.16441547e-01 1.89395611e-04 1.63766302e+02] [ 4.75681486e-04 1.04444553e-06 9.99999887e-01 8.27904342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.180281693 meters 0.012999729161019893 Centerline is valid? [True, True] Translation: X:238.39, Y:163.76, Z:0.83 [[ 9.16780840e-01 3.99390306e-01 -5.24557464e-04 2.38394949e+02] [-3.99390241e-01 9.16780990e-01 2.27731684e-04 1.63757729e+02] [ 5.71858138e-04 7.23088130e-07 9.99999837e-01 8.27726761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21028169299996 meters 0.013250595278007081 Centerline is valid? [True, True] Translation: X:238.42, Y:163.75, Z:0.83 [[ 9.16584492e-01 3.99839679e-01 -1.04898174e-03 2.38421393e+02] [-3.99839420e-01 9.16585092e-01 4.54783276e-04 1.63751129e+02] [ 1.14332142e-03 2.57695116e-06 9.99999346e-01 8.27116468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.240281693 meters 0.01361795626336926 Centerline is valid? [True, True] Translation: X:238.45, Y:163.74, Z:0.83 [[ 9.16370537e-01 4.00327862e-01 -1.62551142e-03 2.38447673e+02] [-4.00327242e-01 9.16371979e-01 7.04497715e-04 1.63744278e+02] [ 1.77160318e-03 5.15555235e-06 9.99998431e-01 8.25647566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27028169299996 meters 0.014166394960434425 Centerline is valid? [True, True] Translation: X:238.48, Y:163.74, Z:0.82 [[ 9.16019026e-01 4.01127988e-01 -2.34139911e-03 2.38475895e+02] [-4.01126705e-01 9.16022018e-01 1.01452024e-03 1.63738293e+02] [ 2.55172560e-03 9.87787147e-06 9.99996744e-01 8.23593583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.300281693 meters 0.01415987004974158 Centerline is valid? [True, True] Translation: X:238.50, Y:163.73, Z:0.82 [[ 9.16030215e-01 4.01105011e-01 -1.84790279e-03 2.38502489e+02] [-4.01104212e-01 9.16032079e-01 8.00537277e-04 1.63728898e+02] [ 2.01383775e-03 7.88526000e-06 9.99997972e-01 8.24506652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33028169299996 meters 0.01390071431649299 Centerline is valid? [True, True] Translation: X:238.53, Y:163.72, Z:0.83 [[ 9.16256810e-01 4.00589975e-01 -1.06295457e-03 2.38527598e+02] [-4.00589710e-01 9.16257427e-01 4.60351531e-04 1.63719620e+02] [ 1.15835223e-03 4.00843943e-06 9.99999329e-01 8.26011226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36028169299993 meters 0.013260794724499186 Centerline is valid? [True, True] Translation: X:238.55, Y:163.71, Z:0.83 [[ 9.17135207e-01 3.98575551e-01 -7.36527955e-04 2.38552820e+02] [-3.98575423e-01 9.17135503e-01 3.19036484e-04 1.63708318e+02] [ 8.02656078e-04 9.62349758e-07 9.99999678e-01 8.26021244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39028169299996 meters 0.013107792874440685 Centerline is valid? [True, True] Translation: X:238.58, Y:163.70, Z:0.82 [[ 9.17698071e-01 3.97277079e-01 -1.08312520e-03 2.38577836e+02] [-3.97276802e-01 9.17698710e-01 4.68820088e-04 1.63696535e+02] [ 1.18023407e-03 6.52254390e-08 9.99999304e-01 8.24910229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42028169299994 meters 0.01325584174191101 Centerline is valid? [True, True] Translation: X:238.60, Y:163.68, Z:0.82 [[ 9.18735698e-01 3.94869710e-01 -1.62157146e-03 2.38603367e+02] [-3.94869087e-01 9.18737129e-01 7.01359961e-04 1.63683956e+02] [ 1.76674371e-03 -4.05599095e-06 9.99998439e-01 8.24356643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45028169299997 meters 0.013535398628028415 Centerline is valid? [True, True] Translation: X:238.63, Y:163.67, Z:0.83 [[ 9.19451998e-01 3.93200595e-01 -1.14694185e-03 2.38629095e+02] [-3.93200282e-01 9.19452714e-01 4.95914658e-04 1.63671889e+02] [ 1.24955273e-03 -4.99186440e-06 9.99999219e-01 8.25263487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48028169299994 meters 0.014108774835902818 Centerline is valid? [True, True] Translation: X:238.66, Y:163.66, Z:0.83 [[ 9.20002366e-01 3.91912682e-01 -3.09831996e-04 2.38655721e+02] [-3.91912659e-01 9.20002419e-01 1.34101203e-04 1.63659741e+02] [ 3.37602148e-04 -1.94634339e-06 9.99999943e-01 8.26871871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51028169299997 meters 0.015343589756647865 Centerline is valid? [True, True] Translation: X:238.68, Y:163.65, Z:0.83 [[ 9.20775196e-01 3.90093523e-01 2.86614606e-04 2.38680032e+02] [-3.90093503e-01 9.20775241e-01 -1.23669633e-04 1.63646445e+02] [-3.12150355e-04 2.06543444e-06 9.99999951e-01 8.27688310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54028169299994 meters 0.015580607240479173 Centerline is valid? [True, True] Translation: X:238.71, Y:163.63, Z:0.83 [[ 9.21178987e-01 3.89138778e-01 -5.35287283e-04 2.38705865e+02] [-3.89138709e-01 9.21179142e-01 2.31360489e-04 1.63634812e+02] [ 5.83126819e-04 -4.82341874e-06 9.99999830e-01 8.26185485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57028169299997 meters 0.01561275976475014 Centerline is valid? [True, True] Translation: X:238.73, Y:163.62, Z:0.82 [[ 9.21569258e-01 3.88210362e-01 -1.67875662e-03 2.38732438e+02] [-3.88209686e-01 9.21570787e-01 7.24525929e-04 1.63623267e+02] [ 1.82836153e-03 -1.59912422e-05 9.99998328e-01 8.24761542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60028169299994 meters 0.01700336780326441 Centerline is valid? [True, True] Translation: X:238.76, Y:163.61, Z:0.82 [[ 9.21695640e-01 3.87905602e-01 -2.52805053e-03 2.38756947e+02] [-3.87904070e-01 9.21699107e-01 1.09054311e-03 1.63608970e+02] [ 2.75312970e-03 -2.45077423e-05 9.99996210e-01 8.22894052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.630281693 meters 0.017152984304162126 Centerline is valid? [True, True] Translation: X:238.78, Y:163.60, Z:0.82 [[ 9.21840489e-01 3.87563988e-01 -2.06608273e-03 2.38781736e+02] [-3.87562965e-01 9.21842804e-01 8.91045338e-04 1.63595973e+02] [ 2.24994058e-03 -2.06645233e-05 9.99997469e-01 8.23979744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66028169299994 meters 0.01624597042884696 Centerline is valid? [True, True] Translation: X:238.81, Y:163.59, Z:0.83 [[ 9.21935306e-01 3.87342764e-01 -9.35448002e-04 2.38807602e+02] [-3.87342554e-01 9.21935780e-01 4.03411738e-04 1.63586303e+02] [ 1.01868160e-03 -9.58070646e-06 9.99999481e-01 8.26550220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.690281693 meters 0.016386289827453826 Centerline is valid? [True, True] Translation: X:238.83, Y:163.58, Z:0.83 [[ 9.21788232e-01 3.87693610e-01 3.47126307e-04 2.38832454e+02] [-3.87693582e-01 9.21788297e-01 -1.49398239e-04 1.63575611e+02] [-3.77897710e-04 3.13489764e-06 9.99999929e-01 8.28974099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72028169299995 meters 0.01592213713201789 Centerline is valid? [True, True] Translation: X:238.86, Y:163.57, Z:0.83 [[ 9.21328493e-01 3.88784368e-01 7.23164889e-04 2.38858332e+02] [-3.88784244e-01 9.21328777e-01 -3.11390196e-04 1.63566076e+02] [-7.87336263e-04 5.73754588e-06 9.99999690e-01 8.29977826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.750281693 meters 0.013635584850546988 Centerline is valid? [True, True] Translation: X:238.89, Y:163.56, Z:0.83 [[ 9.19922044e-01 3.92098372e-01 -1.51643354e-03 2.38888442e+02] [-3.92097828e-01 9.19923294e-01 6.53163079e-04 1.63562206e+02] [ 1.65110672e-03 -6.26881707e-06 9.99998637e-01 8.26465077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78028169299995 meters 0.01322616948792311 Centerline is valid? [True, True] Translation: X:238.92, Y:163.56, Z:0.83 [[ 9.19179219e-01 3.93833137e-01 -2.24153744e-03 2.38916039e+02] [-3.93831955e-01 9.19181952e-01 9.64906531e-04 1.63555226e+02] [ 2.44039292e-03 -4.13295981e-06 9.99997022e-01 8.25224803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.810281693 meters 0.013071331503353543 Centerline is valid? [True, True] Translation: X:238.94, Y:163.55, Z:0.83 [[ 9.18334769e-01 3.95804439e-01 3.13922960e-04 2.38943025e+02] [-3.95804416e-01 9.18334822e-01 -1.34908319e-04 1.63550589e+02] [-3.41683697e-04 -3.61094122e-07 9.99999942e-01 8.29499969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84028169299995 meters 0.013092232181141139 Centerline is valid? [True, True] Translation: X:238.97, Y:163.54, Z:0.83 [[ 9.18393930e-01 3.95659987e-01 2.40077752e-03 2.38969062e+02] [-3.95658640e-01 9.18397068e-01 -1.03244924e-03 1.63540814e+02] [-2.61336588e-03 -1.69325074e-06 9.99996585e-01 8.33538522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.870281693 meters 0.013190679710334283 Centerline is valid? [True, True] Translation: X:239.00, Y:163.53, Z:0.84 [[ 9.18729390e-01 3.94869479e-01 3.79508579e-03 2.38995636e+02] [-3.94866110e-01 9.18737228e-01 -1.63128438e-03 1.63529546e+02] [-4.13083101e-03 1.58147623e-07 9.99991468e-01 8.35387280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90028169299995 meters 0.013230935406487771 Centerline is valid? [True, True] Translation: X:239.02, Y:163.52, Z:0.84 [[ 9.19134890e-01 3.93925624e-01 3.69548001e-03 2.39020504e+02] [-3.93922422e-01 9.19142319e-01 -1.58824864e-03 1.63518745e+02] [-4.02232390e-03 4.08230495e-06 9.99991910e-01 8.35453986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.930281693 meters 0.01361725835398175 Centerline is valid? [True, True] Translation: X:239.05, Y:163.51, Z:0.83 [[ 9.20325454e-01 3.91151008e-01 1.39586319e-03 2.39045756e+02] [-3.91150549e-01 9.20326512e-01 -5.99331404e-04 1.63505941e+02] [-1.51907899e-03 5.58729259e-06 9.99998846e-01 8.31394138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96028169299996 meters 0.014291107307188024 Centerline is valid? [True, True] Translation: X:239.07, Y:163.49, Z:0.83 [[ 9.20909824e-01 3.89775686e-01 1.07900020e-04 2.39070027e+02] [-3.89775683e-01 9.20909830e-01 -4.61154239e-05 1.63493617e+02] [-1.17340860e-04 4.11342831e-07 9.99999993e-01 8.29321918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.990281693 meters 0.01512948195949595 Centerline is valid? [True, True] Translation: X:239.09, Y:163.48, Z:0.83 [[ 9.21406307e-01 3.88599912e-01 -7.25193172e-04 2.39094894e+02] [-3.88599787e-01 9.21406592e-01 3.11504963e-04 1.63480104e+02] [ 7.89248571e-04 -5.21272510e-06 9.99999689e-01 8.27534534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02028169299996 meters 0.015483521277915887 Centerline is valid? [True, True] Translation: X:239.12, Y:163.47, Z:0.83 [[ 9.21689189e-01 3.87927152e-01 -1.25038948e-03 2.39120432e+02] [-3.87926781e-01 9.21690037e-01 5.36886849e-04 1.63468105e+02] [ 1.36074452e-03 -9.78323798e-06 9.99999074e-01 8.26705278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.050281693 meters 0.014808465134400166 Centerline is valid? [True, True] Translation: X:239.15, Y:163.46, Z:0.83 [[ 9.21634923e-01 3.88057243e-01 -8.03369710e-04 2.39147951e+02] [-3.88057090e-01 9.21635273e-01 3.44896183e-04 1.63460103e+02] [ 8.74253324e-04 -6.11505560e-06 9.99999618e-01 8.27407328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08028169299996 meters 0.014808465134400166 Centerline is valid? [True, True] Translation: X:239.17, Y:163.45, Z:0.83 [[ 9.21708724e-01 3.87881919e-01 -8.03435022e-04 2.39173276e+02] [-3.87881766e-01 9.21709074e-01 3.44743940e-04 1.63449444e+02] [ 8.74253291e-04 -6.11570231e-06 9.99999618e-01 8.27450895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11028169299993 meters 0.014798598437588333 Centerline is valid? [True, True] Translation: X:239.20, Y:163.44, Z:0.83 [[ 9.21523798e-01 3.88321323e-01 -6.63206178e-04 2.39198455e+02] [-3.88321219e-01 9.21524037e-01 2.84380372e-04 1.63440067e+02] [ 7.21591397e-04 -4.52624878e-06 9.99999740e-01 8.27617604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14028169299996 meters 0.014484060113698852 Centerline is valid? [True, True] Translation: X:239.22, Y:163.43, Z:0.83 [[ 9.21453838e-01 3.88487574e-01 -4.78820237e-04 2.39224706e+02] [-3.88487519e-01 9.21453963e-01 2.05427341e-04 1.63430242e+02] [ 5.21016774e-04 -3.27612568e-06 9.99999864e-01 8.28414722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17028169299994 meters 0.01516367561760119 Centerline is valid? [True, True] Translation: X:239.25, Y:163.42, Z:0.83 [[ 9.22153456e-01 3.86824253e-01 -3.62736336e-05 2.39250808e+02] [-3.86824252e-01 9.22153457e-01 1.58179818e-05 1.63418372e+02] [ 3.95686356e-05 -5.55085395e-07 9.99999999e-01 8.29514972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20028169299997 meters 0.016018687157078364 Centerline is valid? [True, True] Translation: X:239.28, Y:163.41, Z:0.83 [[ 9.22620411e-01 3.85708780e-01 5.60926171e-04 2.39276066e+02] [-3.85708705e-01 9.22620581e-01 -2.40028311e-04 1.63406530e+02] [-6.10103057e-04 5.10091185e-06 9.99999814e-01 8.30885473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23028169299994 meters 0.017365538574705703 Centerline is valid? [True, True] Translation: X:239.30, Y:163.39, Z:0.83 [[ 9.23018038e-01 3.84754512e-01 1.29108969e-03 2.39301310e+02] [-3.84754116e-01 9.23018941e-01 -5.52425750e-04 1.63393907e+02] [-1.40424854e-03 1.31468600e-05 9.99999014e-01 8.32782439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26028169299997 meters 0.01839380957109401 Centerline is valid? [True, True] Translation: X:239.33, Y:163.38, Z:0.83 [[ 9.23357569e-01 3.83936640e-01 1.85926964e-03 2.39326978e+02] [-3.83935817e-01 9.23359440e-01 -7.95428583e-04 1.63382006e+02] [-2.02216835e-03 2.06247952e-05 9.99997955e-01 8.34253916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29028169299994 meters 0.018419072563413186 Centerline is valid? [True, True] Translation: X:239.35, Y:163.37, Z:0.83 [[ 9.23996336e-01 3.82399709e-01 1.11029624e-03 2.39353768e+02] [-3.82399415e-01 9.23997003e-01 -4.74596849e-04 1.63371636e+02] [-1.20739610e-03 1.39491162e-05 9.99999271e-01 8.32374225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32028169299997 meters 0.01933923331369187 Centerline is valid? [True, True] Translation: X:239.38, Y:163.36, Z:0.83 [[ 9.24409510e-01 3.81401167e-01 -4.55741897e-04 2.39378843e+02] [-3.81401117e-01 9.24409622e-01 1.94990277e-04 1.63360307e+02] [ 4.95661714e-04 -6.43039822e-06 9.99999877e-01 8.29660369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35028169299994 meters 0.019657587882868272 Centerline is valid? [True, True] Translation: X:239.41, Y:163.35, Z:0.83 [[ 9.24753175e-01 3.80564227e-01 -1.56031351e-03 2.39405936e+02] [-3.80563643e-01 9.24754491e-01 6.67223725e-04 1.63349659e+02] [ 1.69682841e-03 -2.32186661e-05 9.99998560e-01 8.26708077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.380281693 meters 0.020114467184496682 Centerline is valid? [True, True] Translation: X:239.43, Y:163.34, Z:0.83 [[ 9.24956702e-01 3.80065035e-01 -2.38068467e-03 2.39432409e+02] [-3.80063675e-01 9.24959766e-01 1.01742115e-03 1.63339210e+02] [ 2.58872374e-03 -3.62587436e-05 9.99996649e-01 8.25710280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41028169299994 meters 0.019626512601296366 Centerline is valid? [True, True] Translation: X:239.46, Y:163.33, Z:0.83 [[ 9.24592387e-01 3.80954696e-01 -1.56114993e-03 2.39459483e+02] [-3.80954113e-01 9.24593705e-01 6.66984644e-04 1.63330704e+02] [ 1.69752033e-03 -2.19624384e-05 9.99998559e-01 8.27415245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.440281693 meters 0.01766328127832682 Centerline is valid? [True, True] Translation: X:239.49, Y:163.32, Z:0.83 [[ 9.24220376e-01 3.81858150e-01 -1.02463313e-03 2.39488145e+02] [-3.81857899e-01 9.24220944e-01 4.37746285e-04 1.63323357e+02] [ 1.11414439e-03 -1.33097814e-05 9.99999379e-01 8.28467345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47028169299995 meters 0.016708806037344953 Centerline is valid? [True, True] Translation: X:239.52, Y:163.32, Z:0.83 [[ 9.23416836e-01 3.83798149e-01 -5.72201190e-04 2.39515936e+02] [-3.83798071e-01 9.23417014e-01 2.44368618e-04 1.63317960e+02] [ 6.22168538e-04 -6.04438341e-06 9.99999806e-01 8.29136049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.500281693 meters 0.016005902179043487 Centerline is valid? [True, True] Translation: X:239.54, Y:163.31, Z:0.83 [[ 9.23175134e-01 3.84379345e-01 4.37304007e-04 2.39543158e+02] [-3.84379300e-01 9.23175238e-01 -1.86258170e-04 1.63310891e+02] [-4.75302024e-04 3.85830293e-06 9.99999887e-01 8.30262105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53028169299995 meters 0.015390304337122282 Centerline is valid? [True, True] Translation: X:239.57, Y:163.30, Z:0.83 [[ 9.22911485e-01 3.85009708e-01 1.38381016e-03 2.39570211e+02] [-3.85009256e-01 9.22912523e-01 -5.90025562e-04 1.63303029e+02] [-1.50430130e-03 1.17616469e-05 9.99998869e-01 8.31974782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.560281693 meters 0.015432299019561042 Centerline is valid? [True, True] Translation: X:239.60, Y:163.29, Z:0.83 [[ 9.22808202e-01 3.85255388e-01 1.81889312e-03 2.39595921e+02] [-3.85254608e-01 9.22809994e-01 -7.75301552e-04 1.63294368e+02] [-1.97718185e-03 1.47176761e-05 9.99998045e-01 8.32707795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59028169299995 meters 0.01607803647502736 Centerline is valid? [True, True] Translation: X:239.62, Y:163.28, Z:0.83 [[ 9.23374973e-01 3.83899257e-01 -1.43858693e-04 2.39621808e+02] [-3.83899252e-01 9.23374984e-01 6.16286464e-05 1.63284340e+02] [ 1.56494710e-04 -1.67910503e-06 9.99999988e-01 8.28559518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.620281693 meters 0.017801996159801464 Centerline is valid? [True, True] Translation: X:239.65, Y:163.27, Z:0.83 [[ 9.24075703e-01 3.82205996e-01 -1.63451169e-03 2.39646425e+02] [-3.82205362e-01 9.24077149e-01 6.96534404e-04 1.63271107e+02] [ 1.77663453e-03 -1.89313864e-05 9.99998422e-01 8.25890910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65028169299995 meters 0.01801045594920142 Centerline is valid? [True, True] Translation: X:239.67, Y:163.26, Z:0.82 [[ 9.24734496e-01 3.80603300e-01 -2.69068279e-03 2.39672427e+02] [-3.80601575e-01 9.24738410e-01 1.14635912e-03 1.63259881e+02] [ 2.92448579e-03 -3.59997147e-05 9.99995723e-01 8.23659076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.680281693 meters 0.01999879940774349 Centerline is valid? [True, True] Translation: X:239.70, Y:163.25, Z:0.82 [[ 9.25619821e-01 3.78443775e-01 -2.87317835e-03 2.39696699e+02] [-3.78441799e-01 9.25624280e-01 1.22389810e-03 1.63246524e+02] [ 3.12266026e-03 -4.55335594e-05 9.99995123e-01 8.23253961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71028169299996 meters 0.02090968100711105 Centerline is valid? [True, True] Translation: X:239.72, Y:163.23, Z:0.82 [[ 9.25737241e-01 3.78156460e-01 -2.87277407e-03 2.39721582e+02] [-3.78154484e-01 9.25741697e-01 1.22352214e-03 1.63234868e+02] [ 3.12212955e-03 -4.63076166e-05 9.99995125e-01 8.23241149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.740281693 meters 0.020341678999546257 Centerline is valid? [True, True] Translation: X:239.75, Y:163.23, Z:0.82 [[ 9.25751305e-01 3.78121656e-01 -2.92156586e-03 2.39748057e+02] [-3.78119613e-01 9.25755914e-01 1.24387062e-03 1.63225448e+02] [ 3.17499129e-03 -4.68134941e-05 9.99994959e-01 8.23174589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77028169299996 meters 0.019745380009680513 Centerline is valid? [True, True] Translation: X:239.77, Y:163.22, Z:0.82 [[ 9.25361171e-01 3.79076524e-01 -2.77356685e-03 2.39773785e+02] [-3.79074688e-01 9.25365327e-01 1.18041344e-03 1.63215485e+02] [ 3.01402961e-03 -4.09197745e-05 9.99995457e-01 8.23626396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.800281693 meters 0.01888280048971653 Centerline is valid? [True, True] Translation: X:239.80, Y:163.21, Z:0.82 [[ 9.25073735e-01 3.79781894e-01 -2.07307224e-03 2.39800882e+02] [-3.79780871e-01 9.25076058e-01 8.82055020e-04 1.63205415e+02] [ 2.25273802e-03 -2.86527534e-05 9.99997462e-01 8.24457310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83028169299996 meters 0.018182894817688037 Centerline is valid? [True, True] Translation: X:239.83, Y:163.20, Z:0.83 [[ 9.24763032e-01 3.80539912e-01 -1.64647798e-03 2.39827944e+02] [-3.80539268e-01 9.24764497e-01 7.00285565e-04 1.63195957e+02] [ 1.78909099e-03 -2.10486779e-05 9.99998399e-01 8.25681170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86028169299993 meters 0.016921456280087437 Centerline is valid? [True, True] Translation: X:239.86, Y:163.19, Z:0.83 [[ 9.24029436e-01 3.82317380e-01 -1.73842159e-03 2.39855350e+02] [-3.82316666e-01 9.24031071e-01 7.39074267e-04 1.63189082e+02] [ 1.88891650e-03 -1.82988323e-05 9.99998216e-01 8.25699939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89028169299996 meters 0.016763803603767564 Centerline is valid? [True, True] Translation: X:239.88, Y:163.18, Z:0.83 [[ 9.24027816e-01 3.82322511e-01 -1.44675039e-03 2.39882065e+02] [-3.82322017e-01 9.24028948e-01 6.14992153e-04 1.63179361e+02] [ 1.57196458e-03 -1.51453294e-05 9.99998764e-01 8.25771270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92028169299994 meters 0.01714082368186137 Centerline is valid? [True, True] Translation: X:239.91, Y:163.17, Z:0.83 [[ 9.24289881e-01 3.81689673e-01 -1.10008232e-03 2.39907804e+02] [-3.81689387e-01 9.24290535e-01 4.67463779e-04 1.63168754e+02] [ 1.19522177e-03 -1.21822941e-05 9.99999286e-01 8.26366611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95028169299997 meters 0.01802545230151158 Centerline is valid? [True, True] Translation: X:239.93, Y:163.16, Z:0.83 [[ 9.24695376e-01 3.80706677e-01 -9.42151132e-04 2.39932440e+02] [-3.80706467e-01 9.24695856e-01 4.00132281e-04 1.63156754e+02] [ 1.02353628e-03 -1.13174415e-05 9.99999476e-01 8.27038516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98028169299994 meters 0.01861361275712182 Centerline is valid? [True, True] Translation: X:239.96, Y:163.14, Z:0.83 [[ 9.24948396e-01 3.80092699e-01 -6.83941918e-05 2.39957354e+02] [-3.80092698e-01 9.24948399e-01 2.91297742e-05 1.63144911e+02] [ 7.43331128e-05 -9.47404986e-07 9.99999997e-01 8.29529387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01028169299997 meters 0.017934546362746575 Centerline is valid? [True, True] Translation: X:239.98, Y:163.14, Z:0.83 [[ 9.24706147e-01 3.80681586e-01 2.68786063e-04 2.39984158e+02] [-3.80681569e-01 9.24706186e-01 -1.13770505e-04 1.63135081e+02] [-2.91858471e-04 2.88238564e-06 9.99999957e-01 8.30471396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04028169299994 meters 0.017235792962055733 Centerline is valid? [True, True] Translation: X:240.01, Y:163.13, Z:0.83 [[ 9.24361995e-01 3.81516255e-01 4.98686002e-04 2.40010634e+02] [-3.81516197e-01 9.24362130e-01 -2.11392745e-04 1.63126986e+02] [-5.41616223e-04 5.14663244e-06 9.99999853e-01 8.30902405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07028169299997 meters 0.016041286870641137 Centerline is valid? [True, True] Translation: X:240.04, Y:163.12, Z:0.83 [[ 9.23765619e-01 3.82957634e-01 7.28988104e-04 2.40038525e+02] [-3.82957510e-01 9.23765907e-01 -3.08826247e-04 1.63120214e+02] [-7.91681726e-04 6.11160049e-06 9.99999687e-01 8.31383421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10028169299994 meters 0.013797825428996413 Centerline is valid? [True, True] Translation: X:240.07, Y:163.12, Z:0.83 [[ 9.22360678e-01 3.86328360e-01 1.08486384e-03 2.40068476e+02] [-3.86328087e-01 9.22361316e-01 -4.59521919e-04 1.63117099e+02] [-1.17816279e-03 4.73157691e-06 9.99999306e-01 8.32181222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.130281693 meters 0.013154712267357581 Centerline is valid? [True, True] Translation: X:240.10, Y:163.11, Z:0.83 [[ 9.21803357e-01 3.87656576e-01 9.74777236e-04 2.40095421e+02] [-3.87656357e-01 9.21803872e-01 -4.12622397e-04 1.63109540e+02] [-1.05850922e-03 2.47811889e-06 9.99999440e-01 8.32271435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16028169299994 meters 0.012905230244867475 Centerline is valid? [True, True] Translation: X:240.12, Y:163.10, Z:0.83 [[ 9.21281027e-01 3.88897072e-01 5.80575585e-04 2.40123077e+02] [-3.88896994e-01 9.21281210e-01 -2.45511890e-04 1.63102240e+02] [-6.30352232e-04 4.01346295e-07 9.99999801e-01 8.31101251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.190281693 meters 0.012989097314206584 Centerline is valid? [True, True] Translation: X:240.15, Y:163.10, Z:0.83 [[ 9.20481574e-01 3.90785960e-01 7.14745455e-05 2.40151201e+02] [-3.90785959e-01 9.20481577e-01 -3.01224854e-05 1.63098821e+02] [-7.75624466e-05 -2.04056028e-07 9.99999997e-01 8.29262589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22028169299995 meters 0.012958264787369365 Centerline is valid? [True, True] Translation: X:240.18, Y:163.09, Z:0.83 [[ 9.20326448e-01 3.91151102e-01 2.10503600e-04 2.40178182e+02] [-3.91151092e-01 9.20326472e-01 -8.87351501e-05 1.63090278e+02] [-2.28440887e-04 -6.73407303e-07 9.99999974e-01 8.28838248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.250281693 meters 0.012936764979461923 Centerline is valid? [True, True] Translation: X:240.20, Y:163.08, Z:0.83 [[ 9.20369477e-01 3.91049725e-01 3.73150958e-04 2.40204184e+02] [-3.91049693e-01 9.20369552e-01 -1.57697977e-04 1.63081613e+02] [-4.05104531e-04 -7.80163555e-07 9.99999918e-01 8.28990095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28028169299995 meters 0.012835709945375116 Centerline is valid? [True, True] Translation: X:240.23, Y:163.07, Z:0.83 [[ 9.21341554e-01 3.88754010e-01 2.45229685e-04 2.40229829e+02] [-3.88753997e-01 9.21341587e-01 -1.03380899e-04 1.63071295e+02] [-2.66130046e-04 -8.49018636e-08 9.99999965e-01 8.29582778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.310281693 meters 0.01322123637257564 Centerline is valid? [True, True] Translation: X:240.25, Y:163.06, Z:0.83 [[ 9.22041773e-01 3.87090113e-01 -4.61485078e-04 2.40254223e+02] [-3.87090064e-01 9.22041889e-01 1.95248375e-04 1.63060272e+02] [ 5.01087288e-04 -1.39086934e-06 9.99999874e-01 8.28104960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34028169299995 meters 0.013878910797390825 Centerline is valid? [True, True] Translation: X:240.28, Y:163.05, Z:0.83 [[ 9.22625821e-01 3.85694306e-01 -1.22299590e-03 2.40280489e+02] [-3.85693960e-01 9.22626632e-01 5.16919872e-04 1.63047463e+02] [ 1.32774164e-03 -5.22149111e-06 9.99999119e-01 8.26133815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.370281693 meters 0.014495327081647904 Centerline is valid? [True, True] Translation: X:240.31, Y:163.04, Z:0.82 [[ 9.23114558e-01 3.84520535e-01 -1.86296634e-03 2.40306432e+02] [-3.84519729e-01 9.23116438e-01 7.87122778e-04 1.63035011e+02] [ 2.02239972e-03 -1.02571842e-05 9.99997955e-01 8.24846343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40028169299995 meters 0.014587058222660279 Centerline is valid? [True, True] Translation: X:240.33, Y:163.03, Z:0.83 [[ 9.23481798e-01 3.83637621e-01 -1.88291384e-03 2.40333305e+02] [-3.83636797e-01 9.23483717e-01 7.95202437e-04 1.63026619e+02] [ 2.04390984e-03 -1.19999439e-05 9.99997911e-01 8.25428388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.430281693 meters 0.02834798032538708 Centerline is valid? [True, True] Translation: X:240.36, Y:163.02, Z:0.83 [[ 9.23279791e-01 3.84122390e-01 -2.10148208e-03 2.40361403e+02] [-3.84121366e-01 9.23282183e-01 8.87028670e-04 1.63020274e+02] [ 2.28098854e-03 -1.17514779e-05 9.99997399e-01 8.31156478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46028169299996 meters 0.01349638483797418 Centerline is valid? [True, True] Translation: X:240.39, Y:163.01, Z:0.83 [[ 9.22986288e-01 3.84828149e-01 -1.89921113e-03 2.40389092e+02] [-3.84827315e-01 9.22988242e-01 8.01257250e-04 1.63014207e+02] [ 2.06129589e-03 -8.68113500e-06 9.99997876e-01 8.25754198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.490281693 meters 0.013836931407000557 Centerline is valid? [True, True] Translation: X:240.41, Y:163.01, Z:0.83 [[ 9.22877562e-01 3.85089026e-01 -1.85700025e-03 2.40414443e+02] [-3.85088229e-01 9.22879430e-01 7.83089476e-04 1.63005842e+02] [ 2.01534650e-03 -7.58676686e-06 9.99997969e-01 8.25345598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52028169299996 meters 0.013876115194787472 Centerline is valid? [True, True] Translation: X:240.44, Y:163.00, Z:0.83 [[ 9.23197156e-01 3.84325911e-01 -7.77347597e-04 2.40441472e+02] [-3.84325772e-01 9.23197484e-01 3.27889778e-04 1.62999131e+02] [ 8.43661883e-04 -3.95219567e-06 9.99999644e-01 8.27110154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.550281693 meters 0.014184153717259214 Centerline is valid? [True, True] Translation: X:240.47, Y:162.99, Z:0.83 [[ 9.23803322e-01 3.82867331e-01 -1.72490613e-04 2.40468252e+02] [-3.82867324e-01 9.23803338e-01 7.29373350e-05 1.62988392e+02] [ 1.87272727e-04 -1.33873309e-06 9.99999982e-01 8.28512154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58028169299996 meters 0.01540405005209001 Centerline is valid? [True, True] Translation: X:240.49, Y:162.98, Z:0.83 [[ 9.24491087e-01 3.81203636e-01 -1.30801103e-04 2.40493049e+02] [-3.81203632e-01 9.24491097e-01 5.52310303e-05 1.62976300e+02] [ 1.41978725e-04 -1.19873955e-06 9.99999990e-01 8.29091961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61028169299993 meters 0.01794576869774025 Centerline is valid? [True, True] Translation: X:240.52, Y:162.96, Z:0.83 [[ 9.25828120e-01 3.77944810e-01 1.13764937e-04 2.40518395e+02] [-3.77944807e-01 9.25828127e-01 -4.76154057e-05 1.62963138e+02] [-1.23322774e-04 1.08681448e-06 9.99999992e-01 8.30247155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64028169299996 meters 0.01793503384021925 Centerline is valid? [True, True] Translation: X:240.55, Y:162.95, Z:0.83 [[ 9.26364903e-01 3.76626773e-01 5.84110948e-04 2.40545708e+02] [-3.76626693e-01 9.26365087e-01 -2.45469306e-04 1.62952818e+02] [-6.33550302e-04 7.40237484e-06 9.99999799e-01 8.30958373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67028169299994 meters 0.020089415934769504 Centerline is valid? [True, True] Translation: X:240.57, Y:162.94, Z:0.83 [[ 9.26762631e-01 3.75646170e-01 9.90180589e-04 2.40570229e+02] [-3.75645939e-01 9.26763160e-01 -4.16430683e-04 1.62940384e+02] [-1.07409348e-03 1.39750782e-05 9.99999423e-01 8.32297069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70028169299997 meters 0.020859561946767722 Centerline is valid? [True, True] Translation: X:240.60, Y:162.93, Z:0.83 [[ 9.27022487e-01 3.75003286e-01 1.35830989e-03 2.40595424e+02] [-3.75002851e-01 9.27023482e-01 -5.71169335e-04 1.62929801e+02] [-1.47337554e-03 2.01167341e-05 9.99998914e-01 8.32954238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73028169299994 meters 0.020699275350995472 Centerline is valid? [True, True] Translation: X:240.62, Y:162.92, Z:0.83 [[ 9.27389910e-01 3.74092808e-01 1.58927499e-03 2.40622893e+02] [-3.74092213e-01 9.27391271e-01 -6.67850776e-04 1.62919719e+02] [-1.72371793e-03 2.48226730e-05 9.99998514e-01 8.32538374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76028169299997 meters 0.02056042602371015 Centerline is valid? [True, True] Translation: X:240.65, Y:162.91, Z:0.83 [[ 9.27495624e-01 3.73829348e-01 1.86690727e-03 2.40648872e+02] [-3.73828527e-01 9.27497503e-01 -7.84120851e-04 1.62909237e+02] [-2.02467922e-03 2.93654625e-05 9.99997950e-01 8.32690011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79028169299994 meters 0.020759962451955136 Centerline is valid? [True, True] Translation: X:240.67, Y:162.90, Z:0.83 [[ 9.27522925e-01 3.73760593e-01 2.05976757e-03 2.40674284e+02] [-3.73759594e-01 9.27525212e-01 -8.64954399e-04 1.62899387e+02] [-2.23377222e-03 3.24071456e-05 9.99997505e-01 8.33270366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82028169299997 meters 0.01980198367027096 Centerline is valid? [True, True] Translation: X:240.70, Y:162.89, Z:0.83 [[ 9.27622164e-01 3.73515921e-01 1.72566071e-03 2.40700712e+02] [-3.73515220e-01 9.27623768e-01 -7.24124650e-04 1.62891333e+02] [-1.87123598e-03 2.71535326e-05 9.99998249e-01 8.31911180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85028169299994 meters 0.02274136933214703 Centerline is valid? [True, True] Translation: X:240.72, Y:162.88, Z:0.83 [[ 9.27735404e-01 3.73238489e-01 2.22514489e-04 2.40724877e+02] [-3.73238478e-01 9.27735431e-01 -9.31586101e-05 1.62878487e+02] [-2.41204954e-04 3.37557183e-06 9.99999971e-01 8.29527721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.880281693 meters 0.020725023054851344 Centerline is valid? [True, True] Translation: X:240.75, Y:162.87, Z:0.83 [[ 9.27862898e-01 3.72921202e-01 -4.69219585e-04 2.40752407e+02] [-3.72921150e-01 9.27863016e-01 1.97128382e-04 1.62871368e+02] [ 5.08884853e-04 -7.92620420e-06 9.99999871e-01 8.28075837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91028169299994 meters 0.021702042493299264 Centerline is valid? [True, True] Translation: X:240.78, Y:162.86, Z:0.83 [[ 9.27989098e-01 3.72607181e-01 -3.51031087e-04 2.40777478e+02] [-3.72607152e-01 9.27989164e-01 1.47401750e-04 1.62860199e+02] [ 3.80675996e-04 -5.99052350e-06 9.99999928e-01 8.28570620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.940281693 meters 0.021895159641413205 Centerline is valid? [True, True] Translation: X:240.81, Y:162.85, Z:0.83 [[ 9.28631472e-01 3.71003199e-01 -4.65127331e-04 2.40805052e+02] [-3.71003148e-01 9.28631588e-01 1.95216687e-04 1.62851400e+02] [ 5.04357948e-04 -8.72065566e-06 9.99999873e-01 8.27811745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97028169299995 meters 0.024215757304526853 Centerline is valid? [True, True] Translation: X:240.83, Y:162.84, Z:0.83 [[ 9.29091839e-01 3.69847745e-01 -1.00011816e-03 2.40829712e+02] [-3.69847508e-01 9.29092377e-01 4.19179934e-04 1.62838612e+02] [ 1.08423491e-03 -1.95654453e-05 9.99999412e-01 8.26527279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.000281693 meters 0.024215757304526853 Centerline is valid? [True, True] Translation: X:240.86, Y:162.83, Z:0.83 [[ 9.29158453e-01 3.69680362e-01 -1.00011896e-03 2.40855116e+02] [-3.69680125e-01 9.29158991e-01 4.19178043e-04 1.62828168e+02] [ 1.08423142e-03 -1.97587191e-05 9.99999412e-01 8.26570829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03028169299995 meters 0.02518134962027596 Centerline is valid? [True, True] Translation: X:240.88, Y:162.82, Z:0.83 [[ 9.29526968e-01 3.68751498e-01 -1.39598019e-03 2.40881775e+02] [-3.68751035e-01 9.29528016e-01 5.84674699e-04 1.62816231e+02] [ 1.51320237e-03 -2.87017587e-05 9.99998855e-01 8.25643334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.060281693 meters 0.02478760406391282 Centerline is valid? [True, True] Translation: X:240.91, Y:162.81, Z:0.83 [[ 9.29805504e-01 3.68049558e-01 -1.11687972e-03 2.40909167e+02] [-3.68049262e-01 9.29806175e-01 4.67629057e-04 1.62807935e+02] [ 1.21059233e-03 -2.37373152e-05 9.99999267e-01 8.26466535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09028169299995 meters 0.02459078330278321 Centerline is valid? [True, True] Translation: X:240.94, Y:162.80, Z:0.83 [[ 9.29590923e-01 3.68592724e-01 -3.47377817e-04 2.40935589e+02] [-3.68592695e-01 9.29590987e-01 1.45433055e-04 1.62798672e+02] [ 3.76524854e-04 -7.15232234e-06 9.99999929e-01 8.28261516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.120281693 meters 0.023427501859351652 Centerline is valid? [True, True] Translation: X:240.96, Y:162.79, Z:0.83 [[ 9.29325857e-01 3.69260506e-01 3.60443556e-04 2.40962996e+02] [-3.69260475e-01 9.29325927e-01 -1.50455953e-04 1.62790048e+02] [-3.90526983e-04 6.72504879e-06 9.99999924e-01 8.29277551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15028169299995 meters 0.02331257102919308 Centerline is valid? [True, True] Translation: X:240.99, Y:162.78, Z:0.83 [[ 9.29112809e-01 3.69795311e-01 9.03250180e-04 2.40988672e+02] [-3.69795119e-01 9.29113248e-01 -3.77569276e-04 1.62779773e+02] [-9.78845056e-04 1.67869424e-05 9.99999521e-01 8.30429158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.180281693 meters 0.023707637589135484 Centerline is valid? [True, True] Translation: X:241.01, Y:162.77, Z:0.83 [[ 9.29266283e-01 3.69410042e-01 6.28797034e-04 2.41014499e+02] [-3.69409949e-01 9.29266496e-01 -2.62775022e-04 1.62768945e+02] [-6.81391749e-04 1.19040882e-05 9.99999768e-01 8.29463841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21028169299996 meters 0.022740431423267232 Centerline is valid? [True, True] Translation: X:241.04, Y:162.76, Z:0.83 [[ 9.29498216e-01 3.68826519e-01 2.55337298e-04 2.41041563e+02] [-3.68826504e-01 9.29498251e-01 -1.06413933e-04 1.62759850e+02] [-2.76583852e-04 4.73639782e-06 9.99999962e-01 8.28080793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.240281693 meters 0.023079244281680015 Centerline is valid? [True, True] Translation: X:241.07, Y:162.75, Z:0.83 [[ 9.29680901e-01 3.68365862e-01 1.16614392e-04 2.41067870e+02] [-3.68365858e-01 9.29680909e-01 -4.84226853e-05 1.62748134e+02] [-1.26251438e-04 2.06088514e-06 9.99999992e-01 8.27251376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27028169299996 meters 0.02299532175859387 Centerline is valid? [True, True] Translation: X:241.09, Y:162.74, Z:0.83 [[ 9.29923128e-01 3.67753404e-01 6.40707607e-04 2.41093974e+02] [-3.67753307e-01 9.29923349e-01 -2.67189703e-04 1.62736670e+02] [-6.94068886e-04 1.28435434e-05 9.99999759e-01 8.27691327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.300281693 meters 0.024844904183462434 Centerline is valid? [True, True] Translation: X:241.12, Y:162.72, Z:0.83 [[ 9.30357920e-01 3.66648568e-01 1.72306859e-03 2.41117755e+02] [-3.66647865e-01 9.30359515e-01 -7.19110579e-04 1.62722100e+02] [-1.86673412e-03 3.72708051e-05 9.99998257e-01 8.29611339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33028169299996 meters 0.025272776854950513 Centerline is valid? [True, True] Translation: X:241.14, Y:162.71, Z:0.83 [[ 9.30645743e-01 3.65913927e-01 2.34496429e-03 2.41143869e+02] [-3.65912623e-01 9.30648696e-01 -9.78062002e-04 1.62710240e+02] [-2.54022447e-03 5.21772028e-05 9.99996772e-01 8.30411377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36028169299993 meters 0.027799955922699862 Centerline is valid? [True, True] Translation: X:241.17, Y:162.70, Z:0.83 [[ 9.30883825e-01 3.65308556e-01 2.22770576e-03 2.41167638e+02] [-3.65307378e-01 9.30886490e-01 -9.29169334e-04 1.62695502e+02] [-2.41317470e-03 5.11513552e-05 9.99997087e-01 8.30442790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39028169299996 meters 0.027593976428681607 Centerline is valid? [True, True] Translation: X:241.19, Y:162.68, Z:0.83 [[ 9.31398288e-01 3.64000996e-01 7.09588562e-04 2.41192978e+02] [-3.64000876e-01 9.31398558e-01 -2.95589716e-04 1.62681767e+02] [-7.68504715e-04 1.70208971e-05 9.99999705e-01 8.27046257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42028169299994 meters 0.0275597921411319 Centerline is valid? [True, True] Translation: X:241.22, Y:162.67, Z:0.83 [[ 9.31614186e-01 3.63448317e-01 5.73612353e-04 2.41219023e+02] [-3.63448239e-01 9.31614363e-01 -2.38781393e-04 1.62668354e+02] [-6.21170202e-04 1.39737332e-05 9.99999807e-01 8.26335980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45028169299997 meters 0.02927069595333275 Centerline is valid? [True, True] Translation: X:241.24, Y:162.65, Z:0.83 [[ 9.31860767e-01 3.62815054e-01 8.64567979e-04 2.41243233e+02] [-3.62814876e-01 9.31861168e-01 -3.60161911e-04 1.62653111e+02] [-9.36329489e-04 2.19426309e-05 9.99999561e-01 8.26893961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48028169299994 meters 0.031496766512113174 Centerline is valid? [True, True] Translation: X:241.27, Y:162.64, Z:0.83 [[ 9.32008296e-01 3.62433497e-01 1.57976818e-03 2.41266494e+02] [-3.62432902e-01 9.32009634e-01 -6.58080511e-04 1.62637381e+02] [-1.71086958e-03 4.07765302e-05 9.99998536e-01 8.28646628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51028169299997 meters 0.030707801145602214 Centerline is valid? [True, True] Translation: X:241.29, Y:162.62, Z:0.83 [[ 9.32187348e-01 3.61968657e-01 2.33246522e-03 2.41290841e+02] [-3.61967358e-01 9.32190264e-01 -9.71524823e-04 1.62622157e+02] [-2.52596290e-03 6.13668743e-05 9.99996808e-01 8.29907021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54028169299994 meters 0.03039120310222097 Centerline is valid? [True, True] Translation: X:241.32, Y:162.61, Z:0.83 [[ 9.32189939e-01 3.61960917e-01 2.49230805e-03 2.41315348e+02] [-3.61959436e-01 9.32193269e-01 -1.03737331e-03 1.62608924e+02] [-2.69880139e-03 6.49145444e-05 9.99996356e-01 8.30486651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57028169299997 meters 0.02989243695983374 Centerline is valid? [True, True] Translation: X:241.34, Y:162.60, Z:0.83 [[ 9.32114096e-01 3.62156198e-01 2.49008520e-03 2.41341001e+02] [-3.62154722e-01 9.32117420e-01 -1.03602507e-03 1.62595843e+02] [-2.69625469e-03 6.38974611e-05 9.99996363e-01 8.30512599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60028169299994 meters 0.02988516692314437 Centerline is valid? [True, True] Translation: X:241.37, Y:162.58, Z:0.83 [[ 9.31970311e-01 3.62528027e-01 2.18403580e-03 2.41366108e+02] [-3.62526893e-01 9.31972868e-01 -9.08258446e-04 1.62582905e+02] [-2.36473125e-03 5.46981919e-05 9.99997203e-01 8.30086932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.630281693 meters 0.025884446016373148 Centerline is valid? [True, True] Translation: X:241.39, Y:162.57, Z:0.83 [[ 9.31319401e-01 3.64197275e-01 2.12555210e-03 2.41393526e+02] [-3.64196207e-01 9.31321825e-01 -8.83558894e-04 1.62572525e+02] [-2.30136281e-03 4.87575271e-05 9.99997351e-01 8.28846438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66028169299994 meters 0.02676314445054568 Centerline is valid? [True, True] Translation: X:241.42, Y:162.56, Z:0.83 [[ 9.30925509e-01 3.65201799e-01 2.31146725e-03 2.41417550e+02] [-3.65200539e-01 9.30928377e-01 -9.60744842e-04 1.62558353e+02] [-2.50267620e-03 5.02327966e-05 9.99996867e-01 8.29435362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.690281693 meters 0.023890580864564186 Centerline is valid? [True, True] Translation: X:241.44, Y:162.55, Z:0.83 [[ 9.30626153e-01 3.65959776e-01 2.89922995e-03 2.41444681e+02] [-3.65957799e-01 9.30630667e-01 -1.20439062e-03 1.62549215e+02] [-3.13887083e-03 5.98415963e-05 9.99995072e-01 8.29392014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72028169299995 meters 0.02285071668974593 Centerline is valid? [True, True] Translation: X:241.47, Y:162.54, Z:0.83 [[ 9.30250110e-01 3.66913909e-01 2.98603381e-03 2.41470793e+02] [-3.66911819e-01 9.30254901e-01 -1.23988400e-03 1.62538050e+02] [-3.23270327e-03 5.77911326e-05 9.99994773e-01 8.29857952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.750281693 meters 0.021749726587947105 Centerline is valid? [True, True] Translation: X:241.50, Y:162.53, Z:0.83 [[ 9.29883181e-01 3.67845460e-01 2.64325800e-03 2.41497183e+02] [-3.67843828e-01 9.29886937e-01 -1.09701026e-03 1.62526925e+02] [-2.86146133e-03 4.77852518e-05 9.99995905e-01 8.29168057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78028169299995 meters 0.019409970335616852 Centerline is valid? [True, True] Translation: X:241.52, Y:162.52, Z:0.83 [[ 9.28883717e-01 3.70367431e-01 1.73393974e-03 2.41523969e+02] [-3.70366733e-01 9.28885335e-01 -7.19228736e-04 1.62516124e+02] [-1.87701010e-03 2.58862623e-05 9.99998238e-01 8.27833556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.810281693 meters 0.018627493620374684 Centerline is valid? [True, True] Translation: X:241.55, Y:162.51, Z:0.83 [[ 9.28352634e-01 3.71694764e-01 2.09518212e-03 2.41549736e+02] [-3.71693749e-01 9.28354998e-01 -8.69142862e-04 1.62505530e+02] [-2.26812864e-03 2.81049705e-05 9.99997427e-01 8.28647134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84028169299995 meters 0.01788998835848916 Centerline is valid? [True, True] Translation: X:241.58, Y:162.49, Z:0.83 [[ 9.27987194e-01 3.72598932e-01 3.13128129e-03 2.41576773e+02] [-3.72596672e-01 9.27992476e-01 -1.29822308e-03 1.62494808e+02] [-3.38952200e-03 3.80294030e-05 9.99994255e-01 8.30042311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.870281693 meters 0.018652727603707505 Centerline is valid? [True, True] Translation: X:241.60, Y:162.48, Z:0.83 [[ 9.27937827e-01 3.72719416e-01 3.40962286e-03 2.41599750e+02] [-3.72716739e-01 9.27944091e-01 -1.41320402e-03 1.62480868e+02] [-3.69066796e-03 4.05419555e-05 9.99993189e-01 8.30461531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90028169299995 meters 0.01853982259614335 Centerline is valid? [True, True] Translation: X:241.63, Y:162.47, Z:0.83 [[ 9.28615931e-01 3.71031877e-01 2.79265214e-03 2.41625264e+02] [-3.71030076e-01 9.28620129e-01 -1.15683595e-03 1.62467825e+02] [-3.02253600e-03 3.80983626e-05 9.99995431e-01 8.27696697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.930281693 meters 0.020370670167444187 Centerline is valid? [True, True] Translation: X:241.65, Y:162.45, Z:0.83 [[ 9.29497615e-01 3.68822216e-01 2.08733205e-03 2.41649712e+02] [-3.68821205e-01 9.29499958e-01 -8.64186008e-04 1.62450759e+02] [-2.25890605e-03 3.34065128e-05 9.99997448e-01 8.26405851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96028169299996 meters 0.02407334383349943 Centerline is valid? [True, True] Translation: X:241.67, Y:162.43, Z:0.83 [[ 9.30582736e-01 3.66076564e-01 1.92904793e-03 2.41671265e+02] [-3.66075695e-01 9.30584734e-01 -7.98503958e-04 1.62431349e+02] [-2.08745614e-03 3.68964351e-05 9.99997821e-01 8.26243537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.990281693 meters 0.029453993999107093 Centerline is valid? [True, True] Translation: X:241.69, Y:162.41, Z:0.83 [[ 9.32439498e-01 3.61320202e-01 2.07211308e-03 2.41691348e+02] [-3.61319187e-01 9.32441799e-01 -8.57771846e-04 1.62405668e+02] [-2.24205514e-03 5.11261372e-05 9.99997485e-01 8.26955161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02028169299996 meters 0.031209302433111156 Centerline is valid? [True, True] Translation: X:241.71, Y:162.39, Z:0.83 [[ 9.32842936e-01 3.60273860e-01 2.60811329e-03 2.41714976e+02] [-3.60272249e-01 9.32846580e-01 -1.07946233e-03 1.62389944e+02] [-2.82187162e-03 6.73379690e-05 9.99996016e-01 8.28209706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.050281693 meters 0.029485761689655363 Centerline is valid? [True, True] Translation: X:241.74, Y:162.38, Z:0.83 [[ 9.32846948e-01 3.60260614e-01 2.97686682e-03 2.41740578e+02] [-3.60258518e-01 9.32851695e-01 -1.23124318e-03 1.62379053e+02] [-3.22054368e-03 7.61198171e-05 9.99994811e-01 8.29050143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08028169299996 meters 0.026698052991936626 Centerline is valid? [True, True] Translation: X:241.77, Y:162.37, Z:0.83 [[ 9.31692190e-01 3.63223065e-01 4.32063837e-03 2.41766859e+02] [-3.63218680e-01 9.31702203e-01 -1.78733297e-03 1.62366133e+02] [-4.67474885e-03 9.59075986e-05 9.99989069e-01 8.31326272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11028169299993 meters 0.025037121237400674 Centerline is valid? [True, True] Translation: X:241.79, Y:162.36, Z:0.83 [[ 9.30986804e-01 3.65021494e-01 4.78320766e-03 2.41792391e+02] [-3.65016145e-01 9.30999087e-01 -1.97831236e-03 1.62355346e+02] [-5.17528849e-03 9.58346781e-05 9.99986604e-01 8.32858381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14028169299996 meters 0.023996187713552046 Centerline is valid? [True, True] Translation: X:241.82, Y:162.34, Z:0.83 [[ 9.30164238e-01 3.67109112e-01 5.03897862e-03 2.41817764e+02] [-3.67103213e-01 9.30177882e-01 -2.08299226e-03 1.62344272e+02] [-5.45183190e-03 8.76996690e-05 9.99985135e-01 8.33860621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17028169299994 meters 0.020855240855584642 Centerline is valid? [True, True] Translation: X:241.85, Y:162.34, Z:0.83 [[ 9.29336741e-01 3.69193802e-01 5.39995086e-03 2.41845263e+02] [-3.69187068e-01 9.29352425e-01 -2.23121187e-03 1.62335412e+02] [-5.84220702e-03 7.99551445e-05 9.99982931e-01 8.32851236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20028169299997 meters 0.0170210017977302 Centerline is valid? [True, True] Translation: X:241.87, Y:162.33, Z:0.83 [[ 9.27641978e-01 3.73431274e-01 5.42622212e-03 2.41872847e+02] [-3.73424553e-01 9.27657847e-01 -2.24113673e-03 1.62325350e+02] [-5.87058807e-03 5.26879369e-05 9.99982767e-01 8.32124278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23028169299994 meters 0.01586370015703638 Centerline is valid? [True, True] Translation: X:241.90, Y:162.31, Z:0.83 [[ 9.27090661e-01 3.74799509e-01 5.31360857e-03 2.41899480e+02] [-3.74793092e-01 9.27105887e-01 -2.19359734e-03 1.62314849e+02] [-5.74843699e-03 4.21598214e-05 9.99983477e-01 8.31676363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26028169299997 meters 0.015425748227848455 Centerline is valid? [True, True] Translation: X:241.93, Y:162.30, Z:0.83 [[ 9.26801747e-01 3.75518660e-01 4.92519967e-03 2.41925006e+02] [-3.75513158e-01 9.26814833e-01 -2.03307841e-03 1.62304119e+02] [-5.32820699e-03 3.47833421e-05 9.99985804e-01 8.31079098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29028169299994 meters 0.015299973298476278 Centerline is valid? [True, True] Translation: X:241.95, Y:162.29, Z:0.83 [[ 9.26778179e-01 3.75580782e-01 4.61336510e-03 2.41950176e+02] [-3.75575962e-01 9.26789661e-01 -1.90314757e-03 1.62292817e+02] [-4.99040473e-03 3.11266084e-05 9.99987547e-01 8.30287486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32028169299997 meters 0.015782300212041623 Centerline is valid? [True, True] Translation: X:241.97, Y:162.28, Z:0.83 [[ 9.27038410e-01 3.74945604e-01 3.94722006e-03 2.41973036e+02] [-3.74942070e-01 9.27046813e-01 -1.62810649e-03 1.62276504e+02] [-4.26970914e-03 2.93383886e-05 9.99990884e-01 8.28707222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35028169299994 meters 0.01609486309832997 Centerline is valid? [True, True] Translation: X:242.00, Y:162.26, Z:0.83 [[ 9.27252304e-01 3.74420876e-01 3.48885217e-03 2.41996153e+02] [-3.74418113e-01 9.27258867e-01 -1.43870687e-03 1.62262195e+02] [-3.77375100e-03 2.77548137e-05 9.99992879e-01 8.27973146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.380281693 meters 0.016242870465016466 Centerline is valid? [True, True] Translation: X:242.02, Y:162.25, Z:0.83 [[ 9.27438123e-01 3.73962170e-01 3.28977577e-03 2.42020176e+02] [-3.73959713e-01 9.27443958e-01 -1.35574176e-03 1.62248075e+02] [-3.55807879e-03 2.71229903e-05 9.99993670e-01 8.27192307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41028169299994 meters 0.01646384935608098 Centerline is valid? [True, True] Translation: X:242.04, Y:162.23, Z:0.83 [[ 9.27551970e-01 3.73679203e-01 3.34601040e-03 2.42044631e+02] [-3.73676662e-01 9.27558005e-01 -1.37822054e-03 1.62234829e+02] [-3.61863108e-03 2.80451768e-05 9.99993452e-01 8.26952342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.440281693 meters 0.015500634863201752 Centerline is valid? [True, True] Translation: X:242.07, Y:162.22, Z:0.83 [[ 9.27036469e-01 3.74959212e-01 2.99576781e-03 2.42071009e+02] [-3.74957184e-01 9.27041309e-01 -1.23340897e-03 1.62222037e+02] [-3.23967856e-03 2.01304342e-05 9.99994752e-01 8.25605733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47028169299995 meters 0.01474406331194299 Centerline is valid? [True, True] Translation: X:242.10, Y:162.21, Z:0.83 [[ 9.26607326e-01 3.76018382e-01 3.00671068e-03 2.42097485e+02] [-3.76016347e-01 9.26612204e-01 -1.23736193e-03 1.62211047e+02] [-3.25132564e-03 1.59762656e-05 9.99994714e-01 8.25375000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.500281693 meters 0.014241408080184582 Centerline is valid? [True, True] Translation: X:242.12, Y:162.20, Z:0.83 [[ 9.26150483e-01 3.77142613e-01 2.95506807e-03 2.42123160e+02] [-3.77140652e-01 9.26155197e-01 -1.21608483e-03 1.62200046e+02] [-3.19548906e-03 1.18012560e-05 9.99994894e-01 8.25672295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53028169299995 meters 0.013821860438361089 Centerline is valid? [True, True] Translation: X:242.15, Y:162.19, Z:0.83 [[ 9.25736478e-01 3.78159400e-01 2.72806741e-03 2.42148595e+02] [-3.78157734e-01 9.25740497e-01 -1.12248411e-03 1.62187982e+02] [-2.94996040e-03 7.48469874e-06 9.99995649e-01 8.25539342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.560281693 meters 0.013533560543593875 Centerline is valid? [True, True] Translation: X:242.17, Y:162.18, Z:0.82 [[ 9.25547918e-01 3.78626334e-01 1.77516591e-03 2.42174353e+02] [-3.78625631e-01 9.25549620e-01 -7.29802072e-04 1.62176147e+02] [-1.91932642e-03 3.34347647e-06 9.99998158e-01 8.23785665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59028169299995 meters 0.013398542596070269 Centerline is valid? [True, True] Translation: X:242.20, Y:162.16, Z:0.82 [[ 9.25141461e-01 3.79620982e-01 1.08991327e-03 2.42198547e+02] [-3.79620717e-01 9.25142103e-01 -4.48104502e-04 1.62162308e+02] [-1.17843453e-03 8.06394629e-07 9.99999306e-01 8.21666713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.620281693 meters 0.013327275039720182 Centerline is valid? [True, True] Translation: X:242.22, Y:162.15, Z:0.82 [[ 9.25043807e-01 3.79858457e-01 1.22756348e-03 2.42223005e+02] [-3.79858122e-01 9.25044622e-01 -5.04426599e-04 1.62149508e+02] [-1.32716171e-03 3.16742501e-07 9.99999119e-01 8.21748079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65028169299995 meters 0.013310518257733458 Centerline is valid? [True, True] Translation: X:242.25, Y:162.14, Z:0.82 [[ 9.24992325e-01 3.79981883e-01 1.72264733e-03 2.42248058e+02] [-3.79981224e-01 9.24993929e-01 -7.07499012e-04 1.62136057e+02] [-1.86227512e-03 -1.42483940e-07 9.99998266e-01 8.22202514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.680281693 meters 0.013525246238748534 Centerline is valid? [True, True] Translation: X:242.27, Y:162.12, Z:0.82 [[ 9.24322902e-01 3.81608294e-01 1.51105848e-03 2.42271700e+02] [-3.81607789e-01 9.24324137e-01 -6.20595893e-04 1.62123337e+02] [-1.63353236e-03 -3.00068782e-06 9.99998666e-01 8.21871517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71028169299996 meters 0.013891397169157747 Centerline is valid? [True, True] Translation: X:242.30, Y:162.11, Z:0.82 [[ 9.23791498e-01 3.82895375e-01 6.32920206e-04 2.42297682e+02] [-3.82895287e-01 9.23791715e-01 -2.59569877e-04 1.62113391e+02] [-6.84074548e-04 -2.55371856e-06 9.99999766e-01 8.19426441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.740281693 meters 0.01499457979782874 Centerline is valid? [True, True] Translation: X:242.32, Y:162.10, Z:0.82 [[ 9.23122305e-01 3.84506379e-01 -2.34874605e-04 2.42324926e+02] [-3.84506367e-01 9.23122335e-01 9.66543973e-05 1.62103785e+02] [ 2.53982226e-04 1.08695086e-06 9.99999968e-01 8.17430885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77028169299996 meters 0.01680568283754701 Centerline is valid? [True, True] Translation: X:242.35, Y:162.09, Z:0.82 [[ 9.22261343e-01 3.86565785e-01 -9.53434331e-04 2.42352155e+02] [-3.86565587e-01 9.22261836e-01 3.91388709e-04 1.62094629e+02] [ 1.03061358e-03 7.60222627e-06 9.99999469e-01 8.15691308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.800281693 meters 0.019767873968240195 Centerline is valid? [True, True] Translation: X:242.38, Y:162.08, Z:0.82 [[ 9.20149188e-01 3.91567145e-01 -8.01862900e-04 2.42379720e+02] [-3.91567007e-01 9.20149537e-01 3.28977465e-04 1.62084820e+02] [ 8.66650543e-04 1.12747082e-05 9.99999624e-01 8.16305273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83028169299996 meters 0.02598546291030196 Centerline is valid? [True, True] Translation: X:242.41, Y:162.08, Z:0.82 [[ 9.18821244e-01 3.94673816e-01 -3.17982299e-04 2.42408750e+02] [-3.94673795e-01 9.18821299e-01 1.30512352e-04 1.62082532e+02] [ 3.43678717e-04 5.58175916e-06 9.99999941e-01 8.18128826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86028169299993 meters 0.03059196839839073 Centerline is valid? [True, True] Translation: X:242.44, Y:162.08, Z:0.82 [[ 9.17350371e-01 3.98080756e-01 -9.79929812e-05 2.42438266e+02] [-3.98080754e-01 9.17350376e-01 4.02397796e-05 1.62077935e+02] [ 1.05912580e-04 2.09514314e-06 9.99999994e-01 8.18981188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89028169299996 meters 0.03059196839839073 Centerline is valid? [True, True] Translation: X:242.46, Y:162.07, Z:0.82 [[ 9.17417801e-01 3.97925332e-01 -9.79170100e-05 2.42463778e+02] [-3.97925330e-01 9.17417806e-01 4.04250932e-05 1.62067707e+02] [ 1.05916977e-04 1.87695839e-06 9.99999994e-01 8.19024758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92028169299994 meters 0.03508738537888615 Centerline is valid? [True, True] Translation: X:242.49, Y:162.06, Z:0.82 [[ 9.15968936e-01 4.01249176e-01 8.24627469e-05 2.42493448e+02] [-4.01249174e-01 9.15968940e-01 -3.37429369e-05 1.62063445e+02] [-8.90726404e-05 -2.18062711e-06 9.99999996e-01 8.19036753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95028169299997 meters 0.04166100697134116 Centerline is valid? [True, True] Translation: X:242.52, Y:162.06, Z:0.82 [[ 9.14184185e-01 4.05298747e-01 4.48193988e-04 2.42523922e+02] [-4.05298706e-01 9.14184295e-01 -1.83617689e-04 1.62063120e+02] [-4.84151924e-04 -1.37920554e-05 9.99999883e-01 8.17423802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98028169299994 meters 0.03819725399678655 Centerline is valid? [True, True] Translation: X:242.55, Y:162.05, Z:0.82 [[ 9.14078174e-01 4.05537528e-01 6.36583860e-04 2.42549504e+02] [-4.05537445e-01 9.14078395e-01 -2.60499760e-04 1.62048339e+02] [-6.87529982e-04 -2.00414469e-05 9.99999763e-01 8.16844271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01028169299997 meters 0.03321583476176679 Centerline is valid? [True, True] Translation: X:242.57, Y:162.03, Z:0.82 [[ 9.14910422e-01 4.03655863e-01 9.29433031e-04 2.42574332e+02] [-4.03655684e-01 9.14910894e-01 -3.80594420e-04 1.62032200e+02] [-1.00397757e-03 -2.69611247e-05 9.99999496e-01 8.16857346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04028169299994 meters 0.03167261286378191 Centerline is valid? [True, True] Translation: X:242.60, Y:162.02, Z:0.82 [[ 9.15557472e-01 4.02186235e-01 8.64834912e-04 2.42600429e+02] [-4.02186080e-01 9.15557880e-01 -3.53773495e-04 1.62020196e+02] [-9.34089249e-04 -2.39245960e-05 9.99999563e-01 8.17533222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07028169299997 meters 0.031033569609733413 Centerline is valid? [True, True] Translation: X:242.63, Y:162.01, Z:0.82 [[ 9.16272288e-01 4.00553374e-01 1.44574657e-03 2.42625737e+02] [-4.00552938e-01 9.16273427e-01 -5.91673125e-04 1.62009362e+02] [-1.56169583e-03 -3.69643488e-05 9.99998780e-01 8.18659094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10028169299994 meters 0.029110170933966575 Centerline is valid? [True, True] Translation: X:242.65, Y:162.00, Z:0.82 [[ 9.17152728e-01 3.98529515e-01 2.25840054e-03 2.42651046e+02] [-3.98528448e-01 9.17155507e-01 -9.23717066e-04 1.61996244e+02] [-2.43943301e-03 -5.28472356e-05 9.99997023e-01 8.20229010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.130281693 meters 0.0229026218995399 Centerline is valid? [True, True] Translation: X:242.68, Y:161.98, Z:0.82 [[ 9.19168143e-01 3.93836964e-01 4.72971223e-03 2.42675518e+02] [-3.93832220e-01 9.19180308e-01 -1.93484677e-03 1.61976497e+02] [-5.10947253e-03 -8.42635518e-05 9.99986943e-01 8.23504374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16028169299994 meters 0.021247654967548914 Centerline is valid? [True, True] Translation: X:242.70, Y:161.96, Z:0.83 [[ 9.20023680e-01 3.91818001e-01 5.92304061e-03 2.42701190e+02] [-3.91810528e-01 9.20042741e-01 -2.42166954e-03 1.61963083e+02] [-6.39830424e-03 -9.27163479e-05 9.99979526e-01 8.25430836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.190281693 meters 0.021285025445249028 Centerline is valid? [True, True] Translation: X:242.73, Y:161.95, Z:0.83 [[ 9.20546418e-01 3.90572234e-01 6.90091804e-03 2.42726633e+02] [-3.90562057e-01 9.20572279e-01 -2.82123675e-03 1.61951377e+02] [-7.45469059e-03 -9.81573581e-05 9.99972209e-01 8.27967291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22028169299995 meters 0.020682329821680084 Centerline is valid? [True, True] Translation: X:242.75, Y:161.94, Z:0.83 [[ 9.20805077e-01 3.89952535e-01 7.41831530e-03 2.42752015e+02] [-3.89940768e-01 9.20834953e-01 -3.03099163e-03 1.61938905e+02] [-8.01298689e-03 -1.01751082e-04 9.99967890e-01 8.28712150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.250281693 meters 0.020626034915831492 Centerline is valid? [True, True] Translation: X:242.78, Y:161.93, Z:0.83 [[ 9.20832430e-01 3.89925715e-01 5.05696276e-03 2.42777910e+02] [-3.89920248e-01 9.20846313e-01 -2.06596915e-03 1.61927870e+02] [-5.46226001e-03 -6.94007816e-05 9.99985079e-01 8.25062209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28028169299995 meters 0.0202287175649885 Centerline is valid? [True, True] Translation: X:242.80, Y:161.92, Z:0.82 [[ 9.20769840e-01 3.90091562e-01 3.38752883e-03 2.42803320e+02] [-3.90089114e-01 9.20776070e-01 -1.38295825e-03 1.61917262e+02] [-3.65863582e-03 -4.80518718e-05 9.99993306e-01 8.20873111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.310281693 meters 0.020780927391000684 Centerline is valid? [True, True] Translation: X:242.83, Y:161.91, Z:0.82 [[ 9.20692907e-01 3.90281726e-01 2.17824933e-03 2.42828559e+02] [-3.90280715e-01 9.20695483e-01 -8.89131655e-04 1.61908375e+02] [-2.35251615e-03 -3.15114954e-05 9.99997232e-01 8.18304891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34028169299995 meters 0.020745359557891592 Centerline is valid? [True, True] Translation: X:242.85, Y:161.90, Z:0.82 [[ 9.20601694e-01 3.90499109e-01 1.72269443e-03 2.42853984e+02] [-3.90498478e-01 9.20603305e-01 -7.02595127e-04 1.61897661e+02] [-1.86028096e-03 -2.58992889e-05 9.99998269e-01 8.17213327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.370281693 meters 0.023172344579606333 Centerline is valid? [True, True] Translation: X:242.88, Y:161.89, Z:0.82 [[ 9.19878150e-01 3.92198801e-01 2.07131332e-03 2.42880700e+02] [-3.92197892e-01 9.19880481e-01 -8.44923782e-04 1.61890442e+02] [-2.23673878e-03 -3.51377905e-05 9.99997498e-01 8.18187373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40028169299995 meters 0.02425015555728712 Centerline is valid? [True, True] Translation: X:242.91, Y:161.88, Z:0.82 [[ 9.19414372e-01 3.93282727e-01 2.43107216e-03 2.42907417e+02] [-3.93281480e-01 9.19417585e-01 -9.91532668e-04 1.61880903e+02] [-2.62512317e-03 -4.44662732e-05 9.99996553e-01 8.18664694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.430281693 meters 0.02486234496216194 Centerline is valid? [True, True] Translation: X:242.93, Y:161.87, Z:0.82 [[ 9.19158396e-01 3.93878137e-01 2.80274213e-03 2.42934212e+02] [-3.93876484e-01 9.19162668e-01 -1.14243584e-03 1.61870455e+02] [-3.02615643e-03 -5.38547232e-05 9.99995420e-01 8.18733287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46028169299996 meters 0.025953102735804093 Centerline is valid? [True, True] Translation: X:242.96, Y:161.86, Z:0.82 [[ 9.19029736e-01 3.94177401e-01 2.91918927e-03 2.42959967e+02] [-3.94175609e-01 9.19034370e-01 -1.18989648e-03 1.61860963e+02] [-3.15186557e-03 -5.71229571e-05 9.99995031e-01 8.18997162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.490281693 meters 0.024030558849409016 Centerline is valid? [True, True] Translation: X:242.99, Y:161.85, Z:0.82 [[ 9.19288588e-01 3.93575679e-01 2.58377216e-03 2.42985038e+02] [-3.93574275e-01 9.19292218e-01 -1.05249061e-03 1.61846337e+02] [-2.78947635e-03 -4.93636433e-05 9.99996108e-01 8.17719955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52028169299996 meters 0.022959701569497466 Centerline is valid? [True, True] Translation: X:243.01, Y:161.83, Z:0.82 [[ 9.19566375e-01 3.92927995e-01 2.29616226e-03 2.43011008e+02] [-3.92926886e-01 9.19569241e-01 -9.34853564e-04 1.61833558e+02] [-2.47881033e-03 -4.25639839e-05 9.99996927e-01 8.17065587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.550281693 meters 0.02333596090510633 Centerline is valid? [True, True] Translation: X:243.04, Y:161.82, Z:0.82 [[ 9.19806586e-01 3.92368533e-01 1.66667784e-03 2.43036458e+02] [-3.92367948e-01 9.19808096e-01 -6.78558352e-04 1.61823205e+02] [-1.79926872e-03 -2.98085239e-05 9.99998381e-01 8.15718991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58028169299996 meters 0.022817052555024083 Centerline is valid? [True, True] Translation: X:243.06, Y:161.81, Z:0.81 [[ 9.20064459e-01 3.91765338e-01 1.14462884e-03 2.43062331e+02] [-3.91765062e-01 9.20065171e-01 -4.65591199e-04 1.61811113e+02] [-1.23553562e-03 -2.00516734e-05 9.99999237e-01 8.14681640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61028169299993 meters 0.022596095550036315 Centerline is valid? [True, True] Translation: X:243.09, Y:161.80, Z:0.81 [[ 9.20694283e-01 3.90283360e-01 9.67243765e-04 2.43086660e+02] [-3.90283162e-01 9.20694791e-01 -3.93508698e-04 1.61796588e+02] [-1.04411619e-03 -1.51977461e-05 9.99999455e-01 8.14124088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64028169299996 meters 0.01998473497545826 Centerline is valid? [True, True] Translation: X:243.11, Y:161.78, Z:0.81 [[ 9.21438471e-01 3.88522316e-01 1.24671759e-03 2.43110622e+02] [-3.88521986e-01 9.21439314e-01 -5.06824282e-04 1.61779304e+02] [-1.34568714e-03 -1.73698001e-05 9.99999094e-01 8.13670177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67028169299994 meters 0.01857308763359388 Centerline is valid? [True, True] Translation: X:243.13, Y:161.76, Z:0.81 [[ 9.22341698e-01 3.86371659e-01 1.65331068e-03 2.43134562e+02] [-3.86371075e-01 9.22343180e-01 -6.72172746e-04 1.61763369e+02] [-1.78462832e-03 -1.88184708e-05 9.99998407e-01 8.14173327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70028169299997 meters 0.015434923964053191 Centerline is valid? [True, True] Translation: X:243.16, Y:161.74, Z:0.81 [[ 9.23686085e-01 3.83147510e-01 1.41489081e-03 2.43156380e+02] [-3.83147079e-01 9.23687169e-01 -5.74808459e-04 1.61740301e+02] [-1.52715291e-03 -1.11687034e-05 9.99998834e-01 8.12221662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73028169299994 meters 0.015798227140585337 Centerline is valid? [True, True] Translation: X:243.18, Y:161.73, Z:0.81 [[ 9.23827535e-01 3.82807052e-01 1.20276594e-03 2.43180468e+02] [-3.82806741e-01 9.23828318e-01 -4.88615295e-04 1.61727581e+02] [-1.29819461e-03 -9.03064413e-06 9.99999157e-01 8.12168678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76028169299997 meters 0.015689284692448263 Centerline is valid? [True, True] Translation: X:243.20, Y:161.71, Z:0.81 [[ 9.23807414e-01 3.82853874e-01 1.66554034e-03 2.43204899e+02] [-3.82853277e-01 9.23808915e-01 -6.76140020e-04 1.61714518e+02] [-1.79750384e-03 -1.30344149e-05 9.99998384e-01 8.12530317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79028169299994 meters 0.016634681610724546 Centerline is valid? [True, True] Translation: X:243.23, Y:161.70, Z:0.81 [[ 9.23392929e-01 3.83851684e-01 1.83944258e-03 2.43230191e+02] [-3.83850958e-01 9.23394761e-01 -7.46864820e-04 1.61702966e+02] [-1.98521696e-03 -1.64221052e-05 9.99998029e-01 8.13547602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82028169299997 meters 0.017987066955406857 Centerline is valid? [True, True] Translation: X:243.26, Y:161.69, Z:0.81 [[ 9.22727725e-01 3.85448176e-01 1.80253603e-03 2.43256874e+02] [-3.85447483e-01 9.22729486e-01 -7.31367973e-04 1.61691974e+02] [-1.94515759e-03 -1.99294675e-05 9.99998108e-01 8.13718367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85028169299994 meters 0.022399547107738848 Centerline is valid? [True, True] Translation: X:243.28, Y:161.68, Z:0.81 [[ 9.21087293e-01 3.89355576e-01 6.59015035e-04 2.43284131e+02] [-3.89355485e-01 9.21087529e-01 -2.67351741e-04 1.61684330e+02] [-7.11105421e-04 -1.03368270e-05 9.99999747e-01 8.12028647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.880281693 meters 0.023094517963613826 Centerline is valid? [True, True] Translation: X:243.31, Y:161.67, Z:0.81 [[ 9.20696110e-01 3.90279490e-01 7.69662145e-04 2.43310990e+02] [-3.90279366e-01 9.20696432e-01 -3.11942310e-04 1.61673286e+02] [-8.30369876e-04 -1.31791820e-05 9.99999655e-01 8.12413627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91028169299994 meters 0.023597311504317025 Centerline is valid? [True, True] Translation: X:243.34, Y:161.66, Z:0.81 [[ 9.20584230e-01 3.90541856e-01 1.31681842e-03 2.43337878e+02] [-3.90541492e-01 9.20585172e-01 -5.33654557e-04 1.61661825e+02] [-1.42065795e-03 -2.29982611e-05 9.99998991e-01 8.12992261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.940281693 meters 0.02403279652548231 Centerline is valid? [True, True] Translation: X:243.36, Y:161.65, Z:0.81 [[ 9.20621051e-01 3.90451468e-01 2.12858152e-03 2.43363123e+02] [-3.90450517e-01 9.20623511e-01 -8.62831078e-04 1.61650499e+02] [-2.29651586e-03 -3.67653018e-05 9.99997362e-01 8.13973712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97028169299995 meters 0.022904688324476855 Centerline is valid? [True, True] Translation: X:243.39, Y:161.63, Z:0.81 [[ 9.21043885e-01 3.89446135e-01 3.14159640e-03 2.43387235e+02] [-3.89444058e-01 9.21049242e-01 -1.27276962e-03 1.61633125e+02] [-3.38924019e-03 -5.11993753e-05 9.99994255e-01 8.14431592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.000281693 meters 0.021215150393843852 Centerline is valid? [True, True] Translation: X:243.41, Y:161.62, Z:0.81 [[ 9.21497652e-01 3.88371961e-01 3.04922238e-03 2.43412086e+02] [-3.88370001e-01 9.21502696e-01 -1.23476458e-03 1.61616866e+02] [-3.28941459e-03 -4.63938407e-05 9.99994589e-01 8.14138201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03028169299995 meters 0.020213867083305494 Centerline is valid? [True, True] Translation: X:243.44, Y:161.60, Z:0.81 [[ 9.22003201e-01 3.87172706e-01 2.71914394e-03 2.43437198e+02] [-3.87171144e-01 9.22007210e-01 -1.10056622e-03 1.61602216e+02] [-2.93317952e-03 -3.80484930e-05 9.99995698e-01 8.14116909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.060281693 meters 0.020445512351769387 Centerline is valid? [True, True] Translation: X:243.46, Y:161.59, Z:0.81 [[ 9.22012097e-01 3.87154347e-01 2.28127105e-03 2.43461140e+02] [-3.87153247e-01 9.22014919e-01 -9.23220278e-04 1.61588949e+02] [-2.46079469e-03 -3.19812312e-05 9.99996972e-01 8.13862528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09028169299995 meters 0.02175383466310122 Centerline is valid? [True, True] Translation: X:243.49, Y:161.58, Z:0.81 [[ 9.21570810e-01 3.88204926e-01 2.04403116e-03 2.43488325e+02] [-3.88204047e-01 9.21573076e-01 -8.26688698e-04 1.61578776e+02] [-2.20464871e-03 -3.16489944e-05 9.99997569e-01 8.13122955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.120281693 meters 0.024100197302481776 Centerline is valid? [True, True] Translation: X:243.52, Y:161.57, Z:0.81 [[ 9.20704254e-01 3.90258014e-01 1.53594963e-03 2.43515676e+02] [-3.90257522e-01 9.20705535e-01 -6.20853366e-04 1.61570035e+02] [-1.65645033e-03 -2.77935609e-05 9.99998628e-01 8.11552017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15028169299995 meters 0.027293186740224854 Centerline is valid? [True, True] Translation: X:243.54, Y:161.56, Z:0.81 [[ 9.19623899e-01 3.92798698e-01 1.03284121e-03 2.43542798e+02] [-3.92798477e-01 9.19624479e-01 -4.17508143e-04 1.61562960e+02] [-1.11382271e-03 -2.17479879e-05 9.99999379e-01 8.10658693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.180281693 meters 0.03349496060954218 Centerline is valid? [True, True] Translation: X:243.57, Y:161.56, Z:0.81 [[ 9.17523103e-01 3.97680588e-01 1.22689219e-03 2.43572266e+02] [-3.97680280e-01 9.17523923e-01 -4.95993118e-04 1.61558734e+02] [-1.32294977e-03 -3.28256863e-05 9.99999124e-01 8.10228821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21028169299996 meters 0.0327909243103715 Centerline is valid? [True, True] Translation: X:243.60, Y:161.55, Z:0.81 [[ 9.16755909e-01 3.99445536e-01 1.36665440e-03 2.43597882e+02] [-3.99445156e-01 9.16756927e-01 -5.52345979e-04 1.61546063e+02] [-1.47352203e-03 -3.95370417e-05 9.99998914e-01 8.10110306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.240281693 meters 0.03426171925254669 Centerline is valid? [True, True] Translation: X:243.62, Y:161.54, Z:0.81 [[ 9.16100303e-01 4.00947856e-01 1.02584723e-03 2.43624943e+02] [-4.00947643e-01 9.16100877e-01 -4.14206565e-04 1.61536062e+02] [-1.10585478e-03 -3.18562710e-05 9.99999388e-01 8.09367143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27028169299996 meters 0.040765599447786585 Centerline is valid? [True, True] Translation: X:243.65, Y:161.53, Z:0.81 [[ 9.15381932e-01 4.02586462e-01 2.41013461e-04 2.43653942e+02] [-4.02586451e-01 9.15381964e-01 -9.72055507e-05 1.61533078e+02] [-2.59753014e-04 -8.04854909e-06 9.99999966e-01 8.08630341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.300281693 meters 0.047620132608595864 Centerline is valid? [True, True] Translation: X:243.68, Y:161.53, Z:0.80 [[ 9.13225445e-01 4.07451189e-01 -1.67779786e-03 2.43683947e+02] [-4.07450631e-01 9.13226984e-01 6.77723987e-04 1.61530858e+02] [ 1.80834972e-03 6.47050061e-05 9.99998363e-01 8.03409524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33028169299996 meters 0.0512572771803797 Centerline is valid? [True, True] Translation: X:243.71, Y:161.52, Z:0.80 [[ 9.12008493e-01 4.10167546e-01 -1.75868456e-03 2.43713744e+02] [-4.10166938e-01 9.12010186e-01 7.10346435e-04 1.61524633e+02] [ 1.89529928e-03 7.35122779e-05 9.99998201e-01 8.03195093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36028169299993 meters 0.04719222694665889 Centerline is valid? [True, True] Translation: X:243.74, Y:161.51, Z:0.80 [[ 9.10799843e-01 4.12845799e-01 -1.41155851e-03 2.43740210e+02] [-4.12845410e-01 9.10800935e-01 5.70116258e-04 1.61509810e+02] [ 1.52101892e-03 6.34936547e-05 9.99998841e-01 8.04318492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39028169299996 meters 0.0508604044112305 Centerline is valid? [True, True] Translation: X:243.77, Y:161.51, Z:0.81 [[ 9.09638592e-01 4.15399832e-01 -7.81783180e-04 2.43769665e+02] [-4.15399714e-01 9.09638927e-01 3.15765223e-04 1.61505228e+02] [ 8.42309234e-04 3.75202759e-05 9.99999645e-01 8.05706186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42028169299994 meters 0.058779513718882494 Centerline is valid? [True, True] Translation: X:243.80, Y:161.51, Z:0.81 [[ 9.08035637e-01 4.18892217e-01 7.69723519e-04 2.43802248e+02] [-4.18892104e-01 9.08035962e-01 -3.10775322e-04 1.61507739e+02] [-8.29118000e-04 -4.02360369e-05 9.99999656e-01 8.07660080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45028169299997 meters 0.054383727565732266 Centerline is valid? [True, True] Translation: X:243.83, Y:161.49, Z:0.81 [[ 9.08016842e-01 4.18929762e-01 1.80791637e-03 2.43827592e+02] [-4.18929138e-01 9.08018637e-01 -7.29433587e-04 1.61493387e+02] [-1.94720320e-03 -9.50508637e-05 9.99998100e-01 8.09108192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48028169299994 meters 0.05872714802875158 Centerline is valid? [True, True] Translation: X:243.86, Y:161.49, Z:0.81 [[ 9.08463634e-01 4.17954748e-01 2.76656626e-03 2.43855743e+02] [-4.17953282e-01 9.08467836e-01 -1.11622447e-03 1.61489688e+02] [-2.97986777e-03 -1.42246112e-04 9.99995550e-01 8.11641787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51028169299997 meters 0.0625781024308172 Centerline is valid? [True, True] Translation: X:243.89, Y:161.48, Z:0.81 [[ 9.09206092e-01 4.16335851e-01 2.95668939e-03 2.43885427e+02] [-4.16334168e-01 9.09210887e-01 -1.19297519e-03 1.61484920e+02] [-3.18493252e-03 -1.46310506e-04 9.99994917e-01 8.12905365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54028169299994 meters 0.05415397738612659 Centerline is valid? [True, True] Translation: X:243.91, Y:161.47, Z:0.81 [[ 9.10140467e-01 4.14293314e-01 2.31955078e-03 2.43909369e+02] [-4.14292272e-01 9.10143416e-01 -9.35832585e-04 1.61465602e+02] [-2.49883305e-03 -1.09232855e-04 9.99996872e-01 8.10987869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57028169299997 meters 0.04677858154034321 Centerline is valid? [True, True] Translation: X:243.94, Y:161.45, Z:0.81 [[ 9.11860291e-01 4.10498824e-01 1.23453049e-03 2.43935301e+02] [-4.10498526e-01 9.11861126e-01 -4.98049427e-04 1.61449822e+02] [-1.33016907e-03 -5.26214496e-05 9.99999114e-01 8.07709415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60028169299994 meters 0.04369362015655842 Centerline is valid? [True, True] Translation: X:243.96, Y:161.44, Z:0.81 [[ 9.12810085e-01 4.08381092e-01 1.62281038e-03 2.43961938e+02] [-4.08380572e-01 9.12811525e-01 -6.54645226e-04 1.61437124e+02] [-1.74866475e-03 -6.51574653e-05 9.99998469e-01 8.08333912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.630281693 meters 0.04083344538333258 Centerline is valid? [True, True] Translation: X:243.99, Y:161.43, Z:0.81 [[ 9.13913114e-01 4.05902234e-01 2.48943582e-03 2.43989053e+02] [-4.05901003e-01 9.13916499e-01 -1.00419819e-03 1.61425103e+02] [-2.68274276e-03 -9.27146063e-05 9.99996397e-01 8.10367293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66028169299994 meters 0.03634431174177877 Centerline is valid? [True, True] Translation: X:244.02, Y:161.41, Z:0.81 [[ 9.15746940e-01 4.01747675e-01 2.51957495e-03 2.44016901e+02] [-4.01746397e-01 9.15750402e-01 -1.01629060e-03 1.61414798e+02] [-2.71559416e-03 -8.15651546e-05 9.99996309e-01 8.11100320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.690281693 meters 0.034373117790362076 Centerline is valid? [True, True] Translation: X:244.04, Y:161.40, Z:0.81 [[ 9.16742041e-01 3.99478491e-01 9.82954708e-04 2.44042844e+02] [-3.99478295e-01 9.16742567e-01 -3.96335618e-04 1.61404762e+02] [-1.05944398e-03 -2.93315471e-05 9.99999438e-01 8.07457188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72028169299995 meters 0.031722387659493485 Centerline is valid? [True, True] Translation: X:244.07, Y:161.39, Z:0.80 [[ 9.17919399e-01 3.96765779e-01 -9.45026201e-04 2.44068959e+02] [-3.96765596e-01 9.17919886e-01 3.81156804e-04 1.61392660e+02] [ 1.01868832e-03 2.50826593e-05 9.99999481e-01 8.02852449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.750281693 meters 0.028462058366792636 Centerline is valid? [True, True] Translation: X:244.09, Y:161.38, Z:0.80 [[ 9.19373358e-01 3.93381061e-01 -1.99230227e-03 2.44094748e+02] [-3.93380244e-01 9.19375516e-01 8.03416857e-04 1.61378617e+02] [ 2.14772290e-03 4.50922976e-05 9.99997693e-01 8.00359927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78028169299995 meters 0.018011752228161627 Centerline is valid? [True, True] Translation: X:244.12, Y:161.35, Z:0.80 [[ 9.23330170e-01 3.84006110e-01 -8.39445848e-04 2.44117783e+02] [-3.84005961e-01 9.23330552e-01 3.38498523e-04 1.61354716e+02] [ 9.05071499e-04 9.80631080e-06 9.99999590e-01 8.02772222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.810281693 meters 0.018011752228161627 Centerline is valid? [True, True] Translation: X:244.14, Y:161.34, Z:0.80 [[ 9.23402834e-01 3.83831345e-01 -8.39397304e-04 2.44143350e+02] [-3.83831195e-01 9.23403216e-01 3.38618940e-04 1.61344615e+02] [ 9.05074733e-04 9.50518225e-06 9.99999590e-01 8.02815797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84028169299995 meters 0.014162115065179075 Centerline is valid? [True, True] Translation: X:244.17, Y:161.33, Z:0.81 [[ 9.25772819e-01 3.78080050e-01 4.04206322e-04 2.44166443e+02] [-3.78080015e-01 9.25772907e-01 -1.62775981e-04 1.61327723e+02] [-4.35745612e-04 -2.12875310e-06 9.99999905e-01 8.05049433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.870281693 meters 0.01318497100901077 Centerline is valid? [True, True] Translation: X:244.19, Y:161.31, Z:0.81 [[ 9.28213796e-01 3.72044703e-01 1.37410237e-03 2.44188785e+02] [-3.72044291e-01 9.28214813e-01 -5.53508218e-04 1.61309080e+02] [-1.48139198e-03 2.54702095e-06 9.99998903e-01 8.08000195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90028169299995 meters 0.01594795604072151 Centerline is valid? [True, True] Translation: X:244.21, Y:161.29, Z:0.81 [[ 9.30623749e-01 3.65971566e-01 2.06149468e-03 2.44212319e+02] [-3.65970626e-01 9.30626033e-01 -8.29869192e-04 1.61290271e+02] [-2.22218914e-03 1.78494820e-05 9.99997531e-01 8.08377936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.930281693 meters 0.02414214955002493 Centerline is valid? [True, True] Translation: X:244.23, Y:161.26, Z:0.81 [[ 9.34199841e-01 3.56747786e-01 1.29365806e-03 2.44233869e+02] [-3.56747407e-01 9.34200737e-01 -5.20910963e-04 1.61264588e+02] [-1.39437014e-03 2.51257819e-05 9.99999028e-01 8.06258746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96028169299996 meters 0.02642820988304419 Centerline is valid? [True, True] Translation: X:244.26, Y:161.25, Z:0.80 [[ 9.35354381e-01 3.53711819e-01 3.62738870e-04 2.44259245e+02] [-3.53711789e-01 9.35354451e-01 -1.46017346e-04 1.61248505e+02] [-3.90937478e-04 8.27294971e-06 9.99999924e-01 8.03854410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.990281693 meters 0.03215191056350765 Centerline is valid? [True, True] Translation: X:244.28, Y:161.23, Z:0.80 [[ 9.36959679e-01 3.49435634e-01 -1.13910258e-03 2.44280616e+02] [-3.49435335e-01 9.36960371e-01 4.58684914e-04 1.61225390e+02] [ 1.22757483e-03 -3.17265790e-05 9.99999246e-01 8.01553974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02028169299996 meters 0.03404378921994053 Centerline is valid? [True, True] Translation: X:244.31, Y:161.21, Z:0.80 [[ 9.37658744e-01 3.47555413e-01 -1.14687138e-03 2.44305149e+02] [-3.47555108e-01 9.37659444e-01 4.61776622e-04 1.61209528e+02] [ 1.23586775e-03 -3.43878810e-05 9.99999236e-01 8.01736299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.050281693 meters 0.03494323331921907 Centerline is valid? [True, True] Translation: X:244.33, Y:161.19, Z:0.80 [[ 9.38142921e-01 3.46247606e-01 -6.74865750e-04 2.44329506e+02] [-3.46247500e-01 9.38143163e-01 2.71645479e-04 1.61194122e+02] [ 7.27177286e-04 -2.11717039e-05 9.99999735e-01 8.03078973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08028169299996 meters 0.035957220937782586 Centerline is valid? [True, True] Translation: X:244.35, Y:161.18, Z:0.80 [[ 9.38373521e-01 3.45622711e-01 -2.78288849e-04 2.44353543e+02] [-3.45622693e-01 9.38373562e-01 1.12034595e-04 1.61178654e+02] [ 2.99860599e-04 -8.94735617e-06 9.99999955e-01 8.04144231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11028169299993 meters 0.03790441446826652 Centerline is valid? [True, True] Translation: X:244.38, Y:161.16, Z:0.80 [[ 9.38248196e-01 3.45962830e-01 -2.07952254e-04 2.44376919e+02] [-3.45962820e-01 9.38248219e-01 8.37698642e-05 1.61162197e+02] [ 2.24092091e-04 -6.65317577e-06 9.99999975e-01 8.03978976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14028169299996 meters 0.03235282844893205 Centerline is valid? [True, True] Translation: X:244.40, Y:161.15, Z:0.80 [[ 9.37111152e-01 3.49031064e-01 -6.82015801e-05 2.44403839e+02] [-3.49031063e-01 9.37111155e-01 2.74636022e-05 1.61150350e+02] [ 7.34981119e-05 -1.93197791e-06 9.99999997e-01 8.03512935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17028169299994 meters 0.02915153207179888 Centerline is valid? [True, True] Translation: X:244.43, Y:161.14, Z:0.80 [[ 9.36205261e-01 3.51453708e-01 -3.75473411e-05 2.44430641e+02] [-3.51453708e-01 9.36205261e-01 1.51757703e-05 1.61139840e+02] [ 4.04855991e-05 -1.01148375e-06 9.99999999e-01 8.02853801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20028169299997 meters 0.027757323835027884 Centerline is valid? [True, True] Translation: X:244.46, Y:161.13, Z:0.80 [[ 9.35341267e-01 3.53746668e-01 -9.58395620e-05 2.44455606e+02] [-3.53746666e-01 9.35341272e-01 3.86248463e-05 1.61127647e+02] [ 1.03306109e-04 -2.22448710e-06 9.99999995e-01 8.03264712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23028169299994 meters 0.02441293104641389 Centerline is valid? [True, True] Translation: X:244.48, Y:161.12, Z:0.80 [[ 9.34484760e-01 3.56003095e-01 1.73242718e-04 2.44483137e+02] [-3.56003089e-01 9.34484776e-01 -6.93511824e-05 1.61117858e+02] [-1.86581918e-04 3.13268054e-06 9.99999983e-01 8.04149404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26028169299997 meters 0.019961315409292597 Centerline is valid? [True, True] Translation: X:244.51, Y:161.11, Z:0.81 [[ 9.32658174e-01 3.60760636e-01 7.03254815e-04 2.44509022e+02] [-3.60760526e-01 9.32658439e-01 -2.82483755e-04 1.61105596e+02] [-7.57805557e-04 9.75420623e-06 9.99999713e-01 8.05157631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29028169299994 meters 0.017869989048179272 Centerline is valid? [True, True] Translation: X:244.54, Y:161.09, Z:0.80 [[ 9.31807997e-01 3.62950737e-01 7.87152781e-04 2.44535410e+02] [-3.62950600e-01 9.31808329e-01 -3.15824393e-04 1.61093783e+02] [-8.48104214e-04 8.59012137e-06 9.99999640e-01 8.04791880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32028169299997 meters 0.016064374463629436 Centerline is valid? [True, True] Translation: X:244.56, Y:161.08, Z:0.80 [[ 9.30908459e-01 3.65251752e-01 7.73510906e-04 2.44561075e+02] [-3.65251620e-01 9.30908781e-01 -3.10472986e-04 1.61082582e+02] [-8.33468896e-04 6.49581797e-06 9.99999653e-01 8.04761810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35028169299994 meters 0.014026011265487507 Centerline is valid? [True, True] Translation: X:244.59, Y:161.07, Z:0.80 [[ 9.29828176e-01 3.67993271e-01 7.17421566e-04 2.44588838e+02] [-3.67993159e-01 9.29828453e-01 -2.87633966e-04 1.61073570e+02] [-7.72926349e-04 3.44393735e-06 9.99999701e-01 8.04023215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.380281693 meters 0.013106880219483984 Centerline is valid? [True, True] Translation: X:244.62, Y:161.07, Z:0.80 [[ 9.28500705e-01 3.71329877e-01 7.50535507e-04 2.44615490e+02] [-3.71329755e-01 9.28501008e-01 -3.01053552e-04 1.61065300e+02] [-8.08663154e-04 8.32269094e-07 9.99999673e-01 8.04141061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41028169299994 meters 0.015112193880549416 Centerline is valid? [True, True] Translation: X:244.64, Y:161.06, Z:0.81 [[ 9.25549912e-01 3.78620744e-01 1.92185043e-03 2.44644699e+02] [-3.78619960e-01 9.25551907e-01 -7.70492635e-04 1.61059537e+02] [-2.07049683e-03 -1.45215438e-05 9.99997856e-01 8.06712568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.440281693 meters 0.017966798172252656 Centerline is valid? [True, True] Translation: X:244.67, Y:161.05, Z:0.81 [[ 9.24077388e-01 3.82200831e-01 1.87253933e-03 2.44671468e+02] [-3.82200094e-01 9.24079285e-01 -7.50772081e-04 1.61052104e+02] [-2.01732051e-03 -2.19132047e-05 9.99997965e-01 8.06390727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47028169299995 meters 0.021121754583073513 Centerline is valid? [True, True] Translation: X:244.70, Y:161.04, Z:0.80 [[ 9.22638048e-01 3.85665959e-01 8.94539284e-04 2.44698930e+02] [-3.85665792e-01 9.22638482e-01 -3.58542720e-04 1.61044357e+02] [-9.63614089e-04 -1.41880457e-05 9.99999536e-01 8.04048171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.500281693 meters 0.027469971613564757 Centerline is valid? [True, True] Translation: X:244.73, Y:161.04, Z:0.80 [[ 9.20059894e-01 3.91777701e-01 -1.53685593e-04 2.44729275e+02] [-3.91777696e-01 9.20059907e-01 6.16367429e-05 1.61038867e+02] [ 1.65547854e-04 3.50109256e-06 9.99999986e-01 8.01067842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53028169299995 meters 0.030246686361799086 Centerline is valid? [True, True] Translation: X:244.76, Y:161.03, Z:0.80 [[ 9.19029661e-01 3.94188190e-01 3.90494403e-04 2.44758269e+02] [-3.94188159e-01 9.19029744e-01 -1.56502537e-04 1.61030887e+02] [-4.20567423e-04 -1.00977958e-05 9.99999912e-01 8.02193382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.560281693 meters 0.03284453746077315 Centerline is valid? [True, True] Translation: X:244.79, Y:161.02, Z:0.80 [[ 9.18237379e-01 3.96027705e-01 1.47374978e-03 2.44786077e+02] [-3.96027267e-01 9.18238561e-01 -5.90681338e-04 1.61023862e+02] [-1.58718006e-03 -4.12594147e-05 9.99998740e-01 8.03600161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59028169299995 meters 0.032409353418425345 Centerline is valid? [True, True] Translation: X:244.81, Y:161.01, Z:0.80 [[ 9.17781168e-01 3.97080893e-01 2.11923650e-03 2.44812274e+02] [-3.97079991e-01 9.17783613e-01 -8.48792168e-04 1.61012520e+02] [-2.28203969e-03 -6.25009434e-05 9.99997394e-01 8.04103732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.620281693 meters 0.03512677088179968 Centerline is valid? [True, True] Translation: X:244.84, Y:161.00, Z:0.80 [[ 9.17611351e-01 3.97472627e-01 2.21796784e-03 2.44839343e+02] [-3.97471640e-01 9.17614029e-01 -8.88380091e-04 1.61004370e+02] [-2.38834517e-03 -6.63916583e-05 9.99997146e-01 8.03658557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65028169299995 meters 0.03321602447687789 Centerline is valid? [True, True] Translation: X:244.86, Y:160.99, Z:0.80 [[ 9.17720576e-01 3.97222612e-01 1.77196249e-03 2.44864507e+02] [-3.97221983e-01 9.17722286e-01 -7.09115640e-04 1.60990984e+02] [-1.90784624e-03 -5.30924417e-05 9.99998179e-01 8.02629570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.680281693 meters 0.03547711062548315 Centerline is valid? [True, True] Translation: X:244.89, Y:160.98, Z:0.80 [[ 9.17772856e-01 3.97103671e-01 1.28822707e-03 2.44891057e+02] [-3.97103338e-01 9.17773759e-01 -5.15503042e-04 1.60983707e+02] [-1.38700916e-03 -3.84445719e-05 9.99999037e-01 8.01848346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71028169299996 meters 0.03446741519355947 Centerline is valid? [True, True] Translation: X:244.92, Y:160.97, Z:0.80 [[ 9.18037619e-01 3.96490943e-01 1.36421998e-03 2.44918417e+02] [-3.96490570e-01 9.18038632e-01 -5.45576331e-04 1.60973227e+02] [-1.46872271e-03 -4.00407599e-05 9.99998921e-01 8.02161253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.740281693 meters 0.03315847188216941 Centerline is valid? [True, True] Translation: X:244.94, Y:160.96, Z:0.80 [[ 9.18176595e-01 3.96169818e-01 1.10233177e-03 2.44943928e+02] [-3.96169575e-01 9.18177256e-01 -4.40495205e-04 1.60961370e+02] [-1.18664686e-03 -3.22579205e-05 9.99999295e-01 8.02022076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77028169299996 meters 0.033785349179445694 Centerline is valid? [True, True] Translation: X:244.97, Y:160.95, Z:0.80 [[ 9.18284981e-01 3.95919564e-01 6.25938930e-04 2.44970021e+02] [-3.95919486e-01 9.18285194e-01 -2.50166211e-04 1.60952141e+02] [-6.73836149e-04 -1.80975443e-05 9.99999773e-01 8.01656513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80028169299993 meters 0.030729391418785605 Centerline is valid? [True, True] Translation: X:245.00, Y:160.94, Z:0.80 [[ 9.18563041e-01 3.95274421e-01 2.67037949e-04 2.44996004e+02] [-3.95274407e-01 9.18563080e-01 -1.06600872e-04 1.60938038e+02] [-2.87427799e-04 -7.63364613e-06 9.99999959e-01 8.00445624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83028169299996 meters 0.03335392338749095 Centerline is valid? [True, True] Translation: X:245.02, Y:160.93, Z:0.80 [[ 9.19249283e-01 3.93675613e-01 5.17936967e-04 2.45023872e+02] [-3.93675559e-01 9.19249428e-01 -2.06896419e-04 1.60932754e+02] [-5.57563336e-04 -1.37097402e-05 9.99999845e-01 8.01189815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86028169299993 meters 0.029196260022820997 Centerline is valid? [True, True] Translation: X:245.05, Y:160.92, Z:0.80 [[ 9.19541153e-01 3.92991925e-01 1.18984544e-03 2.45048810e+02] [-3.92991639e-01 9.19541922e-01 -4.75024065e-04 1.60916710e+02] [-1.28079338e-03 -3.07951320e-05 9.99999179e-01 8.02540168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89028169299996 meters 0.03016656470916833 Centerline is valid? [True, True] Translation: X:245.07, Y:160.91, Z:0.81 [[ 9.19642483e-01 3.92749525e-01 2.34833940e-03 2.45074647e+02] [-3.92748410e-01 9.19645479e-01 -9.37722640e-04 1.60908169e+02] [-2.52792983e-03 -5.99369884e-05 9.99996803e-01 8.05620369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92028169299994 meters 0.02990108570899252 Centerline is valid? [True, True] Translation: X:245.10, Y:160.90, Z:0.81 [[ 9.19540900e-01 3.92980271e-01 3.32264873e-03 2.45102481e+02] [-3.92978044e-01 9.19546899e-01 -1.32607017e-03 1.60899815e+02] [-3.57645075e-03 -8.63522352e-05 9.99993601e-01 8.07595546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95028169299997 meters 0.030708156039868262 Centerline is valid? [True, True] Translation: X:245.13, Y:160.89, Z:0.81 [[ 9.19271947e-01 3.93610434e-01 3.14869077e-03 2.45130287e+02] [-3.93608439e-01 9.19277335e-01 -1.25603364e-03 1.60892789e+02] [-3.38890801e-03 -8.47147701e-05 9.99994254e-01 8.06661267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98028169299994 meters 0.03328533321732092 Centerline is valid? [True, True] Translation: X:245.16, Y:160.89, Z:0.80 [[ 9.18681627e-01 3.94993188e-01 2.10933600e-03 2.45158293e+02] [-3.94992296e-01 9.18684047e-01 -8.41374548e-04 1.60888579e+02] [-2.27015054e-03 -6.02161287e-05 9.99997421e-01 8.04512269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01028169299997 meters 0.035538352308970275 Centerline is valid? [True, True] Translation: X:245.19, Y:160.88, Z:0.80 [[ 9.18061997e-01 3.96436304e-01 6.52498851e-04 2.45186464e+02] [-3.96436219e-01 9.18062229e-01 -2.60160903e-04 1.60883060e+02] [-7.02171776e-04 -1.98303396e-05 9.99999753e-01 8.01157971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04028169299994 meters 0.03577444064136889 Centerline is valid? [True, True] Translation: X:245.22, Y:160.88, Z:0.80 [[ 9.17094540e-01 3.98662292e-01 -2.44587357e-03 2.45216006e+02] [-3.98661107e-01 9.17097798e-01 9.75540826e-04 1.60876198e+02] [ 2.63201660e-03 8.04114990e-05 9.99996533e-01 7.95500518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07028169299997 meters 0.03834888903386747 Centerline is valid? [True, True] Translation: X:245.24, Y:160.87, Z:0.79 [[ 9.16800752e-01 3.99328337e-01 -3.64149683e-03 2.45244086e+02] [-3.99325715e-01 9.16807976e-01 1.45221095e-03 1.60871771e+02] [ 3.91846232e-03 1.22755240e-04 9.99992315e-01 7.93647152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10028169299994 meters 0.040499888497884 Centerline is valid? [True, True] Translation: X:245.27, Y:160.87, Z:0.79 [[ 9.16589691e-01 3.99807723e-01 -4.13809515e-03 2.45272328e+02] [-3.99804343e-01 9.16599021e-01 1.64996180e-03 1.60866438e+02] [ 4.45264143e-03 1.42090439e-04 9.99990077e-01 7.92364613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.130281693 meters 0.037869761017647156 Centerline is valid? [True, True] Translation: X:245.30, Y:160.85, Z:0.79 [[ 9.16641318e-01 3.99690459e-01 -4.02885026e-03 2.45297992e+02] [-3.99687257e-01 9.16650161e-01 1.60575648e-03 1.60854575e+02] [ 4.33485179e-03 1.38377370e-04 9.99990595e-01 7.92563053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16028169299994 meters 0.038404868905625764 Centerline is valid? [True, True] Translation: X:245.32, Y:160.85, Z:0.79 [[ 9.17241331e-01 3.98319675e-01 -3.12699547e-03 2.45324952e+02] [-3.98317739e-01 9.17246655e-01 1.24595197e-03 1.60846804e+02] [ 3.36451332e-03 1.02699126e-04 9.99994335e-01 7.93383986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.190281693 meters 0.03663944645418859 Centerline is valid? [True, True] Translation: X:245.35, Y:160.84, Z:0.79 [[ 9.17756555e-01 3.97135348e-01 -2.53377097e-03 2.45351900e+02] [-3.97134074e-01 9.17760050e-01 1.00932038e-03 1.60835256e+02] [ 2.72623057e-03 7.99363942e-05 9.99996281e-01 7.93861249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22028169299995 meters 0.03655476321824359 Centerline is valid? [True, True] Translation: X:245.38, Y:160.83, Z:0.79 [[ 9.18196577e-01 3.96119496e-01 -2.09547639e-03 2.45378606e+02] [-3.96118622e-01 9.18198966e-01 8.34478254e-04 1.60826597e+02] [ 2.25461736e-03 6.38421459e-05 9.99997456e-01 7.94144292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.250281693 meters 0.036085519262410715 Centerline is valid? [True, True] Translation: X:245.41, Y:160.82, Z:0.79 [[ 9.18558102e-01 3.95280414e-01 -2.09969386e-03 2.45405050e+02] [-3.95279534e-01 9.18560499e-01 8.36021167e-04 1.60817338e+02] [ 2.25915863e-03 6.20319945e-05 9.99997446e-01 7.93879035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28028169299995 meters 0.03136937357167213 Centerline is valid? [True, True] Translation: X:245.43, Y:160.80, Z:0.79 [[ 9.18818533e-01 3.94673825e-01 -2.25284697e-03 2.45430437e+02] [-3.94672812e-01 9.18821293e-01 8.96747597e-04 1.60801965e+02] [ 2.42388657e-03 6.51891382e-05 9.99997060e-01 7.93703791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.310281693 meters 0.030733164803664472 Centerline is valid? [True, True] Translation: X:245.46, Y:160.79, Z:0.79 [[ 9.18999477e-01 3.94243653e-01 -3.45012314e-03 2.45457742e+02] [-3.94241276e-01 9.19005948e-01 1.37244011e-03 1.60793560e+02] [ 3.71175949e-03 9.89092045e-05 9.99993107e-01 7.91706985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34028169299995 meters 0.03470464097156889 Centerline is valid? [True, True] Translation: X:245.49, Y:160.79, Z:0.79 [[ 9.18868081e-01 3.94537855e-01 -4.61858823e-03 2.45486695e+02] [-3.94533603e-01 9.18879678e-01 1.83658563e-03 1.60790345e+02] [ 4.96852942e-03 1.34608337e-04 9.99987648e-01 7.89127741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.370281693 meters 0.03893848412560066 Centerline is valid? [True, True] Translation: X:245.52, Y:160.79, Z:0.79 [[ 9.18776131e-01 3.94741667e-01 -5.42571091e-03 2.45515056e+02] [-3.94735806e-01 9.18792137e-01 2.15696566e-03 1.60787671e+02] [ 5.83654474e-03 1.59953805e-04 9.99982954e-01 7.85972435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40028169299995 meters 0.036187223276071996 Centerline is valid? [True, True] Translation: X:245.54, Y:160.78, Z:0.79 [[ 9.18822495e-01 3.94626131e-01 -5.95315498e-03 2.45540501e+02] [-3.94619081e-01 9.18841763e-01 2.36553758e-03 1.60775443e+02] [ 6.40351036e-03 1.75719401e-04 9.99979482e-01 7.85352233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.430281693 meters 0.03473617458618237 Centerline is valid? [True, True] Translation: X:245.57, Y:160.77, Z:0.79 [[ 9.19520253e-01 3.93007584e-01 -5.24823052e-03 2.45566664e+02] [-3.93002081e-01 9.19535218e-01 2.08491849e-03 1.60765885e+02] [ 5.64532158e-03 1.45440741e-04 9.99984055e-01 7.87225372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46028169299996 meters 0.032104405900508365 Centerline is valid? [True, True] Translation: X:245.59, Y:160.75, Z:0.79 [[ 9.20223159e-01 3.91367784e-01 -4.53829857e-03 2.45592803e+02] [-3.91363652e-01 9.20234342e-01 1.80225044e-03 1.60754145e+02] [ 4.88164096e-03 1.17652513e-04 9.99988078e-01 7.88790081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.490281693 meters 0.02765330571265454 Centerline is valid? [True, True] Translation: X:245.62, Y:160.74, Z:0.79 [[ 9.21057853e-01 3.89406781e-01 -3.84585474e-03 2.45618371e+02] [-3.89403800e-01 9.21065877e-01 1.52658409e-03 1.60739697e+02] [ 4.13674777e-03 9.15181840e-05 9.99991439e-01 7.90366608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52028169299996 meters 0.02822638079701572 Centerline is valid? [True, True] Translation: X:245.65, Y:160.73, Z:0.79 [[ 9.22044765e-01 3.87068767e-01 -3.34986474e-03 2.45645082e+02] [-3.87066491e-01 9.22050847e-01 1.32933004e-03 1.60731854e+02] [ 3.60328776e-03 7.09185811e-05 9.99993506e-01 7.90559441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55028169299993 meters 0.02154418536410245 Centerline is valid? [True, True] Translation: X:245.67, Y:160.71, Z:0.79 [[ 9.24425337e-01 3.81352511e-01 -2.83890228e-03 2.45668790e+02] [-3.81350850e-01 9.24429695e-01 1.12646163e-03 1.60710402e+02] [ 3.05394454e-03 4.12881268e-05 9.99995336e-01 7.90564812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58028169299996 meters 0.01761148486454279 Centerline is valid? [True, True] Translation: X:245.69, Y:160.69, Z:0.79 [[ 9.25892587e-01 3.77778209e-01 -2.55789438e-03 2.45693105e+02] [-3.77776847e-01 9.25896120e-01 1.01491298e-03 1.60691929e+02] [ 2.75175649e-03 2.66128683e-05 9.99996214e-01 7.91170450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61028169299993 meters 0.014025168382403494 Centerline is valid? [True, True] Translation: X:245.71, Y:160.67, Z:0.79 [[ 9.28654684e-01 3.70931300e-01 -3.23245908e-03 2.45713814e+02] [-3.70929083e-01 9.28660310e-01 1.28239651e-03 1.60668727e+02] [ 3.47753745e-03 8.10955736e-06 9.99993953e-01 7.89706370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64028169299996 meters 0.013940217093426972 Centerline is valid? [True, True] Translation: X:245.74, Y:160.65, Z:0.79 [[ 9.29980394e-01 3.67585544e-01 -4.16337983e-03 2.45737093e+02] [-3.67581837e-01 9.29989714e-01 1.65100473e-03 1.60650983e+02] [ 4.47878589e-03 -5.01922916e-06 9.99989970e-01 7.87626755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67028169299994 meters 0.014952687722585366 Centerline is valid? [True, True] Translation: X:245.76, Y:160.63, Z:0.79 [[ 9.31290275e-01 3.64250402e-01 -4.47972942e-03 2.45760906e+02] [-3.64246075e-01 9.31301049e-01 1.77554010e-03 1.60632170e+02] [ 4.81871791e-03 -2.18193711e-05 9.99988390e-01 7.86329255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70028169299997 meters 0.014952687722585366 Centerline is valid? [True, True] Translation: X:245.79, Y:160.62, Z:0.79 [[ 9.31358444e-01 3.64076061e-01 -4.48004812e-03 2.45786546e+02] [-3.64071736e-01 9.31369219e-01 1.77473574e-03 1.60622223e+02] [ 4.81871772e-03 -2.18562183e-05 9.99988390e-01 7.86372825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73028169299994 meters 0.016515077824729035 Centerline is valid? [True, True] Translation: X:245.81, Y:160.60, Z:0.79 [[ 9.32508716e-01 3.61120351e-01 -4.42571532e-03 2.45810003e+02] [-3.61116101e-01 9.32519218e-01 1.75234024e-03 1.60603293e+02] [ 4.75987031e-03 -3.58754849e-05 9.99988671e-01 7.86659530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76028169299997 meters 0.02034824021574829 Centerline is valid? [True, True] Translation: X:245.83, Y:160.58, Z:0.79 [[ 9.34391595e-01 3.56230039e-01 -3.53646354e-03 2.45828938e+02] [-3.56227292e-01 9.34398286e-01 1.39977980e-03 1.60576791e+02] [ 3.80310908e-03 -4.81576504e-05 9.99992767e-01 7.88301291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79028169299994 meters 0.022070881395482828 Centerline is valid? [True, True] Translation: X:245.85, Y:160.56, Z:0.79 [[ 9.35053102e-01 3.54489190e-01 -3.62090885e-03 2.45853066e+02] [-3.54486300e-01 9.35060111e-01 1.43262637e-03 1.60558346e+02] [ 3.89361799e-03 -5.60191513e-05 9.99992418e-01 7.87912911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82028169299997 meters 0.02336766505752139 Centerline is valid? [True, True] Translation: X:245.88, Y:160.54, Z:0.79 [[ 9.35494058e-01 3.53317836e-01 -4.16837258e-03 2.45876670e+02] [-3.53313995e-01 9.35503342e-01 1.64873758e-03 1.60540878e+02] [ 4.48205487e-03 -6.96398361e-05 9.99989953e-01 7.85937036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85028169299994 meters 0.02421699526775374 Centerline is valid? [True, True] Translation: X:245.90, Y:160.52, Z:0.78 [[ 9.35691011e-01 3.52774236e-01 -5.71579422e-03 2.45900283e+02] [-3.52767009e-01 9.35708464e-01 2.26024518e-03 1.60524190e+02] [ 6.14567329e-03 -9.85474698e-05 9.99981110e-01 7.82598860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.880281693 meters 0.024312440687578835 Centerline is valid? [True, True] Translation: X:245.92, Y:160.50, Z:0.78 [[ 9.35415028e-01 3.53440814e-01 -8.84966639e-03 2.45921969e+02] [-3.53423525e-01 9.35456878e-01 3.49879204e-03 1.60503784e+02] [ 9.51509720e-03 -1.45142360e-04 9.99954720e-01 7.76061292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91028169299994 meters 0.02309096671144849 Centerline is valid? [True, True] Translation: X:245.95, Y:160.49, Z:0.78 [[ 9.34958830e-01 3.54636530e-01 -9.21511400e-03 2.45947371e+02] [-3.54617857e-01 9.35004232e-01 3.64175582e-03 1.60490262e+02] [ 9.90767023e-03 -1.37047783e-04 9.99950908e-01 7.75648869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.940281693 meters 0.02029022050495313 Centerline is valid? [True, True] Translation: X:245.97, Y:160.48, Z:0.78 [[ 9.33977203e-01 3.57224078e-01 -8.80579945e-03 2.45974236e+02] [-3.57207157e-01 9.34018708e-01 3.47839901e-03 1.60479533e+02] [ 9.46734930e-03 -1.03250796e-04 9.99955178e-01 7.77101779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97028169299995 meters 0.01704838310195845 Centerline is valid? [True, True] Translation: X:246.00, Y:160.47, Z:0.78 [[ 9.32605366e-01 3.60810646e-01 -7.93153773e-03 2.46002128e+02] [-3.60797060e-01 9.32639091e-01 3.13164151e-03 1.60471721e+02] [ 8.52719173e-03 -5.89101819e-05 9.99963641e-01 7.79606781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.000281693 meters 0.015138446247036726 Centerline is valid? [True, True] Translation: X:246.03, Y:160.47, Z:0.78 [[ 9.28838351e-01 3.70412575e-01 -7.33768221e-03 2.46033214e+02] [-3.70401251e-01 9.28867334e-01 2.89654271e-03 1.60473639e+02] [ 7.88864915e-03 2.74667140e-05 9.99968884e-01 7.80703933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03028169299995 meters 0.01809917825774938 Centerline is valid? [True, True] Translation: X:246.06, Y:160.47, Z:0.78 [[ 9.26984367e-01 3.75014012e-01 -8.02956249e-03 2.46061306e+02] [-3.75000629e-01 9.27019140e-01 3.16905868e-03 1.60470415e+02] [ 8.63199952e-03 7.34231312e-05 9.99962741e-01 7.78794202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.060281693 meters 0.021886272955284287 Centerline is valid? [True, True] Translation: X:246.09, Y:160.47, Z:0.78 [[ 9.25493432e-01 3.78664196e-01 -8.67954831e-03 2.46090078e+02] [-3.78648731e-01 9.25534123e-01 3.42419978e-03 1.60465332e+02] [ 9.32983999e-03 1.17425546e-04 9.99956469e-01 7.77133476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09028169299995 meters 0.028158977509528203 Centerline is valid? [True, True] Translation: X:246.12, Y:160.46, Z:0.77 [[ 9.23321910e-01 3.83907484e-01 -9.57573807e-03 2.46120107e+02] [-3.83888949e-01 9.23371544e-01 3.77716966e-03 1.60462805e+02] [ 1.02920477e-02 1.88476515e-04 9.99947018e-01 7.74562552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.120281693 meters 0.030718371233415052 Centerline is valid? [True, True] Translation: X:246.15, Y:160.46, Z:0.77 [[ 9.22544241e-01 3.85772343e-01 -9.58239633e-03 2.46148332e+02] [-3.85753897e-01 9.22593982e-01 3.77834104e-03 1.60456136e+02] [ 1.02982407e-02 2.10759960e-04 9.99946950e-01 7.74116046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15028169299995 meters 0.03027264667862179 Centerline is valid? [True, True] Translation: X:246.18, Y:160.45, Z:0.78 [[ 9.21989144e-01 3.87106272e-01 -9.20616378e-03 2.46175139e+02] [-3.87089329e-01 9.22035079e-01 3.62834983e-03 1.60445380e+02] [ 9.89296293e-03 2.18308610e-04 9.99951040e-01 7.76537586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.180281693 meters 0.03379516712856039 Centerline is valid? [True, True] Translation: X:246.20, Y:160.44, Z:0.78 [[ 9.21616928e-01 3.88011439e-01 -8.32829115e-03 2.46203576e+02] [-3.87997616e-01 9.21654534e-01 3.28168110e-03 1.60440479e+02] [ 8.94913711e-03 2.06904256e-04 9.99959934e-01 7.77633303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21028169299996 meters 0.030990257507088413 Centerline is valid? [True, True] Translation: X:246.23, Y:160.43, Z:0.78 [[ 9.21281773e-01 3.88856024e-01 -5.55764161e-03 2.46230245e+02] [-3.88849888e-01 9.21298525e-01 2.18911931e-03 1.60429371e+02] [ 5.97149924e-03 1.44292604e-04 9.99982160e-01 7.84762512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.240281693 meters 0.03140509602319132 Centerline is valid? [True, True] Translation: X:246.26, Y:160.42, Z:0.79 [[ 9.21262370e-01 3.88912524e-01 -4.76378963e-03 2.46256983e+02] [-3.88908022e-01 9.21274678e-01 1.87550386e-03 1.60421540e+02] [ 5.11816570e-03 1.24844875e-04 9.99986894e-01 7.85838243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27028169299996 meters 0.03207620479447021 Centerline is valid? [True, True] Translation: X:246.28, Y:160.41, Z:0.79 [[ 9.21085865e-01 3.89331130e-01 -4.70107928e-03 2.46284223e+02] [-3.89326754e-01 9.21097853e-01 1.85029890e-03 1.60413914e+02] [ 5.05053300e-03 1.25971771e-04 9.99987238e-01 7.85579890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30028169299993 meters 0.03370598930572349 Centerline is valid? [True, True] Translation: X:246.31, Y:160.41, Z:0.78 [[ 9.20938134e-01 3.89676739e-01 -4.99923662e-03 2.46311665e+02] [-3.89671797e-01 9.20951693e-01 1.96732002e-03 1.60407718e+02] [ 5.37067428e-03 1.36281480e-04 9.99985569e-01 7.84412176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33028169299996 meters 0.03348359300280933 Centerline is valid? [True, True] Translation: X:246.34, Y:160.40, Z:0.78 [[ 9.20747075e-01 3.90125689e-01 -5.17404717e-03 2.46339337e+02] [-3.90120406e-01 9.20761601e-01 2.03534050e-03 1.60399015e+02] [ 5.55810257e-03 1.44467566e-04 9.99984543e-01 7.84110321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36028169299993 meters 0.03190036797078545 Centerline is valid? [True, True] Translation: X:246.37, Y:160.39, Z:0.78 [[ 9.20386975e-01 3.90954361e-01 -6.51944432e-03 2.46367623e+02] [-3.90946004e-01 9.20410045e-01 2.56327774e-03 1.60391368e+02] [ 7.00268665e-03 1.89543263e-04 9.99975463e-01 7.81489162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39028169299996 meters 0.041150670257514226 Centerline is valid? [True, True] Translation: X:246.40, Y:160.40, Z:0.78 [[ 9.20260079e-01 3.91233621e-01 -7.59216543e-03 2.46399398e+02] [-3.91222303e-01 9.20291369e-01 2.98429452e-03 1.60395499e+02] [ 8.15456067e-03 2.23897341e-04 9.99966726e-01 7.76467723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42028169299994 meters 0.03266651364822179 Centerline is valid? [True, True] Translation: X:246.42, Y:160.38, Z:0.78 [[ 9.20610955e-01 3.90383817e-01 -8.71459491e-03 2.46423065e+02] [-3.90368881e-01 9.20652167e-01 3.42400932e-03 1.60377248e+02] [ 9.35978851e-03 2.49726173e-04 9.99956165e-01 7.76965000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45028169299997 meters 0.03166089405910827 Centerline is valid? [True, True] Translation: X:246.45, Y:160.37, Z:0.78 [[ 9.21154306e-01 3.89084286e-01 -9.38947869e-03 2.46450703e+02] [-3.89066898e-01 9.21202124e-01 3.68738043e-03 1.60367969e+02] [ 1.00843095e-02 2.56488986e-04 9.99949119e-01 7.76032471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48028169299994 meters 0.03589821170302516 Centerline is valid? [True, True] Translation: X:246.48, Y:160.37, Z:0.77 [[ 9.22251081e-01 3.86463859e-01 -9.93120876e-03 2.46480689e+02] [-3.86444266e-01 9.22304520e-01 3.89903249e-03 1.60368801e+02] [ 1.06664339e-02 2.41971746e-04 9.99943083e-01 7.72101207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51028169299997 meters 0.030717515604828514 Centerline is valid? [True, True] Translation: X:246.51, Y:160.35, Z:0.78 [[ 9.23078645e-01 3.84510870e-01 -8.78670932e-03 2.46505883e+02] [-3.84495449e-01 9.23120443e-01 3.44921095e-03 1.60353656e+02] [ 9.43745011e-03 1.94556775e-04 9.99955447e-01 7.75658290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54028169299994 meters 0.028045532208114468 Centerline is valid? [True, True] Translation: X:246.53, Y:160.34, Z:0.78 [[ 9.24098437e-01 3.82098202e-01 -6.56074446e-03 2.46531299e+02] [-3.82089546e-01 9.24121717e-01 2.57504293e-03 1.60341953e+02] [ 7.04684571e-03 1.27198724e-04 9.99975163e-01 7.79925780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57028169299997 meters 0.01970703567055597 Centerline is valid? [True, True] Translation: X:246.56, Y:160.32, Z:0.79 [[ 9.26357095e-01 3.76632235e-01 -3.26987184e-03 2.46555590e+02] [-3.76630051e-01 9.26362865e-01 1.28330646e-03 1.60322759e+02] [ 3.51242242e-03 4.27319558e-05 9.99993831e-01 7.87307783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60028169299994 meters 0.0178976340890985 Centerline is valid? [True, True] Translation: X:246.58, Y:160.31, Z:0.79 [[ 9.27349872e-01 3.74178760e-01 -3.53143126e-03 2.46581624e+02] [-3.74176196e-01 9.27356595e-01 1.38552804e-03 1.60311110e+02] [ 3.79333123e-03 3.65082697e-05 9.99992805e-01 7.86449682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.630281693 meters 0.01701665626725466 Centerline is valid? [True, True] Translation: X:246.61, Y:160.30, Z:0.78 [[ 9.28008131e-01 3.72530667e-01 -4.67023479e-03 2.46606997e+02] [-3.72526166e-01 9.28019882e-01 1.83174566e-03 1.60300556e+02] [ 5.01645217e-03 3.99097966e-05 9.99987417e-01 7.84002853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66028169299994 meters 0.016218436400043834 Centerline is valid? [True, True] Translation: X:246.63, Y:160.29, Z:0.78 [[ 9.28640069e-01 3.70932447e-01 -6.06157028e-03 2.46632777e+02] [-3.70924837e-01 9.28659851e-01 2.37634330e-03 1.60289405e+02] [ 6.51059979e-03 4.16193617e-05 9.99978805e-01 7.81392223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.690281693 meters 0.015534195181897515 Centerline is valid? [True, True] Translation: X:246.66, Y:160.28, Z:0.78 [[ 9.29785719e-01 3.68002118e-01 -8.54151019e-03 2.46657285e+02] [-3.67986894e-01 9.29824951e-01 3.34746264e-03 1.60277388e+02] [ 9.17398264e-03 3.07408409e-05 9.99957918e-01 7.76474267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72028169299995 meters 0.015385128845032528 Centerline is valid? [True, True] Translation: X:246.68, Y:160.27, Z:0.78 [[ 9.30223871e-01 3.66872165e-01 -9.40025058e-03 2.46683391e+02] [-3.66853687e-01 9.30271366e-01 3.68218110e-03 1.60267107e+02] [ 1.00956737e-02 2.32638335e-05 9.99949037e-01 7.75068640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.750281693 meters 0.015592385159299862 Centerline is valid? [True, True] Translation: X:246.71, Y:160.26, Z:0.77 [[ 9.30472004e-01 3.66222604e-01 -1.01417339e-02 2.46710657e+02] [-3.66201078e-01 9.30527272e-01 3.97069449e-03 1.60257214e+02] [ 1.08913181e-02 1.92938483e-05 9.99940688e-01 7.73630786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78028169299995 meters 0.01568511207747686 Centerline is valid? [True, True] Translation: X:246.74, Y:160.25, Z:0.77 [[ 9.30558080e-01 3.65995954e-01 -1.04221760e-02 2.46736323e+02] [-3.65973224e-01 9.30616442e-01 4.07892629e-03 1.60248112e+02] [ 1.11919189e-02 1.85595541e-05 9.99937368e-01 7.73498610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.810281693 meters 0.015310343165242617 Centerline is valid? [True, True] Translation: X:246.76, Y:160.24, Z:0.78 [[ 9.30705698e-01 3.65647785e-01 -9.41281957e-03 2.46763831e+02] [-3.65629244e-01 9.30753296e-01 3.68225076e-03 1.60238131e+02] [ 1.01074197e-02 1.45103365e-05 9.99948919e-01 7.76492542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84028169299995 meters 0.015117268901064065 Centerline is valid? [True, True] Translation: X:246.79, Y:160.23, Z:0.78 [[ 9.30625103e-01 3.65878266e-01 -8.36727250e-03 2.46791381e+02] [-3.65863638e-01 9.30662718e-01 3.27174295e-03 1.60229112e+02] [ 8.98416821e-03 1.65146412e-05 9.99959641e-01 7.78426925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.870281693 meters 0.014936154360523944 Centerline is valid? [True, True] Translation: X:246.82, Y:160.22, Z:0.78 [[ 9.30376747e-01 3.66524392e-01 -7.67977055e-03 2.46818460e+02] [-3.66512105e-01 9.30408442e-01 3.00128707e-03 1.60220587e+02] [ 8.24536827e-03 2.24011625e-05 9.99966006e-01 7.81045333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90028169299995 meters 0.01515432655414494 Centerline is valid? [True, True] Translation: X:246.85, Y:160.21, Z:0.78 [[ 9.30087903e-01 3.67248194e-01 -8.07818790e-03 2.46845610e+02] [-3.67234640e-01 9.30122983e-01 3.15534745e-03 1.60212002e+02] [ 8.67250388e-03 3.18399248e-05 9.99962393e-01 7.80773474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.930281693 meters 0.016692553949289295 Centerline is valid? [True, True] Translation: X:246.87, Y:160.20, Z:0.78 [[ 9.29025438e-01 3.69887788e-01 -9.73447442e-03 2.46873674e+02] [-3.69868271e-01 9.29076434e-01 3.80032941e-03 1.60204700e+02] [ 1.04497662e-02 6.98705325e-05 9.99945397e-01 7.77195727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96028169299996 meters 0.018369947235549237 Centerline is valid? [True, True] Translation: X:246.90, Y:160.20, Z:0.77 [[ 9.28265924e-01 3.71748959e-01 -1.11842270e-02 2.46901155e+02] [-3.71723342e-01 9.28333292e-01 4.36530641e-03 1.60197954e+02] [ 1.20054884e-02 1.05273054e-04 9.99927926e-01 7.74621705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.990281693 meters 0.021208259502842417 Centerline is valid? [True, True] Translation: X:246.93, Y:160.19, Z:0.77 [[ 9.27266316e-01 3.74209462e-01 -1.20190271e-02 2.46929543e+02] [-3.74180101e-01 9.27344195e-01 4.68994631e-03 1.60193878e+02] [ 1.29007973e-02 1.48451541e-04 9.99916770e-01 7.71464834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02028169299996 meters 0.02344954920469794 Centerline is valid? [True, True] Translation: X:246.96, Y:160.19, Z:0.77 [[ 9.26290646e-01 3.76621849e-01 -1.19004999e-02 2.46958346e+02] [-3.76593290e-01 9.26367071e-01 4.64163503e-03 1.60189012e+02] [ 1.27723724e-02 1.82145278e-04 9.99918413e-01 7.72074583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05028169299993 meters 0.025092039436735346 Centerline is valid? [True, True] Translation: X:246.99, Y:160.18, Z:0.77 [[ 9.25285168e-01 3.79107089e-01 -1.11880549e-02 2.46986824e+02] [-3.79082053e-01 9.25352783e-01 4.36168160e-03 1.60183239e+02] [ 1.20064421e-02 2.05391515e-04 9.99927899e-01 7.74554882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08028169299996 meters 0.03134478418443128 Centerline is valid? [True, True] Translation: X:247.02, Y:160.19, Z:0.78 [[ 9.23275152e-01 3.83992680e-01 -1.06120111e-02 2.47018426e+02] [-3.83970487e-01 9.23336102e-01 4.13626843e-03 1.60186030e+02] [ 1.13867497e-02 2.55785193e-04 9.99935136e-01 7.75393698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11028169299993 meters 0.03172621795326264 Centerline is valid? [True, True] Translation: X:247.05, Y:160.18, Z:0.78 [[ 9.22255477e-01 3.86446479e-01 -1.01957448e-02 2.47046955e+02] [-3.86426146e-01 9.22311793e-01 3.97369277e-03 1.60177715e+02] [ 1.09392752e-02 2.75142445e-04 9.99940127e-01 7.76711374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14028169299996 meters 0.0349170315533066 Centerline is valid? [True, True] Translation: X:247.08, Y:160.17, Z:0.78 [[ 9.21350937e-01 3.88601339e-01 -1.00722377e-02 2.47075511e+02] [-3.88581630e-01 9.21405942e-01 3.92505343e-03 1.60172979e+02] [ 1.08059006e-02 2.97534875e-04 9.99941570e-01 7.76130550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17028169299994 meters 0.04205355978658166 Centerline is valid? [True, True] Translation: X:247.11, Y:160.17, Z:0.77 [[ 9.20686406e-01 3.90170434e-01 -1.01772032e-02 2.47105292e+02] [-3.90150414e-01 9.20742597e-01 3.96529810e-03 1.60173072e+02] [ 1.09177266e-02 3.19843991e-04 9.99940349e-01 7.73271892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20028169299997 meters 0.04198294178301873 Centerline is valid? [True, True] Translation: X:247.13, Y:160.17, Z:0.78 [[ 9.19672733e-01 3.92568681e-01 -9.58616789e-03 2.47134504e+02] [-3.92551053e-01 9.19722634e-01 3.73471528e-03 1.60165972e+02] [ 1.02827478e-02 3.28344487e-04 9.99947077e-01 7.76104567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23028169299994 meters 0.04073043458216004 Centerline is valid? [True, True] Translation: X:247.16, Y:160.16, Z:0.78 [[ 9.19308718e-01 3.93422737e-01 -9.48844714e-03 2.47162009e+02] [-3.93405527e-01 9.19357622e-01 3.69512327e-03 1.60157016e+02] [ 1.01770217e-02 3.35848510e-04 9.99948156e-01 7.77727554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26028169299997 meters 0.04044465076877763 Centerline is valid? [True, True] Translation: X:247.19, Y:160.15, Z:0.78 [[ 9.18826846e-01 3.94548556e-01 -9.41622383e-03 2.47189357e+02] [-3.94531674e-01 9.18875028e-01 3.66618974e-03 1.60149447e+02] [ 1.00988228e-02 3.46404993e-04 9.99948946e-01 7.79075914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29028169299994 meters 0.044134881690305404 Centerline is valid? [True, True] Translation: X:247.22, Y:160.15, Z:0.78 [[ 9.17722651e-01 3.97102748e-01 -9.72334441e-03 2.47219893e+02] [-3.97084897e-01 9.17774078e-01 3.78513117e-03 1.60150179e+02] [ 1.04269194e-02 3.87292598e-04 9.99945563e-01 7.77868437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32028169299997 meters 0.04430442441433288 Centerline is valid? [True, True] Translation: X:247.25, Y:160.14, Z:0.78 [[ 9.17441339e-01 3.97722370e-01 -1.08768109e-02 2.47248057e+02] [-3.97700098e-01 9.17505706e-01 4.23227472e-03 1.60142979e+02] [ 1.16628064e-02 4.42844980e-04 9.99931889e-01 7.75362439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35028169299994 meters 0.04539356082340264 Centerline is valid? [True, True] Translation: X:247.28, Y:160.14, Z:0.77 [[ 9.17419762e-01 3.97717150e-01 -1.27298046e-02 2.47275750e+02] [-3.97686657e-01 9.17507929e-01 4.95221329e-03 1.60136956e+02] [ 1.36492768e-02 5.19215072e-04 9.99906710e-01 7.71467486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.380281693 meters 0.044790144567535176 Centerline is valid? [True, True] Translation: X:247.30, Y:160.13, Z:0.77 [[ 9.17763962e-01 3.96880401e-01 -1.39734211e-02 2.47303553e+02] [-3.96843598e-01 9.17870163e-01 5.43355604e-03 1.60128209e+02] [ 1.49822582e-02 5.58540784e-04 9.99887604e-01 7.69513529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41028169299994 meters 0.041151147055344055 Centerline is valid? [True, True] Translation: X:247.33, Y:160.12, Z:0.77 [[ 9.19097972e-01 3.93807515e-01 -1.32120507e-02 2.47332310e+02] [-3.93774302e-01 9.19192803e-01 5.13707752e-03 1.60118603e+02] [ 1.41674417e-02 4.81088521e-04 9.99899521e-01 7.72182106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.440281693 meters 0.03826527904266467 Centerline is valid? [True, True] Translation: X:247.36, Y:160.11, Z:0.77 [[ 9.20209057e-01 3.91254923e-01 -1.16136632e-02 2.47360209e+02] [-3.91229059e-01 9.20282258e-01 4.51544255e-03 1.60107664e+02] [ 1.24545373e-02 3.88451381e-04 9.99922364e-01 7.74517845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47028169299995 meters 0.03820556383372875 Centerline is valid? [True, True] Translation: X:247.39, Y:160.10, Z:0.78 [[ 9.21575997e-01 3.88068103e-01 -1.00413478e-02 2.47388361e+02] [-3.88048581e-01 9.21630652e-01 3.90387274e-03 1.60099709e+02] [ 1.07693824e-02 2.98815343e-04 9.99941964e-01 7.75198782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.500281693 meters 0.031271319156931446 Centerline is valid? [True, True] Translation: X:247.41, Y:160.08, Z:0.78 [[ 9.22899466e-01 3.84932402e-01 -9.14444807e-03 2.47413565e+02] [-3.84916059e-01 9.22944738e-01 3.55503631e-03 1.60081591e+02] [ 9.80826889e-03 2.38903804e-04 9.99951869e-01 7.78219952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53028169299995 meters 0.026944435806543963 Centerline is valid? [True, True] Translation: X:247.44, Y:160.07, Z:0.78 [[ 9.24876356e-01 3.80133091e-01 -1.01271438e-02 2.47438551e+02] [-3.80112763e-01 9.24931776e-01 3.93670201e-03 1.60066588e+02] [ 1.08633878e-02 2.08493992e-04 9.99940970e-01 7.76122747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.560281693 meters 0.02460737657766228 Centerline is valid? [True, True] Translation: X:247.46, Y:160.05, Z:0.77 [[ 9.25822870e-01 3.77786543e-01 -1.13728269e-02 2.47464519e+02] [-3.77760753e-01 9.25892697e-01 4.41897273e-03 1.60053964e+02] [ 1.21994458e-02 2.05021654e-04 9.99925563e-01 7.74699642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59028169299995 meters 0.022464997192526266 Centerline is valid? [True, True] Translation: X:247.49, Y:160.04, Z:0.77 [[ 9.26789375e-01 3.75384722e-01 -1.21558929e-02 2.47490914e+02] [-3.75355083e-01 9.26869071e-01 4.72085655e-03 1.60042616e+02] [ 1.30390586e-02 1.87536481e-04 9.99914970e-01 7.74083682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.620281693 meters 0.022464997192526266 Centerline is valid? [True, True] Translation: X:247.52, Y:160.03, Z:0.77 [[ 9.26862055e-01 3.75205201e-01 -1.21567929e-02 2.47516609e+02] [-3.75175577e-01 9.26941758e-01 4.71853842e-03 1.60032841e+02] [ 1.30390591e-02 1.87497555e-04 9.99914970e-01 7.74127256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65028169299995 meters 0.020498636514768857 Centerline is valid? [True, True] Translation: X:247.54, Y:160.02, Z:0.77 [[ 9.28306563e-01 3.71592098e-01 -1.28932969e-02 2.47542119e+02] [-3.71558442e-01 9.28396085e-01 5.00326633e-03 1.60022777e+02] [ 1.38292606e-02 1.46048363e-04 9.99904361e-01 7.71622358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.680281693 meters 0.019192431291816508 Centerline is valid? [True, True] Translation: X:247.57, Y:160.01, Z:0.77 [[ 9.28970165e-01 3.69918006e-01 -1.32326057e-02 2.47568016e+02] [-3.69882419e-01 9.29064397e-01 5.13254219e-03 1.60010679e+02] [ 1.41925626e-02 1.26529637e-04 9.99899273e-01 7.72384093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71028169299996 meters 0.019074396550616206 Centerline is valid? [True, True] Translation: X:247.59, Y:160.00, Z:0.77 [[ 9.29429814e-01 3.68728039e-01 -1.41369989e-02 2.47593696e+02] [-3.68687301e-01 9.29537315e-01 5.48214851e-03 1.60000730e+02] [ 1.51622898e-02 1.16859692e-04 9.99885039e-01 7.70635354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.740281693 meters 0.018438449007997397 Centerline is valid? [True, True] Translation: X:247.62, Y:159.99, Z:0.77 [[ 9.29744100e-01 3.67907857e-01 -1.48228671e-02 2.47620345e+02] [-3.67863016e-01 9.29862246e-01 5.74498627e-03 1.59990760e+02] [ 1.58968501e-02 1.11417532e-04 9.99873631e-01 7.71162746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77028169299996 meters 0.0184974016203483 Centerline is valid? [True, True] Translation: X:247.65, Y:159.98, Z:0.77 [[ 9.29845554e-01 3.67649293e-01 -1.48742381e-02 2.47647609e+02] [-3.67604162e-01 9.29964507e-01 5.76152165e-03 1.59983396e+02] [ 1.59507328e-02 1.10506526e-04 9.99872773e-01 7.71579859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80028169299993 meters 0.01898478479287826 Centerline is valid? [True, True] Translation: X:247.68, Y:159.98, Z:0.77 [[ 9.29534455e-01 3.68513450e-01 -1.27880640e-02 2.47676764e+02] [-3.68480188e-01 9.29622410e-01 4.95236071e-03 1.59980912e+02] [ 1.37130824e-02 1.08758304e-04 9.99905965e-01 7.74463062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83028169299996 meters 0.018971548239459665 Centerline is valid? [True, True] Translation: X:247.71, Y:159.97, Z:0.78 [[ 9.29243821e-01 3.69291172e-01 -1.13996228e-02 2.47705061e+02] [-3.69264824e-01 9.29313735e-01 4.41267647e-03 1.59973727e+02] [ 1.22233885e-02 1.09027359e-04 9.99925286e-01 7.77596579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86028169299993 meters 0.019144806607564492 Centerline is valid? [True, True] Translation: X:247.73, Y:159.97, Z:0.78 [[ 9.28995376e-01 3.69932263e-01 -1.08495589e-02 2.47732453e+02] [-3.69908467e-01 9.29058721e-01 4.19739616e-03 1.59966134e+02] [ 1.16326296e-02 1.13982087e-04 9.99932332e-01 7.79130137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89028169299996 meters 0.0202496983553772 Centerline is valid? [True, True] Translation: X:247.76, Y:159.96, Z:0.78 [[ 9.28928378e-01 3.70087347e-01 -1.12882149e-02 2.47759989e+02] [-3.70061612e-01 9.28996954e-01 4.36607988e-03 1.59959929e+02] [ 1.21025482e-02 1.21559509e-04 9.99926754e-01 7.77101841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92028169299994 meters 0.020083190924174238 Centerline is valid? [True, True] Translation: X:247.79, Y:159.95, Z:0.78 [[ 9.28970898e-01 3.69943141e-01 -1.24556505e-02 2.47788671e+02] [-3.69911823e-01 9.29054387e-01 4.81544497e-03 1.59953943e+02] [ 1.33534175e-02 1.34084132e-04 9.99910830e-01 7.75090138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95028169299997 meters 0.019999736536943494 Centerline is valid? [True, True] Translation: X:247.82, Y:159.95, Z:0.78 [[ 9.28989581e-01 3.69900030e-01 -1.23420146e-02 2.47816094e+02] [-3.69869313e-01 9.29071553e-01 4.76885267e-03 1.59946031e+02] [ 1.32306134e-02 1.34718013e-04 9.99912463e-01 7.76366466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98028169299994 meters 0.02012495688456309 Centerline is valid? [True, True] Translation: X:247.84, Y:159.94, Z:0.78 [[ 9.28894944e-01 3.70158954e-01 -1.16846942e-02 2.47843300e+02] [-3.70131474e-01 9.28968423e-01 4.51231971e-03 1.59938956e+02] [ 1.25249875e-02 1.33402118e-04 9.99921550e-01 7.77552019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01028169299997 meters 0.020431544886221186 Centerline is valid? [True, True] Translation: X:247.87, Y:159.93, Z:0.78 [[ 9.28705297e-01 3.70645841e-01 -1.13194895e-02 2.47870206e+02] [-3.70620119e-01 9.28774268e-01 4.36880953e-03 1.59931626e+02] [ 1.21325317e-02 1.37893997e-04 9.99926389e-01 7.79384854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04028169299994 meters 0.022068513783272098 Centerline is valid? [True, True] Translation: X:247.90, Y:159.93, Z:0.78 [[ 9.28086000e-01 3.72147010e-01 -1.27663329e-02 2.47898445e+02] [-3.72114448e-01 9.28173783e-01 4.92609017e-03 1.59927368e+02] [ 1.36826052e-02 1.78701604e-04 9.99906373e-01 7.77735311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07028169299997 meters 0.02335228990151135 Centerline is valid? [True, True] Translation: X:247.93, Y:159.92, Z:0.78 [[ 9.27688201e-01 3.73108946e-01 -1.35763007e-02 2.47926477e+02] [-3.73072237e-01 9.27787515e-01 5.23770659e-03 1.59921266e+02] [ 1.45501574e-02 2.05982259e-04 9.99894120e-01 7.75818472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10028169299994 meters 0.024487606419188453 Centerline is valid? [True, True] Translation: X:247.95, Y:159.92, Z:0.78 [[ 9.27278662e-01 3.74122541e-01 -1.36604450e-02 2.47954691e+02] [-3.74085521e-01 9.27379250e-01 5.26777029e-03 1.59915283e+02] [ 1.46392049e-02 2.25483706e-04 9.99892816e-01 7.75835621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.130281693 meters 0.026852859467594695 Centerline is valid? [True, True] Translation: X:247.98, Y:159.91, Z:0.78 [[ 9.26900675e-01 3.75075926e-01 -1.31601141e-02 2.47982585e+02] [-3.75041680e-01 9.26994064e-01 5.07378158e-03 1.59911525e+02] [ 1.41024010e-02 2.32699739e-04 9.99900529e-01 7.75006820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16028169299994 meters 0.027785757505103797 Centerline is valid? [True, True] Translation: X:248.01, Y:159.91, Z:0.78 [[ 9.26179250e-01 3.76922085e-01 -1.10334850e-02 2.48011250e+02] [-3.76898165e-01 9.26244942e-01 4.25203629e-03 1.59906811e+02] [ 1.18223961e-02 2.20352475e-04 9.99930089e-01 7.79554486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.190281693 meters 0.028731515035503995 Centerline is valid? [True, True] Translation: X:248.04, Y:159.90, Z:0.78 [[ 9.25877487e-01 3.77678194e-01 -1.04910318e-02 2.48039882e+02] [-3.77656638e-01 9.25936895e-01 4.04107172e-03 1.59899841e+02] [ 1.12402581e-02 2.20470466e-04 9.99936802e-01 7.80711632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22028169299995 meters 0.028719954187515145 Centerline is valid? [True, True] Translation: X:248.07, Y:159.89, Z:0.78 [[ 9.25869582e-01 3.77702523e-01 -1.03112022e-02 2.48067005e+02] [-3.77681725e-01 9.25926971e-01 3.96966906e-03 1.59893259e+02] [ 1.10467742e-02 2.18956792e-04 9.99938959e-01 7.81236212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.250281693 meters 0.02884727639749403 Centerline is valid? [True, True] Translation: X:248.09, Y:159.89, Z:0.78 [[ 9.25977216e-01 3.77424439e-01 -1.08161618e-02 2.48093968e+02] [-3.77401549e-01 9.26040356e-01 4.16288605e-03 1.59887226e+02] [ 1.15873772e-02 2.27298569e-04 9.99932838e-01 7.80204744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28028169299995 meters 0.02731179721704384 Centerline is valid? [True, True] Translation: X:248.12, Y:159.88, Z:0.78 [[ 9.26749497e-01 3.75468956e-01 -1.25870237e-02 2.48122320e+02] [-3.75437805e-01 9.26834940e-01 4.84225703e-03 1.59880724e+02] [ 1.34842106e-02 2.38085311e-04 9.99909056e-01 7.76963571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.310281693 meters 0.02568908995873884 Centerline is valid? [True, True] Translation: X:248.15, Y:159.87, Z:0.78 [[ 9.27564830e-01 3.73425167e-01 -1.33090175e-02 2.48149029e+02] [-3.73390165e-01 9.27660280e-01 5.11756765e-03 1.59870526e+02] [ 1.42572754e-02 2.22580468e-04 9.99898335e-01 7.75105968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34028169299995 meters 0.022866005642746566 Centerline is valid? [True, True] Translation: X:248.18, Y:159.86, Z:0.77 [[ 9.28771526e-01 3.70410977e-01 -1.33850628e-02 2.48175375e+02] [-3.70375296e-01 9.28867954e-01 5.14436382e-03 1.59858273e+02] [ 1.43384848e-02 1.79557971e-04 9.99897183e-01 7.74634762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.370281693 meters 0.019287153327274226 Centerline is valid? [True, True] Translation: X:248.20, Y:159.84, Z:0.78 [[ 9.30240403e-01 3.66714670e-01 -1.31584193e-02 2.48200846e+02] [-3.66679851e-01 9.30333454e-01 5.05477775e-03 1.59843601e+02] [ 1.40953789e-02 1.22768752e-04 9.99900648e-01 7.76059461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40028169299995 meters 0.016431770246731786 Centerline is valid? [True, True] Translation: X:248.22, Y:159.82, Z:0.78 [[ 9.33615407e-01 3.58049909e-01 -1.27489097e-02 2.48222276e+02] [-3.58016427e-01 9.33702449e-01 4.89643691e-03 1.59822164e+02] [ 1.36568570e-02 -7.06984279e-06 9.99906741e-01 7.76584861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.430281693 meters 0.017289713546190376 Centerline is valid? [True, True] Translation: X:248.25, Y:159.81, Z:0.78 [[ 9.35283914e-01 3.53671105e-01 -1.26787162e-02 2.48246727e+02] [-3.53637618e-01 9.35369844e-01 4.86726663e-03 1.59805191e+02] [ 1.35807004e-02 -6.86051934e-05 9.99907776e-01 7.77659571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46028169299996 meters 0.019101473774196878 Centerline is valid? [True, True] Translation: X:248.27, Y:159.79, Z:0.78 [[ 9.36782063e-01 3.49679682e-01 -1.27861527e-02 2.48271328e+02] [-3.49645286e-01 9.36869310e-01 4.90607590e-03 1.59788841e+02] [ 1.36945091e-02 -1.25305888e-04 9.99906218e-01 7.78266736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.490281693 meters 0.021613761187817267 Centerline is valid? [True, True] Translation: X:248.29, Y:159.77, Z:0.78 [[ 9.37888168e-01 3.46677036e-01 -1.34468231e-02 2.48294946e+02] [-3.46638700e-01 9.37984542e-01 5.15847163e-03 1.59773617e+02] [ 1.44012359e-02 -1.76880216e-04 9.99896281e-01 7.77230308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52028169299996 meters 0.02565554833146898 Centerline is valid? [True, True] Translation: X:248.32, Y:159.75, Z:0.77 [[ 9.39028717e-01 3.43508307e-01 -1.50702064e-02 2.48318712e+02] [-3.43459759e-01 9.39149604e-01 5.78057820e-03 1.59754966e+02] [ 1.61388550e-02 -2.52119478e-04 9.99869728e-01 7.73672331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55028169299993 meters 0.0252635681496492 Centerline is valid? [True, True] Translation: X:248.35, Y:159.74, Z:0.77 [[ 9.39365007e-01 3.42561572e-01 -1.56509481e-02 2.48345406e+02] [-3.42509123e-01 9.39495340e-01 6.00061737e-03 1.59743537e+02] [ 1.67595737e-02 -2.76177449e-04 9.99859510e-01 7.74861171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58028169299996 meters 0.025927684365616856 Centerline is valid? [True, True] Translation: X:248.37, Y:159.73, Z:0.77 [[ 9.39655634e-01 3.41753419e-01 -1.58710757e-02 2.48371015e+02] [-3.41699420e-01 9.39789612e-01 6.08203015e-03 1.59730977e+02] [ 1.69940266e-02 -2.91876554e-04 9.99855549e-01 7.74917990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61028169299993 meters 0.025880665008993567 Centerline is valid? [True, True] Translation: X:248.40, Y:159.72, Z:0.78 [[ 9.39800225e-01 3.41385568e-01 -1.52128398e-02 2.48397008e+02] [-3.41335960e-01 9.39923302e-01 5.82657016e-03 1.59719332e+02] [ 1.62880096e-02 -2.83122675e-04 9.99867302e-01 7.75880703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64028169299996 meters 0.025375849578701138 Centerline is valid? [True, True] Translation: X:248.42, Y:159.71, Z:0.78 [[ 9.39704870e-01 3.41639977e-01 -1.53910383e-02 2.48422281e+02] [-3.41589288e-01 9.39830862e-01 5.89149677e-03 1.59706838e+02] [ 1.64777436e-02 -2.78854402e-04 9.99864194e-01 7.75743883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67028169299994 meters 0.024611847722128512 Centerline is valid? [True, True] Translation: X:248.45, Y:159.70, Z:0.78 [[ 9.39523693e-01 3.42110993e-01 -1.59780969e-02 2.48448027e+02] [-3.42056491e-01 9.39659508e-01 6.11271872e-03 1.59696560e+02] [ 1.71051989e-02 -2.77632317e-04 9.99853657e-01 7.75837012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70028169299997 meters 0.024072932814684263 Centerline is valid? [True, True] Translation: X:248.47, Y:159.69, Z:0.78 [[ 9.39137808e-01 3.43145778e-01 -1.64667189e-02 2.48474066e+02] [-3.43088075e-01 9.39282122e-01 6.29830002e-03 1.59686736e+02] [ 1.76281297e-02 -2.65436803e-04 9.99844577e-01 7.75112849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73028169299994 meters 0.02161301852541182 Centerline is valid? [True, True] Translation: X:248.50, Y:159.68, Z:0.78 [[ 9.37867099e-01 3.46674561e-01 -1.49014728e-02 2.48501959e+02] [-3.46627774e-01 9.37985457e-01 5.69824813e-03 1.59682607e+02] [ 1.59528025e-02 -1.78935096e-04 9.99872730e-01 7.76880563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76028169299997 meters 0.019663986210255214 Centerline is valid? [True, True] Translation: X:248.53, Y:159.68, Z:0.78 [[ 9.37020555e-01 3.48990663e-01 -1.40711590e-02 2.48531300e+02] [-3.48949239e-01 9.37126192e-01 5.37846627e-03 1.59677163e+02] [ 1.50634861e-02 -1.29613224e-04 9.99886531e-01 7.78256879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79028169299994 meters 0.017983939490152825 Centerline is valid? [True, True] Translation: X:248.56, Y:159.67, Z:0.78 [[ 9.36044478e-01 3.51620504e-01 -1.35556778e-02 2.48560296e+02] [-3.51582371e-01 9.36142625e-01 5.17898590e-03 1.59672441e+02] [ 1.45110854e-02 -8.18238146e-05 9.99894705e-01 7.79015866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82028169299997 meters 0.019163704692196068 Centerline is valid? [True, True] Translation: X:248.59, Y:159.67, Z:0.78 [[ 9.35019488e-01 3.54310508e-01 -1.42344905e-02 2.48588885e+02] [-3.54268817e-01 9.35127832e-01 5.43528461e-03 1.59667684e+02] [ 1.52368467e-02 -3.92609161e-05 9.99883912e-01 7.83436561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85028169299994 meters 0.017498134957919288 Centerline is valid? [True, True] Translation: X:248.62, Y:159.67, Z:0.78 [[ 9.33301296e-01 3.58724896e-01 -1.62831263e-02 2.48618793e+02] [-3.58671035e-01 9.33443329e-01 6.21617035e-03 1.59667080e+02] [ 1.74292707e-02 3.87259240e-05 9.99848098e-01 7.75633458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.880281693 meters 0.018117028158151055 Centerline is valid? [True, True] Translation: X:248.65, Y:159.66, Z:0.77 [[ 9.32687888e-01 3.60288730e-01 -1.68918785e-02 2.48647609e+02] [-3.60231077e-01 9.32840836e-01 6.44555055e-03 1.59660998e+02] [ 1.80796933e-02 7.32926519e-05 9.99836546e-01 7.74944845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91028169299994 meters 0.018357516696623517 Centerline is valid? [True, True] Translation: X:248.68, Y:159.65, Z:0.78 [[ 9.32054312e-01 3.61912281e-01 -1.71540035e-02 2.48675895e+02] [-3.61853162e-01 9.32212148e-01 6.54219689e-03 1.59654464e+02] [ 1.83588719e-02 1.09547604e-04 9.99831456e-01 7.76531449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.940281693 meters 0.020664558657164624 Centerline is valid? [True, True] Translation: X:248.71, Y:159.65, Z:0.77 [[ 9.30874647e-01 3.64912120e-01 -1.76503983e-02 2.48705290e+02] [-3.64850095e-01 9.31041951e-01 6.73008057e-03 1.59653189e+02] [ 1.88891493e-02 1.74888143e-04 9.99821569e-01 7.74318626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97028169299995 meters 0.021445317621088512 Centerline is valid? [True, True] Translation: X:248.73, Y:159.65, Z:0.78 [[ 9.30457232e-01 3.65986217e-01 -1.74192067e-02 2.48733242e+02] [-3.65926027e-01 9.30620250e-01 6.64020485e-03 1.59647223e+02] [ 1.86408899e-02 1.95714478e-04 9.99826224e-01 7.75131415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.000281693 meters 0.022369580247227183 Centerline is valid? [True, True] Translation: X:248.76, Y:159.64, Z:0.78 [[ 9.30292931e-01 3.66447145e-01 -1.64788272e-02 2.48761250e+02] [-3.66393371e-01 9.30438849e-01 6.28058948e-03 1.59641942e+02] [ 1.76340451e-02 1.94945068e-04 9.99844489e-01 7.75494587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03028169299995 meters 0.020690583147004057 Centerline is valid? [True, True] Translation: X:248.79, Y:159.63, Z:0.78 [[ 9.30324424e-01 3.66412527e-01 -1.54378327e-02 2.48788542e+02] [-3.66365375e-01 9.30452485e-01 5.88101950e-03 1.59632762e+02] [ 1.65190490e-02 1.84631266e-04 9.99863534e-01 7.81002000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.060281693 meters 0.022278432369754478 Centerline is valid? [True, True] Translation: X:248.82, Y:159.63, Z:0.78 [[ 9.30533916e-01 3.65931155e-01 -1.41782029e-02 2.48816946e+02] [-3.65891352e-01 9.30641909e-01 5.39960036e-03 1.59628928e+02] [ 1.51707118e-02 1.63170559e-04 9.99884905e-01 7.78874029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09028169299995 meters 0.020044346314802498 Centerline is valid? [True, True] Translation: X:248.84, Y:159.62, Z:0.78 [[ 9.30883678e-01 3.65009345e-01 -1.49584653e-02 2.48842394e+02] [-3.64964971e-01 9.31003841e-01 5.69366242e-03 1.59617505e+02] [ 1.60046287e-02 1.59178439e-04 9.99871905e-01 7.80947729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.120281693 meters 0.019458321741668932 Centerline is valid? [True, True] Translation: X:248.87, Y:159.61, Z:0.78 [[ 9.31442519e-01 3.63554899e-01 -1.55778612e-02 2.48869227e+02] [-3.63506626e-01 9.31572764e-01 5.92602529e-03 1.59608249e+02] [ 1.66663468e-02 1.42903849e-04 9.99861097e-01 7.78992583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15028169299995 meters 0.019482065322098466 Centerline is valid? [True, True] Translation: X:248.90, Y:159.60, Z:0.78 [[ 9.32032232e-01 3.62062095e-01 -1.50651190e-02 2.48896287e+02] [-3.62016773e-01 9.32153971e-01 5.72974634e-03 1.59600686e+02] [ 1.61175345e-02 1.13517498e-04 9.99870098e-01 7.76706316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.180281693 meters 0.01632173198656309 Centerline is valid? [True, True] Translation: X:248.92, Y:159.59, Z:0.79 [[ 9.33081067e-01 3.59490967e-01 -1.12234519e-02 2.48923468e+02] [-3.59465634e-01 9.33148564e-01 4.26804032e-03 1.59590732e+02] [ 1.20074700e-02 5.20176315e-05 9.99927906e-01 7.87352403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21028169299996 meters 0.015464671749585553 Centerline is valid? [True, True] Translation: X:248.95, Y:159.58, Z:0.79 [[ 9.33742553e-01 3.57795600e-01 -1.03514972e-02 2.48949760e+02] [-3.57773966e-01 9.33799929e-01 3.93471673e-03 1.59579951e+02] [ 1.10740517e-02 2.94837649e-05 9.99938680e-01 7.89732241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.240281693 meters 0.01519173388917877 Centerline is valid? [True, True] Translation: X:248.97, Y:159.57, Z:0.79 [[ 9.34561852e-01 3.55642456e-01 -1.06107882e-02 2.48974719e+02] [-3.55619598e-01 9.34622086e-01 4.03214221e-03 1.59568382e+02] [ 1.13510780e-02 5.11795385e-06 9.99935574e-01 7.89331932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27028169299996 meters 0.016487546965041653 Centerline is valid? [True, True] Translation: X:249.00, Y:159.55, Z:0.79 [[ 9.36424420e-01 3.50667529e-01 -1.18991556e-02 2.48998374e+02] [-3.50638391e-01 9.36500016e-01 4.52088775e-03 1.59553077e+02] [ 1.27288880e-02 -6.11689061e-05 9.99918983e-01 7.86088014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30028169299993 meters 0.018590205234140723 Centerline is valid? [True, True] Translation: X:249.02, Y:159.54, Z:0.79 [[ 9.37643151e-01 3.47388276e-01 -1.21122952e-02 2.49022991e+02] [-3.47357821e-01 9.37721374e-01 4.60107524e-03 1.59538481e+02] [ 1.29563177e-02 -1.06866210e-04 9.99916058e-01 7.85421481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33028169299996 meters 0.021330177312722035 Centerline is valid? [True, True] Translation: X:249.05, Y:159.52, Z:0.79 [[ 9.38912091e-01 3.43946284e-01 -1.20432235e-02 2.49047474e+02] [-3.43915902e-01 9.38989313e-01 4.57405816e-03 1.59523351e+02] [ 1.28816885e-02 -1.52782434e-04 9.99917016e-01 7.85231193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36028169299993 meters 0.02449769912738077 Centerline is valid? [True, True] Translation: X:249.07, Y:159.51, Z:0.79 [[ 9.40086659e-01 3.40743812e-01 -1.14336727e-02 2.49071564e+02] [-3.40716200e-01 9.40156168e-01 4.34181669e-03 1.59507813e+02] [ 1.22288850e-02 -1.86046448e-04 9.99925207e-01 7.85620385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39028169299996 meters 0.028905713542006734 Centerline is valid? [True, True] Translation: X:249.10, Y:159.49, Z:0.79 [[ 9.42158556e-01 3.34971978e-01 -1.14467877e-02 2.49096456e+02] [-3.34943878e-01 9.42228054e-01 4.34660441e-03 1.59487707e+02] [ 1.22414752e-02 -2.61159081e-04 9.99925036e-01 7.87500608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42028169299994 meters 0.028652186829486 Centerline is valid? [True, True] Translation: X:249.12, Y:159.48, Z:0.79 [[ 9.42969057e-01 3.32659907e-01 -1.21138198e-02 2.49123948e+02] [-3.32628249e-01 9.43046813e-01 4.59958066e-03 1.59475874e+02] [ 1.29539952e-02 -3.07863579e-04 9.99916046e-01 7.88578927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45028169299997 meters 0.03207080033751529 Centerline is valid? [True, True] Translation: X:249.15, Y:159.46, Z:0.79 [[ 9.43751416e-01 3.30409706e-01 -1.27550079e-02 2.49148358e+02] [-3.30374410e-01 9.43837539e-01 4.84252839e-03 1.59459390e+02] [ 1.36386736e-02 -3.56214829e-04 9.99906926e-01 7.87085011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48028169299994 meters 0.03385719335671805 Centerline is valid? [True, True] Translation: X:249.17, Y:159.44, Z:0.79 [[ 9.44302132e-01 3.28819814e-01 -1.30771884e-02 2.49173822e+02] [-3.28782591e-01 9.44392599e-01 4.96260355e-03 1.59444543e+02] [ 1.39818023e-02 -3.86645226e-04 9.99902175e-01 7.86109355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51028169299997 meters 0.03385719335671805 Centerline is valid? [True, True] Translation: X:249.20, Y:159.43, Z:0.79 [[ 9.44364207e-01 3.28641459e-01 -1.30781115e-02 2.49199591e+02] [-3.28604252e-01 9.44454680e-01 4.96017013e-03 1.59434960e+02] [ 1.39818012e-02 -3.86684063e-04 9.99902175e-01 7.86152940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54028169299994 meters 0.037264880117088166 Centerline is valid? [True, True] Translation: X:249.22, Y:159.42, Z:0.78 [[ 9.44674399e-01 3.27733203e-01 -1.34620346e-02 2.49222626e+02] [-3.27693713e-01 9.44770226e-01 5.10404567e-03 1.59418569e+02] [ 1.43912947e-02 -4.10237189e-04 9.99896356e-01 7.84605971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57028169299997 meters 0.0363543437197336 Centerline is valid? [True, True] Translation: X:249.25, Y:159.40, Z:0.79 [[ 9.44921721e-01 3.27061985e-01 -1.23854663e-02 2.49247072e+02] [-3.27028534e-01 9.45002810e-01 4.69342299e-03 1.59404153e+02] [ 1.32393406e-02 -3.84516461e-04 9.99912282e-01 7.88165377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60028169299994 meters 0.038537266809578884 Centerline is valid? [True, True] Translation: X:249.27, Y:159.39, Z:0.79 [[ 9.45037617e-01 3.26757067e-01 -1.15637902e-02 2.49270640e+02] [-3.26727899e-01 9.45108294e-01 4.38084047e-03 1.59389104e+02] [ 1.23605046e-02 -3.61846175e-04 9.99923541e-01 7.88816554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.630281693 meters 0.037466214174128154 Centerline is valid? [True, True] Translation: X:249.30, Y:159.38, Z:0.79 [[ 9.45086715e-01 3.26607920e-01 -1.17629974e-02 2.49296622e+02] [-3.26577755e-01 9.45159844e-01 4.45405767e-03 1.59378245e+02] [ 1.25726433e-02 -3.67937435e-04 9.99920894e-01 7.89523066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66028169299994 meters 0.0375452443825158 Centerline is valid? [True, True] Translation: X:249.32, Y:159.37, Z:0.79 [[ 9.44818457e-01 3.27355258e-01 -1.25147366e-02 2.49321179e+02] [-3.27321198e-01 9.44901260e-01 4.73733076e-03 1.59365360e+02] [ 1.33759805e-02 -3.79578968e-04 9.99910466e-01 7.88194709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.690281693 meters 0.03180378989813475 Centerline is valid? [True, True] Translation: X:249.35, Y:159.36, Z:0.79 [[ 9.44153462e-01 3.29275727e-01 -1.23181115e-02 2.49348200e+02] [-3.29242901e-01 9.44233751e-01 4.66217432e-03 1.59355691e+02] [ 1.31663175e-02 -3.46157247e-04 9.99913260e-01 7.90241505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72028169299995 meters 0.03053039010028708 Centerline is valid? [True, True] Translation: X:249.37, Y:159.34, Z:0.79 [[ 9.43638469e-01 3.30786255e-01 -1.12646961e-02 2.49374022e+02] [-3.30758919e-01 9.43705656e-01 4.26287352e-03 1.59343790e+02] [ 1.20406574e-02 -2.96712734e-04 9.99927465e-01 7.92985322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.750281693 meters 0.03172041844528691 Centerline is valid? [True, True] Translation: X:249.40, Y:159.33, Z:0.79 [[ 9.43185620e-01 3.32107041e-01 -1.02858756e-02 2.49398340e+02] [-3.32084335e-01 9.43241670e-01 3.89179390e-03 1.59329576e+02] [ 1.09945586e-02 -2.54905897e-04 9.99939526e-01 7.93885439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78028169299995 meters 0.029162287398193865 Centerline is valid? [True, True] Translation: X:249.43, Y:159.32, Z:0.80 [[ 9.42897263e-01 3.32936350e-01 -9.90647488e-03 2.49425424e+02] [-3.32915352e-01 9.42949273e-01 3.74658339e-03 1.59320005e+02] [ 1.05886771e-02 -2.34625659e-04 9.99943911e-01 7.95247688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.810281693 meters 0.029201015262762985 Centerline is valid? [True, True] Translation: X:249.45, Y:159.30, Z:0.79 [[ 9.42778441e-01 3.33228769e-01 -1.12871293e-02 2.49449457e+02] [-3.33201559e-01 9.42845968e-01 4.26635490e-03 1.59304446e+02] [ 1.20636966e-02 -2.61338339e-04 9.99927197e-01 7.92166485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84028169299995 meters 0.029538962847752998 Centerline is valid? [True, True] Translation: X:249.48, Y:159.29, Z:0.79 [[ 9.42827834e-01 3.33046387e-01 -1.24811945e-02 2.49475426e+02] [-3.33013131e-01 9.42910399e-01 4.71530721e-03 1.59291191e+02] [ 1.33390641e-02 -2.89321238e-04 9.99910989e-01 7.89894693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.870281693 meters 0.02906453002092555 Centerline is valid? [True, True] Translation: X:249.50, Y:159.28, Z:0.79 [[ 9.42778332e-01 3.33140481e-01 -1.36541882e-02 2.49501527e+02] [-3.33100727e-01 9.42877151e-01 5.15587684e-03 1.59278862e+02] [ 1.45918533e-02 -3.12628962e-04 9.99893484e-01 7.88000935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90028169299995 meters 0.027973788826044288 Centerline is valid? [True, True] Translation: X:249.53, Y:159.26, Z:0.78 [[ 9.42104578e-01 3.34969895e-01 -1.53014385e-02 2.49526033e+02] [-3.34920232e-01 9.42228777e-01 5.77665656e-03 1.59264923e+02] [ 1.63524618e-02 -3.17453249e-04 9.99866239e-01 7.84533092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.930281693 meters 0.027696264118992304 Centerline is valid? [True, True] Translation: X:249.55, Y:159.25, Z:0.78 [[ 9.41864512e-01 3.35648512e-01 -1.52091147e-02 2.49551321e+02] [-3.35599551e-01 9.41987253e-01 5.74079974e-03 1.59253268e+02] [ 1.62536830e-02 -3.02883488e-04 9.99867854e-01 7.84855355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96028169299996 meters 0.026621004368428163 Centerline is valid? [True, True] Translation: X:249.58, Y:159.24, Z:0.79 [[ 9.41766166e-01 3.35928719e-01 -1.51123841e-02 2.49578016e+02] [-3.35880458e-01 9.41887366e-01 5.70164729e-03 1.59242885e+02] [ 1.61495107e-02 -2.93664022e-04 9.99869545e-01 7.86050363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.990281693 meters 0.02598665054693596 Centerline is valid? [True, True] Translation: X:249.60, Y:159.23, Z:0.79 [[ 9.41413116e-01 3.36930030e-01 -1.48155546e-02 2.49604084e+02] [-3.36883813e-01 9.41529651e-01 5.58690742e-03 1.59231755e+02] [ 1.58316808e-02 -2.68467391e-04 9.99874635e-01 7.87379013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02028169299996 meters 0.025668335150549865 Centerline is valid? [True, True] Translation: X:249.63, Y:159.22, Z:0.79 [[ 9.41186372e-01 3.37583998e-01 -1.43268061e-02 2.49630114e+02] [-3.37540880e-01 9.41295375e-01 5.40108782e-03 1.59221217e+02] [ 1.53090772e-02 -2.47547509e-04 9.99882779e-01 7.87404601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05028169299993 meters 0.025090189403976216 Centerline is valid? [True, True] Translation: X:249.66, Y:159.21, Z:0.79 [[ 9.41000236e-01 3.38100390e-01 -1.43764487e-02 2.49656942e+02] [-3.38057070e-01 9.41110020e-01 5.41730509e-03 1.59210618e+02] [ 1.53614128e-02 -2.37625251e-04 9.99881978e-01 7.87690676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08028169299996 meters 0.024446739158027826 Centerline is valid? [True, True] Translation: X:249.68, Y:159.20, Z:0.79 [[ 9.40689871e-01 3.38954675e-01 -1.45703335e-02 2.49683200e+02] [-3.38910299e-01 9.40802677e-01 5.48924108e-03 1.59200847e+02] [ 1.55684127e-02 -2.25637425e-04 9.99878779e-01 7.87935984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11028169299993 meters 0.022658469790191416 Centerline is valid? [True, True] Translation: X:249.71, Y:159.19, Z:0.79 [[ 9.40091643e-01 3.40627563e-01 -1.41621189e-02 2.49710819e+02] [-3.40585865e-01 9.40198291e-01 5.33306222e-03 1.59193551e+02] [ 1.51317880e-02 -1.90149718e-04 9.99885490e-01 7.88599046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14028169299996 meters 0.02197969602549274 Centerline is valid? [True, True] Translation: X:249.74, Y:159.18, Z:0.79 [[ 9.39916759e-01 3.41135932e-01 -1.35189882e-02 2.49738111e+02] [-3.41098022e-01 9.40013961e-01 5.08845694e-03 1.59184148e+02] [ 1.44438931e-02 -1.71425829e-04 9.99895667e-01 7.89774226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17028169299994 meters 0.0215265644769162 Centerline is valid? [True, True] Translation: X:249.76, Y:159.17, Z:0.79 [[ 9.39788686e-01 3.41517995e-01 -1.27547910e-02 2.49764169e+02] [-3.41484299e-01 9.39875223e-01 4.79984708e-03 1.59174338e+02] [ 1.36271462e-02 -1.55281117e-04 9.99907134e-01 7.91453762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20028169299997 meters 0.021619609316344768 Centerline is valid? [True, True] Translation: X:249.79, Y:159.16, Z:0.79 [[ 9.39794084e-01 3.41511373e-01 -1.25324017e-02 2.49789037e+02] [-3.41478873e-01 9.39877630e-01 4.71382496e-03 1.59162456e+02] [ 1.33887488e-02 -1.50474409e-04 9.99910355e-01 7.90998696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23028169299994 meters 0.02185393658741176 Centerline is valid? [True, True] Translation: X:249.82, Y:159.15, Z:0.79 [[ 9.39938843e-01 3.41076060e-01 -1.34941887e-02 2.49816020e+02] [-3.41038370e-01 9.40035687e-01 5.07310831e-03 1.59151252e+02] [ 1.44153347e-02 -1.66375447e-04 9.99896080e-01 7.89333008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26028169299997 meters 0.022160285149385145 Centerline is valid? [True, True] Translation: X:249.84, Y:159.14, Z:0.79 [[ 9.39902310e-01 3.41138241e-01 -1.44342806e-02 2.49842213e+02] [-3.41095140e-01 9.40013122e-01 5.42542972e-03 1.59140425e+02] [ 1.54192347e-02 -1.75910968e-04 9.99881101e-01 7.87409975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29028169299994 meters 0.021565457163983826 Centerline is valid? [True, True] Translation: X:249.87, Y:159.13, Z:0.79 [[ 9.39763915e-01 3.41533814e-01 -1.40867823e-02 2.49869221e+02] [-3.41492844e-01 9.39869474e-01 5.29248432e-03 1.59131526e+02] [ 1.50472990e-02 -1.63150434e-04 9.99886770e-01 7.88364072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32028169299997 meters 0.019036075351713554 Centerline is valid? [True, True] Translation: X:249.90, Y:159.13, Z:0.80 [[ 9.38900036e-01 3.44017731e-01 -1.08868173e-02 2.49897728e+02] [-3.43993436e-01 9.38963147e-01 4.08956083e-03 1.59127118e+02] [ 1.16292017e-02 -9.46951139e-05 9.99932374e-01 7.95565594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35028169299994 meters 0.01715584174829126 Centerline is valid? [True, True] Translation: X:249.93, Y:159.12, Z:0.80 [[ 9.38258511e-01 3.45798155e-01 -9.72639931e-03 2.49926249e+02] [-3.45778874e-01 9.38308922e-01 3.65216253e-03 1.59121430e+02] [ 1.03892783e-02 -6.34891810e-05 9.99946028e-01 7.98606472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.380281693 meters 0.015661187767418042 Centerline is valid? [True, True] Translation: X:249.95, Y:159.12, Z:0.80 [[ 9.37587608e-01 3.47597014e-01 -1.02856281e-02 2.49954510e+02] [-3.47575584e-01 9.37644023e-01 3.86000088e-03 1.59116524e+02] [ 1.09859825e-02 -4.40557934e-05 9.99939651e-01 7.99849427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41028169299994 meters 0.01578247585657222 Centerline is valid? [True, True] Translation: X:249.98, Y:159.11, Z:0.80 [[ 9.37026270e-01 3.49050622e-01 -1.20595874e-02 2.49982205e+02] [-3.49021296e-01 9.37103870e-01 4.52466297e-03 1.59110484e+02] [ 1.28804224e-02 -3.06752583e-05 9.99917043e-01 7.95952760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.440281693 meters 0.016247406758103586 Centerline is valid? [True, True] Translation: X:250.01, Y:159.11, Z:0.79 [[ 9.36701039e-01 3.49816788e-01 -1.48114435e-02 2.50011487e+02] [-3.49772689e-01 9.36818133e-01 5.55446612e-03 1.59106504e+02] [ 1.58186743e-02 -2.22357805e-05 9.99874877e-01 7.91448909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47028169299995 meters 0.016996551005380323 Centerline is valid? [True, True] Translation: X:250.04, Y:159.10, Z:0.79 [[ 9.36939603e-01 3.49202163e-01 -1.42137385e-02 2.50038459e+02] [-3.49161522e-01 9.37047410e-01 5.32761490e-03 1.59097788e+02] [ 1.51793615e-02 -2.87628306e-05 9.99884786e-01 7.88678238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.500281693 meters 0.016690968435613098 Centerline is valid? [True, True] Translation: X:250.06, Y:159.09, Z:0.79 [[ 9.37293654e-01 3.48310005e-01 -1.26785951e-02 2.50064188e+02] [-3.48277600e-01 9.37379400e-01 4.75127625e-03 1.59088023e+02] [ 1.35395709e-02 -3.76704170e-05 9.99908335e-01 7.92282606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53028169299995 meters 0.015999276323112245 Centerline is valid? [True, True] Translation: X:250.09, Y:159.08, Z:0.80 [[ 9.37964863e-01 3.46529775e-01 -1.17911080e-02 2.50090234e+02] [-3.46501637e-01 9.38038971e-01 4.41635871e-03 1.59078646e+02] [ 1.25909186e-02 -5.67510713e-05 9.99920730e-01 7.99126933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.560281693 meters 0.019230299905893738 Centerline is valid? [True, True] Translation: X:250.11, Y:159.07, Z:0.80 [[ 9.39569019e-01 3.42158479e-01 -1.17317734e-02 2.50114852e+02] [-3.42130295e-01 9.39642252e-01 4.39312117e-03 1.59065449e+02] [ 1.25268136e-02 -1.13845472e-04 9.99921530e-01 7.97298147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59028169299995 meters 0.0212261565217523 Centerline is valid? [True, True] Translation: X:250.14, Y:159.05, Z:0.80 [[ 9.40444746e-01 3.39739519e-01 -1.18633387e-02 2.50140727e+02] [-3.39710531e-01 9.40519557e-01 4.44042423e-03 1.59053153e+02] [ 1.26662896e-02 -1.45872555e-04 9.99919769e-01 7.96264588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.620281693 meters 0.02327106495314778 Centerline is valid? [True, True] Translation: X:250.17, Y:159.04, Z:0.80 [[ 9.41281043e-01 3.37413874e-01 -1.19111558e-02 2.50166919e+02] [-3.37384493e-01 9.41356387e-01 4.45618616e-03 1.59040377e+02] [ 1.27162217e-02 -1.75884292e-04 9.99919130e-01 7.95941870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65028169299995 meters 0.025331670672495234 Centerline is valid? [True, True] Translation: X:250.19, Y:159.03, Z:0.80 [[ 9.41933263e-01 3.35575115e-01 -1.22911163e-02 2.50192250e+02] [-3.35543684e-01 9.42013429e-01 4.59737684e-03 1.59027765e+02] [ 1.31211619e-02 -2.06215701e-04 9.99913893e-01 7.95061263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.680281693 meters 0.026443087295202946 Centerline is valid? [True, True] Translation: X:250.22, Y:159.02, Z:0.79 [[ 9.42624265e-01 3.33581048e-01 -1.35344153e-02 2.50219872e+02] [-3.33542765e-01 9.42721390e-01 5.06011434e-03 1.59019174e+02] [ 1.44471411e-02 -2.55480246e-04 9.99895602e-01 7.94853742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71028169299996 meters 0.026136547288689013 Centerline is valid? [True, True] Translation: X:250.25, Y:159.01, Z:0.80 [[ 9.42725221e-01 3.33284409e-01 -1.38079783e-02 2.50248076e+02] [-3.33244568e-01 9.42826301e-01 5.15983055e-03 1.59011547e+02] [ 1.47382162e-02 -2.62868625e-04 9.99891352e-01 7.95902752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.740281693 meters 0.025756850383298474 Centerline is valid? [True, True] Translation: X:250.28, Y:159.00, Z:0.80 [[ 9.42699701e-01 3.33359067e-01 -1.37479611e-02 2.50275322e+02] [-3.33319623e-01 9.42799908e-01 5.13452791e-03 1.59003327e+02] [ 1.46732178e-02 -2.57852733e-04 9.99892309e-01 7.96993260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77028169299996 meters 0.02655351253412171 Centerline is valid? [True, True] Translation: X:250.30, Y:158.99, Z:0.80 [[ 9.42461878e-01 3.34065631e-01 -1.28749053e-02 2.50301298e+02] [-3.34031117e-01 9.42549787e-01 4.80741830e-03 1.58992939e+02] [ 1.37412325e-02 -2.30189476e-04 9.99905558e-01 7.96837890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80028169299993 meters 0.023551962458858964 Centerline is valid? [True, True] Translation: X:250.33, Y:158.99, Z:0.80 [[ 9.42024961e-01 3.35316151e-01 -1.23309322e-02 2.50330105e+02] [-3.35284627e-01 9.42105641e-01 4.60220516e-03 1.58988543e+02] [ 1.31602345e-02 -2.01020141e-04 9.99913380e-01 7.99055730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83028169299996 meters 0.023280655713851694 Centerline is valid? [True, True] Translation: X:250.36, Y:158.98, Z:0.80 [[ 9.41950120e-01 3.35533935e-01 -1.21223046e-02 2.50357857e+02] [-3.35503516e-01 9.42028100e-01 4.52211050e-03 1.58979576e+02] [ 1.29368731e-02 -1.92526724e-04 9.99916297e-01 7.99111480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86028169299993 meters 0.021959509373328388 Centerline is valid? [True, True] Translation: X:250.39, Y:158.97, Z:0.80 [[ 9.41761492e-01 3.36060290e-01 -1.21973230e-02 2.50385602e+02] [-3.36029567e-01 9.41840458e-01 4.54779296e-03 1.58971702e+02] [ 1.30162649e-02 -1.84275113e-04 9.99915268e-01 8.00688534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89028169299996 meters 0.02160163339710339 Centerline is valid? [True, True] Translation: X:250.41, Y:158.96, Z:0.80 [[ 9.41574780e-01 3.36595768e-01 -1.18415466e-02 2.50411845e+02] [-3.36566866e-01 9.41649223e-01 4.41417349e-03 1.58962361e+02] [ 1.26363753e-02 -1.70802194e-04 9.99920143e-01 8.01540696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92028169299994 meters 0.02161833807878192 Centerline is valid? [True, True] Translation: X:250.44, Y:158.95, Z:0.80 [[ 9.41712084e-01 3.36275867e-01 -9.84339252e-03 2.50436719e+02] [-3.36255885e-01 9.41763516e-01 3.66868249e-03 1.58949868e+02] [ 1.05038373e-02 -1.44943967e-04 9.99944823e-01 8.04976891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95028169299997 meters 0.02515399497123253 Centerline is valid? [True, True] Translation: X:250.46, Y:158.93, Z:0.80 [[ 9.42162431e-01 3.35038849e-01 -8.88382779e-03 2.50459709e+02] [-3.35022524e-01 9.42204303e-01 3.31047237e-03 1.58933009e+02] [ 9.47951763e-03 -1.42720288e-04 9.99955058e-01 8.04057946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98028169299994 meters 0.0240963796506806 Centerline is valid? [True, True] Translation: X:250.49, Y:158.92, Z:0.81 [[ 9.42703259e-01 3.33514458e-01 -8.86976111e-03 2.50486707e+02] [-3.33498131e-01 9.42744972e-01 3.30377844e-03 1.58921697e+02] [ 9.46378057e-03 -1.56433954e-04 9.99955205e-01 8.05804343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01028169299997 meters 0.02559081731846579 Centerline is valid? [True, True] Translation: X:250.51, Y:158.91, Z:0.80 [[ 9.43201072e-01 3.32085106e-01 -9.55087345e-03 2.50511628e+02] [-3.32066120e-01 9.43249410e-01 3.55570533e-03 1.58906461e+02] [ 1.01896525e-02 -1.82223595e-04 9.99948068e-01 8.04316717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04028169299994 meters 0.026466834814432672 Centerline is valid? [True, True] Translation: X:250.54, Y:158.89, Z:0.80 [[ 9.43319564e-01 3.31688437e-01 -1.14447194e-02 2.50535502e+02] [-3.31661157e-01 9.43388961e-01 4.25979137e-03 1.58890471e+02] [ 1.22097455e-02 -2.22575665e-04 9.99925434e-01 8.01126917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07028169299997 meters 0.025618980331742904 Centerline is valid? [True, True] Translation: X:250.56, Y:158.88, Z:0.80 [[ 9.42895540e-01 3.32829236e-01 -1.31415266e-02 2.50561449e+02] [-3.32793413e-01 9.42987086e-01 4.88881266e-03 1.58880763e+02] [ 1.40194297e-02 -2.36226166e-04 9.99901695e-01 7.98759016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10028169299994 meters 0.022946214448029256 Centerline is valid? [True, True] Translation: X:250.59, Y:158.87, Z:0.80 [[ 9.42055739e-01 3.35143110e-01 -1.44941481e-02 2.50589500e+02] [-3.35099849e-01 9.42167208e-01 5.38923641e-03 1.58873908e+02] [ 1.54620765e-02 -2.19974241e-04 9.99880431e-01 7.97885711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.130281693 meters 0.017507103966314184 Centerline is valid? [True, True] Translation: X:250.62, Y:158.87, Z:0.80 [[ 9.38831336e-01 3.44058984e-01 -1.48033264e-02 2.50620468e+02] [-3.44014972e-01 9.38948034e-01 5.50355903e-03 1.58874880e+02] [ 1.57931031e-02 -7.43477699e-05 9.99875278e-01 7.97383169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16028169299994 meters 0.016288447214201217 Centerline is valid? [True, True] Translation: X:250.65, Y:158.88, Z:0.80 [[ 9.36805387e-01 3.49579129e-01 -1.37876802e-02 2.50650817e+02] [-3.49541579e-01 9.36906843e-01 5.12368969e-03 1.58875176e+02] [ 1.47089069e-02 1.94673989e-05 9.99891818e-01 7.99639033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.190281693 meters 0.01816196985395169 Centerline is valid? [True, True] Translation: X:250.68, Y:158.88, Z:0.80 [[ 9.34724386e-01 3.55137872e-01 -1.29388486e-02 2.50681896e+02] [-3.55105367e-01 9.34813929e-01 4.80588461e-03 1.58876221e+02] [ 1.38021675e-02 1.02477045e-04 9.99904740e-01 8.02482951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22028169299995 meters 0.021387804903383996 Centerline is valid? [True, True] Translation: X:250.71, Y:158.88, Z:0.80 [[ 9.32868333e-01 3.59980181e-01 -1.30744649e-02 2.50712744e+02] [-3.59947501e-01 9.32959934e-01 4.85378289e-03 1.58876131e+02] [ 1.39452175e-02 1.78180608e-04 9.99902745e-01 8.03068996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.250281693 meters 0.02644210975160913 Centerline is valid? [True, True] Translation: X:250.74, Y:158.88, Z:0.80 [[ 9.31420407e-01 3.63666356e-01 -1.42410367e-02 2.50743428e+02] [-3.63628029e-01 9.31529236e-01 5.28582621e-03 1.58875990e+02] [ 1.51882191e-02 2.55113684e-04 9.99884620e-01 7.98558741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28028169299995 meters 0.029076440535606936 Centerline is valid? [True, True] Translation: X:250.77, Y:158.87, Z:0.79 [[ 9.30823641e-01 3.65087398e-01 -1.66895507e-02 2.50772308e+02] [-3.65034998e-01 9.30973192e-01 6.19395065e-03 1.58871852e+02] [ 1.77988576e-02 3.26794411e-04 9.99841534e-01 7.93252870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.310281693 meters 0.025026505616933863 Centerline is valid? [True, True] Translation: X:250.80, Y:158.86, Z:0.80 [[ 9.31432088e-01 3.63545314e-01 -1.64033443e-02 2.50798641e+02] [-3.63494504e-01 9.31576469e-01 6.08502291e-03 1.58858521e+02] [ 1.74931511e-02 2.94739899e-04 9.99846940e-01 7.97435687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34028169299995 meters 0.019549584736278953 Centerline is valid? [True, True] Translation: X:250.83, Y:158.84, Z:0.80 [[ 9.33767521e-01 3.57641172e-01 -1.30770228e-02 2.50825312e+02] [-3.57608305e-01 9.33859074e-01 4.85071204e-03 1.58843337e+02] [ 1.39469107e-02 1.47014598e-04 9.99902726e-01 8.03949100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.370281693 meters 0.016865481952572814 Centerline is valid? [True, True] Translation: X:250.85, Y:158.83, Z:0.81 [[ 9.35431918e-01 3.53320982e-01 -1.14634273e-02 2.50849053e+02] [-3.53295410e-01 9.35502153e-01 4.25146694e-03 1.58828026e+02] [ 1.22261934e-02 7.30183515e-05 9.99925255e-01 8.06799052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40028169299995 meters 0.01513051006194528 Centerline is valid? [True, True] Translation: X:250.87, Y:158.81, Z:0.81 [[ 9.37211273e-01 3.48605474e-01 -1.04524491e-02 2.50873240e+02] [-3.48583939e-01 9.37269558e-01 3.87473904e-03 1.58809439e+02] [ 1.11475176e-02 1.21067742e-05 9.99937864e-01 8.09311414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.430281693 meters 0.01513051006194528 Centerline is valid? [True, True] Translation: X:250.90, Y:158.80, Z:0.81 [[ 9.37276995e-01 3.48428710e-01 -1.04531670e-02 2.50899078e+02] [-3.48407186e-01 9.37335284e-01 3.87280170e-03 1.58800074e+02] [ 1.11475176e-02 1.20705777e-05 9.99937864e-01 8.09354981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46028169299996 meters 0.01550785815497486 Centerline is valid? [True, True] Translation: X:250.92, Y:158.78, Z:0.81 [[ 9.38963480e-01 3.43869570e-01 -1.00648804e-02 2.50922092e+02] [-3.43849376e-01 9.39017421e-01 3.72679815e-03 1.58781837e+02] [ 1.07326305e-02 -3.85245015e-05 9.99942403e-01 8.11057828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.490281693 meters 0.019974003310233347 Centerline is valid? [True, True] Translation: X:250.95, Y:158.76, Z:0.81 [[ 9.41727256e-01 3.36179825e-01 -1.15283035e-02 2.50945027e+02] [-3.36152761e-01 9.41797805e-01 4.26803334e-03 1.58757662e+02] [ 1.22921577e-02 -1.44052264e-04 9.99924438e-01 8.10768015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52028169299996 meters 0.02235731807734048 Centerline is valid? [True, True] Translation: X:250.97, Y:158.74, Z:0.81 [[ 9.42700901e-01 3.33438888e-01 -1.15550552e-02 2.50968716e+02] [-3.33411502e-01 9.42771699e-01 4.27721958e-03 1.58742539e+02] [ 1.23199703e-02 -1.79550448e-04 9.99924090e-01 8.11192011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55028169299993 meters 0.024164363244797014 Centerline is valid? [True, True] Translation: X:250.99, Y:158.73, Z:0.81 [[ 9.43500551e-01 3.31166896e-01 -1.16274501e-02 2.50993311e+02] [-3.31139018e-01 9.43572172e-01 4.30200758e-03 1.58726917e+02] [ 1.23960208e-02 -2.08644108e-04 9.99923145e-01 8.11900751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58028169299996 meters 0.02512563592361961 Centerline is valid? [True, True] Translation: X:251.02, Y:158.71, Z:0.81 [[ 9.43872356e-01 3.30088785e-01 -1.20983510e-02 2.51018311e+02] [-3.30058544e-01 9.43949862e-01 4.47394684e-03 1.58711762e+02] [ 1.28970364e-02 -2.29670636e-04 9.99916803e-01 8.11406951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61028169299993 meters 0.02394344265001786 Centerline is valid? [True, True] Translation: X:251.04, Y:158.70, Z:0.81 [[ 9.43175736e-01 3.32033134e-01 -1.31730200e-02 2.51042980e+02] [-3.31997506e-01 9.43267698e-01 4.86886550e-03 1.58696760e+02] [ 1.40423089e-02 -2.18786020e-04 9.99901378e-01 8.09144205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64028169299996 meters 0.022148468989126213 Centerline is valid? [True, True] Translation: X:251.07, Y:158.69, Z:0.81 [[ 9.42316377e-01 3.34458095e-01 -1.33277092e-02 2.51069079e+02] [-3.34421883e-01 9.42410605e-01 4.92497213e-03 1.58687495e+02] [ 1.42073712e-02 -1.83804312e-04 9.99899053e-01 8.09369794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67028169299994 meters 0.019539322682542448 Centerline is valid? [True, True] Translation: X:251.10, Y:158.68, Z:0.81 [[ 9.40947412e-01 3.38315053e-01 -1.26843256e-02 2.51095815e+02] [-3.38282614e-01 9.41032896e-01 4.68639306e-03 1.58680632e+02] [ 1.35218450e-02 -1.18762602e-04 9.99908569e-01 8.10421835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70028169299997 meters 0.016382785350615388 Centerline is valid? [True, True] Translation: X:251.13, Y:158.69, Z:0.81 [[ 9.36940889e-01 3.49262354e-01 -1.25530739e-02 2.51128602e+02] [-3.49231587e-01 9.37024977e-01 4.63592148e-03 1.58686077e+02] [ 1.33816967e-02 4.03455494e-05 9.99910460e-01 8.13814051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73028169299994 meters 0.019349892320487054 Centerline is valid? [True, True] Translation: X:251.16, Y:158.68, Z:0.81 [[ 9.34939929e-01 3.54562225e-01 -1.31513439e-02 2.51159030e+02] [-3.54529013e-01 9.35032413e-01 4.85445044e-03 1.58684704e+02] [ 1.40181375e-02 1.23913416e-04 9.99901733e-01 8.12622526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76028169299997 meters 0.02420708699303441 Centerline is valid? [True, True] Translation: X:251.19, Y:158.68, Z:0.81 [[ 9.33002296e-01 3.59615418e-01 -1.35449946e-02 2.51189618e+02] [-3.59580730e-01 9.33100589e-01 4.99899996e-03 1.58684343e+02] [ 1.44365599e-02 2.06440608e-04 9.99895766e-01 8.10560817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79028169299994 meters 0.02879629540308403 Centerline is valid? [True, True] Translation: X:251.22, Y:158.68, Z:0.81 [[ 9.31182831e-01 3.64302066e-01 -1.35107518e-02 2.51220428e+02] [-3.64268053e-01 9.31280799e-01 4.98583700e-03 1.58683037e+02] [ 1.43986544e-02 2.78809429e-04 9.99896295e-01 8.10755529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82028169299997 meters 0.038577935734400146 Centerline is valid? [True, True] Translation: X:251.25, Y:158.69, Z:0.82 [[ 9.27701042e-01 3.73153972e-01 -1.12645146e-02 2.51253844e+02] [-3.73130983e-01 9.27769364e-01 4.15654481e-03 1.58689830e+02] [ 1.20019027e-02 3.47108429e-04 9.99927914e-01 8.15684874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85028169299994 meters 0.04042235959993135 Centerline is valid? [True, True] Translation: X:251.28, Y:158.68, Z:0.82 [[ 9.26478624e-01 3.76168370e-01 -1.16068018e-02 2.51283407e+02] [-3.76144202e-01 9.26551239e-01 4.28253936e-03 1.58683690e+02] [ 1.23652525e-02 3.98150038e-04 9.99923468e-01 8.16843729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.880281693 meters 0.044630244334933934 Centerline is valid? [True, True] Translation: X:251.31, Y:158.68, Z:0.82 [[ 9.25734429e-01 3.77982465e-01 -1.20425733e-02 2.51313276e+02] [-3.77956608e-01 9.25812650e-01 4.44287356e-03 1.58681183e+02] [ 1.28284950e-02 4.38649147e-04 9.99917615e-01 8.15552284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91028169299994 meters 0.04253608056420138 Centerline is valid? [True, True] Translation: X:251.34, Y:158.67, Z:0.81 [[ 9.25509186e-01 3.78473566e-01 -1.38024101e-02 2.51341399e+02] [-3.78439688e-01 9.25611958e-01 5.08976841e-03 1.58674110e+02] [ 1.47020186e-02 5.12752337e-04 9.99891788e-01 8.13396245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.940281693 meters 0.045192514628691415 Centerline is valid? [True, True] Translation: X:251.37, Y:158.67, Z:0.81 [[ 9.26135889e-01 3.76917982e-01 -1.43230536e-02 2.51370276e+02] [-3.76881355e-01 9.26246498e-01 5.27909911e-03 1.58670826e+02] [ 1.52564657e-02 5.08928714e-04 9.99883484e-01 8.09800999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97028169299995 meters 0.036492653010006884 Centerline is valid? [True, True] Translation: X:251.40, Y:158.65, Z:0.81 [[ 9.27691582e-01 3.73075409e-01 -1.42502254e-02 2.51395602e+02] [-3.73038708e-01 9.27800917e-01 5.25164046e-03 1.58653679e+02] [ 1.51806301e-02 4.43983022e-04 9.99884669e-01 8.12897242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.000281693 meters 0.038118935317024094 Centerline is valid? [True, True] Translation: X:251.42, Y:158.65, Z:0.81 [[ 9.28609259e-01 3.70798099e-01 -1.39145567e-02 2.51422890e+02] [-3.70762870e-01 9.28713417e-01 5.12672865e-03 1.58648138e+02] [ 1.48236167e-02 3.98273280e-04 9.99890045e-01 8.10949278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03028169299995 meters 0.033141341165719915 Centerline is valid? [True, True] Translation: X:251.45, Y:158.63, Z:0.81 [[ 9.29258312e-01 3.69175862e-01 -1.37176057e-02 2.51448022e+02] [-3.69141482e-01 9.29359482e-01 5.05173216e-03 1.58633794e+02] [ 1.46135645e-02 3.69373191e-04 9.99893148e-01 8.13750110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.060281693 meters 0.03233926556833578 Centerline is valid? [True, True] Translation: X:251.48, Y:158.63, Z:0.81 [[ 9.29845081e-01 3.67703250e-01 -1.35072379e-02 2.51475430e+02] [-3.67669777e-01 9.29943118e-01 4.97318646e-03 1.58627785e+02] [ 1.43896198e-02 3.41910181e-04 9.99896406e-01 8.14204224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09028169299995 meters 0.03207638020406268 Centerline is valid? [True, True] Translation: X:251.50, Y:158.62, Z:0.81 [[ 9.29823827e-01 3.67731441e-01 -1.41858212e-02 2.51503152e+02] [-3.67694560e-01 9.29931963e-01 5.22055582e-03 1.58620246e+02] [ 1.51116111e-02 3.61852095e-04 9.99885748e-01 8.13717057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.120281693 meters 0.031866090327687675 Centerline is valid? [True, True] Translation: X:251.53, Y:158.61, Z:0.81 [[ 9.29802711e-01 3.67747994e-01 -1.51106631e-02 2.51530744e+02] [-3.67706196e-01 9.29925407e-01 5.55803722e-03 1.58613067e+02] [ 1.60957465e-02 3.88406355e-04 9.99870380e-01 8.13190891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15028169299995 meters 0.033010624923053636 Centerline is valid? [True, True] Translation: X:251.56, Y:158.61, Z:0.81 [[ 9.29835113e-01 3.67641067e-01 -1.57069566e-02 2.51558885e+02] [-3.67595918e-01 9.29967679e-01 5.77563946e-03 1.58609360e+02] [ 1.67303242e-02 4.03420771e-04 9.99859957e-01 8.11523746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.180281693 meters 0.032243511363843506 Centerline is valid? [True, True] Translation: X:251.59, Y:158.60, Z:0.81 [[ 9.30114942e-01 3.66900479e-01 -1.64387664e-02 2.51585448e+02] [-3.66850968e-01 9.30260108e-01 6.04137781e-03 1.58600931e+02] [ 1.75089130e-02 4.11401581e-04 9.99846623e-01 8.10689795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21028169299996 meters 0.03209538272936939 Centerline is valid? [True, True] Translation: X:251.61, Y:158.59, Z:0.80 [[ 9.30999933e-01 3.64537048e-01 -1.87580695e-02 2.51612371e+02] [-3.64472129e-01 9.31188791e-01 6.89222676e-03 1.58594472e+02] [ 1.99797761e-02 4.20130888e-04 9.99800296e-01 8.03051352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.240281693 meters 0.028779602335579205 Centerline is valid? [True, True] Translation: X:251.64, Y:158.58, Z:0.80 [[ 9.31878665e-01 3.62254297e-01 -1.93385294e-02 2.51638134e+02] [-3.62184877e-01 9.32079222e-01 7.10206447e-03 1.58580991e+02] [ 2.05977948e-02 3.85860534e-04 9.99787768e-01 8.03978248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27028169299996 meters 0.02773874805100089 Centerline is valid? [True, True] Translation: X:251.66, Y:158.57, Z:0.80 [[ 9.32828823e-01 3.59837677e-01 -1.86341934e-02 2.51664310e+02] [-3.59772764e-01 9.33014867e-01 6.84221934e-03 1.58570110e+02] [ 1.98480678e-02 3.21455828e-04 9.99802956e-01 8.03351363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30028169299993 meters 0.020320914322488313 Centerline is valid? [True, True] Translation: X:251.69, Y:158.55, Z:0.81 [[ 9.34858836e-01 3.54683026e-01 -1.54566256e-02 2.51689178e+02] [-3.54637663e-01 9.34986588e-01 5.67519888e-03 1.58550953e+02] [ 1.64646344e-02 1.75991768e-04 9.99864433e-01 8.14409373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33028169299996 meters 0.019509154241367652 Centerline is valid? [True, True] Translation: X:251.71, Y:158.54, Z:0.81 [[ 9.35966845e-01 3.51783694e-01 -1.46388885e-02 2.51714631e+02] [-3.51742671e-01 9.36081310e-01 5.37358098e-03 1.58540256e+02] [ 1.55935281e-02 1.19628112e-04 9.99878406e-01 8.12977773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36028169299993 meters 0.017966891277791143 Centerline is valid? [True, True] Translation: X:251.74, Y:158.52, Z:0.81 [[ 9.37813855e-01 3.46767825e-01 -1.60389610e-02 2.51738270e+02] [-3.46717863e-01 9.37950998e-01 5.88640088e-03 1.58523662e+02] [ 1.70849739e-02 4.06459853e-05 9.99854040e-01 8.10246943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39028169299996 meters 0.01788329392815449 Centerline is valid? [True, True] Translation: X:251.76, Y:158.51, Z:0.81 [[ 9.38758630e-01 3.44171617e-01 -1.66773135e-02 2.51763488e+02] [-3.44117239e-01 9.38906757e-01 6.11785187e-03 1.58509872e+02] [ 1.77640333e-02 -4.23517162e-06 9.99842207e-01 8.08558324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42028169299994 meters 0.01839633325542174 Centerline is valid? [True, True] Translation: X:251.79, Y:158.50, Z:0.81 [[ 9.39715184e-01 3.41537910e-01 -1.69478210e-02 2.51789555e+02] [-3.41481379e-01 9.39867998e-01 6.21403865e-03 1.58495919e+02] [ 1.80510444e-02 -5.20611863e-05 9.99837065e-01 8.08082319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45028169299997 meters 0.018949706842446606 Centerline is valid? [True, True] Translation: X:251.81, Y:158.48, Z:0.81 [[ 9.41461274e-01 3.36730388e-01 -1.62269816e-02 2.51813816e+02] [-3.36677904e-01 9.41601098e-01 5.94659062e-03 1.58479466e+02] [ 1.72817415e-02 -1.35218617e-04 9.99850650e-01 8.13396777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48028169299994 meters 0.0208937047217734 Centerline is valid? [True, True] Translation: X:251.84, Y:158.46, Z:0.81 [[ 9.42281998e-01 3.34455317e-01 -1.56293973e-02 2.51837258e+02] [-3.34406347e-01 9.42411594e-01 5.72558511e-03 1.58464020e+02] [ 1.66442776e-02 -1.68546115e-04 9.99861460e-01 8.12312661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51028169299997 meters 0.023792001455417964 Centerline is valid? [True, True] Translation: X:251.86, Y:158.44, Z:0.81 [[ 9.43786415e-01 3.30214411e-01 -1.50215041e-02 2.51860520e+02] [-3.30168682e-01 9.43905922e-01 5.50020856e-03 1.58444511e+02] [ 1.59951348e-02 -2.31391901e-04 9.99872043e-01 8.14394938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54028169299994 meters 0.02496911269154054 Centerline is valid? [True, True] Translation: X:251.89, Y:158.43, Z:0.82 [[ 9.44674194e-01 3.27650856e-01 -1.53487455e-02 2.51885934e+02] [-3.27602794e-01 9.44798835e-01 5.61880273e-03 1.58431182e+02] [ 1.63424824e-02 -2.79646037e-04 9.99866414e-01 8.15940818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57028169299997 meters 0.02783420281919438 Centerline is valid? [True, True] Translation: X:251.91, Y:158.42, Z:0.82 [[ 9.45497699e-01 3.25292217e-01 -1.48011617e-02 2.51909673e+02] [-3.25247250e-01 9.45613493e-01 5.41734553e-03 1.58415827e+02] [ 1.57583985e-02 -3.08050604e-04 9.99875781e-01 8.16177260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60028169299994 meters 0.030678002153473254 Centerline is valid? [True, True] Translation: X:251.93, Y:158.40, Z:0.82 [[ 9.46341170e-01 3.22849276e-01 -1.43782621e-02 2.51932278e+02] [-3.22806574e-01 9.46450332e-01 5.26160778e-03 1.58396656e+02] [ 1.53070172e-02 -3.37878537e-04 9.99882784e-01 8.16238630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.630281693 meters 0.03046696342277698 Centerline is valid? [True, True] Translation: X:251.96, Y:158.38, Z:0.82 [[ 9.46508170e-01 3.22356529e-01 -1.44413306e-02 2.51958686e+02] [-3.22313433e-01 9.46618270e-01 5.28217804e-03 1.58383784e+02] [ 1.53731720e-02 -3.44989811e-04 9.99881766e-01 8.17147055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66028169299994 meters 0.029483772447696083 Centerline is valid? [True, True] Translation: X:251.98, Y:158.37, Z:0.82 [[ 9.46128879e-01 3.23493414e-01 -1.38620116e-02 2.51984201e+02] [-3.23453866e-01 9.46230371e-01 5.06772820e-03 1.58370996e+02] [ 1.47560330e-02 -3.11002765e-04 9.99891075e-01 8.18845778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.690281693 meters 0.026976099744070975 Centerline is valid? [True, True] Translation: X:252.01, Y:158.36, Z:0.82 [[ 9.45653893e-01 3.24865796e-01 -1.41749590e-02 2.52012242e+02] [-3.24824637e-01 9.45760080e-01 5.17945246e-03 1.58363079e+02] [ 1.50887373e-02 -2.93593468e-04 9.99886115e-01 8.19805025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72028169299995 meters 0.026202282337765535 Centerline is valid? [True, True] Translation: X:252.04, Y:158.35, Z:0.82 [[ 9.45154467e-01 3.26315264e-01 -1.41908896e-02 2.52037999e+02] [-3.26274193e-01 9.45260956e-01 5.18413818e-03 1.58353144e+02] [ 1.51057573e-02 -2.69690305e-04 9.99885865e-01 8.19706517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.750281693 meters 0.02405629817840348 Centerline is valid? [True, True] Translation: X:252.06, Y:158.34, Z:0.82 [[ 9.43809068e-01 3.30174924e-01 -1.44555573e-02 2.52063675e+02] [-3.30132778e-01 9.43919740e-01 5.27950791e-03 1.58342694e+02] [ 1.53880470e-02 -2.10594134e-04 9.99881575e-01 8.17700508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78028169299995 meters 0.021638574713025775 Centerline is valid? [True, True] Translation: X:252.09, Y:158.34, Z:0.82 [[ 9.43133847e-01 3.32085880e-01 -1.47483557e-02 2.52091762e+02] [-3.32042285e-01 9.43249138e-01 5.38383830e-03 1.58335574e+02] [ 1.56992705e-02 -1.80602395e-04 9.99876743e-01 8.18391754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.810281693 meters 0.020434255345439363 Centerline is valid? [True, True] Translation: X:252.12, Y:158.33, Z:0.82 [[ 9.42351683e-01 3.34248404e-01 -1.58527538e-02 2.52118820e+02] [-3.34198391e-01 9.42485003e-01 5.78402281e-03 1.58326383e+02] [ 1.68742831e-02 -1.52618812e-04 9.99857608e-01 8.16295946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84028169299995 meters 0.020337446276061 Centerline is valid? [True, True] Translation: X:252.14, Y:158.32, Z:0.82 [[ 9.42263779e-01 3.34490196e-01 -1.59774444e-02 2.52144582e+02] [-3.34439484e-01 9.42399219e-01 5.82616214e-03 1.58316125e+02] [ 1.70059253e-02 -1.46293291e-04 9.99855378e-01 8.15570778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.870281693 meters 0.020046732873659476 Centerline is valid? [True, True] Translation: X:252.17, Y:158.30, Z:0.82 [[ 9.42178372e-01 3.34741143e-01 -1.57569855e-02 2.52169951e+02] [-3.34691912e-01 9.42310113e-01 5.74242916e-03 1.58304607e+02] [ 1.67701941e-02 -1.36656929e-04 9.99859361e-01 8.16731569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90028169299995 meters 0.019968613627199615 Centerline is valid? [True, True] Translation: X:252.20, Y:158.29, Z:0.82 [[ 9.42210228e-01 3.34658638e-01 -1.56039165e-02 2.52195698e+02] [-3.34610402e-01 9.42339418e-01 5.68335060e-03 1.58294031e+02] [ 1.66061679e-02 -1.33678306e-04 9.99862099e-01 8.16758828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.930281693 meters 0.01963127757420155 Centerline is valid? [True, True] Translation: X:252.22, Y:158.28, Z:0.82 [[ 9.42284557e-01 3.34421741e-01 -1.61837140e-02 2.52222122e+02] [-3.34369873e-01 9.42423514e-01 5.89138926e-03 1.58283196e+02] [ 1.72221213e-02 -1.40018717e-04 9.99851679e-01 8.17367757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96028169299996 meters 0.020916637076826842 Centerline is valid? [True, True] Translation: X:252.25, Y:158.27, Z:0.81 [[ 9.42234584e-01 3.34534292e-01 -1.67569954e-02 2.52246748e+02] [-3.34478725e-01 9.42383567e-01 6.09874688e-03 1.58270733e+02] [ 1.78317570e-02 -1.41591779e-04 9.99840992e-01 8.13299399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.990281693 meters 0.019925939142184077 Centerline is valid? [True, True] Translation: X:252.27, Y:158.26, Z:0.81 [[ 9.41840559e-01 3.35655128e-01 -1.64923341e-02 2.52273639e+02] [-3.35601524e-01 9.41984937e-01 5.99961707e-03 1.58261645e+02] [ 1.75493325e-02 -1.15830245e-04 9.99845992e-01 8.14646247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02028169299996 meters 0.017385837032939944 Centerline is valid? [True, True] Translation: X:252.30, Y:158.26, Z:0.82 [[ 9.40701100e-01 3.38905376e-01 -1.49862174e-02 2.52302289e+02] [-3.38861574e-01 9.40820463e-01 5.44883783e-03 1.58257075e+02] [ 1.59459804e-02 -4.74745373e-05 9.99872854e-01 8.22133332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05028169299993 meters 0.017516488735485513 Centerline is valid? [True, True] Translation: X:252.33, Y:158.25, Z:0.82 [[ 9.39983530e-01 3.40902509e-01 -1.47120311e-02 2.52329114e+02] [-3.40860558e-01 9.40098654e-01 5.34794378e-03 1.58250338e+02] [ 1.56538881e-02 -1.22279487e-05 9.99877470e-01 8.19625963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08028169299996 meters 0.0177026989615073 Centerline is valid? [True, True] Translation: X:252.36, Y:158.24, Z:0.82 [[ 9.39356525e-01 3.42621769e-01 -1.48203423e-02 2.52355501e+02] [-3.42579433e-01 9.39473429e-01 5.38601181e-03 1.58244003e+02] [ 1.57686827e-02 1.77591344e-05 9.99875666e-01 8.18293410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11028169299993 meters 0.018254396002701234 Centerline is valid? [True, True] Translation: X:252.38, Y:158.24, Z:0.82 [[ 9.38831715e-01 3.44027007e-01 -1.55058146e-02 2.52383371e+02] [-3.43980899e-01 9.38959752e-01 5.63246989e-03 1.58236952e+02] [ 1.64970576e-02 4.57626810e-05 9.99863913e-01 8.16937736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14028169299996 meters 0.019220480692198515 Centerline is valid? [True, True] Translation: X:252.41, Y:158.23, Z:0.82 [[ 9.37753615e-01 3.46932633e-01 -1.59970585e-02 2.52412668e+02] [-3.46884030e-01 9.37890046e-01 5.80792627e-03 1.58232616e+02] [ 1.70184411e-02 1.02720259e-04 9.99855171e-01 8.18771351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17028169299994 meters 0.02017651980519051 Centerline is valid? [True, True] Translation: X:252.44, Y:158.23, Z:0.82 [[ 9.37036086e-01 3.48879445e-01 -1.57005292e-02 2.52441359e+02] [-3.48832949e-01 9.37167602e-01 5.69732502e-03 1.58227122e+02] [ 1.67017068e-02 1.38262749e-04 9.99860507e-01 8.20145731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20028169299997 meters 0.02471511271551485 Centerline is valid? [True, True] Translation: X:252.47, Y:158.23, Z:0.82 [[ 9.35296514e-01 3.53534343e-01 -1.52937849e-02 2.52471372e+02] [-3.53490877e-01 9.35421521e-01 5.54783664e-03 1.58229831e+02] [ 1.62674863e-02 2.17341179e-04 9.99867652e-01 8.19942546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23028169299994 meters 0.025031219165103993 Centerline is valid? [True, True] Translation: X:252.50, Y:158.22, Z:0.82 [[ 9.34441728e-01 3.55797878e-01 -1.50508374e-02 2.52499575e+02] [-3.55756093e-01 9.34562896e-01 5.45862260e-03 1.58224264e+02] [ 1.60081205e-02 2.53662373e-04 9.99871830e-01 8.22661460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26028169299997 meters 0.030024013684859078 Centerline is valid? [True, True] Translation: X:252.53, Y:158.23, Z:0.82 [[ 9.33760057e-01 3.57608424e-01 -1.44350465e-02 2.52529884e+02] [-3.57570219e-01 9.33871587e-01 5.23432689e-03 1.58225168e+02] [ 1.53523191e-02 2.73937351e-04 9.99882109e-01 8.19133494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29028169299994 meters 0.030079766554392515 Centerline is valid? [True, True] Translation: X:252.56, Y:158.22, Z:0.82 [[ 9.32752959e-01 3.60282867e-01 -1.29681549e-02 2.52559081e+02] [-3.60252320e-01 9.32843059e-01 4.70034268e-03 1.58221345e+02] [ 1.37907062e-02 2.87549327e-04 9.99904862e-01 8.24939457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32028169299997 meters 0.030079766554392515 Centerline is valid? [True, True] Translation: X:252.58, Y:158.21, Z:0.82 [[ 9.32821004e-01 3.60106621e-01 -1.29690230e-02 2.52584992e+02] [-3.60076089e-01 9.32911110e-01 4.69794669e-03 1.58212174e+02] [ 1.37907074e-02 2.87491743e-04 9.99904862e-01 8.24983033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35028169299994 meters 0.029282501704005034 Centerline is valid? [True, True] Translation: X:252.61, Y:158.20, Z:0.83 [[ 9.32752970e-01 3.60287756e-01 -1.28308230e-02 2.52612370e+02] [-3.60257923e-01 9.32841170e-01 4.64543844e-03 1.58203584e+02] [ 1.36428145e-02 2.89359134e-04 9.99906891e-01 8.26495773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.380281693 meters 0.029043857390616296 Centerline is valid? [True, True] Translation: X:252.64, Y:158.20, Z:0.83 [[ 9.33008978e-01 3.59586033e-01 -1.38611769e-02 2.52639915e+02] [-3.59551181e-01 9.33111886e-01 5.01558781e-03 1.58197925e+02] [ 1.47375643e-02 3.04214085e-04 9.99891350e-01 8.25583925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41028169299994 meters 0.028011425948860687 Centerline is valid? [True, True] Translation: X:252.67, Y:158.19, Z:0.83 [[ 9.33595140e-01 3.58039217e-01 -1.44233540e-02 2.52667229e+02] [-3.58001336e-01 9.33706503e-01 5.21631194e-03 1.58188547e+02] [ 1.53348236e-02 2.93656512e-04 9.99882372e-01 8.25186210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.440281693 meters 0.024658621139987312 Centerline is valid? [True, True] Translation: X:252.69, Y:158.18, Z:0.83 [[ 9.35614253e-01 3.52793947e-01 -1.27436423e-02 2.52693017e+02] [-3.52763896e-01 9.35701019e-01 4.60829657e-03 1.58175145e+02] [ 1.35500182e-02 1.83908935e-04 9.99908177e-01 8.27271066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47028169299995 meters 0.02242822466534747 Centerline is valid? [True, True] Translation: X:252.72, Y:158.16, Z:0.83 [[ 9.36876995e-01 3.49481639e-01 -1.11391489e-02 2.52718066e+02] [-3.49458451e-01 9.36943205e-01 4.02756382e-03 1.58159849e+02] [ 1.18443095e-02 1.19337830e-04 9.99929847e-01 8.31651738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.500281693 meters 0.0209955626765555 Centerline is valid? [True, True] Translation: X:252.74, Y:158.15, Z:0.83 [[ 9.37956497e-01 3.46598001e-01 -1.03650902e-02 2.52743095e+02] [-3.46577767e-01 9.38013763e-01 3.74597868e-03 1.58145027e+02] [ 1.10209460e-02 7.87447870e-05 9.99939264e-01 8.34785972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53028169299995 meters 0.02170782112760763 Centerline is valid? [True, True] Translation: X:252.77, Y:158.13, Z:0.83 [[ 9.39549959e-01 3.42211741e-01 -1.17046170e-02 2.52766703e+02] [-3.42185610e-01 9.39622862e-01 4.22910842e-03 1.58129216e+02] [ 1.24451763e-02 3.16928561e-05 9.99922555e-01 8.32784960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.560281693 meters 0.022691061678766666 Centerline is valid? [True, True] Translation: X:252.79, Y:158.12, Z:0.83 [[ 9.40240600e-01 3.40290805e-01 -1.22385670e-02 2.52791457e+02] [-3.40262103e-01 9.40320248e-01 4.41965358e-03 1.58116734e+02] [ 1.30121398e-02 8.78280670e-06 9.99915339e-01 8.32998728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59028169299995 meters 0.025623352941713827 Centerline is valid? [True, True] Translation: X:252.81, Y:158.10, Z:0.84 [[ 9.41457431e-01 3.36969361e-01 -1.04668737e-02 2.52814672e+02] [-3.36948171e-01 9.41515613e-01 3.77899005e-03 1.58099931e+02] [ 1.11281288e-02 -3.09643193e-05 9.99938080e-01 8.36720422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.620281693 meters 0.027538090593630698 Centerline is valid? [True, True] Translation: X:252.84, Y:158.09, Z:0.84 [[ 9.42178918e-01 3.34961396e-01 -9.98747209e-03 2.52839221e+02] [-3.34942010e-01 9.42231851e-01 3.60404951e-03 1.58086819e+02] [ 1.06177318e-02 -5.04354883e-05 9.99943629e-01 8.37933402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65028169299995 meters 0.029265025597803692 Centerline is valid? [True, True] Translation: X:252.87, Y:158.07, Z:0.84 [[ 9.42842774e-01 3.33065842e-01 -1.07074452e-02 2.52865008e+02] [-3.33043460e-01 9.42903569e-01 3.86185962e-03 1.58073418e+02] [ 1.13823418e-02 -7.50818362e-05 9.99935216e-01 8.36904386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.680281693 meters 0.03273731799282432 Centerline is valid? [True, True] Translation: X:252.89, Y:158.06, Z:0.83 [[ 9.43772632e-01 3.30338462e-01 -1.30276847e-02 2.52889771e+02] [-3.30305103e-01 9.43862535e-01 4.69626159e-03 1.58058021e+02] [ 1.38476993e-02 -1.29092422e-04 9.99904108e-01 8.32718568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71028169299996 meters 0.03459948180384355 Centerline is valid? [True, True] Translation: X:252.92, Y:158.05, Z:0.83 [[ 9.44050849e-01 3.29534496e-01 -1.32291759e-02 2.52916182e+02] [-3.29500053e-01 9.44143525e-01 4.76644488e-03 1.58045673e+02] [ 1.40609488e-02 -1.40752159e-04 9.99901130e-01 8.33290840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.740281693 meters 0.03779750340064053 Centerline is valid? [True, True] Translation: X:252.94, Y:158.03, Z:0.83 [[ 9.44257959e-01 3.28982948e-01 -1.21295603e-02 2.52940451e+02] [-3.28953960e-01 9.44335852e-01 4.36930449e-03 1.58031125e+02] [ 1.28918053e-02 -1.35683656e-04 9.99916888e-01 8.34989470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77028169299996 meters 0.039157085658657796 Centerline is valid? [True, True] Translation: X:252.97, Y:158.02, Z:0.83 [[ 9.44135476e-01 3.29342390e-01 -1.19077060e-02 2.52965847e+02] [-3.29314491e-01 9.44210556e-01 4.28861959e-03 1.58018903e+02] [ 1.26558059e-02 -1.27657756e-04 9.99919904e-01 8.34785055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80028169299993 meters 0.040062536349877324 Centerline is valid? [True, True] Translation: X:252.99, Y:158.01, Z:0.84 [[ 9.43836390e-01 3.30214399e-01 -1.14594522e-02 2.52993293e+02] [-3.30188648e-01 9.43905948e-01 4.12527770e-03 1.58009287e+02] [ 1.21788712e-02 -1.09806176e-04 9.99925829e-01 8.36417081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83028169299996 meters 0.04112910383806752 Centerline is valid? [True, True] Translation: X:253.02, Y:158.00, Z:0.84 [[ 9.43304739e-01 3.31723945e-01 -1.16358696e-02 2.53021234e+02] [-3.31697536e-01 9.43376498e-01 4.18664306e-03 1.58001343e+02] [ 1.23658157e-02 -8.96909519e-05 9.99923536e-01 8.36907375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86028169299993 meters 0.04401971069805717 Centerline is valid? [True, True] Translation: X:253.05, Y:158.00, Z:0.84 [[ 9.41579829e-01 3.36562135e-01 -1.23836300e-02 2.53050379e+02] [-3.36532654e-01 9.41661260e-01 4.45468680e-03 1.58000367e+02] [ 1.31604635e-02 -2.69473653e-05 9.99913397e-01 8.35299189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89028169299996 meters 0.04823854541924295 Centerline is valid? [True, True] Translation: X:253.08, Y:158.00, Z:0.84 [[ 9.39355875e-01 3.42756861e-01 -1.13258361e-02 2.53081440e+02] [-3.42732676e-01 9.39424149e-01 4.07207846e-03 1.58003335e+02] [ 1.20354967e-02 5.66032765e-05 9.99927569e-01 8.36935319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92028169299994 meters 0.05018198986210566 Centerline is valid? [True, True] Translation: X:253.11, Y:158.00, Z:0.84 [[ 9.38336022e-01 3.45553803e-01 -1.08664286e-02 2.53110855e+02] [-3.45531750e-01 9.38398935e-01 3.90492038e-03 1.57999786e+02] [ 1.15464051e-02 9.05686356e-05 9.99933334e-01 8.37580443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95028169299997 meters 0.054236419039547734 Centerline is valid? [True, True] Translation: X:253.14, Y:158.00, Z:0.84 [[ 9.37421174e-01 3.48036834e-01 -1.05785448e-02 2.53139272e+02] [-3.48016102e-01 9.37480852e-01 3.80062213e-03 1.57997434e+02] [ 1.12399397e-02 1.18720255e-04 9.99936823e-01 8.36482721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98028169299994 meters 0.05698266415332932 Centerline is valid? [True, True] Translation: X:253.17, Y:157.99, Z:0.84 [[ 9.36956225e-01 3.49271622e-01 -1.10619346e-02 2.53167257e+02] [-3.49249060e-01 9.37021512e-01 3.97245175e-03 1.57991269e+02] [ 1.17527353e-02 1.41356849e-04 9.99930924e-01 8.36954415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01028169299997 meters 0.0634196053331202 Centerline is valid? [True, True] Translation: X:253.20, Y:157.99, Z:0.83 [[ 9.36816057e-01 3.49642883e-01 -1.12039782e-02 2.53196458e+02] [-3.49619774e-01 9.36883041e-01 4.02255809e-03 1.57988832e+02] [ 1.19032760e-02 1.48735317e-04 9.99929142e-01 8.34987586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04028169299994 meters 0.0664553653779959 Centerline is valid? [True, True] Translation: X:253.22, Y:157.98, Z:0.84 [[ 9.37415995e-01 3.48077812e-01 -9.64826595e-03 2.53223503e+02] [-3.48060608e-01 9.37465639e-01 3.46248197e-03 1.57978569e+02] [ 1.02501310e-02 1.12395331e-04 9.99947460e-01 8.38080321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07028169299997 meters 0.07337141818353 Centerline is valid? [True, True] Translation: X:253.25, Y:157.97, Z:0.84 [[ 9.38894135e-01 3.44120494e-01 -7.67397265e-03 2.53248745e+02] [-3.44109483e-01 9.38925494e-01 2.75336624e-03 1.57967091e+02] [ 8.15277830e-03 5.55673493e-05 9.99966764e-01 8.42000553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10028169299994 meters 0.078409625207806 Centerline is valid? [True, True] Translation: X:253.28, Y:157.96, Z:0.83 [[ 9.39509599e-01 3.41989501e-01 -1.91022112e-02 2.53279816e+02] [-3.42142386e-01 9.39633128e-01 -5.30784262e-03 1.57963597e+02] [ 1.61338440e-02 1.15224452e-02 9.99803447e-01 8.32067973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.130281693 meters 0.08147975461095444 Centerline is valid? [True, True] Translation: X:253.31, Y:157.94, Z:0.83 [[ 9.40680837e-01 3.38844025e-01 -1.74438944e-02 2.53305315e+02] [-3.38829008e-01 9.40839890e-01 3.89935326e-03 1.57944796e+02] [ 1.77331843e-02 2.24245056e-03 9.99840240e-01 8.32463988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16028169299994 meters 0.08778125976344706 Centerline is valid? [True, True] Translation: X:253.33, Y:157.92, Z:0.82 [[ 9.42131694e-01 3.34821563e-01 -1.68045541e-02 2.53325172e+02] [-3.34690963e-01 9.42273343e-01 1.01442268e-02 1.57923639e+02] [ 1.92309892e-02 -3.93286523e-03 9.99807332e-01 8.23496902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.190281693 meters 0.09073034253758236 Centerline is valid? [True, True] Translation: X:253.35, Y:157.91, Z:0.82 [[ 9.42318719e-01 3.34042523e-01 -2.12373246e-02 2.53352417e+02] [-3.34017732e-01 9.42554523e-01 4.80894892e-03 1.57914788e+02] [ 2.16237298e-02 2.56208041e-03 9.99762897e-01 8.24871199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22028169299995 meters 0.09694076268639458 Centerline is valid? [True, True] Translation: X:253.38, Y:157.91, Z:0.83 [[ 9.42093925e-01 3.34583644e-01 -2.26455863e-02 2.53381112e+02] [-3.34562639e-01 9.42361175e-01 4.82239912e-03 1.57907490e+02] [ 2.29538172e-02 3.03321423e-03 9.99731925e-01 8.26426910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.250281693 meters 0.10256097312356159 Centerline is valid? [True, False] Translation: X:253.31, Y:157.95, Z:0.83 [[ 9.49076887e-01 3.13977498e-01 -2.59073880e-02 2.53305840e+02] [-3.14171507e-01 9.49359083e-01 -3.68721420e-03 1.57952026e+02] [ 2.34377118e-02 1.16388129e-02 9.99657547e-01 8.28683922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28028169299995 meters 0.11751202176946506 Centerline is valid? [False, False] Translation: X:253.25, Y:157.99, Z:0.83 [[ 9.53043489e-01 3.01439708e-01 -2.90208468e-02 2.53246368e+02] [-3.01841517e-01 9.53299945e-01 -1.05315642e-02 1.57987367e+02] [ 2.44909400e-02 1.87967351e-02 9.99523325e-01 8.33001430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.310281693 meters 0.11256237363568478 Centerline is valid? [False, False] Translation: X:253.21, Y:158.01, Z:0.84 [[ 9.57661805e-01 2.85684475e-01 -3.56124656e-02 2.53207998e+02] [-2.86229480e-01 9.58095948e-01 -1.11731222e-02 1.58010533e+02] [ 3.09281714e-02 2.08934099e-02 9.99303214e-01 8.38722453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34028169299995 meters 0.5981729136244335 Centerline is valid? [False, False] Translation: X:253.15, Y:158.04, Z:0.84 [[ 9.62707363e-01 2.67629633e-01 -3.96095148e-02 2.53150106e+02] [-2.68095140e-01 9.63368089e-01 -6.84981187e-03 1.58038559e+02] [ 3.63253299e-02 1.72134827e-02 9.99191757e-01 8.43124996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.370281693 meters 0.6136999107768433 Centerline is valid? [False, False] Translation: X:253.11, Y:158.06, Z:0.84 [[ 9.66879596e-01 2.52252353e-01 -3.88921215e-02 2.53112787e+02] [-2.52720780e-01 9.67509731e-01 -7.55832446e-03 1.58060447e+02] [ 3.57219008e-02 1.71368370e-02 9.99214829e-01 8.42714082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40028169299995 meters 0.6420951652698448 Centerline is valid? [False, False] Translation: X:253.07, Y:158.08, Z:0.85 [[ 9.70672994e-01 2.36135102e-01 -4.51015746e-02 2.53072758e+02] [-2.36767334e-01 9.71523242e-01 -9.15527636e-03 1.58084845e+02] [ 4.16553459e-02 1.95653591e-02 9.98940453e-01 8.48791920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.430281693 meters 0.6808870181343398 Centerline is valid? [False, False] Translation: X:253.07, Y:158.09, Z:0.85 [[ 9.73857583e-01 2.22333165e-01 -4.65765126e-02 2.53074643e+02] [-2.22820742e-01 9.74843998e-01 -5.48598676e-03 1.58091470e+02] [ 4.41851169e-02 1.57207829e-02 9.98899661e-01 8.49883981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46028169299996 meters 0.6338144959438892 Centerline is valid? [False, False] Translation: X:253.06, Y:158.11, Z:0.85 [[ 9.75578488e-01 2.12295702e-01 -5.63661977e-02 2.53061286e+02] [-2.13069555e-01 9.77004081e-01 -8.02442869e-03 1.58105822e+02] [ 5.33664534e-02 1.98383807e-02 9.98377915e-01 8.52341650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.490281693 meters 0.6908166866159353 Centerline is valid? [False, False] Translation: X:253.06, Y:158.11, Z:0.85 [[ 9.78378366e-01 1.99074129e-01 -5.60826563e-02 2.53062270e+02] [-1.99607803e-01 9.79867611e-01 -4.02377801e-03 1.58111648e+02] [ 5.41525483e-02 1.51313131e-02 9.98418021e-01 8.52907833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52028169299996 meters 0.7077792905635003 Centerline is valid? [False, False] Translation: X:253.06, Y:158.12, Z:0.85 [[ 9.79467313e-01 1.93326432e-01 -5.71723236e-02 2.53062135e+02] [-1.94222501e-01 9.80901279e-01 -1.05024036e-02 1.58121010e+02] [ 5.40500132e-02 2.13909127e-02 9.98309083e-01 8.54678156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55028169299993 meters 0.6450391166218346 Centerline is valid? [False, False] Translation: X:253.02, Y:158.14, Z:0.85 [[ 9.81951103e-01 1.80514480e-01 -5.64495615e-02 2.53020198e+02] [-1.81250115e-01 9.83403237e-01 -8.15287216e-03 1.58136277e+02] [ 5.40409700e-02 1.82372113e-02 9.98372164e-01 8.54594126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58028169299996 meters 0.6999195167648593 Centerline is valid? [False, False] Translation: X:253.02, Y:158.14, Z:0.85 [[ 9.84450274e-01 1.66799824e-01 -5.50951616e-02 2.53021811e+02] [-1.67300784e-01 9.85895280e-01 -4.57651042e-03 1.58141143e+02] [ 5.35546986e-02 1.37228107e-02 9.98470620e-01 8.53666135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61028169299993 meters 0.643359301413642 Centerline is valid? [False, False] Translation: X:253.02, Y:158.15, Z:0.85 [[ 9.85982052e-01 1.56875684e-01 -5.68279262e-02 2.53023408e+02] [-1.57966280e-01 9.87327383e-01 -1.52083493e-02 1.58150962e+02] [ 5.37219474e-02 2.39720556e-02 9.98268147e-01 8.53575071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64028169299996 meters 0.6893671532151985 Centerline is valid? [False, False] Translation: X:253.03, Y:158.15, Z:0.85 [[ 9.87966229e-01 1.46270248e-01 -5.02766749e-02 2.53025344e+02] [-1.46943075e-01 9.89095031e-01 -9.93740111e-03 1.58153404e+02] [ 4.82748632e-02 1.72056259e-02 9.98685889e-01 8.48847688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67028169299994 meters 0.6623473391780954 Centerline is valid? [False, False] Translation: X:253.03, Y:158.16, Z:0.85 [[ 9.89812366e-01 1.33607484e-01 -4.91987862e-02 2.53025300e+02] [-1.34003717e-01 9.90969056e-01 -4.83049045e-03 1.58155921e+02] [ 4.81090850e-02 1.13740994e-02 9.98777325e-01 8.49073207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70028169299997 meters 0.6558206878277013 Centerline is valid? [False, False] Translation: X:253.03, Y:158.16, Z:0.85 [[ 9.91776188e-01 1.19491455e-01 -4.58452334e-02 2.53026532e+02] [-1.19724046e-01 9.92804423e-01 -2.35167768e-03 1.58161946e+02] [ 4.52343451e-02 7.82111477e-03 9.98945786e-01 8.47237357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73028169299994 meters 0.6573273124002172 Centerline is valid? [False, False] Translation: X:253.03, Y:158.17, Z:0.85 [[ 9.93264291e-01 1.07563927e-01 -4.30818921e-02 2.53027847e+02] [-1.07537714e-01 9.94196682e-01 2.93229509e-03 1.58165774e+02] [ 4.31472834e-02 1.72038417e-03 9.99067241e-01 8.45233514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76028169299997 meters 0.6582010226315668 Centerline is valid? [False, False] Translation: X:253.03, Y:158.18, Z:0.85 [[ 9.94210333e-01 9.80195488e-02 -4.40225135e-02 2.53028271e+02] [-9.84487028e-02 9.95112465e-01 -7.68340429e-03 1.58176700e+02] [ 4.30542281e-02 1.19728793e-02 9.99000993e-01 8.45320354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79028169299994 meters 0.6456337743131997 Centerline is valid? [False, False] Translation: X:253.05, Y:158.19, Z:0.84 [[ 9.94432541e-01 9.89650721e-02 -3.61916515e-02 2.53045555e+02] [-9.95972699e-02 9.94897583e-01 -1.60991604e-02 1.58186198e+02] [ 3.44137320e-02 1.96141187e-02 9.99215183e-01 8.40175235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82028169299997 meters 0.6527576378794933 Centerline is valid? [False, False] Translation: X:253.04, Y:158.19, Z:0.84 [[ 9.95355872e-01 9.11601522e-02 -3.09275814e-02 2.53043322e+02] [-9.14269919e-02 9.95784853e-01 -7.32338149e-03 1.58189621e+02] [ 3.01296165e-02 1.01169865e-02 9.99494799e-01 8.39730600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85028169299994 meters 0.6406117574355086 Centerline is valid? [False, False] Translation: X:253.04, Y:158.20, Z:0.84 [[ 9.95850029e-01 8.54175867e-02 -3.14094866e-02 2.53043271e+02] [-8.58958709e-02 9.96202854e-01 -1.42046848e-02 1.58201737e+02] [ 3.00768903e-02 1.68436810e-02 9.99405659e-01 8.40617488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.880281693 meters 0.6419549703552203 Centerline is valid? [False, False] Translation: X:253.05, Y:158.20, Z:0.84 [[ 9.96601208e-01 7.85372769e-02 -2.48581728e-02 2.53046691e+02] [-7.86986785e-02 9.96882826e-01 -5.58108076e-03 1.58202931e+02] [ 2.43423627e-02 7.51841718e-03 9.99675409e-01 8.36059164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91028169299994 meters 0.6454231485011878 Centerline is valid? [False, False] Translation: X:253.05, Y:158.21, Z:0.83 [[ 9.97432613e-01 6.91099884e-02 -1.87614510e-02 2.53047595e+02] [-6.90980367e-02 9.97609046e-01 1.28531245e-03 1.58206165e+02] [ 1.88054212e-02 1.43668700e-05 9.99823162e-01 8.32219431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.940281693 meters 0.9819180260360492 Centerline is valid? [False, False] Translation: X:253.07, Y:158.21, Z:0.83 [[ 9.97914643e-01 6.30733080e-02 -1.37157894e-02 2.53070930e+02] [-6.30190510e-02 9.98002831e-01 4.35309439e-03 1.58210311e+02] [ 1.39629607e-02 -3.47966060e-03 9.99896458e-01 8.26785650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97028169299995 meters 0.6131766239178281 Centerline is valid? [False, False] Translation: X:253.07, Y:158.21, Z:0.82 [[ 9.98629805e-01 5.16882358e-02 -8.17548257e-03 2.53070225e+02] [-5.16096001e-02 9.98621638e-01 9.55366964e-03 1.58214274e+02] [ 8.65802612e-03 -9.11864587e-03 9.99920941e-01 8.24450223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.000281693 meters 0.6391924752652436 Centerline is valid? [False, False] Translation: X:253.07, Y:158.22, Z:0.82 [[ 9.99160431e-01 4.08882941e-02 -2.56518682e-03 2.53070670e+02] [-4.08444179e-02 9.99048321e-01 1.53031428e-02 1.58217088e+02] [ 3.18846499e-03 -1.51855212e-02 9.99879610e-01 8.21316266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03028169299995 meters 0.6492099558986195 Centerline is valid? [False, False] Translation: X:253.07, Y:158.22, Z:0.82 [[ 9.99358399e-01 3.57089058e-02 -2.76830008e-03 2.53071122e+02] [-3.56812749e-02 9.99318450e-01 9.45946977e-03 1.58224763e+02] [ 3.10420066e-03 -9.35462409e-03 9.99951426e-01 8.20798342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.060281693 meters 0.6610767757895732 Centerline is valid? [False, False] Translation: X:253.07, Y:158.23, Z:0.82 [[ 9.99526636e-01 3.06262694e-02 -2.92147051e-03 2.53071159e+02] [-3.06154109e-02 9.99524421e-01 3.69178689e-03 1.58231872e+02] [ 3.03314678e-03 -3.60059731e-03 9.99988918e-01 8.20806886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09028169299995 meters 0.6808851151503108 Centerline is valid? [False, False] Translation: X:253.07, Y:158.23, Z:0.82 [[ 9.99532326e-01 3.04418858e-02 -2.90197974e-03 2.53071083e+02] [-3.04321050e-02 9.99531199e-01 3.35698165e-03 1.58233622e+02] [ 3.00281214e-03 -3.26709832e-03 9.99990155e-01 8.20793479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.120281693 meters 0.6630578808483568 Centerline is valid? [False, False] Translation: X:253.07, Y:158.24, Z:0.82 [[ 9.99545852e-01 2.99965103e-02 -2.88068453e-03 2.53071012e+02] [-2.99890835e-02 9.99546877e-01 2.58763479e-03 1.58237581e+02] [ 2.95699924e-03 -2.50007053e-03 9.99992503e-01 8.20739105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15028169299995 meters 0.7015551798433667 Centerline is valid? [False, False] Translation: X:253.09, Y:158.24, Z:0.83 [[ 9.99619248e-01 2.70392696e-02 -5.49875928e-03 2.53091573e+02] [-2.69886106e-02 9.99594436e-01 9.08728574e-03 1.58236989e+02] [ 5.74224275e-03 -8.93542187e-03 9.99943591e-01 8.26479521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.180281693 meters 0.71053386651024 Centerline is valid? [False, False] Translation: X:253.09, Y:158.25, Z:0.83 [[ 9.99745292e-01 2.18609745e-02 -5.60784874e-03 2.53091639e+02] [-2.18447075e-02 9.99757036e-01 2.94579490e-03 1.58246720e+02] [ 5.67088418e-03 -2.82254277e-03 9.99979937e-01 8.26335053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21028169299996 meters 0.714797358410869 Centerline is valid? [False, False] Translation: X:253.09, Y:158.25, Z:0.83 [[ 9.99748329e-01 2.17189034e-02 -5.61855361e-03 2.53091654e+02] [-2.17040204e-02 9.99760804e-01 2.69646807e-03 1.58248044e+02] [ 5.67577400e-03 -2.57384424e-03 9.99980580e-01 8.26368817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.240281693 meters 0.714797358410869 Centerline is valid? [False, False] Translation: X:253.09, Y:158.25, Z:0.83 [[ 9.99748329e-01 2.17189034e-02 -5.61855361e-03 2.53091654e+02] [-2.17040204e-02 9.99760804e-01 2.69646807e-03 1.58248044e+02] [ 5.67577400e-03 -2.57384424e-03 9.99980580e-01 8.26368817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27028169299996 meters 0.7532095150948028 Centerline is valid? [False, False] Translation: X:253.12, Y:158.24, Z:0.82 [[ 9.99787148e-01 2.06278894e-02 3.84847481e-04 2.53115524e+02] [-2.06309530e-02 9.99720920e-01 1.15084895e-02 1.58243391e+02] [-1.47344230e-04 -1.15139796e-02 9.99933701e-01 8.18399848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30028169299993 meters 0.7398447430446262 Centerline is valid? [False, False] Translation: X:253.11, Y:158.25, Z:0.82 [[ 9.99931296e-01 1.17143998e-02 4.19010896e-04 2.53114712e+02] [-1.17149226e-02 9.99930574e-01 1.26776599e-03 1.58254144e+02] [-4.04130688e-04 -1.27258757e-03 9.99999109e-01 8.18809221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33028169299996 meters 0.7637386980180927 Centerline is valid? [False, False] Translation: X:253.11, Y:158.26, Z:0.82 [[ 9.99976538e-01 6.82529730e-03 5.81893615e-04 2.53113339e+02] [-6.82291834e-03 9.99968737e-01 -3.99668996e-03 1.58259172e+02] [-6.09154020e-04 3.99262597e-03 9.99991844e-01 8.19671549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36028169299993 meters 0.7842460390131475 Centerline is valid? [False, False] Translation: X:253.11, Y:158.26, Z:0.82 [[ 9.99975806e-01 6.93583497e-03 5.31553115e-04 2.53113822e+02] [-6.93376033e-03 9.99968702e-01 -3.81020558e-03 1.58258236e+02] [-5.57963436e-04 3.80642773e-03 9.99992600e-01 8.19220852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39028169299996 meters 0.7901544848797082 Centerline is valid? [False, False] Translation: X:253.10, Y:158.25, Z:0.82 [[ 9.99983297e-01 1.59650857e-03 -5.55485518e-03 2.53095542e+02] [-1.59087103e-03 9.99998215e-01 1.01915520e-03 1.58254503e+02] [ 5.55647236e-03 -1.01030112e-03 9.99984052e-01 8.21486203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42028169299994 meters 0.7767558681639158 Centerline is valid? [False, False] Translation: X:253.10, Y:158.25, Z:0.82 [[ 9.99982610e-01 1.76987887e-03 -5.62560174e-03 2.53096188e+02] [-1.76251846e-03 9.99997585e-01 1.31306741e-03 1.58252961e+02] [ 5.62791212e-03 -1.30312935e-03 9.99983314e-01 8.20921383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45028169299997 meters 0.8006936384170894 Centerline is valid? [False, False] Translation: X:253.10, Y:158.25, Z:0.82 [[ 9.99982247e-01 1.89909393e-03 -5.64799682e-03 2.53096551e+02] [-1.89046701e-03 9.99997039e-01 1.53237659e-03 1.58251798e+02] [ 5.65089022e-03 -1.52167203e-03 9.99982876e-01 8.20495612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48028169299994 meters 0.8311166586154535 Centerline is valid? [False, False] Translation: X:253.10, Y:158.25, Z:0.82 [[ 9.99981526e-01 2.11493632e-03 -5.69867581e-03 2.53097180e+02] [-2.10417647e-03 9.99995994e-01 1.89346650e-03 1.58249939e+02] [ 5.70265754e-03 -1.88144050e-03 9.99981970e-01 8.19907642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51028169299997 meters 0.7769172376043088 Centerline is valid? [False, False] Translation: X:253.10, Y:158.25, Z:0.82 [[ 9.99981246e-01 2.18942535e-03 -5.71967983e-03 2.53097399e+02] [-2.17788376e-03 9.99995581e-01 2.02332276e-03 1.58249230e+02] [ 5.72408447e-03 -2.01082801e-03 9.99981596e-01 8.19684223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54028169299994 meters 0.7845861091690689 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99983860e-01 5.51842640e-03 1.35185551e-03 2.53122498e+02] [-5.51365340e-03 9.99978642e-01 -3.50934507e-03 1.58251489e+02] [-1.37119270e-03 3.50183477e-03 9.99992928e-01 8.09231444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57028169299997 meters 0.8608601891722091 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99984252e-01 5.42509337e-03 1.43646760e-03 2.53122039e+02] [-5.41980054e-03 9.99978603e-01 -3.66322074e-03 1.58252316e+02] [-1.45631018e-03 3.65537768e-03 9.99992259e-01 8.09391950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60028169299994 meters 0.8679871465845702 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99985045e-01 5.27076341e-03 1.45917663e-03 2.53121929e+02] [-5.26499776e-03 9.99978428e-01 -3.92734065e-03 1.58253769e+02] [-1.47984523e-03 3.91959935e-03 9.99991223e-01 8.09388386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.630281693 meters 0.8844575445647994 Centerline is valid? [False, False] Translation: X:253.12, Y:158.26, Z:0.81 [[ 9.99985896e-01 5.10852161e-03 1.45314407e-03 2.53122091e+02] [-5.10236161e-03 9.99978114e-01 -4.21166752e-03 1.58255374e+02] [-1.47462766e-03 4.20419365e-03 9.99990075e-01 8.09149521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66028169299994 meters 0.8820181807988248 Centerline is valid? [False, False] Translation: X:253.12, Y:158.26, Z:0.81 [[ 9.99986507e-01 4.96411989e-03 1.53064716e-03 2.53121520e+02] [-4.95726920e-03 9.99977823e-01 -4.44745274e-03 1.58256616e+02] [-1.55269090e-03 4.43980490e-03 9.99988939e-01 8.09486285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.690281693 meters 0.8169381435918618 Centerline is valid? [False, False] Translation: X:253.12, Y:158.26, Z:0.81 [[ 9.99986070e-01 5.04709602e-03 1.54510104e-03 2.53121398e+02] [-5.04040645e-03 9.99978038e-01 -4.30323915e-03 1.58255788e+02] [-1.56678597e-03 4.29539126e-03 9.99989547e-01 8.09586144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72028169299995 meters 0.8764105320948723 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99984360e-01 5.35912369e-03 1.59990691e-03 2.53121142e+02] [-5.35303960e-03 9.99978516e-01 -3.78314347e-03 1.58252822e+02] [-1.62014688e-03 3.77451994e-03 9.99991564e-01 8.09624447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.750281693 meters 0.8822673160703665 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99984051e-01 5.40453032e-03 1.63948628e-03 2.53121201e+02] [-5.39841339e-03 9.99978536e-01 -3.71275735e-03 1.58252468e+02] [-1.65951680e-03 3.70384751e-03 9.99991764e-01 8.09274541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78028169299995 meters 0.8854718021952123 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99984511e-01 5.32252979e-03 1.62769672e-03 2.53121479e+02] [-5.31622252e-03 9.99978438e-01 -3.85505260e-03 1.58253307e+02] [-1.64818025e-03 3.84633969e-03 9.99991245e-01 8.08935061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.810281693 meters 0.9095707786347675 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99984950e-01 5.22750361e-03 1.66550320e-03 2.53121367e+02] [-5.22077402e-03 9.99978293e-01 -4.01961939e-03 1.58254198e+02] [-1.68647962e-03 4.01086368e-03 9.99990534e-01 8.08845765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84028169299995 meters 0.8457038143935072 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99984776e-01 5.24482347e-03 1.71423619e-03 2.53121050e+02] [-5.23796022e-03 9.99978346e-01 -3.98394160e-03 1.58253961e+02] [-1.73509414e-03 3.97490185e-03 9.99990595e-01 8.08986005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.870281693 meters 0.842488541921167 Centerline is valid? [False, False] Translation: X:253.12, Y:158.25, Z:0.81 [[ 9.99985018e-01 5.18624692e-03 1.75122097e-03 2.53121066e+02] [-5.17905968e-03 9.99978249e-01 -4.08402305e-03 1.58254557e+02] [-1.77236363e-03 4.07489218e-03 9.99990127e-01 8.08711279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90028169299995 meters 0.8803528436635442 Centerline is valid? [False, False] Translation: X:253.12, Y:158.26, Z:0.81 [[ 9.99985905e-01 5.04537850e-03 1.65320699e-03 2.53122216e+02] [-5.03809092e-03 9.99977703e-01 -4.38304808e-03 1.58256415e+02] [-1.67528427e-03 4.37465730e-03 9.99989028e-01 8.07527323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.930281693 meters 0.8682494469341389 Centerline is valid? [False, False] Translation: X:253.12, Y:158.26, Z:0.81 [[ 9.99985926e-01 5.08681015e-03 1.50740576e-03 2.53123474e+02] [-5.08025110e-03 9.99977749e-01 -4.32356319e-03 1.58256160e+02] [-1.52936537e-03 4.31584434e-03 9.99989517e-01 8.06503392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96028169299996 meters 0.8476577315211861 Centerline is valid? [False, False] Translation: X:253.13, Y:158.26, Z:0.80 [[ 9.99988739e-01 4.64552553e-03 9.70351415e-04 2.53131923e+02] [-4.64110958e-03 9.99979084e-01 -4.50460517e-03 1.58255575e+02] [-9.91257377e-04 4.50005094e-03 9.99989383e-01 7.98731908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.990281693 meters 0.8493669280296088 Centerline is valid? [False, False] Translation: X:253.13, Y:158.25, Z:0.80 [[ 9.99988436e-01 4.72811630e-03 8.78972237e-04 2.53132562e+02] [-4.72422688e-03 9.99979268e-01 -4.37559088e-03 1.58254894e+02] [-8.99642316e-04 4.37138782e-03 9.99990041e-01 7.98330558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02028169299996 meters 0.8426734887104252 Centerline is valid? [False, False] Translation: X:253.13, Y:158.25, Z:0.80 [[ 9.99988113e-01 4.80986210e-03 7.99910172e-04 2.53133070e+02] [-4.80642867e-03 9.99979459e-01 -4.24018508e-03 1.58254145e+02] [-8.20288447e-04 4.23628996e-03 9.99990690e-01 7.98060585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05028169299993 meters 0.8738404173509541 Centerline is valid? [False, False] Translation: X:253.13, Y:158.25, Z:0.80 [[ 9.99987877e-01 4.86398507e-03 7.66410176e-04 2.53133455e+02] [-4.86076103e-03 9.99979559e-01 -4.15383374e-03 1.58253682e+02] [-7.86598695e-04 4.15005804e-03 9.99991079e-01 7.97716605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08028169299996 meters 0.777457871282328 Centerline is valid? [False, False] Translation: X:253.13, Y:158.25, Z:0.80 [[ 9.99987727e-01 4.90236678e-03 7.15454974e-04 2.53133981e+02] [-4.89939487e-03 9.99979600e-01 -4.09813071e-03 1.58253463e+02] [-7.35530919e-04 4.09457512e-03 9.99991347e-01 7.97262995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11028169299993 meters 0.8518402161858181 Centerline is valid? [False, False] Translation: X:253.13, Y:158.25, Z:0.80 [[ 9.99987787e-01 4.89242760e-03 7.00566321e-04 2.53134297e+02] [-4.88950122e-03 9.99979560e-01 -4.11966185e-03 1.58253631e+02] [-7.20707149e-04 4.11618612e-03 9.99991269e-01 7.96895081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14028169299996 meters 0.7749196004320557 Centerline is valid? [False, False] Translation: X:253.14, Y:158.25, Z:0.80 [[ 9.99986976e-01 5.06654814e-03 6.14259834e-04 2.53135050e+02] [-5.06420814e-03 9.99980134e-01 -3.75297570e-03 1.58251459e+02] [-6.33262263e-04 3.74981608e-03 9.99992769e-01 7.96307046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17028169299994 meters 0.9082623989519754 Centerline is valid? [False, False] Translation: X:253.14, Y:158.25, Z:0.80 [[ 9.99985599e-01 5.33677822e-03 5.66413879e-04 2.53135386e+02] [-5.33489457e-03 9.99980401e-01 -3.27655837e-03 1.58248731e+02] [-5.83889043e-04 3.27348942e-03 9.99994472e-01 7.96068948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20028169299997 meters 0.889697006854884 Centerline is valid? [False, False] Translation: X:253.14, Y:158.24, Z:0.79 [[ 9.99988672e-01 4.74059213e-03 -4.27740959e-04 2.53144558e+02] [-4.74176351e-03 9.99984892e-01 -2.78037810e-03 1.58242637e+02] [ 4.14553858e-04 2.78237485e-03 9.99996043e-01 7.88694533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23028169299994 meters 0.8818573045189737 Centerline is valid? [False, False] Translation: X:253.15, Y:158.24, Z:0.79 [[ 9.99986567e-01 5.15001859e-03 -5.85926802e-04 2.53145743e+02] [-5.15119959e-03 9.99984667e-01 -2.03227834e-03 1.58238344e+02] [ 5.75451547e-04 2.03526927e-03 9.99997763e-01 7.87822361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26028169299997 meters 0.8494060706982995 Centerline is valid? [False, False] Translation: X:253.15, Y:158.23, Z:0.79 [[ 9.99984051e-01 5.60166106e-03 -7.20447185e-04 2.53146669e+02] [-5.60255015e-03 9.99983539e-01 -1.23804377e-03 1.58233763e+02] [ 7.13500224e-04 1.24206036e-03 9.99998974e-01 7.87221537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29028169299994 meters 0.8565809614755452 Centerline is valid? [False, False] Translation: X:253.15, Y:158.23, Z:0.79 [[ 9.99981614e-01 6.01504958e-03 -7.68100932e-04 2.53147207e+02] [-6.01546037e-03 9.99981765e-01 -5.33618008e-04 1.58229661e+02] [ 7.64877187e-04 5.38228678e-04 9.99999563e-01 7.86680308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8212.99 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%| | 0/15743 [00:00